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Cleanup redundant min steer speed in hyundai

pull/1442/head
Willem Melching 2020-04-30 10:36:34 -07:00
parent 90c9073250
commit 5777701b42
1 changed files with 2 additions and 4 deletions
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6
selfdrive/car/hyundai/interface.py
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@ -28,6 +28,8 @@ class CarInterface(CarInterfaceBase):
ret.steerLimitTimer = 0.4
tire_stiffness_factor = 1.
ret.minSteerSpeed = 0.
if candidate == CAR.SANTA_FE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
@ -37,7 +39,6 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]]
ret.minSteerSpeed = 0.
elif candidate == CAR.SONATA:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1513. + STD_CARGO_KG
@ -45,7 +46,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
ret.minSteerSpeed = 0.
elif candidate == CAR.PALISADE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1999. + STD_CARGO_KG
@ -60,7 +60,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
ret.minSteerSpeed = 0.
elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1275. + STD_CARGO_KG
@ -99,7 +98,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
ret.minSteerSpeed = 0.
elif candidate == CAR.KONA:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1275. + STD_CARGO_KG