Integrate V-ASM from PR #75 with Galaxy-only configuration, stale-state safety, conditional SLV coexistence, and OpenCV inference.
Originally contributed by @prabhaavp in #75.
Co-authored-by: Prabhaav Pillai <143428353+prabhaavp@users.noreply.github.com>
Adapt the lane-centering implementation from PR #74 by @jc01rho.
Keep controls in Galaxy developer settings, add confidence and geometry gates, preserve E2E path authority, and reset all related offsets through Safe Mode.
Add a StarPilot vehicle toggle that selects alternate Panda firmware for Hyundai/Kia/Genesis CAN-FD EVs. The firmware keeps the HKG CAN bus active while Panda is in power save and treats the app climate-active frame, bus 1 address 0x384 with byte 3 nonzero, as a Panda boot wake source without publishing it as CAN ignition.
Wire the toggle through StarPilot vehicle settings, Galaxy device settings, parameter definitions, and pandad firmware selection. Disabling the toggle selects the default Panda firmware again.
Tested on a Kia EV9 and 2023 Kia EV6. EV9 remote climate active used 0x384 byte 3 equal to 0x01; EV6 remote climate active used 0x0a. Both stopped/off states observed byte 3 equal to 0x00. Toggle-off negative testing on EV9 saw the remote climate frame on CAN but pandaStates.ignitionCan stayed false. Toggle-on testing verified the active Panda signature matched panda_h7_hkg_remote.bin.signed. Follow-up testing changed the HKG path to wake-only after remote climate caused partial-car fingerprinting and Dashcam Mode; wake-only firmware was built, flashed, and verified on both devices.
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