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minSteerSpeed is 0

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pull/23862/head
Jason Wen 3 years ago
parent f4084989d0
commit 3f40eba611
1 changed files with 1 additions and 1 deletions
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  1. 2
      selfdrive/car/hyundai/interface.py

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selfdrive/car/hyundai/interface.py
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@ -137,7 +137,7 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 0.385 tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
if candidate not in (CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022): if candidate not in (CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022, CAR.IONIQ_PHEV_2022):
ret.minSteerSpeed = 32 * CV.MPH_TO_MS ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.VELOSTER: elif candidate == CAR.VELOSTER:
ret.lateralTuning.pid.kf = 0.00005 ret.lateralTuning.pid.kf = 0.00005

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