diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index ee6e5c3130..c09e1872da 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -57,7 +57,7 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1999. + STD_CARGO_KG ret.wheelbase = 2.90 - ret.steerRatio = 13.75 * 1.15 + ret.steerRatio = 15.6 * 1.15 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]] elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]: