hercules

opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py

@@ -123,7 +123,12 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
   else:
     lkas_values = copy.copy(control_values)
     lkas_values["LKA_AVAILABLE"] = 0
-    if CP.carFingerprint in (CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_CARNIVAL_2025, CAR.KIA_CARNIVAL_HEV_4TH_GEN):
+    if CP.carFingerprint in (
+      CAR.KIA_CARNIVAL_4TH_GEN,
+      CAR.KIA_CARNIVAL_2025,
+      CAR.KIA_CARNIVAL_HEV_4TH_GEN,
+      CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN,
+    ):
       lkas_values["DAMP_FACTOR"] = 100
 
   if lfa_base_values:

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

@@ -2535,7 +2535,7 @@ class TestHyundaiFingerprint:
     assert parser.vl["LKAS_ALT"]["ADAS_ACIAnglTqRedcGainVal"] == pytest.approx(0.0)
     assert parser.vl["LKAS_ALT"]["ADAS_StrAnglReqVal"] == pytest.approx(8.5)
 
-  def test_gv70_electrified_uses_generic_lkas_status_payload(self):
+  def test_gv70_electrified_uses_clean_damped_lkas_status_payload(self):
     CP = CarParams.new_message()
     CP.carFingerprint = CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN
     CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_LKA_STEERING)
@@ -2580,11 +2580,11 @@ class TestHyundaiFingerprint:
     parser.update([(1, lkas_msgs)])
     assert parser.can_valid
     assert parser.vl["LKAS"]["HAS_LANE_SAFETY"] == 0
-    assert parser.vl["LKAS"]["DAMP_FACTOR"] == 0
+    assert parser.vl["LKAS"]["DAMP_FACTOR"] == 100
     assert parser.vl["LKAS"]["TORQUE_REQUEST"] == 0
     assert parser.vl["LKAS"]["STEER_REQ"] == 1
-    assert parser.vl["LKAS"]["STEER_MODE"] == 0
-    assert parser.vl["LKAS"]["NEW_SIGNAL_2"] == 0
+    assert parser.vl["LKAS"]["STEER_MODE"] == 2
+    assert parser.vl["LKAS"]["NEW_SIGNAL_2"] == 3
 
     lfa_parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LFA", 0)], can_bus.ECAN)
     lfa_msgs = hyundaicanfd.create_steering_messages(controller.packer, CP, can_bus, True, True, 0, 0.0)
@@ -2608,6 +2608,27 @@ class TestHyundaiFingerprint:
                       if controller.packer.dbc.addr_to_msg[addr].name in ("LFA", "LKAS")]
     assert steering_names == [("LFA", can_bus.ECAN), ("LKAS", can_bus.ACAN)]
 
+  def test_gv70_electrified_stock_long_uses_damped_lkas_request(self):
+    CP = CarParams.new_message()
+    CP.carFingerprint = CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN
+    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_LKA_STEERING)
+    CP.openpilotLongitudinalControl = False
+
+    controller = CarController(DBC[CP.carFingerprint], CP)
+    can_bus = CanBus(CP)
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS", 0)], can_bus.ACAN)
+    msgs = hyundaicanfd.create_steering_messages(controller.packer, CP, can_bus, True, True, 123, 0.0)
+
+    assert [(controller.packer.dbc.addr_to_msg[addr].name, bus) for addr, _, bus in msgs] == [("LKAS", can_bus.ACAN)]
+    parser.update([(1, msgs)])
+    assert parser.can_valid
+    assert parser.vl["LKAS"]["TORQUE_REQUEST"] == 123
+    assert parser.vl["LKAS"]["STEER_REQ"] == 1
+    assert parser.vl["LKAS"]["HAS_LANE_SAFETY"] == 0
+    assert parser.vl["LKAS"]["DAMP_FACTOR"] == 100
+    assert parser.vl["LKAS"]["STEER_MODE"] == 2
+    assert parser.vl["LKAS"]["NEW_SIGNAL_2"] == 3
+
   @pytest.mark.parametrize(("car", "powertrain_flag"), [
     (CAR.HYUNDAI_IONIQ_5, HyundaiFlags.EV),
     (CAR.HYUNDAI_IONIQ_6, HyundaiFlags.EV),

opendbc_repo/opendbc/car/toyota/carcontroller.py

@@ -47,6 +47,7 @@ TOYOTA_AUTO_HOLD_ACTIVATION_FRAMES = 100
 # 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_COROLLA_TSS2_MAX_STEER_RATE_FRAMES = 8
 
 # EPS allows user torque above threshold for 50 frames before permanently faulting
 MAX_USER_TORQUE = 500
@@ -77,6 +78,11 @@ 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_COROLLA_TSS2_MAX_STEER_RATE_FRAMES
+          if car_fingerprint == CAR.TOYOTA_COROLLA_TSS2 else MAX_STEER_RATE_FRAMES)
+
+
 def supports_toyota_auto_hold(CP, auto_hold_enabled: bool) -> bool:
   return (
     auto_hold_enabled and
@@ -244,6 +250,7 @@ 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 ***
@@ -363,7 +370,7 @@ 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, MAX_STEER_RATE_FRAMES,
+      self.steer_rate_counter, self.steer_rate_limit_frames,
     )
 
     if not lat_active:

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

@@ -11,6 +11,7 @@ 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_rav4_interceptor_pedal_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, supports_toyota_auto_hold, \
@@ -734,6 +735,10 @@ class TestToyotaFingerprint:
 
 
 class TestToyotaCarController:
+  def test_corolla_tss2_uses_early_steer_rate_fault_guard(self):
+    assert get_steer_rate_limit_frames(CAR.TOYOTA_COROLLA_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)

selfdrive/ui/tests/test_device_screen_settings.py

@@ -113,6 +113,32 @@ def test_standby_blanks_after_timeout_and_touch_wakes(monkeypatch):
   assert device._calculate_brightness() == 45
 
 
+def test_standby_powers_down_onroad_and_touch_wakes(monkeypatch):
+  now = 100.0
+  monkeypatch.setattr(ui_state_module.time, "monotonic", lambda: now)
+  monkeypatch.setattr(ui_state_module, "PC", False)
+  display_power = []
+  monkeypatch.setattr(ui_state_module.HARDWARE, "set_display_power", display_power.append)
+  device, state = make_device(monkeypatch, StandbyMode=True)
+  state.started = True
+  state.ignition = True
+  device._ignition = True
+  device._interaction_time = now - 1
+
+  device._update_wakefulness()
+
+  assert display_power == [False]
+  assert not device.awake
+  assert device._calculate_brightness() == 0
+
+  monkeypatch.setattr(ui_state_module.gui_app, "_mouse_events", [SimpleNamespace(left_down=True)])
+  device._update_wakefulness()
+
+  assert display_power == [False, True]
+  assert device.awake
+  assert device._calculate_brightness() == 45
+
+
 def test_hide_ui_blanks_after_timeout_and_touch_wakes(monkeypatch):
   now = 100.0
   monkeypatch.setattr(ui_state_module.time, "monotonic", lambda: now)

selfdrive/ui/ui_state.py

@@ -465,7 +465,10 @@ class Device:
         callback()
     self._prev_timed_out = interaction_timeout
 
-    self._set_awake(ui_state.ignition or not interaction_timeout or PC)
+    standby_active = ui_state.started and self._standby_mode
+    keep_display_awake = not interaction_timeout or PC
+    keep_display_awake |= ui_state.ignition and not standby_active
+    self._set_awake(keep_display_awake)
 
   @staticmethod
   def _visible_onroad_alert() -> bool:

starpilot/system/the_galaxy/assets/mobile/js/components/NavigationDestinationPanel.js

@@ -108,6 +108,9 @@ export const NavigationDestinationPanel = {
       }).slice(0, 10)
     },
   },
+  methods: {
+    secondaryLabel,
+  },
   async mounted() {
     await this.load()
   },

starpilot/system/the_galaxy/tests/test_ui_vue_frontend.py

@@ -480,6 +480,7 @@ def test_ui_all_remaining_classic_tools_native_no_embed():
   assert "mapboxSuggest" in destination and "mapboxRetrieve" in destination
   assert "mapboxGeocode" in destination and "mapboxDirections" in destination
   assert "ref=\"map\"" in destination and "setNavigation(this.destination)" in destination
+  assert "methods: {" in destination and "secondaryLabel," in destination
   assert _read("js/components/LateralTuningPanel.js")
 
   # Shared API surface added for the second batch of ported pages.