brianhansonxyz
0dc8002c6d
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>
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.