EV6 long tuning (#26166)

* some matching and jerk limit

* update that

* one jerk limit

* little more

* more jerk

* bump opendbc

* update refs
old-commit-hash: b727f6cff4

opendbc

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

selfdrive/car/hyundai/carcontroller.py

@@ -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:

selfdrive/car/hyundai/carstate.py

@@ -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.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
-      ret.cruiseState.standstill = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STANDSTILL"] == 1
+      ret.cruiseState.standstill = cp_cruise_info.vl["SCC_CONTROL"]["CRUISE_STANDSTILL"] == 1
-      ret.cruiseState.enabled = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STATUS"] != 0
+      ret.cruiseState.enabled = cp_cruise_info.vl["SCC_CONTROL"]["ACCMode"] in (1, 2)
-      self.cruise_info = copy.copy(cp_cruise_info.vl["CRUISE_INFO"])
+      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"),
+        ("ACCMode", "SCC_CONTROL"),
-        ("SET_SPEED", "CRUISE_INFO"),
+        ("VSetDis", "SCC_CONTROL"),
-        ("CRUISE_STANDSTILL", "CRUISE_INFO"),
+        ("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"),
+        ("COUNTER", "SCC_CONTROL"),
-        ("NEW_SIGNAL_1", "CRUISE_INFO"),
+        ("NEW_SIGNAL_1", "SCC_CONTROL"),
-        ("CRUISE_MAIN", "CRUISE_INFO"),
+        ("MainMode_ACC", "SCC_CONTROL"),
-        ("CRUISE_STATUS", "CRUISE_INFO"),
+        ("ACCMode", "SCC_CONTROL"),
-        ("CRUISE_INACTIVE", "CRUISE_INFO"),
+        ("CRUISE_INACTIVE", "SCC_CONTROL"),
-        ("ZEROS_9", "CRUISE_INFO"),
+        ("ZEROS_9", "SCC_CONTROL"),
-        ("CRUISE_STANDSTILL", "CRUISE_INFO"),
+        ("CRUISE_STANDSTILL", "SCC_CONTROL"),
-        ("ZEROS_5", "CRUISE_INFO"),
+        ("ZEROS_5", "SCC_CONTROL"),
-        ("DISTANCE_SETTING", "CRUISE_INFO"),
+        ("DISTANCE_SETTING", "SCC_CONTROL"),
-        ("SET_SPEED", "CRUISE_INFO"),
+        ("VSetDis", "SCC_CONTROL"),
       ]
 
       checks = [
-        ("CRUISE_INFO", 50),
+        ("SCC_CONTROL", 50),
       ]
 
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6)

selfdrive/car/hyundai/hyundaicanfd.py

@@ -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,
+    "ACCMode": 4,
-    "CRUISE_INACTIVE": 1,
   })
-  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):
+def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_override, set_speed):
-  cruise_status = 0 if not enabled else (4 if gas_override else 2)
+  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,
+    "ACCMode": 0 if not enabled else (2 if gas_override else 1),
-    "CRUISE_INACTIVE": 0 if enabled else 1,
+    "MainMode_ACC": 1,
-    "CRUISE_MAIN": 1,
+    "StopReq": 1 if stopping else 0,
-    "CRUISE_STANDSTILL": 0,
+    "aReqValue": a_val,
-    "STOP_REQ": 1 if stopping else 0,
+    "aReqRaw": a_raw,
-    "ACCEL_REQ": accel,
+    "VSetDis": set_speed,
-    "ACCEL_REQ2": accel,
+    "JerkLowerLimit": jerk if enabled else 1,
-    "SET_SPEED": set_speed,
-    "DISTANCE_SETTING": 4,
 
     "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)
 
 
 

selfdrive/car/hyundai/interface.py

@@ -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:

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-e56c5a6ac5b87ee6083c9f92921e7198591f7b5d
+fc3a044c567a8702ed1500d745170c365dd6b3d4