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firestar5683
2026-05-07 17:10:31 -05:00
parent b038b102d8
commit ea64cc4de3
4 changed files with 13 additions and 12 deletions
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opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
+5 -10
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@@ -2,7 +2,7 @@ import copy
import numpy as np
from opendbc.car import CanBusBase, CanData
from opendbc.car.crc import CRC16_XMODEM
from opendbc.car.hyundai.values import CAR, HyundaiFlags
from opendbc.car.hyundai.values import HyundaiFlags
def _set_value(msg: bytearray, sig, ival: int) -> None:
@@ -134,15 +134,10 @@ 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:
# Sportage HEV 2026 tracks more reliably and stays fault-free on the stock-style
# LFA angle request path. Other SEND_LFA angle cars still use ADAS_CMD.
if CP.carFingerprint == CAR.KIA_SPORTAGE_HEV_2026:
ret.append(_create_angle_lfa_msg(packer, CAN, lfa_values, apply_angle, lat_active, apply_torque))
else:
# 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))
# 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))
else:
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+2 -1
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@@ -811,7 +811,7 @@ class TestHyundaiFingerprint:
assert parser.vl["FCA12"]["FCA_DrvSetState"] == 2
assert parser.vl["FCA12"]["FCA_USM"] == 2
def test_sportage_angle_steering_uses_lfa_only_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
@@ -825,6 +825,7 @@ class TestHyundaiFingerprint:
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):
selfdrive/controls/lib/latcontrol_torque.py
+4 -1
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@@ -289,6 +289,8 @@ IONIQ_6_DIRECTIONAL_TAPER_FLOOR_LEFT = 0.48
IONIQ_6_DIRECTIONAL_TAPER_FLOOR_RIGHT = 0.52
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_LEFT = 0.10
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_RIGHT = 0.04
IONIQ_6_DIRECTIONAL_TAPER_JERK_ONSET = 0.35
IONIQ_6_DIRECTIONAL_TAPER_JERK_WIDTH = 0.08
IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_START = 0.82
IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_WIDTH = 0.12
IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_LEFT = 0.10
@@ -947,7 +949,8 @@ def get_ioniq_6_directional_taper_scale(desired_lateral_accel: float, desired_la
band_weight = onset * cutoff
heavy_band_weight = _ioniq_6_sigmoid((abs_lateral_accel - IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_START) / IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_WIDTH)
phase = _ioniq_6_transition_phase(desired_lateral_accel, desired_lateral_jerk)
unwind_weight = max(-phase, 0.0)
unwind_weight = max(-phase, 0.0) * _ioniq_6_sigmoid((abs(desired_lateral_jerk) - IONIQ_6_DIRECTIONAL_TAPER_JERK_ONSET) /
IONIQ_6_DIRECTIONAL_TAPER_JERK_WIDTH)
base_reduction = _ioniq_6_side_value(desired_lateral_accel, IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT, IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT)
unwind_reduction = _ioniq_6_side_value(desired_lateral_accel, IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT, IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT)
heavy_base_reduction = _ioniq_6_side_value(desired_lateral_accel, IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_LEFT, IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_RIGHT)
selfdrive/controls/tests/test_latcontrol.py
+2
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@@ -254,6 +254,8 @@ class TestLatControl:
assert get_ioniq_6_directional_taper_scale(-0.5, 0.7) <= get_ioniq_6_directional_taper_scale(-0.5, 0.0)
assert get_ioniq_6_directional_taper_scale(-1.2, 0.0) < get_ioniq_6_directional_taper_scale(1.2, 0.0) < 1.0
assert get_ioniq_6_directional_taper_scale(-1.2, 0.7) <= get_ioniq_6_directional_taper_scale(-1.2, 0.0)
assert get_ioniq_6_directional_taper_scale(-1.2, 0.25) > get_ioniq_6_directional_taper_scale(-1.2, 0.7)
assert get_ioniq_6_directional_taper_scale(1.2, -0.25) > get_ioniq_6_directional_taper_scale(1.2, -0.7)
def test_ioniq_6_output_taper_curve(self):
assert get_ioniq_6_output_taper_scale(0.0, 0.0, 25.0) < get_ioniq_6_output_taper_scale(0.0, 0.0, 8.0) <= 1.0