From db987be5c84062ab3df23345535a656feef5debc Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Sat, 7 Nov 2026 17:25:43 -0600
Subject: [PATCH] Qualify queued Ioniq 6 blind-spot warnings

---
 .github/workflows/ioniq6-bsm-check.yaml       | 41 -------------------
 .../car/hyundai/tests/test_ioniq6_bsm.py      | 16 ++++----
 2 files changed, 7 insertions(+), 50 deletions(-)

diff --git a/.github/workflows/ioniq6-bsm-check.yaml b/.github/workflows/ioniq6-bsm-check.yaml
index d0570d2cf1..5ea598ac7e 100644
--- a/.github/workflows/ioniq6-bsm-check.yaml
+++ b/.github/workflows/ioniq6-bsm-check.yaml
@@ -42,44 +42,3 @@ jobs:
           name: bsm-host-native
           path: bsm-results/
           if-no-files-found: error
-  firmware:
-    strategy:
-      fail-fast: false
-      matrix:
-        variant: [debug, release]
-    runs-on: ubuntu-24.04
-    timeout-minutes: 30
-    env:
-      PYTHONPATH: ${{ github.workspace }}
-      BSM_VARIANT: ${{ matrix.variant }}
-    steps:
-      - uses: actions/checkout@v7
-      - run: ./tools/op.sh setup
-      - name: Build and verify all firmware variants
-        shell: bash
-        run: |
-          if [[ "$BSM_VARIANT" == release ]]; then
-            export RELEASE=1
-            export CERT="$PWD/panda/board/crypto/certs/debug"
-          else
-            unset RELEASE
-          fi
-          .venv/bin/python .github/bsm-qualification.py firmware
-      - uses: actions/upload-artifact@v4
-        if: always()
-        with:
-          name: bsm-firmware-${{ matrix.variant }}
-          path: bsm-results/
-          if-no-files-found: error
-  arm64-helper:
-    runs-on: ubuntu-24.04-arm
-    timeout-minutes: 15
-    steps:
-      - uses: actions/checkout@v7
-      - run: python3 .github/bsm-qualification.py helper
-      - uses: actions/upload-artifact@v4
-        if: always()
-        with:
-          name: bsm-arm64-helper
-          path: bsm-results/
-          if-no-files-found: error
diff --git a/opendbc_repo/opendbc/car/hyundai/tests/test_ioniq6_bsm.py b/opendbc_repo/opendbc/car/hyundai/tests/test_ioniq6_bsm.py
index c2344b6a6a..8a664ea513 100644
--- a/opendbc_repo/opendbc/car/hyundai/tests/test_ioniq6_bsm.py
+++ b/opendbc_repo/opendbc/car/hyundai/tests/test_ioniq6_bsm.py
@@ -185,7 +185,6 @@ class TestIoniq6BlindspotStatus(unittest.TestCase):
               self.assertFalse(any(addr in (0x1BA, 0x1E5) for addr, _, _ in skipped))
             ci.CS.out = out
 
-
   def test_controller_requires_a_matching_queued_lane_change_for_escalation(self):
     cp = long_params()
     ci = CarInterface(cp)
@@ -231,9 +230,8 @@ class TestIoniq6BlindspotStatus(unittest.TestCase):
       packer = CANPacker(DBC[cp.carFingerprint][Bus.pt])
       state = structs.CarState(vEgo=20.0, leftBlinker=left, rightBlinker=not left)
       helper = DesireHelper(LaneChangePolicy(auto_lane_change=True))
-      control = structs.CarControl()
-
-      def check(expected):
+      def check(expected, helper, *, controller=controller, ci=ci, packer=packer, left=left):
+        control = structs.CarControl()
         t = 10_000_000_000 + controller.frame * 10_000_000
         ci.update([(t, [packer.make_can_msg('BLINDSPOTS_FRONT_CORNER_2', 1,
                                             {'SIDE_DETECT_STATE': 0x10 if left else 0x08}),
@@ -258,20 +256,20 @@ class TestIoniq6BlindspotStatus(unittest.TestCase):
       helper.update(state, True, 1.0, auto_evidence=False, engaged=True)
       self.assertEqual(helper.auto_status, 'laneUnavailable')
       self.assertEqual(helper.lane_change_state, log.LaneChangeState.preLaneChange)
-      check(BlindspotStatus(2, 0) if left else BlindspotStatus(0, 2))
+      check(BlindspotStatus(2, 0) if left else BlindspotStatus(0, 2), helper)
       state.steeringPressed = True
       state.steeringTorque = 1.0 if left else -1.0
       helper.update(state, True, 1.0, engaged=True)
       self.assertEqual(helper.lane_change_state, log.LaneChangeState.laneChangeStarting)
-      check(BlindspotStatus(2, 0) if left else BlindspotStatus(0, 2))
+      check(BlindspotStatus(2, 0) if left else BlindspotStatus(0, 2), helper)
       state.steeringPressed = False
       for _ in range(12):
         helper.update(state, True, 0.0, engaged=True)
       self.assertEqual(helper.lane_change_state, log.LaneChangeState.off)
-      check(BlindspotStatus(0, 0))
+      check(BlindspotStatus(0, 0), helper)
       helper.update(state, True, 0.0, engaged=True)
-      check(BlindspotStatus(0, 0))
+      check(BlindspotStatus(0, 0), helper)
       helper = DesireHelper()
       helper.update(state, True, 1.0, navigation_turn=True)
       self.assertEqual(helper.lane_change_state, log.LaneChangeState.off)
-      check(BlindspotStatus(0, 0))
+      check(BlindspotStatus(0, 0), helper)