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Ioniq 6 turn blips

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This commit is contained in:
whoisdomi
2026-09-19 14:30:46 -05:00
parent ee87261cd5
commit eff2a7408d
2 changed files with 2 additions and 18 deletions
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opendbc_repo/opendbc/car/hyundai/carcontroller.py
-8
View File
@@ -441,12 +441,6 @@ def suppress_redundant_gv70_brake_cancel(CP, brake_pressed: bool, lat_active: bo
)
def clear_ioniq_6_torque_when_request_inactive(CP, apply_torque: int, apply_steer_req: bool) -> int:
if CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and not apply_steer_req:
return 0
return apply_torque
class CarController(CarControllerBase):
def __init__(self, dbc_names, CP):
super().__init__(dbc_names, CP)
@@ -642,8 +636,6 @@ class CarController(CarControllerBase):
if not CC.latActive:
apply_torque = 0
apply_torque = clear_ioniq_6_torque_when_request_inactive(self.CP, apply_torque, apply_steer_req)
# Hold torque with induced temporary fault when cutting the actuation bit
# FIXME: we don't use this with CAN FD?
torque_fault = CC.latActive and not apply_steer_req
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+2 -10
View File
@@ -20,8 +20,7 @@ from opendbc.car.hyundai.carcontroller import CarController, CANCEL_BUTTON_DELAY
should_track_stop_accel_directly_for_car, \
preserve_stock_canfd_lfa_status, \
preserve_stock_canfd_lkas_status, \
suppress_redundant_gv70_brake_cancel, \
clear_ioniq_6_torque_when_request_inactive
suppress_redundant_gv70_brake_cancel
from opendbc.car.hyundai.carstate import CarState, decode_canfd_camera_lead, decode_ioniq_6_blindspot_radar_state, \
get_canfd_cruise_available
from opendbc.car.hyundai.interface import CarInterface, KIA_EV9_ACCEL_MAX, get_communication_control_request
@@ -626,14 +625,7 @@ class TestHyundaiFingerprint:
assert not (CP.flags & HyundaiFlags.CANFD_LKA_STEERING)
assert bool(CP.flags & HyundaiFlags.CANFD_CAMERA_SCC)
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)
assert clear_ioniq_6_torque_when_request_inactive(ioniq_6_cp, -409, False) == 0
assert clear_ioniq_6_torque_when_request_inactive(ioniq_6_cp, -409, True) == -409
assert clear_ioniq_6_torque_when_request_inactive(other_cp, -409, False) == -409
def test_palisade_2023_uses_can_canfd_blended_layout(self):
palisade_2023 = CarInterface.get_params(CAR.HYUNDAI_PALISADE_2023, gen_empty_fingerprint(), [], True, False, False, None)
assert palisade_2023.flags & HyundaiFlags.CAN_CANFD_BLENDED
assert DBC[palisade_2023.carFingerprint][Bus.pt] == "hyundai_palisade_2023_generated"