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Hyundai: remove 90° steering lockout (#24108)

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* avoid 90 degree fault

* use 50 frames

* no panda mods

* clean up

* absolutely no faults. zero. zilch. nada

* fix initial value and comments

* try glitching at double rate instead of two in a row

* bump panda

* cut for two frames

* clean up

* bump panda

* clean up

* not today!

* bump panda to master

* prefix and simple lat_active

* prefix
This commit is contained in:
Shane Smiskol
2022-10-11 18:59:16 -07:00
committed by GitHub
parent 54d667aa15
commit f74fefaffa
3 changed files with 27 additions and 6 deletions
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panda
+1 -1
Submodule panda updated: 1303af2db2...d68b1b0a98
selfdrive/car/hyundai/carcontroller.py
+24 -4
View File
@@ -10,6 +10,12 @@ from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerPar
VisualAlert = car.CarControl.HUDControl.VisualAlert
LongCtrlState = car.CarControl.Actuators.LongControlState
# EPS faults if you apply torque while the steering angle is above 90 degrees for more than 1 second
# All slightly below EPS thresholds to avoid fault
MAX_ANGLE = 85
MAX_ANGLE_FRAMES = 89
MAX_ANGLE_CONSECUTIVE_FRAMES = 2
def process_hud_alert(enabled, fingerprint, hud_control):
sys_warning = (hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw))
@@ -40,6 +46,7 @@ class CarController:
self.CP = CP
self.params = CarControllerParams(CP)
self.packer = CANPacker(dbc_name)
self.angle_limit_counter = 0
self.frame = 0
self.apply_steer_last = 0
@@ -107,10 +114,23 @@ class CarController:
if self.frame % 100 == 0:
can_sends.append([0x7D0, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 0])
can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, CC.latActive,
CS.lkas11, sys_warning, sys_state, CC.enabled,
hud_control.leftLaneVisible, hud_control.rightLaneVisible,
left_lane_warning, right_lane_warning))
# 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,
left_lane_warning, right_lane_warning))
if not self.CP.openpilotLongitudinalControl:
if CC.cruiseControl.cancel:
selfdrive/car/hyundai/hyundaican.py
+2 -1
View File
@@ -4,7 +4,7 @@ from selfdrive.car.hyundai.values import CAR, CHECKSUM, CAMERA_SCC_CAR
hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
lkas11, sys_warning, sys_state, enabled,
torque_fault, lkas11, sys_warning, sys_state, enabled,
left_lane, right_lane,
left_lane_depart, right_lane_depart):
values = lkas11
@@ -14,6 +14,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
values["CF_Lkas_LdwsRHWarning"] = right_lane_depart
values["CR_Lkas_StrToqReq"] = apply_steer
values["CF_Lkas_ActToi"] = steer_req
values["CF_Lkas_ToiFlt"] = torque_fault # seems to allow actuation on CR_Lkas_StrToqReq
values["CF_Lkas_MsgCount"] = frame % 0x10
if car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,