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Added 2020 Santa Fe fingerprint and updated interface values #1595

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Added 2020 Santa Fe fingerprint and updated interface values #1595

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d95142f
Added 2020 Santa Fe's fingerprint
Wykillin May 30, 2020
75130d0
Added Santa Fe to list of vehicles that receive LFA MFA messages
Wykillin May 30, 2020
3ee9b77
Added Santa FE to get Lkas signals
Wykillin May 30, 2020
6d8b94c
Updated to include Santa Fe 2020
Wykillin May 30, 2020
25f0d14
Updated the params for Santa Fe
Wykillin May 30, 2020
b632e68
changed back to white icon
Wykillin Jun 3, 2020
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2 changes: 1 addition & 1 deletion README.md
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Expand Up @@ -144,7 +144,7 @@ Community Maintained Cars and Features
| Hyundai | Kona 2017-19<sup>2</sup> | SCC + LKAS | Stock | 22mph | 0mph |
| Hyundai | Kona 2019 EV<sup>2</sup> | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Palisade 2020<sup>2</sup> | All | Stock | 0mph | 0mph |
| Hyundai | Santa Fe 2019 | All | Stock | 0mph | 0mph |
| Hyundai | Santa Fe 2019-20 | All | Stock | 0mph | 0mph |
| Hyundai | Sonata 2019-20 | All | Stock | 0mph | 0mph |
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
| Jeep | Grand Cherokee 2019 | Adaptive Cruise | Stock | 0mph | 39mph |
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2 changes: 1 addition & 1 deletion selfdrive/car/hyundai/carcontroller.py
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Expand Up @@ -96,7 +96,7 @@ def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert,


# 20 Hz LFA MFA message
if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE]:
if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE]:
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Would this be a problem for the 2019 Santa FE that doesn't have LFA? Otherwise we need to split them into two different cars. Maybe you can find someone on discord with a 2019 one and have them try this PR.

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2019 and 2020 are same platform

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Any vehicle that steers down to 0 has LFA supported.

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I test drove a 2019 Santa Fe and it has the same displays. I believe the only thing that is different between the 2019 and 2020 is the fingerprint.

can_sends.append(create_lfa_mfa(self.packer, frame, enabled))

return can_sends
2 changes: 1 addition & 1 deletion selfdrive/car/hyundai/hyundaican.py
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Expand Up @@ -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 in [CAR.SONATA, CAR.PALISADE]:
if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE]:
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Same comment as the lfa_mfa message.

values["CF_Lkas_Bca_R"] = int(left_lane) + (int(right_lane) << 1)
values["CF_Lkas_LdwsOpt_USM"] = 2

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11 changes: 5 additions & 6 deletions selfdrive/car/hyundai/interface.py
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Expand Up @@ -29,13 +29,12 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,

if candidate == CAR.SANTA_FE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 1694 + STD_CARGO_KG
ret.wheelbase = 2.766
# Values from optimizer
ret.steerRatio = 16.55 # 13.8 is spec end-to-end
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]]
ret.steerRatio = 13.8 * 1.15 # 13.8 is spec end-to-end
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.SONATA:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1513. + STD_CARGO_KG
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5 changes: 4 additions & 1 deletion selfdrive/car/hyundai/values.py
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Expand Up @@ -25,7 +25,7 @@ class CAR:
KIA_STINGER = "KIA STINGER GT2 2018"
KONA = "HYUNDAI KONA 2019"
KONA_EV = "HYUNDAI KONA ELECTRIC 2019"
SANTA_FE = "HYUNDAI SANTA FE LIMITED 2019"
SANTA_FE = "HYUNDAI SANTA FE 2019-2020"
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No need to change the year in the car name.

SANTA_FE_1 = "HYUNDAI SANTA FE has no scc"
SONATA = "HYUNDAI SONATA 2020"
SONATA_2019 = "HYUNDAI SONATA 2019"
Expand Down Expand Up @@ -74,6 +74,9 @@ class Buttons:
},
{
67: 8, 68: 8, 80: 4, 160: 8, 161: 8, 272: 8, 288: 4, 339: 8, 356: 8, 357: 8, 399: 8, 544: 8, 608: 8, 672: 8, 688: 5, 704: 1, 790: 8, 809: 8, 848: 8, 880: 8, 898: 8, 900: 8, 901: 8, 904: 8, 1056: 8, 1064: 8, 1065: 8, 1072: 8, 1075: 8, 1087: 8, 1088: 8, 1151: 8, 1200: 8, 1201: 8, 1232: 4, 1264: 8, 1265: 8, 1266: 8, 1296: 8, 1306: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1348: 8, 1349: 8, 1369: 8, 1370: 8, 1371: 8, 1407: 8, 1415: 8, 1419: 8, 1440: 8, 1442: 4, 1461: 8, 1470: 8
},
{
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 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, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1427: 6, 1456: 4, 1470: 8
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The fingerprint for the 2020 Santa Fe.

}],
CAR.SONATA: [
{67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 545: 8, 546: 8, 547: 8, 548: 8, 549: 8, 550: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 8, 865: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 908: 8, 909: 8, 912: 7, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1089: 5, 1107: 5, 1108: 8, 1114: 8, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1184: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1268: 8, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1330: 8, 1339: 8, 1342: 6, 1343: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1394: 8, 1407: 8, 1419: 8, 1427: 6, 1446: 8, 1456: 4, 1460: 8, 1470: 8, 1485: 8, 1504: 3},
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