Hyundai Driver Grasp Warning Fault

[johnnathanwood]

Describe the bug

I have been encountering repeated grasp warnings under various conditions and routes

Which car does this affect?

2022 Hyundai Kona ICE

Provide a route where the issue occurs

0099bdb24d82951b|2024-01-27--13-43-20--23

openpilot version

0.9.6

Additional info

Hardware:

1. Comma 3X

2. harness Type: Hyundai O

Vehicle Specs:

1. architecture: CAN

2. SCC: Radar/CAM SCC

Pre-Route Preperations:

1. Recalibration

2. Comma pluggin in before vehicle start

Additional Route(s):

0099bdb24d82951b|2024-01-10--07-44-32--59

0099bdb24d82951b|2024-01-08--07-47-39--55

[johnnathanwood]

@sshane can we add this to the status of new HKG discussion for tracking purposes?

[johnnathanwood]

Grasp warning Route Id: 0099bdb24d82951b|2023-12-22--12-01-16--14 Route Id: 0099bdb24d82951b|2023-12-24--18-28-54--7 Route Id: 0099bdb24d82951b|2023-12-24--18-28-54--11

Update: It appears to only happen when I start my vehicle and then plug in the comma. If I plug the comma in before, I do not get the warning during my routes

Update 20240105: Did two 30 minute routes without getting the grasp warning with the comma plugged in before starting the car

Update 20240108: Car cutting in triggered the grasp warning Route Id: 0099bdb24d82951b|2024-01-08--07-47-39--55

Update 20240110 Pre-Route Preparations:

Recalibration

Comma plugged in before vehicle start

In-Route actions:

Adjusted follow distance Route Id: 0099bdb24d82951b|2024-01-10--07-44-32--59

Update 20240130 Pre-Route Preperations:

Recalibration

Comma pluggin in before vehicle start

Route id: 0099bdb24d82951b|2024-01-30--08-31-19--20

Time: 08:51:30

[sshane]

From the first route I see the driver awareness status message fall to 1, and then you take over, is that when it started showing the alert? Is it audible or not?

Also, are you saying that it hasn't alerted once if you plug it in before you start the car?

[johnnathanwood]

@sshane that is when the alert happened on the dash, with audible alert, and acceleration paused. No alert on the comma when that happens. Also, I can confirm that when I plug the comma in and wait for it to initialize before starting the car, it 100 percent does not happen. It appears to only happen when the comma is never unplug and on standby when starting the car.

[royjr]

Possibly related, 2024 Hyundai Kona ICE also has grasp warnings on https://github.com/commaai/openpilot/pull/30679 on seemingly random parts of the drive. Back to back warninigs sometimes then nothing for a while. Usable, just very annoying.