new tune to fight oscillation

RELEASES.md

@@ -1,6 +1,7 @@
 Version 0.9.8 (2024-XX-XX)
 ========================
 * Added toggle to enable driver monitoring even when openpilot is not engaged
+* Genesis G70 2024 support thanks to sunnyhaibin!
 
 Version 0.9.7 (2024-06-13)
 ========================

docs/CARS.md

@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 288 Supported Cars
+# 289 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -49,6 +49,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018">Buy Here</a></sub></details>||
 |Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2019-21">Buy Here</a></sub></details>||
 |Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2022-23">Buy Here</a></sub></details>||
+|Genesis|G70 2024|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2024">Buy Here</a></sub></details>||
 |Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
 |Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
 |Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||

selfdrive/car/hyundai/fingerprints.py

@@ -1128,4 +1128,12 @@ FW_VERSIONS = {
       b'\xf1\x00US4_ RDR -----      1.00 1.00 99110-CG000         ',
     ],
   },
+  CAR.GENESIS_G70_2024: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00IK  MFC  AT USA LHD 1.00 1.02 99211-G9500 230712',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00IKPE RDR -----      1.00 1.00 99110-G9600         ',
+    ],
+  },
 }

selfdrive/car/hyundai/hyundaican.py

@@ -38,7 +38,7 @@ def create_lkas11(packer, frame, CP, apply_steer, steer_req,
                            CAR.HYUNDAI_ELANTRA_HEV_2021, CAR.HYUNDAI_SONATA_HYBRID, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022,
                            CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_IONIQ_HEV_2022, CAR.HYUNDAI_SANTA_FE_HEV_2022,
                            CAR.HYUNDAI_SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
-                           CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_CUSTIN_1ST_GEN):
+                           CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_CUSTIN_1ST_GEN, CAR.GENESIS_G70_2024):
     values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
     values["CF_Lkas_LdwsOpt_USM"] = 2
 

selfdrive/car/hyundai/values.py

@@ -518,6 +518,11 @@ class CAR(Platforms):
     GENESIS_G70.specs,
     flags=HyundaiFlags.MANDO_RADAR,
   )
+  GENESIS_G70_2024 = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Genesis G70 2024", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))],
+    CarSpecs(mass=1769, wheelbase=2.83, steerRatio=12.9),  # steerRatio guesstimate from G70 1st Gen platform
+    flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.CAMERA_SCC,
+  )
   GENESIS_GV70_1ST_GEN = HyundaiCanFDPlatformConfig(
     [
       # TODO: Hyundai P is likely the correct harness for HDA II for 2.5T (unsupported due to missing ADAS ECU, is that the radar?)

selfdrive/car/interfaces.py

@@ -218,7 +218,7 @@ class CarInterfaceBase(ABC):
 
     tune.init('torque')
     tune.torque.useSteeringAngle = use_steering_angle
-    tune.torque.kp = 1.0
+    tune.torque.kp = 0.5
     tune.torque.kf = 1.0
     tune.torque.ki = 0.1
     tune.torque.friction = params['FRICTION']

selfdrive/car/tests/routes.py

@@ -171,6 +171,7 @@ routes = [
   CarTestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.HYUNDAI_ELANTRA_2021),
   CarTestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.HYUNDAI_ELANTRA_HEV_2021),
   CarTestRoute("7120aa90bbc3add7|2021-08-02--07-12-31", HYUNDAI.HYUNDAI_SONATA_HYBRID),
+  CarTestRoute("a6310918f9699ef5/2024-02-28--14-55-10", HYUNDAI.GENESIS_G70_2024),  # 3.3T
   CarTestRoute("715ac05b594e9c59|2021-10-27--23-24-56", HYUNDAI.GENESIS_G70_2020),
   CarTestRoute("6b0d44d22df18134|2023-05-06--10-36-55", HYUNDAI.GENESIS_GV80),
 

selfdrive/car/torque_data/override.toml

@@ -68,6 +68,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HYUNDAI_CUSTIN_1ST_GEN" = [2.5, 2.5, 0.1]
 "LEXUS_GS_F" = [2.5, 2.5, 0.08]
 "HYUNDAI_STARIA_4TH_GEN" = [1.8, 2.0, 0.15]
+"GENESIS_G70_2024" = [3.2, 3.2, 0.11]
 
 # Dashcam or fallback configured as ideal car
 "MOCK" = [10.0, 10, 0.0]