CanFd_RadarSpeed_Odbc_Fix,

common/realtime.py

@@ -70,6 +70,12 @@ def lagging(self) -> bool:
     expected_dt = self._interval * (1 / 0.9)
     return avg_dt > expected_dt
 
+  ## carrot
+  def reset_time(self):
+    self._next_frame_time = time.monotonic() + self._interval
+    self._frame = 0
+    self._remaining = 0.0
+
   # Maintain loop rate by calling this at the end of each loop
   def keep_time(self) -> bool:
     lagged = self.monitor_time()

opendbc/hyundai_canfd.dbc

@@ -263,7 +263,7 @@ BO_ 416 SCC_CONTROL: 32 ADRV
  SG_ aReqValue : 128|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" XXX
  SG_ ZEROS_7 : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ ACCMode : 68|3@1+ (1,0) [0|7] "" XXX
- SG_ ACC_ObjRelSpd : 35|9@1+ (0.1,-16.4) [-16.4|34.7] "m/s" XXX
+ SG_ ACC_ObjRelSpd : 35|12@1+ (0.1,-170) [-170|239.5] "" XXX
  SG_ JerkLowerLimit : 166|7@0+ (0.1,0) [0|12.7] "m/s^3" XXX
  SG_ StopReq : 184|1@0+ (1,0) [0|1] "" XXX
  SG_ NEW_SIGNAL_15 : 192|11@1+ (0.1,0) [0|204.7] "m" XXX

panda/board/safety/safety_hyundai_canfd.h

@@ -56,9 +56,11 @@ const CanMsg HYUNDAI_CANFD_HDA2_LONG_TX_MSGS[] = {
   {0x1DA, 0, 32}, // ADRV_0x1da
 
   {0x362, 1, 32}, // CAM_0x362
+  {0x2a4, 1, 24}, // CAM_0x2a4
 
   {0x110, 1, 32}, // LKAS_ALT (272)
 
+  {0x50, 1, 16}, // 
   {0x51, 1, 32}, // 
 
   {353, 0, 24}, // ADRV_353
@@ -173,7 +175,7 @@ bool hyundai_canfd_hda2_alt_steering = false;
 bool hyundai_canfd_scc_bus2 = false;
 bool hyundai_acan_panda = false;
 
-int canfd_tx_addr[32] = { 272, 80, 298, 866, 676, 480, 81, 490, 512, 837, 474, 352, 416, 282, 437, 506, 353, 354, 442, 485, 1402, 908, 1848, 0, };
+int canfd_tx_addr[32] = { 80, 81, 272, 282, 298, 352, 353, 354, 442, 485, 416, 437, 506, 474, 480, 490, 512, 676, 866, 837, 1402, 908, 1848, 0, };
 uint32_t canfd_tx_time[32] = { 0, };
 
 int hyundai_canfd_hda2_get_lkas_addr(void) {
@@ -415,12 +417,16 @@ static int hyundai_canfd_fwd_hook(int bus_num, int addr) {
               }
               else lkas_msg_acan_active = false;
           }
+          // carrot
+          // ADAS의 데이터가 LKAS로 보내지는것을 막음. 근데.. 이건 ECAN데이터들인데?
+          // 일단 삭제함.. 의미없어보임.
+          /*
           if (lkas_msg_acan_active) {
               if (addr == 353 || addr == 354 || addr == 908 || addr == 1402 || addr == 1848) {
                   bus_fwd = -1;
               }
           }
-
+          */
       }
       return bus_fwd;
   }
@@ -457,6 +463,11 @@ static int hyundai_canfd_fwd_hook(int bus_num, int addr) {
       //else if (addr == 354) bus_fwd = -1;
       //if (addr == 908) bus_fwd = -1;
       //else if (addr == 1402) bus_fwd = -1;
+      //
+      // 아래코드중 오토상향등코드 있음.. ㅋ
+      //if (addr == 698) bus_fwd = -1;
+      //if (addr == 1848) bus_fwd = -1;
+      //if (addr == 1996) bus_fwd = -1;
 #else
     // LKAS for HDA2, LFA for HDA1
     int hda2_lfa_block_addr = hyundai_canfd_hda2_alt_steering ? 0x362 : 0x2a4;

selfdrive/apilot.json

@@ -1006,12 +1006,12 @@
       "group": "����",
       "name": "MixRadarInfo",
       "title": "���̴�����",
-      "descr": "0:���̴��켱, 1:���̴�+����, 2:����Only, 3:����Only(�޸�)",
+      "descr": "0:���̴��켱, 1:���̴�+����, 2:����Only, 3:����Only(�޸�), 4:scc���̴��켱���",
       "egroup": "TEST",
       "etitle": "Radar test",
       "edescr": "",
       "min": 0,
-      "max": 3,
+      "max": 4,
       "default": 0,
       "unit": 1
     },

selfdrive/car/hyundai/carcontroller.py

@@ -263,7 +263,7 @@ def update(self, CC, CS, now_nanos):
           else:
             can_sends.extend(hyundaicanfd.create_fca_warning_light(self.packer, self.CAN, self.frame))
         if self.frame % 2 == 0:
-          if self.CP.extFlags & HyundaiExtFlags.SCC_BUS2.value:
+          if False: #self.CP.extFlags & HyundaiExtFlags.SCC_BUS2.value:
             can_sends.append(hyundaicanfd.create_acc_control_scc2(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
                                                              set_speed_in_units, hud_control, jerk_u, jerk_l, CS.cruise_info))
           else:

selfdrive/car/hyundai/carstate.py

@@ -335,9 +335,9 @@ def update_canfd(self, cp, cp_cam):
     #ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][left_blinker_sig],
     #                                                                  cp.vl["BLINKERS"][right_blinker_sig])
     if self.CP.enableBsm:
-      cp_ = cp_cam if (self.CP.extFlags & HyundaiExtFlags.SCC_BUS2 and self.CP.flags & HyundaiFlags.CANFD_HDA2) else cp
-      ret.leftBlindspot = cp_.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0
-      ret.rightBlindspot = cp_.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0
+      #cp_ = cp_cam if (self.CP.extFlags & HyundaiExtFlags.SCC_BUS2 and self.CP.flags & HyundaiFlags.CANFD_HDA2 and not self.CP.extFlags & HyundaiExtFlags.BSM_NO_ADAS.value) else cp
+      ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0
+      ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0
 
     # cruise state
     # CAN FD cars enable on main button press, set available if no TCS faults preventing engagement
@@ -575,7 +575,7 @@ def get_can_parser_canfd(self, CP):
     ## BSM신호가 ADAS인경우 BUS2로 개조되고, 독립인경우 ECAN에서 들어옴.
     # 개조, 독립 EV6: 1, 1 => True, inADAS: 1, 0 => False
     # 비개조, 0, 0 => True
-    if CP.enableBsm and (not CP.extFlags & HyundaiExtFlags.SCC_BUS2.value or CP.extFlags & HyundaiExtFlags.BSM_NO_ADAS.value):
+    if CP.enableBsm: # and (not CP.extFlags & HyundaiExtFlags.SCC_BUS2.value or CP.extFlags & HyundaiExtFlags.BSM_NO_ADAS.value):
       messages += [
         ("BLINDSPOTS_REAR_CORNERS", 20),
       ]
@@ -611,9 +611,9 @@ def get_cam_can_parser_canfd(CP):
     ## BSM신호가 ADAS인경우 BUS2로 개조되고, 독립인경우 ECAN에서 들어옴.
     # 개조, 독립 EV6: 1, 1 => False, inADAS: 1, 0 => True
     # 비개조, 0, 0 => False
-    if CP.enableBsm and CP.extFlags & HyundaiExtFlags.SCC_BUS2.value and not CP.extFlags & HyundaiExtFlags.BSM_NO_ADAS.value:
-      messages += [
-        ("BLINDSPOTS_REAR_CORNERS", 20),
-      ]
+    #if CP.enableBsm and CP.extFlags & HyundaiExtFlags.SCC_BUS2.value and not CP.extFlags & HyundaiExtFlags.BSM_NO_ADAS.value:
+    #  messages += [
+    #    ("BLINDSPOTS_REAR_CORNERS", 20),
+    #  ]
 
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).CAM)

selfdrive/car/hyundai/interface.py

@@ -163,6 +163,8 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     # *** feature detection ***
     if candidate in CANFD_CAR:
       ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN]
+      if candidate in (CAR.KIA_CARNIVAL_4TH_GEN) and hda2:
+        ret.enableBsm = False
       if not (candidate in (CAR.KIA_CARNIVAL_4TH_GEN) and hda2):
         ret.extFlags |= HyundaiExtFlags.BSM_NO_ADAS.value
       print(f"$$$$$ CanFD ECAN = {CAN.ECAN}")

selfdrive/car/interfaces.py

@@ -190,6 +190,9 @@ def __init__(self, CP, CarController, CarState):
     self.silent_steer_warning = True
     self.v_ego_cluster_seen = False
 
+    # tw: steer warning
+    self.steer_warning = 0
+
     self.CS = None
     self.can_parsers = []
     if CarState is not None:
@@ -433,24 +436,27 @@ def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_
         print("$$$$$$$$$$$$$$ EventName.buttonCancel")
 
     # Handle permanent and temporary steering faults
+    # tw: steer warning
+    self.steer_warning = self.steer_warning + 1 if cs_out.steerFaultTemporary else 0
     self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
-    if cs_out.steerFaultTemporary:
+    if cs_out.steerFaultPermanent: # 스티어폴트 선행.
+      events.add(EventName.steerUnavailable)
+
+    elif cs_out.steerFaultTemporary: # 일시오류 체크.
       if cs_out.steeringPressed and (not self.CS.out.steerFaultTemporary or self.no_steer_warning):
         self.no_steer_warning = True
       else:
         self.no_steer_warning = False
 
-        # if the user overrode recently, show a less harsh alert
-        if self.silent_steer_warning or cs_out.standstill or self.steering_unpressed < int(1.5 / DT_CTRL):
-          self.silent_steer_warning = True
-          events.add(EventName.steerTempUnavailableSilent)
-        else:
+        # 핸들손올림이나 일시 스티어오류가 0.5초이상일때 경고하며, 운전자 개입은 안하는 것으로 한다.
+        if self.steering_unpressed > int(0.5/DT_CTRL) and self.steer_warning > int(0.5/DT_CTRL):
           events.add(EventName.steerTempUnavailable)
+        else:
+          events.add(EventName.steerTempUnavailableSilent)
+
     else:
       self.no_steer_warning = False
       self.silent_steer_warning = False
-    if cs_out.steerFaultPermanent:
-      events.add(EventName.steerUnavailable)
 
     # we engage when pcm is active (rising edge)
     # enabling can optionally be blocked by the car interface

selfdrive/controls/controlsd.py

@@ -365,7 +365,9 @@ def update_events(self, CS):
         elif not self.sm.all_freq_ok(self.camera_packets):
           self.events.add(EventName.cameraFrameRate)
     if not REPLAY and self.rk.lagging:
-      self.events.add(EventName.controlsdLagging)
+      #self.events.add(EventName.controlsdLagging)
+      print("controlsdLagging")
+      self.rk.reset_time()
     if len(self.sm['radarState'].radarErrors) or (not self.rk.lagging and not self.sm.all_checks(['radarState'])):
       self.events.add(EventName.radarFault)
     if not self.sm.valid['pandaStates']:

selfdrive/controls/lib/drive_helpers.py

@@ -108,6 +108,7 @@ def __init__(self, CP):
 
     self.speedFromPCM = self.params.get_int("SpeedFromPCM")
     self.cruiseEcoControl = self.params.get_int("CruiseEcoControl")
+    self.cruiseSpeedUnit = self.params.get_int("CruiseSpeedUnit")
 
     self.params.put_int("UseLaneLineSpeedApply", self.params.get_int("UseLaneLineSpeed"))
 
@@ -128,7 +129,7 @@ def _params_update(self, controls):
     elif self.params_count == 30:
       self.autoSpeedUptoRoadSpeedLimit = float(self.params.get_int("AutoSpeedUptoRoadSpeedLimit")) * 0.01
     elif self.params_count == 40:
-      pass
+      self.cruiseSpeedUnit = self.params.get_int("CruiseSpeedUnit")
     elif self.params_count == 50:
       self.cruiseEcoControl = self.params.get_int("CruiseEcoControl")
     elif self.params_count >= 100:
@@ -455,7 +456,7 @@ def _update_cruise_button(self, CS, v_cruise_kph, controls):
     button_kph = v_cruise_kph
     buttonEvents = CS.buttonEvents
     button_speed_up_diff = 1
-    button_speed_dn_diff = 10 if self.cruiseButtonMode in [3, 4] else 1
+    button_speed_dn_diff = self.cruiseSpeedUnit if self.cruiseButtonMode in [1, 2] else 1
 
     button_type = 0
     if self.button_cnt > 0:
@@ -524,7 +525,8 @@ def _update_cruise_button(self, CS, v_cruise_kph, controls):
           self.params.put_int_nonblocking("MyDrivingMode", self.params.get_int("MyDrivingMode") % 4 + 1) # 1,2,3,4 (1:eco, 2:safe, 3:normal, 4:high speed)
         elif button_type == ButtonType.lfaButton:
           self._add_log("Button long lkas pressed ..")
-          self.params.put_int_nonblocking("UseLaneLineSpeedApply", self.params.get_int("UseLaneLineSpeed") if self.params.get_int("UseLaneLineSpeedApply") == 0 else 0)
+          useLaneLineSpeed = max(1, self.params.get_int("UseLaneLineSpeed"))
+          self.params.put_int_nonblocking("UseLaneLineSpeedApply", useLaneLineSpeed if self.params.get_int("UseLaneLineSpeedApply") == 0 else 0)
       else:
         if button_type == ButtonType.accelCruise:
           if self.softHoldActive > 0 and self.autoCruiseControl > 0:
@@ -687,7 +689,7 @@ def _update_cruise_carrot(self, CS, v_cruise_kph, controls):
       road_speed = (30 if self.roadSpeed < 30 else self.roadSpeed) * self.autoSpeedUptoRoadSpeedLimit
       lead_v_kph = max(v_cruise_kph, min(lead_v_kph, road_speed))
       if lead_v_kph > v_cruise_kph and self.lead_dRel < 80:
-        self._add_log_auto_cruise("AutoSpeed up to leadCar={:.0f}kph, road_speed={:.0f}kph".format(lead_v_kph, road_speed))
+        #self._add_log_auto_cruise("AutoSpeed up to leadCar={:.0f}kph, road_speed={:.0f}kph".format(lead_v_kph, road_speed))
         v_cruise_kph = lead_v_kph
 
     v_cruise_kph = self.update_apilot_cmd(controls, v_cruise_kph)
@@ -711,7 +713,7 @@ def v_cruise_speed_up(self, v_cruise_kph):
     if v_cruise_kph < roadSpeed:
       v_cruise_kph = roadSpeed
     else:
-      for speed in range (40, int(self.cruiseSpeedMax), Params().get_int("CruiseSpeedUnit")):
+      for speed in range (40, int(self.cruiseSpeedMax), self.cruiseSpeedUnit):
         if v_cruise_kph < speed:
           v_cruise_kph = speed
           break

selfdrive/controls/radard.py

@@ -198,7 +198,8 @@ def prob(c, c_key):
   # if no 'sane' match is found return -1
   # stationary radar points can be false positives
   dist_sane = abs(track.dRel - offset_vision_dist) < max([(offset_vision_dist)*.35, 5.0])
-  vel_tolerance = 20.0 if lead.prob > 0.85 else 10 # high vision track prob, increase tolerance (for stopped car)
+  vel_tolerance = 20.0 if lead.prob > 0.98 else 15.0 if lead.prob > 0.95 else 10 # high vision track prob, increase tolerance (for stopped car)
+  #vel_tolerance = interp(lead.prob, [0.80, 0.85, 0.98, 1.0], [10.0, 20.0, 25.0, 30.0])
   vel_sane = (abs(track.vRel + v_ego - lead.v[0]) < vel_tolerance) or (v_ego + track.vRel > 3)
   ##간혹 어수선한경우, 전방에 차가 없지만, 좌우에 차가많은경우 억지로 레이더를 가져오는 경우가 있음..(레이더트랙의 경우)
   y_sane = (abs(-lead.y[0]-track.yRel) < 3.2 / 2.)  #lane_width assumed 3.2M, laplacian_pdf 의 prob값을 검증하려했지만, y값으로 처리해도 될듯함.
@@ -481,7 +482,7 @@ def update(self, sm: messaging.SubMaster, rr: Optional[car.RadarData]):
     ar_pts = {}
     for pt in radar_points:
       if pt.trackId == 0 and pt.yRel == 0: # SCC radar
-        if leads_v3[0].prob > 0.5:
+        if self.ready and leads_v3[0].prob > 0.5:
           pt.yRel = -leads_v3[0].y[0]
       ar_pts[pt.trackId] = [pt.dRel, pt.yRel, pt.vRel, pt.measured, pt.aRel]
 
@@ -574,6 +575,15 @@ def get_lead(self, tracks: dict[int, Track], index: int, lead_msg: capnp._Dynami
     else:
       track = None
 
+    # vision match후 발견된 track이 없으면
+    #  track_scc 가 있는 지 확인하고
+    #    비전과의 차이가 35%(5M)이상 차이나면 scc가 발견못한것이기 때문에 비전것으로 처리함.
+    if track_scc is not None and track is None and self.mixRadarInfo == 4:
+      track = track_scc
+      if self.vision_tracks[index].prob > .5:
+        if self.vision_tracks[index].dRel < track.dRel - 5.0: #끼어드는 차량이 있는 경우 처리..
+          track = None
+
     lead_dict = {'status': False}
     if track is not None:
       lead_dict = track.get_RadarState(lead_msg.prob, float(-lead_msg.y[0]))

selfdrive/modeld/modeld.py

@@ -59,8 +59,8 @@ def __init__(self, context: CLContext):
       'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32),
       'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32),
       'prev_desired_curv': np.zeros(ModelConstants.PREV_DESIRED_CURV_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
-      #'nav_features': np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32),
-      #'nav_instructions': np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32),
+      'nav_features': np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32),
+      'nav_instructions': np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32),
       'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32),
     }
 
@@ -94,8 +94,8 @@ def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_
 
     self.inputs['traffic_convention'][:] = inputs['traffic_convention']
     self.inputs['lateral_control_params'][:] = inputs['lateral_control_params']
-    #self.inputs['nav_features'][:] = inputs['nav_features']
-    #self.inputs['nav_instructions'][:] = inputs['nav_instructions']
+    self.inputs['nav_features'][:] = inputs['nav_features']
+    self.inputs['nav_instructions'][:] = inputs['nav_instructions']
 
     # if getCLBuffer is not None, frame will be None
     self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs")))
@@ -293,9 +293,9 @@ def main(demo=False):
     inputs:dict[str, np.ndarray] = {
       'desire': vec_desire,
       'traffic_convention': traffic_convention,
-      'lateral_control_params': lateral_control_params
-      #'nav_features': nav_features,
-      #'nav_instructions': nav_instructions
+      'lateral_control_params': lateral_control_params,
+      'nav_features': nav_features,
+      'nav_instructions': nav_instructions,
       }
 
     mt1 = time.perf_counter()

selfdrive/modeld/models/README.md

@@ -21,10 +21,6 @@ To view the architecture of the ONNX networks, you can use [netron](https://netr
   * one-hot encoded vector to tell model whether traffic is right-hand or left-hand traffic : 2
 * **feature buffer**
   * A buffer of intermediate features that gets appended to the current feature to form a 5 seconds temporal context (at 20FPS) : 99 * 512
-* **nav features**
-  * 1 * 150
-* **nav instructions**
-  * 1 * 256
 
 
 ### Supercombo output format (Full size: XXX x float32)

selfdrive/ui/paint.cc

@@ -654,43 +654,43 @@ void DrawPlot::makePlotData(const UIState* s, float& data1, float& data2, char *
     case 1:
         data1 = a_ego;
         data2 = accel;
-        sprintf(str, "Accel (G:desired, Y:actual)");
+        sprintf(str, "1.Accel (G:desired, Y:actual)");
         break;
     case 2:
         // curvature * v * v : 원심가속도
         data1 = curvature;
         //data2 = (desired_curvature * v_ego * v_ego) - (roll * 9.81);
         data2 = curvatures_0;
-        sprintf(str, "Lateral Accel(G:desired, Y:actual)");
+        sprintf(str, "2.Lateral Accel(G:desired, Y:actual)");
         break;
     case 3:
         data1 = v_ego;
         data2 = speeds_0;
-        sprintf(str, "Speed/Accel(G:speed, Y:accel)");
+        sprintf(str, "3.Speed/Accel(G:speed, Y:accel)");
         break;
     case 4:
         data1 = position.getX()[32];
         data2 = velocity.getX()[32];
-        sprintf(str, "Model data(G:velocity, Y:position");
+        sprintf(str, "4.Model data(G:velocity, Y:position");
         break;
     case 5:
         data1 = lead_radar.getVLeadK();
         data2 = lead_radar.getALeadK();
-        sprintf(str, "Detected radar(G:aLeadK, Y:vLeadK)");
+        sprintf(str, "5.Detected radar(G:aLeadK, Y:vLeadK)");
         break;
     case 6:
         data1 = a_ego;  //노
         data2 = lead_radar.getALeadK(); // 녹
-        sprintf(str, "Detected radar(G:aLeadK, Y:a_ego)");
+        sprintf(str, "6.Detected radar(G:aLeadK, Y:a_ego)");
         break;
     case 7:
         data1 = lead_radar.getVLeadK();
         data2 = lead_radar.getVLead(); // getDRel();
-        sprintf(str, "Detected radar(G:vLead, Y:vLeadK)");
+        sprintf(str, "7.Detected radar(G:vLead, Y:vLeadK)");
         break;
         data1 = a_ego; // 노
         data2 = accel_out;  // 녹
-        sprintf(str, "Accel (G:accel output, Y:a_ego)");
+        sprintf(str, "7.Accel (G:accel output, Y:a_ego)");
         break;
     default:
         data1 = data2 = 0;

selfdrive/ui/qt/offroad/settings.cc

@@ -329,7 +329,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   const QVector<DefaultSetting> settings = {
       {"TM_HEV_SCC2", "TM_HEV_2022, scc2, radarTracks, radar Long", "apilot_default_tm_hev_scc2.json"},
       {"DH_SCC2", "DH, scc2, radar Long", "apilot_default_dh_scc2.json"},
-      //{"EV6_VLONG", "EV6 vision Long", "apilot_default_ev6_vlong.json"},
+      {"EV6_VLONG", "EV6 vision Long", "apilot_default_ev6_vlong.json"},
       //{"IONIQ5_VLONG", "IONIQ5 vision Long", "apilot_default_ioniq5_vlong.json"},
       {"GM_VOLT", "GM VOLT radar Long", "apilot_default_volt_ev.json"}
   };