gniht

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

@@ -731,7 +731,7 @@ class TestHyundaiFingerprint:
   @pytest.mark.parametrize("candidate, tracks_main_cruise", (
     (CAR.HYUNDAI_ELANTRA_2021, False),
     (CAR.HYUNDAI_ELANTRA_HEV_2024, False),
-    (CAR.HYUNDAI_SONATA_HYBRID, True),
+    (CAR.HYUNDAI_SONATA_HYBRID, False),
   ))
   def test_legacy_hyundai_long_main_cruise_tracking_is_vehicle_specific(self, candidate, tracks_main_cruise):
     toggles = get_test_toggles()

opendbc_repo/opendbc/car/interfaces.py

@@ -245,12 +245,6 @@ class CarInterfaceBase(ABC):
           fp_ret.pcmCruiseSpeed = False
           CP.openpilotLongitudinalControl = True
 
-        # The Sonata Hybrid needs its stock ACC main state tracked while using OP long.
-        # The classic Elantra follows the default always-on ACC-main behavior instead.
-        if candidate == HYUNDAI.HYUNDAI_SONATA_HYBRID and \
-            CP.openpilotLongitudinalControl:
-          fp_ret.flags |= HyundaiStarPilotFlags.MAIN_CRUISE_STATE_TRACKING.value
-
         hyundai_has_lda_button = not (CP.flags & HyundaiFlags.CANFD) and (
           0x391 in fingerprint[0] or
           0x50C in fingerprint[0] or

selfdrive/controls/lib/latcontrol_torque.py

@@ -363,6 +363,8 @@ class LatControlTorque(LatControl):
         friction_threshold = get_genesis_g70_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
       elif self.is_genesis_gv70:
         friction_threshold = get_genesis_gv70_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
+      elif self.is_sonata_hybrid:
+        friction_threshold = get_sonata_hybrid_friction_threshold(CS.vEgo, setpoint)
       friction_scale = 1.0
       if bolt_2022_2023_tuned_path_active:
         ff *= get_bolt_2022_2023_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)

selfdrive/controls/lib/latcontrol_vehicle_tunes.py

@@ -464,6 +464,10 @@ SONATA_HYBRID_CENTER_OUTPUT_TAPER_LAT = 0.18
 SONATA_HYBRID_CENTER_OUTPUT_TAPER_LAT_WIDTH = 0.05
 SONATA_HYBRID_CENTER_OUTPUT_TAPER_SPEED = 12.5
 SONATA_HYBRID_CENTER_OUTPUT_TAPER_SPEED_WIDTH = 2.5
+SONATA_HYBRID_CHATTER_THRESHOLD_SPEED_BP = [0.0, 4.5, 7.5, 11.0, 20.0]
+SONATA_HYBRID_CHATTER_THRESHOLD_BUMP = [0.02, 0.04, 0.04, 0.02, 0.0]
+SONATA_HYBRID_CHATTER_THRESHOLD_CENTER = 0.20
+SONATA_HYBRID_CHATTER_THRESHOLD_CENTER_WIDTH = 0.05
 
 SONATA_FF_REDUCTION_LEFT = 0.04
 SONATA_FF_REDUCTION_RIGHT = 0.26
@@ -2506,6 +2510,17 @@ def get_sonata_hybrid_center_output_scale(desired_lateral_accel: float, v_ego: f
   return 1.0 - SONATA_HYBRID_CENTER_OUTPUT_TAPER_MAX * speed_weight * center_weight
 
 
+def get_sonata_hybrid_friction_threshold(v_ego: float, desired_lateral_accel: float) -> float:
+  base_threshold = get_standard_friction_threshold(v_ego)
+  speed_bump = np.interp(max(v_ego, 0.0), SONATA_HYBRID_CHATTER_THRESHOLD_SPEED_BP,
+                         SONATA_HYBRID_CHATTER_THRESHOLD_BUMP)
+  center_weight = _sonata_hybrid_sigmoid(
+    (SONATA_HYBRID_CHATTER_THRESHOLD_CENTER - abs(desired_lateral_accel)) /
+    SONATA_HYBRID_CHATTER_THRESHOLD_CENTER_WIDTH
+  )
+  return float(base_threshold + speed_bump * center_weight)
+
+
 def _sonata_sigmoid(x: float) -> float:
   return _sigmoid(x)
 

selfdrive/controls/tests/test_latcontrol.py

@@ -34,6 +34,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_vehicle_tunes import (
   get_kona_non_scc_highway_transition_output_scale,
   get_kia_ev6_center_output_scale,
   get_sonata_hybrid_center_output_scale,
+  get_sonata_hybrid_friction_threshold,
   get_prius_center_taper_scale,
   KIA_FORTE_BASE_LAT_ACCEL_FACTOR_MULT,
   HONDA_ACCORD_TORQUE_KI,
@@ -930,6 +931,13 @@ class TestLatControl:
     assert turn > 0.99
     assert center > 0.85
 
+  def test_sonata_hybrid_chatter_threshold_is_low_mid_speed_and_center_gated(self):
+    base_low = get_standard_friction_threshold(5.5)
+    base_high = get_standard_friction_threshold(20.0)
+    assert get_sonata_hybrid_friction_threshold(5.5, 0.0) > base_low
+    assert get_sonata_hybrid_friction_threshold(5.5, 0.6) == pytest.approx(base_low, abs=0.0001)
+    assert get_sonata_hybrid_friction_threshold(20.0, 0.0) == pytest.approx(base_high)
+
   def test_ioniq_5_ff_scale_curve(self):
     assert get_ioniq_5_ff_scale(0.0, 0.0, 20.0) == 1.0
     steady_left = get_ioniq_5_ff_scale(0.7, 0.0, 12.0)

selfdrive/ui/layouts/settings/starpilot/lateral.py

@@ -285,8 +285,8 @@ class StarPilotLateralLayout(_SettingsPage):
       SettingRow(
         "SteerDelay", "value", tr_noop("Actuator Delay"),
         subtitle=tr_noop("Exact full delay between steering command and vehicle response."),
-        get_value=lambda: f"{p.get_float('SteerDelay'):.2f}s",
-        on_click=lambda: self._show_slider("SteerDelay", 0.01, 1.0, step=0.01, unit="s", value_type="float"),
+        get_value=lambda: f"{p.get_float('SteerDelay'):.3f}s",
+        on_click=lambda: self._show_slider("SteerDelay", 0.01, 1.0, step=0.001, unit="s", value_type="float"),
         enabled=lambda: not p.get_bool("UseAutoSteerDelay"),
         disabled_label=tr_noop("Disabled while auto-learned delay is enabled."),
         visible=lambda: alt_on() and cs.steerActuatorDelay != 0,