revert

common/params_keys.h

@@ -62,7 +62,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"GsmRoaming", {PERSISTENT, BOOL}},
     {"HardwareSerial", {PERSISTENT, STRING}},
     {"HasAcceptedTerms", {PERSISTENT, STRING, "0"}},
-    {"HyundaiLkasAolPending", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL, "0", "0"}},
     {"HondaGasFactorParams", {PERSISTENT, FLOAT}},
     {"HondaLateralPidKiScale", {PERSISTENT, FLOAT, "1.0", "1.0", 3}},
     {"HondaLateralPidKpScale", {PERSISTENT, FLOAT, "1.0", "1.0", 3}},

opendbc_repo/opendbc/car/hyundai/values.py

@@ -111,7 +111,6 @@ class HyundaiSafetyFlags(IntFlag):
 
 
 class HyundaiStarPilotSafetyFlags(IntFlag):
-  AOL_LKAS_ON_INIT = 128
   AOL_MAIN_LKAS_SYNC = 32
   HAS_LDA_BUTTON = 1024
   AOL_LKAS_ON_ENGAGE = 2048

opendbc_repo/opendbc/safety/modes/hyundai_common.h

@@ -77,7 +77,6 @@ void hyundai_common_init(uint16_t param) {
   const uint16_t HYUNDAI_PARAM_FCEV_GAS = 256;
   const uint16_t HYUNDAI_PARAM_ALT_LIMITS_2 = 512;
 
-  const uint16_t HYUNDAI_PARAM_AOL_LKAS_ON_INIT = 128;
   const int HYUNDAI_PARAM_HAS_LDA_BUTTON = 1024;
   const uint16_t HYUNDAI_PARAM_AOL_LKAS_ON_ENGAGE = 2048;
   const uint16_t HYUNDAI_PARAM_NON_SCC = 4096;
@@ -101,10 +100,6 @@ void hyundai_common_init(uint16_t param) {
   hyundai_can_refresh_msgs = GET_FLAG(param, HYUNDAI_PARAM_CAN_REFRESH_MSGS);
   hyundai_aol_main_lkas_sync = false;
 
-  if (GET_FLAG(param, HYUNDAI_PARAM_AOL_LKAS_ON_INIT)) {
-    lkas_on = true;
-  }
-
   hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES;
   acc_main_on_prev = false;
   acc_main_on_tx = false;

opendbc_repo/opendbc/safety/tests/test_hyundai.py

@@ -572,21 +572,6 @@ class TestHyundaiAolLkasOnEngageStockSafety(HyundaiAolLkasOnEngageStockBase, Tes
     self.safety.init_tests()
 
 
-class TestHyundaiAolLkasOnInitSafety(TestHyundaiSafety):
-  def setUp(self):
-    self.packer = CANPackerSafety("hyundai_kia_generic")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_INIT)
-    self.safety.init_tests()
-
-  def test_pending_lkas_press_allows_aol_after_safety_init(self):
-    self.safety.set_alternative_experience(ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL)
-    self._rx(self._button_msg(Buttons.NONE))
-
-    self.assertTrue(self.safety.get_lkas_on())
-    self.assertTrue(self.safety.get_aol_allowed())
-
-
 class TestHyundaiAolMainLkasSyncSafety(TestHyundaiSafety):
   def setUp(self):
     self.packer = CANPackerSafety("hyundai_kia_generic")

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-730ba6e1-DEBUG";
+const uint8_t gitversion[19] = "DEV-1a56ccbd-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-730ba6e1-DEBUG
+DEV-1a56ccbd-DEBUG

selfdrive/car/card.py

@@ -39,12 +39,6 @@ from openpilot.starpilot.controls.starpilot_card import StarPilotCard
 REPLAY = "REPLAY" in os.environ
 OPENPILOT_LEAD_MIN_DISTANCE = 0.1
 REDNECK_DECREASE_LOOKAHEAD_POINTS = 10
-HYUNDAI_SAFETY_MODELS = {
-  int(structs.CarParams.SafetyModel.hyundai),
-  int(structs.CarParams.SafetyModel.hyundaiCanfd),
-  int(structs.CarParams.SafetyModel.hyundaiLegacy),
-}
-
 EventName = log.OnroadEvent.EventName
 
 # forward
@@ -205,8 +199,6 @@ class Car:
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
     self.resume_prev_button = False
-    self.hyundai_lkas_aol_pending = False
-
     self.starpilot_toggles = get_starpilot_toggles(read_persisted_force_params=True)
 
     self.FPCP.alternativeExperience |= interface_alternative_experience
@@ -329,31 +321,8 @@ class Car:
       self.resume_prev_button = False
 
     FPCS = self.starpilot_card.update(CS, FPCS, self.sm, self.starpilot_toggles)
-    self._latch_pre_safety_hyundai_lkas_button(CS)
-
     return CS, RD, FPCS
 
-  def _hyundai_safety_active(self) -> bool:
-    if not self.sm.seen['pandaStates'] or not self.sm.valid['pandaStates']:
-      return False
-
-    panda_states = self.sm['pandaStates']
-    return any(
-      int(getattr(state.safetyModel, "raw", state.safetyModel)) in HYUNDAI_SAFETY_MODELS
-      for state in panda_states
-    )
-
-  def _latch_pre_safety_hyundai_lkas_button(self, CS: car.CarState) -> None:
-    if self.CP.brand != "hyundai" or not getattr(self.starpilot_toggles, "always_on_lateral_lkas", False):
-      return
-    if self.hyundai_lkas_aol_pending or self._hyundai_safety_active() or not any(
-      button.type == ButtonType.lkas and button.pressed for button in CS.buttonEvents
-    ):
-      return
-
-    self.hyundai_lkas_aol_pending = True
-    self.params.put_bool_nonblocking("HyundaiLkasAolPending", True)
-
   def state_publish(self, CS: car.CarState, RD: structs.RadarDataT | None, FPCS: custom.StarPilotCarState):
     """carState and carParams publish loop"""
 

selfdrive/pandad/panda_safety.cc

@@ -2,8 +2,6 @@
 #include "cereal/messaging/messaging.h"
 #include "common/swaglog.h"
 
-static constexpr uint16_t HYUNDAI_AOL_LKAS_ON_INIT = 128U;
-
 void PandaSafety::configureSafetyMode(bool is_onroad) {
   if (is_onroad && !safety_configured_) {
     updateMultiplexingMode();
@@ -75,11 +73,6 @@ void PandaSafety::setSafetyMode(const std::string &params_string) {
 
   auto starpilot_safety_configs = starpilot_car_params.getSafetyConfigs();
   alternative_experience |= starpilot_car_params.getAlternativeExperience();
-  const bool hyundai_lkas_aol_pending = params_.getBool("HyundaiLkasAolPending");
-  if (hyundai_lkas_aol_pending) {
-    params_.putBool("HyundaiLkasAolPending", false);
-  }
-
   for (int i = 0; i < pandas_.size(); ++i) {
     // Default to SILENT safety model if not specified
     cereal::CarParams::SafetyModel safety_model = cereal::CarParams::SafetyModel::SILENT;
@@ -93,13 +86,6 @@ void PandaSafety::setSafetyMode(const std::string &params_string) {
       safety_param |= starpilot_safety_configs[i].getSafetyParam();
     }
 
-    const bool hyundai_safety = safety_model == cereal::CarParams::SafetyModel::HYUNDAI ||
-                                safety_model == cereal::CarParams::SafetyModel::HYUNDAI_CANFD ||
-                                safety_model == cereal::CarParams::SafetyModel::HYUNDAI_LEGACY;
-    if (hyundai_lkas_aol_pending && hyundai_safety) {
-      safety_param |= HYUNDAI_AOL_LKAS_ON_INIT;
-    }
-
     LOGW("Panda %d: setting safety model: %d, param: %d, alternative experience: %d", i, (int)safety_model, safety_param, alternative_experience);
     pandas_[i]->set_alternative_experience(alternative_experience);
     pandas_[i]->set_safety_model(safety_model, safety_param);