Longitudinal Control: ICE CAN-FD models

panda

@@ -1 +1 @@
-Subproject commit 8be950b887de9bda7d3098b3e5532bdd27087035
+Subproject commit eae8060f135b187b65200f5713cf1af04938da04

selfdrive/car/hyundai/carcontroller.py

@@ -5,7 +5,7 @@ from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.hyundai import hyundaicanfd, hyundaican
-from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
+from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR, CAMERA_SCC_CAR
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -84,7 +84,7 @@ class CarController:
     # *** common hyundai stuff ***
 
     # tester present - w/ no response (keeps relevant ECU disabled)
-    if self.frame % 100 == 0 and self.CP.openpilotLongitudinalControl:
+    if self.frame % 100 == 0 and self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in CAMERA_SCC_CAR:
       addr, bus = 0x7d0, 0
       if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
         addr, bus = 0x730, 5
@@ -107,7 +107,8 @@ class CarController:
         can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CP, CC.enabled))
 
       if self.CP.openpilotLongitudinalControl:
-        can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.frame))
+        if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
+          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,
                                                            set_speed_in_units))

selfdrive/car/hyundai/interface.py

@@ -303,7 +303,7 @@ class CarInterface(CarInterfaceBase):
       ret.longitudinalTuning.kiV = [0.0]
       ret.longitudinalActuatorDelayLowerBound = 0.15
       ret.longitudinalActuatorDelayUpperBound = 0.5
-      ret.experimentalLongitudinalAvailable = bool(ret.flags & HyundaiFlags.CANFD_HDA2)
+      ret.experimentalLongitudinalAvailable = bool(ret.flags & HyundaiFlags.CANFD_HDA2) or candidate in CAMERA_SCC_CAR
     else:
       ret.longitudinalTuning.kpV = [0.5]
       ret.longitudinalTuning.kiV = [0.0]

selfdrive/car/hyundai/values.py

@@ -1425,7 +1425,7 @@ FEATURES = {
 CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN}
 
 # The camera does SCC on these cars, rather than the radar
-CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
+CAMERA_SCC_CAR = {CAR.KONA_EV_2022, CAR.TUCSON_HYBRID_4TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN}
 
 HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019}  # these cars use a different gas signal
 EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5}