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hyundai clean up interface.py (#22408)

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* Update interface.py

santa_fe / santa_fe_2022 same value 
kia_k5_2021 single value

* hyundai fw sort

# fwdRadar, fwdCamera, eps, esp, engine, transmission

kia ceed esp double fix 0x7d4 eps

* Update selfdrive/car/hyundai/interface.py

* Revert "hyundai fw sort"

This reverts commit 8ab24ffeeb84c3cb11f5fa44ae45fa35ed50ac06.

Co-authored-by: Willem Melching <willem.melching@gmail.com>
This commit is contained in:
Lee Jong Mun
2021-10-05 16:41:20 +09:00
committed by GitHub
parent 10ff1fefaf
commit de88349ef0
1 changed files with 2 additions and 11 deletions
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selfdrive/car/hyundai/interface.py
+2 -11
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@@ -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
@@ -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