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ray pedal adjust

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firestar5683
2026-09-24 22:13:45 -05:00
parent f5672221a6
commit 18465ed4ef
4 changed files with 15 additions and 6 deletions
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opendbc_repo/opendbc/car/hyundai/carcontroller.py
+4 -3
View File
@@ -42,7 +42,7 @@ IONIQ_6_RESPONSE_MULTIPLIER = 1.2
IONIQ_6_CANFD_SCC_ACCEL_STEP = (6.0 / 50.0) * IONIQ_6_RESPONSE_MULTIPLIER
IONIQ_6_CANFD_SCC_DECEL_STEP = (15.0 / 50.0) * IONIQ_6_RESPONSE_MULTIPLIER
EV9_CANFD_SCC_DECEL_STEP = 10.0 / 50.0
RAY_PEDAL_COMMAND_CAP = 0.45
RAY_PEDAL_COMMAND_CAP = 0.70
RAY_PEDAL_RATE_UP = 0.02
RAY_PEDAL_RATE_DOWN = 0.06
GENESIS_G90_STOP_HOLD_SPEED_BP = [0.0, 0.03, 0.08, 0.16, 0.3, 0.5, 0.8, 1.2, 2.0, 3.0]
@@ -832,8 +832,9 @@ class CarController(CarControllerBase):
not CS.out.gasPressed and not CS.out.brakePressed)
if pedal_active:
pedal_offset = float(np.interp(CS.out.vEgo, [0., 2., 4., 8., 12., 20.],
[0.08, 0.13, 0.18, 0.25, 0.30, 0.32]))
target = float(np.clip(pedal_offset + accel * 0.32, 0.0, RAY_PEDAL_COMMAND_CAP))
[0.08, 0.13, 0.25, 0.44, 0.63, 0.68]))
pedal_gain = 0.65 if accel < 0.0 else 0.22
target = float(np.clip(pedal_offset + accel * pedal_gain, 0.0, RAY_PEDAL_COMMAND_CAP))
self._ray_pedal_gas_last = rate_limit(
target, self._ray_pedal_gas_last, -RAY_PEDAL_RATE_DOWN, RAY_PEDAL_RATE_UP,
)
opendbc_repo/opendbc/car/hyundai/tests/test_ray_pedal.py
+8
View File
@@ -203,6 +203,14 @@ def test_ray_controller_heartbeats_and_only_actuates_when_ready(speed):
assert pedal_msg(0.0, 72)[4] & 0x80
assert pedal_msg(-1.0, 76)[:4] == bytes(4)
CS.out.vEgo = 12.0
for frame in range(80, 80 + 4 * 40, 4):
pedal_msg(1.5, frame)
assert 0.69 <= controller._ray_pedal_gas_last <= 0.70
for frame in range(240, 240 + 4 * 12, 4):
dat = pedal_msg(-1.5, frame)
assert dat[:4] == bytes(4)
@pytest.mark.parametrize("candidate", [CAR.KIA_RAY_EV, CAR.HYUNDAI_KONA_EV_NON_SCC])
def test_ray_stock_cruise_cancellation_survives_accelerator_override(candidate):
opendbc_repo/opendbc/safety/modes/hyundai.h
+1 -1
View File
@@ -330,7 +330,7 @@ static bool hyundai_tx_hook(const CANPacket_t *msg) {
const int expected_track2 = 497 + (2 * ((int)track1 - 264));
if ((msg->data[4] & 0x70U) != 0U ||
(msg->data[5] != hyundai_ray_pedal_checksum(msg)) ||
(enabled && (track1 < 264U || track1 > 435U || track2 < 497U || track2 > 843U ||
(enabled && (track1 < 264U || track1 > 530U || track2 < 497U || track2 > 1035U ||
SAFETY_ABS((int)track2 - expected_track2) > 40)) ||
(!enabled && ((track1 != 0U) || (track2 != 0U))) ||
longitudinal_interceptor_checks(msg) ||
opendbc_repo/opendbc/safety/tests/test_hyundai_ray_pedal.py
+2 -2
View File
@@ -21,8 +21,8 @@ def test_ray_pedal_tx_isolation_and_limits(param):
has_ray_signature = param in (0x9405, 0x9C05)
assert tx(0) is has_ray_signature
assert tx(0.45) is has_ray_signature
assert not tx(0.46)
assert tx(0.70) is has_ray_signature
assert not tx(0.71)
assert not tx(1.0)
if has_ray_signature: