From f4624efe35de9757ea4f8a93d2461aaf6a9eccdb Mon Sep 17 00:00:00 2001 From: DFyffe Date: Wed, 28 Oct 2020 17:50:25 -0400 Subject: [PATCH] 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 | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 76569d0915..8af495fa08 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/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