Increase HKG torque limit (#2249)

* increase hkg torque limit

* update refs

* bump panda

panda

@@ -1 +1 @@
-Subproject commit 09997428f3417c6eb137dffe1b7639455401efaa
+Subproject commit 9fb584b20cbbee80aa3e4c98416da726dcd4c1f2

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
+    new_steer = actuators.steer * self.p.STEER_MAX
-    apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, SteerLimitParams)
+    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

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
+  def __init__(self, CP):
-  STEER_DELTA_UP = 3
+    if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE]:
-  STEER_DELTA_DOWN = 7
+      self.STEER_MAX = 384
-  STEER_DRIVER_ALLOWANCE = 50
+    else:
-  STEER_DRIVER_MULTIPLIER = 2
+      self.STEER_MAX = 255
-  STEER_DRIVER_FACTOR = 1
+    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:

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-45b676ebf79e402b5482b5fbadcc8147fdb8a1f8
+eaa9ac421abee09dfc2bac3b85423d3980f6e67b