Hyundai: make LFA and LKAS steering consistent - #2591
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| SG_ ADAS_StrAnglReqVal : 82|14@1- (0.1,0) [0|176.7] "Deg" GW_RGW,MDPS,SFA | ||
| SG_ ADAS_ACIAnglTqRedcGainVal : 96|8@1+ (0.004,0) [0|1] "" GW_RGW,MDPS,SFA | ||
| SG_ NEW_SIGNAL_3 : 111|8@0+ (1,0) [0|255] "" XXX | ||
| SG_ DAMP_FACTOR : 64|8@1+ (1,0) [0|255] "" XXX |
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address 64 right.?
STEER_MODE has overlapping bits
NEW_SIGNAL_2 has overlapping bits
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want to write and upstream a test for this?
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Fixes commaai/openpilot#35683
For both steer control types,
DAMP_FACTORwas set to 0, which is apparently invalid. However, the ADRV ECU seems to default this to a different value than the EPS. ADRV clips to the min (3), and the EPS seems to use around 100 if it gets an invalid value. It's possible there's a more optimal value, but starting with that since it's what the stock system uses.In
5bef1e6eece568e8/0000006d--302abdb32f,LKAS/DAMP_FACTORis cycled such that we can see what the ADRV does: