Restore Ioniq 6 Alpha Long compatibility across camera and external Panda layouts

opendbc_repo/opendbc/car/hyundai/canfd_stock_aol.py

@@ -52,7 +52,6 @@ def _base_word(cp, *, experiences=(0,)):
     return None
   if (
     cp.brand != 'hyundai'
-    or factory == CAR.HYUNDAI_IONIQ_6
     or not factory.config.flags & HyundaiFlags.CANFD
     or factory.config.flags & (HyundaiFlags.CANFD_ANGLE_STEERING | HyundaiFlags.NON_SCC)
     or cp.passive
@@ -85,6 +84,8 @@ def _base_word(cp, *, experiences=(0,)):
     word |= 0x0400
   if factory in CARNIVAL_CARS and alt_buttons:
     word |= 0x2000
+  if factory == CAR.HYUNDAI_IONIQ_6 and word != 0x09:
+    return None
   return word if word | STOCK_AOL_MARKER in STOCK_AOL_WORDS else None
 
 
@@ -100,7 +101,7 @@ CARNIVAL_LONG_AOL_WORD = 0x28B4
 LONG_AOL_WORDS = frozenset((CARNIVAL_LONG_AOL_WORD, 0x080D, 0x0815, 0x0895, 0x2815, 0x2895)) | SPORTAGE_LONG_AOL_WORDS
 LONG_EV_CARS = frozenset((CAR.HYUNDAI_IONIQ_5, CAR.HYUNDAI_KONA_EV_2ND_GEN))
 INDEPENDENT_LONG_BUTTON_CARS = LONG_EV_CARS | {
-  CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.KIA_CARNIVAL_2025,
+  CAR.HYUNDAI_IONIQ_6, CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.KIA_CARNIVAL_2025,
 }
 
 
@@ -115,7 +116,7 @@ def qualified_long(cp, *, marked_only=False):
     if not eligible(cp):
       return False
   word = _base_word(cp, experiences=(0, 32))
-  if cp.carFingerprint == CAR.GENESIS_GV60_EV_1ST_GEN:
+  if cp.carFingerprint in (CAR.GENESIS_GV60_EV_1ST_GEN, CAR.HYUNDAI_IONIQ_6):
     if word != 0x09:
       return False
   elif cp.carFingerprint == CAR.KIA_SPORTAGE_5TH_GEN:

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -138,7 +138,8 @@ class CarController(CarControllerBase):
     self.last_ccnc_now_ns = 0
     self.ccnc_baselined = False
     self.ioniq6_longitudinal = (Ioniq6LongitudinalPolicy()
-                                if CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and CP.openpilotLongitudinalControl else None)
+                                if CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and CP.openpilotLongitudinalControl and
+                                   int(CP.safetyConfigs[-1].safetyParam) in (0x8015, 0x8095, 0x8815, 0x8895) else None)
     self.pe_longitudinal = PELongitudinalPolicy() if pe_long_qualified(CP) else None
     self.pe_startup = None
     self.ev9_longitudinal = EV9LongitudinalPolicy() if ev9_long_qualified(CP) else None

opendbc_repo/opendbc/car/hyundai/carstate.py

@@ -685,17 +685,19 @@ class CarState(CarStateBase):
       if CP.flags & HyundaiFlags.CANFD_LKA_STEER_MSG:
         cam_msgs.append(("CAM_0x362" if CP.flags & HyundaiFlags.CANFD_LKA_STEER_MSG_ALT else "CAM_0x2a4", 20))
     elif CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and CP.openpilotLongitudinalControl:
-      # The acknowledged ADAS takeover removes stock SCC from E-CAN. Require
-      # every independent native input and the matching camera source instead.
+      # Both topologies require genuine chassis inputs; only HDA-II uses
+      # the camera template after acknowledged ADAS takeover.
       msgs.extend((("ACCELERATOR", 100), ("TCS", 50), ("WHEEL_SPEEDS", 100), ("MDPS", 100)))
       msgs.extend((("CRUISE_BUTTONS_ALT", math.nan), ("DOORS_SEATBELTS", math.nan),
                    ("STEERING_SENSORS", math.nan), ("BLINKERS", math.nan)))
-      cam_msgs.append(("CAM_0x362" if CP.flags & HyundaiFlags.CANFD_LKA_STEER_MSG_ALT else "CAM_0x2a4", 20))
+      if CP.flags & HyundaiFlags.CANFD_LKA_STEER_MSG:
+        cam_msgs.append(("CAM_0x362" if CP.flags & HyundaiFlags.CANFD_LKA_STEER_MSG_ALT else "CAM_0x2a4", 20))
     elif CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and not CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
       # Stock standard-button Ioniq 6 reads alternate DISTANCE_UNIT too, but
       # that frame may be absent. Subscribe before the lazy lookup makes it
       # required; existing native and CarState safety inputs remain required.
-      msgs.append(("CRUISE_BUTTONS_ALT", math.nan))
+      if not any(name == "CRUISE_BUTTONS_ALT" for name, _ in msgs):
+        msgs.append(("CRUISE_BUTTONS_ALT", math.nan))
     from opendbc.car.hyundai.ev6_startup import eligible as ev6_eligible
     from opendbc.car.hyundai.gv70_startup import eligible as gv70_eligible
     if ev6_eligible(CP) or gv70_eligible(CP):

opendbc_repo/opendbc/car/hyundai/interface.py

@@ -142,6 +142,9 @@ class CarInterface(CarInterfaceBase):
       CAN = CanBus(None, fingerprint, lka_steering)
 
       ret.alphaLongitudinalAvailable = not (ret.flags & HyundaiFlags.CANFD_NO_RADAR_DISABLE)
+      if (candidate == CAR.HYUNDAI_IONIQ_6 and not lka_steering and
+          fingerprint[CAN.CAM].get(0x1A0) == 32 and fingerprint[CAN.ECAN].get(0x1CF) == 8):
+        ret.alphaLongitudinalAvailable = True
       if ret.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
         # These manual angle profiles retain stock SCC in both builds.
         ret.alphaLongitudinalAvailable = False

opendbc_repo/opendbc/car/hyundai/tests/test_ioniq6_camera_long.py

@@ -0,0 +1,187 @@
+from tempfile import TemporaryDirectory
+from types import SimpleNamespace
+from unittest.mock import Mock, patch
+
+import pytest
+
+from opendbc.car import Bus, gen_empty_fingerprint, structs
+from opendbc.car.hyundai.interface import CarInterface
+from opendbc.car.hyundai.carcontroller import CarController
+from opendbc.car.hyundai.canfd_stock_aol import qualified, qualified_long
+from opendbc.car.hyundai.hyundaicanfd import CanBus
+from opendbc.car.hyundai.tests.test_ioniq6_handoff import ioniq6_profiles
+from opendbc.car.hyundai.values import CAR, DBC
+from opendbc.can import CANPacker
+from opendbc.safety.tests.libsafety import libsafety_py
+from opendbc.safety.tests import test_hyundai_gv60_hda1_long_aol as native_fixture
+from openpilot.common.params import Params
+from openpilot.starpilot.car.hyundai.aol import policy_for, native_accepts_cp
+from openpilot.selfdrive.ui.layouts.settings import toggles
+
+
+def camera_params(offset=0, alpha=False):
+  fp = gen_empty_fingerprint()
+  fp[offset].update({0x1CF: 8, 0x35: 32, 0x175: 24, 0xA0: 24, 0xEA: 24, 0x1BA: 24, 0x1E5: 16})
+  fp[offset + 2].update({0x12A: 16, 0x1A0: 32})
+  fp[offset + 1].update({0x110: 32, 0x100: 24})
+  return CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, fp, [], alpha, False, False)
+
+
+@pytest.mark.parametrize('offset', (0, 4))
+def test_camera_scc_factory_offers_long_without_hda2_takeover(offset):
+  stock = camera_params(offset)
+  cp = camera_params(offset, True)
+  assert stock.alphaLongitudinalAvailable, 'HDA1_ALPHA_CAPABILITY_MISSING'
+  assert not stock.openpilotLongitudinalControl and stock.pcmCruise
+  assert cp.alphaLongitudinalAvailable and cp.openpilotLongitudinalControl and not cp.pcmCruise
+  assert cp.steerControlType == structs.CarParams.SteerControlType.torque
+  assert cp.safetyConfigs[-1].safetyParam == 0x0D
+  assert CanBus(cp).ECAN == offset
+  assert CarController(DBC[cp.carFingerprint], cp).ioniq6_longitudinal is None
+  with patch('opendbc.car.hyundai.interface.disable_ecu') as disable:
+    CarInterface.init(cp, Mock(), Mock())
+  disable.assert_not_called()
+  for value in (stock, cp):
+    policy = policy_for(value)
+    assert policy.runtime_supported and policy.explicit_latch
+    value.safetyConfigs[-1].safetyParam |= policy.safety_param_addition
+    value.alternativeExperience |= policy.alternative_experience_addition
+    word = 0x80D if value.openpilotLongitudinalControl else 0x809
+    assert value.safetyConfigs[-1].safetyParam == word
+    assert native_accepts_cp(value, int(structs.CarParams.SafetyModel.hyundaiCanfd), word)
+    assert not native_accepts_cp(value, int(structs.CarParams.SafetyModel.hyundai), word)
+    assert not native_accepts_cp(value, int(structs.CarParams.SafetyModel.hyundaiCanfd), word ^ 16)
+
+
+@pytest.mark.parametrize('offset', (0, 4))
+def test_external_hda2_settings_explain_opt_in_without_claiming_stock_acc_authority(offset):
+  _, stock, _ = ioniq6_profiles(bus_offset=offset, alternate=True)
+  with TemporaryDirectory() as root:
+    params = Params(root)
+    params.put_bool('ExperimentalMode', True, block=True)
+    class Toggle:
+      def __init__(self):
+        self.action_item = self
+        self.description = ''
+      def set_enabled(self, enabled):
+        self.enabled = enabled
+      def set_description(self, description):
+        self.description = description
+      def set_state(self, state):
+        self.state = state
+    panel = toggles.TogglesLayout.__new__(toggles.TogglesLayout)
+    panel._params = params
+    panel._is_release = False
+    panel._initial_cruise_speed = Mock()
+    panel._long_personality_setting = SimpleNamespace(action_item=Toggle())
+    panel._toggles = {'ExperimentalMode': Toggle(), 'IsRhdDetected': Toggle()}
+    panel._toggle_defs = {}
+    panel._locked_toggles = set()
+    panel._update_experimental_mode_icon = Mock()
+    panel._slc_offsets = SimpleNamespace(_raw=lambda key: None)
+    panel._localization = SimpleNamespace(snapshot=lambda: SimpleNamespace(rows=(None, SimpleNamespace(source=None, available=True))))
+    ui = SimpleNamespace(CP=stock, has_longitudinal_control=False, update_params=lambda: None)
+    with patch.object(toggles, 'ui_state', ui):
+      panel._update_toggles()
+    assert 'Enable the openpilot longitudinal control (alpha)' in panel._toggles['ExperimentalMode'].description
+    assert not panel._toggles['ExperimentalMode'].enabled
+    assert params.get_bool('ExperimentalMode')
+
+
+@pytest.mark.parametrize('offset', (0, 4))
+def test_camera_long_actual_controller_packets_use_existing_native_contract(offset):
+  cp = camera_params(offset, True)
+  assert cp.openpilotLongitudinalControl
+  cp.safetyConfigs[-1].safetyParam |= 0x800
+  cp.alternativeExperience = 32
+  ci = CarInterface(cp)
+  packer = CANPacker(DBC[cp.carFingerprint][Bus.pt])
+  bus = CanBus(cp)
+  frames = [packer.make_can_msg(name, bus.ECAN, values) for name, values in (
+    ('ACCELERATOR', {'GEAR': 5}), ('TCS', {'ACCEnable': 0}), ('WHEEL_SPEEDS', {}), ('MDPS', {}),
+    ('CRUISE_BUTTONS', {'COUNTER': 1}), ('DOORS_SEATBELTS', {'DRIVER_SEATBELT': 1}), ('STEERING_SENSORS', {}))]
+  ci.update([(1_000_000_000, frames)])
+  case = native_fixture.TestGv60Hda1LongAol(methodName='runTest')
+  case.setUp()
+  try:
+    case.mode(0x80D)
+    if case.release:
+      assert not case.safety.safety_config_valid()
+      return
+    case.healthy(0x80D, omit='CRUISE_BUTTONS')
+    case.safety.set_aol_test_heartbeat(True)
+    case.safety.aol_set_host_request(3)
+    for tick, counter, button in ((0, 13, 0), (1, 14, 2), (2, 0, 0)):
+      case.safety.set_timer(1_000_000 + tick * 20_000)
+      assert case.safety.safety_rx_hook(case.packet(packer.make_can_msg('CRUISE_BUTTONS', 0, {'COUNTER': counter, 'CRUISE_BUTTONS': button})))
+    case.safety.aol_set_host_request(3)
+    assert case.safety.aol_get_permission_mask() == 3
+    cc = structs.CarControl(enabled=True, latActive=True, longActive=True)
+    cc.actuators.torque = .01
+    cc.actuators.accel = .1
+    cc.actuators.longControlState = structs.CarControl.Actuators.LongControlState.pid
+    controller = CarController(DBC[cp.carFingerprint], cp)
+    assert controller.ioniq6_longitudinal is None
+    _, sent = controller.update(cc.as_reader(), ci.CS, 1_000_000_000)
+    assert any(frame[0] == 0x1A0 for frame in sent)
+    assert not any(frame[0] == 0x730 for frame in sent)
+    for frame in sent:
+      assert frame[2] in (offset, offset + 1, offset + 2)
+      packet = libsafety_py.make_CANPacket(frame[0], frame[2] - offset, frame[1])
+      assert case.safety.safety_tx_hook(packet), (hex(frame[0]), frame[2])
+  finally:
+    case.tearDown()
+
+
+@pytest.mark.parametrize('mutation', ('aux_word', 'wrong_model', 'angle', 'lka', 'passive'))
+def test_camera_admission_never_borrows_other_topologies(mutation):
+  cp = camera_params(4, True)
+  cp.safetyConfigs[-1].safetyParam |= 0x800
+  cp.alternativeExperience = 32
+  if mutation == 'aux_word':
+    cp.safetyConfigs[0].safetyParam = 1
+  elif mutation == 'wrong_model':
+    cp.safetyConfigs[-1].safetyModel = structs.CarParams.SafetyModel.hyundai
+  elif mutation == 'angle':
+    cp.steerControlType = structs.CarParams.SteerControlType.angle
+  elif mutation == 'lka':
+    cp.flags |= 1
+  else:
+    cp.passive = True
+  assert not qualified(cp) and not qualified_long(cp)
+  assert not policy_for(cp).runtime_supported
+
+
+@pytest.mark.parametrize('offset', (0, 4))
+def test_galaxy_exposes_external_stock_alpha_request_and_preserves_choice(offset):
+  from openpilot.starpilot.ui.feature_settings_owner import FeatureSettingsOwner
+  _, stock, _ = ioniq6_profiles(bus_offset=offset, alternate=True)
+  with TemporaryDirectory() as root:
+    params = Params(root)
+    params.put_bool('IsReleaseBranch', False, block=True)
+    params.put_bool('AlphaLongitudinalEnabled', True, block=True)
+    stock.radarUnavailable = True
+    owner = FeatureSettingsOwner(params, lambda scope: True,
+      vehicle_params=lambda: stock, vehicle_fingerprint=lambda: str(stock.carFingerprint), galaxy=lambda: True)
+    assert owner._alpha_long_capability() is not None
+    rows = owner._alpha_long_rows(True)
+    assert len(rows) == 1 and rows[0].key == 'AlphaLongitudinalEnabled'
+    assert params.get_bool('AlphaLongitudinalEnabled')
+    stock.passive = True
+    assert owner._alpha_long_capability() is None
+    assert params.get_bool('AlphaLongitudinalEnabled')
+
+
+@pytest.mark.parametrize('offset', (0, 4))
+def test_cached_radar_discovery_can_save_request_but_cannot_grant_long_or_aol(offset):
+  from opendbc.car.hyundai.ioniq6_handoff import build_ioniq6_hda2_long_candidate
+  from openpilot.starpilot.car.hyundai.aol import ioniq6_alpha_long_available, ioniq6_settings_capable
+  fingerprint, stock, _ = ioniq6_profiles(bus_offset=offset, alternate=True)
+  stock.radarUnavailable = True
+  assert ioniq6_alpha_long_available(stock), 'CACHED_EXTERNAL_RADAR_BLOCKS_ALPHA_REQUEST'
+  assert not ioniq6_settings_capable(stock)
+  assert not policy_for(stock).runtime_supported
+  assert build_ioniq6_hda2_long_candidate(stock, fingerprint) is None
+  assert not stock.openpilotLongitudinalControl and stock.pcmCruise
+  stock.safetyConfigs[-1].safetyParam ^= 16
+  assert not ioniq6_alpha_long_available(stock)

openpilot/selfdrive/ui/layouts/settings/developer.py

@@ -1,7 +1,7 @@
 from collections.abc import Callable
 
 from openpilot.common.params import Params
-from openpilot.starpilot.car.hyundai.aol import ioniq6_settings_capable
+from openpilot.starpilot.car.hyundai.aol import ioniq6_alpha_long_available
 from openpilot.starpilot.car.ford.longitudinal_preferences import release_long_available as ford_release_long_available
 from opendbc.car.volkswagen.meb_modes import MEB_CARS, settings_capable as meb_settings_capable
 from openpilot.starpilot.car.volkswagen.preferences import stock_long_requested
@@ -144,7 +144,7 @@ class DeveloperLayout(Widget):
     # CP gating
     if ui_state.CP is not None:
       alpha_avail = (meb_settings_capable(ui_state.CP) if ui_state.CP.brand == 'volkswagen' and ui_state.CP.carFingerprint in MEB_CARS
-                     else ui_state.CP.alphaLongitudinalAvailable or ioniq6_settings_capable(ui_state.CP))
+                     else ui_state.CP.alphaLongitudinalAvailable or ioniq6_alpha_long_available(ui_state.CP))
       if not alpha_avail or (self._is_release and not (meb_settings_capable(ui_state.CP) or ford_release_long_available(ui_state.CP))):
         self._alpha_long_toggle.set_visible(False)
       else:
@@ -216,7 +216,7 @@ class DeveloperLayout(Widget):
         if result == DialogResult.CONFIRM:
           if (not ui_state.is_offroad() or ui_state.CP is None or
               not (meb_settings_capable(ui_state.CP) if ui_state.CP.brand == 'volkswagen' and ui_state.CP.carFingerprint in MEB_CARS
-                     else ui_state.CP.alphaLongitudinalAvailable or ioniq6_settings_capable(ui_state.CP)) or
+                     else ui_state.CP.alphaLongitudinalAvailable or ioniq6_alpha_long_available(ui_state.CP)) or
               self._is_release and not (meb_settings_capable(ui_state.CP) or ford_release_long_available(ui_state.CP))):
             self._alpha_long_toggle.action_item.set_state(False)
             return

openpilot/selfdrive/ui/layouts/settings/toggles.py

@@ -1,3 +1,4 @@
+from openpilot.starpilot.car.hyundai.aol import ioniq6_alpha_long_available
 from openpilot.starpilot.car.ford.longitudinal_preferences import release_long_available as ford_release_long_available
 from openpilot.cereal import log
 from openpilot.common.params import Params, UnknownKeyName
@@ -196,7 +197,7 @@ class TogglesLayout(Widget):
         unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.")
 
         long_desc = unavailable + " " + tr("openpilot longitudinal control may come in a future update.")
-        if ui_state.CP.alphaLongitudinalAvailable:
+        if ui_state.CP.alphaLongitudinalAvailable or ioniq6_alpha_long_available(ui_state.CP):
           if self._is_release and not ford_release_long_available(ui_state.CP):
             long_desc = unavailable + " " + tr("An alpha version of openpilot longitudinal control can be tested, along with " +
                                                "Experimental mode, on non-release branches.")

openpilot/selfdrive/ui/mici/layouts/settings/developer.py

@@ -7,7 +7,7 @@ from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigInputDialog
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.selfdrive.ui.layouts.settings.common import restart_needed_callback
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.starpilot.car.hyundai.aol import ioniq6_settings_capable
+from openpilot.starpilot.car.hyundai.aol import ioniq6_alpha_long_available
 from openpilot.starpilot.car.ford.longitudinal_preferences import release_long_available as ford_release_long_available
 from opendbc.car.volkswagen.meb_modes import MEB_CARS, settings_capable as meb_settings_capable
 from openpilot.starpilot.car.volkswagen.preferences import stock_long_requested
@@ -177,7 +177,7 @@ class DeveloperLayoutMici(NavScroller):
     # CP gating
     if ui_state.CP is not None:
       alpha_avail = (meb_settings_capable(ui_state.CP) if ui_state.CP.brand == 'volkswagen' and ui_state.CP.carFingerprint in MEB_CARS
-                     else ui_state.CP.alphaLongitudinalAvailable or ioniq6_settings_capable(ui_state.CP))
+                     else ui_state.CP.alphaLongitudinalAvailable or ioniq6_alpha_long_available(ui_state.CP))
       if not alpha_avail or (ui_state.is_release and not (meb_settings_capable(ui_state.CP) or ford_release_long_available(ui_state.CP))):
         self._alpha_long_toggle.set_visible(False)
       else:
@@ -201,7 +201,7 @@ class DeveloperLayoutMici(NavScroller):
     def do_toggle(_state: bool):
       if (not ui_state.is_offroad() or (_state and (ui_state.CP is None or
               not (meb_settings_capable(ui_state.CP) if ui_state.CP.brand == 'volkswagen' and ui_state.CP.carFingerprint in MEB_CARS
-                     else ui_state.CP.alphaLongitudinalAvailable or ioniq6_settings_capable(ui_state.CP)) or
+                     else ui_state.CP.alphaLongitudinalAvailable or ioniq6_alpha_long_available(ui_state.CP)) or
               ui_state.is_release and not (meb_settings_capable(ui_state.CP) or ford_release_long_available(ui_state.CP))))):
         self._update_toggles()
         return

openpilot/starpilot/car/hyundai/aol.py

@@ -45,11 +45,11 @@ _REQUIRED_FLAGS = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_
 _FORBIDDEN_FLAGS = int(HyundaiFlags.CANFD_ALT_BUTTONS | HyundaiFlags.CANFD_ANGLE_STEERING | HyundaiFlags.CANFD_CAMERA_SCC)
 
 
-def _ioniq6_hda2_base(CP) -> bool:
+def _ioniq6_hda2_base(CP, *, require_radar=True) -> bool:
   if (
     str(CP.carFingerprint) != str(HyundaiCAR.HYUNDAI_IONIQ_6)
     or CP.brand != 'hyundai'
-    or CP.radarUnavailable
+    or (require_radar and CP.radarUnavailable)
     or CP.notCar
     or CP.passive
     or CP.dashcamOnly
@@ -61,8 +61,8 @@ def _ioniq6_hda2_base(CP) -> bool:
   return flags & _REQUIRED_FLAGS == _REQUIRED_FLAGS and not flags & _FORBIDDEN_FLAGS
 
 
-def _stock_ioniq6(CP, *, marked_only=False) -> bool:
-  if not _ioniq6_hda2_base(CP) or CP.openpilotLongitudinalControl or not CP.pcmCruise:
+def _stock_ioniq6(CP, *, marked_only=False, require_radar=True) -> bool:
+  if not _ioniq6_hda2_base(CP, require_radar=require_radar) or CP.openpilotLongitudinalControl or not CP.pcmCruise:
     return False
   stock = 0x91 if int(CP.flags) & int(HyundaiFlags.CANFD_LKA_STEER_MSG_ALT) else 0x11
   raw = int(CP.safetyConfigs[config_index(CP)].safetyParam)
@@ -98,6 +98,12 @@ def ioniq6_settings_capable(CP) -> bool:
   return _stock_ioniq6(CP) or (IONIQ6_LONG_PREARM_ENABLED and ioniq6_long_eligible(CP))
 
 
+def ioniq6_alpha_long_available(CP) -> bool:
+  # Cached radar discovery may predate the external-bus repair. This saves only
+  # an opt-in; the takeover still requires fresh physical radar and ECU evidence.
+  return _stock_ioniq6(CP, require_radar=False) or (IONIQ6_LONG_PREARM_ENABLED and ioniq6_long_eligible(CP))
+
+
 def qualified_ccnc_long_aol(CP, *, marked_only=False):
   return qualified_ev9_long_aol(CP, marked_only=marked_only) or qualified_pe_long_aol(CP, marked_only=marked_only)
 
@@ -232,9 +238,9 @@ def native_profile_supported(model: int, param: int) -> bool:
 
 
 def native_accepts_cp(CP, model: int, param: int) -> bool:
-  # Ioniq 6 has its own exact contract; no generic Hyundai owner accepts it.
+  # HDA-II retains its dedicated namespace; camera SCC uses the shared exact word.
   # Revalidate the complete contract on every call, without caching live authority.
-  if CP.carFingerprint == HyundaiCAR.HYUNDAI_IONIQ_6:
+  if CP.carFingerprint == HyundaiCAR.HYUNDAI_IONIQ_6 and not CP.flags & HyundaiFlags.CANFD_CAMERA_SCC:
     return qualified_ioniq6(CP)
   if qualified_ccnc_long_aol(CP, marked_only=True):
     return model == int(car.CarParams.SafetyModel.hyundaiCanfd) and param == CP.safetyConfigs[0].safetyParam

openpilot/starpilot/ui/feature_settings_owner.py

@@ -205,12 +205,12 @@ class FeatureSettingsOwner:
     release, readable = read_saved(self.params, 'IsReleaseBranch', 8)
     try:
       from opendbc.car.values import PLATFORMS
-      from openpilot.starpilot.car.hyundai.aol import ioniq6_settings_capable
+      from openpilot.starpilot.car.hyundai.aol import ioniq6_alpha_long_available
       from openpilot.starpilot.car.ford.longitudinal_preferences import release_long_available as ford_release_long_available
       platform = PLATFORMS.get(str(cp.carFingerprint))
       if (not self._galaxy() or platform is None or platform.__class__.__module__.split('.')[-2] != str(cp.brand) or
           not readable or release not in (None, b'0', b'1') or cp.notCar or cp.passive or cp.dashcamOnly or
-          not (cp.alphaLongitudinalAvailable or ioniq6_settings_capable(cp)) or
+          not (cp.alphaLongitudinalAvailable or ioniq6_alpha_long_available(cp)) or
           (release == b'1' and not ford_release_long_available(cp))):
         return None
       return (str(cp.carFingerprint), str(cp.brand), int(cp.flags), int(cp.alternativeExperience),

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "634cdb0998641b505e1f24b4fb715965c778b355de58ecfb7cf292b5616941e2", "schema_version": 1}
+{"protected_inventory_sha256": "b93d12cdd85e78c16f978b68bd56777fab78fa2a3a94beb99a7ed0a2a635466f", "schema_version": 1}