From db3864b6ca31d6954b8d2b90a91d01d7286f6996 Mon Sep 17 00:00:00 2001
From: TK211X <33460783+TK211X@users.noreply.github.com>
Date: Wed, 29 Apr 2020 16:32:25 -0400
Subject: [PATCH] Update Elantra Values  (#1430)

* Update Elantra Values one last time

I got the params learner values from EON. These are the values it settled on after driving over a week.

* Include Stiffness Params Value.

* Update interface.py
---
 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 5da4a73a75..2b22567b9e 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -65,8 +65,8 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kf = 0.00006
       ret.mass = 1275. + STD_CARGO_KG
       ret.wheelbase = 2.7
-      ret.steerRatio = 13.73   #Spec
-      tire_stiffness_factor = 0.385
+      ret.steerRatio = 15.4            # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535
+      tire_stiffness_factor = 0.385    # stiffnessFactor settled on 1.0081302973865127
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
       ret.minSteerSpeed = 32 * CV.MPH_TO_MS