ICCU FAILURE

opendbc_repo/opendbc/car/subaru/carstate.py

@@ -4,7 +4,7 @@ from opendbc.can import CANDefine, CANParser
 from opendbc.car import Bus, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarStateBase
-from opendbc.car.subaru.values import CAR, DBC, CanBus, SubaruFlags
+from opendbc.car.subaru.values import DBC, CanBus, SUBARU_STOP_START_CARS, SubaruFlags
 from opendbc.car import CanSignalRateCalculator
 
 
@@ -26,7 +26,7 @@ class CarState(CarStateBase):
     cp_angle = cp_main if self.CP.flags & SubaruFlags.D_PLATFORM else cp
     ret = structs.CarState()
 
-    if self.CP.carFingerprint == CAR.SUBARU_OUTBACK_2023:
+    if self.CP.carFingerprint in SUBARU_STOP_START_CARS:
       self.dashlights_msg = copy.copy(cp.vl["Dashlights"])
       self.stop_start_state = cp.vl["Engine_Stop_Start"]["STOP_START_STATE"]
 

opendbc_repo/opendbc/car/subaru/subarucan.py

@@ -183,7 +183,7 @@ def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, l
 
 
 def create_stop_start_control(packer, dashlights_msg, counter=None, bus=CanBus.alt):
-  """Create the Outback 2023-24 momentary Stop/Start button request.
+  """Create the supported Subaru momentary Stop/Start button request.
 
   Dashlights is a stock periodic message, so preserve the live frame and only
   change the event bit. CANPacker calculates the Subaru checksum for us.

opendbc_repo/opendbc/car/subaru/tests/test_subaru.py

@@ -206,6 +206,21 @@ def test_outback_2023_uses_d_platform_bus_layout():
   assert CP.lateralSmoothSeconds == pytest.approx(0.4)
 
 
+@pytest.mark.parametrize("platform", [CAR.SUBARU_OUTBACK_2023, CAR.SUBARU_LEGACY_2025])
+def test_stop_start_inputs_are_captured_for_supported_models(platform):
+  CP = CarInterface.get_non_essential_params(platform)
+  car_state = CarState(CP, None)
+  parsers = car_state.get_can_parsers(CP)
+  parsers[Bus.pt].vl["Dashlights"]["COUNTER"] = 6
+  parsers[Bus.pt].vl["Dashlights"]["STOP_START"] = 0
+  parsers[Bus.pt].vl["Engine_Stop_Start"]["STOP_START_STATE"] = 3
+
+  car_state.update(parsers, SimpleNamespace(subaru_sng=False))
+
+  assert car_state.dashlights_msg["COUNTER"] == 6
+  assert car_state.stop_start_state == 3
+
+
 @pytest.mark.parametrize("platform, expected_bus", [
   (CAR.SUBARU_OUTBACK_2023, CanBus.alt),
   (CAR.SUBARU_LEGACY_2025, CanBus.main),

selfdrive/controls/lib/latcontrol_vehicle_tunes.py

@@ -218,12 +218,12 @@ GENESIS_GV70_FRICTION_CENTER_LAT = 0.28
 GENESIS_GV70_FRICTION_CENTER_LAT_WIDTH = 0.12
 GENESIS_GV70_FRICTION_CALM_JERK = 0.35
 GENESIS_GV70_FRICTION_CALM_JERK_WIDTH = 0.10
-GENESIS_GV70_FRICTION_JERK_DEADZONE_MAX = 0.30
+GENESIS_GV70_FRICTION_JERK_DEADZONE_MAX = 0.36
 GENESIS_GV70_FRICTION_JERK_DEADZONE_LAT = 0.30
 GENESIS_GV70_FRICTION_JERK_DEADZONE_LAT_WIDTH = 0.08
 GENESIS_GV70_FRICTION_JERK_DEADZONE_SPEED = 12.0 * CV.MPH_TO_MS
 GENESIS_GV70_FRICTION_JERK_DEADZONE_SPEED_WIDTH = 3.5 * CV.MPH_TO_MS
-GENESIS_GV70_CENTER_OUTPUT_TAPER_MAX = 0.14
+GENESIS_GV70_CENTER_OUTPUT_TAPER_MAX = 0.20
 GENESIS_GV70_CENTER_OUTPUT_TAPER_LAT = 0.30
 GENESIS_GV70_CENTER_OUTPUT_TAPER_LAT_WIDTH = 0.10
 GENESIS_GV70_CENTER_OUTPUT_TAPER_SPEED = 22.0 * CV.MPH_TO_MS

selfdrive/ui/lib/starpilot_status.py

@@ -18,13 +18,12 @@ LONGITUDINAL_ONLY_COLOR = rl.Color(255, 105, 180, 255)
 
 
 def is_longitudinal_only_active(state: UIState) -> bool:
-  """Return true when control is enabled but lateral control is inactive.
+  """Return true when the user has paused lateral while control is enabled.
 
-  Do not use carControl.longActive here: stock-cruise cars intentionally leave
-  that field false while the vehicle's own longitudinal controller is active.
+  carControl.latActive also becomes false when lateral is temporarily unavailable,
+  such as below minimum steer speed, so it does not represent user intent.
   """
-  car_control = state.sm["carControl"]
-  return bool(state.sm["selfdriveState"].enabled and not car_control.latActive)
+  return bool(state.sm["selfdriveState"].enabled and state.sm["starpilotCarState"].pauseLateral)
 
 
 def _override_color_applies(state: UIState) -> bool:

selfdrive/ui/tests/test_starpilot_status.py

@@ -12,11 +12,12 @@ from openpilot.selfdrive.ui.lib.starpilot_status import (
 from openpilot.selfdrive.ui.ui_state import UIStatus
 
 
-def _state(*, enabled=False, lat_active=False, aol=False, status=None, events=()):
+def _state(*, enabled=False, lat_active=False, pause_lateral=False, aol=False, status=None, events=()):
   return SimpleNamespace(
     sm={
       "selfdriveState": SimpleNamespace(enabled=enabled, experimentalMode=False),
       "carControl": SimpleNamespace(latActive=lat_active),
+      "starpilotCarState": SimpleNamespace(pauseLateral=pause_lateral),
       "onroadEvents": events,
     },
     status=status if status is not None else (UIStatus.ENGAGED if enabled else UIStatus.DISENGAGED),
@@ -31,8 +32,22 @@ def _rgb(color):
   return color.r, color.g, color.b
 
 
-def test_cruise_only_uses_pink_for_border_and_screen_edge():
-  state = _state(enabled=True, lat_active=False)
+def test_manual_lateral_pause_uses_pink_for_border_and_screen_edge():
+  state = _state(enabled=True, lat_active=False, pause_lateral=True)
+
+  assert _rgb(get_border_color(state)) == _rgb(LONGITUDINAL_ONLY_COLOR)
+  assert _rgb(get_screen_edge_color(state)) == _rgb(LONGITUDINAL_ONLY_COLOR)
+
+
+def test_temporary_lateral_inactivity_does_not_use_pink():
+  state = _state(enabled=True, lat_active=False, pause_lateral=False)
+
+  assert _rgb(get_border_color(state)) == _rgb(ENGAGED_COLOR)
+  assert _rgb(get_screen_edge_color(state)) == _rgb(ENGAGED_COLOR)
+
+
+def test_manual_pause_signal_controls_pink_independent_of_lat_active_timing():
+  state = _state(enabled=True, lat_active=True, pause_lateral=True)
 
   assert _rgb(get_border_color(state)) == _rgb(LONGITUDINAL_ONLY_COLOR)
   assert _rgb(get_screen_edge_color(state)) == _rgb(LONGITUDINAL_ONLY_COLOR)
@@ -53,10 +68,10 @@ def test_override_color_matches_active_control_mode():
   assert _rgb(get_border_color(_state(enabled=True, lat_active=True, status=override, events=[lateral_override]))) == _rgb(OVERRIDE_COLOR)
   assert _rgb(get_border_color(_state(enabled=True, lat_active=True, status=override, events=[longitudinal_override]))) == _rgb(OVERRIDE_COLOR)
 
-  # Pink: steering is already inactive, so only a longitudinal override is gray.
-  pink_state = _state(enabled=True, status=override, events=[lateral_override])
+  pink_state = _state(enabled=True, pause_lateral=True, status=override, events=[lateral_override])
   assert _rgb(get_border_color(pink_state)) == _rgb(LONGITUDINAL_ONLY_COLOR)
-  assert _rgb(get_border_color(_state(enabled=True, status=override, events=[longitudinal_override]))) == _rgb(OVERRIDE_COLOR)
+  assert _rgb(get_border_color(_state(enabled=True, pause_lateral=True, status=override,
+                                      events=[longitudinal_override]))) == _rgb(OVERRIDE_COLOR)
 
   # Blue/AOL: longitudinal override is inactive, so only steering is gray.
   assert _rgb(get_border_color(_state(aol=True, status=override, events=[lateral_override]))) == _rgb(OVERRIDE_COLOR)

system/hardware/base.py

@@ -94,7 +94,8 @@ class LPABase(ABC):
   def switch_profile(self, iccid: str) -> None:
     pass
 
-  def is_comma_profile(self, iccid: str) -> bool:
+  @staticmethod
+  def is_comma_profile(iccid: str) -> bool:
     return any(iccid.startswith(prefix) for prefix in ('8985235',))
 
 class HardwareBase(ABC):

system/hardware/tici/hardware.py

@@ -518,7 +518,7 @@ class Tici(HardwareBase):
 
     # eSIM prime
     dest = "/etc/NetworkManager/system-connections/esim.nmconnection"
-    if self.get_sim_lpa().is_comma_profile(sim_id) and not os.path.exists(dest):
+    if LPABase.is_comma_profile(sim_id) and not os.path.exists(dest):
       with open(Path(__file__).parent/'esim.nmconnection') as f, tempfile.NamedTemporaryFile(mode='w') as tf:
         dat = f.read()
         dat = dat.replace("sim-id=", f"sim-id={sim_id}")

system/hardware/tici/tests/test_modem_config.py

@@ -0,0 +1,20 @@
+from openpilot.system.hardware.base import LPABase
+from openpilot.system.hardware.tici.hardware import Tici
+
+
+def test_comma_profile_detection_without_lpa(mocker):
+  hardware = Tici()
+  modem = mocker.MagicMock()
+  modem.Get.return_value = "Quectel"
+
+  mocker.patch.object(hardware, "get_sim_info", return_value={"sim_id": "8985235000000000000"})
+  mocker.patch.object(hardware, "get_modem", return_value=modem)
+  mocker.patch.object(hardware, "get_device_type", return_value="mici")
+  get_sim_lpa = mocker.patch.object(hardware, "get_sim_lpa")
+  mocker.patch("openpilot.system.hardware.tici.hardware.os.path.exists", return_value=True)
+
+  hardware.configure_modem()
+
+  get_sim_lpa.assert_not_called()
+  assert LPABase.is_comma_profile("8985235000000000000")
+  assert not LPABase.is_comma_profile("8900000000000000000")