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Hyundai CAN-FD: remove 90° steering lockout (#26045)

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* bump panda

* bump panda

* for CAN-FD too

* clean up

* bump

* adjust safety

* fix lat active

* bump panda to master

* same limits

* rm line

* bump panda to master
This commit is contained in:
Shane Smiskol
2022-10-17 21:15:57 -07:00
committed by GitHub
parent 544526edeb
commit 60fc7274eb
2 changed files with 16 additions and 15 deletions
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panda
+1 -1
Submodule panda updated: 62868c36a8...9ed3f75f67
selfdrive/car/hyundai/carcontroller.py
+15 -14
View File
@@ -90,13 +90,27 @@ class CarController:
addr, bus = 0x730, 5
can_sends.append([addr, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", bus])
# >90 degree steering fault prevention
# Count up to MAX_ANGLE_FRAMES, at which point we need to cut torque to avoid a steering fault
if CC.latActive and abs(CS.out.steeringAngleDeg) >= MAX_ANGLE:
self.angle_limit_counter += 1
else:
self.angle_limit_counter = 0
# Cut steer actuation bit for two frames and hold torque with induced temporary fault
torque_fault = CC.latActive and self.angle_limit_counter > MAX_ANGLE_FRAMES
lat_active = CC.latActive and not torque_fault
if self.angle_limit_counter >= MAX_ANGLE_FRAMES + MAX_ANGLE_CONSECUTIVE_FRAMES:
self.angle_limit_counter = 0
# CAN-FD platforms
if self.CP.carFingerprint in CANFD_CAR:
hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2
hda2_long = hda2 and self.CP.openpilotLongitudinalControl
# steering control
can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, CC.enabled, CC.latActive, apply_steer))
can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, CC.enabled, lat_active, apply_steer))
# disable LFA on HDA2
if self.frame % 5 == 0 and hda2:
@@ -131,19 +145,6 @@ class CarController:
can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL))
self.last_button_frame = self.frame
else:
# Count up to MAX_ANGLE_FRAMES, at which point we need to cut torque to avoid a steering fault
if CC.latActive and abs(CS.out.steeringAngleDeg) >= MAX_ANGLE:
self.angle_limit_counter += 1
else:
self.angle_limit_counter = 0
# Cut steer actuation bit for two frames and hold torque with induced temporary fault
torque_fault = CC.latActive and self.angle_limit_counter > MAX_ANGLE_FRAMES
lat_active = CC.latActive and not torque_fault
if self.angle_limit_counter >= MAX_ANGLE_FRAMES + MAX_ANGLE_CONSECUTIVE_FRAMES:
self.angle_limit_counter = 0
can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, lat_active,
torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
hud_control.leftLaneVisible, hud_control.rightLaneVisible,