Lane change?

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -216,8 +216,12 @@ class CarController(CarControllerBase):
 
     # prevent LFA from activating on LKA steering cars by sending "no lane lines detected" to ADAS ECU
     if self.frame % 5 == 0 and lka_steering:
+      show_ioniq_6_lane_change_ui = self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and \
+                                    bool(self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT) and CC.enabled
       can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.lfa_block_msg,
-                                                        self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT))
+                                                        self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT,
+                                                        left_lane_change=show_ioniq_6_lane_change_ui and CC.leftBlinker and not CC.rightBlinker,
+                                                        right_lane_change=show_ioniq_6_lane_change_ui and CC.rightBlinker and not CC.leftBlinker))
 
     # LFA and HDA icons
     if self.frame % 5 == 0 and (not lka_steering or lka_steering_long):

opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py

@@ -4,6 +4,23 @@ from opendbc.car import CanBusBase
 from opendbc.car.crc import CRC16_XMODEM
 from opendbc.car.hyundai.values import HyundaiFlags
 
+IONIQ_6_LANE_CHANGE_CAM_0X362 = {
+  "left": {
+    "LEFT_LANE_LINE": 3,
+    "RIGHT_LANE_LINE": 3,
+    "BYTE5": 0,
+    "BYTE6": 17,
+    "BYTE8": 17,
+  },
+  "right": {
+    "LEFT_LANE_LINE": 3,
+    "RIGHT_LANE_LINE": 3,
+    "BYTE5": 1,
+    "BYTE6": 18,
+    "BYTE8": 8,
+  },
+}
+
 
 def _set_value(msg: bytearray, sig, ival: int) -> None:
   i = sig.lsb // 8
@@ -133,7 +150,7 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
   return ret
 
 
-def create_suppress_lfa(packer, CAN, lfa_block_msg, lka_steering_alt):
+def create_suppress_lfa(packer, CAN, lfa_block_msg, lka_steering_alt, left_lane_change=False, right_lane_change=False):
   suppress_msg = "CAM_0x362" if lka_steering_alt else "CAM_0x2a4"
   msg_bytes = 32 if lka_steering_alt else 24
 
@@ -143,6 +160,10 @@ def create_suppress_lfa(packer, CAN, lfa_block_msg, lka_steering_alt):
   values["SET_ME_0_2"] = 0
   values["LEFT_LANE_LINE"] = 0
   values["RIGHT_LANE_LINE"] = 0
+  if lka_steering_alt and left_lane_change ^ right_lane_change:
+    direction = "left" if left_lane_change else "right"
+    # These fields are the stable stock lane-change markers from the Ioniq 6 camera message.
+    values.update(IONIQ_6_LANE_CHANGE_CAM_0X362[direction])
   return packer.make_can_msg(suppress_msg, CAN.ACAN, values)
 
 

opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py

@@ -286,6 +286,43 @@ class TestHyundaiFingerprint:
     assert decode_ioniq_6_blindspot_radar_state(0x1A) == (True, True)
     assert decode_ioniq_6_blindspot_radar_state(10.0) == (False, True)
 
+  def test_ioniq_6_lane_change_suppress_lfa_uses_stock_camera_markers(self):
+    CP = CarParams.new_message()
+    CP.carFingerprint = CAR.HYUNDAI_IONIQ_6
+    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CANFD_LKA_STEERING | HyundaiFlags.CANFD_LKA_STEERING_ALT)
+
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+    can_bus = CanBus(CP)
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("CAM_0x362", 0)], can_bus.ACAN)
+
+    lfa_block_msg = {
+      "COUNTER": 9,
+      **{f"BYTE{i}": i for i in range(3, 32) if i != 7},
+    }
+
+    parser.update([(1, [hyundaicanfd.create_suppress_lfa(packer, can_bus, lfa_block_msg, True)])])
+    assert parser.vl["CAM_0x362"]["LEFT_LANE_LINE"] == 0
+    assert parser.vl["CAM_0x362"]["RIGHT_LANE_LINE"] == 0
+    assert parser.vl["CAM_0x362"]["BYTE5"] == 5
+    assert parser.vl["CAM_0x362"]["BYTE6"] == 6
+    assert parser.vl["CAM_0x362"]["BYTE8"] == 8
+
+    parser.update([(2, [hyundaicanfd.create_suppress_lfa(packer, can_bus, lfa_block_msg, True, right_lane_change=True)])])
+    assert parser.vl["CAM_0x362"]["LEFT_LANE_LINE"] == 3
+    assert parser.vl["CAM_0x362"]["RIGHT_LANE_LINE"] == 3
+    assert parser.vl["CAM_0x362"]["BYTE5"] == 1
+    assert parser.vl["CAM_0x362"]["BYTE6"] == 18
+    assert parser.vl["CAM_0x362"]["BYTE8"] == 8
+    assert parser.vl["CAM_0x362"]["BYTE10"] == 10
+
+    parser.update([(3, [hyundaicanfd.create_suppress_lfa(packer, can_bus, lfa_block_msg, True, left_lane_change=True)])])
+    assert parser.vl["CAM_0x362"]["LEFT_LANE_LINE"] == 3
+    assert parser.vl["CAM_0x362"]["RIGHT_LANE_LINE"] == 3
+    assert parser.vl["CAM_0x362"]["BYTE5"] == 0
+    assert parser.vl["CAM_0x362"]["BYTE6"] == 17
+    assert parser.vl["CAM_0x362"]["BYTE8"] == 17
+    assert parser.vl["CAM_0x362"]["BYTE10"] == 10
+
   def test_sportage_angle_jerk_override_is_scoped(self):
     sportage = CarParams.new_message()
     sportage.carFingerprint = CAR.KIA_SPORTAGE_HEV_2026