lkas

cereal

@@ -1 +1 @@
-Subproject commit 279311d0bde60e814a697da22c55c6abe8a3b03c
+Subproject commit 28d458a9af49b38bd0a9052f09fbe927324320fb

laika_repo

@@ -1 +1 @@
-Subproject commit 94066cb2b4ad5f2bcb8e33ce02fe15a73a00aace
+Subproject commit dec99a0f77328f7a9f104020d98d7227345d1288

panda

@@ -1 +1 @@
-Subproject commit 234e436e93f4dbd084fd912fe9b10d504ca9882e
+Subproject commit c2af3c95660c8f129ec7a487bc456b3450b5537e

selfdrive/car/hyundai/carcontroller.py

@@ -49,11 +49,9 @@ class CarController():
   def update(self, c, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, hud_speed,
              left_lane, right_lane, left_lane_depart, right_lane_depart):
 
-    if self.CP.carFingerprint == CAR.KIA_EV6:
-      return actuators.copy(), []
-
     # Steering Torque
-    new_steer = int(round(actuators.steer * self.p.STEER_MAX))
+    #new_steer = int(round(actuators.steer * self.p.STEER_MAX))
+    new_steer = int(round(actuators.steer * 150))
     apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
     self.steer_rate_limited = new_steer != apply_steer
 
@@ -69,6 +67,27 @@ class CarController():
       process_hud_alert(enabled, self.CP.carFingerprint, visual_alert,
                         left_lane, right_lane, left_lane_depart, right_lane_depart)
 
+
+    if self.CP.carFingerprint == CAR.KIA_EV6:
+      ret = []
+
+      # steering control
+      values = {
+        "LDW_STATUS": 3,
+        "TORQUE_REQUEST": apply_steer,
+        "NEW_SIGNAL_1": 6,
+        "STEER_REQ": 1 if lkas_active else 0,
+        "STEER_REQ_2": 1 if lkas_active else 0,
+        "STEER_REQ_3": 1 if lkas_active else 0,
+      }
+      ret.append(self.packer.make_can_msg("LKAS", 4, values, frame % 255))
+
+      new_actuators = actuators.copy()
+      new_actuators.steer = apply_steer / self.p.STEER_MAX
+
+      return new_actuators, ret
+
+
     can_sends = []
 
     # tester present - w/ no response (keeps radar disabled)

selfdrive/car/hyundai/carstate.py

@@ -47,7 +47,7 @@ def get_can_parser_ev6(CP):
     ("DOORS_SEATBELTS", 0),
   ]
 
-  return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 4)
+  return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 5)
 
 
 

selfdrive/car/hyundai/interface.py

@@ -227,6 +227,12 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
                            get_safety_config(car.CarParams.SafetyModel.allOutput, 1)]
 
+      ret.lateralTuning.pid.kf = 0.00005
+      tire_stiffness_factor = 0.65
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+
+
     # Genesis
     elif candidate == CAR.GENESIS_G70:
       ret.lateralTuning.init('indi')

selfdrive/controls/controlsd.py

@@ -257,8 +257,8 @@ class Controls:
       else:
         safety_mismatch = pandaState.safetyModel not in IGNORED_SAFETY_MODES
 
-      if safety_mismatch or self.mismatch_counter >= 200:
-        self.events.add(EventName.controlsMismatch)
+      #if safety_mismatch or self.mismatch_counter >= 200:
+      #  self.events.add(EventName.controlsMismatch)
 
       if log.PandaState.FaultType.relayMalfunction in pandaState.faults:
         self.events.add(EventName.relayMalfunction)

selfdrive/pandad.py

@@ -109,11 +109,6 @@ def main() -> NoReturn:
           cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
           panda.reset()
 
-        if panda.has_canfd():
-          for bus in range(3):
-            panda.set_can_speed_kbps(bus, 500)
-            panda.set_can_data_speed_kbps(bus, 2000)
-
       # sort pandas to have deterministic order
       pandas.sort(key=cmp_to_key(panda_sort_cmp))
       panda_serials = list(map(lambda p: p.get_usb_serial(), pandas))