From feb1f442c24aeae195e16a4ffb4501ed43ce2af2 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Sat, 31 Oct 2026 20:44:19 -0500
Subject: [PATCH] Repair Ford BluePilot startup fixtures and native test loader
 identity

---
 opendbc_repo/opendbc/car/ford/tests/test_aol_startup.py | 9 ++++++---
 prebuilt.json                                           | 2 +-
 tools/ci/run_vehicle_tests.py                           | 3 +++
 3 files changed, 10 insertions(+), 4 deletions(-)

diff --git a/opendbc_repo/opendbc/car/ford/tests/test_aol_startup.py b/opendbc_repo/opendbc/car/ford/tests/test_aol_startup.py
index bf3d3094f2..6c92ab20c5 100644
--- a/opendbc_repo/opendbc/car/ford/tests/test_aol_startup.py
+++ b/opendbc_repo/opendbc/car/ford/tests/test_aol_startup.py
@@ -5,7 +5,9 @@ import pytest
 
 from opendbc.car import gen_empty_fingerprint, structs
 from opendbc.car.ford.interface import CarInterface
-from opendbc.car.ford.values import CAR
+from opendbc.car.ford.values import CAR, FordFlags
+from opendbc.bluepilot_lateral.core.values_ext import FordSafetyFlagsSP
+from opendbc.bluepilot_lateral.hosts.starpilot.safety_param import BP_SAFETY_PARAM_SHIFT
 
 
 PROFILES = (
@@ -76,6 +78,8 @@ def run_startup(identity, base_word, alpha, release, topology, monkeypatch):
   initial_word = base_word | int(expected_long)
   expected_word = initial_word | (256 if topology == "manual" else 0)
   initial = CarInterface.get_params(identity, fingerprint, [], expected_long, release, False)
+  if not initial.flags & FordFlags.LKA_STEERING:
+    expected_word |= FordSafetyFlagsSP.BP_LATERAL << BP_SAFETY_PARAM_SHIFT
   initial.carVin = "0" * 17
   initial.carFw = []
   admitted = True
@@ -88,8 +92,7 @@ def run_startup(identity, base_word, alpha, release, topology, monkeypatch):
   with OpenpilotPrefix():
     saved = Params()
     for key, value in (("OpenpilotEnabledToggle", True), ("AlwaysOnLateral", True),
-                       ("AlphaLongitudinalEnabled", alpha), ("IsReleaseBranch", release),
-                       ("FordHumanTurnDetection", False)):
+                       ("AlphaLongitudinalEnabled", alpha), ("IsReleaseBranch", release)):
       saved.put_bool(key, value, block=True)
     observed = (identity, fingerprint, initial.carVin, [], initial.fingerprintSource, True)
     subscriber = messaging.sub_sock("carParams", timeout=100, conflate=True)
diff --git a/prebuilt.json b/prebuilt.json
index cb446fcda4..be30c29065 100644
--- a/prebuilt.json
+++ b/prebuilt.json
@@ -1 +1 @@
-{"protected_inventory_sha256": "cd8c615958ada909b930d7ca76d9e24103f34e308a7e716591641759eea12403", "schema_version": 1}
+{"protected_inventory_sha256": "ec942078f3cfc87d5683b73d47e4c45adea7152ea1ddfa76c49bd4668cbedcd6", "schema_version": 1}
diff --git a/tools/ci/run_vehicle_tests.py b/tools/ci/run_vehicle_tests.py
index 5a94f61c48..1a38d3973e 100644
--- a/tools/ci/run_vehicle_tests.py
+++ b/tools/ci/run_vehicle_tests.py
@@ -690,6 +690,9 @@ def native_provenance():
 def build_safety_library(release, output):
   from opendbc.car.structs import CarParams
   from opendbc.safety.tests.libsafety import libsafety_py
+  alias = "opendbc_repo.opendbc.safety.tests.libsafety.libsafety_py"
+  if sys.modules.setdefault(alias, libsafety_py) is not libsafety_py:
+    raise RuntimeError("Vehicle tests imported multiple native safety loaders")
   commands = []
   check_call = subprocess.check_call