hyundai: increase steering angle limit for custom eps fw (#19744)

* hyundai: increase steering angle limit for custom eps fw

* update commit_ref
old-commit-hash: 2da6bb482e

selfdrive/car/hyundai/carcontroller.py

@@ -50,7 +50,7 @@ class CarController():
     self.steer_rate_limited = new_steer != apply_steer
 
     # disable if steer angle reach 90 deg, otherwise mdps fault in some models
-    lkas_active = enabled and abs(CS.out.steeringAngle) < 90.
+    lkas_active = enabled and abs(CS.out.steeringAngle) < CS.CP.maxSteerAngle
 
     # fix for Genesis hard fault at low speed
     if CS.out.vEgo < 16.7 and self.car_fingerprint == CAR.HYUNDAI_GENESIS:

selfdrive/car/hyundai/interface.py

@@ -27,6 +27,13 @@ class CarInterface(CarInterfaceBase):
     ret.steerLimitTimer = 0.4
     tire_stiffness_factor = 1.
 
+    ret.maxSteerAngle = 90.
+
+    eps_modified = False
+    for fw in car_fw:
+      if fw.ecu == "eps" and b"," in fw.fwVersion:
+        eps_modified = True
+
     if candidate == CAR.SANTA_FE:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
@@ -58,6 +65,8 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 13.75 * 1.15
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
+      if eps_modified:
+        ret.maxSteerAngle = 1000.
     elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
       ret.lateralTuning.pid.kf = 0.00006
       ret.mass = 1275. + STD_CARGO_KG

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-1043cab3ddb1b4b8d5d32a7a0c1a78af9e4f90b7
+3964f847c722e6e6a4b3876bbe9e9c8a354fb7f8