Lists A Plenty

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -66,8 +66,6 @@ REDNECK_BUTTON_COPIES_TIME_METRIC = [REDNECK_BUTTON_COPIES_TIME, 40]
 ANGLE_SAFETY_BASELINE_MODEL = str(CAR.KIA_SPORTAGE_HEV_2026)
 DEFAULT_ANGLE_SMOOTHING_VEGO_BP = [5.0, 10.0, 20.0]
 DEFAULT_ANGLE_SMOOTHING_ALPHA_V = [0.2, 0.1, 0.0]
-KIA_EV9_ANGLE_SMOOTHING_VEGO_BP = [0.0, 8.5, 11.0, 13.8, 18.0]
-KIA_EV9_ANGLE_SMOOTHING_ALPHA_V = [0.05, 0.1, 0.3, 0.6, 1.0]
 
 
 def egmp_dynamic_longitudinal_tuning(CP) -> bool:
@@ -225,8 +223,6 @@ def get_baseline_safety_cp():
 
 
 def get_angle_smoothing_alpha(CP, v_ego: float) -> float:
-  if CP.carFingerprint == CAR.KIA_EV9:
-    return float(np.interp(v_ego, KIA_EV9_ANGLE_SMOOTHING_VEGO_BP, KIA_EV9_ANGLE_SMOOTHING_ALPHA_V))
   return float(np.interp(v_ego, DEFAULT_ANGLE_SMOOTHING_VEGO_BP, DEFAULT_ANGLE_SMOOTHING_ALPHA_V))
 
 

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

@@ -278,13 +278,13 @@ class TestHyundaiFingerprint:
     assert CP.steerControlType == CarParams.SteerControlType.angle
     assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CANFD_ANGLE_STEERING
 
-  def test_ev9_angle_smoothing_is_ev9_specific(self):
+  def test_ev9_uses_shared_angle_smoothing(self):
     ev9_cp = SimpleNamespace(carFingerprint=CAR.KIA_EV9)
     other_cp = SimpleNamespace(carFingerprint=CAR.KIA_SPORTAGE_HEV_2026)
 
-    assert get_angle_smoothing_alpha(ev9_cp, 0.0) == pytest.approx(0.05)
-    assert get_angle_smoothing_alpha(ev9_cp, 13.8) == pytest.approx(0.6)
-    assert get_angle_smoothing_alpha(ev9_cp, 20.0) == pytest.approx(1.0)
+    assert get_angle_smoothing_alpha(ev9_cp, 0.0) == pytest.approx(get_angle_smoothing_alpha(other_cp, 0.0))
+    assert get_angle_smoothing_alpha(ev9_cp, 13.8) == pytest.approx(get_angle_smoothing_alpha(other_cp, 13.8))
+    assert get_angle_smoothing_alpha(ev9_cp, 20.0) == pytest.approx(get_angle_smoothing_alpha(other_cp, 20.0))
     assert get_angle_smoothing_alpha(other_cp, 20.0) == pytest.approx(0.0)
 
   def test_checked_angle_limiter_blocks_rate_accel_conflict(self):

selfdrive/controls/lib/latcontrol_torque.py

@@ -453,25 +453,25 @@ IONIQ_5_FF_CUTOFF = 1.20
 IONIQ_5_FF_CUTOFF_WIDTH = 0.30
 IONIQ_5_TRANSITION_SPEED = 12.5
 IONIQ_5_PHASE_SCALE = 0.10
-IONIQ_5_FF_REDUCTION_LEFT = 0.12
-IONIQ_5_FF_REDUCTION_RIGHT = 0.22
-IONIQ_5_TURN_IN_BOOST_LEFT = 0.14
-IONIQ_5_TURN_IN_BOOST_RIGHT = 0.06
-IONIQ_5_UNWIND_TAPER_LEFT = 0.76
-IONIQ_5_UNWIND_TAPER_RIGHT = 0.86
-IONIQ_5_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.08
-IONIQ_5_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.05
-IONIQ_5_UNWIND_THRESHOLD_INCREASE_LEFT = 0.36
-IONIQ_5_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.38
-IONIQ_5_TURN_IN_FRICTION_BOOST_LEFT = 0.04
-IONIQ_5_TURN_IN_FRICTION_BOOST_RIGHT = 0.03
-IONIQ_5_UNWIND_FRICTION_REDUCTION_LEFT = 0.34
-IONIQ_5_UNWIND_FRICTION_REDUCTION_RIGHT = 0.34
-IONIQ_5_CENTER_TAPER_MAX = 0.14
-IONIQ_5_CENTER_TAPER_LAT = 0.12
-IONIQ_5_CENTER_TAPER_LAT_WIDTH = 0.03
-IONIQ_5_CENTER_TAPER_SPEED = 16.0
-IONIQ_5_CENTER_TAPER_SPEED_WIDTH = 2.5
+IONIQ_5_FF_REDUCTION_LEFT = 0.15
+IONIQ_5_FF_REDUCTION_RIGHT = 0.25
+IONIQ_5_TURN_IN_BOOST_LEFT = 0.10
+IONIQ_5_TURN_IN_BOOST_RIGHT = 0.04
+IONIQ_5_UNWIND_TAPER_LEFT = 0.92
+IONIQ_5_UNWIND_TAPER_RIGHT = 1.04
+IONIQ_5_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.05
+IONIQ_5_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.03
+IONIQ_5_UNWIND_THRESHOLD_INCREASE_LEFT = 0.46
+IONIQ_5_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.50
+IONIQ_5_TURN_IN_FRICTION_BOOST_LEFT = 0.02
+IONIQ_5_TURN_IN_FRICTION_BOOST_RIGHT = 0.01
+IONIQ_5_UNWIND_FRICTION_REDUCTION_LEFT = 0.42
+IONIQ_5_UNWIND_FRICTION_REDUCTION_RIGHT = 0.44
+IONIQ_5_CENTER_TAPER_MAX = 0.18
+IONIQ_5_CENTER_TAPER_LAT = 0.16
+IONIQ_5_CENTER_TAPER_LAT_WIDTH = 0.04
+IONIQ_5_CENTER_TAPER_SPEED = 15.0
+IONIQ_5_CENTER_TAPER_SPEED_WIDTH = 2.2
 
 IONIQ_EV_OLD_BASE_LAT_ACCEL_FACTOR_MULT = 1.16
 IONIQ_EV_OLD_FF_REDUCTION_LEFT = 0.16
@@ -607,27 +607,27 @@ IONIQ_6_OUTPUT_DIRECTIONAL_TAPER_BLEND = 0.97
 
 KIA_EV6_LATERAL_TESTING_GROUND_ID = testing_ground.id_6
 KIA_EV6_LATERAL_TESTING_GROUND_VARIANT = "C"
-KIA_EV6_FF_GAIN_LEFT = 0.10
-KIA_EV6_FF_GAIN_RIGHT = 0.14
+KIA_EV6_FF_GAIN_LEFT = 0.12
+KIA_EV6_FF_GAIN_RIGHT = 0.17
 KIA_EV6_FF_ONSET = 0.08
 KIA_EV6_FF_ONSET_WIDTH = 0.04
-KIA_EV6_FF_CUTOFF = 1.55
-KIA_EV6_FF_CUTOFF_WIDTH = 0.34
-KIA_EV6_TRANSITION_SPEED = 12.5
+KIA_EV6_FF_CUTOFF = 1.90
+KIA_EV6_FF_CUTOFF_WIDTH = 0.40
+KIA_EV6_TRANSITION_SPEED = 14.5
 KIA_EV6_PHASE_SCALE = 0.09
-KIA_EV6_TURN_IN_BOOST_LEFT = 0.34
-KIA_EV6_TURN_IN_BOOST_RIGHT = 0.42
+KIA_EV6_TURN_IN_BOOST_LEFT = 0.48
+KIA_EV6_TURN_IN_BOOST_RIGHT = 0.60
 KIA_EV6_UNWIND_TAPER_LEFT = 0.56
 KIA_EV6_UNWIND_TAPER_RIGHT = 0.54
 KIA_EV6_FRICTION_MULT = 1.01
 KIA_EV6_FRICTION_LAT_RISE = 0.18
 KIA_EV6_FRICTION_JERK_RISE = 0.22
-KIA_EV6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.16
-KIA_EV6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.30
+KIA_EV6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.24
+KIA_EV6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.40
 KIA_EV6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.28
 KIA_EV6_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.24
-KIA_EV6_TURN_IN_FRICTION_BOOST_LEFT = 0.08
-KIA_EV6_TURN_IN_FRICTION_BOOST_RIGHT = 0.16
+KIA_EV6_TURN_IN_FRICTION_BOOST_LEFT = 0.12
+KIA_EV6_TURN_IN_FRICTION_BOOST_RIGHT = 0.24
 KIA_EV6_UNWIND_FRICTION_REDUCTION_LEFT = 0.28
 KIA_EV6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.22
 KIA_EV6_CENTER_TAPER_MAX = 0.12
@@ -642,13 +642,13 @@ KIA_EV6_LOW_SPEED_CENTER_TAPER_SPEED_MAX = 8.5
 KIA_EV6_LOW_SPEED_CENTER_TAPER_SPEED_WIDTH = 1.4
 
 VOLT_PLEXY_LATERAL_TESTING_GROUND_ID = testing_ground.id_7
-VOLT_PLEXY_FF_EXTRA_MULT_LEFT = 1.00
+VOLT_PLEXY_FF_EXTRA_MULT_LEFT = 0.97
 VOLT_PLEXY_FF_EXTRA_MULT_RIGHT = 1.16
 VOLT_PLEXY_FRICTION_SCALE_MULT_LEFT = 1.00
 VOLT_PLEXY_FRICTION_SCALE_MULT_RIGHT = 1.05
 VOLT_PLEXY_FRICTION_THRESHOLD_MULT_LEFT = 1.00
 VOLT_PLEXY_FRICTION_THRESHOLD_MULT_RIGHT = 0.96
-VOLT_PLEXY_CENTER_TAPER_REDUCTION_MULT = 0.94
+VOLT_PLEXY_CENTER_TAPER_REDUCTION_MULT = 0.98
 PRIUS_TRANSITION_SPEED = 8.5
 PRIUS_PHASE_SCALE = 0.09
 PRIUS_FF_GAIN_LEFT = 0.08

selfdrive/controls/tests/test_speed_limit_controller.py

@@ -4,6 +4,7 @@ from types import SimpleNamespace
 import pytest
 
 from openpilot.common.constants import CV
+from openpilot.common.realtime import DT_MDL
 from openpilot.starpilot.controls.lib.speed_limit_controller import SpeedLimitController
 
 
@@ -296,3 +297,50 @@ def test_higher_limit_does_not_clear_override():
       controller_overridden_below.shutdown()
   finally:
     controller.shutdown()
+
+
+def test_manual_override_survives_brief_enabled_flicker():
+  controller = make_controller()
+  try:
+    controller.source = "Dashboard"
+    controller.target = mph(45)
+    controller.previous_source = "Dashboard"
+    controller.previous_target = mph(45)
+    controller.overridden_speed = mph(55)
+    controller.override_slc = True
+
+    disabled_sm = make_sm(gas_pressed=False, enabled=False)
+    for _ in range(int(0.5 / DT_MDL)):
+      controller.update_override(mph(75), 0.0, mph(65), 0.0, disabled_sm)
+
+    assert controller.overridden_speed == pytest.approx(mph(55))
+    assert controller.override_slc
+
+    controller.update_override(mph(75), 0.0, mph(65), 0.0, make_sm(gas_pressed=False, enabled=True))
+
+    assert controller.overridden_speed == pytest.approx(mph(55))
+    assert controller.override_slc
+  finally:
+    controller.shutdown()
+
+
+def test_manual_override_clears_after_sustained_disengage():
+  controller = make_controller()
+  try:
+    controller.source = "Dashboard"
+    controller.target = mph(45)
+    controller.previous_source = "Dashboard"
+    controller.previous_target = mph(45)
+    controller.overridden_speed = mph(55)
+    controller.override_slc = True
+    controller.override_requires_gas_release = True
+
+    disabled_sm = make_sm(gas_pressed=False, enabled=False)
+    for _ in range(int(1.0 / DT_MDL) + 1):
+      controller.update_override(mph(75), 0.0, mph(65), 0.0, disabled_sm)
+
+    assert controller.overridden_speed == 0
+    assert not controller.override_slc
+    assert not controller.override_requires_gas_release
+  finally:
+    controller.shutdown()

selfdrive/ui/lib/starpilot_status.py

@@ -52,9 +52,11 @@ def get_screen_edge_color(state: UIState):
     return SWITCHBACK_COLOR
   if state.always_on_lateral_active:
     return AOL_COLOR
-  if state.conditional_status in CEM_DISABLED_OVERRIDE_STATUSES:
+  # Keep the screen edge disengaged-blue when experimental mode is only the
+  # requested longitudinal mode, not the active driving state.
+  if enabled and state.conditional_status in CEM_DISABLED_OVERRIDE_STATUSES:
     return CEM_OVERRIDE_COLOR
-  if state.sm["selfdriveState"].experimentalMode:
+  if enabled and state.sm["selfdriveState"].experimentalMode:
     return EXPERIMENTAL_COLOR
   if state.traffic_mode_enabled and enabled:
     return TRAFFIC_COLOR

selfdrive/ui/qt/onroad/onroad_home.cc

@@ -62,21 +62,22 @@ void OnroadWindow::updateState(const UIState &s, const StarPilotUIState &fs) {
   const StarPilotUIScene &starpilot_scene = fs.starpilot_scene;
   const QJsonObject &starpilot_toggles = starpilot_scene.starpilot_toggles;
   const auto selfdriveState = (*s.sm)["selfdriveState"].getSelfdriveState();
+  const bool enabled = selfdriveState.getEnabled();
   QColor bgColor = bg_colors[s.status];
   const bool conditional_experimental_mode = starpilot_toggles.value("conditional_experimental_mode").toBool();
   const bool conditional_chill_mode = starpilot_toggles.value("conditional_chill_mode").toBool();
   const bool highlight_override =
-    (conditional_experimental_mode && starpilot_scene.conditional_status == 1) ||
-    (conditional_chill_mode && (starpilot_scene.conditional_status == 1 || starpilot_scene.conditional_status == 2));
-  if (starpilot_scene.switchback_mode_enabled && (selfdriveState.getEnabled() || starpilot_scene.always_on_lateral_active)) {
+    enabled && ((conditional_experimental_mode && starpilot_scene.conditional_status == 1) ||
+                (conditional_chill_mode && (starpilot_scene.conditional_status == 1 || starpilot_scene.conditional_status == 2)));
+  if (starpilot_scene.switchback_mode_enabled && (enabled || starpilot_scene.always_on_lateral_active)) {
     bgColor = bg_colors[STATUS_SWITCHBACK_MODE_ENABLED];
   } else if (starpilot_scene.always_on_lateral_active) {
     bgColor = bg_colors[STATUS_ALWAYS_ON_LATERAL_ACTIVE];
   } else if (highlight_override) {
     bgColor = bg_colors[STATUS_CEM_DISABLED];
-  } else if (selfdriveState.getExperimentalMode()) {
+  } else if (enabled && selfdriveState.getExperimentalMode()) {
     bgColor = bg_colors[STATUS_EXPERIMENTAL_MODE_ENABLED];
-  } else if (starpilot_scene.traffic_mode_enabled && selfdriveState.getEnabled()) {
+  } else if (starpilot_scene.traffic_mode_enabled && enabled) {
     bgColor = bg_colors[STATUS_TRAFFIC_MODE_ENABLED];
   }
 

starpilot/common/tests/test_starpilot_process.py

@@ -54,6 +54,44 @@ def test_transition_offroad_skips_invalid_gps_persist():
   assert params.writes == []
 
 
+def test_transition_offroad_skips_missing_gps_persist():
+  params = FakeParams()
+  planner = SimpleNamespace(gps_position=None)
+  toggles = SimpleNamespace(lock_doors_timer=0, random_themes=False)
+
+  starpilot_process.transition_offroad(
+    planner,
+    FakeModelManager(),
+    FakeThemeManager(),
+    FakeThreadManager(),
+    False,
+    None,
+    params,
+    toggles,
+  )
+
+  assert params.writes == []
+
+
+def test_transition_offroad_skips_malformed_gps_persist():
+  params = FakeParams()
+  planner = SimpleNamespace(gps_position={"hasFix": True})
+  toggles = SimpleNamespace(lock_doors_timer=0, random_themes=False)
+
+  starpilot_process.transition_offroad(
+    planner,
+    FakeModelManager(),
+    FakeThemeManager(),
+    FakeThreadManager(),
+    False,
+    None,
+    params,
+    toggles,
+  )
+
+  assert params.writes == []
+
+
 def test_transition_offroad_persists_valid_gps():
   params = FakeParams()
   gps_position = {

starpilot/controls/lib/speed_limit_controller.py

@@ -35,6 +35,8 @@ OFFSET_MAP_METRIC = [
   (33.1, 38.9, "speed_limit_offset7"),  # 120–140
 ]
 
+SLC_OVERRIDE_DISABLE_CLEAR_TIME = 0.75
+
 class SpeedLimitController:
   def __init__(self, StarPilotVCruise):
     self.starpilot_planner = StarPilotVCruise.starpilot_planner
@@ -43,6 +45,7 @@ class SpeedLimitController:
     self.calling_mapbox = False
     self.override_slc = False
     self.override_requires_gas_release = False
+    self.override_disable_timer = 0.0
 
     self.denied_target = 0
     self.map_speed_limit = 0
@@ -453,11 +456,15 @@ class SpeedLimitController:
 
   def update_override(self, v_cruise, v_cruise_diff, v_ego, v_ego_diff, sm):
     if not sm["selfdriveState"].enabled:
-      self.override_slc = False
-      self.overridden_speed = 0
-      self.override_requires_gas_release = False
+      self.override_disable_timer += DT_MDL
+      if self.override_disable_timer >= SLC_OVERRIDE_DISABLE_CLEAR_TIME:
+        self.override_slc = False
+        self.overridden_speed = 0
+        self.override_requires_gas_release = False
       return
 
+    self.override_disable_timer = 0.0
+
     if not sm["carState"].gasPressed:
       self.override_requires_gas_release = False
 

starpilot/starpilot_process.py

@@ -75,7 +75,11 @@ def build_gps_position(gps_location, speed):
 
 
 def gps_position_valid(gps_position):
-  return bool(gps_position["hasFix"]) and (gps_position["latitude"] != 0 or gps_position["longitude"] != 0)
+  if not gps_position:
+    return False
+  latitude = gps_position.get("latitude")
+  longitude = gps_position.get("longitude")
+  return bool(gps_position.get("hasFix")) and latitude is not None and longitude is not None and (latitude != 0 or longitude != 0)
 
 
 def gps_position_signature(gps_position):