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allow all camera SCC platforms

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This commit is contained in:
Jason Wen
2023-11-23 15:56:05 -05:00
parent f017780506
commit 489661f182
1 changed files with 4 additions and 3 deletions
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selfdrive/car/hyundai/interface.py
+4 -3
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@@ -151,9 +151,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.756
ret.steerRatio = 16.
ret.tireStiffnessFactor = 0.385
if candidate == CAR.TUCSON_HYBRID_4TH_GEN:
ret.spFlags |= HyundaiFlagsSP.SP_CAMERA_SCC_LEAD.value
ret.radarUnavailable = False
elif candidate == CAR.SANTA_CRUZ_1ST_GEN:
ret.mass = 1870. # weight from Limited trim - the only supported trim
ret.wheelbase = 3.000
@@ -275,6 +272,10 @@ class CarInterface(CarInterfaceBase):
ret.longitudinalTuning.kiV = [0.0]
ret.experimentalLongitudinalAvailable = (candidate in (HYBRID_CAR | EV_CAR) and candidate not in
(CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR | NON_SCC_CAR))
if (candidate in (HYBRID_CAR | EV_CAR) and candidate not in
(CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR | NON_SCC_CAR)) and not ret.flags & HyundaiFlags.CANFD_HDA2:
ret.spFlags |= HyundaiFlagsSP.SP_CAMERA_SCC_LEAD.value
ret.radarUnavailable = False
else:
ret.longitudinalTuning.kpV = [0.5]
ret.longitudinalTuning.kiV = [0.0]