brianhansonxyz
4058269762
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>
Car port structure
interface.py
Generic interface to send and receive messages from CAN (controlsd uses this to communicate with car)
fingerprints.py
Fingerprints for matching to a specific car
carcontroller.py
Builds CAN messages to send to car
carstate.py
Reads CAN from car and builds openpilot CarState message
values.py
Limits for actuation, general constants for cars, and supported car documentation
radar_interface.py
Interface for parsing radar points from the car