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firestar5683
2026-05-05 21:03:40 -05:00
parent cd9115b0b2
commit 8ec27d25c5
4 changed files with 35 additions and 21 deletions
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opendbc_repo/opendbc/car/hyundai/carcontroller.py
+6 -4
View File
@@ -55,6 +55,7 @@ IONIQ_6_STOP_RELEASE_JERK_V = [3.6 * IONIQ_6_RESPONSE_MULTIPLIER,
4.8 * IONIQ_6_RESPONSE_MULTIPLIER]
IONIQ_6_IPEDAL_PRESS_SEND_COUNT = 6
IONIQ_6_IPEDAL_LATCH_PRESS_SEND_COUNT = 10
IONIQ_6_IPEDAL_PADDLE_BURST_COUNT = 3
IONIQ_6_MAX_REGEN_STATE = 0x3C
IONIQ_6_MAX_REGEN_STATE_2 = 0x01
IONIQ_6_IPEDAL_REGEN_STATE = 0x50
@@ -319,12 +320,13 @@ class CarController(CarControllerBase):
self._ioniq_6_regen_request_sent = False
# Mirror the current stock counter after seeing the real CRUISE_BUTTONS frame land on the bus.
# Sending the next counter early creates a paddle frame that gets followed by the stock no-paddle
# frame for that same counter, which matches the "UI changed but drivetrain didn't latch" behavior.
# A single duplicate was enough to move the cluster-facing state, but not enough to reliably beat
# the stock no-paddle frame for the actual drivetrain latch path.
if self._ioniq_6_always_ipedal_press_remaining > 0 and buttons_counter_changed and \
0 <= buttons_counter < hyundaicanfd.IONIQ_6_CRUISE_BUTTONS_COUNTER_MAX:
can_sends.append(hyundaicanfd.create_ioniq_6_paddle_buttons(self.packer, self.CP, self.CAN,
buttons_counter, left_paddle=True))
paddle_msg = hyundaicanfd.create_ioniq_6_paddle_buttons(self.packer, self.CP, self.CAN,
buttons_counter, left_paddle=True)
can_sends.extend([paddle_msg] * IONIQ_6_IPEDAL_PADDLE_BURST_COUNT)
self._ioniq_6_always_ipedal_press_remaining -= 1
if self._ioniq_6_always_ipedal_press_remaining == 0:
retry_wait_frames = IONIQ_6_IPEDAL_PROGRESS_RETRY_WAIT_FRAMES if regen_state_changed else IONIQ_6_IPEDAL_RETRY_WAIT_FRAMES
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+6 -3
View File
@@ -8,7 +8,8 @@ from opendbc.car import Bus, ButtonType, gen_empty_fingerprint, structs
from opendbc.car.structs import CarControl, CarParams
from opendbc.car.fw_versions import build_fw_dict, match_fw_to_car
from opendbc.car.hyundai.carcontroller import CarController, Ioniq6LongitudinalTuningState, GenesisG90LongitudinalTuningState, \
update_ioniq_6_longitudinal_tuning, update_genesis_g90_longitudinal_tuning
IONIQ_6_IPEDAL_PADDLE_BURST_COUNT, update_ioniq_6_longitudinal_tuning, \
update_genesis_g90_longitudinal_tuning
from opendbc.car.hyundai.carstate import CarState, decode_ioniq_6_blindspot_radar_state, decode_ioniq_6_ipedal_intermediate_state, \
decode_ioniq_6_ipedal_state, decode_ioniq_6_max_regen_state
from opendbc.car.hyundai.interface import CarInterface
@@ -401,6 +402,7 @@ class TestHyundaiFingerprint:
parser.update([(1, sends)])
assert sends
assert len([msg for msg in sends if msg[0] == 0x1CF]) == IONIQ_6_IPEDAL_PADDLE_BURST_COUNT
assert sends[0][1].hex() == "4650002800000000"
assert parser.vl["CRUISE_BUTTONS"]["LEFT_PADDLE"] == 1
assert parser.vl["CRUISE_BUTTONS"]["COUNTER"] == 5
@@ -418,6 +420,7 @@ class TestHyundaiFingerprint:
sends = controller._update_ioniq_6_always_ipedal(cc, cs, toggles)
assert sends
assert len([msg for msg in sends if msg[0] == 0x1CF]) == IONIQ_6_IPEDAL_PADDLE_BURST_COUNT
assert sends[0][1].hex() == "9060002800000000"
assert controller._ioniq_6_always_ipedal_pending
assert controller._ioniq_6_always_ipedal_startup_park_done
@@ -527,7 +530,7 @@ class TestHyundaiFingerprint:
controller._ioniq_6_last_regen_control_counter = 0x13
sends = controller._update_ioniq_6_always_ipedal(cc, cs, toggles)
assert any(msg[0] == 0x1CF for msg in sends)
assert len([msg for msg in sends if msg[0] == 0x1CF]) == IONIQ_6_IPEDAL_PADDLE_BURST_COUNT
regen_cmd = next(msg for msg in sends if msg[0] == 0x25A)
assert regen_cmd[1][24:28] == bytes.fromhex("c00c1200")
checksum = hyundaicanfd.hkg_can_fd_checksum(regen_cmd[0], None, bytearray(regen_cmd[1]))
@@ -538,7 +541,7 @@ class TestHyundaiFingerprint:
cs.ioniq_6_regen_control_msg = dict(cs.ioniq_6_regen_control_msg, COUNTER=0x15)
sends = controller._update_ioniq_6_always_ipedal(cc, cs, toggles)
assert any(msg[0] == 0x1CF for msg in sends)
assert len([msg for msg in sends if msg[0] == 0x1CF]) == IONIQ_6_IPEDAL_PADDLE_BURST_COUNT
assert not any(msg[0] == 0x25A for msg in sends)
def test_ioniq_6_longitudinal_params_match_canfd_tune(self):
selfdrive/controls/lib/latcontrol_torque.py
+11 -11
View File
@@ -49,7 +49,7 @@ MIN_LATERAL_CONTROL_SPEED = 0.3
CIVIC_BOSCH_MODIFIED_B_FIXED_FRICTION_THRESHOLD = 0.30
CIVIC_BOSCH_MODIFIED_B_LAT_ACCEL_FACTOR_MULT = 1.20
CIVIC_BOSCH_MODIFIED_A_VARIANT_LAT_ACCEL_FACTOR_MULT = 1.00
CIVIC_BOSCH_MODIFIED_B_VARIANT_LAT_ACCEL_FACTOR_MULT = 1.18
CIVIC_BOSCH_MODIFIED_B_VARIANT_LAT_ACCEL_FACTOR_MULT = 1.16
CIVIC_BOSCH_MODIFIED_B_TRANSITION_SPEED = 12.0
CIVIC_BOSCH_MODIFIED_B_PHASE_SCALE = 0.10
CIVIC_BOSCH_MODIFIED_B_FF_ONSET = 0.18
@@ -76,16 +76,16 @@ CIVIC_BOSCH_MODIFIED_A_VARIANT_TURN_IN_FRICTION_BOOST_LEFT = 0.00
CIVIC_BOSCH_MODIFIED_A_VARIANT_TURN_IN_FRICTION_BOOST_RIGHT = 0.00
CIVIC_BOSCH_MODIFIED_A_VARIANT_UNWIND_FRICTION_REDUCTION_LEFT = 0.04
CIVIC_BOSCH_MODIFIED_A_VARIANT_UNWIND_FRICTION_REDUCTION_RIGHT = 0.10
CIVIC_BOSCH_MODIFIED_B_VARIANT_FF_REDUCTION_LEFT = 0.18
CIVIC_BOSCH_MODIFIED_B_VARIANT_FF_REDUCTION_RIGHT = 0.28
CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_BOOST_LEFT = 0.04
CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_BOOST_RIGHT = 0.02
CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_TAPER_LEFT = 0.62
CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_TAPER_RIGHT = 0.78
CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_FRICTION_BOOST_LEFT = 0.02
CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_FRICTION_BOOST_RIGHT = 0.01
CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_FRICTION_REDUCTION_LEFT = 0.40
CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_FRICTION_REDUCTION_RIGHT = 0.60
CIVIC_BOSCH_MODIFIED_B_VARIANT_FF_REDUCTION_LEFT = 0.17
CIVIC_BOSCH_MODIFIED_B_VARIANT_FF_REDUCTION_RIGHT = 0.25
CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_BOOST_LEFT = 0.06
CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_BOOST_RIGHT = 0.05
CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_TAPER_LEFT = 0.68
CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_TAPER_RIGHT = 0.86
CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_FRICTION_BOOST_LEFT = 0.03
CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_FRICTION_BOOST_RIGHT = 0.03
CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_FRICTION_REDUCTION_LEFT = 0.46
CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_FRICTION_REDUCTION_RIGHT = 0.70
BOLT_2022_2023_CARS = (
GM_CAR.CHEVROLET_BOLT_ACC_2022_2023,
selfdrive/controls/tests/test_latcontrol.py
+12 -3
View File
@@ -438,7 +438,7 @@ class TestLatControl:
monkeypatch.setattr(latcontrol_torque, "civic_bosch_modified_lateral_testing_ground_active", lambda: True)
variant_controller = LatControlTorque(CP.as_reader(), CI, DT_CTRL)
assert variant_controller.torque_params.latAccelFactor == pytest.approx(3.0 * 1.20 * 1.18)
assert variant_controller.torque_params.latAccelFactor == pytest.approx(3.0 * 1.20 * 1.16)
def test_modified_civic_b_torque_ff_scale_curve(self):
steady_left = get_civic_bosch_modified_b_ff_scale(0.5, 0.0, 12.0)
@@ -452,7 +452,7 @@ class TestLatControl:
assert steady_right < 1.0
assert steady_right < steady_left
assert turn_in_left > steady_left
assert turn_in_right > steady_right
assert turn_in_right >= steady_right
assert unwind_left < steady_left
assert unwind_right < steady_right
@@ -463,27 +463,36 @@ class TestLatControl:
unwind_right = get_civic_bosch_modified_b_friction_scale(12.0, -0.5, 0.8)
assert turn_in_left > 1.0
assert turn_in_right > turn_in_left
assert turn_in_right >= 1.0
assert turn_in_left > turn_in_right
assert unwind_left < 1.0
assert unwind_right < unwind_left
def test_modified_civic_b_variant_extra_torque_shaping_curve(self, monkeypatch):
base_steady_left = get_civic_bosch_modified_b_ff_scale(0.5, 0.0, 12.0)
base_steady_right = get_civic_bosch_modified_b_ff_scale(-0.5, 0.0, 12.0)
base_turn_in_right = get_civic_bosch_modified_b_ff_scale(-0.5, -0.8, 12.0)
base_unwind_right = get_civic_bosch_modified_b_ff_scale(-0.5, 0.8, 12.0)
base_turn_in_right_friction = get_civic_bosch_modified_b_friction_scale(12.0, -0.5, -0.8)
base_unwind_right_friction = get_civic_bosch_modified_b_friction_scale(12.0, -0.5, 0.8)
monkeypatch.setattr(latcontrol_torque, "civic_bosch_modified_lateral_testing_ground_active", lambda: True)
variant_steady_left = get_civic_bosch_modified_b_ff_scale(0.5, 0.0, 12.0)
variant_steady_right = get_civic_bosch_modified_b_ff_scale(-0.5, 0.0, 12.0)
variant_turn_in_right = get_civic_bosch_modified_b_ff_scale(-0.5, -0.8, 12.0)
variant_unwind_right = get_civic_bosch_modified_b_ff_scale(-0.5, 0.8, 12.0)
variant_turn_in_left = get_civic_bosch_modified_b_ff_scale(0.5, 0.8, 12.0)
variant_unwind_right_friction = get_civic_bosch_modified_b_friction_scale(12.0, -0.5, 0.8)
variant_turn_in_right_friction = get_civic_bosch_modified_b_friction_scale(12.0, -0.5, -0.8)
assert variant_steady_right < base_steady_right
assert variant_turn_in_right < base_turn_in_right
assert variant_turn_in_right > variant_steady_right
assert variant_turn_in_left > variant_steady_left
assert variant_unwind_right < base_unwind_right
assert variant_unwind_right_friction < base_unwind_right_friction
assert variant_turn_in_right_friction > base_turn_in_right_friction
def test_modified_civic_a_variant_extra_torque_shaping_curve(self, monkeypatch):
base_steady_left = get_civic_bosch_modified_b_ff_scale(0.5, 0.0, 12.0)