From e8857a6713db6b8b3b8cd67aca1b8c046a4dccd9 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Thu, 6 Jun 2024 01:14:28 -0700 Subject: [PATCH] [Lag] Increase Optima Lag (#32583) increase lag in optima to 0.2 --- selfdrive/car/hyundai/interface.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 00452a9ae0..22c54bce6b 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -75,6 +75,9 @@ class CarInterface(CarInterfaceBase): ret.steerLimitTimer = 0.4 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + if candidate == CAR.KIA_OPTIMA_G4_FL: + ret.steerActuatorDelay = 0.2 + # *** longitudinal control *** if candidate in CANFD_CAR: ret.longitudinalTuning.kpV = [0.1]