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Genesis G70 fingerprint and tuning (#2491)

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* Modify tuning and values.py for G70 support

* revert ignored fingerprint change

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 548d92490d3a4c7925d28a4079382682b15284e7
This commit is contained in:
ohber
2020-11-06 13:32:32 -05:00
committed by GitHub
parent 2dc7e12c29
commit 97ad004fe1
2 changed files with 9 additions and 6 deletions
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13
selfdrive/car/hyundai/interface.py
View File

@@ -155,12 +155,15 @@ class CarInterface(CarInterfaceBase):
# Genesis
elif candidate == CAR.GENESIS_G70:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1640. + STD_CARGO_KG
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = 2.5
ret.lateralTuning.indi.outerLoopGain = 3.5
ret.lateralTuning.indi.timeConstant = 1.4
ret.lateralTuning.indi.actuatorEffectiveness = 1.8
ret.steerActuatorDelay = 0.1
ret.mass = 1640.0 + STD_CARGO_KG
ret.wheelbase = 2.84
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.steerRatio = 13.56
elif candidate == CAR.GENESIS_G80:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 2060. + STD_CARGO_KG

2
selfdrive/car/hyundai/values.py
View File

@@ -7,7 +7,7 @@ Ecu = car.CarParams.Ecu
# Steer torque limits
class SteerLimitParams:
def __init__(self, CP):
if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE, CAR.VELOSTER]:
if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE, CAR.VELOSTER, CAR.GENESIS_G70]:
self.STEER_MAX = 384
else:
self.STEER_MAX = 255