From 30e8383f303f6d09c65d12821ca32a6310f6d5c3 Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Sun, 2 Jan 2022 18:53:52 -0500 Subject: [PATCH] HKG: blacklist cars with lower steering max (#23255) * HKG: Add Lower Steering Torque Cars to STEER_MAX = 255 Blacklist * add comment Co-authored-by: Adeeb Shihadeh --- selfdrive/car/hyundai/values.py | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index bab6ffd3d7b008..a627f18f944dd5 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -10,14 +10,14 @@ class CarControllerParams: ACCEL_MAX = 2.0 # m/s def __init__(self, CP): - if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE, CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, - CAR.IONIQ_EV_2020, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.ELANTRA_2021, - CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022, - CAR.KIA_K5_2021, CAR.KONA_EV, CAR.KONA, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, - CAR.SANTA_FE_PHEV_2022]: - self.STEER_MAX = 384 - else: + # 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. + if CP.carFingerprint in [CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ, + CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, + CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA, CAR.KIA_SORENTO, CAR.KIA_STINGER]: self.STEER_MAX = 255 + else: + self.STEER_MAX = 384 self.STEER_DELTA_UP = 3 self.STEER_DELTA_DOWN = 7 self.STEER_DRIVER_ALLOWANCE = 50