Zone 5

selfdrive/controls/lib/latcontrol_vehicle_tunes.py

@@ -709,7 +709,7 @@ IONIQ_5_LOW_SPEED_CENTER_LAT = 0.40
 IONIQ_5_LOW_SPEED_CENTER_LAT_WIDTH = 0.10
 IONIQ_5_LOW_SPEED_CENTER_JERK = 0.40
 IONIQ_5_LOW_SPEED_CENTER_JERK_WIDTH = 0.12
-IONIQ_5_FRICTION_JERK_DEADZONE_MAX = 0.30
+IONIQ_5_FRICTION_JERK_DEADZONE_MAX = 0.36
 IONIQ_5_FRICTION_JERK_DEADZONE_LAT = 1.25
 IONIQ_5_FRICTION_JERK_DEADZONE_LAT_WIDTH = 0.35
 IONIQ_5_FRICTION_JERK_DEADZONE_SPEED = 18.0

selfdrive/selfdrived/selfdrived.py

@@ -56,7 +56,7 @@ MonitoringPolicy = log.DriverMonitoringState.MonitoringPolicy
 StarPilotEventName = custom.StarPilotOnroadEvent.EventName
 
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
-VALID_ONLY_COMM_ISSUE_GRACE_FRAMES = max(1, round(0.25 / DT_CTRL))
+VALID_ONLY_COMM_ISSUE_GRACE_FRAMES = max(1, round(0.5 / DT_CTRL))
 
 
 def evaluate_comm_issue(all_checks: bool, all_alive: bool, all_freq_ok: bool,
@@ -515,7 +515,7 @@ class SelfdriveD:
           self.events.add(EventName.pedalPressed)
 
     # Create events for temperature, disk space, and memory
-    if self.sm['deviceState'].thermalStatus >= ThermalStatus.red:
+    if self.sm['deviceState'].thermalStatus >= ThermalStatus.overheated:
       self.events.add(EventName.overheat)
     if self.sm['deviceState'].freeSpacePercent < 7 and not SIMULATION:
       self.events.add(EventName.outOfSpace)

selfdrive/selfdrived/tests/test_selfdrived.py

@@ -3,6 +3,7 @@ import cereal.messaging as messaging
 from cereal import car, custom, log
 from opendbc.car.hyundai.values import CAR as HYUNDAI_CAR
 from opendbc.car.nissan.values import CAR as NISSAN_CAR
+from openpilot.common.realtime import DT_CTRL
 
 from openpilot.selfdrive.selfdrived.selfdrived import (
   VALID_ONLY_COMM_ISSUE_GRACE_FRAMES,
@@ -27,6 +28,13 @@ def test_valid_only_comm_issue_is_debounced():
   assert frames == 0
 
 
+def test_route_length_validity_cascade_stays_silent():
+  frames = 0
+  for _ in range(round(0.4 / DT_CTRL)):
+    should_alert, frames = evaluate_comm_issue(False, True, True, frames)
+    assert not should_alert
+
+
 def test_dead_or_slow_comm_issue_is_immediate():
   assert evaluate_comm_issue(False, False, True, 0) == (True, 0)
   assert evaluate_comm_issue(False, True, False, 0) == (True, 0)

selfdrive/ui/layouts/sidebar.py

@@ -122,9 +122,9 @@ class Sidebar(Widget):
     thermal_status = device_state.thermalStatus
     temperature = f"{int(device_state.maxTempC)}°C"
 
-    if thermal_status == ThermalStatus.green:
+    if thermal_status == ThermalStatus.ok:
       self._temp_status.update(tr_noop("TEMP"), temperature, Colors.GOOD)
-    elif thermal_status == ThermalStatus.yellow:
+    elif thermal_status == ThermalStatus.warmDEPRECATED:
       self._temp_status.update(tr_noop("TEMP"), temperature, Colors.WARNING)
     else:
       self._temp_status.update(tr_noop("TEMP"), temperature, Colors.DANGER)