Hyundai Genesis tuning (#2405)

2015 Genesis 3.8 L. tuning to stop extreme ping pong on cornering and on straights.

selfdrive/car/hyundai/interface.py

@@ -79,8 +79,11 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 2060. + STD_CARGO_KG
       ret.wheelbase = 3.01
       ret.steerRatio = 16.5
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
+      ret.lateralTuning.init('indi')
+      ret.lateralTuning.indi.innerLoopGain = 3.5
+      ret.lateralTuning.indi.outerLoopGain = 2.0
+      ret.lateralTuning.indi.timeConstant = 1.4
+      ret.lateralTuning.indi.actuatorEffectiveness = 2.3
       ret.minSteerSpeed = 60 * CV.KPH_TO_MS
     elif candidate == CAR.GENESIS_G70: 
       ret.lateralTuning.pid.kf = 0.00005