Don't Kill Suave

opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py

@@ -132,8 +132,8 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
   ret = []
   if CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
     lkas_msg = "LKAS_ALT" if CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT else "LKAS"
-    # Keep the direct LFA packet shape aligned across stock-long and OP-long paths.
-    ret.append(packer.make_can_msg("LFA", CAN.ECAN, lfa_values))
+    if CP.openpilotLongitudinalControl:
+      ret.append(packer.make_can_msg("LFA", CAN.ECAN, lfa_values))
     ret.append(packer.make_can_msg(lkas_msg, CAN.ACAN, lkas_values))
   else:
     if CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING:

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

@@ -1394,7 +1394,6 @@ class TestHyundaiFingerprint:
 
     packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
     can_bus = CanBus(CP)
-    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LFA", 0)], can_bus.ECAN)
 
     stock_lfa = {
       "CHECKSUM": 1234,
@@ -1416,24 +1415,9 @@ class TestHyundaiFingerprint:
 
     msgs = hyundaicanfd.create_steering_messages(packer, CP, can_bus, True, True, 123, 0.0, stock_lfa)
     assert [(packer.dbc.addr_to_msg[addr].name, bus) for addr, _, bus in msgs] == [
-      ("LFA", can_bus.ECAN),
       ("LKAS", can_bus.ACAN),
     ]
 
-    lfa_msgs = [msg for msg in msgs if msg[0] == 0x12A]
-    assert len(lfa_msgs) == 1
-
-    parser.update([(1, lfa_msgs)])
-
-    assert parser.can_valid
-    assert parser.vl["LFA"]["NEW_SIGNAL_1"] == 3
-    assert parser.vl["LFA"]["NEW_SIGNAL_2"] == 2
-    assert parser.vl["LFA"]["HAS_LANE_SAFETY"] == 1
-    assert parser.vl["LFA"]["DAMP_FACTOR"] == 0x77
-    assert parser.vl["LFA"]["TORQUE_REQUEST"] == 123
-    assert parser.vl["LFA"]["STEER_REQ"] == 1
-    assert parser.vl["LFA"]["LKA_ICON"] == 2
-
   def test_kia_ev6_lkas_helper_preserves_stock_camera_fields_with_stock_long(self):
     CP = CarParams.new_message()
     CP.carFingerprint = CAR.KIA_EV6

opendbc_repo/opendbc/safety/modes/hyundai_canfd.h

@@ -8,13 +8,11 @@
 
 #define HYUNDAI_CANFD_LKA_STEERING_COMMON_TX_MSGS(a_can, e_can) \
   HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(e_can)                        \
-  {0x12A, e_can, 16, .check_relay = (e_can) == 0},  /* LFA */       \
   {0x50,  a_can, 16, .check_relay = (a_can) == 0},  /* LKAS */      \
   {0x2A4, a_can, 24, .check_relay = (a_can) == 0},  /* CAM_0x2A4 */ \
 
 #define HYUNDAI_CANFD_LKA_STEERING_ALT_COMMON_TX_MSGS(a_can, e_can) \
   HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(e_can)                        \
-  {0x12A, e_can, 16, .check_relay = (e_can) == 0},  /* LFA */       \
   {0x110, a_can, 32, .check_relay = (a_can) == 0},  /* LKAS_ALT */  \
   {0x362, a_can, 32, .check_relay = (a_can) == 0},  /* CAM_0x362 */ \
 
@@ -223,9 +221,8 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *msg) {
   }
 
   // steering
-  const bool stock_lka_steering = hyundai_canfd_lka_steering && !hyundai_longitudinal;
-  const bool steer_msg = (msg->addr == 0x12aU) || (stock_lka_steering && (msg->addr == hyundai_canfd_get_lka_addr()));
-  if (steer_msg) {
+  const unsigned int steer_addr = (hyundai_canfd_lka_steering && !hyundai_longitudinal) ? hyundai_canfd_get_lka_addr() : 0x12aU;
+  if (msg->addr == steer_addr) {
     if (hyundai_canfd_angle_steering) {
       const int lkas_angle_active = (msg->data[9] >> 4U) & 0x3U;
       const bool steer_angle_req = lkas_angle_active != 1;

opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py

@@ -470,7 +470,7 @@ class TestHyundaiCanfdCCNCSupportFrames(common.SafetyTestBase):
 
 class TestHyundaiCanfdLKASteeringEV(TestHyundaiCanfdBase):
 
-  TX_MSGS = [[0x50, 0], [0x12A, 1], [0x1CF, 1], [0x2A4, 0]]
+  TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0]]
   RELAY_MALFUNCTION_ADDRS = {0: (0x50, 0x2a4)}  # LKAS, CAM_0x2A4
   FWD_BLACKLISTED_ADDRS = {2: [0x50, 0x2a4]}
 
@@ -507,7 +507,7 @@ class TestHyundaiCanfdLKASteeringEV(TestHyundaiCanfdBase):
 # TODO: Handle ICE and HEV configurations once we see cars that use the new messages
 class TestHyundaiCanfdLKASteeringAltEV(TestHyundaiCanfdBase):
 
-  TX_MSGS = [[0x110, 0], [0x12A, 1], [0x1CF, 1], [0x362, 0]]
+  TX_MSGS = [[0x110, 0], [0x1CF, 1], [0x362, 0]]
   RELAY_MALFUNCTION_ADDRS = {0: (0x110, 0x362)}  # LKAS_ALT, CAM_0x362
   FWD_BLACKLISTED_ADDRS = {2: [0x110, 0x362]}