Hyundai: custom longitudinal tuning (#658)

* Maybe I was asleep but somehow it worked. * Maybe I was asleep but somehow it worked. * 70/30 split * 60/35 split * 67:33 split * use Sqrt for tiny values to increase factor. Oh, also add a test file. * use Sqrt for tiny values to increase factor. Oh, also add a test file. * use Sqrt for tiny values to increase factor. Oh, also add a test file. * Raise these to restart tests * Raise these to restart tests * Update jerk calculation mimicking j_ego math. * README.md * Update timestep * Fix test * Readability * Lower time * Add higher limits for CANFD * Send these as a floating object. update comments to add TODO msg. * Conditional flags * yes its a little weird but heres why: ` "aReqValue": long_state.accel_value if enabled else a_val` its only to not have merge conflicts with syncs from this file, because if not enabled a_val is already at 0 anyways. * Make it easier to read * Chronological order * Trigger rebuild * This is an internal test on my end. Disregard, for now * fw version for my car... * remove fw version as that was a test * bump submodules * refactor that while passing internal tests * bump safety mutation test * all should match 50 Hz * bump safety mutation test * match stock behavior for accel * do our own clipping * apply upper/lower dynamically * bump test * bump test * Higher lower limit * move desired accel force zero in tuning controller * bump * bump * abs it here * fix logic * make sure it resets to 0, enforced in safety * Test a few things * Higher jerk for VOACC * Elantra specific * raise `off` to stock * bump opendbc test * allow jerk calculations at all times * bump * bump * match aReqVale * we dont need such high accel jerk when above 20m/s. This is cruise control, not a racecar. * 0.45 default long actuator delay * align type hint * add lower jerk multiplier for HYUNDAI_IONIQ * Change min jerk * should be float * Change min jerk * Change min jerk upper * Change max jerk upper * Change max jerk upper * Change max jerk upper * step + threshold + first order filter to smooth * constants * nah * multiplier to 1.5 * step updates for parabolic accel/braking * step updates for parabolic accel/braking * even less * test multiplier * Merge remote-tracking branch 'sunnypilot/opendbc/master-new' into HKG-long-tune * back to default delay for now * update test * update config * update test * update config.py * update test * Remove stoppingDecelRate **No need for this anymore** * multiplier to 1.0 * Variable lower dependency * Variable lower dependency * Variable lower jerk minimum * Variable lower jerk minimum planned_accel -> desired_acel * Revert some scaling * .01 here * .01 here * try even smoother stopping * missed a `tuning` here that instead calls itself to inf. * what is math * Red Diff * Red Diff * bring some back * bring some back * stronger when needed * something simple * simplify more * simplify more * dont use future * whoops * why * reset * Refactor longitudinal controller for better jerk handling Revised `calculate_a_value` and jerk processing logic to improve acceleration and jerk handling, particularly under dynamic conditions. Adjusted test cases to cover the new logic. * Refactor longitudinal controller for better jerk handling Revised `calculate_a_value` and jerk processing logic to improve acceleration and jerk handling, particularly under dynamic conditions. Adjusted test cases to cover the new logic. * Refactor longitudinal controller for better jerk handling Revised `calculate_a_value` and jerk processing logic to improve acceleration and jerk handling, particularly under dynamic conditions. Adjusted test cases to cover the new logic. * Adjust lower_jerk interpolation for improved accuracy * Lowered the acceleration error threshold from -0.01 to -0.001 * Adjust jerk interpolation thresholds for Hyundai tuning. Updated the interpolation range for smaller acceleration errors. * Move it up * -.03 not -.05 * radarUnavailable = higher limit patch * Commit the real change * Updated the interpolation values and logic for lower_jerk to refine acceleration behavior. * Updated the interpolation values and logic for lower_jerk to refine acceleration behavior. * Updated the interpolation values and logic for lower_jerk to refine acceleration behavior. * Updated the interpolation values and logic for lower_jerk to refine acceleration behavior. * THIS. THIS WILL STOP FOR LEADS * Higher for VOACC * Higher for VOACC * Rename `make_jerk` to `calculate_jerk` in test cases. * Adjust jerk tuning for Hyundai longitudinal control Updated the interpolation table for lower jerk values to improve deceleration handling. This adjustment refines control behavior during higher deceleration requests. * Updated the interpolation breakpoint from -0.03 to -0.025 * Adjust longitudinal control jerk tuning for smoother response Updated interpolation values in the jerk tuning logic to improve acceleration smoothing in Hyundai longitudinal control. These changes aim to provide a more consistent and predictable driving experience, particularly during deceleration scenarios. * Handle radar unavailability in longitudinal tuning check * Introduce `toggleDisableMsg` to streamline determining toggle states and descriptions. * `sunnypilot` * `Refactor longitudinal control acceleration and jerk handling` Removed unused `FirstOrderFilter` and simplified acceleration and jerk calculations for improved clarity and maintainability. Adjusted logic to replace redundant return statements, streamline jerk computation, and reduce unnecessary dependencies. * `Refactor longitudinal control acceleration and jerk handling` Removed unused `FirstOrderFilter` and simplified acceleration and jerk calculations for improved clarity and maintainability. Adjusted logic to replace redundant return statements, streamline jerk computation, and reduce unnecessary dependencies. * Simplify test to be straight to the point. * Adjust upper_speed_factor and integrate ramp_update logic * Adjust upper_speed_factor and integrate ramp_update logic * Adjust upper_speed_factor and integrate ramp_update logic * Refine acceleration and jerk tuning logic. * greater than 0 * bump * bring back ramp update for jerk upper * Update opendbc_repo * Revert "Update opendbc_repo" This reverts commit b790387c9080b3a553694fbae850e9aa8bb6e125. * bump * bump * bump * using count seems to work better * Refine jerk tuning logic and expand test coverage * bump vals * fix logic * Adjust jerk tuning parameters for Hyundai longitudinal control * retry lfs check * bump submodule * Fix acceleration blending and enhance test coverage * Update lower_jerk breakpoints * bump * Adjust lower jerk parameters and include accel_cmd condition * Adjust vars * "Adjust Hyundai longitudinal jerk limits and tuning logic" * Adjust jerk limits and tuning logic for better control * Update Hyundai longitudinal tuning and add dynamic jerk logic Refactored longitudinal configuration to include "lookahead" parameters and revised "jerk_limits" for improved tuning flexibility. Implemented dynamic jerk adaptation logic (Gen1) for smoother braking and acceleration transitions. * Adjust Hyundai longitudinal control parameters for tuning * bump to original branch * QSize Policy to stretch toggle to screen size * bump * completely blocked xD * Sunnypilot -> openpilot * Whitespace * Clean up toggle name * Still allow ramp while in standstill for EV * Adjust Kia Niro EV tuning parameters for smoother control * self.cp.flags * bump submodule * bump * Remove ramp for lower desired jerk * update README.md * update README.md * Adjust lookahead_jerk_lower_v values in Hyundai longitudinal config. * update tuning * Update tune one last time to vals from device which are much smoother. * Accel error * bump * fix * rename flag and slight cleanup * start ui stuff * long_state -> tuning * Prep for clean up * small changes * less in main * no longer * format * bump * init panel * expose signal for other panels to interact with * split into its own * unused * move around * actually modify CP_SP * fix offroad transition * rename * back * don't update unless we're looking at it * move around * use min length * do this * whoops * move * bump * bump * this is fine * bump --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com> Co-authored-by: DevTekVE <devtekve@gmail.com> Co-authored-by: royjr <royjr96@gmail.com>
2026-08-03 08:41:41 +08:00 · 2025-05-08 22:06:45 -07:00
parent ff63d17723
commit 72f09ec9f5
9 changed files with 175 additions and 4 deletions
@@ -164,6 +164,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
    {"BackupManager_RestoreVersion", PERSISTENT},

    // sunnypilot car specific params
+    {"HyundaiLongitudinalTuning", PERSISTENT},
    {"HyundaiRadarTracks", PERSISTENT},
    {"HyundaiRadarTracksConfirmed", PERSISTENT},
    {"HyundaiRadarTracksPersistent", PERSISTENT},
@@ -50,6 +50,7 @@ network_src = [
 ]

 vehicle_panel_qt_src = [
+  "sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc",
  "sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc",
 ]

@@ -0,0 +1,84 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+HyundaiSettings::HyundaiSettings(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+
+  ListWidget *list = new ListWidget(this, false);
+
+  std::vector<QString> tuning_texts{ tr("Off"), tr("Dynamic"), tr("Predictive") };
+  longitudinalTuningToggle = new ButtonParamControlSP(
+    "HyundaiLongitudinalTuning",
+    tr("Custom Longitudinal Tuning"),
+    tr("Select a tuning mode.\n"
+       "Off: no custom tuning applied.\n"
+       "Dynamic: on-the-spot adjustments using dynamic calculations.\n"
+       "Predictive: adjusts based on anticipated ACC variation."),
+    "",
+    tuning_texts,
+    500
+  );
+  longitudinalTuningToggle->showDescription();
+  longitudinalTuningToggle->setProperty("originalDesc", longitudinalTuningToggle->getDescription());
+  list->addItem(longitudinalTuningToggle);
+
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &HyundaiSettings::updateSettings);
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+}
+
+QString HyundaiSettings::toggleDisableMsg() const {
+  if (!has_longitudinal_control) {
+    return tr("This feature can only be used with openpilot longitudinal control enabled.");
+  }
+
+  if (!offroad) {
+    return tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to select an option.");
+  }
+
+  return QString();
+}
+
+void HyundaiSettings::showEvent(QShowEvent *event) {
+  updateSettings(offroad);
+}
+
+void HyundaiSettings::updateSettings(bool _offroad) {
+  if (!isVisible()) {
+    return;
+  }
+
+  auto cp_bytes = params.get("CarParamsPersistent");
+  if (!cp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    has_longitudinal_control = hasLongitudinalControl(CP);
+
+    QString longitudinal_tuning_disabled_msg = toggleDisableMsg();
+    if (!longitudinal_tuning_disabled_msg.isEmpty()) {
+      longitudinalTuningToggle->setEnabled(false);
+      longitudinalTuningToggle->setDescription(longitudinal_tuning_disabled_msg);
+    } else {
+      longitudinalTuningToggle->setEnabled(true);
+      longitudinalTuningToggle->setDescription(longitudinalTuningToggle->property("originalDesc").toString());
+    }
+
+    longitudinalTuningToggle->showDescription();
+  } else {
+    has_longitudinal_control = false;
+    longitudinalTuningToggle->setEnabled(false);
+  }
+
+  offroad = _offroad;
+}
@@ -0,0 +1,32 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class HyundaiSettings : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit HyundaiSettings(QWidget *parent = nullptr);
+  void showEvent(QShowEvent *event) override;
+
+public slots:
+  void updateSettings(bool _offroad);
+
+private:
+  Params params;
+  bool offroad = false;
+  bool has_longitudinal_control = false;
+
+  ButtonParamControlSP *longitudinalTuningToggle = nullptr;
+  QString toggleDisableMsg() const;
+};
@@ -7,6 +7,7 @@

 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h"

+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"

 VehiclePanel::VehiclePanel(QWidget *parent) : QFrame(parent) {
@@ -18,11 +19,16 @@ VehiclePanel::VehiclePanel(QWidget *parent) : QFrame(parent) {
  vlayout->setContentsMargins(50, 20, 50, 20);

  platformSelector = new PlatformSelector();
+  QObject::connect(platformSelector, &PlatformSelector::refreshPanel, this, &VehiclePanel::updateBrandSettings);
  list->addItem(platformSelector);

  ScrollViewSP *scroller = new ScrollViewSP(list, this);
  vlayout->addWidget(scroller);

+  hyundaiSettings = new HyundaiSettings(this);
+  vlayout->addWidget(hyundaiSettings);
+  hyundaiSettings->setVisible(false);
+
  QObject::connect(uiState(), &UIState::offroadTransition, this, &VehiclePanel::updatePanel);

  main_layout->addWidget(vehicleScreen);
@@ -36,5 +42,24 @@ void VehiclePanel::showEvent(QShowEvent *event) {
 void VehiclePanel::updatePanel(bool _offroad) {
  platformSelector->refresh(_offroad);

+  updateBrandSettings();
+
  offroad = _offroad;
 }
+
+void VehiclePanel::updateBrandSettings() {
+  if (!isVisible()) {
+    return;
+  }
+
+  resetBrandSettings();
+
+  QString brand = platformSelector->getPlatformBundle("brand").toString();
+  if (brand == "hyundai") {
+    hyundaiSettings->setVisible(true);
+  }
+}
+
+void VehiclePanel::resetBrandSettings() {
+  hyundaiSettings->setVisible(false);
+}
@@ -9,6 +9,7 @@

 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"

+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h"

 class VehiclePanel : public QFrame {
@@ -22,8 +23,17 @@ public slots:
  void updatePanel(bool _offroad);

 private:
+  void resetBrandSettings();
+
  QStackedLayout* main_layout = nullptr;
  QWidget* vehicleScreen = nullptr;
-  PlatformSelector *platformSelector = nullptr;
-  bool offroad;
+  PlatformSelector* platformSelector = nullptr;
+
+  // brand panels
+  HyundaiSettings* hyundaiSettings = nullptr;
+
+  bool offroad = false;
+
+private slots:
+  void updateBrandSettings();
 };
@@ -11,6 +11,7 @@ from opendbc.car.car_helpers import can_fingerprint
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
 from opendbc.car.hyundai.values import HyundaiFlags, DBC as HYUNDAI_DBC
+from opendbc.sunnypilot.car.hyundai.longitudinal.helpers import LongitudinalTuningType
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
@@ -25,6 +26,21 @@ def log_fingerprint(CP: structs.CarParams) -> None:
  else:
    sentry.capture_fingerprint(CP.carFingerprint, CP.brand)

+def _initialize_custom_longitudinal_tuning(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
+                                           params: Params = None) -> None:
+  if params is None:
+    params = Params()
+
+  # Hyundai Custom Longitudinal Tuning
+  if CP.brand == 'hyundai':
+    hyundai_longitudinal_tuning = int(params.get("HyundaiLongitudinalTuning", encoding="utf8") or 0)
+    if hyundai_longitudinal_tuning == LongitudinalTuningType.DYNAMIC:
+      CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_DYNAMIC.value
+    if hyundai_longitudinal_tuning == LongitudinalTuningType.PREDICTIVE:
+      CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_PREDICTIVE.value
+
+  CP_SP = CI.get_longitudinal_tuning_sp(CP, CP_SP)
+

 def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
                                               params: Params = None, enabled: bool = False) -> None:
@@ -61,10 +77,11 @@ def _initialize_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP,
          CP.radarUnavailable = False


-def setup_interfaces(CI: CarInterfaceBase, params: Params = None):
+def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
  CP = CI.CP
  CP_SP = CI.CP_SP

+  _initialize_custom_longitudinal_tuning(CI, CP, CP_SP, params)
  _initialize_neural_network_lateral_control(CI, CP, CP_SP, params)
  _initialize_radar_tracks(CP, CP_SP, params)

@@ -45,6 +45,7 @@ def manager_init() -> None:
    ("AutoLaneChangeTimer", "0"),
    ("AutoLaneChangeBsmDelay", "0"),
    ("DynamicExperimentalControl", "0"),
+    ("HyundaiLongitudinalTuning", "0"),
    ("Mads", "1"),
    ("MadsMainCruiseAllowed", "1"),
    ("MadsPauseLateralOnBrake", "0"),