Genesis fix, working

panda/board/drivers/can.h

@@ -84,7 +84,7 @@ int can_err_cnt = 0;
   CAN_TypeDef *cans[] = {CAN1, CAN2, CAN3};
   uint8_t bus_lookup[] = {0,1,2};
   uint8_t can_num_lookup[] = {0,1,2,-1};
-  int8_t can_forwarding[] = {1,-1,-1,-1};
+  int8_t can_forwarding[] = {2,-1,-1,-1};
   uint32_t can_speed[] = {5000, 5000, 5000, 333};
   bool can_autobaud_enabled[] = {false, false, false, false};
   #define CAN_MAX 3

selfdrive/car/hyundai/camstate.py

@@ -27,7 +27,7 @@ def get_can_parser2(CP):
     ("LKAS12", 10)      # LKAS12 = 10Hz
   ]
 
-  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 1)
+  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
 
 
 class CamState(object):

selfdrive/car/hyundai/carcontroller.py

@@ -136,13 +136,13 @@ def update(self, sendcan, enabled, CS, frame, actuators, CamS):
           lkas11_byte3 = CamS.lkas11_b3
       # When LKAS Forward is disabled, we generate the entire LKAS message
     else:
-      lkas11_byte0 = self.lanes + 0x2
+      lkas11_byte0 = self.lanes + 0x06
       lkas11_byte1 = 0x00
       lkas11_byte2 = apply_steer_a
       lkas11_byte3 = apply_steer_b
       lkas11_byte4 = (self.idx * 16) + 0x04
       lkas11_byte5 = 0x00
-      lkas11_byte7 = 0x18
+      lkas11_byte7 = 0x02
 
 
 

selfdrive/car/hyundai/carstate.py

@@ -132,8 +132,8 @@ def update(self, cp):
 
     # There is a 2% error on Sorento GT due to slightly larger wheel diameter compared to poverty packs.
     #   Dash assumes about 4% which is excessive. Using 3% to be safe
-    if self.car_fingerprint == CAR.SORENTO:
-      self.v_wheel = self.v_wheel * 1.03 
+    if self.car_fingerprint == CAR.GENESIS:
+      self.v_wheel = self.v_wheel * 1.075 
     self.low_speed_lockout = self.v_wheel < 1.0
 
     # Kalman filter

selfdrive/car/hyundai/interface.py

@@ -63,6 +63,16 @@ def get_params(candidate, fingerprint):
     ret.safetyModel = car.CarParams.SafetyModels.hyundai
 
     # pedal
+     # FIXME: hardcoding honda civic 2016 touring params so they can be used to
+    # scale unknown params for other cars
+    mass_civic = 2923 * CV.LB_TO_KG + std_cargo
+    wheelbase_civic = 2.70
+    centerToFront_civic = wheelbase_civic * 0.4
+    centerToRear_civic = wheelbase_civic - centerToFront_civic
+    rotationalInertia_civic = 2500
+    tireStiffnessFront_civic = 192150
+    tireStiffnessRear_civic = 202500
+
     ret.enableCruise = False
 
     rotationalInertia = 2500
@@ -74,21 +84,22 @@ def get_params(candidate, fingerprint):
     ret.steerActuatorDelay = 0.1  # Default delay, Prius has larger delay
 
     #borrowing a lot from corolla, given similar car size
-    ret.steerKf = 0.00008   # full torque for 20 deg at 80mph means 0.00007818594
-    ret.steerRateCost = 1.
+    ret.steerKf = 0.00004   # full torque for 20 deg at 80mph means 0.00007818594
+    ret.steerRateCost = 0.5
     stop_and_go = True
-    ret.mass = 1985 + std_cargo
-    ret.wheelbase = 2.78 
-    ret.steerRatio = 15.0
-    ret.steerKpV, ret.steerKiV = [[0.20], [0.007]]
+    ret.mass = 2060 + std_cargo
+    ret.wheelbase = 3.01 
+    ret.steerRatio = 16.5
+    ret.steerKpV, ret.steerKiV = [[0.16], [0.007]]
     ret.centerToFront = ret.wheelbase * 0.4
+    tire_stiffness_factor = 1.
 
     ret.longPidDeadzoneBP = [0., 9.]
     ret.longPidDeadzoneV = [0., .15]
 
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
     # to a negative value, so it won't matter.
-    ret.minEnableSpeed = -1.
+    ret.minEnableSpeed = 56 * CV.KPH_TO_MS
 
     centerToRear = ret.wheelbase - ret.centerToFront
     # TODO: get actual value, for now starting with reasonable value for
@@ -97,8 +108,12 @@ def get_params(candidate, fingerprint):
 
     # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
     # mass and CG position, so all cars will have approximately similar dyn behaviors
-    ret.tireStiffnessFront = tireStiffnessFront * ret.mass * (centerToRear / ret.wheelbase)
-    ret.tireStiffnessRear = tireStiffnessRear * ret.mass * (ret.centerToFront / ret.wheelbase)
+    ret.tireStiffnessFront = (tireStiffnessFront_civic * tire_stiffness_factor) * \
+                             ret.mass / mass_civic * \
+                             (centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
+    ret.tireStiffnessRear = (tireStiffnessRear_civic * tire_stiffness_factor) * \
+                            ret.mass / mass_civic * \
+                            (ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
 
     # no rear steering, at least on the listed cars above
     ret.steerRatioRear = 0.