ANGEL

docs/CARS.md

@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 325 Supported Cars
+# 326 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -110,6 +110,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera 2022">Buy Here</a></sub></details>|||
 |Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid 2019">Buy Here</a></sub></details>|||
 |Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid 2020">Buy Here</a></sub></details>|||
+|Hyundai|Azera Hybrid (with HDA II & LFA2) 2025|Highway Driving Assist II & Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai S connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid (with HDA II & LFA2) 2025">Buy Here</a></sub></details>|||
 |Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Custin 2023">Buy Here</a></sub></details>|||
 |Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2017-18">Buy Here</a></sub></details>|||
 |Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2019">Buy Here</a></sub></details>|||

opendbc_repo/opendbc/car/hyundai/fingerprints.py

@@ -38,6 +38,14 @@ FW_VERSIONS = {
       b'\xf1\x00IGhe SCC FHCUP      1.00 1.02 99110-M9000         ',
     ],
   },
+  CAR.HYUNDAI_AZERA_HEV_7TH_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00GN7HMFC  AT KOR LHD 1.00 1.01 99211-N1110 240423',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00GN7_ RDR -----      1.00 1.00 99110-N1100         ',
+    ],
+  },
   CAR.HYUNDAI_GENESIS: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00DH LKAS 1.1 -150210',

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

@@ -94,6 +94,7 @@ CCNC_NON_HDA2_CARS = (
 )
 
 ANGLE_STEERING_CARS = (
+  CAR.HYUNDAI_AZERA_HEV_7TH_GEN,
   CAR.HYUNDAI_SANTA_FE_HEV_5TH_GEN,
   CAR.HYUNDAI_IONIQ_5_PE,
   CAR.HYUNDAI_IONIQ_9,

opendbc_repo/opendbc/car/hyundai/values.py

@@ -258,6 +258,14 @@ class CAR(Platforms):
     CarSpecs(mass=1675, wheelbase=2.885, steerRatio=14.5),
     flags=HyundaiFlags.HYBRID,
   )
+  HYUNDAI_AZERA_HEV_7TH_GEN = HyundaiCanFDPlatformConfig(
+    [
+      HyundaiCarDocs("Hyundai Azera Hybrid (with HDA II & LFA2) 2025", "Highway Driving Assist II & Lane Follow Assist 2",
+                     car_parts=CarParts.common([CarHarness.hyundai_s])),
+    ],
+    CarSpecs(mass=1720, wheelbase=2.895, steerRatio=13.5),
+    flags=HyundaiFlags.CANFD_ANGLE_STEERING,
+  )
   HYUNDAI_ELANTRA = HyundaiPlatformConfig(
     [
       # TODO: 2017-18 could be Hyundai G

opendbc_repo/opendbc/car/tests/routes.py

@@ -29,6 +29,7 @@ non_tested_cars = [
   HYUNDAI.GENESIS_G90,
   HYUNDAI.GENESIS_GV70_ELECTRIFIED_2ND_GEN,
   HYUNDAI.GENESIS_GV80_2025,
+  HYUNDAI.HYUNDAI_AZERA_HEV_7TH_GEN,
   HYUNDAI.HYUNDAI_IONIQ_5_PE,
   HYUNDAI.HYUNDAI_IONIQ_5_N,
   HYUNDAI.HYUNDAI_SANTA_FE_HEV_5TH_GEN,

opendbc_repo/opendbc/car/torque_data/override.toml

@@ -98,6 +98,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HYUNDAI_IONIQ_9" = [nan, 2.5, nan]
 "HYUNDAI_AZERA_6TH_GEN" = [1.8, 1.8, 0.1]
 "HYUNDAI_AZERA_HEV_6TH_GEN" = [1.8, 1.8, 0.1]
+"HYUNDAI_AZERA_HEV_7TH_GEN" = [nan, 2.5, nan]
 "KIA_K8_HEV_1ST_GEN" = [2.5, 2.5, 0.1]
 "KIA_K4_2025" = [2.5, 2.5, 0.1]
 "KIA_K5_2025" = [2.5, 2.5, 0.1]