From f4bc8ee6b7db745cd73d7007971bd9241ae61d05 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Sun, 28 Jun 2026 20:20:47 -0500
Subject: [PATCH] ev9

---
 .../opendbc/car/hyundai/carcontroller.py      |  2 --
 .../opendbc/car/hyundai/tests/test_hyundai.py | 33 ++++++++++++++++++-
 2 files changed, 32 insertions(+), 3 deletions(-)

diff --git a/opendbc_repo/opendbc/car/hyundai/carcontroller.py b/opendbc_repo/opendbc/car/hyundai/carcontroller.py
index a9347144a..d146d002f 100644
--- a/opendbc_repo/opendbc/car/hyundai/carcontroller.py
+++ b/opendbc_repo/opendbc/car/hyundai/carcontroller.py
@@ -629,8 +629,6 @@ class CarController(CarControllerBase):
 
     # prevent LFA from activating on LKA steering cars by sending "no lane lines detected" to ADAS ECU
     suppress_lfa = bool(lka_steering)
-    if self.CP.carFingerprint == CAR.KIA_EV9 and self.CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
-      suppress_lfa = bool(steering_msg_active)
     if self.frame % 5 == 0 and suppress_lfa:
       can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.lfa_block_msg,
                                                         self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT))
diff --git a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
index 3707ed737..12c2c06ed 100644
--- a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+++ b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
@@ -1421,7 +1421,9 @@ class TestHyundaiFingerprint:
     parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS_ALT", 0)], can_bus.ACAN)
     cc = SimpleNamespace(enabled=False, latActive=False, actuators=SimpleNamespace(longControlState=LongCtrlState.off),
                          leftBlinker=False, rightBlinker=False, hudControl=SimpleNamespace())
-    cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg={},
+    lfa_block_msg = {f"BYTE{i}": 0 for i in range(3, 32) if i != 7}
+    lfa_block_msg["COUNTER"] = 0
+    cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg={}, lfa_block_msg=lfa_block_msg,
                          out=SimpleNamespace(steeringAngleDeg=-201.0))
 
     msgs = controller.create_canfd_msgs(0, False, 0.0, -201.0, 0.0, 0.0, False, cc.hudControl, cs, cc,
@@ -1439,6 +1441,35 @@ class TestHyundaiFingerprint:
     assert parser.vl["LKAS_ALT"]["STEER_MODE"] == 2
     assert parser.vl["LKAS_ALT"]["NEW_SIGNAL_2"] == 3
 
+  def test_ev9_inactive_angle_steering_still_suppresses_stock_lfa(self):
+    CP = CarParams.new_message()
+    CP.carFingerprint = CAR.KIA_EV9
+    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING |
+                   HyundaiFlags.CANFD_LKA_STEERING | HyundaiFlags.CANFD_LKA_STEERING_ALT)
+    CP.openpilotLongitudinalControl = False
+
+    controller = CarController(DBC[CP.carFingerprint], CP)
+    controller.frame = 5
+    can_bus = CanBus(CP)
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("CAM_0x362", 0)], can_bus.ECAN)
+    cc = SimpleNamespace(enabled=False, latActive=False, actuators=SimpleNamespace(longControlState=LongCtrlState.off),
+                         leftBlinker=False, rightBlinker=False, hudControl=SimpleNamespace())
+    lfa_block_msg = {f"BYTE{i}": 0 for i in range(3, 32) if i != 7}
+    lfa_block_msg["COUNTER"] = 0
+    cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg={}, lfa_block_msg=lfa_block_msg,
+                         out=SimpleNamespace(steeringAngleDeg=0.0))
+
+    msgs = controller.create_canfd_msgs(0, False, 0.0, 0.0, 0.0, 0.0, False, cc.hudControl, cs, cc,
+                                        get_test_toggles(), lka_icon=1, lfa_icon=1)
+    suppress_msgs = [msg for msg in msgs if msg[0] == 0x362]
+    assert len(suppress_msgs) == 1
+
+    parser.update([(1, suppress_msgs)])
+
+    assert parser.can_valid
+    assert parser.vl["CAM_0x362"]["LEFT_LANE_LINE"] == 0
+    assert parser.vl["CAM_0x362"]["RIGHT_LANE_LINE"] == 0
+
   def test_ev9_high_steering_angle_keeps_active_status_and_gain(self):
     CP = CarParams.new_message()
     CP.carFingerprint = CAR.KIA_EV9