The Queen's Gambit

opendbc_repo/opendbc/car/hyundai/carstate.py

@@ -235,13 +235,12 @@ class CarState(CarStateBase):
   def create_lkas_button_events(self, cp: CANParser, prev_lda_button: int) -> list[structs.CarState.ButtonEvent]:
     if self.CP.carFingerprint == CAR.HYUNDAI_SONATA_HYBRID:
       self.lda_button = self.get_sonata_hybrid_lkas_button_state(cp)
-    # Some classic HKG platforms publish the LKAS button on the cluster bus instead of BCM_PO_11.
-    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"])
     else:
-      self.lda_button = 0
+      source_states = (
+        int(cp.vl["CLU13"]["CF_Clu_LdwsLkasSW"]) if cp.ts_nanos["CLU13"]["CF_Clu_LdwsLkasSW"] > 0 else 0,
+        int(cp.vl["BCM_PO_11"]["LDA_BTN"]) if cp.ts_nanos["BCM_PO_11"]["LDA_BTN"] > 0 else 0,
+      )
+      self.lda_button = int(any(source_states))
 
     return create_button_events(self.lda_button, prev_lda_button, {1: ButtonType.lkas})
 

opendbc_repo/opendbc/car/hyundai/interface.py

@@ -224,7 +224,7 @@ class CarInterface(CarInterfaceBase):
         ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CAN_REFRESH_MSGS.value
 
       # These cars expose an LKAS/LFA steering-wheel button that StarPilot can customize.
-      if 0x391 in fingerprint[0] or ret.flags & HyundaiFlags.CAN_CANFD_BLENDED:
+      if 0x391 in fingerprint[0] or 0x50C in fingerprint[0] or ret.flags & HyundaiFlags.CAN_CANFD_BLENDED:
         ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON.value
       if ret.flags & HyundaiFlags.CAN_CANFD_BLENDED:
         ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CAN_CANFD_BLENDED.value

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

@@ -1256,6 +1256,37 @@ class TestHyundaiFingerprint:
     ret = update(0, 3)
     assert any(be.type == ButtonType.lkas and not be.pressed for be in ret.buttonEvents)
 
+  def test_elantra_lkas_button_event_is_not_masked_by_live_clu13(self):
+    toggles = get_test_toggles()
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[0][0x391] = 8
+    fingerprint[0][0x50C] = 8
+    CP = CarInterface.get_params(CAR.HYUNDAI_ELANTRA_2021, fingerprint, [], False, False, False, toggles)
+    FPCP = CarInterface.get_starpilot_params(CAR.HYUNDAI_ELANTRA_2021, 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(bcm_lkas_button: int, frame: int):
+      msgs = [
+        packer.make_can_msg("CLU13", 0, {
+          "CF_Clu_LdwsLkasSW": 0,
+        }),
+        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, 1)
+    ret = update(1, 2)
+    assert any(be.type == ButtonType.lkas and be.pressed for be in ret.buttonEvents)
+
+    ret = update(0, 3)
+    assert any(be.type == ButtonType.lkas and not be.pressed for be in ret.buttonEvents)
+
   def test_sonata_hybrid_uses_main_bus_lkas_parser(self):
     toggles = get_test_toggles()
     fingerprint = gen_empty_fingerprint()

opendbc_repo/opendbc/car/subaru/carcontroller.py

@@ -16,6 +16,7 @@ _SNG_ACC_MIN_DIST = 3
 _SNG_ACC_MAX_DIST = 4.5
 _LEGACY_2025_MADS_MIN_SPEED = 0.44704
 _LEGACY_2025_MADS_MAX_STEER_ANGLE = 120.0
+_LEGACY_2025_REENGAGE_MAX_STEER_RATE = 3.0
 
 
 def get_safety_CP():
@@ -52,9 +53,14 @@ class CarController(CarControllerBase):
       mads_only = CC.latActive and not CC.enabled
       mads_only_ok = CS.out.vEgoRaw > _LEGACY_2025_MADS_MIN_SPEED and \
         abs(CS.out.steeringAngleDeg) < _LEGACY_2025_MADS_MAX_STEER_ANGLE
-      lkas_active = CC.latActive and (not mads_only or mads_only_ok) and \
+      lkas_available = CC.latActive and (not mads_only or mads_only_ok) and \
         CS.out.gearShifter == structs.CarState.GearShifter.drive and not CS.out.standstill
 
+      manual_handoff = CS.out.steeringPressed or (
+        not self.legacy_2025_lkas_active and abs(CS.out.steeringRateDeg) > _LEGACY_2025_REENGAGE_MAX_STEER_RATE
+      )
+      lkas_active = lkas_available and not manual_handoff
+
       if lkas_active and not self.legacy_2025_lkas_active:
         self.apply_steer_last = CS.out.steeringAngleDeg
 

opendbc_repo/opendbc/car/subaru/tests/test_subaru.py

@@ -207,6 +207,8 @@ def test_legacy_2025_uses_validated_angle_request_limits():
   CS = SimpleNamespace(out=SimpleNamespace(
     vEgoRaw=2.4,
     steeringAngleDeg=-75.27,
+    steeringRateDeg=0.0,
+    steeringPressed=False,
     gearShifter=structs.CarState.GearShifter.drive,
     standstill=False,
   ))
@@ -226,6 +228,43 @@ def test_legacy_2025_uses_validated_angle_request_limits():
   assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)
 
 
+def test_legacy_2025_waits_for_manual_steering_to_settle_before_reengaging():
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_LEGACY_2025)
+  controller = CarController({}, CP)
+  CC = SimpleNamespace(
+    enabled=True,
+    latActive=True,
+    actuators=SimpleNamespace(steeringAngleDeg=-100.0),
+  )
+  CS = SimpleNamespace(out=SimpleNamespace(
+    vEgoRaw=6.2,
+    steeringAngleDeg=-121.55,
+    steeringRateDeg=350.0,
+    steeringPressed=True,
+    gearShifter=structs.CarState.GearShifter.drive,
+    standstill=False,
+  ))
+  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("ES_LKAS_ANGLE", 0)], CanBus.main)
+
+  msg = controller.lateral_angle(CC, CS)
+  parser.update([(1, [msg])])
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)
+
+  CS.out.steeringPressed = False
+  CS.out.steeringAngleDeg = -113.78
+  msg = controller.lateral_angle(CC, CS)
+  parser.update([(2, [msg])])
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)
+
+  CS.out.steeringRateDeg = 2.0
+  msg = controller.lateral_angle(CC, CS)
+  parser.update([(3, [msg])])
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
+  assert abs(parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] - CS.out.steeringAngleDeg) < 1.0
+
+
 def test_ascent_2023_uses_gen2_angle_bus_layout():
   CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
   parsers = CarState.get_can_parsers(CP)