Merge pull request commaai#202 from xx979xx/HKG_6.5

update
Maelstrom96 · Oct 25, 2019 · 15c04ee · 15c04ee
2 parents 31d5467 + e0bba9c
commit 15c04ee
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Showing 2 changed files with 6 additions and 2 deletions.
diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py
@@ -37,7 +37,11 @@ def create_lkas11(packer, car_fingerprint, apply_steer, steer_req, cnt, enabled,
     values["CF_Lkas_HbaOpt"] = lkas11["CF_Lkas_HbaOpt"] if keep_stock else 1
     values["CF_Lkas_FcwOpt_USM"] = lkas11["CF_Lkas_FcwOpt_USM"] if keep_stock else 2
     values["CF_Lkas_LdwsOpt_USM"] = lkas11["CF_Lkas_LdwsOpt_USM"] if keep_stock else 0
-
+  if car_fingerprint == CAR.KIA_OPTIMA:
+    values["CF_Lkas_Bca_R"] = 0
+    values["CF_Lkas_HbaOpt"] = lkas11["CF_Lkas_HbaOpt"] if keep_stock else 1
+    values["CF_Lkas_FcwOpt_USM"] = lkas11["CF_Lkas_FcwOpt_USM"] if keep_stock else 0
+
   dat = packer.make_can_msg("LKAS11", 0, values)[2]
 
   if car_fingerprint in CHECKSUM["crc8"]:

diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
@@ -82,7 +82,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), vin="", has_relay
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 2060. + STD_CARGO_KG
       ret.wheelbase = 3.01
-      ret.steerRatio = 16.5
+      ret.steerRatio = 12.069
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
       ret.minSteerSpeed = 60 * CV.KPH_TO_MS