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Car Support - 2020 Hyundai Palisade (#1382) 

* Added support for the 2020 Hyundai Palisade

* Updated

* Apply suggestions from code review

Co-Authored-By: Willem Melching <willem.melching@gmail.com>

Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: de910e93d5
This commit is contained in:
Scott Adair 2020-04-17 14:45:07 -04:00 committed by GitHub
parent 91519602bf
commit fa6e5b57f3
5 changed files with 17 additions and 4 deletions
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2
README.md
View File

@ -81,6 +81,8 @@ Supported Cars
| Honda | Pilot 2016-18 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
| Honda | Pilot 2019 | All | openpilot | 25mph<sup>1</sup> | 12mph |
| Honda | Ridgeline 2017-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
| Hyundai | Sonata 2020 | All | Stock | 0mph | 0mph |
| Hyundai | Palisade 2020 | All | Stock | 0mph | 0mph |
| Lexus | CT Hybrid 2017-18 | All | Stock<sup>3</sup>| 0mph | 0mph |
| Lexus | ES 2019 | All | openpilot | 0mph | 0mph |
| Lexus | ES Hybrid 2019 | All | openpilot | 0mph | 0mph |

3
selfdrive/car/hyundai/carcontroller.py
View File

@ -96,8 +96,7 @@ class CarController():
# 20 Hz LFA MFA message
if frame % 5 == 0 and self.car_fingerprint == CAR.SONATA:
if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE]:
can_sends.append(create_lfa_mfa(self.packer, frame, enabled))
return can_sends

2
selfdrive/car/hyundai/hyundaican.py
View File

@ -19,7 +19,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
values["CF_Lkas_MsgCount"] = frame % 0x10
values["CF_Lkas_Chksum"] = 0
if car_fingerprint == CAR.SONATA:
if car_fingerprint in [CAR.SONATA, CAR.PALISADE]:
values["CF_Lkas_Bca_R"] = int(left_lane) + (int(right_lane) << 1)
values["CF_Lkas_LdwsOpt_USM"] = 2

7
selfdrive/car/hyundai/interface.py
View File

@ -46,6 +46,13 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
ret.minSteerSpeed = 0.
elif candidate == CAR.PALISADE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1999. + STD_CARGO_KG
ret.wheelbase = 2.90
ret.steerRatio = 13.75 * 1.15
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.KIA_SORENTO:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1985. + STD_CARGO_KG

7
selfdrive/car/hyundai/values.py
View File

@ -30,6 +30,7 @@ class CAR:
SANTA_FE = "HYUNDAI SANTA FE LIMITED 2019"
SANTA_FE_1 = "HYUNDAI SANTA FE has no scc"
SONATA = "HYUNDAI SONATA 2020"
PALISADE = "HYUNDAI PALISADE 2020"
class Buttons:
@ -125,6 +126,9 @@ FINGERPRINTS = {
{
68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 576: 8, 593: 8, 688: 5, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1265: 4, 1268: 8, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1420: 8, 1425: 2, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
}],
CAR.PALISADE: [{
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 549: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1123: 8, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 2000: 8, 2005: 8, 2008: 8
}],
}
ECU_FINGERPRINT = {
@ -132,7 +136,7 @@ ECU_FINGERPRINT = {
}
CHECKSUM = {
"crc8": [CAR.SANTA_FE, CAR.SONATA],
"crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE],
"6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
}
@ -159,6 +163,7 @@ DBC = {
CAR.KONA_EV: dbc_dict('hyundai_kia_generic', None),
CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', None),
CAR.SONATA: dbc_dict('hyundai_kia_generic', None),
CAR.PALISADE: dbc_dict('hyundai_kia_generic', None),
}
STEER_THRESHOLD = 150