From 732830b0957bc3a07ddb44fda45f07efbc77132d Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Thu, 28 May 2026 13:18:20 -0500
Subject: [PATCH] g90 radar

---
 opendbc_repo/opendbc/car/hyundai/interface.py |  3 ++-
 .../opendbc/car/hyundai/tests/test_hyundai.py | 20 +++++++++++++------
 opendbc_repo/opendbc/car/hyundai/values.py    |  2 ++
 3 files changed, 18 insertions(+), 7 deletions(-)

diff --git a/opendbc_repo/opendbc/car/hyundai/interface.py b/opendbc_repo/opendbc/car/hyundai/interface.py
index 09a038b0e..3d122a265 100644
--- a/opendbc_repo/opendbc/car/hyundai/interface.py
+++ b/opendbc_repo/opendbc/car/hyundai/interface.py
@@ -5,6 +5,7 @@ from opendbc.car.hyundai.values import HyundaiFlags, CAR, CarControllerParams, \
                                                    CANFD_UNSUPPORTED_LONGITUDINAL_CAR, \
                                                    CANFD_SECURITYACCESS_CAR, \
                                                    CANFD_RADAR_LIVE_LONGITUDINAL_CAR, \
+                                                   RADAR_LIVE_LONGITUDINAL_CAR, \
                                                    UNSUPPORTED_LONGITUDINAL_CAR, HyundaiSafetyFlags, \
                                                    HyundaiStarPilotSafetyFlags, \
                                                    hyundai_cancel_button_enables_cruise
@@ -181,7 +182,7 @@ class CarInterface(CarInterfaceBase):
     if ret.flags & HyundaiFlags.NON_SCC:
       ret.alphaLongitudinalAvailable = False
     ret.openpilotLongitudinalControl = alpha_long and ret.alphaLongitudinalAvailable
-    if ret.openpilotLongitudinalControl and not (candidate in CANFD_RADAR_LIVE_LONGITUDINAL_CAR and radar_tracks_available):
+    if ret.openpilotLongitudinalControl and not (candidate in RADAR_LIVE_LONGITUDINAL_CAR and radar_tracks_available):
       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 9daa8fbba..160a8097d 100644
--- a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+++ b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
@@ -120,12 +120,20 @@ class TestHyundaiFingerprint:
         assert bool(CP.flags & HyundaiFlags.CANFD_LKA_STEERING) == lka_steering
 
     # radar available
-    for radar in (True, False):
-      fingerprint = gen_empty_fingerprint()
-      if radar:
-        fingerprint[1][RADAR_START_ADDR] = 8
-      CP = CarInterface.get_params(CAR.HYUNDAI_SONATA, fingerprint, [], False, False, False, None)
-      assert CP.radarUnavailable != radar
+    for candidate in (CAR.HYUNDAI_SONATA, CAR.GENESIS_G90):
+      assert get_radar_track_config(candidate).start_addr == RADAR_START_ADDR
+      for radar in (True, False):
+        fingerprint = gen_empty_fingerprint()
+        if radar:
+          fingerprint[1][RADAR_START_ADDR] = 8
+        CP = CarInterface.get_params(candidate, fingerprint, [], False, False, False, None)
+        assert CP.radarUnavailable != radar
+
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[1][RADAR_START_ADDR] = 8
+    CP = CarInterface.get_params(CAR.GENESIS_G90, fingerprint, [], True, False, False, None)
+    assert CP.openpilotLongitudinalControl
+    assert not CP.radarUnavailable
 
     for candidate, radar_addr in (
       (CAR.HYUNDAI_IONIQ_5, MRR30_RADAR_START_ADDR),
diff --git a/opendbc_repo/opendbc/car/hyundai/values.py b/opendbc_repo/opendbc/car/hyundai/values.py
index 26fd9a613..3b475e0e7 100644
--- a/opendbc_repo/opendbc/car/hyundai/values.py
+++ b/opendbc_repo/opendbc/car/hyundai/values.py
@@ -836,6 +836,7 @@ class CAR(Platforms):
   GENESIS_G90 = HyundaiPlatformConfig(
     [HyundaiCarDocs("Genesis G90 2017-20", "All", car_parts=CarParts.common([CarHarness.hyundai_c]))],
     CarSpecs(mass=2200, wheelbase=3.15, steerRatio=12.069),
+    flags=HyundaiFlags.MANDO_RADAR,
   )
   GENESIS_GV80 = HyundaiCanFDPlatformConfig(
     [HyundaiCarDocs("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m]))],
@@ -1110,6 +1111,7 @@ CANFD_RADAR_SCC_CAR = CAR.with_flags(HyundaiFlags.RADAR_SCC)  # TODO: merge with
 CANFD_SECURITYACCESS_CAR = {CAR.HYUNDAI_IONIQ_5, CAR.HYUNDAI_IONIQ_6, CAR.HYUNDAI_KONA_EV_2ND_GEN}
 CANFD_UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.CANFD_NO_RADAR_DISABLE) - CANFD_SECURITYACCESS_CAR  # TODO: merge with UNSUPPORTED_LONGITUDINAL_CAR
 CANFD_RADAR_LIVE_LONGITUDINAL_CAR = {CAR.HYUNDAI_IONIQ_5, CAR.HYUNDAI_IONIQ_6}
+RADAR_LIVE_LONGITUDINAL_CAR = CANFD_RADAR_LIVE_LONGITUDINAL_CAR | {CAR.GENESIS_G90}
 
 CAMERA_SCC_CAR = CAR.with_flags(HyundaiFlags.CAMERA_SCC)