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firestar5683
2026-05-04 12:15:57 -05:00
parent b2ded79155
commit 4abda00404
6 changed files with 71 additions and 11 deletions
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opendbc_repo/opendbc/car/hyundai/carcontroller.py
+3 -1
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@@ -438,9 +438,11 @@ class CarController(CarControllerBase):
use_ioniq_6_smoothed_accel = use_ioniq_6_dynamic_long_tuning and CC.actuators.accel >= self._ioniq_6_long_tuning.actual_accel
# steering control
preserve_stock_lkas = self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and not self.long_active_ecu
can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled,
apply_steer_req, apply_torque, apply_angle,
CS.stock_lfa_msg))
CS.stock_lfa_msg,
CS.stock_lkas_msg if preserve_stock_lkas else None))
# prevent LFA from activating on LKA steering cars by sending "no lane lines detected" to ADAS ECU
if self.frame % 5 == 0 and lka_steering:
opendbc_repo/opendbc/car/hyundai/carstate.py
+5
View File
@@ -89,6 +89,7 @@ class CarState(CarStateBase):
self.cruise_info = {}
self.msg_364 = {}
self.stock_lkas_msg = {}
self.stock_lfa_msg = {}
self.stock_lfahda_cluster_msg = {}
self.stock_blinker_stalks_ts = 0
@@ -400,8 +401,11 @@ class CarState(CarStateBase):
ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
if self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
lkas_msg = "LKAS_ALT" if self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT else "LKAS"
self.lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x362"] if self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT
else cp_cam.vl["CAM_0x2a4"])
if cp_cam.ts_nanos[lkas_msg]["CHECKSUM"] > 0:
self.stock_lkas_msg = copy.copy(cp_cam.vl[lkas_msg])
if cp.ts_nanos["LFA"]["CHECKSUM"] > 0:
self.stock_lfa_msg = copy.copy(cp.vl["LFA"])
if cp.ts_nanos["LFAHDA_CLUSTER"]["CHECKSUM"] > 0:
@@ -446,6 +450,7 @@ class CarState(CarStateBase):
]
if CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
msgs.append(("FR_CMR_02_100ms", 10))
cam_msgs.append(("LKAS_ALT" if CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT else "LKAS", 0))
else:
cam_msgs.append(("FR_CMR_02_100ms", 0)) # optional: not all non-LKA CANFD cars have this on CAM bus
msgs += [
opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
+8 -3
View File
@@ -91,7 +91,8 @@ def _create_angle_adas_cmd_msg(packer, CAN, apply_angle: float, lat_active: bool
return packer.make_can_msg("ADAS_CMD_35_10ms", CAN.ECAN, values)
def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque, apply_angle, lfa_base_values=None):
def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque, apply_angle,
lfa_base_values=None, lkas_base_values=None):
control_values = {
"LKA_MODE": 2,
"LKA_ICON": 2 if enabled else 1,
@@ -101,8 +102,12 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
"STEER_MODE": 0,
}
lkas_values = copy.copy(control_values)
lkas_values["LKA_AVAILABLE"] = 0
if lkas_base_values:
lkas_values = {k: v for k, v in lkas_base_values.items() if k not in ("CHECKSUM", "COUNTER")}
lkas_values.update(control_values)
else:
lkas_values = copy.copy(control_values)
lkas_values["LKA_AVAILABLE"] = 0
if lfa_base_values:
# Preserve stock UI/status fields and only override the actuation-relevant signals.
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+48
View File
@@ -586,6 +586,54 @@ class TestHyundaiFingerprint:
assert parser.vl["LFA"]["STEER_REQ"] == 1
assert parser.vl["LFA"]["LKA_ICON"] == 2
def test_ioniq_6_lkas_alt_helper_preserves_stock_camera_fields(self):
CP = CarParams.new_message()
CP.carFingerprint = CAR.HYUNDAI_IONIQ_6
CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CANFD_LKA_STEERING | HyundaiFlags.CANFD_LKA_STEERING_ALT)
packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
can_bus = CanBus(CP)
parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS_ALT", 0)], can_bus.ACAN)
stock_lkas = {
"CHECKSUM": 1234,
"COUNTER": 42,
"LKA_MODE": 6,
"LKA_AVAILABLE": 3,
"LKA_WARNING": 1,
"LKA_ICON": 1,
"FCA_SYSWARN": 1,
"TORQUE_REQUEST": 17,
"STEER_REQ": 0,
"LFA_BUTTON": 1,
"LKA_ASSIST": 1,
"STEER_MODE": 5,
"NEW_SIGNAL_2": 2,
"LKAS_ANGLE_ACTIVE": 1,
"HAS_LANE_SAFETY": 1,
"ADAS_StrAnglReqVal": 12.3,
"ADAS_ACIAnglTqRedcGainVal": 0.42,
"DAMP_FACTOR": 0x70,
}
msgs = hyundaicanfd.create_steering_messages(packer, CP, can_bus, True, True, 123, 0.0,
lkas_base_values=stock_lkas)
lkas_msgs = [msg for msg in msgs if msg[0] == 0x110]
assert len(lkas_msgs) == 1
parser.update([(1, lkas_msgs)])
assert parser.can_valid
assert parser.vl["LKAS_ALT"]["LKA_AVAILABLE"] == 3
assert parser.vl["LKAS_ALT"]["LKA_WARNING"] == 1
assert parser.vl["LKAS_ALT"]["FCA_SYSWARN"] == 1
assert parser.vl["LKAS_ALT"]["LFA_BUTTON"] == 1
assert parser.vl["LKAS_ALT"]["HAS_LANE_SAFETY"] == 1
assert parser.vl["LKAS_ALT"]["DAMP_FACTOR"] == 0x70
assert parser.vl["LKAS_ALT"]["TORQUE_REQUEST"] == 123
assert parser.vl["LKAS_ALT"]["STEER_REQ"] == 1
assert parser.vl["LKAS_ALT"]["LKA_ICON"] == 2
def test_ioniq_6_blindspot_status_helper_regenerates_counter_checksum(self):
CP = CarParams.new_message()
CP.carFingerprint = CAR.HYUNDAI_IONIQ_6
selfdrive/controls/lib/latcontrol_torque.py
+4 -4
View File
@@ -222,8 +222,8 @@ GENESIS_G90_UNWIND_FRICTION_REDUCTION_RIGHT = 0.22
IONIQ_6_FF_GAIN_LEFT = 0.040
IONIQ_6_FF_GAIN_RIGHT = 0.000
IONIQ_6_BASE_LAT_ACCEL_FACTOR_MULT = 1.24
IONIQ_6_BASE_FRICTION_THRESHOLD = 0.36
IONIQ_6_BASE_LAT_ACCEL_FACTOR_MULT = 1.23
IONIQ_6_BASE_FRICTION_THRESHOLD = 0.35
IONIQ_6_FF_ONSET = 0.10
IONIQ_6_FF_ONSET_WIDTH = 0.04
IONIQ_6_FF_CUTOFF = 0.48
@@ -256,9 +256,9 @@ IONIQ_6_LOW_MID_CENTER_TAPER_LAT_WIDTH = 0.06
IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_MIN = 8.5
IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_MAX = 16.5
IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_WIDTH = 1.5
IONIQ_6_DIRECTIONAL_TAPER_LAT_START = 0.15
IONIQ_6_DIRECTIONAL_TAPER_LAT_START = 0.19
IONIQ_6_DIRECTIONAL_TAPER_LAT_END = 0.90
IONIQ_6_DIRECTIONAL_TAPER_LAT_WIDTH = 0.08
IONIQ_6_DIRECTIONAL_TAPER_LAT_WIDTH = 0.06
IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT = 0.16
IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT = 0.54
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 1.46
selfdrive/controls/tests/test_latcontrol.py
+3 -3
View File
@@ -260,7 +260,7 @@ class TestLatControl:
assert get_ioniq_6_output_taper_scale(1.2, 0.0, 25.0) > 0.94
def test_ioniq_6_friction_threshold_curve(self):
base = max(get_friction_threshold(6.0), 0.36)
base = max(get_friction_threshold(6.0), 0.35)
left_turn_in = get_ioniq_6_friction_threshold(6.0, 0.5, 0.8)
right_turn_in = get_ioniq_6_friction_threshold(6.0, -0.5, -0.8)
left_unwind = get_ioniq_6_friction_threshold(6.0, 0.5, -0.8)
@@ -268,7 +268,7 @@ class TestLatControl:
assert max(left_turn_in, right_turn_in) < base
assert left_unwind >= base
assert right_unwind >= base
assert get_ioniq_6_friction_threshold(25.0, 0.0, 0.0) >= 0.36
assert get_ioniq_6_friction_threshold(25.0, 0.0, 0.0) >= 0.35
def test_ioniq_6_friction_scale_curve(self):
base = get_ioniq_6_friction_scale(25.0, 0.5, 0.8)
@@ -369,7 +369,7 @@ class TestLatControl:
_, _, lac_log = controller.update(True, CS, VM, params, False, 0.0025, False, 0.2, None, None, starpilot_toggles)
assert lac_log.active
assert controller.torque_params.latAccelFactor == pytest.approx(3.0 * 1.24)
assert controller.torque_params.latAccelFactor == pytest.approx(3.0 * 1.23)
def test_ioniq_6_update_path_does_not_post_taper_output(self, monkeypatch):
base_controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(HYUNDAI.HYUNDAI_IONIQ_6)