Car Support - 2020 Hyundai Palisade (#1382)

* Added support for the 2020 Hyundai Palisade

* Updated

* Apply suggestions from code review

Co-Authored-By: Willem Melching <willem.melching@gmail.com>

Co-authored-by: Willem Melching <willem.melching@gmail.com>

README.md

@@ -81,6 +81,8 @@ Supported Cars
 | Honda     | Pilot 2016-18                 | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | Pilot 2019                    | All               | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | Ridgeline 2017-20             | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Hyundai   | Sonata 2020                   | All               | Stock            | 0mph               | 0mph              |
+| Hyundai   | Palisade 2020                 | All               | Stock            | 0mph               | 0mph              |
 | Lexus     | CT Hybrid 2017-18             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Lexus     | ES 2019                       | All               | openpilot        | 0mph               | 0mph              |
 | Lexus     | ES Hybrid 2019                | All               | openpilot        | 0mph               | 0mph              |

selfdrive/car/hyundai/carcontroller.py

@@ -96,8 +96,7 @@ class CarController():
 
 
     # 20 Hz LFA MFA message
-    if frame % 5 == 0 and self.car_fingerprint == CAR.SONATA:
+    if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE]:
       can_sends.append(create_lfa_mfa(self.packer, frame, enabled))
 
-
     return can_sends

selfdrive/car/hyundai/hyundaican.py

@@ -19,7 +19,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
   values["CF_Lkas_MsgCount"] = frame % 0x10
   values["CF_Lkas_Chksum"] = 0
 
-  if car_fingerprint == CAR.SONATA:
+  if car_fingerprint in [CAR.SONATA, CAR.PALISADE]:
     values["CF_Lkas_Bca_R"] = int(left_lane) + (int(right_lane) << 1)
     values["CF_Lkas_LdwsOpt_USM"] = 2
 

selfdrive/car/hyundai/interface.py

@@ -46,6 +46,13 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
       ret.minSteerSpeed = 0.
+    elif candidate == CAR.PALISADE:
+      ret.lateralTuning.pid.kf = 0.00005
+      ret.mass = 1999. + STD_CARGO_KG
+      ret.wheelbase = 2.90
+      ret.steerRatio = 13.75 * 1.15
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
     elif candidate == CAR.KIA_SORENTO:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 1985. + STD_CARGO_KG

selfdrive/car/hyundai/values.py

@@ -30,6 +30,7 @@ class CAR:
   SANTA_FE = "HYUNDAI SANTA FE LIMITED 2019"
   SANTA_FE_1 = "HYUNDAI SANTA FE has no scc"
   SONATA = "HYUNDAI SONATA 2020"
+  PALISADE = "HYUNDAI PALISADE 2020"
 
 
 class Buttons:
@@ -125,6 +126,9 @@ FINGERPRINTS = {
   {
     68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 576: 8, 593: 8, 688: 5, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1265: 4, 1268: 8, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1420: 8, 1425: 2, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
   }],
+  CAR.PALISADE: [{
+    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 549: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1123: 8, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 2000: 8, 2005: 8, 2008: 8
+  }],
 }
 
 ECU_FINGERPRINT = {
@@ -132,7 +136,7 @@ ECU_FINGERPRINT = {
 }
 
 CHECKSUM = {
-  "crc8": [CAR.SANTA_FE, CAR.SONATA],
+  "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE],
   "6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
 }
 
@@ -159,6 +163,7 @@ DBC = {
   CAR.KONA_EV: dbc_dict('hyundai_kia_generic', None),
   CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', None),
   CAR.SONATA: dbc_dict('hyundai_kia_generic', None),
+  CAR.PALISADE: dbc_dict('hyundai_kia_generic', None),
 }
 
 STEER_THRESHOLD = 150