I thought you said weast

opendbc_repo/opendbc/car/hyundai/carstate.py

@@ -36,6 +36,8 @@ CLASSIC_MEDIA_BUTTON_CARS = frozenset({
 
 
 def get_non_scc_cruise_signals(CP) -> tuple[str, str, str, str, str, str]:
+  if CP.carFingerprint == CAR.KIA_RAY_EV:
+    return "LABEL11", "CC_React", "LABEL11", "CC_Engaged", "E_EMS11", "Cruise_Limit_Target"
   if CP.flags & HyundaiFlags.EV:
     return "LABEL11", "CC_React", "EMS12", "ACC_ACT", "E_EMS11", "Cruise_Limit_Target"
   if CP.flags & HyundaiFlags.HYBRID:
@@ -348,9 +350,7 @@ class CarState(CarStateBase):
 
     # cruise state
     no_scc = bool(self.CP.flags & HyundaiFlags.NON_SCC)
-    if self.CP.carFingerprint == CAR.KIA_RAY_EV:
-      pass
-    elif no_scc:
+    if no_scc:
       cruise_available_msg, cruise_available_sig, cruise_enabled_msg, cruise_enabled_sig, cruise_speed_msg, cruise_speed_sig = get_non_scc_cruise_signals(self.CP)
       ret.cruiseState.available = cp.vl[cruise_available_msg][cruise_available_sig] != 0
       ret.cruiseState.enabled = cp.vl[cruise_enabled_msg][cruise_enabled_sig] != 0
@@ -725,6 +725,12 @@ class CarState(CarStateBase):
       ("BCM_PO_11", 0),
       ("CLU13", 0),
     ]
+    if CP.carFingerprint == CAR.KIA_RAY_EV:
+      msgs += [
+        ("LABEL11", 10),
+        ("E_EMS11", 100),
+        ("ELECT_GEAR", 100),
+      ]
     if CP.carFingerprint in CLASSIC_MEDIA_BUTTON_CARS:
       # Steering-wheel media switches are event-driven on the refresh Elantra.
       msgs.append(("GW_SWRC_PE", 0))

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

@@ -926,7 +926,7 @@ class TestHyundaiFingerprint:
     (CAR.HYUNDAI_ELANTRA_2022_NON_SCC, ("EMS16", "LVR12"), ()),
     (CAR.HYUNDAI_ELANTRA_HEV_2022_NON_SCC, ("E_CRUISE_CONTROL", "ELECT_GEAR"), ("EMS16",)),
     (CAR.HYUNDAI_KONA_EV_NON_SCC, ("LABEL11", "EMS12", "E_EMS11"), ()),
-    (CAR.KIA_RAY_EV, ("E_EMS11",), ("LABEL11", "EMS12", "SCC11", "SCC12")),
+    (CAR.KIA_RAY_EV, ("LABEL11", "E_EMS11", "ELECT_GEAR"), ("EMS12", "SCC11", "SCC12")),
   ])
   def test_non_scc_cruise_message_selection(self, candidate, expected_msgs, unexpected_msgs):
     toggles = get_test_toggles()
@@ -945,6 +945,26 @@ class TestHyundaiFingerprint:
     assert not ret.cruiseState.enabled
     assert ret.cruiseState.speed == 0
 
+  def test_kia_ray_ev_decodes_cruise_state(self):
+    toggles = get_test_toggles()
+    CP = CarInterface.get_params(CAR.KIA_RAY_EV, gen_empty_fingerprint(), [], True, False, False, toggles)
+    FPCP = CarInterface.get_starpilot_params(CAR.KIA_RAY_EV, gen_empty_fingerprint(), [], CP, toggles)
+    car_state = CarState(CP, FPCP)
+    can_parsers = car_state.get_can_parsers(CP)
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+
+    can_parsers[Bus.pt].update([(1_000_000_000, [
+      packer.make_can_msg("LABEL11", 0, {"CC_React": 1, "CC_Engaged": 1}),
+      packer.make_can_msg("E_EMS11", 0, {"Cruise_Limit_Target": 10, "Accel_Pedal_Pos": 0}),
+      packer.make_can_msg("ELECT_GEAR", 0, {"Elect_Gear_Shifter": 5}),
+    ])])
+
+    ret, _ = car_state.update(can_parsers, toggles)
+
+    assert ret.cruiseState.available
+    assert ret.cruiseState.enabled
+    assert ret.cruiseState.speed == pytest.approx(10 * 0.2777778)
+
   def test_hyundai_redneck_cruise_availability(self, monkeypatch):
     class FakeParams:
       def __init__(self, *args, **kwargs):

opendbc_repo/opendbc/car/subaru/carcontroller.py

@@ -149,7 +149,7 @@ class CarController(CarControllerBase):
     return msg
 
   def _avh_on_request(self, CC, CS, starpilot_toggles):
-    """Maintain a bounded Subaru AVH ON request after ignition.
+    """Send one bounded Subaru AVH ON request after ignition.
 
     The AVH button frame was identified on the 2025 Legacy only. Keep this
     independent from Stop/Start so the existing Outback request is unchanged.
@@ -185,6 +185,7 @@ class CarController(CarControllerBase):
     if counter == self.avh_last_counter:
       return None
 
+    self.avh_attempted = True
     msg = subarucan.create_avh_control(
       self.packer, avh_msg, raw_dat=avh_dat,
       counter=counter, bus=CanBus.alt_for_cp(self.CP),

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

@@ -292,7 +292,7 @@ def test_stop_start_request_is_bounded_and_uses_live_dashlights(platform, expect
   assert controller.stop_start_acknowledged
 
 
-def test_avh_request_sets_observed_bit_and_holds_until_deadline():
+def test_avh_request_sets_observed_bit_and_is_bounded():
   CP = CarInterface.get_non_essential_params(CAR.SUBARU_LEGACY_2025)
   controller = CarController({}, CP)
   controller.frame = 101
@@ -341,21 +341,7 @@ def test_avh_request_sets_observed_bit_and_holds_until_deadline():
   assert parser.vl["AVH"]["AVH"] == 1
   assert parser.vl["AVH"]["COUNTER"] == 0
 
-  for counter in range(1, 4):
-    CS.avh_msg["COUNTER"] = counter
-    raw_dat = bytearray.fromhex("14001c4208800000")
-    raw_dat[1] = counter
-    raw_dat[0] = ((0x32B & 0xFF) + ((0x32B >> 8) & 0xFF) + sum(raw_dat[1:])) & 0xFF
-    CS.avh_dat = bytes(raw_dat)
-    controller.frame = 103 + (counter * 10)
-    _, can_sends = controller.update(CC, CS, 0, toggles)
-    avh_msgs = [msg for msg in can_sends if msg[0] == 0x32b]
-    assert len(avh_msgs) == 1
-    assert avh_msgs[0][1][1] & 0x0F == counter
-    assert avh_msgs[0][1][5] & 0x20
-    assert not controller.avh_attempted
-
-  controller.frame = 1001
+  controller.frame = 131
   _, can_sends = controller.update(CC, CS, 0, toggles)
   assert not any(msg[0] == 0x32b for msg in can_sends)
   assert controller.avh_attempted

opendbc_repo/opendbc/dbc/hyundai_kia_generic.dbc

@@ -1500,6 +1500,7 @@ BO_ 913 BCM_PO_11: 8 Vector__XXX
 
 BO_ 1426 LABEL11: 8 XXX
  SG_ CC_React : 34|1@1+ (1,0) [0|1] "" XXX
+ SG_ CC_Engaged : 35|1@1+ (1,0) [0|1] "" XXX
 
 BO_ 910 WHL_SPD12_FS: 5 iBAU
  SG_ CRC : 0|8@1+ (1,0) [0|0] "" Vector__XXX

selfdrive/controls/lib/latcontrol_vehicle_tunes.py

@@ -388,8 +388,8 @@ BOLT_2022_2023_LOW_SPEED_CENTER_OUTPUT_LAT = 0.17
 BOLT_2022_2023_LOW_SPEED_CENTER_OUTPUT_LAT_WIDTH = 0.04
 BOLT_2022_2023_LOW_SPEED_CENTER_OUTPUT_SPEED = 2.5
 BOLT_2022_2023_LOW_SPEED_CENTER_OUTPUT_SPEED_WIDTH = 0.7
-BOLT_2022_2023_LOW_SPEED_CENTER_OUTPUT_SPEED_MAX = 7.2
-BOLT_2022_2023_LOW_SPEED_CENTER_OUTPUT_SPEED_MAX_WIDTH = 0.5
+BOLT_2022_2023_LOW_SPEED_CENTER_OUTPUT_SPEED_MAX = 8.2
+BOLT_2022_2023_LOW_SPEED_CENTER_OUTPUT_SPEED_MAX_WIDTH = 0.6
 BOLT_2022_2023_LOW_SPEED_CENTER_OUTPUT_SCALE_MIN = 0.62
 BOLT_2022_2023_LOW_SPEED_CENTER_OUTPUT_ALPHA_MIN = 0.28
 BOLT_2022_2023_CENTER_FRICTION_THRESHOLD_BUMP = 0.080