More ordering

screaminbug · Oct 22, 2018 · 845d0e0 · 845d0e0
1 parent 6625156
commit 845d0e0
Showing 1 changed file with 37 additions and 37 deletions.
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
@@ -72,43 +72,7 @@ def get_params(candidate, fingerprint):
     ret.steerActuatorDelay = 0.1  # Default delay
     tire_stiffness_factor = 0.85  # Given all tested vehicle so far run better with this reduced below 0.85, this will becomes the default for now
 
-    if candidate == CAR.SANTA_FE:
-      ret.steerKf = 0.00005
-      ret.steerRateCost = 0.5
-      ret.mass = 3982 * CV.LB_TO_KG + std_cargo
-      ret.wheelbase = 2.766
-
-      # Values from optimizer
-      ret.steerRatio = 16.55  # 13.8 is spec end-to-end
-      tire_stiffness_factor = 0.82
-
-      ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
-      ret.steerKpV, ret.steerKiV = [[0.37], [0.1]]
-      ret.minSteerSpeed = 0.
-    elif candidate == CAR.SANTA_FE_2:
-      ret.steerKf = 0.00005
-      ret.steerRateCost = 0.5
-      ret.mass = 3982 * CV.LB_TO_KG + std_cargo
-      ret.wheelbase = 2.766
-
-      # Values from optimizer
-      ret.steerRatio = 16.55  # 13.8 is spec end-to-end
-      tire_stiffness_factor = 0.82
-
-      ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
-      ret.steerKpV, ret.steerKiV = [[0.30], [0.05]]
-      ret.minSteerSpeed = 0.
-    elif candidate == CAR.KIA_SORENTO:
-      ret.steerKf = 0.00005
-      ret.steerRateCost = 0.5
-      ret.mass = 1985 + std_cargo
-      ret.wheelbase = 2.78
-      ret.steerRatio = 14.4         # Stock Value
-      tire_stiffness_factor = 0.75  # Based on testing
-      ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
-      ret.steerKpV, ret.steerKiV = [[0.20], [0.05]]
-      ret.minSteerSpeed = 0.
-    elif candidate == CAR.ELANTRA:
+    if candidate == CAR.ELANTRA:
       ret.steerKf = 0.00006
       ret.steerRateCost = 0.5
       ret.mass = 1275 + std_cargo
@@ -136,6 +100,16 @@ def get_params(candidate, fingerprint):
       ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
       ret.steerKpV, ret.steerKiV = [[0.16], [0.01]]
       ret.minSteerSpeed = 35 * CV.MPH_TO_MS
+    elif candidate == CAR.KIA_SORENTO:
+      ret.steerKf = 0.00005
+      ret.steerRateCost = 0.5
+      ret.mass = 1985 + std_cargo
+      ret.wheelbase = 2.78
+      ret.steerRatio = 14.4         # Stock Value
+      tire_stiffness_factor = 0.75  # Based on testing
+      ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
+      ret.steerKpV, ret.steerKiV = [[0.20], [0.05]]
+      ret.minSteerSpeed = 0.
     elif candidate == CAR.KIA_STINGER:
       ret.steerKf = 0.00005
       ret.steerRateCost = 0.5
@@ -156,6 +130,32 @@ def get_params(candidate, fingerprint):
       ret.steerKpBP, ret.steerKiBP = [[  0.,  9., 20., 34.], [  0.,  9., 20., 34.]]          
       ret.steerKpV, ret.steerKiV =   [[0.15,0.15,0.35,0.35], [0.03,0.03,0.01,0.01]]   # 0.15 had some ponging, 0.05 still had some
       ret.minSteerSpeed = 0.
+    elif candidate == CAR.SANTA_FE:
+      ret.steerKf = 0.00005
+      ret.steerRateCost = 0.5
+      ret.mass = 3982 * CV.LB_TO_KG + std_cargo
+      ret.wheelbase = 2.766
+
+      # Values from optimizer
+      ret.steerRatio = 16.55  # 13.8 is spec end-to-end
+      tire_stiffness_factor = 0.82
+
+      ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
+      ret.steerKpV, ret.steerKiV = [[0.37], [0.1]]
+      ret.minSteerSpeed = 0.
+    elif candidate == CAR.SANTA_FE_2:
+      ret.steerKf = 0.00005
+      ret.steerRateCost = 0.5
+      ret.mass = 3982 * CV.LB_TO_KG + std_cargo
+      ret.wheelbase = 2.766
+
+      # Values from optimizer
+      ret.steerRatio = 16.55  # 13.8 is spec end-to-end
+      tire_stiffness_factor = 0.82
+
+      ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
+      ret.steerKpV, ret.steerKiV = [[0.30], [0.05]]
+      ret.minSteerSpeed = 0.
 
     ret.minEnableSpeed = -1.   # enable is done by stock ACC, so ignore this
     ret.longitudinalKpBP = [0.]