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>
Tucson (and other Hyundai CAN-FD HDA2 cars) get pinned to comma's
conservative steer ceiling of 270 in the CAN-FD branch of
selfdrive/car/hyundai/values.py and the matching panda safety limit
HYUNDAI_CANFD_STEERING_LIMITS. Comma's non-CAN-FD HKG default is 384;
PR commaai/openpilot#25723 merged 384 for HDA1 EV6/Ioniq 5 with
operator quote "max steer needed to be 384 to make basic turns."
Bumping to 324 (~+20%) keeps a safe margin under the proven 384
ceiling while giving enough headroom for moderate clover-style on-ramps
without the controller hitting the limit. Rate limits also nudged up
(2->3 up, 3->5 down) to match the slightly higher ceiling and reduce
ramp time / release lag; chose 5 instead of comma's 7 for delta_down to
keep release smoother. max_rt_delta scaled proportionally (112->134) so
the 250ms real-time check tracks the new ceiling.
Both files MUST stay in lockstep — panda safety enforces independently
and would reject larger commands if only one side was bumped. Panda
firmware re-flashes automatically on next pandad start because the
safety code hash changed.
References:
https://github.com/commaai/openpilot/pull/25723 (HDA1 270->384)
https://github.com/commaai/openpilot/issues/24122 (HKG torque blacklist)
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
- Install ccrypt, nodejs 18, npm, claude code in provision
- Decrypt id_rsa/id_rsa.pub via dongle ID and install to /data/ssh/.ssh/
- Run provision directly instead of through qt_shell wrapper
- Fix panda and body SConscripts to mkdir obj/ before writing gitversion.h
- Add sudo to su - comma build call
- Remount / rw at top of provision
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
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