From 865948a00e0f2777aaa1eb6ee1f720474344b419 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Sun, 1 Nov 2026 23:00:18 -0600
Subject: [PATCH] Preserve mixed HKG AOL after stock cruise disengages

---
 openpilot/selfdrive/selfdrived/selfdrived.py  |  7 ++-
 .../aol/tests/test_hkg_cancel_joined.py       | 52 +++++++++++++++++++
 prebuilt.json                                 |  2 +-
 3 files changed, 59 insertions(+), 2 deletions(-)

diff --git a/openpilot/selfdrive/selfdrived/selfdrived.py b/openpilot/selfdrive/selfdrived/selfdrived.py
index 2e15880257..ab11404e00 100755
--- a/openpilot/selfdrive/selfdrived/selfdrived.py
+++ b/openpilot/selfdrive/selfdrived/selfdrived.py
@@ -1408,9 +1408,14 @@ class SelfdriveD:
         if stock_lateral_role(self, CS, native, intent, allow_independent_cancel=True,
                               allow_independent_brake=True, allow_independent_gas=True, now_ns=now_ns):
           user_disable = False
+    from opendbc.car.hyundai.blended_stock_aol import qualified as blended_stock_qualified
     if (user_disable and fresh_successor and proof[6] and not proof[7] and proof[8] and not proof[9] and
         decision.desired_lateral and not decision.desired_longitudinal and not decision.longitudinal_active and
-        not self.enabled and not self.active and self.CP.brand == 'toyota' and toyota_qualified(self.CP, marked_only=True) and
+        not self.enabled and not self.active and (
+          self.CP.brand == 'toyota' and toyota_qualified(self.CP, marked_only=True) or
+          self.CP.brand == 'hyundai' and blended_stock_qualified(self.CP, marked_only=True) and
+          not physical_cancel(CS, self.CP) and not any(physical_cancel(sample, self.CP)
+            for sample, _ in getattr(self, 'car_state_samples', ()))) and
         CS.cruiseState.available and not CS.cruiseState.enabled and
         self.CS_prev.cruiseState.available and not self.CS_prev.cruiseState.enabled and
         all(valid and sample.cruiseState.available and not sample.cruiseState.enabled
diff --git a/openpilot/starpilot/aol/tests/test_hkg_cancel_joined.py b/openpilot/starpilot/aol/tests/test_hkg_cancel_joined.py
index 931e709f9a..d0fa464f86 100644
--- a/openpilot/starpilot/aol/tests/test_hkg_cancel_joined.py
+++ b/openpilot/starpilot/aol/tests/test_hkg_cancel_joined.py
@@ -787,3 +787,55 @@ def test_startup_native_wait_retains_fault_and_permission_checks(fault):
       assert axis.faultReason == 'critical'
     finally:
       case.doCleanups()
+
+
+@pytest.mark.parametrize('topology', ('hdai', 'hdaii'))
+@pytest.mark.parametrize('fault', ('none', 'native_denied', 'native_invalid', 'can_invalid', 'permanent_eps',
+                                 'rx_fault', 'relay_fault', 'old_intent', 'cancel', 'wrong_gear'))
+def test_mixed_stock_cruise_off_keeps_only_fresh_permitted_lateral(topology, fault):
+  from opendbc.car.hyundai.tests.test_palisade_2023 import params as blended_params
+
+  with OpenpilotPrefix():
+    case = caller_fixture.IoniqAvailabilityTests(methodName='runTest')
+    try:
+      cp = blended_params(topology)
+      sd, _, step, card, receive = case._ioniq_availability_callers(False, cp=cp)
+      axis, _, command = step(2, brake=True, native_request_lat=True, native_request_long=False)
+      assert axis.lateralActive and command.latActive
+      assert receive(10_020_000_000, axis=sd.pm.messages['aolAxisState'], event=sd.pm.messages['onroadEvents'])
+      prior = sd.aol_published_input_proof
+      now = 10_061_516_362
+      assert now > prior[3]
+      observed = caller_fixture.car_state()
+      kwargs = {}
+      if fault == 'native_denied':
+        kwargs['allowed'] = False
+      elif fault == 'native_invalid':
+        kwargs['native_valid'] = False
+      elif fault == 'can_invalid':
+        observed.canValid = False
+      elif fault == 'permanent_eps':
+        observed.steerFaultPermanent = True
+      elif fault == 'rx_fault':
+        kwargs['panda_fault'] = True
+      elif fault == 'relay_fault':
+        kwargs['relay_fault'] = True
+      elif fault == 'old_intent':
+        kwargs['old_intent'] = True
+      elif fault == 'cancel':
+        observed.buttonEvents = [structs.CarState.ButtonEvent(type='cancel', pressed=True)]
+      elif fault == 'wrong_gear':
+        observed.gearShifter = 'unknown'
+      axis, state, command = step(6, offset_ns=1_516_362, observed_state=observed,
+                                   native_request_lat=True, native_request_long=False, **kwargs)
+      assert not command.longActive and not axis.longitudinalActive and not state.enabled
+      if fault == 'none':
+        assert axis.lateralActive and command.latActive
+        assert axis.sourceCarStateMonoTime == now and axis.validUntilMonoTime == now + 30_000_000
+        assert str(axis.faultReason) == 'none'
+        assert receive(now, axis=sd.pm.messages['aolAxisState'], event=sd.pm.messages['onroadEvents'])
+        assert card.aol_card_intent.allowed_latch
+      else:
+        assert not axis.lateralActive and not command.latActive
+    finally:
+      case.doCleanups()
diff --git a/prebuilt.json b/prebuilt.json
index 5a4e9a0d53..ca7bbaff5b 100644
--- a/prebuilt.json
+++ b/prebuilt.json
@@ -1 +1 @@
-{"protected_inventory_sha256": "7a5367f4e7de8fcfda84fcef36fd862b3431f5a23aa9bc84342442e73cd129ef", "schema_version": 1}
+{"protected_inventory_sha256": "b1d97b7008d6b691c0ab1be89789b81b3a68217e1dfaa48c1bccdaef6532ae30", "schema_version": 1}