move kona limit to car controller

commaai · Jul 8, 2022 · bd432eb · bd432eb
1 parent a4c9076
commit bd432eb
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Showing 2 changed files with 6 additions and 5 deletions.
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
@@ -52,7 +52,12 @@ def update(self, CC, CS):
     hud_control = CC.hudControl
 
     # Steering Torque
-    new_steer = int(round(actuators.steer * self.params.STEER_MAX))
+
+    # These cars have significantly more torque than most HKG.  Limit to 70% of max.
+    steer = actuators.steer
+    if self.CP.carFingerprint in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV):
+      steer = clip(steer, -0.7, 0.7)
+    new_steer = int(round(steer * self.params.STEER_MAX))
     apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
     self.steer_rate_limited = new_steer != apply_steer
 

diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
@@ -33,10 +33,6 @@ def __init__(self, CP):
                                CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO, CAR.KIA_STINGER):
       self.STEER_MAX = 255
 
-    # These cars have significantly more torque than most HKG.  Limit to 70% of max.
-    elif CP.carFingerprint in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV):
-      self.STEER_MAX = 270
-
     # Default for most HKG
     else:
       self.STEER_MAX = 384