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Hyundai Genesis tuning (#2405)

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2015 Genesis 3.8 L. tuning to stop extreme ping pong on cornering and on straights.
This commit is contained in:
DFyffe
2020-10-28 17:50:25 -04:00
committed by GitHub
parent f38d0b11ce
commit f4624efe35
1 changed files with 5 additions and 2 deletions
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selfdrive/car/hyundai/interface.py
+5 -2
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@@ -79,8 +79,11 @@ class CarInterface(CarInterfaceBase):
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 16.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = 3.5
ret.lateralTuning.indi.outerLoopGain = 2.0
ret.lateralTuning.indi.timeConstant = 1.4
ret.lateralTuning.indi.actuatorEffectiveness = 2.3
ret.minSteerSpeed = 60 * CV.KPH_TO_MS
elif candidate == CAR.GENESIS_G70:
ret.lateralTuning.pid.kf = 0.00005