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elantra 2021: steering ratio correction (#21686)

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* actual steering ratio measurement

* steer ratio same for non-hybrid
old-commit-hash: 497a815be3a09ee8a8c7b6e285a0efc7de75a50e
This commit is contained in:
Andrew
2021-07-22 17:09:56 -07:00
committed by GitHub
parent 35cf8c0fd8
commit 02f1895b7d
1 changed files with 2 additions and 2 deletions
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selfdrive/car/hyundai/interface.py
+2 -2
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@@ -73,7 +73,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kf = 0.00005
ret.mass = (2800. * CV.LB_TO_KG) + STD_CARGO_KG
ret.wheelbase = 2.72
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
ret.steerRatio = 12.9
tire_stiffness_factor = 0.65
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
@@ -81,7 +81,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kf = 0.00005
ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG
ret.wheelbase = 2.72
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
ret.steerRatio = 12.9
tire_stiffness_factor = 0.65
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]