steer errors

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -431,6 +431,12 @@ def suppress_redundant_gv70_brake_cancel(CP, brake_pressed: bool, lat_active: bo
   )
 
 
+def clear_ioniq_6_torque_when_request_inactive(CP, apply_torque: int, apply_steer_req: bool) -> int:
+  if CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and not apply_steer_req:
+    return 0
+  return apply_torque
+
+
 class CarController(CarControllerBase):
   def __init__(self, dbc_names, CP):
     super().__init__(dbc_names, CP)
@@ -613,6 +619,8 @@ class CarController(CarControllerBase):
       if not CC.latActive:
         apply_torque = 0
 
+      apply_torque = clear_ioniq_6_torque_when_request_inactive(self.CP, apply_torque, apply_steer_req)
+
       # Hold torque with induced temporary fault when cutting the actuation bit
       # FIXME: we don't use this with CAN FD?
       torque_fault = CC.latActive and not apply_steer_req

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

@@ -20,7 +20,8 @@ from opendbc.car.hyundai.carcontroller import CarController, Ioniq6LongitudinalT
                                              should_track_stop_accel_directly_for_car, \
                                              preserve_stock_canfd_lfa_status, \
                                              preserve_stock_canfd_lkas_status, \
-                                             suppress_redundant_gv70_brake_cancel
+                                             suppress_redundant_gv70_brake_cancel, \
+                                             clear_ioniq_6_torque_when_request_inactive
 from opendbc.car.hyundai.carstate import CarState, decode_canfd_camera_lead, decode_ioniq_6_blindspot_radar_state, \
                                              get_canfd_cruise_available
 from opendbc.car.hyundai.interface import CarInterface, KIA_EV9_ACCEL_MAX
@@ -554,6 +555,14 @@ class TestHyundaiFingerprint:
     assert not (CP.flags & HyundaiFlags.CANFD_LKA_STEERING)
     assert bool(CP.flags & HyundaiFlags.CANFD_CAMERA_SCC)
 
+  def test_ioniq_6_clears_torque_with_inactive_safety_request(self):
+    ioniq_6_cp = SimpleNamespace(carFingerprint=CAR.HYUNDAI_IONIQ_6)
+    other_cp = SimpleNamespace(carFingerprint=CAR.KIA_EV6)
+
+    assert clear_ioniq_6_torque_when_request_inactive(ioniq_6_cp, -409, False) == 0
+    assert clear_ioniq_6_torque_when_request_inactive(ioniq_6_cp, -409, True) == -409
+    assert clear_ioniq_6_torque_when_request_inactive(other_cp, -409, False) == -409
+
     palisade_2023 = CarInterface.get_params(CAR.HYUNDAI_PALISADE_2023, gen_empty_fingerprint(), [], True, False, False, None)
     assert palisade_2023.flags & HyundaiFlags.CAN_CANFD_BLENDED
     assert DBC[palisade_2023.carFingerprint][Bus.pt] == "hyundai_palisade_2023_generated"

opendbc_repo/opendbc/car/toyota/carcontroller.py

@@ -42,7 +42,6 @@ TOYOTA_NO_LEAD_CRUISE_SIGN_FLIP_MIN_SET_SPEED_ERROR = 0.35  # m/s
 # EPS faults if you apply torque while the steering rate is above 100 deg/s for too long
 MAX_STEER_RATE = 100  # deg/s
 MAX_STEER_RATE_FRAMES = 18  # tx control frames needed before torque can be cut
-TOYOTA_HIGHLANDER_TSS2_MAX_STEER_RATE_FRAMES = 8
 
 # EPS allows user torque above threshold for 50 frames before permanently faulting
 MAX_USER_TORQUE = 500
@@ -73,11 +72,6 @@ def should_bypass_toyota_long_pid(CP, starpilot_toggles=None) -> bool:
   ) or highlander_sdsu)
 
 
-def get_steer_rate_limit_frames(car_fingerprint) -> int:
-  return (TOYOTA_HIGHLANDER_TSS2_MAX_STEER_RATE_FRAMES
-          if car_fingerprint == CAR.TOYOTA_HIGHLANDER_TSS2 else MAX_STEER_RATE_FRAMES)
-
-
 def get_long_tune(CP, params):
   kiBP = [2., 5.]
   kiV = [0.5, 0.25]
@@ -229,7 +223,6 @@ class CarController(CarControllerBase):
     self.standstill_req = False
     self.permit_braking = True
     self.steer_rate_counter = 0
-    self.steer_rate_limit_frames = get_steer_rate_limit_frames(self.CP.carFingerprint)
     self.distance_button = 0
 
     # *** start long control state ***
@@ -354,7 +347,7 @@ class CarController(CarControllerBase):
     # >100 degree/sec steering fault prevention
     self.steer_rate_counter, apply_steer_req = common_fault_avoidance(
       abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE, lat_active,
-      self.steer_rate_counter, self.steer_rate_limit_frames,
+      self.steer_rate_counter, MAX_STEER_RATE_FRAMES,
     )
 
     if not lat_active:

opendbc_repo/opendbc/car/toyota/tests/test_toyota.py

@@ -10,7 +10,6 @@ from opendbc.car.fw_versions import build_fw_dict, match_fw_to_car
 from opendbc.car.toyota import toyotacan
 from opendbc.car.toyota.carcontroller import CarController, get_camry_hybrid_feedforward, get_long_tune, get_prius_feedforward, \
                                              get_prius_positive_feedforward_scale, \
-                                             get_steer_rate_limit_frames, \
                                              limit_interceptor_pcm_accel, \
                                              limit_interceptor_stopping_accel, limit_no_lead_cruise_sign_flip, \
                                              limit_prius_stopping_accel, should_bypass_toyota_long_pid, update_permit_braking
@@ -707,10 +706,6 @@ class TestToyotaFingerprint:
 
 
 class TestToyotaCarController:
-  def test_highlander_tss2_uses_early_steer_rate_fault_guard(self):
-    assert get_steer_rate_limit_frames(CAR.TOYOTA_HIGHLANDER_TSS2) == 8
-    assert get_steer_rate_limit_frames(CAR.TOYOTA_RAV4_TSS2) == 18
-
   @staticmethod
   def _make_controller(*, standstill_req=False, last_standstill=False):
     controller = CarController.__new__(CarController)