Merge pull request commaai#191 from crwusiz/HKG_community

fix and update
DrFritzi · Dec 13, 2020 · 198e116 · 198e116
2 parents 3cdead8 + 50ea338
commit 198e116
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diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
@@ -145,6 +145,14 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
       ret.lateralTuning.pid.kf = 0.00005
       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.NEXO:
+      ret.mass = 1885. + STD_CARGO_KG
+      ret.wheelbase = 2.79
+      ret.steerRatio = 13.73
+      tire_stiffness_factor = 0.5
+      ret.lateralTuning.pid.kf = 0.00005
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]      
     # kia
     elif candidate == CAR.SORENTO:
       ret.mass = 1985. + STD_CARGO_KG