From 0ce8161cbf33c8f66d2439bbf9c92d9104e0afcf Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Mon, 11 May 2026 17:04:43 -0500
Subject: [PATCH] i6

---
 opendbc_repo/opendbc/car/hyundai/carcontroller.py      | 5 ++---
 opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py | 6 +++---
 2 files changed, 5 insertions(+), 6 deletions(-)

diff --git a/opendbc_repo/opendbc/car/hyundai/carcontroller.py b/opendbc_repo/opendbc/car/hyundai/carcontroller.py
index 57c606698..6f69c8943 100644
--- a/opendbc_repo/opendbc/car/hyundai/carcontroller.py
+++ b/opendbc_repo/opendbc/car/hyundai/carcontroller.py
@@ -326,15 +326,14 @@ class CarController(CarControllerBase):
                                                       else IONIQ_6_IPEDAL_PRESS_SEND_COUNT
         self._ioniq_6_regen_request_sent = False
         if max_regen_state or ipedal_latch_pending:
-          self._ioniq_6_ipedal_latch_counter = hyundaicanfd.get_ioniq_6_cruise_buttons_next_counter(buttons_counter) \
-                                               if 0 <= buttons_counter < hyundaicanfd.IONIQ_6_CRUISE_BUTTONS_COUNTER_MAX else -1
+          self._ioniq_6_ipedal_latch_counter = buttons_counter if 0 <= buttons_counter < hyundaicanfd.IONIQ_6_CRUISE_BUTTONS_COUNTER_MAX else -1
         else:
           self._ioniq_6_ipedal_latch_counter = -1
 
       if self._ioniq_6_always_ipedal_press_remaining > 0:
         if max_regen_state or ipedal_latch_pending:
           if self._ioniq_6_ipedal_latch_counter < 0 and 0 <= buttons_counter < hyundaicanfd.IONIQ_6_CRUISE_BUTTONS_COUNTER_MAX:
-            self._ioniq_6_ipedal_latch_counter = hyundaicanfd.get_ioniq_6_cruise_buttons_next_counter(buttons_counter)
+            self._ioniq_6_ipedal_latch_counter = buttons_counter
 
           if 0 <= self._ioniq_6_ipedal_latch_counter < hyundaicanfd.IONIQ_6_CRUISE_BUTTONS_COUNTER_MAX:
             # A real successful i-Pedal pull is a short held press followed by release, not a continuous hold.
diff --git a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
index d27ad7cdc..365a244a8 100644
--- a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+++ b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
@@ -484,7 +484,7 @@ class TestHyundaiFingerprint:
     sends = controller._update_ioniq_6_always_ipedal(cc, cs, toggles)
 
     assert sends
-    assert [msg[1].hex() for msg in sends if msg[0] == 0x1CF] == ["9060002800000000"]
+    assert [msg[1].hex() for msg in sends if msg[0] == 0x1CF] == ["4650002800000000"]
     assert controller._ioniq_6_always_ipedal_press_remaining == 5
 
   def test_ioniq_6_always_ipedal_sends_regen_control_companion_once_max_regen_is_shown(self):
@@ -551,7 +551,7 @@ class TestHyundaiFingerprint:
     sends = controller._update_ioniq_6_always_ipedal(cc, cs, toggles)
 
     paddle_msgs = [msg for msg in sends if msg[0] == 0x1CF]
-    assert [msg[1].hex() for msg in paddle_msgs] == ["9060002800000000"]
+    assert [msg[1].hex() for msg in paddle_msgs] == ["4650002800000000"]
     regen_cmd = next(msg for msg in sends if msg[0] == 0x25A)
     assert regen_cmd[1][24:28] == bytes.fromhex("c00c1200")
     checksum = hyundaicanfd.hkg_can_fd_checksum(regen_cmd[0], None, bytearray(regen_cmd[1]))
@@ -564,7 +564,7 @@ class TestHyundaiFingerprint:
     sends = controller._update_ioniq_6_always_ipedal(cc, cs, toggles)
 
     paddle_msgs = [msg for msg in sends if msg[0] == 0x1CF]
-    assert [msg[1].hex() for msg in paddle_msgs] == ["2970002800000000"]
+    assert [msg[1].hex() for msg in paddle_msgs] == ["9060002800000000"]
     assert not any(msg[0] == 0x25A for msg in sends)
 
   def test_ioniq_6_longitudinal_params_match_canfd_tune(self):