Keep unarmed startup steering restrictions from displaying takeover warnings

openpilot/selfdrive/selfdrived/selfdrived.py

@@ -2135,7 +2135,7 @@ class SelfdriveD:
       if ET.WARNING not in self.state_machine.current_alert_types:
         self.state_machine.current_alert_types.append(ET.WARNING)
     if (getattr(self, 'aol_fault_reason', 'none') == 'availabilityPause' and
-        (self.CP.brand != 'ford' or self.enabled or intent is not None and intent.allowedLatch) and
+        (self.enabled or intent is not None and intent.allowedLatch) and
         ET.WARNING not in self.state_machine.current_alert_types):
       self.state_machine.current_alert_types.append(ET.WARNING)
     axis_published = bool(not REPLAY and self.aol_replay and self.axis_transport_required)

openpilot/starpilot/aol/tests/test_unarmed_temporary_steering.py

@@ -0,0 +1,37 @@
+from contextlib import ExitStack
+
+import pytest
+
+from openpilot.cereal import log
+from openpilot.common.prefix import OpenpilotPrefix
+from openpilot.starpilot.aol.tests import test_ioniq_availability as fixture
+from opendbc.car import structs
+from opendbc.car.hyundai.values import CAR
+
+
+@pytest.mark.parametrize('profile', [False, CAR.HYUNDAI_IONIQ_5_PE, CAR.KIA_EV9], ids=['ioniq6', 'ioniq5pe', 'ev9'])
+def test_unarmed_parked_temporary_eps_keeps_fault_without_warning(profile):
+  case = fixture.IoniqAvailabilityTests(methodName='runTest')
+  with ExitStack() as cleanup:
+    cleanup.callback(case.doCleanups)
+    cleanup.enter_context(OpenpilotPrefix())
+    sd, _, step, _, _ = case._ioniq_availability_callers(full_op=False, initially_armed=False, stock_angle=profile)
+    parked = fixture.car_state()
+    parked.gearShifter = structs.CarState.GearShifter.park
+    parked.vEgo = parked.vEgoRaw = 0.
+    parked.standstill = parked.steerFaultTemporary = True
+    for tick in range(2, 32):
+      axis, state, command = step(tick, observed_state=parked, native_request_lat=False,
+                                  native_request_long=False, allowed=False)
+      assert sd.CS_prev.steerFaultTemporary
+      assert log.OnroadEvent.EventName.steerTempUnavailableSilent in sd.events.names
+      assert not axis.lateralActive and not axis.longitudinalActive
+      assert not command.latActive and not command.longActive and not command.enabled
+      assert state.alertType != 'steerTempUnavailableSilent/warning', 'UNARMED_PARKED_EPS_WARNING'
+    parked.steerFaultTemporary = False
+    for tick in range(32, 45):
+      _, state, command = step(tick, observed_state=parked, native_request_lat=False,
+                               native_request_long=False, allowed=False)
+      assert log.OnroadEvent.EventName.steerTempUnavailableSilent not in sd.events.names
+      assert not command.latActive and not command.longActive
+    assert state.alertType != 'steerTempUnavailableSilent/warning'

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "c3e01d80eff2b69cad37bab0e35e0ee5cef040205d73aae08752c4838b04a9ae", "schema_version": 1}
+{"protected_inventory_sha256": "49f8fb7f0c1b26ca19559566538c2c94d1c5e270d8163e5e2356de0a4621cea3", "schema_version": 1}