From d5d1b47c32d0e37331ce679c2a46c335c61e2cf0 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Fri, 6 Nov 2026 21:18:55 -0600
Subject: [PATCH] Qualify split HKG angle EPS publications

---
 .../aol/tests/test_hkg_angle_eps_retention.py     | 15 ++++++++++-----
 openpilot/starpilot/aol/transport_pause.py        |  8 ++++++++
 2 files changed, 18 insertions(+), 5 deletions(-)

diff --git a/openpilot/starpilot/aol/tests/test_hkg_angle_eps_retention.py b/openpilot/starpilot/aol/tests/test_hkg_angle_eps_retention.py
index 85fa2ef605..81db181cb7 100644
--- a/openpilot/starpilot/aol/tests/test_hkg_angle_eps_retention.py
+++ b/openpilot/starpilot/aol/tests/test_hkg_angle_eps_retention.py
@@ -209,10 +209,15 @@ def test_stopped_full_request_keeps_existing_lateral_intent_without_granting_com
       if tick == 4:
         assert axis.desiredLongitudinal and not axis.longitudinalActive
         assert not axis.lateralActive and not command.latActive and not command.longActive
-      stopped_role = feedback._angle_stop_intent_current(sm, sd.CP, state, axis, int(sm.logMonoTime['aolAxisState']), now,
-        latched=True, producer='authority-card')
-      before = {'feedback': repr(vars(feedback)), 'state': state.to_dict(), 'native': repr(sd.sm['aolSafetyWire']), 'pandas': repr(sd.sm['pandaStates']), 'tick': tick, 'stopped_role': stopped_role, 'pending_event': feedback.pending_event,
-        'axis': axis.to_dict(), 'events': [str(e.name) for e in sm['onroadEvents']]}
+      if tick == 5:
+        assert axis.longitudinalActive and not axis.lateralActive and not command.latActive
+        assert all(not p.controlsAllowed for p in sm['pandaStates'])
+        veto = messaging.SubMaster(['aolAxisState', 'onroadEvents', 'aolSafetyWire', 'pandaStates'])
+        latest = messaging.new_message('pandaStates', len(sm['pandaStates']), valid=True, logMonoTime=now)
+        latest.pandaStates = sm['pandaStates']
+        veto.update_msgs(now / 1e9, [*frames[:3], latest.as_reader()])
+        assert not feedback._angle_stop_intent_current(veto, sd.CP, state, axis, now, now,
+          latched=True, producer='authority-card')
       assert not feedback.observe(sm, sd.CP, state, now, latched=True,
-        intent_producer_session='authority-card'), 'STOPPED_FULL_REQUEST_DISARMED ' + repr(before)
+        intent_producer_session='authority-card'), f'STOPPED_FULL_REQUEST_DISARMED tick={tick}'
       assert not feedback.failed
diff --git a/openpilot/starpilot/aol/transport_pause.py b/openpilot/starpilot/aol/transport_pause.py
index 6539abafa4..be92dd56df 100644
--- a/openpilot/starpilot/aol/transport_pause.py
+++ b/openpilot/starpilot/aol/transport_pause.py
@@ -1201,6 +1201,14 @@ class TransportPauseFeedback:
       return False
     native = _configured_transport_native(sm, cp, self.session, now_ns,
       require_longitudinal=not pending_stop, allow_restricted_lateral=True)
+    if native is None and combined_stop:
+      newer = _configured_transport_native(sm, cp, self.session, now_ns,
+        require_longitudinal=False, allow_restricted_lateral=True)
+      if (newer is not None and newer.pandaInventory and
+          0 < int(sm.logMonoTime['pandaStates']) < newer.sourcePandaStatesMonoTime and
+          all(slot.controlsAllowed for slot, config in zip(newer.pandaInventory, cp.safetyConfigs, strict=True)
+              if str(config.safetyModel) not in ('silent', 'noOutput'))):
+        native = newer
     return bool(native is not None and native.pandaInventory and native.requestedLateral and
       (not native.lateralAllowed or subaru_stop and not axis.desiredLateral and not axis.lateralActive) and
       (pending_stop or not native.requestedLongitudinal and not combined_stop or