mirror of https://github.com/commaai/openpilot.git
Car Port: Kona Hybrid 2020 (#21912)
* Update carcontroller.py
* Update hyundaican.py
* Update interface.py
* Update interface.py
* Update values.py
* add test route
* merge the konas
* add to readme
Co-authored-by: haram-KONA <88036668+haram-KONA@users.noreply.github.com>
Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: e598b78b5d
This commit is contained in:
Adeeb Shihadeh
GitHub
parent
048eeb4be3
commit
a28bae6fcd
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@ -163,6 +163,7 @@ Community Maintained Cars and Features
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| Hyundai | Ioniq PHEV 2020 | SCC + LKAS | Stock | 0mph | 0mph |
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| Hyundai | Kona 2020 | SCC + LKAS | Stock | 0mph | 0mph |
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| Hyundai | Kona EV 2019 | SCC + LKAS | Stock | 0mph | 0mph |
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| Hyundai | Kona Hybrid 2020 | SCC + LKAS | Stock | 0mph | 0mph |
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| Hyundai | Santa Fe 2019-20 | All | Stock | 0mph | 0mph |
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| Hyundai | Sonata 2018-2019 | SCC + LKAS | Stock | 0mph | 0mph |
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| Hyundai | Sonata Hybrid 2021 | All | Stock | 0mph | 0mph |
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@ -78,7 +78,8 @@ class CarController():
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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, CAR.KIA_NIRO_EV, CAR.KONA_EV,
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CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021,CAR.SONATA_HYBRID]:
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CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS,
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CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV]:
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can_sends.append(create_lfahda_mfc(self.packer, enabled))
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return can_sends
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@ -17,7 +17,9 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
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values["CF_Lkas_ActToi"] = steer_req
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values["CF_Lkas_MsgCount"] = frame % 0x10
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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,CAR.SONATA_HYBRID]:
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if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.SANTA_FE, CAR.IONIQ_EV_2020,
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CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021,
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CAR.SONATA_HYBRID, CAR.KONA_HEV]:
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values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
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values["CF_Lkas_LdwsOpt_USM"] = 2
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@ -100,22 +100,14 @@ class CarInterface(CarInterfaceBase):
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ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
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ret.lateralTuning.indi.actuatorEffectivenessV = [2.3]
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ret.minSteerSpeed = 60 * CV.KPH_TO_MS
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elif candidate == CAR.KONA:
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elif candidate in [CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV]:
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ret.lateralTuning.pid.kf = 0.00005
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ret.mass = 1275. + STD_CARGO_KG
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ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425.}.get(candidate, 1275.) + STD_CARGO_KG
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ret.wheelbase = 2.7
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ret.steerRatio = 13.73 * 1.15 # Spec
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tire_stiffness_factor = 0.385
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
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elif candidate == CAR.KONA_EV:
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ret.lateralTuning.pid.kf = 0.00006
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ret.mass = 1685. + STD_CARGO_KG
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ret.wheelbase = 2.7
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ret.steerRatio = 13.73 # Spec
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tire_stiffness_factor = 0.385
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
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elif candidate in [CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV]:
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ret.lateralTuning.pid.kf = 0.00006
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ret.mass = 1490. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
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@ -7,7 +7,9 @@ Ecu = car.CarParams.Ecu
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# Steer torque limits
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class CarControllerParams:
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def __init__(self, CP):
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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, CAR.SONATA_HYBRID]:
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if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE, CAR.VELOSTER, CAR.GENESIS_G70,
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CAR.IONIQ_EV_2020, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.ELANTRA_2021,
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CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV]:
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self.STEER_MAX = 384
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else:
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self.STEER_MAX = 255
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@ -31,6 +33,7 @@ class CAR:
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IONIQ_PHEV = "HYUNDAI IONIQ PHEV 2020"
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KONA = "HYUNDAI KONA 2020"
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KONA_EV = "HYUNDAI KONA ELECTRIC 2019"
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KONA_HEV = "HYUNDAI KONA HYBRID 2020"
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SANTA_FE = "HYUNDAI SANTA FE 2019"
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SONATA = "HYUNDAI SONATA 2020"
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SONATA_LF = "HYUNDAI SONATA 2019"
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@ -655,13 +658,33 @@ FW_VERSIONS = {
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b'\xf1\x816H6G5051\000\000\000\000\000\000\000\000'
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]
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},
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CAR.KONA_HEV: {
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(Ecu.esp, 0x7d1, None): [
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b'\xf1\x00OS IEB \x01 104 \x11 58520-CM000\xf1\xa01.04',
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],
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(Ecu.fwdRadar, 0x7d0, None): [
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b'\xf1\x00OShe SCC FNCUP 1.00 1.01 99110-CM000 \xf1\xa01.01',
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],
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(Ecu.eps, 0x7d4, None): [
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b'\xf1\x00OS MDPS C 1.00 1.00 56310CM030\x00 4OHDC100',
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],
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(Ecu.fwdCamera, 0x7c4, None): [
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b'\xf1\x00OSH LKAS AT KOR LHD 1.00 1.01 95740-CM000 l31',
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],
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(Ecu.transmission, 0x7e1, None): [
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b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HOS0G16DS1\x16\xc7\xb0\xd9',
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],
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(Ecu.engine, 0x7e0, None): [
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b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00',
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]
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},
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CAR.SONATA_HYBRID: {
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(Ecu.fwdRadar, 0x7d0, None): [b'\xf1\000DNhe SCC FHCUP 1.00 1.02 99110-L5000 ',],
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(Ecu.eps, 0x7d4, None): [b'\xf1\x8756310-L5500\xf1\000DN8 MDPS C 1.00 1.02 56310-L5500 4DNHC102\xf1\xa01.02',],
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(Ecu.fwdCamera, 0x7c4, None): [b'\xf1\000DN8HMFC AT USA LHD 1.00 1.04 99211-L1000 191016',],
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(Ecu.transmission, 0x7e1, None): [b'\xf1\000PSBG2323 E09\000\000\000\000\000\000\000TDN2H20SA5\x97R\x88\x9e',],
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(Ecu.engine, 0x7e0, None): [b'\xf1\x87391162J012\xf1\xa0000R',],
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}
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},
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}
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CHECKSUM = {
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@ -673,13 +696,13 @@ FEATURES = {
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# which message has the gear
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"use_cluster_gears": set([CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA]),
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"use_tcu_gears": set([CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER]),
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"use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021,CAR.SONATA_HYBRID]),
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"use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021,CAR.SONATA_HYBRID, CAR.KONA_HEV]),
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# these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
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"use_fca": set([CAR.SONATA, CAR.SONATA_HYBRID, 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]),
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"use_fca": set([CAR.SONATA, CAR.SONATA_HYBRID, 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, CAR.KONA_HEV]),
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}
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HYBRID_CAR = set([CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.SONATA_HYBRID]) # these cars use a different gas signal
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HYBRID_CAR = set([CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.SONATA_HYBRID, CAR.KONA_HEV]) # these cars use a different gas signal
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EV_CAR = set([CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_NIRO_EV])
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DBC = {
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@ -705,6 +728,7 @@ DBC = {
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CAR.KIA_STINGER: dbc_dict('hyundai_kia_generic', None),
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CAR.KONA: dbc_dict('hyundai_kia_generic', None),
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CAR.KONA_EV: dbc_dict('hyundai_kia_generic', None),
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CAR.KONA_HEV: dbc_dict('hyundai_kia_generic', None),
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CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', None),
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CAR.SONATA: dbc_dict('hyundai_kia_generic', None),
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CAR.SONATA_LF: dbc_dict('hyundai_kia_generic', None),
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@ -80,6 +80,7 @@ routes = [
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TestRoute("2c5cf2dd6102e5da|2020-06-26--16-00-08", HYUNDAI.IONIQ),
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TestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.KONA),
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TestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.KONA_EV),
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TestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV),
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TestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER),
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TestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.VELOSTER),
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TestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV),
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