From c757454acc78010b821db9bd537f33adb2d60ae8 Mon Sep 17 00:00:00 2001
From: ineworld <57705361+ineworld@users.noreply.github.com>
Date: Sun, 1 Mar 2020 12:10:20 +0900
Subject: [PATCH] Tuning Values for Ioniq

---
 selfdrive/car/hyundai/interface.py | 14 ++++++++------
 1 file changed, 8 insertions(+), 6 deletions(-)

diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index ec45f0016bd3bc..51d813f985a21b 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -118,13 +118,14 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
       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.IONIQ:
-      ret.lateralTuning.pid.kf = 0.00006
+      ret.lateralTuning.pid.kf = 0.00004
       ret.mass = 1275. + STD_CARGO_KG
       ret.wheelbase = 2.7
-      ret.steerRatio = 13.73   #Spec
+      ret.steerRatio = 10.1   #Spec
       tire_stiffness_factor = 0.385
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13], [0.009]]
+      ret.steerRateCost = 0.8
     elif candidate == CAR.KONA_EV:
       ret.lateralTuning.pid.kf = 0.00006
       ret.mass = 1685. + STD_CARGO_KG
@@ -134,14 +135,15 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
       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.IONIQ_EV_LTD:
-      ret.lateralTuning.pid.kf = 0.00006
+      ret.lateralTuning.pid.kf = 0.00004
       ret.mass = 1490. + STD_CARGO_KG   #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
       ret.wheelbase = 2.7
-      ret.steerRatio = 13.73   #Spec
+      ret.steerRatio = 10.1   #Tuned
       tire_stiffness_factor = 0.385
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13], [0.009]]
       ret.minSteerSpeed = 32 * CV.MPH_TO_MS
+      ret.steerRateCost = 0.8 
     elif candidate == CAR.KIA_FORTE:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 3558. * CV.LB_TO_KG