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Split G80 from Hyundai Genesis (#1502) 

Previous commit moved G80 from G90 grouping to Hyundai Genesis grouping.
Bug found as minSteerSpeed is 0 for G80 but 60 for Hyundai Genesis.
Taking @pd0wm recommendation and  ungrouping G80 to its own.
albatross
xps-genesis 2020-05-13 18:31:30 -04:00 committed by GitHub
parent b0aa834eaf
commit 2c39133c09
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 8 additions and 1 deletions
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9
selfdrive/car/hyundai/interface.py
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@ -67,7 +67,7 @@ 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]]
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate in [CAR.HYUNDAI_GENESIS, CAR.GENESIS_G80]:
elif candidate == CAR.HYUNDAI_GENESIS:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
@ -75,6 +75,13 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
ret.minSteerSpeed = 60 * CV.KPH_TO_MS
elif candidate == CAR.GENESIS_G80:
ret.lateralTuning.pid.kf = 0.00005
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]]
elif candidate == CAR.GENESIS_G90:
ret.mass = 2200
ret.wheelbase = 3.15