0.6.2.7

RELEASES.md

@@ -1,4 +1,10 @@
-Version 0.6.2.6-ku7 (2019-08)
+Version 0.6.2.7-ku7 (2019-08-14)
+========================
+  * Improve Auto Checksum Learner (this should fix LKAS Error Bugs)
+  * Reimpliment Dynamic Low Speed Alert
+  * Fixed 16.7m/s Low Speed Alert if believed to be Genesis
+
+Version 0.6.2.6-ku7 (2019-08-08)
 ========================
   * Merged in 0.6.2
   * HKG - Fixed Panda, but no PUF yet
@@ -74,9 +80,6 @@ Version 0.6.0.1-ku7 (2019-07-05)
   * HKG - Removed Noisy Console/Logs
   * HKG - Remove remnants of CP UI
 
-
-
-
 Version 0.6 (2019-07-01)
 ========================
  * New model, with double the pixels and ten times the temporal context!

selfdrive/car/hyundai/carcontroller.py

@@ -49,6 +49,7 @@ def __init__(self, dbc_name, car_fingerprint):
 
     self.turning_signal_timer = 0
     self.camera_disconnected = False
+    self.checksum_found = False
 
     self.packer = CANPacker(dbc_name)
 
@@ -59,38 +60,45 @@ def update(self, enabled, CS, actuators, pcm_cancel_cmd, hud_alert):
 
     ### Learn Checksum ###
 
-    # Learn Checksum from the Camera
-    if self.checksum == "NONE":
-      self.checksum = learn_checksum(self.packer, CS.lkas11)
-      cloudlog.info("Discovered Checksum")
-      if self.checksum == "NONE" and self.checksum_learn_cnt < 50:
-        self.checksum_learn_cnt += 1
-        return
-
-    # If MDPS is faulted from bad checksum, then cycle through all Checksums until 1 works
-    if CS.steer_error == 1:
-      self.camera_disconnected = True
-      cloudlog.warning("Camera Not Detected: Brute Forcing Checksums")
-      if self.checksum_learn_cnt > 250:
-        self.checksum_learn_cnt = 50
-        if self.checksum == "NONE":
-          cloudlog.info("Testing 6B Checksum")
-          self.checksum = "6B"
-        elif self.checksum == "6B":
-          cloudlog.info("Testing 7B Checksum")
-          self.checksum = "7B"
-        elif self.checksum == "7B":
-          cloudlog.info("Testing CRC8 Checksum")
-          self.checksum = "crc8"
+    if not self.checksum_found:
+      # Learn Checksum from the Camera
+      if self.checksum == "NONE":
+        self.checksum = learn_checksum(self.packer, CS.lkas11)
+        if self.checksum == "NONE" and self.checksum_learn_cnt < 50:
+          self.checksum_learn_cnt += 1
+          return
         else:
-          self.checksum = "NONE"
+          cloudlog.info("Discovered Checksum %s" % self.checksum)
+          self.checksum_found = True
+
+      # If MDPS is faulted from bad checksum, then cycle through all Checksums until 1 works
+      if CS.steer_error == 1:
+        self.camera_disconnected = True
+        cloudlog.warning("Camera Not Detected: Brute Forcing Checksums")
+        if self.checksum_learn_cnt > 300:
+          self.checksum_learn_cnt = 50
+          if self.checksum == "NONE":
+            cloudlog.info("Testing 6B Checksum")
+            self.checksum = "6B"
+          elif self.checksum == "6B":
+            cloudlog.info("Testing 7B Checksum")
+            self.checksum = "7B"
+          elif self.checksum == "7B":
+            cloudlog.info("Testing CRC8 Checksum")
+            self.checksum = "crc8"
+          else:
+            self.checksum = "NONE"
+            return
+        else:
+          self.checksum_learn_cnt += 1
       else:
-        self.checksum_learn_cnt += 1
+        cloudlog.info("Discovered Checksum %s" % self.checksum)
+        self.checksum_found = True
 
     ### Minimum Steer Speed ###
 
     # Apply Usage of Minimum Steer Speed
-    if CS.low_speed_alert and False:
+    if CS.low_speed_alert:
       disable_steer = True
 
     ### Turning Indicators ###

selfdrive/car/hyundai/carstate.py

@@ -236,10 +236,11 @@ def update(self, cp, cp_cam):
     self.car_gas = cp.vl["EMS12"]['TPS']
 
     self.low_speed_alert = False
-    # If MDPS faults, low speed alert
-    if self.mdps12_flt == 0:
+    # If MDPS TOI faults, low speed alert
+    if self.mdps12_flt == 1:
       self.low_speed_alert = True
-    # If we have LKAS_Icon == 2, then we know its 16.7m/s
+    # If we have LKAS_Icon == 2, then we know its 16.7m/s (Suspected this is only seen on Genesis)
+
     if self.lkas11_icon == 2 and self.v_ego_raw < 16.8:
       self.low_speed_alert = True
 

selfdrive/car/hyundai/interface.py

@@ -203,7 +203,7 @@ def update(self, c, can_strings):
     if ret.gasPressed:
       events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
 
-    if self.CS.low_speed_alert and False:
+    if self.CS.low_speed_alert:
       events.append(create_event('belowSteerSpeed', [ET.WARNING]))
 
     ret.events = events

selfdrive/common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.6.2.6-ku7"
+#define COMMA_VERSION "0.6.2.7-ku7"