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HKG: Car Port for Kia Sportage Plug-in Hybrid 2023 #1138

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HKG: Car Port for Kia Sportage Plug-in Hybrid 2023 #1138

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a6ba0c2
HKG: Car Port for Kia Sportage Plug-in Hybrid 2023
sunnyhaibin Aug 20, 2024
bd167fd
Merge remote-tracking branch 'commaai/opendbc/master' into kia-sporta…
sunnyhaibin Sep 23, 2024
84485cc
Add second alt limits (will open another PR on this)
sunnyhaibin Sep 23, 2024
f5c286d
Merge remote-tracking branch 'commaai/opendbc/master' into kia-sporta…
sunnyhaibin Sep 26, 2024
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1 change: 1 addition & 0 deletions opendbc/car/hyundai/fingerprints.py
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@dhimmel dhimmel Oct 30, 2024 •
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Here is a route that @sunnyhaibin requested in a discord thread, which evaluates sunnyhaibin/openpilot-1@e10a809 on a 2023 Kia Sportage PHEV.

The route id is 428412ad82894ba3/00000040--6ea91f379f/1 (also on comma connect). This route includes some interstate driving where the driver grasp not detected appeared.

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@jyoung8607 is this PR reviewable now after @sunnyhaibin's commits to address the lateral control authority and alerts along with the test route above?

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In part. I'll try to write up some comments later today.

Original file line number Diff line number Diff line change
Expand Up @@ -1031,6 +1031,7 @@
b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1040 663',
b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665',
b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1070 690',
b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.01 99211-P1060 680',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00NQ5__ 1.00 1.02 99110-P1000 ',
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6 changes: 6 additions & 0 deletions opendbc/car/hyundai/interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -130,6 +130,12 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
ret.flags |= HyundaiFlags.ALT_LIMITS.value
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_ALT_LIMITS

# TODO: Enforce in panda safety
if candidate in CAR.KIA_SPORTAGE_5TH_GEN:
for fw in car_fw:
if fw.ecu == "fwdCamera" and fw.fwVersion == b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.01 99211-P1060 680':
ret.flags |= HyundaiFlags.ALT_LIMITS_2.value

ret.centerToFront = ret.wheelbase * 0.4

return ret
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10 changes: 9 additions & 1 deletion opendbc/car/hyundai/values.py
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Original file line number Diff line number Diff line change
Expand Up @@ -26,13 +26,18 @@ def __init__(self, CP):
self.STEER_STEP = 1 # 100 Hz

if CP.carFingerprint in CANFD_CAR:
self.STEER_MAX = 270
self.STEER_DRIVER_ALLOWANCE = 250
self.STEER_DRIVER_MULTIPLIER = 2
self.STEER_THRESHOLD = 250
self.STEER_DELTA_UP = 2
self.STEER_DELTA_DOWN = 3

if CP.flags & HyundaiFlags.ALT_LIMITS_2:
self.STEER_MAX = 170

else:
self.STEER_MAX = 270

# To determine the limit for your car, find the maximum value that the stock LKAS will request.
# If the max stock LKAS request is <384, add your car to this list.
elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.HYUNDAI_ELANTRA, CAR.HYUNDAI_ELANTRA_GT_I30, CAR.HYUNDAI_IONIQ,
Expand Down Expand Up @@ -95,6 +100,8 @@ class HyundaiFlags(IntFlag):

MIN_STEER_32_MPH = 2 ** 23

ALT_LIMITS_2 = 2 ** 24


class Footnote(Enum):
CANFD = CarFootnote(
Expand Down Expand Up @@ -436,6 +443,7 @@ class CAR(Platforms):
[
HyundaiCarDocs("Kia Sportage 2023-24", car_parts=CarParts.common([CarHarness.hyundai_n])),
HyundaiCarDocs("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
HyundaiCarDocs("Kia Sportage Plug-in Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
],
# weight from SX and above trims, average of FWD and AWD version, steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications
CarSpecs(mass=1725, wheelbase=2.756, steerRatio=13.6),
Expand Down
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