hi

opendbc_repo/opendbc/car/hyundai/interface.py

@@ -214,6 +214,8 @@ class CarInterface(CarInterfaceBase):
     # Car specific configuration overrides
 
     if candidate == CAR.GENESIS_G90:
+      ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON.value
+      ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
       ret.stoppingDecelRate = 0.55
       ret.vEgoStopping = 0.8
 

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

@@ -20,7 +20,7 @@ from opendbc.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR
                                          HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, LEGACY_SAFETY_MODE_CAR, CANFD_FUZZY_WHITELIST, \
                                          UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \
                                          CarControllerParams, DBC, HyundaiFlags, get_platform_codes, HyundaiSafetyFlags, \
-                                         HyundaiStarPilotSafetyFlags, Buttons
+                                         HyundaiStarPilotSafetyFlags, Buttons, GENESIS_G90_STEER_MAX, HYUNDAI_PALISADE_2023_STEER_MAX
 
 LongCtrlState = CarControl.Actuators.LongControlState
 from opendbc.car.hyundai.fingerprints import FW_VERSIONS
@@ -278,6 +278,7 @@ class TestHyundaiFingerprint:
 
     g90 = CarInterface.get_params(CAR.GENESIS_G90, gen_empty_fingerprint(), [], False, False, False, None)
     assert g90.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON
+    assert g90.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE
 
     sonata_without_lda = CarInterface.get_params(CAR.HYUNDAI_SONATA, gen_empty_fingerprint(), [], False, False, False, None)
     assert not (sonata_without_lda.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON)
@@ -1502,6 +1503,16 @@ class TestHyundaiFingerprint:
     assert sportage_params.ANGLE_LIMITS.MAX_ANGLE_RATE > comparison_params.ANGLE_LIMITS.MAX_ANGLE_RATE
     assert comparison_params.ANGLE_LIMITS.MAX_LATERAL_JERK == ioniq6_params.ANGLE_LIMITS.MAX_LATERAL_JERK
 
+  def test_g90_and_palisade_2023_steer_max_limits(self):
+    g90 = CarParams.new_message()
+    g90.carFingerprint = CAR.GENESIS_G90
+    assert CarControllerParams(g90).STEER_MAX == GENESIS_G90_STEER_MAX
+
+    palisade_2023 = CarParams.new_message()
+    palisade_2023.carFingerprint = CAR.HYUNDAI_PALISADE_2023
+    palisade_2023.flags = int(HyundaiFlags.CAN_CANFD_BLENDED)
+    assert CarControllerParams(palisade_2023).STEER_MAX == HYUNDAI_PALISADE_2023_STEER_MAX
+
   def test_ioniq_5_canfd_aux_messages_are_optional(self):
     toggles = get_test_toggles()
     fingerprint = gen_empty_fingerprint()

opendbc_repo/opendbc/car/hyundai/values.py

@@ -22,6 +22,8 @@ HYUNDAI_MANDO_FRONT_RADAR_DBC = "hyundai_kia_mando_front_radar_generated"
 HYUNDAI_MRREVO14F_RADAR_DBC = "hyundai_mrrevo14f_radar_generated"
 HYUNDAI_MRR30_RADAR_DBC = "hyundai_mrr30_radar_generated"
 HYUNDAI_MRR35_RADAR_DBC = "hyundai_mrr35_radar_generated"
+GENESIS_G90_STEER_MAX = 461
+HYUNDAI_PALISADE_2023_STEER_MAX = 485
 
 
 class CarControllerParams:
@@ -99,12 +101,15 @@ class CarControllerParams:
       self.STEER_DELTA_DOWN = 3
 
     elif CP.flags & HyundaiFlags.CAN_CANFD_BLENDED:
-      self.STEER_MAX = 404
+      self.STEER_MAX = HYUNDAI_PALISADE_2023_STEER_MAX
       self.STEER_DRIVER_ALLOWANCE = 50
       self.STEER_THRESHOLD = 150
       self.STEER_DELTA_UP = 2
       self.STEER_DELTA_DOWN = 3
 
+    elif CP.carFingerprint == CAR.GENESIS_G90:
+      self.STEER_MAX = GENESIS_G90_STEER_MAX
+
     # Default for most HKG
     else:
       self.STEER_MAX = 384

opendbc_repo/opendbc/safety/modes/hyundai.h

@@ -239,9 +239,10 @@ static void hyundai_rx_hook(const CANPacket_t *msg) {
 
 static bool hyundai_tx_hook(const CANPacket_t *msg) {
   const TorqueSteeringLimits HYUNDAI_STEERING_LIMITS = HYUNDAI_LIMITS(384, 3, 7);
+  const TorqueSteeringLimits HYUNDAI_STEERING_LIMITS_G90 = HYUNDAI_LIMITS(461, 3, 7);
   const TorqueSteeringLimits HYUNDAI_STEERING_LIMITS_ALT = HYUNDAI_LIMITS(270, 2, 3);
   const TorqueSteeringLimits HYUNDAI_STEERING_LIMITS_ALT_2 = HYUNDAI_LIMITS(170, 2, 3);
-  const TorqueSteeringLimits HYUNDAI_STEERING_LIMITS_CAN_CANFD_BLENDED = HYUNDAI_LIMITS(404, 2, 3);
+  const TorqueSteeringLimits HYUNDAI_STEERING_LIMITS_CAN_CANFD_BLENDED = HYUNDAI_LIMITS(485, 2, 3);
 
   bool tx = true;
 
@@ -290,7 +291,9 @@ static bool hyundai_tx_hook(const CANPacket_t *msg) {
     int desired_torque = ((GET_BYTES(msg, 0, 4) >> 16) & 0x7ffU) - 1024U;
     bool steer_req = GET_BIT(msg, 27U);
 
-    const TorqueSteeringLimits limits = hyundai_can_canfd_blended ? HYUNDAI_STEERING_LIMITS_CAN_CANFD_BLENDED :
+    const bool hyundai_g90_limits = hyundai_has_lda_button && hyundai_aol_lkas_on_engage;  // G90 path sets both bits
+    const TorqueSteeringLimits limits = hyundai_g90_limits ? HYUNDAI_STEERING_LIMITS_G90 :
+                                        hyundai_can_canfd_blended ? HYUNDAI_STEERING_LIMITS_CAN_CANFD_BLENDED :
                                         hyundai_alt_limits_2 ? HYUNDAI_STEERING_LIMITS_ALT_2 :
                                         hyundai_alt_limits ? HYUNDAI_STEERING_LIMITS_ALT : HYUNDAI_STEERING_LIMITS;
 

opendbc_repo/opendbc/safety/tests/test_hyundai.py

@@ -151,6 +151,17 @@ class TestHyundaiSafetyAltLimits2(TestHyundaiSafety):
     self.safety.init_tests()
 
 
+class TestHyundaiSafetyGenesisG90(TestHyundaiSafety):
+  MAX_TORQUE_LOOKUP = [0], [461]
+
+  def setUp(self):
+    self.packer = CANPackerSafety("hyundai_kia_generic")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai,
+                                 HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON | HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE)
+    self.safety.init_tests()
+
+
 class TestHyundaiSafetyCameraSCC(TestHyundaiSafety):
   BUTTONS_TX_BUS = 2  # tx on 2, rx on 0
   SCC_BUS = 2  # rx on 2
@@ -213,7 +224,7 @@ class TestHyundaiCanCanfdBlendedSafety(TestHyundaiSafety):
   FWD_BLACKLISTED_ADDRS = {2: [0x340, 0x485, 0x364]}
   MAX_RATE_UP = 2
   MAX_RATE_DOWN = 3
-  MAX_TORQUE_LOOKUP = [0], [404]
+  MAX_TORQUE_LOOKUP = [0], [485]
 
   def setUp(self):
     self.packer = CANPackerSafety("hyundai_palisade_2023_generated")

starpilot/common/starpilot_variables.py

@@ -377,6 +377,8 @@ class StarPilotVariables:
     self.staging_branch = branch == "StarPilot-Staging"
     self.testing_branch = branch == "StarPilot-Testing"
     self.vetting_branch = branch == "StarPilot-Vetting"
+    self.force_no_uploads = True
+    toggle.force_no_uploads = self.force_no_uploads
 
     self.frogs_go_moo = FROGS_GO_MOO_PATH.is_file()
     # Development/vetting branches are no longer gated into dashcam mode.
@@ -833,8 +835,8 @@ class StarPilotVariables:
     # Keep force-onroad desktop simulations from polluting logs, but never disable
     # loggerd/encoderd on real devices because that breaks route continuity/uploads.
     toggle.no_logging = self.get_value("NoLogging", condition=device_management and not self.vetting_branch) or (toggle.force_onroad and HARDWARE.get_device_type() == "pc")
-    toggle.no_uploads = self.get_value("NoUploads", condition=device_management and not self.vetting_branch)
-    toggle.no_onroad_uploads = self.get_value("DisableOnroadUploads", condition=toggle.no_uploads)
+    toggle.no_uploads = self.force_no_uploads or self.get_value("NoUploads", condition=device_management and not self.vetting_branch)
+    toggle.no_onroad_uploads = (not self.force_no_uploads) and self.get_value("DisableOnroadUploads", condition=toggle.no_uploads)
 
     toggle.nostalgia_mode = self.get_value("NostalgiaMode", condition=toggle.openpilot_longitudinal and toggle.car_model == HYUNDAI_CAR.HYUNDAI_IONIQ_6)
     toggle.remap_cancel_to_distance = self.get_value(

system/manager/manager.py

@@ -681,6 +681,13 @@ def manager_init() -> None:
   params.put_bool("IsReleaseBranch", build_metadata.release_channel)
   params.put("HardwareSerial", serial)
 
+  params.put_bool("NoUploads", True)
+  params_cache.put_bool("NoUploads", True)
+  params.put_bool("DisableOnroadUploads", False)
+  params_cache.put_bool("DisableOnroadUploads", False)
+  params.put_bool("AlwaysAllowUploads", False)
+  params_cache.put_bool("AlwaysAllowUploads", False)
+
   # Branch migration: rename legacy Bolt fingerprint persisted in CarParams.
   migrate_legacy_bolt_fingerprint(params)
 

system/manager/process_config.py

@@ -72,6 +72,8 @@ def allow_logging(started: bool, params: Params, CP: car.CarParams, starpilot_to
   return not starpilot_toggles.no_logging
 
 def allow_uploads(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
+  if getattr(starpilot_toggles, "force_no_uploads", False):
+    return False
   return params.get_bool("AlwaysAllowUploads") or not starpilot_toggles.no_uploads or starpilot_toggles.no_onroad_uploads
 
 def run_speed_limit_filler(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool: