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I can be ur angle

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firestar5683
2026-06-27 22:17:04 -05:00
parent 92bc8ee934
commit fac7554cb6
3 changed files with 10 additions and 8 deletions
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opendbc_repo/opendbc/car/hyundai/carcontroller.py
+2 -2
View File
@@ -627,8 +627,8 @@ class CarController(CarControllerBase):
steering_msg_active = apply_steer_req
if self.CP.carFingerprint == CAR.KIA_EV9 and self.CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
# EV9 faults if the angle-steering status drops inactive during torque limiting.
# Hold the angle path active while lateral is active, except during high-angle maneuvers.
steering_msg_active = CC.latActive and abs(CS.out.steeringAngleDeg) < EV9_HIGH_ANGLE_CONTROL_LIMIT
# Hold the angle status active while lateral is active; high-angle inhibit only zeros gain.
steering_msg_active = CC.latActive
can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled,
steering_msg_active, apply_torque, apply_angle,
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+7 -5
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@@ -1405,7 +1405,7 @@ class TestHyundaiFingerprint:
assert parser.vl["LKAS_ALT"]["ADAS_ACIAnglTqRedcGainVal"] == pytest.approx(0.0)
assert parser.vl["LKAS_ALT"]["ADAS_StrAnglReqVal"] == pytest.approx(8.5)
def test_ev9_high_steering_angle_inhibits_angle_control_and_lfa_suppress(self):
def test_ev9_high_steering_angle_keeps_active_status_with_zero_gain(self):
CP = CarParams.new_message()
CP.carFingerprint = CAR.KIA_EV9
CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING |
@@ -1438,20 +1438,22 @@ class TestHyundaiFingerprint:
}
cc = SimpleNamespace(enabled=True, latActive=True, actuators=SimpleNamespace(longControlState=LongCtrlState.off),
leftBlinker=False, rightBlinker=False, hudControl=SimpleNamespace())
cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg=stock_lkas, lfa_block_msg={},
lfa_block_msg = {f"BYTE{i}": 0 for i in range(3, 32) if i != 7}
lfa_block_msg["COUNTER"] = 0
cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg=stock_lkas, lfa_block_msg=lfa_block_msg,
out=SimpleNamespace(steeringAngleDeg=120.0))
msgs = controller.create_canfd_msgs(0, True, 0.44, 120.0, 0.0, 0.0, False, cc.hudControl, cs, cc,
msgs = controller.create_canfd_msgs(0, False, 0.0, 120.0, 0.0, 0.0, False, cc.hudControl, cs, cc,
get_test_toggles(), lka_icon=2, lfa_icon=2)
lkas_msgs = [msg for msg in msgs if msg[0] == 0x110]
suppress_msgs = [msg for msg in msgs if msg[0] == 0x362]
assert len(lkas_msgs) == 1
assert len(suppress_msgs) == 0
assert len(suppress_msgs) == 1
parser.update([(1, lkas_msgs)])
assert parser.can_valid
assert parser.vl["LKAS_ALT"]["LKAS_ANGLE_ACTIVE"] == 1
assert parser.vl["LKAS_ALT"]["LKAS_ANGLE_ACTIVE"] == 2
assert parser.vl["LKAS_ALT"]["ADAS_ACIAnglTqRedcGainVal"] == pytest.approx(0.0)
assert parser.vl["LKAS_ALT"]["ADAS_StrAnglReqVal"] == pytest.approx(120.0)
selfdrive/controls/lib/latcontrol_angle.py
+1 -1
View File
@@ -11,7 +11,7 @@ class LatControlAngle(LatControl):
def __init__(self, CP, CI, dt):
super().__init__(CP, CI, dt)
self.sat_check_min_speed = 5.
self.use_steer_limited_by_safety = CP.brand == "tesla"
self.use_steer_limited_by_safety = CP.brand in ("tesla", "hyundai")
def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay, calibrated_pose, model_data, starpilot_toggles):
angle_log = log.ControlsState.LateralAngleState.new_message()