Temporary HKG longitudinal fixes

FrogAi · Aug 6, 2024 · 27cbcc4 · 27cbcc4
1 parent 8699f29
commit 27cbcc4
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Showing 6 changed files with 23 additions and 2 deletions.
diff --git a/common/params.cc b/common/params.cc
@@ -389,6 +389,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"MTSCEnabled", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"NavigationModels", PERSISTENT},
     {"NextMapSpeedLimit", PERSISTENT},
+    {"NewLongAPI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES},
     {"NewLongAPIGM", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES},
     {"NNFF", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"NNFFLite", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},

diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
@@ -22,6 +22,8 @@
 class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs, params):
+    use_new_api = params.get_bool("NewLongAPI")
+
     ret.carName = "hyundai"
     ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
 
@@ -82,8 +84,18 @@ def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, exp
 
     # *** longitudinal control ***
     if candidate in CANFD_CAR:
+      if not use_new_api:
+        ret.longitudinalTuning.deadzoneBP = [0.]
+        ret.longitudinalTuning.deadzoneV = [0.]
+        ret.longitudinalTuning.kpV = [0.1]
+        ret.longitudinalTuning.kiV = [0.0]
       ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR)
     else:
+      if not use_new_api:
+        ret.longitudinalTuning.deadzoneBP = [0.]
+        ret.longitudinalTuning.deadzoneV = [0.]
+        ret.longitudinalTuning.kpV = [0.5]
+        ret.longitudinalTuning.kiV = [0.0]
       ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | CAMERA_SCC_CAR)
     ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
     ret.pcmCruise = not ret.openpilotLongitudinalControl

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
@@ -209,7 +209,8 @@ def __init__(self, CI=None):
     self.speed_limit_changed = False
     self.stopped_for_light = False
     self.update_toggles = False
-    self.use_old_long = self.CP.carName == "gm" and not self.params.get_bool("NewLongAPIGM")
+    self.use_old_long = self.CP.carName == "hyundai" and not self.params.get_bool("NewLongAPI")
+    self.use_old_long |= self.CP.carName == "gm" and not self.params.get_bool("NewLongAPIGM")
 
     self.display_timer = 0
     self.drive_distance = 0

diff --git a/selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.cc
@@ -142,6 +142,8 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPil
     {"VoltSNG", tr("2017 Volt SNG"), tr("Enable the 'Stop and Go' hack for 2017 Chevy Volts."), ""},
     {"NewLongAPIGM", tr("Use comma's New Longitudinal API"), tr("Use comma's new longitudinal controls that have shown great improvement with acceleration and braking, but has a few issues on some GM vehicles."), ""},
 
+    {"NewLongAPI", tr("Use comma's New Longitudinal API"), tr("Use comma's new longitudinal controls that have shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis."), ""},
+
     {"CrosstrekTorque", tr("Subaru Crosstrek Torque Increase"), tr("Increases the maximum allowed torque for the Subaru Crosstrek."), ""},
 
     {"ToyotaDoors", tr("Automatically Lock/Unlock Doors"), tr("Automatically lock the doors when in drive and unlock when in park."), ""},
@@ -273,6 +275,7 @@ void FrogPilotVehiclesPanel::hideToggles() {
   selectModelButton->setVisible(!carMake.isEmpty());
 
   bool gm = carMake == "Buick" || carMake == "Cadillac" || carMake == "Chevrolet" || carMake == "GM" || carMake == "GMC";
+  bool hyundai = carMake == "Genesis" || carMake == "Hyundai" || carMake == "Kia";
   bool subaru = carMake == "Subaru";
   bool toyota = carMake == "Lexus" || carMake == "Toyota";
 
@@ -301,7 +304,9 @@ void FrogPilotVehiclesPanel::hideToggles() {
         continue;
       }
 
-      if (gm) {
+      if (hyundai) {
+        toggle->setVisible(hyundaiKeys.find(key.c_str()) != hyundaiKeys.end());
+      } else if (gm) {
         toggle->setVisible(gmKeys.find(key.c_str()) != gmKeys.end());
       } else if (subaru) {
         toggle->setVisible(subaruKeys.find(key.c_str()) != subaruKeys.end());

diff --git a/selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.h b/selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.h
@@ -32,6 +32,7 @@ class FrogPilotVehiclesPanel : public FrogPilotListWidget {
   QMap<QString, QString> carModels;
 
   std::set<QString> gmKeys = {"LongPitch", "NewLongAPIGM", "VoltSNG"};
+  std::set<QString> hyundaiKeys = {"NewLongAPI"};
   std::set<QString> subaruKeys = {"CrosstrekTorque"};
   std::set<QString> toyotaKeys = {"ClusterOffset", "SNGHack", "ToyotaDoors", "ToyotaTune"};
 

diff --git a/system/manager/manager.py b/system/manager/manager.py
@@ -213,6 +213,7 @@ def manager_init() -> None:
     ("MTSCCurvatureCheck", "0"),
     ("MTSCEnabled", "1"),
     ("NavigationModels", ""),
+    ("NewLongAPI", "0"),
     ("NewLongAPIGM", "1"),
     ("NNFF", "1"),
     ("NNFFLite", "1"),