From ed24919130788fb297359b23261f968c8c7aaaeb Mon Sep 17 00:00:00 2001
From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com>
Date: Sat, 2 Oct 2021 21:35:53 +0900
Subject: [PATCH] Update interface.py

santa_fe / santa_fe_2022 same value
kia_k5_2021 single value
---
 selfdrive/car/hyundai/interface.py | 15 +++------------
 1 file changed, 3 insertions(+), 12 deletions(-)

diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index a21a5eb6ce..af8eb4bdd5 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -45,16 +45,7 @@ class CarInterface(CarInterfaceBase):
 
     ret.longitudinalActuatorDelayUpperBound = 1.0 # s
 
-    if candidate == CAR.SANTA_FE:
-      ret.lateralTuning.pid.kf = 0.00005
-      ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.wheelbase = 2.766
-      # Values from optimizer
-      ret.steerRatio = 16.55  # 13.8 is spec end-to-end
-      tire_stiffness_factor = 0.82
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]]
-    elif candidate == CAR.SANTA_FE_2022:
+    if candidate in [CAR.SANTA_FE, CAR.SANTA_FE_2022]:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.766
@@ -191,7 +182,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 13.75
       tire_stiffness_factor = 0.5
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]      
     elif candidate == CAR.KIA_STINGER:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 1825. + STD_CARGO_KG
@@ -216,7 +207,7 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kf = 0.00005
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
-    elif candidate in [CAR.KIA_K5_2021]:
+    elif candidate == CAR.KIA_K5_2021:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 3228. * CV.LB_TO_KG
       ret.wheelbase = 2.85