From 0d1b42c306e62fd4ee4f984cf87edd5e9a751213 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Sun, 18 Oct 2026 10:14:02 -0500
Subject: [PATCH] Correct Palisade stock status relay ownership

---
 opendbc_repo/opendbc/safety/modes/hyundai.h   |  2 +-
 .../safety/tests/test_hyundai_blended.py      | 32 +++++++++++++++++++
 2 files changed, 33 insertions(+), 1 deletion(-)

diff --git a/opendbc_repo/opendbc/safety/modes/hyundai.h b/opendbc_repo/opendbc/safety/modes/hyundai.h
index 5fc2626ae5..41235b76ad 100644
--- a/opendbc_repo/opendbc/safety/modes/hyundai.h
+++ b/opendbc_repo/opendbc/safety/modes/hyundai.h
@@ -716,7 +716,7 @@ static safety_config hyundai_init(uint16_t param) {
       {0x50, 0, 16, .check_relay = true},
       {0x4F1, 1, 4, .check_relay = false},
       {0x2A4, 0, 24, .check_relay = true},
-      {0x485, 1, 8, .check_relay = true},
+      {0x485, 1, 8, .check_relay = false},
     };
     static const CanMsg blended_hda2_aol_tx[] = {
       {0x50, 0, 16, .check_relay = true, .disable_static_blocking = true},
diff --git a/opendbc_repo/opendbc/safety/tests/test_hyundai_blended.py b/opendbc_repo/opendbc/safety/tests/test_hyundai_blended.py
index d655b1217b..f11e8f82de 100644
--- a/opendbc_repo/opendbc/safety/tests/test_hyundai_blended.py
+++ b/opendbc_repo/opendbc/safety/tests/test_hyundai_blended.py
@@ -9,6 +9,7 @@ from opendbc.safety.tests.test_hyundai import checksum
 class TestHyundaiBlendedStock(unittest.TestCase):
   def setUp(self):
     self.safety = libsafety_py.libsafety
+    self.safety.set_alternative_experience(0)
     self.packer = common.CANPackerSafety('hyundai_can_generated')
 
   def select(self, hda2):
@@ -115,6 +116,8 @@ class TestHyundaiBlendedStock(unittest.TestCase):
     self.assertEqual(self.safety.safety_fwd_hook(0, 0x485), 2)
     self.safety.set_timer(2_000_000)
     self.safety.safety_rx_hook(common.make_msg(1, 0x485, dat=payloads[0]))
+    self.assertFalse(self.safety.get_relay_malfunction(), 'Stock E-CAN status is not exclusive steering ownership')
+    self.safety.safety_rx_hook(common.make_msg(0, 0x50, 16))
     self.assertTrue(self.safety.get_relay_malfunction())
     self.assertFalse(self.safety.safety_tx_hook(common.make_msg(1, 0x485, dat=payloads[0])))
 
@@ -187,3 +190,32 @@ class TestHyundaiBlendedStock(unittest.TestCase):
       self.safety.safety_rx_hook(common.make_msg(0, address, length))
       self.assertTrue(self.safety.get_relay_malfunction())
       self.assertFalse(self.safety.safety_tx_hook(self.steer(0, False)))
+
+  def test_palisade_captured_status_preserves_steering_relay_shutdown(self):
+    for steering_address, length in ((0x50, 16), (0x2A4, 24)):
+      self.select(True)
+      self.safety.set_timer(2_000_000)
+      camera = bytes.fromhex('2dc35b01000008006401010200000000')
+      suppression = bytes.fromhex('daed12000022000022000000000000000000000000000000')
+      status = bytes.fromhex('5030020000000000')
+      self.safety.safety_rx_hook(common.make_msg(2, 0x50, dat=camera))
+      self.safety.safety_rx_hook(common.make_msg(2, 0x2A4, dat=suppression))
+      self.assertFalse(self.safety.get_relay_malfunction())
+      self.safety.safety_rx_hook(common.make_msg(1, 0x485, dat=status))
+      self.assertFalse(self.safety.get_relay_malfunction())
+      self.assertEqual(self.safety.safety_fwd_hook(2, 0x50), -1)
+      self.assertEqual(self.safety.safety_fwd_hook(2, 0x2A4), -1)
+      self.assertEqual(self.safety.safety_fwd_hook(2, 0x485), 0)
+      self.safety.safety_rx_hook(common.make_msg(0, steering_address, length))
+      self.assertTrue(self.safety.get_relay_malfunction())
+      self.assertFalse(self.safety.safety_tx_hook(common.make_msg(0, 0x50, 16)))
+
+  def test_stock_status_ownership_does_not_change_aol_table(self):
+    for experience in (0, 32):
+      self.safety.set_alternative_experience(experience)
+      self.assertEqual(self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, 0x2010), 0)
+      self.safety.init_tests()
+      self.safety.set_alternative_experience(experience)
+      self.safety.safety_rx_hook(common.make_msg(1, 0x485, dat=bytes.fromhex('5030020000000000')))
+      self.assertEqual(bool(self.safety.get_relay_malfunction()), experience == 32)
+    self.safety.set_alternative_experience(0)