Support Driving Personality change

selfdrive/car/hyundai/carcontroller.py

@@ -138,7 +138,7 @@ class CarController(CarControllerBase):
           if can_canfd:
             can_sends.extend(hyundaicanfd.create_acc_commands_can_canfd(self.packer, self.CAN, CC.enabled, accel,
                                                                         int(self.frame / 2), hud_control.leadVisible,
-                                                                        set_speed_in_units, stopping, CC.cruiseControl.override))
+                                                                        set_speed_in_units, stopping, CC.cruiseControl.override, hud_control))
           else:
             can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
                                                              set_speed_in_units, hud_control))

selfdrive/car/hyundai/hyundaicanfd.py

@@ -1,7 +1,9 @@
 from openpilot.common.numpy_fast import clip
 from openpilot.selfdrive.car import CanBusBase
 from openpilot.selfdrive.car.hyundai.hyundaican import hyundai_checksum
-from openpilot.selfdrive.car.hyundai.values import HyundaiFlags
+from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, TauGapSetCanCanfd
+
+DISTANCE_DICT_CAN_CANFD = {3: TauGapSetCanCanfd.DISTANCE_3, 2: TauGapSetCanCanfd.DISTANCE_2, 1: TauGapSetCanCanfd.DISTANCE_1}
 
 
 class CanBus(CanBusBase):
@@ -192,7 +194,7 @@ def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_ov
   return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
 
 
-def create_acc_commands_can_canfd(packer, CAN, enabled, accel, idx, lead_visible, set_speed, stopping, long_override):
+def create_acc_commands_can_canfd(packer, CAN, enabled, accel, idx, lead_visible, set_speed, stopping, long_override, hud_control):
   ret = []
 
   msg_values = [
@@ -205,7 +207,7 @@ def create_acc_commands_can_canfd(packer, CAN, enabled, accel, idx, lead_visible
 
     ("SCC12", {
       "MainMode_ACC": 1,
-      "TauGapSet": 6,
+      "TauGapSet": DISTANCE_DICT_CAN_CANFD.get(hud_control.leadDistanceBars, TauGapSetCanCanfd.DISTANCE_3),
       "VSetDis": set_speed if enabled else 0,
       "ObjValid": 0,
       "ACC_ObjDist": 1,

selfdrive/car/hyundai/values.py

@@ -563,6 +563,13 @@ class Buttons:
   CANCEL = 4  # on newer models, this is a pause/resume button
 
 
+class TauGapSetCanCanfd:
+  DISTANCE_4 = 1
+  DISTANCE_3 = 0
+  DISTANCE_2 = 7
+  DISTANCE_1 = 6
+
+
 def get_platform_codes(fw_versions: list[bytes]) -> set[tuple[bytes, bytes | None]]:
   # Returns unique, platform-specific identification codes for a set of versions
   codes = set()  # (code-Optional[part], date)