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hyundai: torque lateral controller for palisade (#25262)

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old-commit-hash: d01847e4140b1e31961bae53bea57a5727e9040a
This commit is contained in:
Greg Hogan
2022-07-23 16:50:47 -07:00
committed by GitHub
parent 3ccab8345c
commit a82c528c8e
1 changed files with 1 additions and 2 deletions
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selfdrive/car/hyundai/interface.py
+1 -2
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@@ -78,8 +78,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.90
ret.steerRatio = 15.6 * 1.15
tire_stiffness_factor = 0.63
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30):
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1275. + STD_CARGO_KG