From 3fa2d370bf6bca83aa0a40b701feddabcf71d475 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Tue, 26 May 2026 18:19:34 -0500
Subject: [PATCH] i6

---
 opendbc_repo/opendbc/car/hyundai/interface.py          |  6 ++++--
 opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py | 10 +++++++---
 2 files changed, 11 insertions(+), 5 deletions(-)

diff --git a/opendbc_repo/opendbc/car/hyundai/interface.py b/opendbc_repo/opendbc/car/hyundai/interface.py
index eece350af..10849236c 100644
--- a/opendbc_repo/opendbc/car/hyundai/interface.py
+++ b/opendbc_repo/opendbc/car/hyundai/interface.py
@@ -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)
diff --git a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
index cf3ad3512..bdeebd58e 100644
--- a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+++ b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
@@ -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