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HKG: Vehicle mass corrections (#29418)

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* HKG: Vehicle mass corrections

* not gross

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: e1a64260d3
beeps
Jason Young 2 years ago committed by GitHub
parent 7e716dbc87
commit 4c67988f68
1 changed files with 7 additions and 7 deletions
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  1. 14
      selfdrive/car/hyundai/interface.py

14
selfdrive/car/hyundai/interface.py
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@ -73,7 +73,7 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
ret.tireStiffnessFactor = 0.65 ret.tireStiffnessFactor = 0.65
elif candidate == CAR.SONATA_LF: elif candidate == CAR.SONATA_LF:
ret.mass = 4497. * CV.LB_TO_KG ret.mass = 1536. + STD_CARGO_KG
ret.wheelbase = 2.804 ret.wheelbase = 2.804
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
elif candidate == CAR.PALISADE: elif candidate == CAR.PALISADE:
@ -115,12 +115,12 @@ class CarInterface(CarInterfaceBase):
if candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019): if candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019):
ret.minSteerSpeed = 32 * CV.MPH_TO_MS ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.VELOSTER: elif candidate == CAR.VELOSTER:
ret.mass = 3558. * CV.LB_TO_KG ret.mass = 2917. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.80 ret.wheelbase = 2.80
ret.steerRatio = 13.75 * 1.15 ret.steerRatio = 13.75 * 1.15
ret.tireStiffnessFactor = 0.5 ret.tireStiffnessFactor = 0.5
elif candidate == CAR.TUCSON: elif candidate == CAR.TUCSON:
ret.mass = 3520. * CV.LB_TO_KG ret.mass = 3520. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.67 ret.wheelbase = 2.67
ret.steerRatio = 14.00 * 1.15 ret.steerRatio = 14.00 * 1.15
ret.tireStiffnessFactor = 0.385 ret.tireStiffnessFactor = 0.385
@ -156,7 +156,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.756 ret.wheelbase = 2.756
ret.steerRatio = 13.6 # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications ret.steerRatio = 13.6 # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications
elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H): elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H):
ret.mass = 3558. * CV.LB_TO_KG ret.mass = 3558. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.80 ret.wheelbase = 2.80
ret.steerRatio = 13.75 ret.steerRatio = 13.75
ret.tireStiffnessFactor = 0.5 ret.tireStiffnessFactor = 0.5
@ -167,7 +167,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.78 ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable
elif candidate == CAR.KIA_FORTE: elif candidate == CAR.KIA_FORTE:
ret.mass = 3558. * CV.LB_TO_KG ret.mass = 2878. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.80 ret.wheelbase = 2.80
ret.steerRatio = 13.75 ret.steerRatio = 13.75
ret.tireStiffnessFactor = 0.5 ret.tireStiffnessFactor = 0.5
@ -177,7 +177,7 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 13.75 ret.steerRatio = 13.75
ret.tireStiffnessFactor = 0.5 ret.tireStiffnessFactor = 0.5
elif candidate in (CAR.KIA_K5_2021, CAR.KIA_K5_HEV_2020): elif candidate in (CAR.KIA_K5_2021, CAR.KIA_K5_HEV_2020):
ret.mass = 3228. * CV.LB_TO_KG ret.mass = 3381. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.85 ret.wheelbase = 2.85
ret.steerRatio = 13.27 # 2021 Kia K5 Steering Ratio (all trims) ret.steerRatio = 13.27 # 2021 Kia K5 Steering Ratio (all trims)
ret.tireStiffnessFactor = 0.5 ret.tireStiffnessFactor = 0.5
@ -231,7 +231,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 3.01 ret.wheelbase = 3.01
ret.steerRatio = 16.5 ret.steerRatio = 16.5
elif candidate == CAR.GENESIS_G90: elif candidate == CAR.GENESIS_G90:
ret.mass = 2200 ret.mass = 2200. + STD_CARGO_KG
ret.wheelbase = 3.15 ret.wheelbase = 3.15
ret.steerRatio = 12.069 ret.steerRatio = 12.069
elif candidate == CAR.GENESIS_GV80: elif candidate == CAR.GENESIS_GV80:

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