HKG Low Speed Turn Enhancer for EV6/CAN-FD vehicles

common/params.cc

@@ -228,6 +228,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"dp_toyota_auto_unlock", PERSISTENT},
     {"dp_device_disable_onroad_uploads", PERSISTENT},
     {"dp_toyota_zss", PERSISTENT},
+    {"dp_hkg_canfd_low_speed_turn_enhancer", PERSISTENT},
 };
 
 } // namespace

selfdrive/car/hyundai/carcontroller.py

@@ -9,6 +9,10 @@ from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 
+# dp
+from dp_ext.selfdrive.car.hyundai.taco_car_controller_params import TacoCarControllerParams
+from openpilot.common.params import Params
+
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
 
@@ -47,7 +51,11 @@ class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.CAN = CanBus(CP)
-    self.params = CarControllerParams(CP)
+    self.dp_hkg_canfd_low_speed_turn_enhancer = Params().get_bool("dp_hkg_canfd_low_speed_turn_enhancer")
+    if self.dp_hkg_canfd_low_speed_turn_enhancer:
+      self.params = TacoCarControllerParams(CP)
+    else:
+      self.params = CarControllerParams(CP)
     self.packer = CANPacker(dbc_name)
     self.angle_limit_counter = 0
     self.frame = 0
@@ -61,10 +69,18 @@ class CarController(CarControllerBase):
     actuators = CC.actuators
     hud_control = CC.hudControl
 
+    # dp
+    if self.dp_hkg_canfd_low_speed_turn_enhancer:
+      self.params.update(CS.out.vEgoRaw)
+
     # steering torque
     new_steer = int(round(actuators.steer * self.params.STEER_MAX))
     apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
 
+    # dp
+    if self.dp_hkg_canfd_low_speed_turn_enhancer:
+      apply_steer = clip(apply_steer, -self.params.STEER_MAX, self.params.STEER_MAX)
+
     # >90 degree steering fault prevention
     self.angle_limit_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringAngleDeg) >= MAX_ANGLE, CC.latActive,
                                                                        self.angle_limit_counter, MAX_ANGLE_FRAMES,

system/manager/manager.py

@@ -60,6 +60,7 @@ def manager_init() -> None:
     ("dp_toyota_auto_unlock", "0"),
     ("dp_device_disable_onroad_uploads", "0"),
     ("dp_toyota_zss", "0"),
+    ("dp_hkg_canfd_low_speed_turn_enhancer", "0"),
   ]
   if not PC:
     default_params.append(("LastUpdateTime", datetime.datetime.now(datetime.UTC).replace(tzinfo=None).isoformat().encode('utf8')))