sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Hyundai: remove longitudinal whitelist (#22976)

Browse Source 
* Hyundai: remove longitudinal whitelist

* move legacy safety mode into values.py

Co-authored-by: Willem Melching <willem.melching@gmail.com>
pull/22983/head
Adeeb Shihadeh 3 years ago committed by GitHub
parent e13630dfee
commit 9abfc02148
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 6 additions and 6 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 9
      selfdrive/car/hyundai/interface.py
  2. 3
      selfdrive/car/hyundai/values.py

9
selfdrive/car/hyundai/interface.py
Unescape View File

@ -3,7 +3,7 @@ from cereal import car
from panda import Panda from panda import Panda
from common.params import Params from common.params import Params
from selfdrive.config import Conversions as CV from selfdrive.config import Conversions as CV
from selfdrive.car.hyundai.values import CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams from selfdrive.car.hyundai.values import CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.interfaces import CarInterfaceBase
@ -26,7 +26,7 @@ class CarInterface(CarInterfaceBase):
ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1]
# WARNING: disabling radar also disables AEB (and we show the same warning on the instrument cluster as if you manually disabled AEB) # WARNING: disabling radar also disables AEB (and we show the same warning on the instrument cluster as if you manually disabled AEB)
ret.openpilotLongitudinalControl = Params().get_bool("DisableRadar") and candidate in [CAR.SONATA, CAR.SONATA_HYBRID, CAR.PALISADE, CAR.SANTA_FE, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020] ret.openpilotLongitudinalControl = Params().get_bool("DisableRadar") and (candidate not in LEGACY_SAFETY_MODE_CAR)
ret.pcmCruise = not ret.openpilotLongitudinalControl ret.pcmCruise = not ret.openpilotLongitudinalControl
@ -254,10 +254,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
# these cars require a special panda safety mode due to missing counters and checksums in the messages # these cars require a special panda safety mode due to missing counters and checksums in the messages
if candidate in [CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, if candidate in LEGACY_SAFETY_MODE_CAR:
CAR.SONATA_LF, CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER,
CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022]:
assert not ret.openpilotLongitudinalControl # Legacy safety mode doesn't support longitudinal
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)] ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
# set appropriate safety param for gas signal # set appropriate safety param for gas signal

3
selfdrive/car/hyundai/values.py
Unescape View File

@ -968,6 +968,9 @@ FEATURES = {
HYBRID_CAR = set([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]) # these cars use a different gas signal HYBRID_CAR = set([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]) # these cars use a different gas signal
EV_CAR = set([CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV]) EV_CAR = set([CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV])
# these cars require a special panda safety mode due to missing counters and checksums in the messages
LEGACY_SAFETY_MODE_CAR = set([CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022])
# If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points. # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
# If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py # If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py
DBC = { DBC = {

Write Preview
Loading…
Cancel
Save