From cf3eb44abc2a6af6475ef3a31defa8c87b74fbec Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Sat, 15 Oct 2022 15:27:34 -0400 Subject: [PATCH] Hyundai: CAN-FD Hybrid gas pressed signal (#26086) * Hyundai: Gate 0x105 behind hybrid CAN-FD only * Update values.py * bump panda Co-authored-by: Adeeb Shihadeh old-commit-hash: 553068f8c3afd9fd2c3a3a412dd20a8e03c6c58f --- panda | 2 +- selfdrive/car/hyundai/carstate.py | 4 ++-- selfdrive/car/hyundai/values.py | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/panda b/panda index 5962bcd08a..62868c36a8 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 5962bcd08ae4e7c5193535efb45cc9c39da52f54 +Subproject commit 62868c36a80d1f44064da7b47423f0ef331f64e9 diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 948634e974..5da1dd72c8 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -156,7 +156,7 @@ class CarState(CarStateBase): if self.CP.carFingerprint in EV_CAR: ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255. - else: + elif self.CP.carFingerprint in HYBRID_CAR: ret.gas = cp.vl["ACCELERATOR_ALT"]["ACCELERATOR_PEDAL"] / 1023. ret.gasPressed = ret.gas > 1e-5 ret.brakePressed = cp.vl["BRAKE"]["BRAKE_PRESSED"] == 1 @@ -466,7 +466,7 @@ class CarState(CarStateBase): checks += [ ("ACCELERATOR", 100), ] - else: + elif CP.carFingerprint in HYBRID_CAR: signals += [ ("ACCELERATOR_PEDAL", "ACCELERATOR_ALT"), ] diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 77759f1fa7..734e56c033 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1397,7 +1397,7 @@ CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN} # The camera does SCC on these cars, rather than the radar CAMERA_SCC_CAR = {CAR.KONA_EV_2022, } -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 +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, CAR.TUCSON_HYBRID_4TH_GEN} # 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} # these cars require a special panda safety mode due to missing counters and checksums in the messages