From bc57172b36ecc4922dba699e48bf0d57a7f3d539 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 2 Dec 2022 23:46:26 -0800
Subject: [PATCH] Hyundai: setup alt steering limits (#26685)

* Hyundai: setup alt steering limits

* value

* bump panda
old-commit-hash: 122c3143589418b74dd6b658607ac5c8d43fb4af
---
 panda                                  | 2 +-
 selfdrive/car/hyundai/carcontroller.py | 3 ---
 selfdrive/car/hyundai/interface.py     | 4 ++++
 selfdrive/car/hyundai/values.py        | 8 ++++++++
 4 files changed, 13 insertions(+), 4 deletions(-)

diff --git a/panda b/panda
index 616450c52..4edd1a602 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 616450c525a7c1ef508f70f30e29547a606139aa
+Subproject commit 4edd1a602131ec2f09a604a4bd28e7d00e334458
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index e5fdbfd57..3f128b159 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -60,9 +60,6 @@ class CarController:
 
     # steering torque
     steer = actuators.steer
-    if self.CP.carFingerprint in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
-      # these cars have significantly more torque than most HKG; limit to 70% of max
-      steer = clip(steer, -0.7, 0.7)
     new_steer = int(round(steer * self.params.STEER_MAX))
     apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
 
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index cb4d9a968..7b157d048 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -267,6 +267,10 @@ class CarInterface(CarInterfaceBase):
     elif candidate in EV_CAR:
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_EV_GAS
 
+    if candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
+      ret.flags |= HyundaiFlags.ALT_LIMITS.value
+      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_ALT_LIMITS
+
     ret.centerToFront = ret.wheelbase * 0.4
 
     # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 7ecb07e7d..e5f180a51 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -39,6 +39,12 @@ class CarControllerParams:
                                CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO):
       self.STEER_MAX = 255
 
+    # these cars have significantly more torque than most HKG; limit to 70% of max
+    elif CP.flags & HyundaiFlags.ALT_LIMITS:
+      self.STEER_MAX = 270
+      self.STEER_DELTA_UP = 2
+      self.STEER_DELTA_DOWN = 3
+
     # Default for most HKG
     else:
       self.STEER_MAX = 384
@@ -50,6 +56,8 @@ class HyundaiFlags(IntFlag):
   CANFD_ALT_GEARS = 4
   CANFD_CAMERA_SCC = 8
 
+  ALT_LIMITS = 16
+
 
 class CAR:
   # Hyundai