From 67aec50b88cf1a65ae44940a4594d893a384bbc6 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 1 Oct 2020 13:16:51 -0700
Subject: [PATCH] Increase HKG torque limit (#2249)

* increase hkg torque limit

* update refs

* bump panda
---
 panda                                    |  2 +-
 selfdrive/car/hyundai/carcontroller.py   |  6 ++++--
 selfdrive/car/hyundai/values.py          | 16 ++++++++++------
 selfdrive/test/process_replay/ref_commit |  2 +-
 4 files changed, 16 insertions(+), 10 deletions(-)

diff --git a/panda b/panda
index 09997428f3..9fb584b20c 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 09997428f3417c6eb137dffe1b7639455401efaa
+Subproject commit 9fb584b20cbbee80aa3e4c98416da726dcd4c1f2
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 5e309e4d2c..c47545ef22 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -43,11 +43,13 @@ class CarController():
     self.steer_rate_limited = False
     self.last_resume_frame = 0
 
+    self.p = SteerLimitParams(CP)
+
   def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert,
              left_lane, right_lane, left_lane_depart, right_lane_depart):
     # Steering Torque
-    new_steer = actuators.steer * SteerLimitParams.STEER_MAX
-    apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, SteerLimitParams)
+    new_steer = actuators.steer * self.p.STEER_MAX
+    apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
     self.steer_rate_limited = new_steer != apply_steer
 
     # disable if steer angle reach 90 deg, otherwise mdps fault in some models
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 9a39cb8f31..c36ecbd96e 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -6,12 +6,16 @@ Ecu = car.CarParams.Ecu
 
 # Steer torque limits
 class SteerLimitParams:
-  STEER_MAX = 255   # 409 is the max, 255 is stock
-  STEER_DELTA_UP = 3
-  STEER_DELTA_DOWN = 7
-  STEER_DRIVER_ALLOWANCE = 50
-  STEER_DRIVER_MULTIPLIER = 2
-  STEER_DRIVER_FACTOR = 1
+  def __init__(self, CP):
+    if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE]:
+      self.STEER_MAX = 384
+    else:
+      self.STEER_MAX = 255
+    self.STEER_DELTA_UP = 3
+    self.STEER_DELTA_DOWN = 7
+    self.STEER_DRIVER_ALLOWANCE = 50
+    self.STEER_DRIVER_MULTIPLIER = 2
+    self.STEER_DRIVER_FACTOR = 1
 
 
 class CAR:
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 8bf71acfd2..5ad9a65ade 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-45b676ebf79e402b5482b5fbadcc8147fdb8a1f8
\ No newline at end of file
+eaa9ac421abee09dfc2bac3b85423d3980f6e67b
\ No newline at end of file