diff --git a/RELEASES.md b/RELEASES.md
index e8b3b7c69f..304df61cba 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -2,6 +2,7 @@ Version 0.8.14 (2022-0X-XX)
========================
* bigmodel!
* comma body support
+ * Hyundai Tucson Diesel 2019 support thanks to sunnyhaibin!
* Toyota Alphard Hybrid 2021 support
* Toyota Avalon Hybrid 2022 support
diff --git a/docs/CARS.md b/docs/CARS.md
index d0cf1c88ba..b5c0128d9c 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -92,6 +92,7 @@ How We Rate The Cars
|Hyundai|Santa Fe Hybrid 2022|All|
|
||||
|Hyundai|Santa Fe Plug-in Hybrid 2022|All||||||
|Hyundai|Sonata 2018-19|SCC + LKAS||||||
+|Hyundai|Tucson Diesel 2019|SCC + LKAS||||||
|Kia|Ceed 2019|SCC + LKAS||||||
|Kia|Forte 2018-21|SCC + LKAS||||||
|Kia|K5 2021-22|SCC + LFA||||||
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 3821b6634c..4bb24ba4ea 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -146,6 +146,14 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 0.5
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.TUCSON_DIESEL_2019:
+ ret.lateralTuning.pid.kf = 0.00005
+ ret.mass = 3633. * CV.LB_TO_KG
+ ret.wheelbase = 2.67
+ ret.steerRatio = 14.00 * 1.15
+ 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]]
# Kia
elif candidate == CAR.KIA_SORENTO:
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 9e5f5d8cbd..0263daee3a 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -49,6 +49,7 @@ class CAR:
SANTA_FE_PHEV_2022 = "HYUNDAI SANTA FE PlUG-IN HYBRID 2022"
SONATA = "HYUNDAI SONATA 2020"
SONATA_LF = "HYUNDAI SONATA 2019"
+ TUCSON_DIESEL_2019 = "HYUNDAI TUCSON DIESEL 2019"
PALISADE = "HYUNDAI PALISADE 2020"
VELOSTER = "HYUNDAI VELOSTER 2019"
SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021"
@@ -98,6 +99,7 @@ CAR_INFO: Dict[str, Union[HyundaiCarInfo, List[HyundaiCarInfo]]] = {
CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All"),
CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-22", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw"),
CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19"),
+ CAR.TUCSON_DIESEL_2019: HyundaiCarInfo("Hyundai Tucson Diesel 2019", "SCC + LKAS"),
CAR.PALISADE: [
HyundaiCarInfo("Hyundai Palisade 2020-21", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456"),
HyundaiCarInfo("Kia Telluride 2020"),
@@ -465,6 +467,20 @@ FW_VERSIONS = {
b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm',
],
},
+ CAR.TUCSON_DIESEL_2019: {
+ (Ecu.fwdRadar, 0x7d0, None): [
+ b'\xf1\x00TL__ FCA F-CUP 1.00 1.01 99110-D3500 ',
+ ],
+ (Ecu.engine, 0x7e0, None): [
+ b'\xf1\x8971TLC2NAIDDIR002\xf1\x8271TLC2NAIDDIR002',
+ ],
+ (Ecu.fwdCamera, 0x7c4, None): [
+ b'\xf1\x00TL MFC AT KOR LHD 1.00 1.02 95895-D3800 180719',
+ ],
+ (Ecu.transmission, 0x7e1, None): [
+ b'\xf1\x87LBJXAN202299KF22\x87x\x87\x88ww\x87xx\x88\x97\x88\x87\x88\x98x\x88\x99\x98\x89\x87o\xf6\xff\x87w\x7f\xff\x12\x9a\xf1\x81U083\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U083\x00\x00\x00\x00\x00\x00TTL2V20KL1\x8fRn\x8a',
+ ],
+ },
CAR.SANTA_FE: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00TM__ SCC F-CUP 1.00 1.01 99110-S2000 ',
@@ -1118,11 +1134,11 @@ CHECKSUM = {
FEATURES = {
# which message has the gear
"use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA},
- "use_tcu_gears": {CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER},
+ "use_tcu_gears": {CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON_DIESEL_2019},
"use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021,CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022},
# these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
- "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022},
+ "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON_DIESEL_2019},
}
HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022} # these cars use a different gas signal
@@ -1167,6 +1183,7 @@ DBC = {
CAR.SANTA_FE_PHEV_2022: dbc_dict('hyundai_kia_generic', None),
CAR.SONATA: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
CAR.SONATA_LF: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format
+ CAR.TUCSON_DIESEL_2019: dbc_dict('hyundai_kia_generic', None),
CAR.PALISADE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
CAR.VELOSTER: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None),
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 7f7c0c5dcc..6b3d6ffe66 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -81,6 +81,7 @@ routes = [
TestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
TestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA),
TestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF),
+ TestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON_DIESEL_2019),
TestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
TestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE),
TestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.IONIQ_PHEV),