From f6be6beb2b9cbddab4021ba9bb68443ea597cba9 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 18 Aug 2023 10:51:31 -0400 Subject: [PATCH] use this instead --- selfdrive/car/hyundai/values.py | 20 ++++++-------------- 1 file changed, 6 insertions(+), 14 deletions(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index d220e6d077..aa03a3031f 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -27,13 +27,13 @@ class CarControllerParams: self.STEER_STEP = 1 # 100 Hz if CP.carFingerprint in CANFD_CAR: - self.STEER_MAX = 270 - self.STEER_DRIVER_ALLOWANCE = 250 + upstream_taco = CP.safetyConfigs[-1].safetyParam == Panda.FLAG_HYUNDAI_UPSTREAM_TACO + self.STEER_MAX = 270 if not upstream_taco else 384 if vEgoRaw < 11. else 330 + self.STEER_DRIVER_ALLOWANCE = 250 if not upstream_taco else 350 self.STEER_DRIVER_MULTIPLIER = 2 - self.STEER_THRESHOLD = 250 - self.STEER_DELTA_UP = 2 - self.STEER_DELTA_DOWN = 3 - self.upstream_taco(CP, vEgoRaw) + self.STEER_THRESHOLD = 250 if not upstream_taco else 350 + self.STEER_DELTA_UP = 2 if not upstream_taco else 10 if vEgoRaw < 11. else 2 + self.STEER_DELTA_DOWN = 3 if not upstream_taco else 10 if vEgoRaw < 11. else 3 # To determine the limit for your car, find the maximum value that the stock LKAS will request. # If the max stock LKAS request is <384, add your car to this list. @@ -52,14 +52,6 @@ class CarControllerParams: else: self.STEER_MAX = 384 - def upstream_taco(self, CP, v_ego_raw): - if CP.safetyConfigs[-1].safetyParam == Panda.FLAG_HYUNDAI_UPSTREAM_TACO: - self.STEER_MAX = 384 if v_ego_raw < 11. else 330 - self.STEER_DRIVER_ALLOWANCE = 350 - self.STEER_THRESHOLD = 350 - self.STEER_DELTA_UP = 10 if v_ego_raw < 11. else 2 - self.STEER_DELTA_DOWN = 10 if v_ego_raw < 11. else 3 - class HyundaiFlags(IntFlag): CANFD_HDA2 = 1