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Kia Seltos 2021 INDI Tuning + Increased Steer Limit (#20560)

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old-commit-hash: 4dd45287878b53789707cd306a8f79ee520ffc45
This commit is contained in:
speedking456
2021-04-11 15:48:43 -07:00
committed by GitHub
parent 7b818198f1
commit 359bf548a5
2 changed files with 16 additions and 10 deletions
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20
selfdrive/car/hyundai/interface.py
View File

@@ -144,13 +144,19 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.KIA_SELTOS:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1310. + STD_CARGO_KG
ret.wheelbase = 2.6
ret.steerRatio = 13.73 # Spec
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
ret.mass = 1337. + STD_CARGO_KG
ret.wheelbase = 2.63
ret.steerRatio = 14.56
tire_stiffness_factor = 1
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGainBP = [0.]
ret.lateralTuning.indi.innerLoopGainV = [4.]
ret.lateralTuning.indi.outerLoopGainBP = [0.]
ret.lateralTuning.indi.outerLoopGainV = [3.]
ret.lateralTuning.indi.timeConstantBP = [0.]
ret.lateralTuning.indi.timeConstantV = [1.4]
ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3558. * CV.LB_TO_KG

6
selfdrive/car/hyundai/values.py
View File

@@ -7,7 +7,7 @@ Ecu = car.CarParams.Ecu
# Steer torque limits
class CarControllerParams:
def __init__(self, CP):
if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE, CAR.VELOSTER, CAR.GENESIS_G70, CAR.IONIQ_EV_2020, CAR.KIA_CEED]:
if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE, CAR.VELOSTER, CAR.GENESIS_G70, CAR.IONIQ_EV_2020, CAR.KIA_CEED, CAR.KIA_SELTOS]:
self.STEER_MAX = 384
else:
self.STEER_MAX = 255
@@ -271,11 +271,11 @@ FW_VERSIONS = {
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x81606G3051\x00\x00\x00\x00\x00\x00\x00\x00',
b'\xf1\x81606EA051\x00\x00\x00\x00\x00\x00\x00\x00',
b'\xf1\x81606EA051\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00TM MDPS C 1.00 1.01 56340-S2000 9129',
b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8409',
b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8409',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00TM MFC AT USA LHD 1.00 1.00 99211-S2000 180409',