wumbo

opendbc_repo/opendbc/car/hyundai/values.py

@@ -739,7 +739,7 @@ class CAR(Platforms):
       HyundaiCarDocs("Kia EV6 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
       HyundaiCarDocs("Kia EV6 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
     ],
-    CarSpecs(mass=2055, wheelbase=2.9, steerRatio=16, tireStiffnessFactor=0.65),
+    CarSpecs(mass=2055, wheelbase=2.9, steerRatio=14.25, tireStiffnessFactor=0.65),
     flags=HyundaiFlags.EV,
     radar_dbc=HYUNDAI_MRR30_RADAR_DBC,
   )
@@ -747,7 +747,7 @@ class CAR(Platforms):
     [
       HyundaiCarDocs("Kia EV6 (with HDA I) 2025", "Highway Driving Assist I", car_parts=CarParts.common([CarHarness.hyundai_p]))
     ],
-    CarSpecs(mass=2055, wheelbase=2.9, steerRatio=16, tireStiffnessFactor=0.65),
+    CarSpecs(mass=2055, wheelbase=2.9, steerRatio=14.26, tireStiffnessFactor=0.65),
     flags=HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING,
     radar_dbc=HYUNDAI_MRR30_RADAR_DBC,
   )

selfdrive/controls/lib/latcontrol_torque.py

@@ -642,13 +642,13 @@ KIA_EV6_LOW_SPEED_CENTER_TAPER_SPEED_MAX = 8.5
 KIA_EV6_LOW_SPEED_CENTER_TAPER_SPEED_WIDTH = 1.4
 
 VOLT_PLEXY_LATERAL_TESTING_GROUND_ID = testing_ground.id_7
-VOLT_PLEXY_FF_EXTRA_MULT_LEFT = 1.10
-VOLT_PLEXY_FF_EXTRA_MULT_RIGHT = 1.22
-VOLT_PLEXY_FRICTION_SCALE_MULT_LEFT = 1.04
-VOLT_PLEXY_FRICTION_SCALE_MULT_RIGHT = 1.08
-VOLT_PLEXY_FRICTION_THRESHOLD_MULT_LEFT = 0.95
-VOLT_PLEXY_FRICTION_THRESHOLD_MULT_RIGHT = 0.93
-VOLT_PLEXY_CENTER_TAPER_REDUCTION_MULT = 0.80
+VOLT_PLEXY_FF_EXTRA_MULT_LEFT = 1.00
+VOLT_PLEXY_FF_EXTRA_MULT_RIGHT = 1.16
+VOLT_PLEXY_FRICTION_SCALE_MULT_LEFT = 1.00
+VOLT_PLEXY_FRICTION_SCALE_MULT_RIGHT = 1.05
+VOLT_PLEXY_FRICTION_THRESHOLD_MULT_LEFT = 1.00
+VOLT_PLEXY_FRICTION_THRESHOLD_MULT_RIGHT = 0.96
+VOLT_PLEXY_CENTER_TAPER_REDUCTION_MULT = 0.94
 PRIUS_TRANSITION_SPEED = 10.0
 PRIUS_PHASE_SCALE = 0.09
 PRIUS_FF_GAIN_LEFT = 0.12

tools/lib/logreader.py

@@ -6,6 +6,7 @@ import capnp
 import enum
 import os
 import pathlib
+import re
 import sys
 import tqdm
 import urllib.parse
@@ -20,6 +21,7 @@ from cereal import log as capnp_log
 from openpilot.common.swaglog import cloudlog
 from openpilot.tools.lib.filereader import FileReader
 from openpilot.tools.lib.file_sources import comma_api_source, internal_source, openpilotci_source, comma_car_segments_source, Source
+from openpilot.tools.lib.helpers import RE
 from openpilot.tools.lib.route import SegmentRange, FileName
 from openpilot.tools.lib.log_time_series import msgs_to_time_series
 
@@ -221,6 +223,19 @@ def parse_indirect(identifier: str) -> str:
     else:
       # add selector if it exists
       identifier = "/".join(path)
+  else:
+    bare_connect_path = re.fullmatch(
+      fr'(?P<route_name>{RE.DONGLE_ID}[|_/](?:{RE.TIMESTAMP}|{RE.LOG_ID_V2}))/(?P<start_sec>[0-9]+)/(?P<end_sec>[0-9]+)(?:/(?P<selector>[qrai]))?',
+      identifier,
+    )
+    if bare_connect_path is not None:
+      route_name = bare_connect_path.group("route_name")
+      start = int(bare_connect_path.group("start_sec")) // 60
+      end = int(bare_connect_path.group("end_sec")) // 60 + 1
+      identifier = f"{route_name}/{start}:{end}"
+      selector = bare_connect_path.group("selector")
+      if selector is not None:
+        identifier += f"/{selector}"
 
   return identifier
 

tools/lib/tests/test_logreader.py

@@ -90,6 +90,15 @@ class TestLogReader:
     sr = SegmentRange(identifier)
     assert str(sr) == expected
 
+  @parameterized.expand([
+    (f"{TEST_ROUTE}/13/14", f"{TEST_ROUTE}/0:1"),
+    (f"{TEST_ROUTE}/13/14/a", f"{TEST_ROUTE}/0:1/a"),
+    (f"https://connect.comma.ai/{TEST_ROUTE}/13/14", f"{TEST_ROUTE}/0:1"),
+    (f"https://connect.comma.ai/{TEST_ROUTE}/13/14/a", f"{TEST_ROUTE}/0:1/a"),
+  ])
+  def test_parse_indirect_accepts_second_window_route_style(self, identifier, expected):
+    assert parse_indirect(identifier) == expected
+
   @pytest.mark.parametrize("cache_enabled", [True, False])
   def test_direct_parsing(self, mocker, cache_enabled):
     file_exists_mock = mocker.patch("openpilot.tools.lib.filereader.file_exists")