copy oem damping factor

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -938,7 +938,8 @@ class CarController(CarControllerBase):
                                                              CS.stock_lfa_msg if preserve_stock_lfa_status else None,
                                                              CS.stock_lkas_msg if preserve_stock_lkas else None,
                                                              lka_icon=lka_icon,
-                                                             longitudinal_active=lfa_longitudinal_active))
+                                                             longitudinal_active=lfa_longitudinal_active,
+                                                             v_ego=getattr(getattr(CS, "out", None), "vEgo", None)))
     direct_steering_active = ccnc_angle_long and drive_gear and CC.latActive and self.direct_angle_request_allowed and not CS.angle_steering_fault
     inactive_steering_angle = float(np.clip(CS.angle_steering_angle,
                                             -self.params.ANGLE_LIMITS.STEER_ANGLE_MAX,

opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py

@@ -7,6 +7,28 @@ from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.crc import CRC16_XMODEM
 from opendbc.car.hyundai.values import HyundaiFlags, CAR, CANFD_ALT_BUTTONS_RESUME_CAR
 
+# Ioniq 6 EPS damping, matched to the car's own LFA. With the stock ADAS driving, the Ioniq 6 steers
+# through LFA (0x12A) and sends ONLY a damping value in LKAS_ALT (0x110 byte 8, Hyundai name
+# Damping_Gain); both are scheduled purely on speed (drive 00000b41: no dependence on angle, torque or
+# hands). openpilot sent a fixed 100 in LFA and never set LKAS_ALT's, so the EPS got 0 there. The
+# breakpoints are the stock medians per 5 mph band (centers) while the stock system is steering,
+# rising steadily to 163 (LFA) / 154 (LKAS_ALT) at 85-90 mph. openpilot's highway weave matched the
+# stock system at 45-60 mph and grew past it above 60 mph, exactly where the stock damping pulls away.
+# Below ~35 mph the previous values are kept (LFA floor 100, LKAS_ALT 0) so low-speed turn tuning
+# is untouched. The panda only checks torque/steer_req on these messages, not the damping byte.
+_DAMP_MPH = [37.5, 42.5, 47.5, 52.5, 57.5, 62.5, 67.5, 72.5, 77.5, 82.5, 87.5]
+IONIQ_6_LFA_DAMP_BP = [mph * CV.MPH_TO_MS for mph in _DAMP_MPH]
+IONIQ_6_LFA_DAMP_V = [100., 105., 107., 112., 116., 119., 133., 145., 151., 157., 163.]
+IONIQ_6_LKAS_ALT_DAMP_BP = [mph * CV.MPH_TO_MS for mph in [35.0] + _DAMP_MPH[1:]]
+IONIQ_6_LKAS_ALT_DAMP_V = [0., 125., 127., 132., 136., 139., 142., 144., 146., 150., 154.]
+
+
+def get_ioniq_6_damp_factors(v_ego: float) -> tuple[int, int]:
+  """(LFA DAMP_FACTOR, LKAS_ALT DAMP_FACTOR) for the Ioniq 6 at this speed."""
+  lfa = float(np.interp(v_ego, IONIQ_6_LFA_DAMP_BP, IONIQ_6_LFA_DAMP_V))
+  lkas_alt = float(np.interp(v_ego, IONIQ_6_LKAS_ALT_DAMP_BP, IONIQ_6_LKAS_ALT_DAMP_V))
+  return int(round(lfa)), int(round(lkas_alt))
+
 
 def _set_value(msg: bytearray, sig, ival: int) -> None:
   i = sig.lsb // 8
@@ -100,7 +122,7 @@ def create_angle_adas_cmd(packer, CAN, apply_angle: float, lat_active: bool, tor
 
 def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque, apply_angle,
                              lfa_base_values=None, lkas_base_values=None, lka_icon=None,
-                             longitudinal_active=None):
+                             longitudinal_active=None, v_ego=None):
   if lka_icon is None:
     lka_icon = 2 if enabled else 1
   if longitudinal_active is None:
@@ -142,6 +164,10 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
     lfa_values["NEW_SIGNAL_2"] = 0
     lfa_values["DAMP_FACTOR"] = 100  # can potentially tuned for better perf [3, 200]
 
+  if CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and v_ego is not None and \
+     not CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
+    lfa_values["DAMP_FACTOR"], lkas_values["DAMP_FACTOR"] = get_ioniq_6_damp_factors(v_ego)
+
   if CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING and CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT:
     lkas_values["ADAS_StrAnglReqVal"] = apply_angle
     lkas_values["LKAS_ANGLE_ACTIVE"] = 2 if lat_active else 1

opendbc_repo/opendbc/car/hyundai/tests/test_ioniq6_damping.py

@@ -0,0 +1,62 @@
+import pytest
+
+from opendbc.can import CANPacker, CANParser
+from opendbc.car import Bus
+from opendbc.car.common.conversions import Conversions as CV
+from opendbc.car.structs import CarParams
+from opendbc.car.hyundai import hyundaicanfd
+from opendbc.car.hyundai.hyundaicanfd import CanBus, get_ioniq_6_damp_factors
+from opendbc.car.hyundai.values import CAR, DBC, HyundaiFlags
+
+
+def _cp(fingerprint):
+  CP = CarParams.new_message()
+  CP.carFingerprint = fingerprint
+  CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_LKA_STEERING |
+                 HyundaiFlags.CANFD_LKA_STEERING_ALT)
+  CP.openpilotLongitudinalControl = True
+  return CP
+
+
+def _damping(fingerprint, v_ego, torque=100):
+  CP = _cp(fingerprint)
+  packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+  can_bus = CanBus(CP)
+  msgs = hyundaicanfd.create_steering_messages(packer, CP, can_bus, True, True, torque, 0.0, v_ego=v_ego)
+  names = [(packer.dbc.addr_to_msg[addr].name, bus) for addr, _, bus in msgs]
+  assert names == [("LFA", can_bus.ECAN), ("LKAS_ALT", can_bus.ACAN)]
+
+  lfa = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LFA", 0)], can_bus.ECAN)
+  lfa.update([(1, [msgs[0]])])
+  lkas = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS_ALT", 0)], can_bus.ACAN)
+  lkas.update([(1, [msgs[1]])])
+  assert lfa.can_valid and lkas.can_valid
+  assert lfa.vl["LFA"]["TORQUE_REQUEST"] == torque
+  assert lkas.vl["LKAS_ALT"]["TORQUE_REQUEST"] == torque
+  return lfa.vl["LFA"]["DAMP_FACTOR"], lkas.vl["LKAS_ALT"]["DAMP_FACTOR"], lkas.vl["LKAS_ALT"]["Damping_Gain"]
+
+
+@pytest.mark.parametrize(("mph", "expected"), [
+  (10, (100, 0)),     # low speed unchanged: previous LFA 100 floor, LKAS_ALT 0
+  (30, (100, 0)),
+  (42.5, (105, 125)), # stock medians, 40-45 mph band
+  (50, (110, 130)),   # halfway between the 45-50 (107/127) and 50-55 (112/132) bands
+  (72.5, (145, 144)), # stock medians, 70-75 mph band
+  (95, (163, 154)),   # held beyond the last breakpoint (85-90 mph band)
+])
+def test_ioniq_6_damping_schedule(mph, expected):
+  assert get_ioniq_6_damp_factors(mph * CV.MPH_TO_MS) == expected
+
+
+def test_ioniq_6_damping_is_encoded_on_both_steering_messages():
+  lfa, lkas_alt, damping_gain = _damping(CAR.HYUNDAI_IONIQ_6, 72.5 * CV.MPH_TO_MS)
+  assert (lfa, lkas_alt) == (145, 144)
+  assert damping_gain == lkas_alt  # same bits: Hyundai's name for the LKAS_ALT damping byte
+
+
+def test_ioniq_6_without_speed_keeps_previous_values():
+  assert _damping(CAR.HYUNDAI_IONIQ_6, None)[:2] == (100, 0)
+
+
+def test_other_cars_unchanged():
+  assert _damping(CAR.HYUNDAI_IONIQ_5, 70 * CV.MPH_TO_MS)[:2] == (100, 0)