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add support for Sonata 2019 (#1538)

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* add sonata interface

update values.py

update values.py

* change sonata_1 to sonata_2019

* add sonata 2019 and forte 2019 to README

prettier fucked me up pretty hard at first
sdfsd

* update README.md

* mock test
pull/1547/head
Alice Knag 5 years ago committed by GitHub
parent 5870b48210
commit fde1a5e9af
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4 changed files with 16 additions and 3 deletions
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  1. 4
      README.md
  2. 7
      selfdrive/car/hyundai/interface.py
  3. 7
      selfdrive/car/hyundai/values.py
  4. 1
      selfdrive/test/test_car_models.py

4
README.md
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@ -146,10 +146,10 @@ Community Maintained Cars and Features
| Hyundai | Kona 2019 EV<sup>2</sup> | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Palisade 2020<sup>2</sup> | All | Stock | 0mph | 0mph |
| Hyundai | Santa Fe 2019 | All | Stock | 0mph | 0mph |
| Hyundai | Sonata 2020 | All | Stock | 0mph | 0mph |
| Hyundai | Sonata 2019-20 | All | Stock | 0mph | 0mph |
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
| Jeep | Grand Cherokee 2019 | Adaptive Cruise | Stock | 0mph | 39mph |
| Kia | Forte 2018<sup>2</sup> | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Forte 2018-19<sup>2</sup> | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Optima 2017<sup>2</sup> | SCC + LKAS/LDWS | Stock | 0mph | 32mph |
| Kia | Optima 2019<sup>2</sup> | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Sorento 2018<sup>2</sup> | SCC + LKAS | Stock | 0mph | 0mph |

7
selfdrive/car/hyundai/interface.py
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@ -43,6 +43,13 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
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.SONATA_2019:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 4497. * CV.LB_TO_KG
ret.wheelbase = 2.804
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
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.PALISADE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1999. + STD_CARGO_KG

7
selfdrive/car/hyundai/values.py
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@ -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"
SONATA_2019 = "HYUNDAI SONATA 2019"
PALISADE = "HYUNDAI PALISADE 2020"
@ -79,6 +80,9 @@ FINGERPRINTS = {
CAR.SONATA: [
{67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 545: 8, 546: 8, 547: 8, 548: 8, 549: 8, 550: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 8, 865: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 908: 8, 909: 8, 912: 7, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1089: 5, 1107: 5, 1108: 8, 1114: 8, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1184: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1268: 8, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1330: 8, 1339: 8, 1342: 6, 1343: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1394: 8, 1407: 8, 1419: 8, 1427: 6, 1446: 8, 1456: 4, 1460: 8, 1470: 8, 1485: 8, 1504: 3},
],
CAR.SONATA_2019: [
{66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1397: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2008: 8, 2009: 8, 2012: 8, 2013: 8, 2014: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8},
],
CAR.KIA_OPTIMA: [
{
64: 8, 66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1186: 2, 1191: 2, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 1952: 8, 1960: 8, 1988: 8, 1996: 8, 2001: 8, 2004: 8, 2008: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
@ -153,7 +157,7 @@ CHECKSUM = {
FEATURES = {
"use_cluster_gears": [CAR.ELANTRA, CAR.KONA, CAR.ELANTRA_GT_I30], # Use Cluster for Gear Selection, rather than Transmission
"use_tcu_gears": [CAR.KIA_OPTIMA], # Use TCU Message for Gear Selection
"use_tcu_gears": [CAR.KIA_OPTIMA, CAR.SONATA_2019], # Use TCU Message for Gear Selection
"use_elect_gears": [CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV], # Use TCU Message for Gear Selection
}
@ -174,6 +178,7 @@ 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.SONATA_2019: dbc_dict('hyundai_kia_generic', None),
CAR.PALISADE: dbc_dict('hyundai_kia_generic', None),
}

1
selfdrive/test/test_car_models.py
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@ -390,6 +390,7 @@ non_tested_cars = [
HYUNDAI.KIA_STINGER,
HYUNDAI.KONA,
HYUNDAI.KONA_EV,
HYUNDAI.SONATA_2019,
TOYOTA.CAMRYH,
TOYOTA.CHR,
TOYOTA.CHRH,

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