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firestar5683
2026-05-26 18:19:34 -05:00
parent 0750072ef0
commit 3fa2d370bf
2 changed files with 11 additions and 5 deletions
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opendbc_repo/opendbc/car/hyundai/interface.py
+4 -2
View File
@@ -177,9 +177,11 @@ class CarInterface(CarInterfaceBase):
if ret.flags & HyundaiFlags.NON_SCC:
ret.alphaLongitudinalAvailable = False
ret.openpilotLongitudinalControl = alpha_long and ret.alphaLongitudinalAvailable
# When longitudinal is enabled, we disable the ADAS ECU which stops radar messages.
# Keep Ioniq 6 radar tracks probe-only until a harness path can provide them reliably.
if ret.openpilotLongitudinalControl:
if candidate == CAR.HYUNDAI_IONIQ_6:
ret.radarUnavailable = True
# When longitudinal is enabled, we disable the ADAS ECU which stops radar messages.
elif ret.openpilotLongitudinalControl:
ret.radarUnavailable = True
ret.pcmCruise = not ret.openpilotLongitudinalControl
apply_platform_longitudinal_params(ret)
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+7 -3
View File
@@ -130,7 +130,6 @@ class TestHyundaiFingerprint:
(CAR.HYUNDAI_IONIQ_5_N, MRR30_RADAR_START_ADDR),
(CAR.KIA_EV6_2025, MRR30_RADAR_START_ADDR),
(CAR.HYUNDAI_KONA_EV_2ND_GEN, MRR35_RADAR_START_ADDR),
(CAR.HYUNDAI_IONIQ_6, MRR35_RADAR_START_ADDR),
(CAR.HYUNDAI_IONIQ_9, MRR35_RADAR_START_ADDR),
):
assert get_radar_track_config(candidate).start_addr == radar_addr
@@ -141,12 +140,17 @@ class TestHyundaiFingerprint:
CP = CarInterface.get_params(candidate, fingerprint, [], False, False, False, None)
assert CP.radarUnavailable != radar
assert get_radar_track_config(CAR.HYUNDAI_IONIQ_6).start_addr == MRR35_RADAR_START_ADDR
fingerprint = gen_empty_fingerprint()
fingerprint[1][MRR35_RADAR_START_ADDR] = 24
CP = CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, fingerprint, [], False, False, False, None)
assert not CP.openpilotLongitudinalControl
assert CP.radarUnavailable
CP = CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, gen_empty_fingerprint(), [], True, False, False, None)
assert CP.openpilotLongitudinalControl
assert CP.radarUnavailable
fingerprint = gen_empty_fingerprint()
fingerprint[1][MRR35_RADAR_START_ADDR] = 24
CP = CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, fingerprint, [], True, False, False, None)
assert CP.openpilotLongitudinalControl
assert CP.radarUnavailable