From dc7ff90070923bf48e12fe7fbadc7a1f3d5e96cc Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Thu, 29 Oct 2026 22:46:29 -0500
Subject: [PATCH] Restore Sportage AOL and show effective wheel controls

---
 .../opendbc/car/hyundai/canfd_stock_aol.py    |  10 +-
 .../opendbc/car/hyundai/carcontroller.py      |   6 +-
 .../opendbc/safety/modes/hyundai_canfd.h      |  15 +--
 .../opendbc/safety/modes/hyundai_canfd_aol.h  |   9 +-
 .../tests/test_hyundai_sportage_long_aol.py   | 113 ++++++++++++++++++
 .../pandad/tests/test_aol_protocol.cc         |   5 +
 .../aol/tests/test_sportage_alpha_aol.py      | 102 ++++++++++++++++
 openpilot/starpilot/car/hyundai/aol.py        |   1 -
 openpilot/starpilot/car/hyundai/settings.py   |   4 +-
 .../tests/test_offroad_configuration_pages.py |  10 +-
 .../ui/tests/test_feature_settings_lateral.py |  14 +--
 .../test_hyundai_configuration_settings.py    |   2 +-
 .../tests/test_wheel_effective_aol_roles.py   |  83 +++++++++++++
 openpilot/starpilot/ui/wheel_feature.py       |  47 +++++++-
 prebuilt                                      |   0
 prebuilt.json                                 |   1 -
 16 files changed, 388 insertions(+), 34 deletions(-)
 create mode 100644 opendbc_repo/opendbc/safety/tests/test_hyundai_sportage_long_aol.py
 create mode 100644 openpilot/starpilot/aol/tests/test_sportage_alpha_aol.py
 create mode 100644 openpilot/starpilot/ui/tests/test_wheel_effective_aol_roles.py
 delete mode 100644 prebuilt
 delete mode 100644 prebuilt.json

diff --git a/opendbc_repo/opendbc/car/hyundai/canfd_stock_aol.py b/opendbc_repo/opendbc/car/hyundai/canfd_stock_aol.py
index f152fdfc60..b1e5a21fd3 100644
--- a/opendbc_repo/opendbc/car/hyundai/canfd_stock_aol.py
+++ b/opendbc_repo/opendbc/car/hyundai/canfd_stock_aol.py
@@ -95,9 +95,10 @@ def qualified(cp, *, marked_only=False):
   return cp.safetyConfigs[config_index(cp)].safetyParam in ((word | STOCK_AOL_MARKER,) if marked_only else (word, word | STOCK_AOL_MARKER))
 
 
-LONG_AOL_WORDS = frozenset((0x0815, 0x0895, 0x2815, 0x2895))
+SPORTAGE_LONG_AOL_WORDS = frozenset(0x0804 | fuel | topology for fuel in (0, 2) for topology in (0, 8, 16, 144, 32, 40))
+LONG_AOL_WORDS = frozenset((0x0815, 0x0895, 0x2815, 0x2895)) | SPORTAGE_LONG_AOL_WORDS
 LONG_EV_CARS = frozenset((CAR.HYUNDAI_IONIQ_5, CAR.HYUNDAI_KONA_EV_2ND_GEN))
-INDEPENDENT_LONG_BUTTON_CARS = LONG_EV_CARS | {CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN}
+INDEPENDENT_LONG_BUTTON_CARS = LONG_EV_CARS | {CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN}
 
 
 def qualified_long(cp, *, marked_only=False):
@@ -111,7 +112,10 @@ def qualified_long(cp, *, marked_only=False):
     if not eligible(cp):
       return False
   word = _base_word(cp, experiences=(0, 32))
-  if word not in (0x11, 0x91):
+  if cp.carFingerprint == CAR.KIA_SPORTAGE_5TH_GEN:
+    if word is None or word | 0x804 not in SPORTAGE_LONG_AOL_WORDS:
+      return False
+  elif word not in (0x11, 0x91):
     return False
   raw = int(cp.safetyConfigs[config_index(cp)].safetyParam)
   if cp.carFingerprint == CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN:
diff --git a/opendbc_repo/opendbc/car/hyundai/carcontroller.py b/opendbc_repo/opendbc/car/hyundai/carcontroller.py
index a65a5f79d3..eef359b070 100644
--- a/opendbc_repo/opendbc/car/hyundai/carcontroller.py
+++ b/opendbc_repo/opendbc/car/hyundai/carcontroller.py
@@ -27,7 +27,7 @@ from opendbc.car.hyundai.ioniq6_longitudinal import Ioniq6LongitudinalPolicy
 from opendbc.car.hyundai.canfd_dash_icons import CanFDDashIcons
 from opendbc.car.hyundai.classic_scc_aol import qualified as qualified_classic_stock_aol
 from opendbc.car.hyundai.classic_long_aol import independent_buttons_qualified as qualified_classic_long_buttons
-from opendbc.car.hyundai.canfd_stock_aol import qualified as qualified_canfd_stock_aol
+from opendbc.car.hyundai.canfd_stock_aol import qualified as qualified_canfd_stock_aol, qualified_long as qualified_canfd_long_aol
 from opendbc.car.hyundai.ev6_aol import qualified as qualified_ev6_aol
 from opendbc.car.hyundai.g90_longitudinal import G90LongitudinalPolicy
 from opendbc.car.hyundai.gv70_longitudinal import is_gv70, scc_request, suppress_stock_cancel
@@ -157,7 +157,9 @@ class CarController(CarControllerBase):
     ioniq6_status = (self.ioniq6_longitudinal is not None and
                      int(CP.safetyConfigs[-1].safetyParam) in (0x8015, 0x8095, 0x8815, 0x8895))
     self.ioniq6_bsm_enabled = ioniq6_status
-    self.ev6_aol_status = CP.carFingerprint == CAR.KIA_EV6 and (qualified_canfd_stock_aol(CP) or qualified_ev6_aol(CP))
+    self.ev6_aol_status = ((CP.carFingerprint == CAR.KIA_EV6 and (qualified_canfd_stock_aol(CP) or qualified_ev6_aol(CP))) or
+                           (CP.carFingerprint == CAR.KIA_SPORTAGE_5TH_GEN and
+                            (qualified_canfd_stock_aol(CP) or qualified_canfd_long_aol(CP))))
     self.canfd_dash_icons = CanFDDashIcons() if ioniq6_status or self.torque_ev_scc_enabled or self.ev6_aol_status else None
     self.classic_dash_icons = CanFDDashIcons() if classic_aol_dash_enabled(CP) else None
     self.classic_lfa_icon = None
diff --git a/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h b/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
index 51aabe7b80..997952de2b 100644
--- a/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
+++ b/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
@@ -330,7 +330,7 @@ static uint8_t aol_ioniq6_request_mask(void) {
   } else if (heartbeat_engaged) {
     aol_ioniq6_session_started = true;
     if ((hyundai_canfd_ioniq6_long || hyundai_ev9_long_aol ||
-         (hyundai_canfd_torque_ev_long && !aol_optional_release_policy)) && controls_allowed && aol_ioniq6_enable_release &&
+         (aol_optional_release_capable && !aol_optional_release_policy)) && controls_allowed && aol_ioniq6_enable_release &&
         ((aol_host_axis_mask & 0x3U) == 0x3U) &&
         (safety_get_ts_elapsed(now, aol_ioniq6_enable_release_ts) <= AOL_HOST_REQUEST_TIMEOUT_US)) {
       aol_ioniq6_lateral_latch = true;
@@ -583,21 +583,22 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *msg) {
       cruise_button = (msg->data[4] >> 4) & 0x7U;
       main_button = GET_BIT(msg, 34U);
     }
+    const bool lkas_button = hyundai_canfd_alt_buttons ? GET_BIT(msg, 39U) : GET_BIT(msg, 23U);
     const bool previous_controls_allowed = controls_allowed;
     const int previous_cruise_button = cruise_button_prev;
     const int main_policy = hyundai_canfd_ccnc_ev_long ? (hyundai_canfd_pe_long ? HYUNDAI_MAIN_WITHDRAW : HYUNDAI_MAIN_TRACK) : HYUNDAI_MAIN_NONE;
     const bool normal_main_button = hyundai_canfd_ccnc_ev_long && GET_BIT(msg, 21U);
     hyundai_common_cruise_buttons_check(cruise_button, main_button, normal_main_button, main_policy);
     if ((hyundai_canfd_ioniq6_long || hyundai_ev9_long_aol ||
-         (hyundai_canfd_torque_ev_long && !aol_optional_release_policy)) && aol_ioniq6_long) {
+         (aol_optional_release_capable && !aol_optional_release_policy)) && aol_ioniq6_long) {
       static uint8_t aol_ioniq6_enable_counter = 0U;
       static uint32_t aol_ioniq6_enable_ts = 0U;
       const uint8_t counter = hyundai_canfd_get_counter(msg);
       const uint32_t now = microsecond_timer_get();
       const uint32_t elapsed = safety_get_ts_elapsed(now, aol_ioniq6_enable_ts);
       const bool fresh = aol_ioniq6_enable_counter_seen &&
-        hyundai_canfd_button_counter_follows(aol_ioniq6_enable_counter, counter, 0xFU) && (elapsed > 0U) && (elapsed <= 100000U);
-      if (!fresh || main_button || GET_BIT(msg, 23U)) {
+        hyundai_canfd_button_counter_follows(aol_ioniq6_enable_counter, counter, hyundai_canfd_alt_buttons ? 0xFFU : 0xFU) && (elapsed > 0U) && (elapsed <= 100000U);
+      if (!fresh || main_button || lkas_button) {
         aol_ioniq6_enable_pending = false;
         aol_ioniq6_enable_release = false;
       } else if (aol_ioniq6_enable_neutral && (previous_cruise_button == HYUNDAI_BTN_NONE) &&
@@ -616,7 +617,7 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *msg) {
       } else {
         // A held enable button does not renew the heartbeat grace.
       }
-      aol_ioniq6_enable_neutral = !main_button && !GET_BIT(msg, 23U) && (cruise_button == HYUNDAI_BTN_NONE);
+      aol_ioniq6_enable_neutral = !main_button && !lkas_button && (cruise_button == HYUNDAI_BTN_NONE);
       aol_ioniq6_enable_counter_seen = true;
       aol_ioniq6_enable_counter = counter;
       aol_ioniq6_enable_ts = now;
@@ -657,7 +658,7 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *msg) {
         }
         aol_optional_release_previous = (uint8_t)cruise_button;
       }
-      const bool gesture = main_button || (hyundai_canfd_alt_buttons ? GET_BIT(msg, 39U) : GET_BIT(msg, 23U)); // LDA/LKAS button
+      const bool gesture = main_button || lkas_button;
       if (cruise_button == HYUNDAI_BTN_CANCEL) {
         aol_ioniq6_enable_reset();
         aol_optional_release_pending = false;
@@ -1495,7 +1496,7 @@ static safety_config hyundai_canfd_init_validated(uint16_t supplied_param) {
   hyundai_canfd_angle_model = 0U;
 #ifdef ALLOW_DEBUG
   hyundai_canfd_ioniq6_long = ioniq6_long_requested;
-  hyundai_canfd_torque_ev_long = (param == 0x0015U) || (param == 0x0095U) || torque_long_aol_requested || gv60_long_requested;
+  hyundai_canfd_torque_ev_long = (param == 0x0015U) || (param == 0x0095U) || (torque_long_aol_requested && GET_FLAG(param, 16U)) || gv60_long_requested;
 #endif
   hyundai_torque_aol_cancel_preserves_lateral = ioniq6_stock_aol_requested || torque_long_aol_requested ||
                                                (param == 0x8815U) || (param == 0x8895U);
diff --git a/opendbc_repo/opendbc/safety/modes/hyundai_canfd_aol.h b/opendbc_repo/opendbc/safety/modes/hyundai_canfd_aol.h
index 3802a5111a..83626206f4 100644
--- a/opendbc_repo/opendbc/safety/modes/hyundai_canfd_aol.h
+++ b/opendbc_repo/opendbc/safety/modes/hyundai_canfd_aol.h
@@ -18,6 +18,13 @@ static inline bool hyundai_canfd_stock_torque_aol_param(uint16_t param) {
 
 #if defined(ALLOW_DEBUG) || defined(__cplusplus)
 static inline bool hyundai_canfd_torque_long_aol_param(uint16_t param) {
-  return (param == 0x0815U) || (param == 0x0895U) || (param == 0x2815U) || (param == 0x2895U);
+  const uint16_t base = param & (uint16_t)~0x0800U;
+  const uint16_t fuel = base & 3U;
+  const uint16_t topology = base & 0x00B8U;
+  const bool sportage = ((param & 0x0800U) != 0U) && ((base & (uint16_t)~0x00BEU) == 0U) &&
+                        ((base & 4U) != 0U) && ((fuel == 0U) || (fuel == 2U)) &&
+                        ((topology == 0U) || (topology == 8U) || (topology == 16U) ||
+                         (topology == 144U) || (topology == 32U) || (topology == 40U));
+  return sportage || (param == 0x0815U) || (param == 0x0895U) || (param == 0x2815U) || (param == 0x2895U);
 }
 #endif
diff --git a/opendbc_repo/opendbc/safety/tests/test_hyundai_sportage_long_aol.py b/opendbc_repo/opendbc/safety/tests/test_hyundai_sportage_long_aol.py
new file mode 100644
index 0000000000..54b13f76d6
--- /dev/null
+++ b/opendbc_repo/opendbc/safety/tests/test_hyundai_sportage_long_aol.py
@@ -0,0 +1,113 @@
+import unittest
+from types import SimpleNamespace
+
+from opendbc.can import CANPacker
+from opendbc.car import structs
+from opendbc.car.hyundai.hyundaicanfd import create_steering_messages
+from opendbc.car.hyundai.values import CAR, HyundaiFlags
+from opendbc.car.hyundai.canfd_stock_aol import SPORTAGE_LONG_AOL_WORDS
+from opendbc.safety.tests.libsafety import libsafety_py
+from opendbc.safety.tests import test_hyundai_shared_canfd_stock_aol as fixtures
+
+
+class TestSportageLongAol(unittest.TestCase):
+  packet = staticmethod(fixtures.TestHyundaiSharedCanfdStockAol.packet)
+  healthy = fixtures.TestHyundaiSharedCanfdStockAol.healthy
+  gesture = fixtures.TestHyundaiSharedCanfdStockAol.gesture
+
+  def setUp(self):
+    self.safety = libsafety_py.libsafety
+    self.packer = CANPacker('hyundai_canfd_generated')
+    self.release = self.safety.set_safety_hooks(structs.CarParams.SafetyModel.allOutput, 0) != 0
+
+  def tearDown(self):
+    self.safety.set_alternative_experience(0)
+    self.safety.set_safety_hooks(structs.CarParams.SafetyModel.noOutput, 0)
+
+  def mode(self, word, experience=32):
+    self.safety.set_alternative_experience(experience)
+    assert self.safety.set_safety_hooks(structs.CarParams.SafetyModel.hyundaiCanfd, word) == 0
+    self.safety.init_tests()
+    self.safety.set_timer(1_000_000)
+
+  def test_physical_arm_cancel_pedals_and_ungranted_longitudinal(self):
+    for word in SPORTAGE_LONG_AOL_WORDS:
+      with self.subTest(word=hex(word)):
+        self.mode(word)
+        if self.release:
+          assert not self.safety.safety_config_valid()
+          continue
+        self.healthy(word)
+        self.safety.set_aol_test_heartbeat(True)
+        self.safety.aol_set_host_request(3)
+        assert self.safety.aol_get_permission_mask() == 0
+        self.gesture(word)
+        assert self.safety.aol_get_permission_mask() == 1
+        bus = 1 if word & 16 else 0
+        flags = HyundaiFlags.CANFD
+        if word & 16:
+          flags |= HyundaiFlags.CANFD_LKA_STEER_MSG
+        if word & 128:
+          flags |= HyundaiFlags.CANFD_LKA_STEER_MSG_ALT
+        cp = SimpleNamespace(carFingerprint=CAR.KIA_SPORTAGE_5TH_GEN, flags=int(flags), openpilotLongitudinalControl=True)
+        frames = create_steering_messages(self.packer, cp, SimpleNamespace(ECAN=bus, ACAN=1-bus), True, True, 1)
+        for frame in frames:
+          assert self.safety.safety_tx_hook(self.packet(frame))
+        excessive = create_steering_messages(self.packer, cp, SimpleNamespace(ECAN=bus, ACAN=1-bus), True, True, 410)
+        assert not self.safety.safety_tx_hook(self.packet(excessive[0]))
+        name = 'CRUISE_BUTTONS_ALT' if word & 32 else 'CRUISE_BUTTONS'
+        frame = self.packer.make_can_msg(name, bus, {'COUNTER': 9, 'CRUISE_BUTTONS': 4})
+        assert self.safety.safety_rx_hook(self.packet(frame))
+        assert self.safety.aol_get_permission_mask() == 1
+        for counter, brake in ((7, True), (8, False)):
+          frame = self.packer.make_can_msg('TCS', bus, {'COUNTER': counter, 'DriverBraking': brake})
+          assert self.safety.safety_rx_hook(self.packet(frame))
+          assert self.safety.aol_get_permission_mask() == 1
+        accel = self.packet(self.packer.make_can_msg('SCC_CONTROL', bus, {'ACCMode': 1, 'aReqRaw': .1, 'aReqValue': .1}))
+        assert not self.safety.safety_tx_hook(accel)
+        self.safety.set_timer(1_500_001)
+        assert self.safety.aol_get_permission_mask() == 0
+
+  def test_wrong_experience_missing_source_and_wrong_bus_deny(self):
+    for word in SPORTAGE_LONG_AOL_WORDS:
+      for experience in (0, 1, 33):
+        self.mode(word, experience)
+        assert not self.safety.safety_config_valid()
+      if self.release:
+        continue
+      fuel = 'ACCELERATOR_ALT' if word & 2 else 'ACCELERATOR_BRAKE_ALT'
+      buttons = 'CRUISE_BUTTONS_ALT' if word & 32 else 'CRUISE_BUTTONS'
+      for omitted in (fuel, buttons, 'TCS', 'WHEEL_SPEEDS', 'MDPS'):
+        self.mode(word)
+        self.healthy(word, omit=omitted)
+        if omitted != buttons:
+          self.gesture(word)
+        assert self.safety.aol_get_permission_mask() == 0
+
+  def test_fresh_set_release_arms_lateral_through_cancel_and_brake(self):
+    for word in SPORTAGE_LONG_AOL_WORDS:
+      self.mode(word)
+      if self.release:
+        assert not self.safety.safety_config_valid()
+        continue
+      name = 'CRUISE_BUTTONS_ALT' if word & 32 else 'CRUISE_BUTTONS'
+      maximum = 255 if word & 32 else 14
+      bus = 1 if word & 16 else 0
+      self.healthy(word, omit=name)
+      self.safety.set_aol_test_heartbeat(True)
+      self.safety.aol_set_host_request(3)
+      for tick, counter, button in ((0, maximum - 1, 0), (1, maximum, 2), (2, 0, 0)):
+        self.safety.set_timer(1_000_000 + tick * 20_000)
+        frame = self.packer.make_can_msg(name, bus, {'COUNTER': counter, 'CRUISE_BUTTONS': button})
+        assert self.safety.safety_rx_hook(self.packet(frame))
+      self.safety.aol_set_host_request(3)
+      assert self.safety.get_controls_allowed()
+      assert self.safety.aol_get_permission_mask() == 3
+      self.safety.set_timer(1_060_000)
+      frame = self.packer.make_can_msg(name, bus, {'COUNTER': 1, 'CRUISE_BUTTONS': 4})
+      assert self.safety.safety_rx_hook(self.packet(frame))
+      assert not self.safety.get_controls_allowed()
+      assert self.safety.aol_get_permission_mask() == 1, hex(word)
+      frame = self.packer.make_can_msg('TCS', bus, {'COUNTER': 7, 'DriverBraking': True})
+      assert self.safety.safety_rx_hook(self.packet(frame))
+      assert self.safety.aol_get_permission_mask() == 1
diff --git a/openpilot/selfdrive/pandad/tests/test_aol_protocol.cc b/openpilot/selfdrive/pandad/tests/test_aol_protocol.cc
index ac75feed08..5be4e071de 100644
--- a/openpilot/selfdrive/pandad/tests/test_aol_protocol.cc
+++ b/openpilot/selfdrive/pandad/tests/test_aol_protocol.cc
@@ -512,6 +512,8 @@ int main() {
     0x6A28U, 0x6A2AU, 0x7008U, 0x700AU, 0x7010U, 0x7012U, 0x7028U, 0x702AU,
     0x7090U, 0x7092U, 0x7208U, 0x720AU, 0x7228U, 0x722AU, 0x7809U, 0x7829U,
   };
+  constexpr uint16_t sportage_long_words[] = {0x0804U, 0x0806U, 0x080CU, 0x080EU, 0x0814U, 0x0816U,
+                                              0x0894U, 0x0896U, 0x0824U, 0x0826U, 0x082CU, 0x082EU};
   for (uint32_t word = 0U; word <= 0xFFFFU; ++word) {
     bool expected = word == 0x2815U || word == 0x2895U || word == 0x0815U || word == 0x0895U || word == 0x8815U || word == 0x8895U || word == 0x5491U || word == 0x5C91U || word == 0x5C95U || word == 0x5495U;
     for (uint16_t stock_word : stock_canfd_words) {
@@ -520,6 +522,9 @@ int main() {
     for (uint16_t stock_word : stock_angle_words) {
       expected = expected || word == stock_word;
     }
+    for (uint16_t sportage_word : sportage_long_words) {
+      expected = expected || word == sportage_word;
+    }
     assert(hyundai_aol_param(static_cast<uint16_t>(word)) == expected);
   }
 
diff --git a/openpilot/starpilot/aol/tests/test_sportage_alpha_aol.py b/openpilot/starpilot/aol/tests/test_sportage_alpha_aol.py
new file mode 100644
index 0000000000..fbdedf9893
--- /dev/null
+++ b/openpilot/starpilot/aol/tests/test_sportage_alpha_aol.py
@@ -0,0 +1,102 @@
+from types import SimpleNamespace
+
+import pytest
+
+from opendbc.car import gen_empty_fingerprint, structs
+from opendbc.car.hyundai.canfd_stock_aol import qualified_long
+from opendbc.car.hyundai.interface import CarInterface
+from opendbc.car.hyundai.values import CAR
+from openpilot.starpilot.aol.intent import AolSettings
+from openpilot.starpilot.car.hyundai.aol import create_intent, native_accepts_cp, policy_for
+from openpilot.starpilot.ui.wheel_feature import WheelFeature
+
+
+def sportage(*, hybrid=False, alternate=False, lka=0, alpha=True):
+  fp = gen_empty_fingerprint()
+  bus = 1 if lka else 0
+  if lka:
+    fp[2][0x110 if lka == 2 else 0x50] = 32 if lka == 2 else 16
+  fp[bus].update({0x1aa if alternate else 0x1cf: 16 if alternate else 8, 0x130: 32, 0x35: 32})
+  if hybrid:
+    fp[bus][0xFA] = 8
+  fw = [structs.CarParams.CarFw(ecu='adas')] if lka else []
+  return CarInterface.get_params(CAR.KIA_SPORTAGE_5TH_GEN, fp, fw, alpha, False, False)
+
+
+@pytest.mark.parametrize('hybrid', [False, True])
+@pytest.mark.parametrize('layout', [(0, False), (0, True), (1, False), (2, False)])
+@pytest.mark.parametrize('alpha', [False, True])
+def test_sportage_factory_wheel_choices_and_physical_latch(hybrid, layout, alpha):
+  lka, alternate = layout
+  cp = sportage(hybrid=hybrid, alternate=alternate, lka=lka, alpha=alpha)
+  assert cp.openpilotLongitudinalControl == alpha
+  policy = policy_for(cp)
+  assert policy.settings_supported and policy.runtime_supported
+  owner = SimpleNamespace(vehicle_params=lambda: cp, configuration_vehicle=lambda: False,
+                          configuration_longitudinal=lambda: False, longitudinal_available=lambda: alpha)
+  for key in ('LKASButtonControl', 'MainCruiseButtonControl'):
+    assert 'Toggle AOL' in WheelFeature(owner).choices(key)
+  cp.safetyConfigs[-1].safetyParam |= policy.safety_param_addition
+  cp.alternativeExperience |= policy.alternative_experience_addition
+  assert native_accepts_cp(cp, int(cp.safetyConfigs[-1].safetyModel.raw), cp.safetyConfigs[-1].safetyParam)
+  if alpha:
+    assert qualified_long(cp, marked_only=True)
+  for button in ('lkas', 'mainCruise'):
+    intent = create_intent(cp, AolSettings(True, 0., 9, 9, (0, 0, 0), (0, 0, 0)))
+    cs = structs.CarState(canValid=True, gearShifter='drive')
+    cs.cruiseState.available = True
+    intent.update(cs, now_ns=1, fault_active=False)
+    cs.buttonEvents = [structs.CarState.ButtonEvent(type=button, pressed=True)]
+    intent.update(cs, now_ns=2, fault_active=False)
+    assert intent.allowed_latch
+    cs.buttonEvents = [structs.CarState.ButtonEvent(type='cancel', pressed=True)]
+    intent.update(cs, now_ns=3, fault_active=False)
+    assert intent.allowed_latch
+    cs.buttonEvents = []
+    cs.brakePressed = True
+    intent.update(cs, now_ns=4, fault_active=False)
+    assert intent.allowed_latch
+    cs.canValid = False
+    intent.update(cs, now_ns=5, fault_active=False)
+    assert not intent.output(cs)[0]
+
+
+def test_sportage_alpha_rejects_wrong_identity_word_and_experience():
+  cp = sportage()
+  assert qualified_long(cp)
+  for field, value in (('carFingerprint', CAR.KIA_SELTOS), ('passive', True), ('dashcamOnly', True),
+                       ('notCar', True), ('pcmCruise', True), ('alternativeExperience', 32)):
+    bad = cp.as_reader().as_builder()
+    setattr(bad, field, value)
+    assert not qualified_long(bad)
+  for word in (0x80d, 0x80f, 0x830, 0x180c, 0x480c):
+    bad = cp.as_reader().as_builder()
+    bad.safetyConfigs[-1].safetyParam = word
+    bad.alternativeExperience = 32
+    assert not qualified_long(bad)
+
+
+@pytest.mark.parametrize('hybrid', [False, True])
+@pytest.mark.parametrize('alternate', [False, True])
+@pytest.mark.parametrize('alpha', [False, True])
+def test_sportage_lateral_only_uses_active_status_without_changing_normal_commands(hybrid, alternate, alpha):
+  from opendbc.can import CANParser
+  from opendbc.car import Bus
+  from opendbc.car.hyundai.values import DBC
+
+  cp = sportage(hybrid=hybrid, alternate=alternate, alpha=alpha)
+  policy = policy_for(cp)
+  cp.safetyConfigs[-1].safetyParam |= policy.safety_param_addition
+  cp.alternativeExperience |= policy.alternative_experience_addition
+  ci = CarInterface(cp)
+  ci.update([])
+  parser = CANParser(DBC[CAR.KIA_SPORTAGE_5TH_GEN][Bus.pt], [('LFA', 0)], 0)
+  before = cp.to_dict()
+  for enabled, lateral, expected in ((False, False, 1), (False, True, 2), (True, True, 2), (True, False, 2)):
+    cc = structs.CarControl(enabled=enabled, latActive=lateral)
+    stamp = 10_000_000_000 + ci.CC.frame * 10_000_000
+    _, frames = ci.CC.update(cc.as_reader(), ci.CS, stamp)
+    parser.update((stamp, frames))
+    assert parser.vl['LFA']['LKA_SysIndReq'] == expected
+    assert parser.vl['LFA']['Damping_Gain'] == 100
+    assert cp.to_dict() == before
diff --git a/openpilot/starpilot/car/hyundai/aol.py b/openpilot/starpilot/car/hyundai/aol.py
index 8170c3d681..f88995e5a3 100644
--- a/openpilot/starpilot/car/hyundai/aol.py
+++ b/openpilot/starpilot/car/hyundai/aol.py
@@ -183,7 +183,6 @@ def _policy_for(CP) -> AolVehiclePolicy:
     explicit_latch=qualified,
     distance_personality=distance_personality,
     safety_param_addition=0x0800 if stock else 0,
-    fixed_cruise_buttons=settings,
     distance_pause_only=settings,
     paddle_pause=settings,
   )
diff --git a/openpilot/starpilot/car/hyundai/settings.py b/openpilot/starpilot/car/hyundai/settings.py
index 221e4f1ce1..b2158a9b14 100644
--- a/openpilot/starpilot/car/hyundai/settings.py
+++ b/openpilot/starpilot/car/hyundai/settings.py
@@ -6,12 +6,12 @@ from opendbc.car.hyundai.values import CAR
 @dataclass(frozen=True)
 class WheelSettingsPolicy:
   settings_supported: bool = True
-  fixed_cruise_buttons: bool = True
+  fixed_cruise_buttons: bool = False
   explicit_latch: bool = True
   distance_pause_only: bool = True
   paddle_pause: bool = True
   runtime_supported: bool = False
-  lkas_button_supported: bool = False
+  lkas_button_supported: bool = True
   auxiliary_lkas_supported: bool = False
 
 
diff --git a/openpilot/starpilot/galaxy/tests/test_offroad_configuration_pages.py b/openpilot/starpilot/galaxy/tests/test_offroad_configuration_pages.py
index 87f7004707..f84f4cbd2e 100644
--- a/openpilot/starpilot/galaxy/tests/test_offroad_configuration_pages.py
+++ b/openpilot/starpilot/galaxy/tests/test_offroad_configuration_pages.py
@@ -114,18 +114,18 @@ class TestOffroadConfigurationPages(unittest.TestCase):
             self.assertTrue(rows[label]['choices'] or rows[label]['step'], (name, label))
       self.assert_no_car_cache()
 
-  def test_fixed_ioniq6_cruise_buttons_remain_outside_remapping_catalog(self):
+  def test_ioniq6_cruise_buttons_are_in_remapping_catalog(self):
     from openpilot.starpilot.car.hyundai.settings import configuration_wheel_policy
     cp = self.context.sample().cp
     policy = configuration_wheel_policy(cp)
     assert policy is not None
-    self.assertTrue(policy.fixed_cruise_buttons)
-    self.assertFalse(policy.lkas_button_supported)
+    self.assertFalse(policy.fixed_cruise_buttons)
+    self.assertTrue(policy.lkas_button_supported)
     self.params.put('LKASButtonControl', 9, block=True)
     self.params.put('MainCruiseButtonControl', 10, block=True)
     labels = {row['label'] for row in self.page('wheel')['rows']}
-    self.assertNotIn('LKAS press', labels)
-    self.assertNotIn('Main cruise press', labels)
+    self.assertIn('LKAS press', labels)
+    self.assertIn('Main cruise press', labels)
     self.assertIn('Distance long press', labels)
     self.assertEqual(self.params.get('LKASButtonControl'), 9)
     self.assertEqual(self.params.get('MainCruiseButtonControl'), 10)
diff --git a/openpilot/starpilot/ui/tests/test_feature_settings_lateral.py b/openpilot/starpilot/ui/tests/test_feature_settings_lateral.py
index be256fdb93..a9a44ad68a 100644
--- a/openpilot/starpilot/ui/tests/test_feature_settings_lateral.py
+++ b/openpilot/starpilot/ui/tests/test_feature_settings_lateral.py
@@ -300,8 +300,7 @@ class LateralFeatureSettingsTests(unittest.TestCase):
     master = self.row("aol", "AlwaysOnLateral")
     self.assertTrue(master.available)
     self.assertIn("independently of cruise control", master.reason)
-    self.assertFalse(any(row.key == "wheel:LKASButtonControl" for row in self.owner.snapshot(
-      "wheel", parked=True, system_long=True, lateral_context=True, metric=False).rows))
+    self.assertIn("Toggle AOL", self.row("wheel", "wheel:LKASButtonControl").choices)
     nostalgia = self.row("vehicle", "NostalgiaMode")
     self.assertTrue(nostalgia.available)
     self.assertTrue(self.owner.apply(required_change(nostalgia)))
@@ -316,8 +315,7 @@ class LateralFeatureSettingsTests(unittest.TestCase):
     tagged.safetyConfigs[0].safetyParam |= 0x800
     self.cp = tagged
     self.assertTrue(self.row("aol", "AlwaysOnLateral").available)
-    self.assertFalse(any(row.key == "wheel:LKASButtonControl" for row in self.owner.snapshot(
-      "wheel", parked=True, system_long=True, lateral_context=True, metric=False).rows))
+    self.assertIn("Toggle AOL", self.row("wheel", "wheel:LKASButtonControl").choices)
 
   def test_ioniq5_left_paddle_setting_uses_existing_long_configuration(self):
     from openpilot.starpilot.tests.test_nostalgia import _ioniq5_params
@@ -429,10 +427,8 @@ class LateralFeatureSettingsTests(unittest.TestCase):
     stock, long_cp = ioniq6_candidate(False)
     self.cp = stock
     self.params.put_bool("AlwaysOnLateral", True, block=True)
-    self.assertFalse(any(row.key == "wheel:LKASButtonControl" for row in self.owner.snapshot(
-      "wheel", parked=True, system_long=True, lateral_context=True, metric=False).rows))
-    self.assertFalse(any(row.key == "wheel:MainCruiseButtonControl" for row in self.owner.snapshot(
-      "wheel", parked=True, system_long=True, lateral_context=True, metric=False).rows))
+    self.assertIn("Toggle AOL", self.row("wheel", "wheel:LKASButtonControl").choices)
+    self.assertIn("Toggle AOL", self.row("wheel", "wheel:MainCruiseButtonControl").choices)
     cases = (("DistanceButtonControl", "Pause steering", 1, (False, True), True),
              ("LongDistanceButtonControl", "Pause longitudinal", CRUISE_LONG_PRESS, (True, False), True),
              ("VeryLongDistanceButtonControl", "Pause steering", CRUISE_LONG_PRESS * 5, (False, True), True),
@@ -491,7 +487,7 @@ class LateralFeatureSettingsTests(unittest.TestCase):
   def test_ioniq_distance_canonical_repair_and_fixed_gestures(self):
     self.cp, _ = ioniq6_candidate(False)
     state = self.owner.snapshot("wheel", parked=True, system_long=True, lateral_context=True, metric=False)
-    self.assertFalse(any(row.key in ("wheel:LKASButtonControl", "wheel:MainCruiseButtonControl") for row in state.rows))
+    self.assertTrue({"wheel:LKASButtonControl", "wheel:MainCruiseButtonControl"} <= {row.key for row in state.rows})
     key = "DistanceButtonControl"
     path = Path(self.params.get_param_path(key))
     for raw in (b"03", b"99", b"bad"):
diff --git a/openpilot/starpilot/ui/tests/test_hyundai_configuration_settings.py b/openpilot/starpilot/ui/tests/test_hyundai_configuration_settings.py
index 4c3e64d83c..233e7dff88 100644
--- a/openpilot/starpilot/ui/tests/test_hyundai_configuration_settings.py
+++ b/openpilot/starpilot/ui/tests/test_hyundai_configuration_settings.py
@@ -17,7 +17,7 @@ class HyundaiConfigurationSettingsTests(unittest.TestCase):
     self.assertTrue(configuration_media_supported(cp))
     policy = configuration_wheel_policy(cp)
     assert policy is not None
-    self.assertTrue(policy.fixed_cruise_buttons)
+    self.assertFalse(policy.fixed_cruise_buttons)
     self.assertTrue(policy.distance_pause_only)
     self.assertFalse(policy.runtime_supported)
     self.assertEqual(vars(cp), before)
diff --git a/openpilot/starpilot/ui/tests/test_wheel_effective_aol_roles.py b/openpilot/starpilot/ui/tests/test_wheel_effective_aol_roles.py
new file mode 100644
index 0000000000..14de75573d
--- /dev/null
+++ b/openpilot/starpilot/ui/tests/test_wheel_effective_aol_roles.py
@@ -0,0 +1,83 @@
+from types import SimpleNamespace
+
+import pytest
+
+from opendbc.car import structs
+from opendbc.car.car_helpers import interfaces
+from opendbc.car.ford.values import CAR as FORD
+from openpilot.common.params import Params
+from openpilot.selfdrive.car.tests.test_hyundai_aol import candidate
+from openpilot.starpilot.aol.intent import AolSettings
+from openpilot.starpilot.aol.tests.test_sportage_alpha_aol import sportage
+from openpilot.starpilot.car.ford.aol import create_intent as ford_intent
+from openpilot.starpilot.ui.feature_settings_owner import FeatureSettingsOwner
+from openpilot.starpilot.ui.wheel_feature import WheelFeature
+
+
+def owner(params, cp, *, configuration=False):
+  return SimpleNamespace(params=params, vehicle_params=lambda: cp, configuration_vehicle=lambda: configuration,
+                         configuration_longitudinal=lambda: False, longitudinal_available=lambda: cp.openpilotLongitudinalControl,
+                         authority=lambda _: True)
+
+
+@pytest.mark.parametrize('alpha', [False, True])
+@pytest.mark.parametrize('configuration', [False, True])
+def test_ioniq6_lkas_and_main_are_visible_and_configurable_without_changing_saved_settings(tmp_path, alpha, configuration):
+  params = Params(str(tmp_path))
+  stock, long_cp = candidate(False)
+  cp = long_cp if alpha else stock
+  wheel = WheelFeature(owner(params, cp, configuration=configuration))
+  for key in ('LKASButtonControl', 'MainCruiseButtonControl'):
+    assert 'Toggle AOL' in wheel.choices(key)
+    assert params.get(key) is None
+    assert any(row.key == 'wheel:' + key for row in wheel.rows())
+
+
+@pytest.mark.parametrize('alpha', [False, True])
+def test_hkg_default_toggle_and_explicit_mapping_are_displayed_truthfully(tmp_path, alpha):
+  params = Params(str(tmp_path))
+  cp = sportage(alpha=alpha)
+  wheel = WheelFeature(owner(params, cp))
+  rows = {row.key: row for row in wheel.rows()}
+  for key in ('LKASButtonControl', 'MainCruiseButtonControl'):
+    assert rows['wheel:' + key].value == 'Toggle AOL'
+    assert params.get(key) is None
+  params.put('LKASButtonControl', 9, block=True)
+  params.put('MainCruiseButtonControl', 0, block=True)
+  rows = {row.key: row for row in wheel.rows()}
+  assert rows['wheel:LKASButtonControl'].value == 'Toggle AOL'
+  assert rows['wheel:MainCruiseButtonControl'].value == 'Off'
+  assert params.get('LKASButtonControl') == 9
+  assert params.get('MainCruiseButtonControl') == 0
+
+
+def test_mach_e_fixed_lkas_role_matches_actual_intent_and_cannot_claim_off(tmp_path):
+  params = Params(str(tmp_path))
+  cp = interfaces[FORD.FORD_MUSTANG_MACH_E_MK1].get_non_essential_params(FORD.FORD_MUSTANG_MACH_E_MK1)
+  wheel = WheelFeature(owner(params, cp))
+  rows = {row.key: row for row in wheel.rows()}
+  lkas = rows['wheel:LKASButtonControl']
+  assert lkas.value == 'Toggle AOL' and 'Toggle AOL' in lkas.choices
+  assert lkas.available and 'also toggles AOL' in lkas.reason
+  main = rows['wheel:MainCruiseButtonControl']
+  assert main.value == 'Factory cruise / AOL'
+  assert not main.available and not main.choices
+  for key in ('LKASButtonControl', 'MainCruiseButtonControl'):
+    assert params.get(key) is None
+  intent = ford_intent(cp, AolSettings(True, 0., 0, 0, (0, 0, 0), (0, 0, 0)))
+  state = structs.CarState(canValid=True, gearShifter='drive')
+  state.cruiseState.available = True
+  intent.update(state, now_ns=1, fault_active=False)
+  state.buttonEvents = [structs.CarState.ButtonEvent(type='lkas', pressed=True)]
+  intent.update(state, now_ns=2, fault_active=False)
+  assert intent.allowed_latch
+
+
+def test_ioniq6_actual_settings_owner_exposes_both_rows(tmp_path):
+  params = Params(str(tmp_path))
+  cp, _ = candidate(False)
+  settings = FeatureSettingsOwner(params, lambda _: True, vehicle_fingerprint=lambda: str(cp.carFingerprint), vehicle_params=lambda: cp)
+  page = settings.snapshot('wheel', parked=True, system_long=True, lateral_context=True, metric=False)
+  rows = {row.key: row for row in page.rows}
+  for key in ('LKASButtonControl', 'MainCruiseButtonControl'):
+    assert 'Toggle AOL' in rows['wheel:' + key].choices
diff --git a/openpilot/starpilot/ui/wheel_feature.py b/openpilot/starpilot/ui/wheel_feature.py
index 7261ccfb40..98dee9e47a 100644
--- a/openpilot/starpilot/ui/wheel_feature.py
+++ b/openpilot/starpilot/ui/wheel_feature.py
@@ -29,13 +29,35 @@ class WheelFeature:
       return base + (self.owner.longitudinal_available(), "configuration")
     return base + (True,) if self.owner.configuration_longitudinal() else base
 
+  def _policy(self, cp):
+    policy = policy_for(cp)
+    if self.owner.configuration_vehicle():
+      from openpilot.starpilot.car.hyundai.settings import configuration_wheel_policy
+      policy = configuration_wheel_policy(cp) or policy
+    return policy
+
+  def fixed_role(self, cp, key, policy):
+    if key not in KEYS[:2] or not policy.settings_supported:
+      return None
+    if key == KEYS[0] and (not button_reported(cp, key) or
+                          not (policy.lkas_button_supported or policy.auxiliary_lkas_supported)):
+      return None
+    if policy.fixed_cruise_buttons and not (key == KEYS[0] and policy.auxiliary_lkas_supported):
+      return "Toggle AOL" if cp.brand == 'hyundai' else "Factory cruise / AOL"
+    if cp.brand == 'ford' and policy.explicit_latch and policy.runtime_supported and key == KEYS[1]:
+      sources = [read_saved(self.owner.params, name, 8) for name in KEYS[:2]]
+      return "Factory cruise / AOL" if all(ok and value != b'9' for value, ok in sources) else "Factory cruise"
+    return None
+
   def choices(self, key):
     cp = self.owner.vehicle_params()
     if self.capability() is None:
       return ()
     if key == PADDLE_KEY:
       return ("Off", "Bookmark") if paddle_bookmark_available(self.owner.params, cp) else ()
-    policy = policy_for(cp)
+    policy = self._policy(cp)
+    if self.fixed_role(cp, key, policy) is not None:
+      return ()
     media = ioniq6_media_eligible(cp)
     if self.owner.configuration_vehicle():
       from openpilot.starpilot.car.hyundai.settings import configuration_wheel_policy, configuration_media_supported
@@ -76,18 +98,39 @@ class WheelFeature:
     if capability is None:
       return []
     rows = []
+    cp = self.owner.vehicle_params()
+    policy = self._policy(cp)
     for key, label in zip(KEYS, LABELS, strict=True):
+      fixed = self.fixed_role(cp, key, policy)
+      if fixed is not None:
+        raw, _ = read_saved(self.owner.params, key, 8)
+        rows.append(FeatureRow(PREFIX + key, label, fixed, raw, (), available=False,
+                               reason="Vehicle-controlled AOL role; this button cannot be reassigned. Saved preferences are unchanged.",
+                               capability=capability))
+        continue
       choices = self.choices(key)
       if not choices:
         continue
       raw, readable = read_saved(self.owner.params, key, 8)
       number = DEFAULTS.get(key, 0) if raw is None else int(raw) if raw in tuple(str(i).encode() for i in range(15)) else -1
       selected = next((name for name, code in ACTIONS.items() if code == number), None)
+      implicit_toggle = False
+      if cp.brand == 'hyundai' and policy.explicit_latch and key in KEYS[:2]:
+        from openpilot.starpilot.car.hyundai.aol import independent_cruise_buttons_supported
+        sources = [read_saved(self.owner.params, name, 8) for name in KEYS[:2]]
+        ordinary_actions = (None, *(str(code).encode() for code in ACTIONS.values() if code != 9))
+        implicit_toggle = independent_cruise_buttons_supported(cp) and all(ok and value in ordinary_actions
+                                                                          for value, ok in sources)
+      ford_role = cp.brand == 'ford' and policy.explicit_latch and policy.runtime_supported and key == KEYS[0]
+      if implicit_toggle or ford_role and selected == "Off":
+        selected = "Toggle AOL"
       default = next(label for label, code in ACTIONS.items() if code == DEFAULTS.get(key, 0))
       rows.append(FeatureRow(PREFIX + key, label, selected or "Invalid saved action", raw, choices,
                              default_value=default if default in choices else None,
                              available=readable and self.owner.authority("preferences"),
-                             reason=("Bookmark on release. Available while Left Paddle Longitudinal Pause is Off." if key == PADDLE_KEY else
+                             reason=("LKAS also toggles AOL independently of its saved extra action." if ford_role else
+                                     "Neither LKAS nor MAIN is assigned Toggle AOL, so both retain the default AOL toggle." if implicit_toggle else
+                                     "Bookmark on release. Available while Left Paddle Longitudinal Pause is Off." if key == PADDLE_KEY else
                                      "Axis pause and AOL assignments apply after restarting. Other actions can apply this drive. " +
                                      "Long actions fire while held."),
                              capability=capability, repair_value="Off" if selected is None else ""))
diff --git a/prebuilt b/prebuilt
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/prebuilt.json b/prebuilt.json
deleted file mode 100644
index 2c1952d15c..0000000000
--- a/prebuilt.json
+++ /dev/null
@@ -1 +0,0 @@
-{"protected_inventory_sha256": "7a8c76528995c0eadbec1aa432c4c324fad71b1048b8b0e39182d47e6dc99a65", "schema_version": 1}