From 38cdc5777f201be855ed45d8556b13cc328660a5 Mon Sep 17 00:00:00 2001
From: xps-genesis <65239463+xps-genesis@users.noreply.github.com>
Date: Wed, 13 May 2020 16:14:52 -0400
Subject: [PATCH] CAR.GENESIS_G80 has incorrect parameters (#1499)

Hyundai Genesis 2015-2016 is similar to Genesis G80. The Genesis G90 is the larger vehicle. These are grouped wrongly.
---
 selfdrive/car/hyundai/interface.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 649d181c51..7ae6684eed 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -67,7 +67,7 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
       ret.minSteerSpeed = 32 * CV.MPH_TO_MS
-    elif candidate == CAR.HYUNDAI_GENESIS:
+    elif candidate in [CAR.HYUNDAI_GENESIS, CAR.GENESIS_G80]:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 2060. + STD_CARGO_KG
       ret.wheelbase = 3.01
@@ -75,7 +75,7 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
       ret.minSteerSpeed = 60 * CV.KPH_TO_MS
-    elif candidate in [CAR.GENESIS_G90, CAR.GENESIS_G80]:
+    elif candidate == CAR.GENESIS_G90:
       ret.mass = 2200
       ret.wheelbase = 3.15
       ret.steerRatio = 12.069