Hyundai: move car specs to platformconfig (#31661)

* specs * override * fixes 1 * fix 3 * fixes 4 * fixes * fixes * fixc * fix number 723124 * that too * fixes * aa old-commit-hash: 2e0db7f8d8
1 year ago · 9b6963a00d
parent d02888ce23
commit 9b6963a00d
3 changed files with 90 additions and 203 deletions
--- a/selfdrive/car/init.py
+++ b/selfdrive/car/init.py
@ -258,6 +258,9 @@ class CarSpecs:
  minEnableSpeed: float = -1.0  # m/s
  tireStiffnessFactor: float = 1.0

+  def override(self, **kwargs):
+    return replace(self, **kwargs)
+

@dataclass(order=True)
 class PlatformConfig(Freezable):
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@ -1,6 +1,5 @@
 from cereal import car
 from panda import Panda
-from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
                                         CANFD_UNSUPPORTED_LONGITUDINAL_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, \
@ -76,196 +75,6 @@ class CarInterface(CarInterfaceBase):
    ret.steerLimitTimer = 0.4
    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

-    if candidate in (CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN):
-      ret.mass = 1600. if candidate == CAR.AZERA_6TH_GEN else 1675.  # ICE is ~average of 2.5L and 3.5L
-      ret.wheelbase = 2.885
-      ret.steerRatio = 14.5
-    elif candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
-      ret.mass = 3982. * CV.LB_TO_KG
-      ret.wheelbase = 2.766
-      # Values from optimizer
-      ret.steerRatio = 16.55  # 13.8 is spec end-to-end
-      ret.tireStiffnessFactor = 0.82
-    elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID):
-      ret.mass = 1513.
-      ret.wheelbase = 2.84
-      ret.steerRatio = 13.27 * 1.15   # 15% higher at the center seems reasonable
-      ret.tireStiffnessFactor = 0.65
-    elif candidate == CAR.SONATA_LF:
-      ret.mass = 1536.
-      ret.wheelbase = 2.804
-      ret.steerRatio = 13.27 * 1.15   # 15% higher at the center seems reasonable
-    elif candidate == CAR.PALISADE:
-      ret.mass = 1999.
-      ret.wheelbase = 2.90
-      ret.steerRatio = 15.6 * 1.15
-      ret.tireStiffnessFactor = 0.63
-    elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30):
-      ret.mass = 1275.
-      ret.wheelbase = 2.7
-      ret.steerRatio = 15.4            # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535
-      ret.tireStiffnessFactor = 0.385    # stiffnessFactor settled on 1.0081302973865127
-      ret.minSteerSpeed = 32 * CV.MPH_TO_MS
-    elif candidate == CAR.ELANTRA_2021:
-      ret.mass = 2800. * CV.LB_TO_KG
-      ret.wheelbase = 2.72
-      ret.steerRatio = 12.9
-      ret.tireStiffnessFactor = 0.65
-    elif candidate == CAR.ELANTRA_HEV_2021:
-      ret.mass = 3017. * CV.LB_TO_KG
-      ret.wheelbase = 2.72
-      ret.steerRatio = 12.9
-      ret.tireStiffnessFactor = 0.65
-    elif candidate == CAR.HYUNDAI_GENESIS:
-      ret.mass = 2060.
-      ret.wheelbase = 3.01
-      ret.steerRatio = 16.5
-      ret.minSteerSpeed = 60 * CV.KPH_TO_MS
-    elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022, CAR.KONA_EV_2ND_GEN):
-      ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743., CAR.KONA_EV_2ND_GEN: 1740.}.get(candidate, 1275.)
-      ret.wheelbase = {CAR.KONA_EV_2ND_GEN: 2.66, }.get(candidate, 2.6)
-      ret.steerRatio = {CAR.KONA_EV_2ND_GEN: 13.6, }.get(candidate, 13.42)  # Spec
-      ret.tireStiffnessFactor = 0.385
-    elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019, CAR.IONIQ_HEV_2022, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV):
-      ret.mass = 1490.  # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
-      ret.wheelbase = 2.7
-      ret.steerRatio = 13.73  # Spec
-      ret.tireStiffnessFactor = 0.385
-      if candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019):
-        ret.minSteerSpeed = 32 * CV.MPH_TO_MS
-    elif candidate in (CAR.IONIQ_5, CAR.IONIQ_6):
-      ret.mass = 1948
-      ret.wheelbase = 2.97
-      ret.steerRatio = 14.26
-      ret.tireStiffnessFactor = 0.65
-    elif candidate == CAR.VELOSTER:
-      ret.mass = 2917. * CV.LB_TO_KG
-      ret.wheelbase = 2.80
-      ret.steerRatio = 13.75 * 1.15
-      ret.tireStiffnessFactor = 0.5
-    elif candidate == CAR.TUCSON:
-      ret.mass = 3520. * CV.LB_TO_KG
-      ret.wheelbase = 2.67
-      ret.steerRatio = 14.00 * 1.15
-      ret.tireStiffnessFactor = 0.385
-    elif candidate == CAR.TUCSON_4TH_GEN:
-      ret.mass = 1630.  # average
-      ret.wheelbase = 2.756
-      ret.steerRatio = 16.
-      ret.tireStiffnessFactor = 0.385
-    elif candidate == CAR.SANTA_CRUZ_1ST_GEN:
-      ret.mass = 1870.  # weight from Limited trim - the only supported trim
-      ret.wheelbase = 3.000
-      # steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
-      ret.steerRatio = 14.2
-    elif candidate == CAR.CUSTIN_1ST_GEN:
-      ret.mass = 1690.  # from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0
-      ret.wheelbase = 3.055
-      ret.steerRatio = 17.0  # from learner
-    elif candidate == CAR.STARIA_4TH_GEN:
-      ret.mass = 2205.
-      ret.wheelbase = 3.273
-      ret.steerRatio = 11.94  # https://www.hyundai.com/content/dam/hyundai/au/en/models/staria-load/premium-pip-update-2023/spec-sheet/STARIA_Load_Spec-Table_March_2023_v3.1.pdf
-
-    # Kia
-    elif candidate == CAR.KIA_SORENTO:
-      ret.mass = 1985.
-      ret.wheelbase = 2.78
-      ret.steerRatio = 14.4 * 1.1   # 10% higher at the center seems reasonable
-    elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_PHEV_2022):
-      ret.mass = 3543. * CV.LB_TO_KG  # average of all the cars
-      ret.wheelbase = 2.7
-      ret.steerRatio = 13.6  # average of all the cars
-      ret.tireStiffnessFactor = 0.385
-      if candidate == CAR.KIA_NIRO_PHEV:
-        ret.minSteerSpeed = 32 * CV.MPH_TO_MS
-    elif candidate == CAR.KIA_SELTOS:
-      ret.mass = 1337.
-      ret.wheelbase = 2.63
-      ret.steerRatio = 14.56
-    elif candidate == CAR.KIA_SPORTAGE_5TH_GEN:
-      ret.mass = 1725.  # weight from SX and above trims, average of FWD and AWD versions
-      ret.wheelbase = 2.756
-      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, CAR.KIA_OPTIMA_H_G4_FL):
-      ret.mass = 3558. * CV.LB_TO_KG
-      ret.wheelbase = 2.80
-      ret.steerRatio = 13.75
-      ret.tireStiffnessFactor = 0.5
-      if candidate == CAR.KIA_OPTIMA_G4:
-        ret.minSteerSpeed = 32 * CV.MPH_TO_MS
-    elif candidate in (CAR.KIA_STINGER, CAR.KIA_STINGER_2022):
-      ret.mass = 1825.
-      ret.wheelbase = 2.78
-      ret.steerRatio = 14.4 * 1.15   # 15% higher at the center seems reasonable
-    elif candidate == CAR.KIA_FORTE:
-      ret.mass = 2878. * CV.LB_TO_KG
-      ret.wheelbase = 2.80
-      ret.steerRatio = 13.75
-      ret.tireStiffnessFactor = 0.5
-    elif candidate == CAR.KIA_CEED:
-      ret.mass = 1450.
-      ret.wheelbase = 2.65
-      ret.steerRatio = 13.75
-      ret.tireStiffnessFactor = 0.5
-    elif candidate in (CAR.KIA_K5_2021, CAR.KIA_K5_HEV_2020):
-      ret.mass = 3381. * CV.LB_TO_KG
-      ret.wheelbase = 2.85
-      ret.steerRatio = 13.27  # 2021 Kia K5 Steering Ratio (all trims)
-      ret.tireStiffnessFactor = 0.5
-    elif candidate == CAR.KIA_EV6:
-      ret.mass = 2055
-      ret.wheelbase = 2.9
-      ret.steerRatio = 16.
-      ret.tireStiffnessFactor = 0.65
-    elif candidate in (CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN):
-      ret.wheelbase = 2.81
-      ret.steerRatio = 13.5  # average of the platforms
-      if candidate == CAR.KIA_SORENTO_4TH_GEN:
-        ret.mass = 3957 * CV.LB_TO_KG
-      else:
-        ret.mass = 4396 * CV.LB_TO_KG
-    elif candidate == CAR.KIA_CARNIVAL_4TH_GEN:
-      ret.mass = 2087.
-      ret.wheelbase = 3.09
-      ret.steerRatio = 14.23
-    elif candidate == CAR.KIA_K8_HEV_1ST_GEN:
-      ret.mass = 1630.  # https://carprices.ae/brands/kia/2023/k8/1.6-turbo-hybrid
-      ret.wheelbase = 2.895
-      ret.steerRatio = 13.27  # guesstimate from K5 platform
-
-    # Genesis
-    elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN:
-      ret.mass = 2205
-      ret.wheelbase = 2.9
-      # https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1.
-      ret.steerRatio = 12.6
-    elif candidate == CAR.GENESIS_G70:
-      ret.steerActuatorDelay = 0.1
-      ret.mass = 1640.0
-      ret.wheelbase = 2.84
-      ret.steerRatio = 13.56
-    elif candidate == CAR.GENESIS_G70_2020:
-      ret.mass = 3673.0 * CV.LB_TO_KG
-      ret.wheelbase = 2.83
-      ret.steerRatio = 12.9
-    elif candidate == CAR.GENESIS_GV70_1ST_GEN:
-      ret.mass = 1950.
-      ret.wheelbase = 2.87
-      ret.steerRatio = 14.6
-    elif candidate == CAR.GENESIS_G80:
-      ret.mass = 2060.
-      ret.wheelbase = 3.01
-      ret.steerRatio = 16.5
-    elif candidate == CAR.GENESIS_G90:
-      ret.mass = 2200.
-      ret.wheelbase = 3.15
-      ret.steerRatio = 12.069
-    elif candidate == CAR.GENESIS_GV80:
-      ret.mass = 2258.
-      ret.wheelbase = 2.95
-      ret.steerRatio = 14.14
-
    # *** longitudinal control ***
    if candidate in CANFD_CAR:
      ret.longitudinalTuning.kpV = [0.1]
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@ -5,7 +5,7 @@ from enum import Enum, IntFlag
 from cereal import car
 from panda.python import uds
 from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car import DbcDict, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16

@ -93,6 +93,8 @@ class HyundaiFlags(IntFlag):
  CLUSTER_GEARS = 2 ** 21
  TCU_GEARS = 2 ** 22

+  MIN_STEER_32_MPH = 2 ** 23
+

 class Footnote(Enum):
  CANFD = CarFootnote(
@ -118,6 +120,9 @@ class HyundaiPlatformConfig(PlatformConfig):
    if self.flags & HyundaiFlags.MANDO_RADAR:
      self.dbc_dict = dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated')

+    if self.flags & HyundaiFlags.MIN_STEER_32_MPH:
+      self.specs = self.specs.override(minSteerSpeed = 32 * CV.MPH_TO_MS)
+

@dataclass
 class HyundaiCanFDPlatformConfig(HyundaiPlatformConfig):
@ -133,6 +138,7 @@ class CAR(Platforms):
  AZERA_6TH_GEN = HyundaiPlatformConfig(
    "HYUNDAI AZERA 6TH GEN",
    HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+    specs=CarSpecs(mass=1600, wheelbase=2.885, steerRatio=14.5),
  )
  AZERA_HEV_6TH_GEN = HyundaiPlatformConfig(
    "HYUNDAI AZERA HYBRID 6TH GEN",
@ -140,6 +146,7 @@ class CAR(Platforms):
      HyundaiCarInfo("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
      HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
    ],
+    specs=CarSpecs(mass=1675, wheelbase=2.885, steerRatio=14.5),
    flags=HyundaiFlags.HYBRID
  )
  ELANTRA = HyundaiPlatformConfig(
@ -149,7 +156,9 @@ class CAR(Platforms):
      HyundaiCarInfo("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
      HyundaiCarInfo("Hyundai Elantra 2019", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])),
    ],
-    flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS
+    # steerRatio: 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535, stiffnessFactor settled on 1.0081302973865127
+    specs=CarSpecs(mass=1275, wheelbase=2.7, steerRatio=15.4, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH
  )
  ELANTRA_GT_I30 = HyundaiPlatformConfig(
    "HYUNDAI I30 N LINE 2019 & GT 2018 DCT",
@ -157,17 +166,20 @@ class CAR(Platforms):
      HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
      HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
    ],
-    flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS
+    specs=ELANTRA.specs,
+    flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH
  )
  ELANTRA_2021 = HyundaiPlatformConfig(
    "HYUNDAI ELANTRA 2021",
    HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])),
+    specs=CarSpecs(mass=2800*CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
    flags=HyundaiFlags.CHECKSUM_CRC8
  )
  ELANTRA_HEV_2021 = HyundaiPlatformConfig(
    "HYUNDAI ELANTRA HYBRID 2021",
    HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c",
                                       car_parts=CarParts.common([CarHarness.hyundai_k])),
+    specs=CarSpecs(mass=3017 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
    flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID
  )
  HYUNDAI_GENESIS = HyundaiPlatformConfig(
@ -177,100 +189,120 @@ class CAR(Platforms):
      HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
      HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
    ],
+    specs=CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5, minSteerSpeed=60 * CV.KPH_TO_MS),
    flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.LEGACY
  )
  IONIQ = HyundaiPlatformConfig(
    "HYUNDAI IONIQ HYBRID 2017-2019",
    HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c])),
-    flags=HyundaiFlags.HYBRID
+    specs=CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH,
  )
  IONIQ_HEV_2022 = HyundaiPlatformConfig(
    "HYUNDAI IONIQ HYBRID 2020-2022",
    HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h])),  # TODO: confirm 2020-21 harness,
+    specs=CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY
  )
  IONIQ_EV_LTD = HyundaiPlatformConfig(
    "HYUNDAI IONIQ ELECTRIC LIMITED 2019",
    HyundaiCarInfo("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
-    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV | HyundaiFlags.LEGACY
+    specs=CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV | HyundaiFlags.LEGACY | HyundaiFlags.MIN_STEER_32_MPH
  )
  IONIQ_EV_2020 = HyundaiPlatformConfig(
    "HYUNDAI IONIQ ELECTRIC 2020",
    HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
+    specs=CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.EV
  )
  IONIQ_PHEV_2019 = HyundaiPlatformConfig(
    "HYUNDAI IONIQ PLUG-IN HYBRID 2019",
    HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
-    flags=HyundaiFlags.HYBRID
+    specs=CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH
  )
  IONIQ_PHEV = HyundaiPlatformConfig(
    "HYUNDAI IONIQ PHEV 2020",
    HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
+    specs=CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.HYBRID
  )
  KONA = HyundaiPlatformConfig(
    "HYUNDAI KONA 2020",
    HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])),
+    specs=CarSpecs(mass=1275, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.CLUSTER_GEARS
  )
  KONA_EV = HyundaiPlatformConfig(
    "HYUNDAI KONA ELECTRIC 2019",
    HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
+    specs=CarSpecs(mass=1685, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.EV
  )
  KONA_EV_2022 = HyundaiPlatformConfig(
    "HYUNDAI KONA ELECTRIC 2022",
    HyundaiCarInfo("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o])),
+    specs=CarSpecs(mass=1743, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV
  )
  KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
    "HYUNDAI KONA ELECTRIC 2ND GEN",
    HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
                                      car_parts=CarParts.common([CarHarness.hyundai_r])),
+    specs=CarSpecs(mass=1740, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE
  )
  KONA_HEV = HyundaiPlatformConfig(
    "HYUNDAI KONA HYBRID 2020",
    HyundaiCarInfo("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i])),  # TODO: check packages,
+    specs=CarSpecs(mass=1425, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.HYBRID
  )
  SANTA_FE = HyundaiPlatformConfig(
    "HYUNDAI SANTA FE 2019",
    HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s",
                               car_parts=CarParts.common([CarHarness.hyundai_d])),
+    specs=CarSpecs(mass=3982 * CV.LB_TO_KG, wheelbase=2.766, steerRatio=16.55, tireStiffnessFactor=0.82),
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8
  )
  SANTA_FE_2022 = HyundaiPlatformConfig(
    "HYUNDAI SANTA FE 2022",
     HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4",
                                    car_parts=CarParts.common([CarHarness.hyundai_l])),
+    specs=SANTA_FE.specs,
    flags=HyundaiFlags.CHECKSUM_CRC8
  )
  SANTA_FE_HEV_2022 = HyundaiPlatformConfig(
    "HYUNDAI SANTA FE HYBRID 2022",
    HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
+    specs=SANTA_FE.specs,
    flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID
  )
  SANTA_FE_PHEV_2022 = HyundaiPlatformConfig(
    "HYUNDAI SANTA FE PlUG-IN HYBRID 2022",
    HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
+    specs=SANTA_FE.specs,
    flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID
  )
  SONATA = HyundaiPlatformConfig(
    "HYUNDAI SONATA 2020",
    HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw",
                             car_parts=CarParts.common([CarHarness.hyundai_a])),
+    specs=CarSpecs(mass=1513, wheelbase=2.84, steerRatio=13.27 * 1.15, tireStiffnessFactor=0.65),  # 15% higher at the center seems reasonable
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8
  )
  SONATA_LF = HyundaiPlatformConfig(
    "HYUNDAI SONATA 2019",
    HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
+    specs=CarSpecs(mass=1536, wheelbase=2.804, steerRatio=13.27 * 1.15),  # 15% higher at the center seems reasonable
+
    flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS
  )
  STARIA_4TH_GEN = HyundaiCanFDPlatformConfig(
    "HYUNDAI STARIA 4TH GEN",
    HyundaiCarInfo("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+    specs=CarSpecs(mass=2205, wheelbase=3.273, steerRatio=11.94),  # https://www.hyundai.com/content/dam/hyundai/au/en/models/staria-load/premium-pip-update-2023/spec-sheet/STARIA_Load_Spec-Table_March_2023_v3.1.pdf
  )
  TUCSON = HyundaiPlatformConfig(
    "HYUNDAI TUCSON 2019",
@ -278,6 +310,7 @@ class CAR(Platforms):
      HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
      HyundaiCarInfo("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])),
    ],
+    specs=CarSpecs(mass=3520 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=16.1, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.TCU_GEARS
  )
  PALISADE = HyundaiPlatformConfig(
@ -286,16 +319,19 @@ class CAR(Platforms):
      HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])),
      HyundaiCarInfo("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
    ],
+    specs=CarSpecs(mass=1999, wheelbase=2.9, steerRatio=15.6 * 1.15, tireStiffnessFactor=0.63),
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8
  )
  VELOSTER = HyundaiPlatformConfig(
    "HYUNDAI VELOSTER 2019",
    HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e])),
+    specs=CarSpecs(mass=2917 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75 * 1.15, tireStiffnessFactor = 0.5),
    flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS
  )
  SONATA_HYBRID = HyundaiPlatformConfig(
    "HYUNDAI SONATA HYBRID 2021",
    HyundaiCarInfo("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    specs=SONATA.specs,
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID
  )
  IONIQ_5 = HyundaiCanFDPlatformConfig(
@ -305,11 +341,13 @@ class CAR(Platforms):
      HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
      HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
    ],
+    specs=CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
    flags=HyundaiFlags.EV
  )
  IONIQ_6 = HyundaiCanFDPlatformConfig(
    "HYUNDAI IONIQ 6 2023",
    HyundaiCarInfo("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])),
+    specs=IONIQ_5.specs,
    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE
  )
  TUCSON_4TH_GEN = HyundaiCanFDPlatformConfig(
@ -319,14 +357,18 @@ class CAR(Platforms):
      HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
      HyundaiCarInfo("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
    ],
+    specs=CarSpecs(mass=1630, wheelbase=2.756, steerRatio=16, tireStiffnessFactor=0.385),
  )
  SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig(
    "HYUNDAI SANTA CRUZ 1ST GEN",
    HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])),
+    # weight from Limited trim - the only supported trim, steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
+    specs=CarSpecs(mass=1870, wheelbase=3, steerRatio=14.2),
  )
  CUSTIN_1ST_GEN = HyundaiPlatformConfig(
    "HYUNDAI CUSTIN 1ST GEN",
    HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+    specs=CarSpecs(mass=1690, wheelbase=3.055, steerRatio=17), # mass: from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0, steerRatio: from learner
    flags=HyundaiFlags.CHECKSUM_CRC8
  )

@ -336,21 +378,26 @@ class CAR(Platforms):
    [
      HyundaiCarInfo("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
      HyundaiCarInfo("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])),
-  ]
+    ],
+    specs=CarSpecs(mass=2878 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5)
  )
  KIA_K5_2021 = HyundaiPlatformConfig(
    "KIA K5 2021",
    HyundaiCarInfo("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    specs=CarSpecs(mass=3381 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27, tireStiffnessFactor=0.5),  # 2021 Kia K5 Steering Ratio (all trims)
    flags=HyundaiFlags.CHECKSUM_CRC8
  )
  KIA_K5_HEV_2020 = HyundaiPlatformConfig(
    "KIA K5 HYBRID 2020",
    HyundaiCarInfo("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    specs=KIA_K5_2021.specs,
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID
  )
  KIA_K8_HEV_1ST_GEN = HyundaiCanFDPlatformConfig(
    "KIA K8 HYBRID 1ST GEN",
    HyundaiCarInfo("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
+    # mass: https://carprices.ae/brands/kia/2023/k8/1.6-turbo-hybrid, steerRatio: guesstimate from K5 platform
+    specs=CarSpecs(mass=1630, wheelbase=2.895, steerRatio=13.27)
  )
  KIA_NIRO_EV = HyundaiPlatformConfig(
    "KIA NIRO EV 2020",
@ -360,11 +407,13 @@ class CAR(Platforms):
      HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])),
      HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
    ],
+    specs=CarSpecs(mass=3543 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=13.6, tireStiffnessFactor=0.385),  # average of all the cars
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV
  )
  KIA_NIRO_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
    "KIA NIRO EV 2ND GEN",
    HyundaiCarInfo("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    specs=KIA_NIRO_EV.specs,
    flags=HyundaiFlags.EV
  )
  KIA_NIRO_PHEV = HyundaiPlatformConfig(
@ -373,7 +422,8 @@ class CAR(Platforms):
      HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
      HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
    ],
-    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL
+    specs=KIA_NIRO_EV.specs,
+    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.MIN_STEER_32_MPH
  )
  KIA_NIRO_PHEV_2022 = HyundaiPlatformConfig(
    "KIA NIRO PLUG-IN HYBRID 2022",
@ -381,6 +431,7 @@ class CAR(Platforms):
      HyundaiCarInfo("Kia Niro Plug-in Hybrid 2021", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
      HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
    ],
+    specs=KIA_NIRO_EV.specs,
    flags=HyundaiFlags.HYBRID | HyundaiFlags.MANDO_RADAR
  )
  KIA_NIRO_HEV_2021 = HyundaiPlatformConfig(
@ -389,37 +440,44 @@ class CAR(Platforms):
      HyundaiCarInfo("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])),
      HyundaiCarInfo("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])),
    ],
+    specs=KIA_NIRO_EV.specs,
    flags=HyundaiFlags.HYBRID
  )
  KIA_NIRO_HEV_2ND_GEN = HyundaiCanFDPlatformConfig(
    "KIA NIRO HYBRID 2ND GEN",
    HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    specs=KIA_NIRO_EV.specs,
  )
  KIA_OPTIMA_G4 = HyundaiPlatformConfig(
    "KIA OPTIMA 4TH GEN",
    HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control",
                                    car_parts=CarParts.common([CarHarness.hyundai_b])),  # TODO: may support 2016, 2018
-    flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS
+    specs=CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
+    flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS | HyundaiFlags.MIN_STEER_32_MPH
  )
  KIA_OPTIMA_G4_FL = HyundaiPlatformConfig(
    "KIA OPTIMA 4TH GEN FACELIFT",
    HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])),
+    specs=CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
    flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS
  )
  # TODO: may support adjacent years. may have a non-zero minimum steering speed
  KIA_OPTIMA_H = HyundaiPlatformConfig(
    "KIA OPTIMA HYBRID 2017 & SPORTS 2019",
    HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c])),
+    specs=CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
    flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY
  )
  KIA_OPTIMA_H_G4_FL = HyundaiPlatformConfig(
    "KIA OPTIMA HYBRID 4TH GEN FACELIFT",
    HyundaiCarInfo("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h])),
+    specs=CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
    flags=HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL
  )
  KIA_SELTOS = HyundaiPlatformConfig(
    "KIA SELTOS 2021",
    HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    specs=CarSpecs(mass=1337, wheelbase=2.63, steerRatio=14.56),
    flags=HyundaiFlags.CHECKSUM_CRC8
  )
  KIA_SPORTAGE_5TH_GEN = HyundaiCanFDPlatformConfig(
@ -428,6 +486,8 @@ class CAR(Platforms):
      HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
      HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
    ],
+    # weight from SX and above trims, average of FWD and AWD version, steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications
+    specs=CarSpecs(mass=1725, wheelbase=2.756, steerRatio=13.6),
  )
  KIA_SORENTO = HyundaiPlatformConfig(
    "KIA SORENTO GT LINE 2018",
@ -436,11 +496,13 @@ class CAR(Platforms):
                   car_parts=CarParts.common([CarHarness.hyundai_e])),
      HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
    ],
+    specs=CarSpecs(mass=1985, wheelbase=2.78, steerRatio=14.4 * 1.1),  # 10% higher at the center seems reasonable
    flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.UNSUPPORTED_LONGITUDINAL
  )
  KIA_SORENTO_4TH_GEN = HyundaiCanFDPlatformConfig(
    "KIA SORENTO 4TH GEN",
    HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])),
+    specs=CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5), # average of the platforms
    flags=HyundaiFlags.RADAR_SCC
  )
  KIA_SORENTO_HEV_4TH_GEN = HyundaiCanFDPlatformConfig(
@ -449,20 +511,24 @@ class CAR(Platforms):
      HyundaiCarInfo("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
      HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
    ],
+    specs=CarSpecs(mass=4395 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5), # average of the platforms
    flags=HyundaiFlags.RADAR_SCC
  )
  KIA_STINGER = HyundaiPlatformConfig(
    "KIA STINGER GT2 2018",
    HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0",
-                                  car_parts=CarParts.common([CarHarness.hyundai_c]))
+                                  car_parts=CarParts.common([CarHarness.hyundai_c])),
+    specs=CarSpecs(mass=1825, wheelbase=2.78, steerRatio=14.4 * 1.15)  # 15% higher at the center seems reasonable
  )
  KIA_STINGER_2022 = HyundaiPlatformConfig(
    "KIA STINGER 2022",
    HyundaiCarInfo("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+    specs=KIA_STINGER.specs,
  )
  KIA_CEED = HyundaiPlatformConfig(
    "KIA CEED INTRO ED 2019",
    HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])),
+    specs=CarSpecs(mass=1450, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5),
    flags=HyundaiFlags.LEGACY
  )
  KIA_EV6 = HyundaiCanFDPlatformConfig(
@ -472,6 +538,7 @@ class CAR(Platforms):
      HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
      HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
    ],
+    specs=CarSpecs(mass=2055, wheelbase=2.9, steerRatio=16, tireStiffnessFactor=0.65),
    flags=HyundaiFlags.EV
  )
  KIA_CARNIVAL_4TH_GEN = HyundaiCanFDPlatformConfig(
@ -480,6 +547,7 @@ class CAR(Platforms):
      HyundaiCarInfo("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
      HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
    ],
+    specs=CarSpecs(mass=2087, wheelbase=3.09, steerRatio=14.23),
    flags=HyundaiFlags.RADAR_SCC
  )

@ -490,16 +558,19 @@ class CAR(Platforms):
      HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
      HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
    ],
+    specs=CarSpecs(mass=2205, wheelbase=2.9, steerRatio=12.6),  # steerRatio: https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1.
    flags=HyundaiFlags.EV
  )
  GENESIS_G70 = HyundaiPlatformConfig(
    "GENESIS G70 2018",
    HyundaiCarInfo("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
+    specs=CarSpecs(mass=1640, wheelbase=2.84, steerRatio=13.56),
    flags=HyundaiFlags.LEGACY
  )
  GENESIS_G70_2020 = HyundaiPlatformConfig(
    "GENESIS G70 2020",
    HyundaiCarInfo("Genesis G70 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
+    specs=CarSpecs(mass=3673 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=12.9),
    flags=HyundaiFlags.MANDO_RADAR
  )
  GENESIS_GV70_1ST_GEN = HyundaiCanFDPlatformConfig(
@ -508,20 +579,24 @@ class CAR(Platforms):
      HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
      HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
    ],
+    specs=CarSpecs(mass=1950, wheelbase=2.87, steerRatio=14.6),
    flags=HyundaiFlags.RADAR_SCC
  )
  GENESIS_G80 = HyundaiPlatformConfig(
    "GENESIS G80 2017",
    HyundaiCarInfo("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
+    specs=CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5),
    flags=HyundaiFlags.LEGACY
  )
  GENESIS_G90 = HyundaiPlatformConfig(
    "GENESIS G90 2017",
    HyundaiCarInfo("Genesis G90 2017-18", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
+    specs=CarSpecs(mass=2200, wheelbase=3.15, steerRatio=12.069),
  )
  GENESIS_GV80 = HyundaiCanFDPlatformConfig(
    "GENESIS GV80 2023",
    HyundaiCarInfo("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
+    specs=CarSpecs(mass=2258, wheelbase=2.95, steerRatio=14.14),
    flags=HyundaiFlags.RADAR_SCC
  )