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fix MPH & AEB(canfd) (#164)

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carrot 2025-05-10 16:48:19 +09:00 committed by GitHub
parent aad6826169
commit a40e8d686f
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6 changed files with 19 additions and 16 deletions
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12
opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
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@ -3,6 +3,7 @@ import numpy as np
from opendbc.car import CanBusBase
from opendbc.car.hyundai.values import HyundaiFlags, HyundaiExtFlags
from openpilot.common.params import Params
from opendbc.car.common.conversions import Conversions as CV
def hyundai_crc8(data: bytes) -> int:
poly = 0x2F
@ -416,10 +417,10 @@ def create_ccnc_messages(CP, packer, CAN, frame, CC, CS, hud_control, disp_angle
if frame % 2 == 0:
if CS.adrv_info_160 is not None:
values = CS.adrv_info_160
values["NEW_SIGNAL_1"] = 0 # steer_temp관련없음, 계기판에러
values["SET_ME_9"] = 17 # steer_temp관련없음, 계기판에러
values["SET_ME_2"] = 0 #커멘트해도 steer_temp에러남, 2값은 콤마에서 찾은거니...
values["DATA102"] = 0 # steer_temp관련없음
#values["NEW_SIGNAL_1"] = 0 # steer_temp관련없음, 계기판에러
#values["SET_ME_9"] = 17 # steer_temp관련없음, 계기판에러
#values["SET_ME_2"] = 0 #커멘트해도 steer_temp에러남, 2값은 콤마에서 찾은거니...
#values["DATA102"] = 0 # steer_temp관련없음
ret.append(packer.make_can_msg("ADRV_0x160", CAN.ECAN, values))
if CS.cruise_buttons_msg is not None:
@ -453,7 +454,8 @@ def create_ccnc_messages(CP, packer, CAN, frame, CC, CS, hud_control, disp_angle
values["SETSPEED"] = 6 if hdp_active else 3 if main_enabled else 0
values["SETSPEED_HUD"] = 5 if hdp_active else 2 if cruise_enabled else 1
values["vSetDis"] = int(hud_control.setSpeed * 3.6 + 0.5)
set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH)
values["vSetDis"] = int(set_speed_in_units + 0.5)
values["DISTANCE"] = 4 if hdp_active else hud_control.leadDistanceBars
values["DISTANCE_LEAD"] = 2 if cruise_enabled and hud_control.leadVisible else 0

9
opendbc_repo/opendbc/dbc/hyundai_canfd.dbc
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@ -249,13 +249,14 @@ BO_ 373 TCS: 24 XXX
BO_ 352 ADRV_0x160: 16 ADRV
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
SG_ AEB_SETTING : 24|2@1+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_1 : 28|3@0+ (1,0) [0|7] "" XXX
SG_ SET_ME_2 : 56|8@1+ (1,0) [0|7] "" XXX
SG_ AEB_SETTING : 24|2@1+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_1 : 30|1@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_2 : 48|1@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_2 : 56|8@1+ (1,0) [0|1] "" XXX
SG_ SET_ME_FF : 64|8@1+ (1,0) [0|255] "" XXX
SG_ SET_ME_FC : 72|8@1+ (1,0) [0|255] "" XXX
SG_ SET_ME_9 : 80|8@1+ (1,0) [0|255] "" XXX
SG_ DATA102 : 102|1@1+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_3 : 95|8@0+ (1,0) [0|255] "" XXX
BO_ 353 ADRV_0x161: 32 ADRV
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX

6
selfdrive/carrot_settings.json
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@ -459,14 +459,14 @@
{
"group": "주행튜닝",
"name": "RadarReactionFactor",
"title": "Radar reaction factor (10)%",
"title": "Radar reaction factor (100)%",
"descr": "값이 낮아지면 선행차량에 대한 반응이 빨라짐.",
"egroup": "LONG",
"etitle": "Radar reaction factor (10)%",
"etitle": "Radar reaction factor (100)%",
"edescr": "",
"min": 0,
"max": 200,
"default": 0,
"default": 100,
"unit": 1
},
{

4
selfdrive/ui/carrot.cc
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@ -2178,13 +2178,13 @@ public:
int apply_y = by - 50;
if (apply_source.length()) {
sprintf(apply_speed_str, "%.0f", apply_speed);
sprintf(apply_speed_str, "%.0f", (s->scene.is_metric)?apply_speed:apply_speed * KM_TO_MILE);
textColor = COLOR_OCHRE; // apply speed가 작동되면... 색을 바꾸자.
ui_draw_text(s, apply_x, apply_y, apply_speed_str, 50, textColor, BOLD, 1.0, 5.0, COLOR_BLACK, COLOR_BLACK);
ui_draw_text(s, apply_x, apply_y - 50, apply_source.toStdString().c_str(), 30, textColor, BOLD, 1.0, 5.0, COLOR_BLACK, COLOR_BLACK);
}
else if(abs(cruiseTarget - v_cruise) > 0.5) {
sprintf(apply_speed_str, "%.0f", cruiseTarget);
sprintf(apply_speed_str, "%.0f", (s->scene.is_metric)?cruiseTarget: cruiseTarget * KM_TO_MILE);
ui_draw_text(s, apply_x, apply_y, apply_speed_str, 50, textColor, BOLD, 1.0, 5.0, COLOR_BLACK, COLOR_BLACK);
ui_draw_text(s, apply_x, apply_y - 50, "eco", 30, textColor, BOLD, 1.0, 5.0, COLOR_BLACK, COLOR_BLACK);
}

2
selfdrive/ui/qt/offroad/settings.cc
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@ -675,7 +675,7 @@ CarrotPanel::CarrotPanel(QWidget* parent) : QWidget(parent) {
latLongToggles->addItem(new CValueControl("LongTuningKf", "LONG: FF Gain(100)", "", "../assets/offroad/icon_logic.png", 0, 200, 5));
latLongToggles->addItem(new CValueControl("LongActuatorDelay", "LONG: ActuatorDelay(20)", "", "../assets/offroad/icon_logic.png", 0, 200, 5));
latLongToggles->addItem(new CValueControl("VEgoStopping", "LONG: VEgoStopping(50)", "Stopping factor", "../assets/offroad/icon_logic.png", 1, 100, 5));
latLongToggles->addItem(new CValueControl("RadarReactionFactor", "LONG: Radar reaction factor(10)", "", "../assets/offroad/icon_logic.png", 0, 200, 10));
latLongToggles->addItem(new CValueControl("RadarReactionFactor", "LONG: Radar reaction factor(100)", "", "../assets/offroad/icon_logic.png", 0, 200, 10));
//latLongToggles->addItem(new CValueControl("StartAccelApply", "LONG: StartingAccel 2.0x(0)%", "정지->출발시 가속도의 가속율을 지정합니다 0: 사용안함.", "../assets/offroad/icon_road.png", 0, 100, 10));
//latLongToggles->addItem(new CValueControl("StopAccelApply", "LONG: StoppingAccel -2.0x(0)%", "정지유지시 브레이크압을 조정합니다. 0: 사용안함. ", "../assets/offroad/icon_road.png", 0, 100, 10));
latLongToggles->addItem(new CValueControl("LaneChangeNeedTorque", "LaneChange need torque", "1:need torque, 2:no lanechange", "../assets/offroad/icon_logic.png", 0, 2, 1));

2
system/manager/manager.py
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@ -105,7 +105,7 @@ def get_default_params():
("LongTuningKf", "100"),
("LongActuatorDelay", "20"),
("VEgoStopping", "50"),
("RadarReactionFactor", "10"),
("RadarReactionFactor", "100"),
("EnableRadarTracks", "0"),
("HyundaiCameraSCC", "0"),
("CanfdHDA2", "0"),