HKG: log nonAdaptive

[Notstupe]

Describe the bug

Hardware C3X CANFD HKG HDA2

Install master-ci or devel and enable experimental mode via toggle

main cruise button

video

Short pressing main cruise on enables openpilot as expected. Long pressing main cruise button enable stock longitudinal and can even override calibration mode locked out.

Which car does this affect?

Ioniq 5 2023 limited (probably all CANDFD HKG cars)

Provide a route where the issue occurs

11c1f1909ca37bca|2023-09-07--02-11-17--0, 11c1f1909ca37bca|2023-09-07--06-04-09--0

openpilot version

master-ci

Additional info

this was already reported to shane via discord DM earlier in the night

[sshane]

• [x] Handled the CAN version of this issue here: https://github.com/commaai/openpilot/pull/29880
• [x] CAN FD: https://github.com/commaai/openpilot/pull/29888

[sshane]

The two routes you sent you were already using stock longitudinal, so it's not overriding openpilot longitudinal as you claim.

Secondly, you were enabling a feature called Manual Speed Limit Assist, which simply places a soft cap on the vehicle speed, unless you mash the accelerator pedal. It does not apply acceleration on its own, and openpilot remains disabled.

You can see you were applying acceleration the entire time:

View

And when you weren't pressing the accelerator, but MSLA was active, the vehicle was slowing down:

View

Similar situation in your first route, SCC and MSLA were never enabled together (we look at SCC to determine cruise status, which is correct):

View

Check your Ioniq 5 manual to double check everything: https://owners.hyundaiusa.com/content/dam/hyundai/us/myhyundai/manuals/glovebox-manual/2022/ioniq5/2022-Ioniq-5-Owners-Manual.pdf

If you have proof of the vehicle accelerating in this mode, send me a route and exact segment.

[sshane]

So this isn't an issue when using stock long (as in the routes you provided), as the stock SCC system refuses to enable. However with openpilot longitudinal, we enable in this state. In this state, the ABS module respects our brake commands, but does not apply any positive acceleration.

I assumed that it was managed by the same ECU that manages SCC (camera/radar/ADAS unit) like on CAN, but something else actually does. It still is sent when the ADAS unit is disabled, and it comes from PT side on HDA 1 cars.

It never exists on ICE CAN FD cars, always exists on EV CAN FD cars, and only sometimes exists on hybrid CAN FD cars (some powertrain-related ECU?).

Will first block for EVs.

[sshane]

thanks for the report!