Hyundai: Car Port for Kona 2022

[sunnyhaibin]

Checklist

• [x] added entry to CarInfo in selfdrive/car/*/values.py and ran selfdrive/car/docs.py to generate new docs
• [x] test route added to routes.py
• [x] route with stock system: 3bd70ed1a93771dc|2023-09-19--19-16-45
• [x] route with openpilot: 0099bdb24d82951b/00000005--c38d940b04
• [x] harness Type: Hyundai O
• [x] architecture: CAN

Link to all physical parts during installation

• comma 3X
• car harness kit
  • Hyundai O

Thanks to the community 2022 Hyundai Kona owner big_bull_ (Discord) and johnnathanwood.

Requires

• https://github.com/commaai/panda/pull/2038

Supersedes https://github.com/commaai/openpilot/pull/30025

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[sunnyhaibin]

More Ecu.transmission firmware: 0099bdb24d82951b/00000001--582f1c0a5d

[jyoung8607]

At a glance it looks okay, presuming the lateral accel magnitude tweak was correct, but that's hard to judge with the data available. The test routes are present, but I think they were probably driven on the higher limits, plus torqued wasn't running to judge how the car was performing, plus some actuator output structures have been refactored.

Can you procure a new test route for this one? Have them drive on this branch, with the proposed limits, and take some curves to see where it maxes out.

[sunnyhaibin]

At a glance it looks okay, presuming the lateral accel magnitude tweak was correct, but that's hard to judge with the data available. The test routes are present, but I think they were probably driven on the higher limits, plus torqued wasn't running to judge how the car was performing, plus some actuator output structures have been refactored.

Can you procure a new test route for this one? Have them drive on this branch, with the proposed limits, and take some curves to see where it maxes out.

@johnnathanwood can you install and update here when you get a chance?

[sunnyhaibin]

New test route: 0099bdb24d82951b/00000005--c38d940b04

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[adeebshihadeh]

So this ALT_LIMITS scheme has a unique failure mode, where a simple bug can silently allow more torque than expected. If the wrong safety mode is selected for any other supported car, the worst case is the RX checks are invalid (so no actuation) and any TX is blocked (since there's overlap).

I already wasn't super happy about this with the original ALT_LIMITS, but this car seems to have even more torque.

Net, I think it's better to get this merged as dashcam than not merge at all, such that it's detected and disabled. We'll have to revisit this at some point to un-dashcam it.

[sshane]

@adeebshihadeh these cars are not dashcammed due to the line below...

ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, }