Merge branch 'hkg-can-jerk' into master-dev-c3

selfdrive/car/hyundai/carcontroller.py

@@ -1,7 +1,7 @@
 from cereal import car
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
-from openpilot.common.numpy_fast import clip
+from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
@@ -300,6 +300,8 @@ class CarController(CarControllerBase):
                   self.last_button_frame = self.frame
             elif self.frame % 2 == 0:
               can_sends.extend([hyundaican.create_clu11(self.packer, (self.frame // 2) + 1, CS.clu11, self.cruise_button, self.CP)] * 25)
+      else:
+        self.make_jerk(CS, accel, actuators)
 
       # Parse lead distance from radarState and display the corresponding distance in the car's cluster
       if self.CP.openpilotLongitudinalControl and self.sm.updated['radarState'] and self.frame % 5 == 0:
@@ -315,7 +317,7 @@ class CarController(CarControllerBase):
         self.make_accel(actuators)
         can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled and CS.out.cruiseState.enabled, self.accel_raw, self.accel_val, self.jerk_l, self.jerk_u, int(self.frame / 2),
                                                         hud_control, set_speed_in_units, stopping,
-                                                        CC.cruiseControl.override, use_fca, CS, escc, self.CP, self.lead_distance))
+                                                        CC.cruiseControl.override, use_fca, CS, escc, self.CP, self.lead_distance, self.cb_lower, self.cb_upper))
 
       # 20 Hz LFA MFA message
       if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:

selfdrive/car/hyundai/hyundaican.py

@@ -172,10 +172,10 @@ def create_acc_commands(packer, enabled, accel_raw, accel_val, lower_jerk, upper
   commands.append(packer.make_can_msg("SCC12", 0, scc12_values))
 
   scc14_values = {
-    "ComfortBandUpper": 0.0, # stock usually is 0 but sometimes uses higher values
-    "ComfortBandLower": 0.0, # stock usually is 0 but sometimes uses higher values
+    "ComfortBandUpper": cb_upper, # stock usually is 0 but sometimes uses higher values
+    "ComfortBandLower": cb_lower, # stock usually is 0 but sometimes uses higher values
     "JerkUpperLimit": upper_jerk, # stock usually is 1.0 but sometimes uses higher values
-    "JerkLowerLimit": 5.0, # stock usually is 0.5 but sometimes uses higher values
+    "JerkLowerLimit": lower_jerk, # stock usually is 0.5 but sometimes uses higher values
     "ACCMode": 2 if enabled and long_override else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage
     "ObjGap": get_object_gap(lead_distance), # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
   }