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Hyundai: match panda standstill check (#29442)

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* bump panda

* clean up

* common?

* Revert "common?" (not now)

This reverts commit 197af7cdbb6a8c8e58fcbccca94f7db004ce91e4.

* fix

* no failures!

* remove time

* bump

* bump

* undo
This commit is contained in:
Shane Smiskol
2023-08-17 00:06:38 -07:00
committed by GitHub
parent ebc5eb7df5
commit 9d0d59ac9b
3 changed files with 5 additions and 4 deletions
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panda
+1 -1
Submodule panda updated: cfff3386c5...1f475a8aff
selfdrive/car/hyundai/carstate.py
+3 -2
View File
@@ -12,6 +12,7 @@ from selfdrive.car.interfaces import CarStateBase
PREV_BUTTON_SAMPLES = 8
CLUSTER_SAMPLE_RATE = 20 # frames
STANDSTILL_THRESHOLD = 12 * 0.03125 * CV.KPH_TO_MS
class CarState(CarStateBase):
@@ -72,7 +73,7 @@ class CarState(CarStateBase):
)
ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = ret.vEgoRaw < 0.1
ret.standstill = ret.wheelSpeeds.fl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
self.cluster_speed_counter += 1
if self.cluster_speed_counter > CLUSTER_SAMPLE_RATE:
@@ -191,7 +192,7 @@ class CarState(CarStateBase):
)
ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = ret.vEgoRaw < 0.1
ret.standstill = ret.wheelSpeeds.fl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEERING_RATE"]
ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEERING_ANGLE"] * -1
selfdrive/car/tests/test_models.py
+1 -1
View File
@@ -322,7 +322,7 @@ class TestCarModelBase(unittest.TestCase):
# TODO: check rest of panda's carstate (steering, ACC main on, etc.)
checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()
if self.CP.carName not in ("hyundai", "body"):
if self.CP.carName not in ("body",):
# TODO: fix standstill mismatches for other makes
checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving()