Revert to using CLU15 message for Gear Selection for Compatability Reasons by emmertex · Pull Request #362 · commaai/openpilot

emmertex · 2018-09-12T01:40:10Z

Issues with using LVR12 message are as follows.

On 8 Speed, if in drive, but switched to "sport" mode, it no longer see's drive
On vehicles equipped with paddles for gear selections, pressing a paddle is seen as leaving drive.
Hyundai Eleantra does not create this message.

None of these issues are present when using the CLU15 message, while still allowing the same featureset.

bug fix

…d-only

…d alerts

Didn’t realise this was removed as well!

jfrux · 2018-09-12T12:07:18Z

Umm okay... but…. Why?
"Sport" mode really isn't for the openpilot world. Is it really called “Sport” mode?… or are you talking about “Sequential” which is like a paddle-shifted mode?

I’m not sure that it makes sense for OP to allow usage in Sequential mode on any car. Sequential mode isn’t to be used ever unless well… you think you’re somehow benefiting from shifting the car manually… of which you probably picked the wrong car to begin with and probably think self-driving cars are silly because IMA CONTROL MAH OWN CAR CUZZ I’M MAN AND MAN CONTROL CAR AND MACHINE CAN SUCK IT.

Also, anything other than drive is no place for OP... ever. Unless you're saying, OP is seeing it as being in drive... of which, you could be on to something!

Then again... what do I know? I'll tell you... nothing. Carry on.
:) <3

emmertex · 2018-09-12T12:25:50Z

Because autos don't downshift properly on hill descents.

Feel free to provide fixes to the auto code base, but at this stage that is out of scope of this 'driver aid'

jfrux · 2018-09-12T12:32:57Z

IMHO… that has nothing to do with Openpilot. Just my 2 cents...

…

On Sep 12, 2018, 8:25 AM -0400, Andrew Frahn ***@***.***>, wrote: Because autos don't downshift properly on hill descents — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread.

emmertex · 2018-09-12T12:59:12Z

It's an ACC issue.
Because ACC will ride the brakes for almost an entire descent, you will have no brakes at the bottom. Everyone dies.
If you force 1 gear downshift, ACC will ride the brakes 1/2 as much, you will have brakes at the bottom.

There is no other reason OP can't fully drive those roads, but a forced downshift will force a manual drive.

The auto is happy to sit at 3000rpm for ascent, but won't auto down shift to allow more than 2250rpm on descent. The downshift is not sufficient on these vehicles.

OP should not be restricted due to bad auto design.

rbiasini · 2018-09-17T20:33:02Z

@emmertex , As we discussed, can you please keep the Santa Fe the way it was? Ideally, I prefer listening to the gear from the engine module rather than the CLU, so we should find that source on all Kia/hyundai

Add logic to use transmission message rather than cluster message for all gear selections UNLESS the car in question does not have the known good transmission messages

emmertex · 2018-09-21T10:22:55Z

Without actual access to an Elantra (or possibly another model with the same issue/transmission) this is the best I can do.

So since that is the only known ‘issue’ vehicle at this stage I am reading both cluster and transmission in carstate.py, and defining which one is to be used in interface.py with an if statement.

Please note the last 2 commits are not tested so please review for typo’s and mistakes.

rbiasini · 2018-09-23T05:16:14Z


    # gear shifter
-    ret.gearShifter = self.CS.gear_shifter
+    if candidate == CAR.ELANTRA:


self.candidate?

rbiasini · 2018-09-25T00:49:54Z

if somebody can test this on a Elantra and a non-Elantra, I'll merge it.
Thanks!

Latest Elantra values that correlate to progress Community branch.

TK211X · 2018-09-27T00:50:58Z

Completed test on 2017 Elantra Ultimate with Legacy Wiring

Brief of test:

Checked out and pulled latest Hyundai-Dev branch (#362)

OP loaded with no issues. Initial drive caused "Steering Temporarily Unavailable" on attempt to engage.

Attributed to legacy wiring.

Modified carstate.py to reflect this:
Line#121 return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
to --> return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 1)

Rebooted

OP successfully engaged on following drive with no errors.

However, steering was found to still be unreliable and sporadic. Updating Interface.py with latest tuning values from Community branch resulted in no changes to aggressive OP steering behavior.
This issue is not present in Community branch.

Update for Elantra on Hyundai-Dev Branch

emmertex · 2018-09-27T12:30:57Z

Merged changes made by TK211X
Tested on Sorento as well for non-elantra test

rbiasini · 2018-10-10T09:10:42Z

@emmertex, if you give the green light (tested on Elantra too) I would like to merge this.

emmertex · 2018-10-11T21:02:36Z

Yes, all tested and good to go. Was tested by me and @TK211X

…

On Wed., 10 Oct. 2018, 7:41 pm rbiasini, ***@***.***> wrote: @emmertex <https://github.com/emmertex>, if you give the green light (tested on Elantra too) I would like to merge this. — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#362 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AE2Dle_0xLkijq_WBJWZpuQiEjpOr6Khks5ujbnQgaJpZM4Wkf7z> .

…asons (commaai#362) * hyundai WIP * steer_driver_factor is 1 * removed unnecessary file * removed unnecessary code * Update carcontroller.py bug fix * safety tuning and fixed interface stiffness * better lateral tuning, some fixes * Fix set speed * added camera state reading, autoresume from stop, cancel on accel, hud alerts * WIP * Updated for Kia Sorento *WIP* * Cleanup * clean2 * Bug Fixes * pre-merge * Add all the cars! * Panda to auto-detect Camera Bus * Move Checksum Check * Final Sorento Tuning * Make CAN3 for Cam default * Update README.md * update panda, minor aesthetic updates * few other minor changes * added steer not allowed alert * bup panda version to force panda update * fixed camera alerts * Revert to using CLU15 for Gear Selection * Missing Defines Didn’t realise this was removed as well! * Change Gear Selection Definitions Add logic to use transmission message rather than cluster message for all gear selections UNLESS the car in question does not have the known good transmission messages * Revert Camera CAN Bus * self.candidate * fixed fingerpint, tested on Sorento * Update for Elantra on Hyundai-Dev Branch Latest Elantra values that correlate to progress Community branch.

…ility Reasons (commaai#362)" This reverts commit c1e4731.

…asons (commaai#362) * hyundai WIP * steer_driver_factor is 1 * removed unnecessary file * removed unnecessary code * Update carcontroller.py bug fix * safety tuning and fixed interface stiffness * better lateral tuning, some fixes * Fix set speed * added camera state reading, autoresume from stop, cancel on accel, hud alerts * WIP * Updated for Kia Sorento *WIP* * Cleanup * clean2 * Bug Fixes * pre-merge * Add all the cars! * Panda to auto-detect Camera Bus * Move Checksum Check * Final Sorento Tuning * Make CAN3 for Cam default * Update README.md * update panda, minor aesthetic updates * few other minor changes * added steer not allowed alert * bup panda version to force panda update * fixed camera alerts * Revert to using CLU15 for Gear Selection * Missing Defines Didn’t realise this was removed as well! * Change Gear Selection Definitions Add logic to use transmission message rather than cluster message for all gear selections UNLESS the car in question does not have the known good transmission messages * Revert Camera CAN Bus * self.candidate * fixed fingerpint, tested on Sorento * Update for Elantra on Hyundai-Dev Branch Latest Elantra values that correlate to progress Community branch.

* End 2 end lat toggle * bool values don't have quotes * strip whitespace * Clean up * Clean up * Clean up * Fix * fix * KL model

* MADS: HKG CAN-FD: Disallow cruise buttons to engage when pcmCruiseSpeed is off * handle states properly * this is better * make sure main button is pressed * oops flipped main * same behavior * handle cruise main button universally * both * not needed * oops * wtf how did i miss

rbiasini and others added 30 commits August 28, 2018 16:28

hyundai WIP

bea839c

steer_driver_factor is 1

7376209

removed unnecessary file

4314efa

removed unnecessary code

3f3075e

Update carcontroller.py

95b7919

bug fix

safety tuning and fixed interface stiffness

5e76750

better lateral tuning, some fixes

c92c08f

Fix set speed

26c36df

Merge branch 'devel' of github.com:commaai/openpilot into hyundai-rea…

2ca147f

…d-only

added camera state reading, autoresume from stop, cancel on accel, hu…

96f54e3

…d alerts

WIP

22688e0

Updated for Kia Sorento *WIP*

07a8b3a

Cleanup

9c02498

clean2

87d7549

Bug Fixes

c4a6506

pre-merge

119f48d

Merge remote-tracking branch 'upstream/devel' into hyundai-dev

3df5a09

Add all the cars!

9f1bba6

Panda to auto-detect Camera Bus

c08d305

Move Checksum Check

d7ca4ce

Final Sorento Tuning

bb27195

Make CAN3 for Cam default

1fddd38

Update README.md

6b51095

update panda, minor aesthetic updates

e6b0432

few other minor changes

ad17983

added steer not allowed alert

7980457

bup panda version to force panda update

1d67a26

fixed camera alerts

f4e8926

Revert to using CLU15 for Gear Selection

cb929ce

Merge remote-tracking branch 'commaai/devel' into hyundai-dev

6085909

Missing Defines

ae8f2d7

Didn’t realise this was removed as well!

emmertex added 2 commits September 21, 2018 20:12

Change Gear Selection Definitions

1767987

Add logic to use transmission message rather than cluster message for all gear selections UNLESS the car in question does not have the known good transmission messages

Revert Camera CAN Bus

4bb8a2e

rbiasini reviewed Sep 23, 2018

View reviewed changes

self.candidate

04d1ed9

emmertex and others added 3 commits September 25, 2018 14:47

fixed fingerpint, tested on Sorento

7344197

Merge remote-tracking branch 'commaai/devel' into hyundai-dev

d69012a

Update for Elantra on Hyundai-Dev Branch

61b9fe6

Latest Elantra values that correlate to progress Community branch.

Merge pull request #12 from TK211X/patch-6

88f9f2d

Update for Elantra on Hyundai-Dev Branch

rbiasini merged commit 5641fc9 into commaai:devel Oct 14, 2018

emmertex added a commit to emmertex/openpilot that referenced this pull request Oct 23, 2018

Revert "Revert to using CLU15 message for Gear Selection for Compatab…

34b78cf

…ility Reasons (commaai#362)" This reverts commit c1e4731.

emmertex deleted the hyundai-dev branch August 17, 2019 01:18

mlocoteta pushed a commit to mlocoteta/openpilot that referenced this pull request Apr 1, 2021

Laneless toggle with new KL model (commaai#362)

f419258

* End 2 end lat toggle * bool values don't have quotes * strip whitespace * Clean up * Clean up * Clean up * Fix * fix * KL model

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Revert to using CLU15 message for Gear Selection for Compatability Reasons#362

Revert to using CLU15 message for Gear Selection for Compatability Reasons#362
rbiasini merged 38 commits intocommaai:develfrom
emmertex:hyundai-dev

emmertex commented Sep 12, 2018

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