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>
Programming
./flash.py # flash application
./recover.py # flash bootstub
Debugging
To print out the serial console from the STM32, run tests/debug_console.py
Troubleshooting
If your panda will not flash and green LED is on, use recover.py.
If panda is blinking fast with green LED, use flash.py.
Otherwise if LED is off and panda can't be seen with lsusb command, use panda paw to go into DFU mode.
If your device has an internal panda and none of the above works, try running ../tests/reflash_internal_panda.py.