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Kona: remove pid tuning

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This commit is contained in:
Shane Smiskol
2022-08-16 18:39:20 -07:00
parent aa32ea0f64
commit bacd2d5aee
1 changed files with 0 additions and 3 deletions
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selfdrive/car/hyundai/interface.py
-3
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@@ -115,13 +115,10 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.indi.actuatorEffectivenessV = [2.3]
ret.minSteerSpeed = 60 * CV.KPH_TO_MS
elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
ret.lateralTuning.pid.kf = 0.00005
ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743.}.get(candidate, 1275.) + STD_CARGO_KG
ret.wheelbase = 2.6
ret.steerRatio = 13.42 # Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
ret.lateralTuning.pid.kf = 0.00006