revert hyundai canfd torque to stock; park-publish keepalive; dashcam idle on park
Three independent changes bundled together. Revert hyundai canfd steering torque limits to comma stock defaults (270 / 2 / 3 / 112) in both panda safety and openpilot CarControllerParams. The 270->324 bump caused overcorrection on turns and weaving on straights. Web research turned up no public reports of any 4th gen Tucson NX4 owner bumping STEER_MAX — the documented Tucson tuning effort is entirely on lateralTuning (latAccelFactor ~2.9-3.1, friction ~0.095), not the cap. hoomoose's EV6/Ioniq 5 PR #25723 is the canonical "raise STEER_MAX without dropping latAccelFactor causes overcorrection" data point — and even that change was reverted upstream. Right next move for this car is to tune latAccelFactor / friction, not the torque ceiling. plannerd: keep publishing longitudinalPlan at the normal cadence in park, but skip update() compute. Skipping publishes entirely caused longitudinalPlan to time out the alive flag at controlsd, which fired a real commIssue ("not_alive") on park->drive. Stale published values are fine because controlsd's own park short-circuit ignores the longitudinalPlan content while parked. Also gate publish_ui_plan on not-parked: it reads longitudinal_planner.a_desired_trajectory_full which is only set inside update(), so calling it without a prior update crashes plannerd with AttributeError (which fires "Process Not Running" on screen). uiPlan is UI-only, not on controlsd's commIssue check list, so going silent in park is fine. frogpilot_process: same idea — keep publishing frogpilotPlan in park to keep alive, skip the heavy update() compute. dashcamd: close the trip immediately on gear shift to PARK (was: 10-min idle timer before close). User wants the dashcam idle in park and a fresh trip on every drive engagement; brief drive-thru / fuel-stop across-trip continuity isn't valued. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This commit is contained in:
@@ -1,16 +1,11 @@
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#include "safety_hyundai_common.h"
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const SteeringLimits HYUNDAI_CANFD_STEERING_LIMITS = {
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// CLEARPILOT: bumped from comma defaults (270/2/3/112) by ~20% so this Tucson HDA2
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// can hold modest curvature in place. Mirrors the rate-limit shape comma uses for
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// its non-CAN-FD high-torque HKG default (384/3/7). Must stay in lockstep with
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// STEER_MAX in selfdrive/car/hyundai/values.py — panda enforces independently and
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// will reject larger commands if openpilot's value exceeds this.
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.max_steer = 324,
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.max_rt_delta = 134,
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.max_steer = 270,
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.max_rt_delta = 112,
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.max_rt_interval = 250000,
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.max_rate_up = 3,
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.max_rate_down = 5,
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.max_rate_up = 2,
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.max_rate_down = 3,
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.driver_torque_allowance = 250,
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.driver_torque_factor = 2,
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.type = TorqueDriverLimited,
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@@ -27,14 +27,12 @@ class CarControllerParams:
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self.STEER_STEP = 1 # 100 Hz
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if CP.carFingerprint in CANFD_CAR:
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# CLEARPILOT: bumped from comma defaults (270/2/3) by ~20% — must stay in
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# lockstep with HYUNDAI_CANFD_STEERING_LIMITS in panda/board/safety/safety_hyundai_canfd.h.
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self.STEER_MAX = 324
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self.STEER_MAX = 270
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self.STEER_DRIVER_ALLOWANCE = 250
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self.STEER_DRIVER_MULTIPLIER = 2
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self.STEER_THRESHOLD = 250
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self.STEER_DELTA_UP = 3
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self.STEER_DELTA_DOWN = 5
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self.STEER_DELTA_UP = 2
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self.STEER_DELTA_DOWN = 3
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# To determine the limit for your car, find the maximum value that the stock LKAS will request.
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# If the max stock LKAS request is <384, add your car to this list.
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@@ -12,20 +12,20 @@
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* Trip lifecycle state machine:
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*
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* WAITING:
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* - Process starts in this state
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* - Process starts in this state. Idle.
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* - Waits for valid system time (year >= 2024) AND car in drive gear
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* - Transitions to RECORDING when both conditions met
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*
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* RECORDING:
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* - Actively encoding frames, car is in drive
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* - Car leaves drive → start 10-min idle timer → IDLE_TIMEOUT
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*
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* IDLE_TIMEOUT:
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* - Car left drive, still recording with timer running
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* - Car re-enters drive → cancel timer → RECORDING
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* - Timer expires → close trip → WAITING
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* - Gear shift into PARK → close trip immediately → WAITING (idle)
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* - Ignition off → close trip → WAITING
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*
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* IDLE_TIMEOUT (deprecated, retained for safety):
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* - Was used to keep recording across brief drive-thru / fuel stops.
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* - Now unreachable: drive→park transitions close the trip immediately
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* and a fresh trip starts on the next drive engagement.
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*
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* Graceful shutdown (DashcamShutdown param):
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* - thermald sets DashcamShutdown="1" before device power-off
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* - dashcamd closes current segment, acks, exits
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@@ -301,10 +301,11 @@ int main(int argc, char *argv[]) {
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}
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case RECORDING:
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if (!in_drive) {
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idle_timer_start = now;
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state = IDLE_TIMEOUT;
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LOGW("dashcamd: car left drive, starting 10-min idle timer");
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// CLEARPILOT: close trip immediately on park (no idle timer). User wants
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// dashcam idle in park, fresh trip on each drive engagement.
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if (gear == cereal::CarState::GearShifter::PARK) {
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LOGW("dashcamd: gear in park, closing trip");
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close_trip();
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}
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break;
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@@ -34,12 +34,20 @@ def plannerd_thread():
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while True:
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sm.update()
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if sm.updated['modelV2']:
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# CLEARPILOT: skip planning while parked. The downstream consumer (controlsd)
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# already short-circuits in park, so longitudinalPlan/uiPlan staleness is fine.
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if sm['carState'].gearShifter == car.CarState.GearShifter.park:
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continue
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# CLEARPILOT: skip the planning compute while parked, but KEEP publishing
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# at the normal cadence so consumers' alive flags stay healthy. Skipping
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# publishes entirely caused longitudinalPlan to go alive=False at
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# controlsd, which fires a real commIssue the moment we shift out of park.
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# Stale published values are fine — controlsd's own park short-circuit
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# ignores the longitudinalPlan content while parked anyway.
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parked = sm['carState'].gearShifter == car.CarState.GearShifter.park
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if not parked:
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longitudinal_planner.update(sm)
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longitudinal_planner.publish(sm, pm)
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# publish_ui_plan reads longitudinal_planner.a_desired_trajectory_full
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# which is only set inside update(). Skip it while parked — uiPlan is
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# UI-only, not on controlsd's commIssue check list, so going silent is fine.
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if not parked:
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publish_ui_plan(sm, pm, longitudinal_planner)
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def main():
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@@ -85,9 +85,13 @@ def frogpilot_thread():
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frogpilot_planner = FrogPilotPlanner(CP)
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frogpilot_planner.update_frogpilot_params()
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# CLEARPILOT: skip planner work while parked.
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# CLEARPILOT: skip planner compute while parked, but KEEP publishing at
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# the normal cadence so frogpilotPlan stays alive at consumers. Skipping
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# publishes entirely caused commIssue ("not_alive: frogpilotPlan") at
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# controlsd the moment we shifted out of park.
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parked = sm['carState'].gearShifter == car.CarState.GearShifter.park
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if sm.updated['modelV2'] and not parked:
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if sm.updated['modelV2']:
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if not parked:
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frogpilot_planner.update(sm['carState'], sm['controlsState'], sm['frogpilotCarControl'], sm['frogpilotNavigation'],
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sm['liveLocationKalman'], sm['modelV2'], sm['radarState'])
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frogpilot_planner.publish(sm, pm)
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