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firestar5683
2026-05-07 11:03:37 -05:00
parent 86ce0b03ee
commit c1804b1fd8
3 changed files with 13 additions and 3 deletions
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opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
+3
View File
@@ -134,6 +134,9 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
else:
if CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
if CP.flags & HyundaiFlags.SEND_LFA:
# Some CAN-FD angle-steering trims still expect the stock-style LFA status/UI
# message to remain present even though angle actuation comes through ADAS_CMD.
ret.append(packer.make_can_msg("LFA", CAN.ECAN, lfa_values))
ret.append(_create_angle_adas_cmd_msg(packer, CAN, apply_angle, lat_active, apply_torque))
else:
ret.append(_create_angle_lfa_msg(packer, CAN, lfa_values, apply_angle, lat_active, apply_torque))
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+8 -3
View File
@@ -787,7 +787,7 @@ class TestHyundaiFingerprint:
assert parser.vl["FCA12"]["FCA_DrvSetState"] == 2
assert parser.vl["FCA12"]["FCA_USM"] == 2
def test_sportage_angle_steering_uses_adas_cmd_with_send_lfa(self):
def test_sportage_angle_steering_uses_lfa_and_adas_cmd_with_send_lfa(self):
fingerprint = gen_empty_fingerprint()
cam_can = CanBus(None, fingerprint).CAM
fingerprint[cam_can][0xCB] = 24
@@ -797,8 +797,12 @@ class TestHyundaiFingerprint:
assert CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING
packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
msgs = hyundaicanfd.create_steering_messages(packer, CP, CanBus(CP), True, True, 1.0, 12.3)
assert [(addr, bus) for addr, _, bus in msgs] == [(0xCB, CanBus(CP).ECAN)]
can_bus = CanBus(CP)
msgs = hyundaicanfd.create_steering_messages(packer, CP, can_bus, True, True, 1.0, 12.3)
assert [(packer.dbc.addr_to_msg[addr].name, bus) for addr, _, bus in msgs] == [
("LFA", can_bus.ECAN),
("ADAS_CMD_35_10ms", can_bus.ECAN),
]
def test_ioniq_6_lfa_helper_preserves_stock_ui_fields(self):
CP = CarParams.new_message()
@@ -1040,6 +1044,7 @@ class TestHyundaiFingerprint:
assert sportage_high_speed_params.ANGLE_LIMITS.MAX_LATERAL_JERK == sportage_params.ANGLE_LIMITS.MAX_LATERAL_JERK
assert sportage_low_speed_params.ANGLE_LIMITS.MAX_LATERAL_JERK > sportage_high_speed_params.ANGLE_LIMITS.MAX_LATERAL_JERK
assert sportage_low_speed_params.ANGLE_LIMITS.MAX_LATERAL_JERK < comparison_params.ANGLE_LIMITS.MAX_LATERAL_JERK
assert sportage_params.ANGLE_LIMITS.STEER_ANGLE_MAX > comparison_params.ANGLE_LIMITS.STEER_ANGLE_MAX
assert sportage_params.ANGLE_LIMITS.MAX_LATERAL_ACCEL > comparison_params.ANGLE_LIMITS.MAX_LATERAL_ACCEL
assert sportage_params.ANGLE_LIMITS.MAX_ANGLE_RATE > comparison_params.ANGLE_LIMITS.MAX_ANGLE_RATE
assert comparison_params.ANGLE_LIMITS.MAX_LATERAL_JERK == ioniq6_params.ANGLE_LIMITS.MAX_LATERAL_JERK
opendbc_repo/opendbc/car/hyundai/values.py
+2
View File
@@ -17,6 +17,7 @@ SPORTAGE_HEV_2026_LOW_SPEED_JERK_BOOST = 0.75
SPORTAGE_HEV_2026_LOW_SPEED_JERK_SPEED = 12.0
SPORTAGE_HEV_2026_LOW_SPEED_JERK_WIDTH = 6.0
SPORTAGE_HEV_2026_MAX_ANGLE_RATE = 6.0
SPORTAGE_HEV_2026_STEER_ANGLE_MAX = 220.0
class CarControllerParams:
@@ -69,6 +70,7 @@ class CarControllerParams:
sportage_low_speed_weight = min(max((SPORTAGE_HEV_2026_LOW_SPEED_JERK_SPEED - vEgoRaw) / SPORTAGE_HEV_2026_LOW_SPEED_JERK_WIDTH, 0.0), 1.0)
sportage_lateral_jerk = SPORTAGE_HEV_2026_BASE_LATERAL_JERK + (SPORTAGE_HEV_2026_LOW_SPEED_JERK_BOOST * sportage_low_speed_weight)
self.ANGLE_LIMITS = replace(self.ANGLE_LIMITS,
STEER_ANGLE_MAX=SPORTAGE_HEV_2026_STEER_ANGLE_MAX,
MAX_LATERAL_ACCEL=SPORTAGE_HEV_2026_MAX_LATERAL_ACCEL + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL),
MAX_LATERAL_JERK=sportage_lateral_jerk + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL),
MAX_ANGLE_RATE=SPORTAGE_HEV_2026_MAX_ANGLE_RATE)