HKG: Car Port for Genesis GV80 2025-26 (HDA2, LFA2)#1646
HKG: Car Port for Genesis GV80 2025-26 (HDA2, LFA2)#1646sunnyhaibin wants to merge 88 commits intocommaai:masterfrom
Conversation
sunnyhaibin
force-pushed
the
gv80-2025
branch
from
d5ad41c to
7bc737f
Compare
sunnyhaibin
force-pushed
the
gv80-2025
branch
2 times, most recently
from
ee5f572 to
0de45d9
Compare
sunnyhaibin
changed the title
sunnyhaibin
changed the title
Car behavior reportReplays driving segments through this PR and compares the behavior to master. Testing 260 segments for: HYUNDAI_AZERA_HEV_6TH_GEN, HYUNDAI_ELANTRA_GT_I30, HYUNDAI_ELANTRA_2021, HYUNDAI_ELANTRA_HEV_2021, HYUNDAI_GENESIS, HYUNDAI_IONIQ, HYUNDAI_IONIQ_HEV_2022, HYUNDAI_IONIQ_EV_2020, HYUNDAI_IONIQ_PHEV_2019, HYUNDAI_IONIQ_PHEV, HYUNDAI_KONA_2022, HYUNDAI_KONA_EV, HYUNDAI_KONA_EV_2022, HYUNDAI_KONA_EV_2ND_GEN, HYUNDAI_SANTA_FE, HYUNDAI_SANTA_FE_2022, HYUNDAI_SANTA_FE_HEV_2022, HYUNDAI_SANTA_FE_PHEV_2022, HYUNDAI_SONATA, HYUNDAI_SONATA_LF, HYUNDAI_STARIA_4TH_GEN, HYUNDAI_PALISADE, HYUNDAI_SONATA_HYBRID, HYUNDAI_IONIQ_5, HYUNDAI_IONIQ_6, HYUNDAI_TUCSON_4TH_GEN, HYUNDAI_SANTA_CRUZ_1ST_GEN, HYUNDAI_CUSTIN_1ST_GEN ✅ 0 changed, 260 passed, 0 errors |
sunnyhaibin
changed the title
opendbc/car/hyundai/carcontroller.py
Outdated
| MAX_ANGLE_CONSECUTIVE_FRAMES) | ||
|
|
||
| if not CC.latActive: | ||
| if not self.CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING: |
There was a problem hiding this comment.
As a stylistic/readability preference, it would be nice to avoid the not here, when scanning quickly it looks like this block contains angle code rather than torque code.
opendbc/car/hyundai/carcontroller.py
Outdated
There was a problem hiding this comment.
Move this stuff inside the torque control block above
opendbc/car/hyundai/carstate.py
Outdated
| ret.steeringAngleDeg = cp.vl["MDPS"]["MDPS_EstStrAnglVal"] | ||
| ret.steerFaultTemporary = ret.steerFaultTemporary or cp.vl["MDPS"]["MDPS_ADAS_AciFltSig_Lv2"] != 0 | ||
| self.hands_on_steering_grip = cp.vl["HOD_FD_01_100ms"]["HOD_Dir_Status"] | ||
| self.imu_lateral_acceleration = cp.vl["IMU_01_10ms"]["IMU_LatAccelVal"] * 9.81 # m/s^2 |
There was a problem hiding this comment.
This does not appear legit. Also there are no consumers I can find. Can this go away entirely?
| RAMP_RATE = 0.008 | ||
| RECOVERY_RATE = 0.02 | ||
| OVERRIDE_DROP_RATE = 0.05 |
There was a problem hiding this comment.
| RAMP_RATE = 0.008 | |
| RECOVERY_RATE = 0.02 | |
| OVERRIDE_DROP_RATE = 0.05 | |
| RAMP_RATE = 0.008 | |
| RECOVERY_RATE = 0.02 | |
| OVERRIDE_DROP_RATE = 0.05 |
store in reduction per seconds, or just divide by steer step
|
last commit is messy, but we found that we need to closely match the stock torque reduction gain + add some sort of smoothing to the angle request to stop the noisy angle control at lower speeds. 
|
4 participants
Checklist
selfdrive/car/docs.pyto generate new docsThanks to the community 2025 Genesis GV80 (HDA2) owner jkxs.