Simplify hyundai resume logic (#1852)
* simplify hyundai resume logic * more reliable * SCC doesn't resume under 3.7mpull/1858/head
parent
36abf4a73c
commit
b81f404457
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@ -1,4 +1,5 @@
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from cereal import car
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from common.realtime import DT_CTRL
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from selfdrive.car import apply_std_steer_torque_limits
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from selfdrive.car.hyundai.hyundaican import create_lkas11, create_clu11, create_lfa_mfa
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from selfdrive.car.hyundai.values import Buttons, SteerLimitParams, CAR
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@ -40,9 +41,7 @@ class CarController():
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self.car_fingerprint = CP.carFingerprint
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self.packer = CANPacker(dbc_name)
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self.steer_rate_limited = False
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self.resume_cnt = 0
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self.last_resume_frame = 0
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self.last_lead_distance = 0
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def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert,
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left_lane, right_lane, left_lane_depart, right_lane_depart):
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@ -56,7 +55,7 @@ class CarController():
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# fix for Genesis hard fault at low speed
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if CS.out.vEgo < 16.7 and self.car_fingerprint == CAR.HYUNDAI_GENESIS:
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lkas_active = 0
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lkas_active = False
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if not lkas_active:
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apply_steer = 0
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@ -75,24 +74,12 @@ class CarController():
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if pcm_cancel_cmd:
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can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.CANCEL))
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elif CS.out.cruiseState.standstill:
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# run only first time when the car stopped
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if self.last_lead_distance == 0:
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# get the lead distance from the Radar
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self.last_lead_distance = CS.lead_distance
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self.resume_cnt = 0
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# when lead car starts moving, create 6 RES msgs
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elif CS.lead_distance != self.last_lead_distance and (frame - self.last_resume_frame) > 5:
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# SCC won't resume anyway when the lead distace is less than 3.7m
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# send resume at a max freq of 5Hz
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if CS.lead_distance > 3.7 and (frame - self.last_resume_frame)*DT_CTRL > 0.2:
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can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.RES_ACCEL))
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self.resume_cnt += 1
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# interval after 6 msgs
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if self.resume_cnt > 5:
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self.last_resume_frame = frame
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self.resume_cnt = 0
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# reset lead distnce after the car starts moving
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elif self.last_lead_distance != 0:
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self.last_lead_distance = 0
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self.last_resume_frame = frame
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# 20 Hz LFA MFA message
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if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ]:
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