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firestar5683
2026-09-02 17:31:24 -05:00
parent 51d8062c36
commit 5fe8b17467
15 changed files with 157 additions and 25 deletions
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launch_env.sh
+1 -1
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@@ -21,7 +21,7 @@ fi
export QCOM_PRIORITY=12
if [ -z "$AGNOS_VERSION" ]; then
export AGNOS_VERSION="19.6.16"
export AGNOS_VERSION="19.6.17"
fi
if [ -z "$AGNOS_ACCEPTED_VERSIONS" ]; then
opendbc_repo/opendbc/car/hyundai/carcontroller.py
+7 -2
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@@ -8,9 +8,9 @@ from opendbc.car.lateral import apply_driver_steer_torque_limits, apply_steer_an
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.hyundai import hyundaicanfd, hyundaican
from opendbc.car.hyundai.hyundaicanfd import CanBus
from opendbc.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CAR, CANFD_ANGLE_LONGITUDINAL_CAR, \
from opendbc.car.hyundai.values import HyundaiFlags, HyundaiStarPilotFlags, Buttons, CarControllerParams, CAR, CANFD_ANGLE_LONGITUDINAL_CAR, \
CANFD_RADAR_LIVE_LONGITUDINAL_CAR, CANFD_ALT_BUTTONS_RESUME_CAR, kia_ev6_gt_line_longitudinal_tuning, \
KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID
KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID, CANFD_DAW_SUPPRESSION_CAR
from opendbc.car.interfaces import CarControllerBase
from opendbc.car.vehicle_model import VehicleModel
from openpilot.common.params import Params
@@ -777,6 +777,8 @@ class CarController(CarControllerBase):
left_lane_warning, right_lane_warning, lka_icon))
if self.CP.carFingerprint == CAR.KIA_RAY_EV:
self._ray_lkas11_active = True
if getattr(self.FPCP, "flags", 0) & HyundaiStarPilotFlags.HAS_LKAS12:
can_sends.append(hyundaican.create_lkas12(self.packer, CS.lkas12))
# Button messages
if not self.long_active_ecu:
@@ -892,6 +894,9 @@ class CarController(CarControllerBase):
can_sends.extend(hyundaicanfd.create_inactive_angle_steering_messages(self.packer, self.CAN,
inactive_steering_angle))
if self.CP.carFingerprint in CANFD_DAW_SUPPRESSION_CAR and getattr(CS, "stock_daw_msg", None):
can_sends.append(hyundaicanfd.create_suppress_daw(self.packer, self.CAN, CS.stock_daw_msg))
# prevent LFA from activating on LKA steering cars by sending "no lane lines detected" to ADAS ECU
suppress_lfa = bool(lka_steering)
if angle_lkas_alt:
opendbc_repo/opendbc/car/hyundai/carstate.py
+9 -2
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@@ -10,6 +10,7 @@ from opendbc.car.hyundai.hyundaicanfd import CanBus
from opendbc.car.hyundai.values import HyundaiFlags, HyundaiStarPilotFlags, HyundaiStarPilotSafetyFlags, CAR, DBC, Buttons, CarControllerParams, \
CANFD_ANGLE_LONGITUDINAL_CAR, CANFD_CORNER_RADAR_BSM_CAR, \
CANFD_ALT_BUTTONS_RESUME_CAR, \
CANFD_DAW_SUPPRESSION_CAR, \
hyundai_cancel_button_enables_cruise, ALT_BUS_LDA_BUTTON_CARS, ALT_BUS_LDA_BUTTON_SWL_STAT_CARS
from opendbc.car.interfaces import CarStateBase
@@ -142,6 +143,8 @@ class CarState(CarStateBase):
self.msg_364 = {}
self.lfa_block_msg = {}
self.stock_lkas_msg = {}
self.lkas12 = {}
self.stock_daw_msg = {}
self.stock_lfa_msg = {}
self.stock_lfahda_cluster_msg = {}
self.stock_camera_lead_visible = False
@@ -440,6 +443,8 @@ class CarState(CarStateBase):
self.lkas11 = {}
else:
self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
if getattr(self.FPCP, "flags", 0) & HyundaiStarPilotFlags.HAS_LKAS12:
self.lkas12 = copy.copy(cp_cam.vl["LKAS12"])
self.clu11 = copy.copy(cp.vl["CLU11"])
self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"] # 0 NOT ACTIVE, 1 ACTIVE
if not self.main_cruise_tracking:
@@ -610,6 +615,8 @@ class CarState(CarStateBase):
if self.CP.carFingerprint in CANFD_ANGLE_LONGITUDINAL_CAR and cp.ts_nanos["FR_CMR_01_10ms"]["FR_CMR_Crc1Val"] > 0:
hba_icon = int(cp.vl["FR_CMR_01_10ms"]["HBA_IndLmpReq"])
self.hba_icon = hba_icon if hba_icon in (1, 2) else 0
if self.CP.carFingerprint in CANFD_DAW_SUPPRESSION_CAR and cp.ts_nanos["FR_CMR_01_10ms"]["FR_CMR_Crc1Val"] > 0:
self.stock_daw_msg = copy.copy(cp.vl["FR_CMR_01_10ms"])
if cp.ts_nanos["BLINKER_STALKS"]["CHECKSUM_MAYBE"] > 0:
self.stock_blinker_stalks_ts = cp.ts_nanos["BLINKER_STALKS"]["CHECKSUM_MAYBE"]
@@ -673,7 +680,7 @@ class CarState(CarStateBase):
]
if CP.enableBsm:
msgs.append(("BLINDSPOTS_REAR_CORNERS", 0))
if CP.carFingerprint in CANFD_ANGLE_LONGITUDINAL_CAR:
if CP.carFingerprint in CANFD_ANGLE_LONGITUDINAL_CAR | CANFD_DAW_SUPPRESSION_CAR:
msgs.append(("BLINDSPOTS_FRONT_CORNER_2", 0))
msgs.append(("FR_CMR_01_10ms", 0))
if CP.flags & HyundaiFlags.EV:
@@ -730,7 +737,7 @@ class CarState(CarStateBase):
parsers = {
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], msgs, 0),
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 2),
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS12", 0)], 2),
}
if CP.carFingerprint in ALT_BUS_LDA_BUTTON_CARS:
parsers[Bus.alt] = CANParser(DBC[CP.carFingerprint][Bus.pt], [("CLU13", 0)], 1)
opendbc_repo/opendbc/car/hyundai/hyundaican.py
+13
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@@ -106,6 +106,19 @@ def create_lkas11(packer, frame, CP, apply_torque, steer_req,
return packer.make_can_msg("LKAS11", 0, values)
def create_lkas12(packer, lkas12):
values = {s: lkas12[s] for s in (
"CF_Lkas_TsrSlifOpt",
"CF_LkasTsrStatus",
"CF_Lkas_TsrSpeed_Display_Clu",
"CF_LkasTsrSpeed_Display_Navi",
"CF_Lkas_TsrAddinfo_Display",
"CF_Lkas_Daw_USM",
) if s in lkas12}
values["CF_LkasDawStatus"] = 0
return packer.make_can_msg("LKAS12", 0, values)
def create_checksum_can_canfd_blended(packer, bus, addr, values):
dat = packer.make_can_msg(addr, bus, values)[1]
return hyundai_checksum(dat[1:8])
opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
+6
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@@ -243,6 +243,12 @@ def create_suppress_lfa(packer, CAN, lfa_block_msg, lka_steering_alt):
return packer.make_can_msg(suppress_msg, CAN.ACAN, values)
def create_suppress_daw(packer, CAN, daw_msg):
values = copy.copy(daw_msg)
values["DAW_WrnMsgSta"] = 0
return packer.make_can_msg("FR_CMR_01_10ms", CAN.ECAN, values)
def create_buttons(packer, CP, CAN, cnt, btn=0, base_values=None, left_paddle=False, right_paddle=False):
values = {k: v for k, v in base_values.items() if k not in ("CHECKSUM", "_CHECKSUM", "COUNTER")} if base_values else {}
values.update({
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+66
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@@ -570,6 +570,41 @@ class TestHyundaiFingerprint:
assert not (CP.flags & HyundaiFlags.CANFD_LKA_STEERING)
assert bool(CP.flags & HyundaiFlags.CANFD_CAMERA_SCC)
def test_ioniq_6_filters_stock_driver_attention_warning(self):
CP = CarParams.new_message()
CP.carFingerprint = CAR.HYUNDAI_IONIQ_6
CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_LKA_STEERING |
HyundaiFlags.CANFD_LKA_STEERING_ALT)
CP.openpilotLongitudinalControl = False
controller = CarController(DBC[CP.carFingerprint], CP)
controller.frame = 1
can_bus = CanBus(CP)
parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("FR_CMR_01_10ms", 0)], can_bus.ECAN)
stock_daw_msg = {
"FR_CMR_AlvCnt1Val": 7,
"DAW_SysSta": 6,
"DAW_WrnMsgSta": 1,
"HBA_IndLmpReq": 2,
}
cc = SimpleNamespace(enabled=True, latActive=True,
actuators=SimpleNamespace(longControlState=LongCtrlState.off),
leftBlinker=False, rightBlinker=False, hudControl=SimpleNamespace())
cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg={}, lfa_block_msg={}, stock_daw_msg=stock_daw_msg,
out=SimpleNamespace(steeringAngleDeg=0.0, gearShifter=structs.CarState.GearShifter.drive))
msgs = controller.create_canfd_msgs(0, True, 0.0, 0.0, 0.0, 0.0, False, cc.hudControl, cs, cc,
get_test_toggles(), lka_icon=2, lfa_icon=2)
daw_msgs = [msg for msg in msgs if msg[0] == 0x11A]
assert len(daw_msgs) == 1
parser.update([(1, daw_msgs)])
assert parser.can_valid
assert parser.vl["FR_CMR_01_10ms"]["DAW_SysSta"] == 6
assert parser.vl["FR_CMR_01_10ms"]["DAW_WrnMsgSta"] == 0
assert parser.vl["FR_CMR_01_10ms"]["HBA_IndLmpReq"] == 2
def test_ioniq_6_clears_torque_with_inactive_safety_request(self):
ioniq_6_cp = SimpleNamespace(carFingerprint=CAR.HYUNDAI_IONIQ_6)
other_cp = SimpleNamespace(carFingerprint=CAR.KIA_EV6)
@@ -827,6 +862,37 @@ class TestHyundaiFingerprint:
palisade_2023 = CarInterface.get_params(CAR.HYUNDAI_PALISADE_2023, gen_empty_fingerprint(), [], True, False, False, None)
assert palisade_2023.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON
def test_lkas12_da_warning_is_filtered_for_camera_fingerprint(self):
fingerprint = gen_empty_fingerprint()
fingerprint[2][0x53E] = 6
CP = CarInterface.get_params(CAR.HYUNDAI_SONATA_HYBRID, fingerprint, [], False, False, False, None)
FPCP = CarInterface.get_starpilot_params(CAR.HYUNDAI_SONATA_HYBRID, fingerprint, [], CP, get_test_toggles())
assert FPCP.flags & HyundaiStarPilotFlags.HAS_LKAS12
packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
stock = {
"CF_Lkas_TsrSlifOpt": 3,
"CF_LkasTsrStatus": 2,
"CF_Lkas_TsrSpeed_Display_Clu": 80,
"CF_LkasTsrSpeed_Display_Navi": 70,
"CF_Lkas_TsrAddinfo_Display": 1,
"CF_Lkas_Daw_USM": 0,
"CF_LkasDawStatus": 1,
}
msg = hyundaican.create_lkas12(packer, stock)
parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS12", 0)], 0)
parser.update([(1, [msg])])
assert parser.can_valid
assert parser.vl["LKAS12"]["CF_LkasDawStatus"] == 0
assert parser.vl["LKAS12"]["CF_Lkas_TsrSpeed_Display_Clu"] == 80
no_lkas12 = CarInterface.get_params(CAR.HYUNDAI_SONATA_HYBRID, gen_empty_fingerprint(), [], False, False, False, None)
no_lkas12_fpcp = CarInterface.get_starpilot_params(
CAR.HYUNDAI_SONATA_HYBRID, gen_empty_fingerprint(), [], no_lkas12, get_test_toggles(),
)
assert not (no_lkas12_fpcp.flags & HyundaiStarPilotFlags.HAS_LKAS12)
def test_carnival_lka_button_does_not_enable_angle_steering_safety(self):
fingerprint = gen_empty_fingerprint()
fingerprint[0][0x391] = 8
opendbc_repo/opendbc/car/hyundai/values.py
+2
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@@ -124,6 +124,7 @@ class HyundaiStarPilotSafetyFlags(IntFlag):
class HyundaiStarPilotFlags(IntFlag):
SPEED_LIMIT_AVAILABLE = 1
MAIN_CRUISE_STATE_TRACKING = 2 ** 2
HAS_LKAS12 = 2 ** 9
class HyundaiFlags(IntFlag):
@@ -1203,6 +1204,7 @@ CANFD_SECURITYACCESS_CAR = {
}
CANFD_UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.CANFD_NO_RADAR_DISABLE) - CANFD_SECURITYACCESS_CAR # TODO: merge with UNSUPPORTED_LONGITUDINAL_CAR
CANFD_ANGLE_LONGITUDINAL_CAR = {CAR.KIA_EV9, CAR.HYUNDAI_IONIQ_5_PE}
CANFD_DAW_SUPPRESSION_CAR = {CAR.HYUNDAI_IONIQ_6}
CANFD_ALT_BUTTONS_RESUME_CAR = {CAR.KIA_CARNIVAL_2025, CAR.KIA_CARNIVAL_HEV_4TH_GEN}
CANFD_CORNER_RADAR_BSM_CAR = {CAR.HYUNDAI_IONIQ_6, CAR.HYUNDAI_IONIQ_5_PE, CAR.KIA_EV9}
CANFD_RADAR_LIVE_LONGITUDINAL_CAR = {
opendbc_repo/opendbc/car/interfaces.py
+3
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@@ -240,6 +240,9 @@ class CarInterfaceBase(ABC):
if 0x1FA in fingerprint[CAN.ECAN]:
fp_ret.flags |= HyundaiStarPilotFlags.SPEED_LIMIT_AVAILABLE.value
if not (CP.flags & HyundaiFlags.CANFD) and 0x53E in fingerprint[2]:
fp_ret.flags |= HyundaiStarPilotFlags.HAS_LKAS12.value
fp_ret.redneckCruiseAvailable = bool(CP.flags & HyundaiFlags.NON_SCC) and not bool(CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS)
if fp_ret.redneckCruiseAvailable and params.get_bool("RedneckCruise"):
fp_ret.pcmCruiseSpeed = False
opendbc_repo/opendbc/safety/modes/hyundai.h
+13
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@@ -29,6 +29,7 @@ const LongitudinalLimits HYUNDAI_LONG_LIMITS = {
{0x340, 0, 8, .check_relay = true}, /* LKAS11 Bus 0 */ \
{0x4F1, scc_bus, 4, .check_relay = false}, /* CLU11 Bus 0 (radar-SCC) or 2 (camera-SCC) */ \
{0x485, 0, (can_refresh) ? 8 : 4, .check_relay = true}, /* LFAHDA_MFC Bus 0 */ \
{0x53E, 0, 6, .check_relay = false}, /* LKAS12 replacement after camera advertises it */ \
#define HYUNDAI_LONG_COMMON_TX_MSGS(scc_bus, can_refresh) \
HYUNDAI_COMMON_TX_MSGS(scc_bus, can_refresh) \
@@ -140,6 +141,12 @@ static uint32_t hyundai_get_checksum(const CANPacket_t *msg) {
return chksum;
}
static void hyundai_rx_all_hook(const CANPacket_t *msg) {
if ((msg->addr == 0x53EU) && (msg->bus == 2U) && (GET_LEN(msg) == 6U)) {
hyundai_has_lkas12 = true;
}
}
static uint32_t hyundai_compute_checksum(const CANPacket_t *msg) {
uint8_t chksum = 0;
if (msg->addr == 0x386U) {
@@ -284,6 +291,10 @@ static bool hyundai_tx_hook(const CANPacket_t *msg) {
bool tx = true;
if ((msg->addr == 0x53EU) && !hyundai_has_lkas12) {
tx = false;
}
// FCA11: Block any potential actuation. The blended HDA II layout uses
// different static fields, but its explicit AEB/FCA request bits stay zero.
if (msg->addr == 0x38DU) {
@@ -695,6 +706,7 @@ static safety_config hyundai_legacy_init(uint16_t param) {
const safety_hooks hyundai_hooks = {
.init = hyundai_init,
.rx = hyundai_rx_hook,
.rx_all = hyundai_rx_all_hook,
.tx = hyundai_tx_hook,
.get_counter = hyundai_get_counter,
.get_checksum = hyundai_get_checksum,
@@ -704,6 +716,7 @@ const safety_hooks hyundai_hooks = {
const safety_hooks hyundai_legacy_hooks = {
.init = hyundai_legacy_init,
.rx = hyundai_rx_hook,
.rx_all = hyundai_rx_all_hook,
.tx = hyundai_tx_hook,
.get_counter = hyundai_get_counter,
.get_checksum = hyundai_get_checksum,
opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
+1
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@@ -16,6 +16,7 @@
#define HYUNDAI_CANFD_LKA_STEERING_ALT_COMMON_TX_MSGS(a_can, e_can) \
HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(e_can) \
{0x11A, e_can, 16, .check_relay = (e_can) == 0}, /* FR_CMR_01_10ms */ \
{0x110, a_can, 32, .check_relay = (a_can) == 0, .disable_static_blocking = true}, /* LKAS_ALT */ \
{0x362, a_can, 32, .check_relay = (a_can) == 0, .disable_static_blocking = true}, /* CAM_0x362 */ \
opendbc_repo/opendbc/safety/modes/hyundai_common.h
+4
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@@ -63,6 +63,9 @@ bool hyundai_cancel_button_enable = false;
extern bool hyundai_can_refresh_msgs;
bool hyundai_can_refresh_msgs = false;
extern bool hyundai_has_lkas12;
bool hyundai_has_lkas12 = false;
extern bool hyundai_elantra_hev_2024;
bool hyundai_elantra_hev_2024 = false;
@@ -106,6 +109,7 @@ void hyundai_common_init(uint16_t param) {
hyundai_non_scc = GET_FLAG(param, HYUNDAI_PARAM_NON_SCC);
hyundai_cancel_button_enable = GET_FLAG(param, HYUNDAI_PARAM_CANCEL_BTN_ENABLE);
hyundai_can_refresh_msgs = GET_FLAG(param, HYUNDAI_PARAM_CAN_REFRESH_MSGS);
hyundai_has_lkas12 = false;
hyundai_elantra_hev_2024 = hyundai_can_refresh_msgs && hyundai_hybrid_gas_signal && hyundai_camera_scc;
hyundai_aol_main_lkas_sync = false;
opendbc_repo/opendbc/safety/tests/test_hyundai.py
+12
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@@ -427,6 +427,18 @@ def test_hyundai_starpilot_rx_sources():
safety.safety_rx_hook(libsafety_py.make_CANPacket(0x421, 0, bytes(8)))
def test_hyundai_lkas12_tx_requires_stock_camera_message():
safety = libsafety_py.libsafety
assert safety.set_safety_hooks(CarParams.SafetyModel.hyundai, 0) == 0
safety.init_tests()
lkas12 = libsafety_py.make_CANPacket(0x53E, 0, bytes(6))
assert not safety.safety_tx_hook(lkas12)
safety.safety_rx_hook(libsafety_py.make_CANPacket(0x53E, 2, bytes(6)))
assert safety.safety_tx_hook(lkas12)
class TestHyundaiLongitudinalSafety(HyundaiLongitudinalBase, TestHyundaiSafety):
TX_MSGS = [[0x340, 0], [0x4F1, 0], [0x485, 0], [0x420, 0], [0x421, 0], [0x50A, 0], [0x389, 0], [0x4A2, 0], [0x38D, 0], [0x483, 0], [0x7D0, 0]]
opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py
+3 -3
View File
@@ -568,7 +568,7 @@ class TestHyundaiCanfdLKASteeringEV(TestHyundaiCanfdBase):
# TODO: Handle ICE and HEV configurations once we see cars that use the new messages
class TestHyundaiCanfdLKASteeringAltEV(TestHyundaiCanfdBase):
TX_MSGS = [[0x110, 0], [0x1CF, 1], [0x362, 0]]
TX_MSGS = [[0x11A, 1], [0x110, 0], [0x1CF, 1], [0x362, 0]]
RELAY_MALFUNCTION_ADDRS = {0: (0x110, 0x362)} # LKAS_ALT, CAM_0x362
FWD_BLACKLISTED_ADDRS = {2: [0x110, 0x362]}
@@ -587,7 +587,7 @@ class TestHyundaiCanfdLKASteeringAltEV(TestHyundaiCanfdBase):
class TestHyundaiCanfdLKASteeringAltButtonsICE(TestHyundaiCanfdLKASteeringAltEV):
TX_MSGS = [[0x110, 0], [0x1CF, 1], [0x1A0, 1], [0x362, 0]]
TX_MSGS = [[0x11A, 1], [0x110, 0], [0x1CF, 1], [0x1A0, 1], [0x362, 0]]
GAS_MSG = ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED")
def setUp(self):
@@ -691,7 +691,7 @@ class TestHyundaiCanfdLKASteeringLongEV(HyundaiLongitudinalBase, TestHyundaiCanf
class TestHyundaiCanfdLKASteeringAltAngleLongEV(HyundaiLongitudinalBase, TestHyundaiCanfdAngleSteering):
TX_MSGS = [[0x110, 0], [0x1CF, 1], [0x362, 0], [0x51, 0], [0x100, 0], [0x730, 1], [0x12a, 1], [0x160, 1],
TX_MSGS = [[0x11A, 1], [0x110, 0], [0x1CF, 1], [0x362, 0], [0x51, 0], [0x100, 0], [0x730, 1], [0x12a, 1], [0x160, 1],
[0x1ba, 1], [0x1e0, 1], [0x1e5, 1], [0x31a, 1], [0x3b5, 1], [0x3c1, 1],
[0x1a0, 1], [0x1ea, 1], [0x200, 1], [0x345, 1], [0x1da, 1]]
selfdrive/controls/lib/latcontrol_vehicle_tunes.py
+5 -5
View File
@@ -253,12 +253,12 @@ GENESIS_G70_FRICTION_CENTER_LAT = 0.28
GENESIS_G70_FRICTION_CENTER_LAT_WIDTH = 0.10
GENESIS_G70_FRICTION_CALM_JERK = 0.35
GENESIS_G70_FRICTION_CALM_JERK_WIDTH = 0.10
GENESIS_G70_FRICTION_JERK_DEADZONE_MAX = 0.36
GENESIS_G70_FRICTION_JERK_DEADZONE_MAX = 0.39
GENESIS_G70_FRICTION_JERK_DEADZONE_LAT = 0.30
GENESIS_G70_FRICTION_JERK_DEADZONE_LAT_WIDTH = 0.08
GENESIS_G70_FRICTION_JERK_DEADZONE_SPEED = 12.0
GENESIS_G70_FRICTION_JERK_DEADZONE_SPEED_WIDTH = 3.5
GENESIS_G70_CENTER_OUTPUT_TAPER_MAX = 0.20
GENESIS_G70_CENTER_OUTPUT_TAPER_MAX = 0.22
GENESIS_G70_CENTER_OUTPUT_TAPER_LAT = 0.30
GENESIS_G70_CENTER_OUTPUT_TAPER_LAT_WIDTH = 0.10
GENESIS_G70_CENTER_OUTPUT_TAPER_SPEED = 18.0
@@ -289,10 +289,10 @@ GENESIS_G70_CURVE_UNWIND_LAT_WIDTH = 0.12
GENESIS_G70_CURVE_UNWIND_JERK = 0.08
GENESIS_G70_CURVE_UNWIND_JERK_WIDTH = 0.08
GENESIS_G70_UNWIND_FF_REDUCTION_MAX = 0.28
GENESIS_G70_UNWIND_FF_OVERSHOOT = 0.16
GENESIS_G70_UNWIND_FF_OVERSHOOT_WIDTH = 0.16
GENESIS_G70_UNWIND_FF_OVERSHOOT = 0.18
GENESIS_G70_UNWIND_FF_OVERSHOOT_WIDTH = 0.20
GENESIS_G70_UNWIND_FF_JERK = 0.10
GENESIS_G70_UNWIND_FF_JERK_WIDTH = 0.10
GENESIS_G70_UNWIND_FF_JERK_WIDTH = 0.13
GENESIS_G70_UNWIND_FF_SPEED = 18.0
GENESIS_G70_UNWIND_FF_SPEED_WIDTH = 3.0
GENESIS_G70_HIGH_SPEED_ERROR_DAMPING_MAX = 0.15
system/hardware/tici/agnos.json
+12 -12
View File
@@ -56,30 +56,30 @@
},
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{
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