From de88349ef045a1529d140772284c7f7208d97a26 Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Tue, 5 Oct 2021 16:41:20 +0900 Subject: [PATCH] hyundai clean up interface.py (#22408) * 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 --- selfdrive/car/hyundai/interface.py | 13 ++----------- 1 file changed, 2 insertions(+), 11 deletions(-) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index a21a5eb6c..6d9054a59 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 @@ -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