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HKG: support steer to 0 with smartMDPS on certain models (#166)

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HKG: support steer to 0 with a smartMDPS on certain models
This commit is contained in:
Jason Wen
2023-06-03 01:52:44 -04:00
committed by GitHub
parent 92281d2bf3
commit b2fd4ec25a
1 changed files with 5 additions and 0 deletions
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selfdrive/car/hyundai/interface.py
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@@ -312,6 +312,11 @@ class CarInterface(CarInterfaceBase):
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
# Detect smartMDPS, which bypasses EPS low speed lockout, allowing sunnypilot to send steering commands down to 0
if 0x2AA in fingerprint[0]:
ret.minSteerSpeed = 0.
return ret
@staticmethod