From 497a815be3a09ee8a8c7b6e285a0efc7de75a50e Mon Sep 17 00:00:00 2001 From: Andrew Date: Thu, 22 Jul 2021 17:09:56 -0700 Subject: [PATCH] elantra 2021: steering ratio correction (#21686) * actual steering ratio measurement * steer ratio same for non-hybrid --- 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 6f643f1188..9edb1bdbff 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -73,7 +73,7 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kf = 0.00005 ret.mass = (2800. * CV.LB_TO_KG) + STD_CARGO_KG ret.wheelbase = 2.72 - ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable + ret.steerRatio = 12.9 tire_stiffness_factor = 0.65 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] @@ -81,7 +81,7 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kf = 0.00005 ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG ret.wheelbase = 2.72 - ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable + ret.steerRatio = 12.9 tire_stiffness_factor = 0.65 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]