2021 Hyundai Elantra Hybrid port (#21354)

* add support for hyundai elantra hev 2021 * add car to README. adjust tuning params. * adjust weight * update fingerprint with value from remote start * update fingerprint to value of BEFORE getting in car (more reliable) * add fingerprint v2 * remove fingerprint 1.0 * add test route * Update README.md Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * Update selfdrive/test/test_routes.py Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * Update selfdrive/car/hyundai/values.py Co-authored-by: Comma Device <device@comma.ai> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> old-commit-hash: 9124a83900
2026-02-18 20:03:53 +08:00 · 2021-06-21 16:03:19 -07:00
parent 8e6b9f872c
commit 7b3de0b866
6 changed files with 36 additions and 7 deletions
--- a/README.md
+++ b/README.md
@@ -155,6 +155,7 @@ Community Maintained Cars and Features
 | Holden    | Astra 2017<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Hyundai   | Elantra 2017-19               | SCC + LKAS        | Stock            | 19mph              | 34mph        |
 | Hyundai   | Elantra 2021                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Hyundai   | Elantra Hybrid 2021          | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Genesis 2015-16               | SCC + LKAS        | Stock            | 19mph              | 37mph        |
 | Hyundai   | Ioniq Electric 2019           | SCC + LKAS        | Stock            | 0mph               | 32mph        |
 | Hyundai   | Ioniq Electric 2020           | SCC + LKAS        | Stock            | 0mph               | 0mph         |
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -82,7 +82,7 @@ class CarController():

    # 20 Hz LFA MFA message
    if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KONA_EV,
-                                                   CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.ELANTRA_2021]:
+                                                   CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021]:
      can_sends.append(create_lfahda_mfc(self.packer, enabled))

    return can_sends
--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@@ -17,7 +17,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
  values["CF_Lkas_ActToi"] = steer_req
  values["CF_Lkas_MsgCount"] = frame % 0x10

-  if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.SANTA_FE, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021]:
+  if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.SANTA_FE, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021]:
    values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
    values["CF_Lkas_LdwsOpt_USM"] = 2

--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -77,6 +77,14 @@ class CarInterface(CarInterfaceBase):
      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]]
+    elif candidate == CAR.ELANTRA_HEV_2021:
+      ret.lateralTuning.pid.kf = 0.00005
+      ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG
+      ret.wheelbase = 2.72
+      ret.steerRatio = 13.27 * 1.15   # 15% higher at the center seems reasonable
+      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]]
    elif candidate == CAR.HYUNDAI_GENESIS:
      ret.lateralTuning.pid.kf = 0.00005
      ret.mass = 2060. + STD_CARGO_KG
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -7,7 +7,7 @@ Ecu = car.CarParams.Ecu
 # Steer torque limits
 class CarControllerParams:
  def __init__(self, CP):
-    if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE, CAR.VELOSTER, CAR.GENESIS_G70, CAR.IONIQ_EV_2020, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.ELANTRA_2021]:
+    if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE, CAR.VELOSTER, CAR.GENESIS_G70, CAR.IONIQ_EV_2020, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021]:
      self.STEER_MAX = 384
    else:
      self.STEER_MAX = 255
@@ -22,6 +22,7 @@ class CAR:
  # Hyundai
  ELANTRA = "HYUNDAI ELANTRA 2017"
  ELANTRA_2021 = "HYUNDAI ELANTRA 2021"
+  ELANTRA_HEV_2021 = "HYUNDAI ELANTRA HYBRID 2021"
  ELANTRA_GT_I30 = "HYUNDAI I30 N LINE 2019 & GT 2018 DCT"
  HYUNDAI_GENESIS = "HYUNDAI GENESIS 2015-2016"
  IONIQ = "HYUNDAI IONIQ HYBRID 2017-2019"
@@ -622,11 +623,28 @@ FW_VERSIONS = {
      b'\xf1\x87CXMQFM2135005JB2E\xb9\x89\x98W\xa9y\x97h\xa9\x98\x99wxvwh\x87\177\xffx\xff\xff\xff,,\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.engine, 0x7e0, None): [b'\xf1\x82CNCWD0AMFCXCSFFA'],
+  },
+  CAR.ELANTRA_HEV_2021: {
+    (Ecu.fwdCamera, 0x7c4, None) : [
+      b'\xf1\000CN7HMFC  AT USA LHD 1.00 1.03 99210-AA000 200819'
+    ],
+    (Ecu.fwdRadar, 0x7d0, None) : [
+      b'\xf1\000CNhe SCC FHCUP      1.00 1.01 99110-BY000         '
+    ],
+    (Ecu.eps, 0x7d4, None) :[
+      b'\xf1\x8756310/BY050\xf1\000CN7 MDPS C 1.00 1.02 56310/BY050 4CNHC102\xf1\xa01.02'
+    ],
+    (Ecu.transmission, 0x7e1, None) :[
+      b'\xf1\x816U3K3051\000\000\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\xb9?A\xaa'
+    ],
+    (Ecu.engine, 0x7e0, None) : [
+      b'\xf1\x816H6G5051\000\000\000\000\000\000\000\000'
+    ]
  }
 }

 CHECKSUM = {
-  "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021],
+  "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021],
  "6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
 }

@@ -634,18 +652,19 @@ FEATURES = {
  # which message has the gear
  "use_cluster_gears": set([CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA]),
  "use_tcu_gears": set([CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER]),
-  "use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV]),
+  "use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021]),

  # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
-  "use_fca": set([CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS]),
+  "use_fca": set([CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS]),
 }

-HYBRID_CAR = set([CAR.IONIQ_PHEV])  # these cars use a different gas signal
+HYBRID_CAR = set([CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021])  # these cars use a different gas signal
 EV_CAR = set([CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_NIRO_EV])

 DBC = {
  CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
  CAR.ELANTRA_2021: dbc_dict('hyundai_kia_generic', None),
+  CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None),
  CAR.ELANTRA_GT_I30: dbc_dict('hyundai_kia_generic', None),
  CAR.GENESIS_G70: dbc_dict('hyundai_kia_generic', None),
  CAR.GENESIS_G80: dbc_dict('hyundai_kia_generic', None),
--- a/selfdrive/test/test_routes.py
+++ b/selfdrive/test/test_routes.py
@@ -85,6 +85,7 @@ routes = [
  TestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE),
  TestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA),
  TestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021),
+  TestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.ELANTRA_HEV_2021),

  TestRoute("000cf3730200c71c|2021-05-24--10-42-05", TOYOTA.AVALON),
  TestRoute("0bb588106852abb7|2021-05-26--12-22-01", TOYOTA.AVALON_2019),