oops

starpilot/controls/starpilot_card.py

@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 from opendbc.car.chrysler.values import pacifica_hybrid_aol_requires_set_press
+from opendbc.car.hyundai.values import HyundaiFlags
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.common.params import Params
 from openpilot.selfdrive.car.cruise import CRUISE_LONG_PRESS, ButtonType
@@ -25,6 +26,7 @@ class StarPilotCard:
 
     self.accel_pressed = False
     self.always_on_lateral_allowed = False
+    self.hyundai_aol_needs_engagement = self.CP.brand == "hyundai" and not (getattr(self.CP, "flags", 0) & HyundaiFlags.CANFD)
     self.hyundai_aol_ready = False
     self.prev_active = False
     self.prev_cruise_enabled = False
@@ -95,14 +97,14 @@ class StarPilotCard:
   def update(self, carState, starpilotCarState, sm, starpilot_toggles):
     self.switchback_mode_enabled = self.params_memory.get_bool("SwitchbackModeEnabled")
 
-    if self.CP.brand == "hyundai":
+    if self.hyundai_aol_needs_engagement:
       if carState.gearShifter in NON_DRIVING_GEARS or not carState.cruiseState.available:
         self.hyundai_aol_ready = False
         self.always_on_lateral_allowed = False
       elif sm["selfdriveState"].active or carState.cruiseState.enabled:
         self.hyundai_aol_ready = True
 
-    can_toggle_aol = self.CP.brand != "hyundai" or self.hyundai_aol_ready
+    can_toggle_aol = not self.hyundai_aol_needs_engagement or self.hyundai_aol_ready
 
     if self.CP.brand == "hyundai" or starpilot_toggles.lkas_allowed_for_aol:
       for be in carState.buttonEvents:
@@ -129,7 +131,7 @@ class StarPilotCard:
     # On rising edge of engagement (SET press enabling lat+long), auto-enable AOL
     # so that lateral persists when braking disengages longitudinal
     if sm["selfdriveState"].active and not self.prev_active and self.always_on_lateral_set and starpilot_toggles.always_on_lateral_lkas:
-      if self.CP.brand == "hyundai":
+      if self.hyundai_aol_needs_engagement:
         self.hyundai_aol_ready = True
       self.always_on_lateral_allowed = True
 
@@ -138,7 +140,7 @@ class StarPilotCard:
 
     self.always_on_lateral_enabled = self.always_on_lateral_allowed and self.always_on_lateral_set
     self.always_on_lateral_enabled &= carState.gearShifter not in NON_DRIVING_GEARS
-    self.always_on_lateral_enabled &= self.CP.brand != "hyundai" or self.hyundai_aol_ready
+    self.always_on_lateral_enabled &= not self.hyundai_aol_needs_engagement or self.hyundai_aol_ready
     self.always_on_lateral_enabled &= sm["starpilotPlan"].lateralCheck
     self.always_on_lateral_enabled &= sm["liveCalibration"].calPerc >= 1
     self.always_on_lateral_enabled &= (ET.IMMEDIATE_DISABLE not in sm["selfdriveState"].alertType + sm["starpilotSelfdriveState"].alertType) or self.frogs_go_moo

starpilot/controls/tests/test_starpilot_card.py

@@ -135,6 +135,27 @@ def test_hyundai_lkas_button_waits_for_normal_engagement_before_aol(monkeypatch,
   assert ret.pauseLateral is False
 
 
+def test_hyundai_canfd_lkas_button_can_toggle_aol_before_engagement(monkeypatch, tmp_path):
+  monkeypatch.setattr(spc, "Params", FakeParams)
+  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
+  monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
+
+  card = spc.StarPilotCard(
+    SimpleNamespace(brand="hyundai", flags=spc.HyundaiFlags.CANFD),
+    SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
+  )
+
+  car_state = make_car_state(available=True, button_events=[SimpleNamespace(type=spc.ButtonType.lkas, pressed=True)])
+  starpilot_car_state = SimpleNamespace(distancePressed=False)
+  sm = make_sm()
+  toggles = make_toggles(always_on_lateral=True, always_on_lateral_lkas=True)
+
+  ret = card.update(car_state, starpilot_car_state, sm, toggles)
+
+  assert ret.alwaysOnLateralAllowed is True
+  assert ret.alwaysOnLateralEnabled is True
+
+
 def test_hyundai_main_cruise_button_toggles_aol_when_assigned_to_aol(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
   monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)