Restore CAN-FD steer limits and Ioniq 6 full PID torque range

- CAN-FD STEER_MAX 270 -> 409; below 15 m/s STEER_DELTA_UP/DOWN 10/8
  (Carnival HEV keeps 2/3), carcontroller refreshes params from vEgoRaw
- hyundai_canfd safety: max_torque 409, rt_delta 375, rate up/down 10
- Ioniq6TorquePolicy: PID limits from the 1.22-compensated factor so the
  PID path can reach full torque instead of 1/1.22 of STEER_MAX

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -163,6 +163,8 @@ class CarController(CarControllerBase):
       self._ray_prev_lat_active = CC.latActive
 
     # steering torque
+    if self.CP.flags & HyundaiFlags.CANFD:
+      self.params = CarControllerParams(self.CP, CS.out.vEgoRaw)
     new_torque = int(round(actuators.torque * self.params.STEER_MAX))
     apply_torque = (0 if self.angle_vm is not None else
                     apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorque, self.params))

opendbc_repo/opendbc/car/hyundai/values.py

@@ -17,7 +17,7 @@ class CarControllerParams:
   ACCEL_MAX = 2.0 # m/s^2
   ANGLE_LIMITS = AngleSteeringLimitsVM(360, MAX_ANGLE_RATE=5)
 
-  def __init__(self, CP):
+  def __init__(self, CP, vEgoRaw=100.):
     self.ACCEL_MAX = 3.5 if is_blended_alpha(CP) else type(self).ACCEL_MAX
     self.STEER_DELTA_UP = 3
     self.STEER_DELTA_DOWN = 7
@@ -28,12 +28,16 @@ class CarControllerParams:
     self.STEER_STEP = 1  # 100 Hz
 
     if CP.flags & HyundaiFlags.CANFD:
-      self.STEER_MAX = 270
+      self.STEER_MAX = 409
       self.STEER_DRIVER_ALLOWANCE = 250
       self.STEER_DRIVER_MULTIPLIER = 2
       self.STEER_THRESHOLD = 250
-      self.STEER_DELTA_UP = 2
-      self.STEER_DELTA_DOWN = 3
+      if vEgoRaw < 15.0 and CP.carFingerprint != CAR.KIA_CARNIVAL_HEV_4TH_GEN:
+        self.STEER_DELTA_UP = 10
+        self.STEER_DELTA_DOWN = 8
+      else:
+        self.STEER_DELTA_UP = 2
+        self.STEER_DELTA_DOWN = 3
 
     # To determine the limit for your car, find the maximum value that the stock LKAS will request.
     # If the max stock LKAS request is <384, add your car to this list.

opendbc_repo/opendbc/safety/modes/hyundai_canfd.h

@@ -637,10 +637,10 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *msg) {
 static bool hyundai_canfd_tx_hook_valid(const CANPacket_t *msg) {
   static uint8_t hyundai_canfd_ioniq6_lfa_mirror[4] = {0};
   const TorqueSteeringLimits HYUNDAI_CANFD_STEERING_LIMITS = {
-    .max_torque = 270,
-    .max_rt_delta = 112,
-    .max_rate_up = 2,
-    .max_rate_down = 3,
+    .max_torque = 409,
+    .max_rt_delta = 375,
+    .max_rate_up = 10,
+    .max_rate_down = 10,
     .driver_torque_allowance = 250,
     .driver_torque_multiplier = 2,
     .type = TorqueDriverLimited,

opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py

@@ -31,11 +31,11 @@ class TestHyundaiCanfdBase(HyundaiButtonBase, common.CarSafetyTest, common.Drive
   STANDSTILL_THRESHOLD = 12  # 0.375 kph
   FWD_BLACKLISTED_ADDRS = {2: [0x50, 0x2a4]}
 
-  MAX_RATE_UP = 2
-  MAX_RATE_DOWN = 3
-  MAX_TORQUE_LOOKUP = [0], [270]
+  MAX_RATE_UP = 10
+  MAX_RATE_DOWN = 10
+  MAX_TORQUE_LOOKUP = [0], [409]
 
-  MAX_RT_DELTA = 112
+  MAX_RT_DELTA = 375
 
   DRIVER_TORQUE_ALLOWANCE = 250
   DRIVER_TORQUE_FACTOR = 2

openpilot/starpilot/lateral/ioniq6_policy.py

@@ -758,14 +758,9 @@ class Ioniq6TorquePolicy:
     self.dt = parent.dt
     self.is_2025 = is_ioniq_6_2025_model(CP)
     self.vehicle_factor = float(CP.lateralTuning.torque.latAccelFactor)
-    # Startup limits use raw CP calibration before the 1.22 factor; using compensated
-    # parameters would widen them before the first live torque update.
-    startup_params = CP.lateralTuning.torque.as_builder()
-    startup_pos_limit = parent.lateral_accel_from_torque(parent.steer_max, startup_params)
-    startup_neg_limit = parent.lateral_accel_from_torque(-parent.steer_max, startup_params)
     parent.pid = PIDController([[0.0], [KP_INTERP[-1]]], KI, rate=1 / self.dt)
-    parent.pid.set_limits(startup_pos_limit, startup_neg_limit)
     parent.torque_params.latAccelFactor = self.vehicle_factor * IONIQ_6_BASE_LAT_ACCEL_FACTOR_MULT
+    parent.update_limits()
     self.request_buffer_len = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / self.dt)
     self.curvature_request_buffer = deque([0.0] * self.request_buffer_len, maxlen=self.request_buffer_len)
     self.jerk_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)

openpilot/starpilot/lateral/tests/test_controller_selection.py

@@ -114,7 +114,7 @@ class TestControllerSelection(unittest.TestCase):
         self.assertAlmostEqual(standard.torque_params.latAccelFactor, cp.lateralTuning.torque.latAccelFactor)
         if vehicle == HYUNDAI.HYUNDAI_IONIQ_6:
           self.assertEqual(standard.pid.pos_limit, cp.lateralTuning.torque.latAccelFactor)
-          self.assertEqual(policy.pid.pos_limit, cp.lateralTuning.torque.latAccelFactor)
+          self.assertEqual(policy.pid.pos_limit, policy.torque_params.latAccelFactor)
           self.assertEqual(policy.torque_params.latAccelFactor,
                            struct.unpack('f', struct.pack('f', cp.lateralTuning.torque.latAccelFactor * 1.22))[0])
           for controller, multiplier in ((standard, 1.0), (policy, 1.22)):
@@ -161,7 +161,7 @@ class TestControllerSelection(unittest.TestCase):
       legacy = Controls()
       self.assertEqual(legacy.lateral_controller_selection, default_selection(cp))
       self.assertIsNotNone(selected_policy(legacy.LaC))
-      self.assertEqual(legacy.LaC.pid.pos_limit, cp.lateralTuning.torque.latAccelFactor)
+      self.assertEqual(legacy.LaC.pid.pos_limit, legacy.LaC.torque_params.latAccelFactor)
       self.assertIsNone(legacy.torque_host)
       from openpilot.starpilot.lateral.torque_settings import DOCUMENT_KEY as TORQUE_DOCUMENT_KEY, replace_field, serialize_document
       tune = cp.lateralTuning.torque

openpilot/starpilot/lateral/tests/test_ev6_default.py

@@ -41,7 +41,7 @@ class TestEV6DefaultLateral(unittest.TestCase):
         self.assertAlmostEqual(lateral.torque_params.latAccelFactor, cp.lateralTuning.torque.latAccelFactor)
         controller = CarController(DBC[cp.carFingerprint], cp)
         self.assertIsNone(controller.ioniq6_longitudinal)
-        self.assertEqual(controller.params.STEER_MAX, 270)
+        self.assertEqual(controller.params.STEER_MAX, 409)
         self.assertEqual(controller.params.STEER_DRIVER_ALLOWANCE, 250)
 
   def test_opposing_driver_torque_limits_can_command_and_angle_request(self):