From 9aeaf593c32af2e82ce1a06d3e44e9f3e3b7f711 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Sun, 14 Jun 2026 21:02:31 -0500
Subject: [PATCH] son day I'll get this

---
 opendbc_repo/opendbc/car/hyundai/carstate.py  |  6 +++-
 .../opendbc/car/hyundai/tests/test_hyundai.py | 31 +++++++++++++++++++
 2 files changed, 36 insertions(+), 1 deletion(-)

diff --git a/opendbc_repo/opendbc/car/hyundai/carstate.py b/opendbc_repo/opendbc/car/hyundai/carstate.py
index bcf174058..27652e1cd 100644
--- a/opendbc_repo/opendbc/car/hyundai/carstate.py
+++ b/opendbc_repo/opendbc/car/hyundai/carstate.py
@@ -204,8 +204,12 @@ class CarState(CarStateBase):
     return button_events
 
   def create_lkas_button_events(self, cp: CANParser, prev_lda_button: int) -> list[structs.CarState.ButtonEvent]:
+    if self.CP.carFingerprint == CAR.HYUNDAI_SONATA_HYBRID and cp.ts_nanos["BCM_PO_11"]["LDA_BTN"] > 0:
+      # Route-proven: late-model Sonata Hybrid publishes a live LKAS button on BCM_PO_11
+      # while CLU13 is present on the main bus but does not carry the LKAS state.
+      self.lda_button = int(cp.vl["BCM_PO_11"]["LDA_BTN"])
     # Some classic HKG platforms publish the LKAS button on the cluster bus instead of BCM_PO_11.
-    if cp.ts_nanos["CLU13"]["CF_Clu_LdwsLkasSW"] > 0:
+    elif cp.ts_nanos["CLU13"]["CF_Clu_LdwsLkasSW"] > 0:
       self.lda_button = int(cp.vl["CLU13"]["CF_Clu_LdwsLkasSW"])
     elif cp.ts_nanos["BCM_PO_11"]["LDA_BTN"] > 0:
       self.lda_button = int(cp.vl["BCM_PO_11"]["LDA_BTN"])
diff --git a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
index 0b2de66b2..1edc70705 100644
--- a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+++ b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
@@ -771,6 +771,37 @@ class TestHyundaiFingerprint:
     ret = update(0, 3)
     assert any(be.type == ButtonType.lkas and not be.pressed for be in ret.buttonEvents)
 
+  def test_sonata_hybrid_prefers_bcm_lkas_button_over_dead_main_bus_clu13(self):
+    toggles = get_test_toggles()
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[0][0x391] = 8
+    fingerprint[1][0x50C] = 8
+    CP = CarInterface.get_params(CAR.HYUNDAI_SONATA_HYBRID, fingerprint, [], False, False, False, toggles)
+    FPCP = CarInterface.get_starpilot_params(CAR.HYUNDAI_SONATA_HYBRID, fingerprint, [], CP, toggles)
+
+    car_state = CarState(CP, FPCP)
+    can_parsers = car_state.get_can_parsers(CP)
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+
+    def update(clu13_lkas_button: int, bcm_lkas_button: int, frame: int):
+      msgs = [
+        packer.make_can_msg("CLU13", 0, {
+          "CF_Clu_LdwsLkasSW": clu13_lkas_button,
+        }),
+        packer.make_can_msg("BCM_PO_11", 0, {
+          "LDA_BTN": bcm_lkas_button,
+        }),
+      ]
+      can_parsers[Bus.pt].update([(frame, msgs)])
+      return car_state.update(can_parsers, toggles)[0]
+
+    update(0, 0, 1)
+    ret = update(0, 1, 2)
+    assert any(be.type == ButtonType.lkas and be.pressed for be in ret.buttonEvents)
+
+    ret = update(0, 0, 3)
+    assert any(be.type == ButtonType.lkas and not be.pressed for be in ret.buttonEvents)
+
   def test_sonata_hybrid_ignores_noisy_alt_bus_clu13_lkas_button(self):
     toggles = get_test_toggles()
     fingerprint = gen_empty_fingerprint()