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openpilot_comma
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EV6 long tuning (#26166)

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* some matching and jerk limit

* update that

* one jerk limit

* little more

* more jerk

* bump opendbc

* update refs
old-commit-hash: b727f6cff4
taco
Adeeb Shihadeh 3 years ago committed by GitHub
parent eafe85c1eb
commit 8f4338cef4
6 changed files with 50 additions and 46 deletions
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  1. 2
      opendbc
  2. 4
      selfdrive/car/hyundai/carcontroller.py
  3. 38
      selfdrive/car/hyundai/carstate.py
  4. 44
      selfdrive/car/hyundai/hyundaicanfd.py
  5. 6
      selfdrive/car/hyundai/interface.py
  6. 2
      selfdrive/test/process_replay/ref_commit

2
opendbc

@ -1 +1 @@
Subproject commit 526e21da666aeeabcf2369c66903a5675fdf933b
Subproject commit b3dc569994fd10e4de04afd650980c51ddfce5e1

4
selfdrive/car/hyundai/carcontroller.py
Unescape View File

@ -49,6 +49,7 @@ class CarController:
self.angle_limit_counter = 0
self.frame = 0
self.accel_last = 0
self.apply_steer_last = 0
self.car_fingerprint = CP.carFingerprint
self.last_button_frame = 0
@ -123,8 +124,9 @@ class CarController:
if self.CP.openpilotLongitudinalControl:
can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.frame))
if self.frame % 2 == 0:
can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CP, CC.enabled, accel, stopping, CC.cruiseControl.override,
can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CP, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
set_speed_in_units))
self.accel_last = accel
else:
# button presses
if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:

38
selfdrive/car/hyundai/carstate.py
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@ -196,10 +196,10 @@ class CarState(CarStateBase):
if not self.CP.openpilotLongitudinalControl:
speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
cp_cruise_info = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam
ret.cruiseState.speed = cp_cruise_info.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor
ret.cruiseState.standstill = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STANDSTILL"] == 1
ret.cruiseState.enabled = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STATUS"] != 0
self.cruise_info = copy.copy(cp_cruise_info.vl["CRUISE_INFO"])
ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
ret.cruiseState.standstill = cp_cruise_info.vl["SCC_CONTROL"]["CRUISE_STANDSTILL"] == 1
ret.cruiseState.enabled = cp_cruise_info.vl["SCC_CONTROL"]["ACCMode"] in (1, 2)
self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"])
cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS"
self.prev_cruise_buttons = self.cruise_buttons[-1]
@ -464,12 +464,12 @@ class CarState(CarStateBase):
if CP.flags & HyundaiFlags.CANFD_HDA2 and not CP.openpilotLongitudinalControl:
signals += [
("CRUISE_STATUS", "CRUISE_INFO"),
("SET_SPEED", "CRUISE_INFO"),
("CRUISE_STANDSTILL", "CRUISE_INFO"),
("ACCMode", "SCC_CONTROL"),
("VSetDis", "SCC_CONTROL"),
("CRUISE_STANDSTILL", "SCC_CONTROL"),
]
checks += [
("CRUISE_INFO", 50),
("SCC_CONTROL", 50),
]
if CP.carFingerprint in EV_CAR:
@ -497,20 +497,20 @@ class CarState(CarStateBase):
checks = [("CAM_0x2a4", 20)]
else:
signals = [
("COUNTER", "CRUISE_INFO"),
("NEW_SIGNAL_1", "CRUISE_INFO"),
("CRUISE_MAIN", "CRUISE_INFO"),
("CRUISE_STATUS", "CRUISE_INFO"),
("CRUISE_INACTIVE", "CRUISE_INFO"),
("ZEROS_9", "CRUISE_INFO"),
("CRUISE_STANDSTILL", "CRUISE_INFO"),
("ZEROS_5", "CRUISE_INFO"),
("DISTANCE_SETTING", "CRUISE_INFO"),
("SET_SPEED", "CRUISE_INFO"),
("COUNTER", "SCC_CONTROL"),
("NEW_SIGNAL_1", "SCC_CONTROL"),
("MainMode_ACC", "SCC_CONTROL"),
("ACCMode", "SCC_CONTROL"),
("CRUISE_INACTIVE", "SCC_CONTROL"),
("ZEROS_9", "SCC_CONTROL"),
("CRUISE_STANDSTILL", "SCC_CONTROL"),
("ZEROS_5", "SCC_CONTROL"),
("DISTANCE_SETTING", "SCC_CONTROL"),
("VSetDis", "SCC_CONTROL"),
]
checks = [
("CRUISE_INFO", 50),
("SCC_CONTROL", 50),
]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6)

44
selfdrive/car/hyundai/hyundaicanfd.py
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@ -1,3 +1,4 @@
from common.numpy_fast import clip
from selfdrive.car.hyundai.values import HyundaiFlags
@ -52,10 +53,9 @@ def create_buttons(packer, CP, cnt, btn):
def create_acc_cancel(packer, CP, cruise_info_copy):
values = cruise_info_copy
values.update({
"CRUISE_STATUS": 0,
"CRUISE_INACTIVE": 1,
"ACCMode": 4,
})
return packer.make_can_msg("CRUISE_INFO", get_e_can_bus(CP), values)
return packer.make_can_msg("SCC_CONTROL", get_e_can_bus(CP), values)
def create_lfahda_cluster(packer, CP, enabled):
values = {
@ -65,33 +65,37 @@ def create_lfahda_cluster(packer, CP, enabled):
return packer.make_can_msg("LFAHDA_CLUSTER", get_e_can_bus(CP), values)
def create_acc_control(packer, CP, enabled, accel, stopping, gas_override, set_speed):
cruise_status = 0 if not enabled else (4 if gas_override else 2)
def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_override, set_speed):
jerk = 5
jn = jerk / 50
if not enabled or gas_override:
accel = 0
a_val, a_raw = 0, 0
else:
a_raw = accel
a_val = clip(accel, accel_last - jn, accel_last + jn)
if stopping:
a_raw = 0
values = {
"CRUISE_STATUS": cruise_status,
"CRUISE_INACTIVE": 0 if enabled else 1,
"CRUISE_MAIN": 1,
"CRUISE_STANDSTILL": 0,
"STOP_REQ": 1 if stopping else 0,
"ACCEL_REQ": accel,
"ACCEL_REQ2": accel,
"SET_SPEED": set_speed,
"DISTANCE_SETTING": 4,
"ACCMode": 0 if not enabled else (2 if gas_override else 1),
"MainMode_ACC": 1,
"StopReq": 1 if stopping else 0,
"aReqValue": a_val,
"aReqRaw": a_raw,
"VSetDis": set_speed,
"JerkLowerLimit": jerk if enabled else 1,
"ACC_ObjDist": 1,
"ObjValid": 1,
"ObjValid": 0,
"OBJ_STATUS": 2,
"SET_ME_2": 0x2,
"SET_ME_2": 0x4,
"SET_ME_3": 0x3,
"SET_ME_TMP_64": 0x64,
"NEW_SIGNAL_9": 2,
"NEW_SIGNAL_10": 4,
"DISTANCE_SETTING": 4,
}
return packer.make_can_msg("CRUISE_INFO", get_e_can_bus(CP), values)
return packer.make_can_msg("SCC_CONTROL", get_e_can_bus(CP), values)

6
selfdrive/car/hyundai/interface.py
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@ -202,14 +202,10 @@ class CarInterface(CarInterfaceBase):
if candidate in CANFD_CAR:
ret.longitudinalTuning.kpV = [0.1]
ret.longitudinalTuning.kiV = [0.0]
ret.longitudinalActuatorDelayLowerBound = 0.15
ret.longitudinalActuatorDelayUpperBound = 0.5
ret.experimentalLongitudinalAvailable = bool(ret.flags & HyundaiFlags.CANFD_HDA2)
else:
ret.longitudinalTuning.kpV = [0.5]
ret.longitudinalTuning.kiV = [0.0]
ret.longitudinalActuatorDelayLowerBound = 0.5
ret.longitudinalActuatorDelayUpperBound = 0.5
ret.experimentalLongitudinalAvailable = candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR)
ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
ret.pcmCruise = not ret.openpilotLongitudinalControl
@ -218,6 +214,8 @@ class CarInterface(CarInterfaceBase):
ret.startingState = True
ret.vEgoStarting = 0.1
ret.startAccel = 2.0
ret.longitudinalActuatorDelayLowerBound = 0.5
ret.longitudinalActuatorDelayUpperBound = 0.5
# *** feature detection ***
if candidate in CANFD_CAR:

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
e56c5a6ac5b87ee6083c9f92921e7198591f7b5d
fc3a044c567a8702ed1500d745170c365dd6b3d4
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