[Lag] Increase Optima Lag (#32583)

increase lag in optima to 0.2
commaai · Jun 6, 2024 · e8857a6 · e8857a6
1 parent 983063c
commit e8857a6
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
@@ -75,6 +75,9 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.steerLimitTimer = 0.4
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
+    if candidate == CAR.KIA_OPTIMA_G4_FL:
+      ret.steerActuatorDelay = 0.2
+
     # *** longitudinal control ***
     if candidate in CANFD_CAR:
       ret.longitudinalTuning.kpV = [0.1]