test lateral limits: remove Konas from blacklist (#27424)

* remove konas from blacklist

* update measured accel

* remove

* no longer needed
old-commit-hash: 8b8c4d810f

selfdrive/car/tests/test_lateral_limits.py

@@ -10,7 +10,6 @@ from common.realtime import DT_CTRL
 from selfdrive.car.car_helpers import interfaces
 from selfdrive.car.fingerprints import all_known_cars
 from selfdrive.car.interfaces import get_torque_params
-from selfdrive.car.hyundai.values import CAR as HYUNDAI
 
 CAR_MODELS = all_known_cars()
 
@@ -22,14 +21,6 @@ MAX_LAT_ACCEL = 3.0            # m/s^2
 # jerk is measured over half a second
 JERK_MEAS_FRAMES = 0.5 / DT_CTRL
 
-# TODO: update the max measured lateral accel for these cars
-ABOVE_LIMITS_CARS = [
-  HYUNDAI.KONA_EV,
-  HYUNDAI.KONA_HEV,
-  HYUNDAI.KONA,
-  HYUNDAI.KONA_EV_2022,
-]
-
 car_model_jerks: DefaultDict[str, Dict[str, float]] = defaultdict(dict)
 
 
@@ -52,9 +43,6 @@ class TestLateralLimits(unittest.TestCase):
     if CP.notCar:
       raise unittest.SkipTest
 
-    if CP.carFingerprint in ABOVE_LIMITS_CARS:
-      raise unittest.SkipTest
-
     CarControllerParams = importlib.import_module(f'selfdrive.car.{CP.carName}.values').CarControllerParams
     cls.control_params = CarControllerParams(CP)
     cls.torque_params = get_torque_params(cls.car_model)

selfdrive/car/torque_data/params.yaml

@@ -30,7 +30,7 @@ HYUNDAI IONIQ 5 2022: [3.172929, 2.713050, 0.096019]
 HYUNDAI IONIQ ELECTRIC LIMITED 2019: [1.7662975472852054, 1.613755614526594, 0.17087579756306276]
 HYUNDAI IONIQ PHEV 2020: [3.2928700076638537, 2.1193482926455656, 0.12463700961468778]
 HYUNDAI IONIQ PLUG-IN HYBRID 2019: [2.970807902012267, 1.6312321830002083, 0.1088964990357482]
-HYUNDAI KONA ELECTRIC 2019: [3.078814714619148, 3.2961956260770484, 0.12359762054065548]
+HYUNDAI KONA ELECTRIC 2019: [3.078814714619148, 2.307336938253934, 0.12359762054065548]
 HYUNDAI PALISADE 2020: [2.544642494803999, 1.8721703683337008, 0.1301424599248651]
 HYUNDAI SANTA FE 2019: [3.0787027729757632, 2.6173437483495565, 0.1207019341823945]
 HYUNDAI SANTA FE HYBRID 2022: [3.501877602644835, 2.729064118456137, 0.10384068104538963]