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CAR.GENESIS_G80 has incorrect parameters (#1499) 

Hyundai Genesis 2015-2016 is similar to Genesis G80. The Genesis G90 is the larger vehicle. These are grouped wrongly.
albatross
xps-genesis 2020-05-13 16:14:52 -04:00 committed by GitHub
parent af70256bc1
commit 38cdc5777f
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 2 additions and 2 deletions
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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 == CAR.HYUNDAI_GENESIS:
elif candidate in [CAR.HYUNDAI_GENESIS, CAR.GENESIS_G80]:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
@ -75,7 +75,7 @@ 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 in [CAR.GENESIS_G90, CAR.GENESIS_G80]:
elif candidate == CAR.GENESIS_G90:
ret.mass = 2200
ret.wheelbase = 3.15
ret.steerRatio = 12.069