Genesis G70 fingerprint and tuning (#2491)
* Modify tuning and values.py for G70 support * revert ignored fingerprint change Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
This commit is contained in:
parent
496107321b
commit
548d92490d
|
@ -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
|
||||
|
|
|
@ -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
|
||||
|
|
Loading…
Reference in a new issue