From b2fd4ec25a0458866093c19fbe5c0ad69d3bceba Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 3 Jun 2023 01:52:44 -0400 Subject: [PATCH] HKG: support steer to 0 with smartMDPS on certain models (#166) HKG: support steer to 0 with a smartMDPS on certain models --- selfdrive/car/hyundai/interface.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 1d36eaaaae..ce506e2e14 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -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