Better Hyundai and Genesis Support, Better future model scaling #485

emmertex · Dec 26, 2018

This includes #481
So should be merged only after #481 is merged

Comments I will place in changes

emmertex · Dec 26, 2018

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emmertex · Dec 26, 2018

selfdrive/car/hyundai/carstate.py

@@ -16,8 +16,6 @@ def get_can_parser(CP):

    ("YAW_RATE", "ESP12", 0),

-    ("CF_Gway_DrvSeatBeltInd", "CGW4", 1),
-


emmertex · Dec 26, 2018

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emmertex · Dec 26, 2018

selfdrive/car/hyundai/carstate.py

@@ -60,15 +58,20 @@ def get_can_parser(CP):

    ("CF_Lvr_GearInf", "LVR11", 0),        #Transmission Gear (0 = N or P, 1-8 = Fwd, 14 = Rev)

-    ("CR_Mdps_DrvTq", "MDPS11", 0),


MDPS11 is not active (present, but always 0) on some older Hyundai.
As such, they cannot detect a user touching the wheel.
This message is also in MDPS12, and is present on all vehicles.

emmertex · Dec 26, 2018

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emmertex · Dec 26, 2018

selfdrive/car/hyundai/carstate.py

@@ -79,14 +82,12 @@ def get_can_parser(CP):
  checks = [
    # address, frequency
    ("MDPS12", 50),
-    ("MDPS11", 100),


emmertex · Dec 26, 2018

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emmertex · Dec 26, 2018

selfdrive/car/hyundai/carstate.py

    ("TCS15", 10),
    ("TCS13", 50),
    ("CLU11", 50),
    ("ESP12", 100),
    ("EMS12", 100),
    ("CGW1", 10),
-    ("CGW4", 5),


emmertex · Dec 26, 2018

emmertex reviewed Dec 26, 2018

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emmertex · Dec 26, 2018

selfdrive/car/hyundai/carstate.py

+    ("CF_Lkas_Unknown1", "LKAS11", 0),
+    ("CF_Lkas_Unknown2", "LKAS11", 0),
+    ("CF_Lkas_ActToi", "LKAS11", 0),
+    ("CR_Lkas_StrToqReq", "LKAS11", 0)


Used for better camera forwarding

emmertex · Dec 26, 2018

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emmertex · Dec 26, 2018

selfdrive/car/hyundai/carstate.py

@@ -166,7 +172,7 @@ def update(self, cp, cp_cam):
    self.v_wheel_fr = cp.vl["WHL_SPD11"]['WHL_SPD_FR'] * CV.KPH_TO_MS
    self.v_wheel_rl = cp.vl["WHL_SPD11"]['WHL_SPD_RL'] * CV.KPH_TO_MS
    self.v_wheel_rr = cp.vl["WHL_SPD11"]['WHL_SPD_RR'] * CV.KPH_TO_MS
-    self.v_wheel = (self.v_wheel_fl + self.v_wheel_fr + self.v_wheel_rl + self.v_wheel_rr) / 4.
+    self.v_wheel = 1.035 * (self.v_wheel_fl + self.v_wheel_fr + self.v_wheel_rl + self.v_wheel_rr) / 4.


The stock speed is about 3.8% out, as such, this 3.5% increase makes speedo, speed limit, and cruise speed match.

ok for now, would be better to put this in values.py (see honda/values.py)

emmertex · Dec 26, 2018

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emmertex · Dec 26, 2018

selfdrive/car/hyundai/carstate.py

@@ -191,17 +197,16 @@ def update(self, cp, cp_cam):
    self.left_blinker_flash = cp.vl["CGW1"]['CF_Gway_TurnSigLh']
    self.right_blinker_on = cp.vl["CGW1"]['CF_Gway_TSigRHSw']
    self.right_blinker_flash = cp.vl["CGW1"]['CF_Gway_TurnSigRh']
-    self.steer_override = abs(cp.vl["MDPS11"]['CR_Mdps_DrvTq']) > 100.
+    self.steer_override = abs(cp.vl["MDPS12"]['CR_Mdps_StrColTq']) > 1.0


StrColTq is a scaled value, so the threshold of touching the wheel also needed changing

is CR_Mdps_StrColTq the same as CR_Mdps_DrvTq (except for scaling)?

emmertex · Dec 26, 2018

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emmertex · Dec 26, 2018

selfdrive/car/hyundai/carstate.py

    self.lkas11 = cp_cam.vl["LKAS11"]
    self.clu11 = cp.vl["CLU11"]
+    self.mdps12 = cp.vl["MDPS12"]


Future PR requirement

emmertex · Dec 26, 2018

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emmertex · Dec 26, 2018

selfdrive/car/hyundai/hyundaican.py

@@ -8,7 +8,7 @@ def make_can_msg(addr, dat, alt):

 def create_lkas11(packer, car_fingerprint, apply_steer, steer_req, cnt, enabled, lkas11, hud_alert, keep_stock=False):
  values = {
-    "CF_Lkas_Icon": 3 if enabled else 0,
+    "CF_Lkas_Icon": 2 if (car_fingerprint in LKAS_FEATURES["icon_basic"]) else (3 if enabled else 0),


All Genesis fault when anything other than 2 is sent,

emmertex · Dec 26, 2018

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selfdrive/car/hyundai/hyundaican.py

emmertex · Dec 26, 2018

This should have driver-torque-reduction modified, due to the different steering wheel torque value.

Can you test on your Santa Fe and suggest the setting you feel suits best?
I would prefer every model use the new message for steering torque, as it is present on all cars, where the one that was in use is not present on all cars.

rbiasini · Dec 27, 2018

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rbiasini · Dec 27, 2018

selfdrive/car/hyundai/values.py

+  "6B": [CAR.KIA_SORENTO, CAR.GENESIS],     # 6 Bytes used in Checksum
+  "7B": [CAR.KIA_STINGER, CAR.ELANTRA],			# 7 Bytes used in Checksum
+  "crc8": [CAR.SANTA_FE],		                # CRC Checksum
+  "icon_basic": [CAR.GENESIS],		          # Anything but 2 for LKAS_Icon causes MDPS Fault


It seems unused. Why not keeping this CHECKSUM specific?

This is used, hyundaican line 11.
As for the soft disable, this usage may need to be in its own PR as it may be .... rejected.
I'll remove it for this PR

Can keep it checksum specific and make one for vehicle limitations seperate if preferred?
I am wishing to remove any vehicle specific code out of everything except values and interface.

yeah, icon_basic has nothing to do with the algorithm used for CHECKSUM computation. I would prefer to use 2 different params.

rbiasini · Dec 29, 2018

rbiasini reviewed Dec 29, 2018

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rbiasini · Dec 29, 2018

selfdrive/car/hyundai/carstate.py

    self.steer_state = cp.vl["MDPS12"]['CF_Mdps_ToiActive'] #0 NOT ACTIVE, 1 ACTIVE
    self.steer_error = cp.vl["MDPS12"]['CF_Mdps_ToiUnavail']
    self.brake_error = 0
-    self.steer_torque_driver = cp.vl["MDPS11"]['CR_Mdps_DrvTq']
+    self.steer_torque_driver = cp.vl["MDPS12"]['CR_Mdps_StrColTq']


btw, this change requires a change to panda safety as well. I think this should be in its own PR.

emmertex · Jan 4, 2019

I'm going to close this and revisit this when I have more time.

emmertex referenced this pull request Dec 26, 2018
Closed
Better tuning for Kia Sorento, Kia Stinger, and Hyundai Elantra #486

Merge branch 'devel' of github.com:commaai/openpilot into comma_relea…
…se2_b

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PR Updates as requested

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Merge branch 'comma_release2_b' of https://github.com/emmertex/openpilot
into comma_release2_b

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Better Hyundai and Genesis Support, Better future model scaling #485

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