HKG Long Tune

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -383,18 +383,16 @@ class CarController(CarControllerBase):
                                                                                  CC.leftBlinker,
                                                                                  CC.rightBlinker))
       if self.frame % 2 == 0:
-        acc_kwargs = {}
+        acc_kwargs = {
+          "main_mode_acc": int(CS.out.cruiseState.available),
+          "direct_accel": True,
+          "jerk_lower": 5.0,
+          "jerk_upper": 3.0 if CC.actuators.longControlState == LongCtrlState.pid else 1.0,
+        }
         if self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6:
-          acc_kwargs = {
-            "main_mode_acc": int(CS.out.cruiseState.available),
-            "direct_accel": True,
-          }
           if use_ioniq_6_smoothed_accel:
             acc_kwargs["jerk_lower"] = self._ioniq_6_long_tuning.jerk_lower
             acc_kwargs["jerk_upper"] = self._ioniq_6_long_tuning.jerk_upper
-          else:
-            acc_kwargs["jerk_lower"] = 5.0
-            acc_kwargs["jerk_upper"] = 3.0
         can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
                                                          set_speed_in_units, hud_control, **acc_kwargs))
         self.accel_last = accel

opendbc_repo/opendbc/car/hyundai/interface.py

@@ -22,6 +22,29 @@ ENABLE_BUTTONS = (ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.can
 ECU_DISABLE_TIMESTAMP = 0.0
 
 
+def apply_platform_longitudinal_params(ret: structs.CarParams) -> None:
+  ret.startingState = True
+  ret.startAccel = 1.0
+  ret.longitudinalActuatorDelay = 0.5
+
+  if ret.flags & HyundaiFlags.CANFD:
+    ret.vEgoStopping = 0.3
+    ret.vEgoStarting = 0.1
+    ret.stoppingDecelRate = 0.4
+  elif ret.flags & HyundaiFlags.EV:
+    ret.vEgoStopping = 0.35
+    ret.vEgoStarting = 0.1
+    ret.stoppingDecelRate = 0.45
+  elif ret.flags & HyundaiFlags.HYBRID:
+    ret.vEgoStopping = 0.4
+    ret.vEgoStarting = 0.15
+    ret.stoppingDecelRate = 0.45
+  else:
+    ret.vEgoStopping = 0.3
+    ret.vEgoStarting = 0.1
+    ret.stoppingDecelRate = 0.4
+
+
 class CarInterface(CarInterfaceBase):
   CarState = CarState
   CarController = CarController
@@ -155,17 +178,7 @@ class CarInterface(CarInterfaceBase):
     if ret.openpilotLongitudinalControl:
       ret.radarUnavailable = True
     ret.pcmCruise = not ret.openpilotLongitudinalControl
-    ret.startingState = True
-    ret.vEgoStarting = 0.1
-    ret.startAccel = 1.0
-    ret.longitudinalActuatorDelay = 0.5
-
-    if candidate == CAR.HYUNDAI_IONIQ_6:
-      ret.startingState = True
-      ret.vEgoStopping = 0.3
-      ret.vEgoStarting = 0.1
-      ret.stoppingDecelRate = 0.4
-      ret.longitudinalActuatorDelay = 0.5
+    apply_platform_longitudinal_params(ret)
 
     if ret.openpilotLongitudinalControl:
       ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.LONG.value

opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py

@@ -96,6 +96,22 @@ class TestHyundaiFingerprint:
     CP = CarInterface.get_params(CAR.KIA_SPORTAGE_HEV_2026, fingerprint, [], False, False, False, None)
     assert CP.flags & HyundaiFlags.SEND_LFA
 
+  @pytest.mark.parametrize(("candidate", "expected"), [
+    (CAR.KIA_EV6, (0.3, 0.1, 0.4)),
+    (CAR.HYUNDAI_KONA_EV, (0.35, 0.1, 0.45)),
+    (CAR.HYUNDAI_SONATA_HYBRID, (0.4, 0.15, 0.45)),
+    (CAR.GENESIS_G70, (0.3, 0.1, 0.4)),
+  ])
+  def test_platform_longitudinal_params_match_family_tune(self, candidate, expected):
+    toggles = get_test_toggles()
+    CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], True, False, False, toggles)
+
+    assert CP.vEgoStopping == pytest.approx(expected[0])
+    assert CP.vEgoStarting == pytest.approx(expected[1])
+    assert CP.stoppingDecelRate == pytest.approx(expected[2])
+    assert CP.longitudinalActuatorDelay == pytest.approx(0.5)
+    assert CP.startingState
+
   def test_kia_forte_no_scc_fw_match(self):
     car_fw = [
       CarParams.CarFw(
@@ -265,6 +281,27 @@ class TestHyundaiFingerprint:
     assert state.jerk_upper == pytest.approx(0.0)
     assert state.jerk_lower == pytest.approx(0.0)
 
+  def test_canfd_acc_control_uses_direct_accel(self):
+    CP = CarParams.new_message()
+    CP.carFingerprint = CAR.KIA_EV6
+    CP.flags = int(HyundaiFlags.CANFD)
+
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+    can_bus = CanBus(CP)
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("SCC_CONTROL", 0)], can_bus.ECAN)
+
+    msg = hyundaicanfd.create_acc_control(packer, can_bus, enabled=True, accel_last=1.5, accel=-1.2, stopping=False,
+                                          gas_override=False, set_speed=42, hud_control=SimpleNamespace(leadDistanceBars=3),
+                                          main_mode_acc=0, jerk_lower=5.0, jerk_upper=1.0, direct_accel=True)
+    parser.update([(1, [msg])])
+
+    assert parser.can_valid
+    assert parser.vl["SCC_CONTROL"]["MainMode_ACC"] == 0
+    assert parser.vl["SCC_CONTROL"]["aReqRaw"] == pytest.approx(-1.2)
+    assert parser.vl["SCC_CONTROL"]["aReqValue"] == pytest.approx(-1.2)
+    assert parser.vl["SCC_CONTROL"]["JerkLowerLimit"] == pytest.approx(5.0)
+    assert parser.vl["SCC_CONTROL"]["JerkUpperLimit"] == pytest.approx(1.0)
+
   def test_sportage_angle_steering_uses_adas_cmd_with_send_lfa(self):
     fingerprint = gen_empty_fingerprint()
     cam_can = CanBus(None, fingerprint).CAM