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Ye of little faith

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whoisdomi
2026-07-14 19:37:45 -05:00
parent 10a4d3cf2f
commit 106189337b
1 changed files with 7 additions and 0 deletions
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opendbc_repo/opendbc/car/hyundai/interface.py
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@@ -154,6 +154,13 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_ANGLE_STEERING.value
if candidate == CAR.KIA_EV9:
ret.steerAtStandstill = True
if candidate == CAR.HYUNDAI_IONIQ_6:
# Keep lateral active through stops: zeroing torque at standstill dropped the
# stop-turn hold and forced a rate-limit re-ramp from zero on every pull-away
# (turn1/turn2 rlogs 2026-07-14). Torque steering has no standstill gate in the
# panda safety or the carcontroller; the MDPS tolerating held torque at 0 speed
# is being validated on-road.
ret.steerAtStandstill = True
if ret.flags & HyundaiFlags.CCNC and not ret.flags & HyundaiFlags.CANFD_LKA_STEERING:
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CCNC.value