Implement TripleDipper GPS fallback

.github/workflows/fleet_safety.yaml

@@ -1,56 +0,0 @@
-name: Fleet controller safety
-
-on:
-  workflow_dispatch:
-  pull_request:
-    paths:
-      - 'opendbc_repo/**'
-      - 'selfdrive/car/**'
-      - 'starpilot/car/**'
-      - 'starpilot/controls/**'
-      - 'cereal/**'
-      - '.github/workflows/fleet_safety.yaml'
-
-permissions:
-  contents: read
-
-jobs:
-  harness:
-    runs-on: ubuntu-24.04
-    steps:
-      - uses: actions/checkout@v4
-      - uses: actions/setup-python@v5
-        with:
-          python-version: '3.12'
-      - run: python -m pip install -r selfdrive/car/tests/fleet_requirements.txt
-      - name: Audit accounting and runner failures
-        run: >-
-          python -m pytest --noconftest -o addopts='' -q
-          selfdrive/car/tests/test_fleet_safety_core.py
-          selfdrive/car/tests/test_fleet_safety_runner.py
-          opendbc_repo/opendbc/safety/tests/safety_replay/test_replay_drive.py
-  recorded_fleet:
-    runs-on: ubuntu-24.04
-    timeout-minutes: 90
-    strategy:
-      fail-fast: false
-      matrix:
-        shard: [0, 1, 2, 3, 4, 5, 6, 7]
-    steps:
-      - uses: actions/checkout@v4
-      - uses: actions/setup-python@v5
-        with:
-          python-version: '3.12'
-      - run: python -m pip install -r selfdrive/car/tests/fleet_requirements.txt
-      - name: Current controllers against freshly compiled release safety
-        run: >-
-          python -m selfdrive.car.tests.fleet_safety --all --release
-          --shard-count 8 --shard-index ${{ matrix.shard }}
-          --out selfdrive/car/tests/fleet_results/ci
-      - uses: actions/upload-artifact@v4
-        if: always()
-        with:
-          name: fleet-safety-${{ matrix.shard }}
-          path: |
-            selfdrive/car/tests/fleet_results/ci/**/*.json
-            selfdrive/car/tests/fleet_results/ci/**/*.log

build

@@ -27,10 +27,6 @@ add_panda_targets() {
     panda_h7_remote_can_ignition_only
     panda_hkg_remote_can_ignition_only
     panda_h7_hkg_remote_can_ignition_only
-    panda_tesla_wake
-    panda_h7_tesla_wake
-    panda_tesla_wake_can_ignition_only
-    panda_h7_tesla_wake_can_ignition_only
     panda_jungle_h7
     body_h7
   )

cereal/custom.capnp

@@ -14,7 +14,6 @@ using Car = import "car.capnp";
 
 struct StarPilotCarControl @0x81c2f05a394cf4af {
   hudControl @0 :HUDControl;
-  steeringLimitInfo @1 :SteeringLimitInfo;
 
   struct HUDControl {
     audibleAlert @0 :AudibleAlert;
@@ -50,16 +49,6 @@ struct StarPilotCarControl @0x81c2f05a394cf4af {
       uwu @22;
     }
   }
-
-  struct SteeringLimitInfo {
-    valid @0 :Bool;
-    modelLimitErrorDeg @1 :Float32;
-    resumeLimitErrorDeg @2 :Float32;
-    cooperativeLimitErrorDeg @3 :Float32;
-    cooperativeOffsetDeg @4 :Float32;
-    monoTime @5 :UInt64;
-    combinedLimitErrorDeg @6 :Float32;
-  }
 }
 
 struct StarPilotCarParams @0xaedffd8f31e7b55d {
@@ -237,8 +226,6 @@ struct StarPilotPlan @0xf98d843bfd7004a3 {
   cscLearnedLatAccel @40 :Float32;  # learned comfort at the current curvature, before margin
   cscBindingDistance @41 :Float32;  # distance to the horizon point setting the target, m
   approachStopLength @42 :Float32;  # pre-commit distance to a detected stop, m; 0 when off
-  slcPresentedSpeedLimitSource @43 :Text;  # source of the shown accepted or pending posted limit
-  slcIsLimitingMaxSet @44 :Bool;  # SLC target is below the configured Max Set
 }
 
 struct StarPilotRadarState @0xb86e6369214c01c8 {

cereal/messaging/__init__.py

@@ -152,8 +152,7 @@ class FrequencyTracker:
 class SubMaster:
   def __init__(self, services: List[str], poll: Optional[str] = None,
                ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
-               ignore_valid: Optional[list[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None,
-               drain_services: list[str] | None = None):
+               ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None):
     self.frame = -1
     self.services = services
     self.seen = {s: False for s in services}
@@ -161,9 +160,6 @@ class SubMaster:
     self.recv_time = {s: 0. for s in services}
     self.recv_frame = {s: 0 for s in services}
     self.sock = {}
-    self.drained = {s: [] for s in (drain_services or [])}
-    if not self.drained.keys() <= set(services):
-      raise ValueError("Drained services must be subscribed")
     self.data = {}
     self.logMonoTime = {s: 0 for s in services}
 
@@ -191,7 +187,7 @@ class SubMaster:
 
     for s in services:
       p = self.poller if s not in self.non_polled_services else None
-      self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=s not in self.drained)
+      self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
 
       try:
         data = new_message(s)
@@ -211,28 +207,14 @@ class SubMaster:
   def _check_avg_freq(self, s: str) -> bool:
     return SERVICE_LIST[s].frequency > 0.99 and (s not in self.ignore_average_freq) and (s not in self.ignore_alive)
 
-  def _recv_socket(self, sock):
-    message = recv_one_or_none(sock)
-    if not self.drained or message is None:
-      return message
-    # Native Poller returns fresh socket wrappers; identify the service by data.
-    service = message.which()
-    if service not in self.drained:
-      return message
-    # Preserve event edges for observers, but update state/frequency only once.
-    self.drained[service] = [message, *drain_sock(sock)]
-    return self.drained[service][-1]
-
   def update(self, timeout: int = 100) -> None:
-    for service in self.drained:
-      self.drained[service] = []
     msgs = []
     for sock in self.poller.poll(timeout):
-      msgs.append(self._recv_socket(sock))
+      msgs.append(recv_one_or_none(sock))
 
     # non-blocking receive for non-polled sockets
     for s in self.non_polled_services:
-      msgs.append(self._recv_socket(self.sock[s]))
+      msgs.append(recv_one_or_none(self.sock[s]))
     self.update_msgs(time.monotonic(), msgs)
 
   def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
@@ -280,7 +262,6 @@ class SubMaster:
       ignore_valid=self.ignore_valid,
       addr=self.addr,
       frequency=None if self.poll is not None else self.update_freq,
-      drain_services=list(self.drained),
     )
 
 

cereal/messaging/tests/test_pub_sub_master.py

@@ -1,6 +1,5 @@
 import random
 import time
-import pytest
 from typing import Sized, cast
 
 import cereal.messaging as messaging
@@ -17,29 +16,6 @@ class TestSubMaster:
     # sleep to prevent multiple publishers error between tests
     zmq_sleep(3)
 
-  @pytest.mark.parametrize("poll", [None, "deviceState"])
-  def test_drain_preserves_short_events_with_native_socket_wrappers(self, poll):
-    pub = messaging.PubMaster(["carState", "deviceState"])
-    sm = messaging.SubMaster(["carState", "deviceState"], poll=poll, drain_services=["carState"])
-    zmq_sleep()
-    pressed = messaging.new_message("carState", valid=True)
-    button = pressed.carState.init("buttonEvents", 1)[0]
-    button.type, button.pressed = "accelCruise", True
-    pub.send("carState", pressed)
-    latest = messaging.new_message("carState", valid=True)
-    latest.carState.vEgo = 12.0
-    pub.send("carState", latest)
-    pub.send("deviceState", messaging.new_message("deviceState", valid=True))
-    sm.update(1000)
-    assert len(sm.drained["carState"]) == 2
-    assert sm.drained["carState"][0].carState.buttonEvents[0].pressed
-    assert sm["carState"].vEgo == 12.0 and not sm["carState"].buttonEvents
-    assert sm.logMonoTime["carState"] == latest.logMonoTime
-    assert sm.frame == 0 and all(sm.updated.values())
-    sm.update(0)
-    assert sm.drained["carState"] == []
-    assert sm.frame == 1 and not any(sm.updated.values())
-
   def test_init(self):
     sm = messaging.SubMaster(events)
     for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,

common/gps.py

@@ -1,8 +1,25 @@
+from __future__ import annotations
+
+from cereal import car
 from openpilot.common.params import Params
 
 
-def get_gps_location_service(params: Params) -> str:
-  if params.get_bool("UbloxAvailable") or params.get_bool("CarGpsAvailable"):
+def gm_car_params_present(params: Params, CP: car.CarParams | None = None) -> bool:
+  if CP is not None and getattr(CP, "brand", None):
+    return CP.brand == "gm"
+  try:
+    raw_car_params = params.get("CarParams")
+    if raw_car_params is None:
+      return False
+    with car.CarParams.from_bytes(raw_car_params) as parsed_cp:
+      return parsed_cp.brand == "gm"
+  except Exception:
+    return False
+
+
+def get_gps_location_service(params: Params, CP: car.CarParams | None = None) -> str:
+  # GM arbitrates device/PPS/OnStar through gpsLocationExternal.
+  if gm_car_params_present(params, CP) or params.get_bool("UbloxAvailable") or params.get_bool("CarGpsAvailable"):
     return "gpsLocationExternal"
   else:
     return "gpsLocation"

common/params_keys.h

@@ -18,7 +18,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"BootCount", {PERSISTENT, INT}},
     {"BluetoothAudioAddress", {PERSISTENT, STRING}},
     {"BluetoothAudioTestActive", {CLEAR_ON_MANAGER_START | DONT_LOG, BOOL}},
-    {"BluetoothDisconnectControllersOffroad", {PERSISTENT, BOOL, "0"}},
     {"BluetoothEnabled", {PERSISTENT, BOOL, "0"}},
     {"CalibrationParams", {PERSISTENT, BYTES}},
     {"CameraDebugExpGain", {CLEAR_ON_MANAGER_START, STRING}},
@@ -110,7 +109,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LocationFilterInitialState", {PERSISTENT, BYTES}},
     {"LongitudinalManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"LongitudinalPersonality", {PERSISTENT, INT, std::to_string(static_cast<int>(cereal::LongitudinalPersonality::STANDARD))}},
-    {"LongitudinalPersonalityProfiles", {PERSISTENT | DONT_LOG, JSON, "{}", "{}"}},
     {"NetworkMetered", {PERSISTENT, BOOL}},
     {"ObdMultiplexingChanged", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"ObdMultiplexingEnabled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
@@ -198,7 +196,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"AggressiveJerkSpeedDecrease", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
     {"AlertVolumeControl", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"AllowImpossibleAcceleration", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"AlwaysOnLateral", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
+    {"AlwaysOnLateral", {PERSISTENT, BOOL, "1", "0", 0, SETTINGS_SIMPLE}},
     {"AlwaysOnLateralLKAS", {PERSISTENT, BOOL, "1", "0", 2}},
     {"ApiCache_DriveStats", {PERSISTENT, JSON, "{}", "{}"}},
     {"AutomaticallyDownloadModels", {PERSISTENT, BOOL, "1", "0", 1}},
@@ -318,8 +316,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"DeveloperSidebarMetric7", {PERSISTENT, INT, "7", "0", 3}},
     {"DeveloperUI", {PERSISTENT, BOOL, "0", "0", 3}},
     {"GalaxyDeveloperMode", {PERSISTENT | DONT_LOG, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
-    {"GalaxyDeviceName", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
-    {"GalaxyMobileDefault", {PERSISTENT | DONT_LOG, BOOL, "1", "1", 0, SETTINGS_SIMPLE}},
+    {"GalaxyMobileDefault", {PERSISTENT | DONT_LOG, BOOL, "0", "0", 0, SETTINGS_ADVANCED}},
     {"DeveloperWidgets", {PERSISTENT, BOOL, "1", "0", 3}},
     {"DeviceManagement", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
     {"DeviceShutdown", {PERSISTENT, INT, "6", "6", 1, SETTINGS_SIMPLE}},
@@ -353,7 +350,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"DrivingModelVersion", {PERSISTENT, STRING, "v15", "v15", 1}},
     {"DynamicPathWidth", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"DynamicPedalsOnUI", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
-    {"GpuModelReadySound", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"EngageVolume", {PERSISTENT, INT, "101", "101", 2, SETTINGS_SIMPLE}},
     {"EVTuning", {PERSISTENT, BOOL, "0", "0", 3}},
     {"Fahrenheit", {PERSISTENT, BOOL, "0", "0", 3}},
@@ -364,7 +360,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"IgnoreIgnitionLine", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
     {"LongPitch", {PERSISTENT, BOOL, "1", "0", 2, SETTINGS_SIMPLE}},
     {"RemoteStartBootsComma", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
-    {"TeslaWakeOnCAN", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
     {"RemapCancelToDistance", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
     {"NAPAdaptiveAccel", {PERSISTENT, BOOL, "1", "1", 0, SETTINGS_SIMPLE}},
     {"NAPFollowDistance", {PERSISTENT, INT, "4", "4"}},
@@ -445,7 +440,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"IncreaseFollowingRain", {PERSISTENT, FLOAT, "0.0", "0.0", 2, SETTINGS_SIMPLE}},
     {"IncreaseFollowingRainStorm", {PERSISTENT, FLOAT, "0.0", "0.0", 2, SETTINGS_SIMPLE}},
     {"IncreaseFollowingSnow", {PERSISTENT, FLOAT, "0.0", "0.0", 2, SETTINGS_SIMPLE}},
-    {"AggressiveCoolingEnabled", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"IncreaseThermalLimits", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"IssueReported", {CLEAR_ON_MANAGER_START, JSON, "{}", "{}"}},
     {"KonikDongleId", {PERSISTENT, STRING, "", "", 0}},
@@ -469,8 +463,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LeadDepartingAlert", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
     {"LeadDetectionThreshold", {PERSISTENT, INT, "35", "50", 3}},
     {"LeadIndicator", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
-    {"LeadInfo", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"LeadInfoMode", {PERSISTENT, INT, "2", "2", 3}},
+    {"LeadInfo", {PERSISTENT, BOOL, "1", "0", 3}},
     {"LKASButtonControl", {PERSISTENT, INT, "5", "0", 2, SETTINGS_SIMPLE}},
     {"LockDoors", {PERSISTENT, BOOL, "1", "0", 0}},
     {"LockDoorsTimer", {PERSISTENT, INT, "0", "0", 0}},
@@ -615,7 +608,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"RelaxedJerkDeceleration", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
     {"RelaxedJerkSpeed", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
     {"RelaxedJerkSpeedDecrease", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
-    {"ReverseCruise", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
     {"RivianAngleControl", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"RivianAngleSaturated", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL, "0", "0"}},
     {"RivianToiRecoveryFailed", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL, "0", "0"}},
@@ -625,10 +617,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"RotatingWheel", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
     {"ScreenBrightness", {PERSISTENT, INT, "101", "101", 2, SETTINGS_SIMPLE}},
     {"ScreenBrightnessOnroad", {PERSISTENT, INT, "101", "101", 2, SETTINGS_SIMPLE}},
-    {"ScreenBrightnessManual", {PERSISTENT, INT, "100", "100", 2, SETTINGS_SIMPLE}},
-    {"ScreenBrightnessOffset", {PERSISTENT, INT, "0", "0", 2, SETTINGS_SIMPLE}},
-    {"ScreenBrightnessOnroadManual", {PERSISTENT, INT, "100", "100", 2, SETTINGS_SIMPLE}},
-    {"ScreenBrightnessOnroadOffset", {PERSISTENT, INT, "0", "0", 2, SETTINGS_SIMPLE}},
     {"ScreenManagement", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
     {"ScreenRecorder", {PERSISTENT, BOOL, "1", "0", 2, SETTINGS_SIMPLE}},
     {"ScreenTimeout", {PERSISTENT, INT, "30", "30", 2, SETTINGS_SIMPLE}},
@@ -638,7 +626,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SafeModeBackup", {PERSISTENT, JSON, "{}", "{}"}},
     {"SetSpeedLimit", {PERSISTENT, BOOL, "0", "0", 1}},
     {"SetSpeedOffset", {PERSISTENT, FLOAT, "0.0", "0.0", 2, SETTINGS_SIMPLE}},
-    {"ShowBrakeStatus", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"ShowCEMStatus", {PERSISTENT, BOOL, "1", "0", 2, SETTINGS_SIMPLE}},
     {"ShowCCMStatus", {PERSISTENT, BOOL, "0", "0", 2}},
     {"ShowCPU", {PERSISTENT, BOOL, "0", "0", 3}},
@@ -700,15 +687,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"StandardJerkSpeed", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
     {"StandardJerkSpeedDecrease", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
     {"StandbyMode", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
-    {"StandbyWakeButton", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
-    {"StandbyButtonPressTime", {CLEAR_ON_MANAGER_START | DONT_LOG, INT, "0", "0"}},
-    {"ScreenOffToggleCounter", {CLEAR_ON_MANAGER_START | DONT_LOG, INT, "0", "0"}},
-    {"StandbyWakeEngage", {PERSISTENT, BOOL, "1", "1", 2, SETTINGS_SIMPLE}},
-    {"StandbyWakeDisengage", {PERSISTENT, BOOL, "1", "1", 2, SETTINGS_SIMPLE}},
-    {"StandbyWakeInfoAlert", {PERSISTENT, BOOL, "1", "1", 2, SETTINGS_SIMPLE}},
-    {"StandbyWakeWarningAlert", {PERSISTENT, BOOL, "1", "1", 2, SETTINGS_SIMPLE}},
-    {"StandbyWakeCriticalAlert", {PERSISTENT, BOOL, "1", "1", 2, SETTINGS_SIMPLE}},
-    {"StandbyWakeTurnSignal", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"StartAccel", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
     {"StartAccelStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
     {"StartupMessageBottom", {PERSISTENT, STRING, "Always keep hands on wheel and eyes on road", "Always keep hands on wheel and eyes on road", 0}},
@@ -741,10 +719,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SubaruSNG", {PERSISTENT, BOOL, "1", "0", 2, SETTINGS_SIMPLE}},
     {"SubaruSNGManualParkingBrake", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"SubaruStopStartOff", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
-    {"SubaruAvhStartup", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"SubaruRedneckCruise", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"TacoTune", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"TeslaAOLDisengageOnBrake", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
     {"TeslaCoopSteering", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"TestAlert", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
     {"TetheringEnabled", {PERSISTENT, INT, "0", "0", 0}},

common/tests/test_params.py

@@ -5,7 +5,7 @@ import threading
 import time
 import uuid
 
-from openpilot.common.params import Params, ParamKeyFlag, ParamKeyType, UnknownKeyName
+from openpilot.common.params import Params, ParamKeyFlag, UnknownKeyName
 
 class TestParams:
   def setup_method(self):
@@ -128,31 +128,6 @@ class TestParams:
     assert self.params.get("LiveParameters") is None
     assert self.params.get("LiveParameters", return_default=True) is None
 
-  def test_longitudinal_personality_profiles_json_round_trip(self):
-    key = "LongitudinalPersonalityProfiles"
-    value = {
-      "schemaVersion": 1,
-      "enabled": False,
-      "axes": {
-        "acceleration": {
-          "speed": {"unit": "mph", "values": [0.0, 11.184681, 22.369363, 33.554044, 44.738726, 55.923407, 89.477452]},
-          "value": {"unit": "m/s^2", "meaning": "maximum_requested_acceleration"},
-        },
-        "braking": {
-          "speed": {"unit": "mph", "values": [0.0, 11.184681, 22.369363, 33.554044, 44.738726, 55.923407, 89.477452]},
-          "value": {"unit": "m/s^2", "meaning": "cruise_slc_deceleration_magnitude"},
-        },
-        "following": {"speed": {"unit": "mph", "values": [0, 10, 20, 30, 40, 50, 60, 70, 80, 90]}, "value": {"unit": "s", "meaning": "base_time_headway"}},
-      },
-      "profiles": {},
-    }
-    self.params.remove(key)
-
-    assert self.params.get_type(key) == ParamKeyType.JSON
-    assert self.params.get(key) is None
-    self.params.put(key, value)
-    assert self.params.get(key) == value
-
   def test_params_get_type(self):
     # json
     self.params.put("ApiCache_DriveStats", {"a": 0})

docs/FLEET_SAFETY_RESULTS_20260921.md

@@ -1,86 +0,0 @@
-# Fleet offline audit — September 21, 2026
-
-This is a first-pass fault and coverage inventory, not fleet driving clearance.
-No hardware was accessed and no controller or safety policy was changed by this
-audit. Other work was concurrently modifying the checkout; per-case source and
-library hashes identify the tested implementations.
-
-The full debug-library run visited all 345 platforms. It evaluated both recorded
-and AOL-main scenarios for 287 registered routes, plus 108 missing-route entries:
-
-| Result | Cases |
-|---|---:|
-| Pass within the stated scope | 103 |
-| Failed checks, requiring triage | 123 |
-| Missing coverage | 288 |
-| Could not evaluate | 168 |
-| Total | 682 |
-
-These are case counts, not numbers of unsafe cars. Missing coverage includes all
-108 platforms without routes and segments without active transitions. Evaluation
-errors include unavailable recordings and identities that do not match the
-registered platform after the existing fingerprint migration. Old logs must be
-normalized explicitly, not quietly substituted for another car.
-
-Full local evidence is under
-`selfdrive/car/tests/fleet_results/full_fleet/results.json`, with per-shard build,
-case and worker logs. Generated evidence is ignored by Git.
-
-The follow-up full release-library run also completed 682 cases: **102 pass,
-153 failed, 289 uncovered, 138 evaluation errors**. Evidence is under
-`selfdrive/car/tests/fleet_results/release_fleet_checked/results.json`.
-The two batches had different download availability and ran against a changing
-working tree; their count difference is not an isolated debug-versus-release
-experiment. Both correctly exit nonzero. The release batch is not fleet clearance.
-
-## Confirmed distinctions from failure triage
-
-**Hyundai Custin — controller/safety capability mismatch.** The registered
-segment `0bbe367c98fa1538/2023-09-16--00-16-49/2` contains 600 camera-bus
-messages at 0x53e, all eight bytes, none six. `CarInterfaceBase.get_starpilot_params`
-in `opendbc_repo/opendbc/car/interfaces.py` enables HAS_LKAS12 by address alone.
-Hyundai `CarState.update` and `CarController.update` then produce six-byte LKAS12
-replacements. In `opendbc_repo/opendbc/safety/modes/hyundai.h`,
-`hyundai_rx_all_hook` only enables replacement after receiving a six-byte camera
-message, and `hyundai_tx_hook` correctly rejects the unsolicited replacement.
-Both scenarios reject 5,799 such packets. A fresh-library probe also reproduced
-the six-byte/eight-byte distinction. Repair requires a controller capability and
-parser regression test; do not broaden the safety allowlist to hide the mismatch.
-
-**Honda Civic Bosch — incompatible historical control requests.** All 5,997
-recorded requests in the inspected 2020 fixture have enabled/latActive/longActive
-false but resume true; all 6,000 cruise-state CAN messages are disabled. Current
-controller output is RES_ACCEL at 0x296, which current safety correctly blocks.
-The AOL probe suppresses resume and passes. Investigate historical command/schema
-semantics before calling this a current steering defect.
-
-**Ford Escape — mid-segment initialization artifact.** The first cruise-enabled
-0x165 enables controls, but the immediately following 0x202 reaches
-`speed_mismatch_check` before safety has nonzero speed history. Controls are
-revoked; cruise stays enabled for the entire segment so `pcm_cruise_check` sees
-no new rising edge. Relay health remains good. This reproduces with both recorded
-and default alternative experience. A two-second scoring warmup does not repair
-the latch. This needs recorded preroll/initialization coverage, not force-setting
-`controls_allowed` or changing vehicle safety.
-
-## Tesla and AOL scope
-
-In the full debug-library run, the Model 3 route and the second Model Y route
-passed both scenarios. The first Model Y route lacked a lateral transition;
-its AOL case also lacked requested steering under AOL-only safety permission.
-Model X was uncovered as a current dashcam-only configuration. The Model S HW1
-and Pre-AP entries have no registered routes. None of these findings reproduces
-or disproves the exact hackathon oscillation without its trace.
-
-The separate actual StarPilotCard synthetic-input suite passed 964 checks with
-72 explicit active-sequence gaps. All 345 disabled configurations were checked;
-309 platforms completed both active modes. These tests check state-machine gates
-and stable sequences, not the entire selfdrived-to-Panda feedback loop.
-
-The test-harness regressions pass 34 tests. They cover pre-hook AOL authorization,
-strict configuration/bus routing, rejected active packets, expected negative
-checks, empty activity, worker crashes, stale reports and build failures.
-
-See `FLEET_SAFETY_TESTING.md` for commands, CI scope and limitations. The workflow
-has been added locally but not published or run on GitHub, and branch protection
-has not been changed. The full fleet is not green.

docs/FLEET_SAFETY_TESTING.md

@@ -1,112 +0,0 @@
-# Offline fleet controller and safety checks
-
-The runner in `selfdrive/car/tests/fleet_safety.py` enumerates every platform in
-the current checkout and uses `opendbc.car.tests.routes`. It runs current
-CarInterface/CarState/CarController code against recorded CAN and actuator
-requests, then checks each newly generated CAN packet with freshly compiled
-current safety hooks. It never connects to a Panda or starts vehicle processes.
-
-Run from the repository root with the repository Python environment:
-
-```sh
-python -m selfdrive.car.tests.fleet_safety --inventory
-python -m selfdrive.car.tests.fleet_safety --platform TESLA_MODEL_Y --release
-python -m selfdrive.car.tests.fleet_safety --all --release
-```
-
-An isolated dependency set is in `selfdrive/car/tests/fleet_requirements.txt`.
-The runner needs a C compiler. It does not use a previously staged libsafety.
-Without `--release`, the safety library enables ALLOW_DEBUG, like the existing
-safety unit tests. Release checks are needed as well: a debug-only hook must not
-be mistaken for an available production configuration. Release host builds retain
-unused-variable warnings without treating that specific diagnostic as an error.
-
-For parallel runs, use separate output directories:
-
-```sh
-python -m selfdrive.car.tests.fleet_safety --all --release \
-  --shard-count 8 --shard-index 0 --out selfdrive/car/tests/fleet_results/shard_0
-```
-
-Run indices 0 through 7. Each has its own library copies, worker processes,
-parameter namespace, logs and results. `--local-log` allows a local rlog for one
-explicitly selected platform. Route IDs and old fingerprint aliases must match;
-the harness does not silently treat another vehicle's log as that platform.
-
-## What is checked
-
-- Recorded commands under the current default feature configuration.
-- A separate AOL MAIN-availability controller/safety probe, using recorded
-  actuator values with longitudinal requests and cruise button requests off.
-- Actual per-Panda safety model, CP/FPCP safety-param OR, alternative-experience
-  OR, and strict four-bus routing, matching production configuration assembly.
-- Incoming CAN, current CarState validity and safety receive health.
-- Every emitted TX, including inactive-state packets; unexpected rejection fails.
-- Pre-hook normal/AOL/longitudinal permissions, so a rejection that revokes
-  authorization cannot disappear from the failure accounting.
-- Active requests, accepted active TX, engagement transitions, and AOL-only
-  safety authorization coverage. Sparse commands and absent transitions cannot
-  qualify as complete coverage.
-
-There is a two-second unscored fixture startup interval. Controller and safety
-history still receive messages during it. The harness does not force safety
-authorization or clear a relay fault to manufacture a passing result.
-
-## Results are deliberately strict
-
-`pass` means the case satisfied these specific checks and coverage requirements.
-`failed` means a hook/health check failed and needs investigation. `uncovered`
-means the scenario was not demonstrated, including missing routes, dashcam-only
-interfaces and segments without transitions. `error` means the case could not be
-evaluated, such as download failure or mismatched fixture identity. Anything
-other than pass makes the command exit nonzero. Existing `non_tested_cars`
-exemptions remain visible coverage gaps.
-
-Reports include frame counters, bounded rejected packet evidence, source hashes,
-effective safety configurations and build provenance. Worker results carry a
-unique execution ID; a crash, stale result or inconsistent exit code cannot be
-reused as a pass. JSON and logs live under the ignored `fleet_results` directory.
-
-The AOL probe is **not** a complete simulation of StarPilotCard, selfdrived,
-controls mismatch handling or a vehicle ECU. Recorded commands may also reflect
-historical settings different from current defaults. A blocked historical resume
-request is not automatically a steering bug. Investigate each failure before
-changing code. Do not widen safety permissions to make tests green.
-
-## Continuous integration and remaining coverage
-
-`starpilot/controls/tests/test_fleet_aol.py` separately exercises the actual
-StarPilotCard state machine with isolated synthetic inputs for every platform.
-It tests feature-off behavior, steady engagement, AOL-only operation, brake
-pause, native/StarPilot immediate-disable alerts, calibration and gear gates.
-It uses empty firmware/fingerprint fixtures, so optional vehicle configurations
-are not covered by these sequences. Run it with a compatible built host runtime:
-
-```sh
-python -m pytest --noconftest -o addopts='' -q starpilot/controls/tests/test_fleet_aol.py
-```
-
-The first run passed 964 checks and explicitly skipped 72 active sequences:
-309 platforms exercised both active modes; 36 platforms had two gaps each
-(30 dashcam-only, one notCar, four Volvo policy exclusions, one Pre-AP external
-authorization dependency). All 345 feature-off checks passed. A separate
-Pre-AP authorization input boundary test is synthetic, not proof of actual
-Panda authorization. These tests were run against the current working tree,
-including concurrent Pre-AP changes; they do not certify an earlier commit.
-The lightweight CI workflow below does not build the native runtime required
-by this separate state-machine suite.
-
-`.github/workflows/fleet_safety.yaml` adds harness tests and eight release-mode
-recorded-route shards on relevant pull requests and manual runs. Missing coverage
-is not converted to a skip or allowed failure. The current fleet is not green;
-this workflow will expose that fact. It has not been executed on GitHub from this
-local task. Requiring it for merge also needs repository branch protection; a
-workflow file alone does not change repository settings.
-
-As of the first September 21 inventory there are 345 platforms, 287 registered
-routes across 237 platforms, and 108 platforms with no registered route. A route
-entry does not guarantee valid, downloadable logs or all necessary maneuvers.
-Every optional harness, longitudinal mode, safety parameter, firmware generation
-and AOL configuration still needs explicit coverage. Offline checks reduce
-blind spots; they do not certify every physical vehicle or reproduce an incident
-whose CAN trace was not retained.

docs/personality_custom_graphs.md

@@ -1,80 +0,0 @@
-# Custom personality graphs
-
-Each personality keeps its own Custom acceleration, braking and following curve.
-Selecting a named preset changes the active selection without deleting Custom
-points. Selecting Custom again restores those points, including after a reload
-or restart. If a category has never had Custom points, it is initialized from
-the current selection, as before.
-
-The existing **Reset to default** button, below each Custom graph's numeric
-points in New Galaxy's Advanced section, replaces only that category's Custom
-curve. It leaves the category set to Custom. The server resolves the reset
-values; the dashed **Dom default** line uses the same resolver.
-
-Defaults are Dom's configured base curves sampled at the editor's 10 mph
-points. They include Traffic's dedicated acceleration and braking, following
-settings, global tuning switches and powertrain overrides. Where gear mapping
-is enabled, the reference uses normal gear. Live Eco/Sport gear, weather,
-lead/stop and overspeed adjustments remain on the existing controller paths.
-Sampling cannot reproduce every native breakpoint or between-point value;
-resetting a Custom graph is not the same as delegating to the Dom-default
-runtime path.
-
-Dom-default points outside the ordinary editor range (such as Traffic braking
-at 0.35 m/s², configured Traffic following at 0.5 seconds or truck acceleration
-at 6 m/s²) remain visible and are preserved when another point is edited.
-New point edits still use the existing authoring bounds. This does not expand
-braking authority or change acceleration/braking preset definitions.
-
-## Following presets
-
-Named following presets now match Dom's factory following settings with custom
-personalities enabled. Close follows Aggressive, Medium follows Standard and
-Far follows Relaxed. The presets are available in every personality.
-
-| Preset | Previous curve | Revised curve |
-| --- | --- | --- |
-| Close | 1.25 s at every speed | 1.25 s through 45 mph, falling to 1.0 s at 70 mph |
-| Medium | 1.45 s at every speed | 1.45 s through 45 mph, falling to 1.2 s at 70 mph |
-| Far | 1.75 s at every speed | 1.6 s through 45 mph, falling to 1.4 s at 70 mph |
-| Traffic | No named preset | 0.75 s at rest, rising to 1.6 s at 25 m/s (55.92 mph) |
-
-Interpolation is linear between the stated breakpoints and constant outside
-them. Named presets use the exact native speed axes at runtime. First-use
-Custom conversion samples them onto the existing 10 mph editor grid.
-
-Existing v1/v2 Close, Medium and Far selections keep their old fixed headways
-as `legacy_close`, `legacy_medium` and `legacy_far`. Both Galaxy pickers show
-the selected compatibility entry as **Previous Close**, **Previous Medium**
-or **Previous Far**. Explicitly selecting a current preset adopts its new curve.
-The previous entry disappears when it is no longer selected.
-
-Existing `dom_default` selections continue to inherit configured settings;
-they are not silently converted to fixed named presets. Fresh profiles also
-retain this inheritance. The named curves match untouched factory settings;
-users' changed global following values can still differ from them.
-
-Acceleration and braking presets are unchanged. Standard acceleration and Eco
-braking match the normal factory defaults for Aggressive, Standard and Relaxed
-when named-preset and global powertrain tuning agree. Named presets use detected
-EV/truck tuning; the Dom-default resolver respects the global tuning switches,
-so these can differ. Traffic retains its dedicated acceleration/braking defaults;
-this change adds only its named following preset.
-
-## Storage compatibility
-
-Profile document version 3 retains `curve` and optional `legacyCurve` while
-`preset` is a named preset or `dom_default`. These retained values are dormant;
-only Custom uses them. An actual graph edit or reset retires preserved v1
-interpolation for that category; a preset switch or unchanged submission does
-not.
-
-Valid v2 documents retain their runtime meaning and are upgraded on the next
-normal write, including the fixed following compatibility names above.
-Version 1 keeps its existing explicit, verified migration flow. Reads never
-rewrite Params. Category conflict detection, off-road checks and atomic profile
-document writes still apply to edits and resets.
-
-Older builds do not understand v3 documents. Retain a compatible settings
-backup before rolling back to one of those builds. Curves discarded before
-this change cannot be recovered automatically.

launch_env.sh

@@ -21,11 +21,11 @@ fi
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="19.8.1"
+  export AGNOS_VERSION="19.6.20"
 fi
 
 if [ -z "$AGNOS_ACCEPTED_VERSIONS" ]; then
-  export AGNOS_ACCEPTED_VERSIONS="19.8.1 19.8.2"
+  export AGNOS_ACCEPTED_VERSIONS="$AGNOS_VERSION"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

opendbc_repo/MANIFEST.in

@@ -1,4 +1,3 @@
 include opendbc/car/car.capnp
 include opendbc/car/include/c++.capnp
-include opendbc/dbc/hyundai_kia_ray_pedal.dbc
 recursive-include opendbc/safety *.h

opendbc_repo/opendbc/can/dbc.py

@@ -13,7 +13,7 @@ from opendbc.car.subaru.subarucan import subaru_checksum
 from opendbc.car.chrysler.chryslercan import chrysler_checksum, fca_giorgio_checksum
 from opendbc.car.hyundai.hyundaicanfd import hkg_can_fd_checksum
 from opendbc.car.volkswagen.mlbcan import volkswagen_mlb_checksum
-from opendbc.car.volkswagen.mqbcan import volkswagen_meb_alt_crc_checksum, volkswagen_mqb_meb_checksum, xor_checksum
+from opendbc.car.volkswagen.mqbcan import volkswagen_mqb_meb_checksum, xor_checksum
 from opendbc.car.tesla.teslacan import tesla_checksum
 from opendbc.car.body.bodycan import body_checksum
 from opendbc.car.psa.psacan import psa_checksum
@@ -194,10 +194,8 @@ def get_checksum_state(dbc_name: str) -> ChecksumState | None:
     return ChecksumState(4, 2, 3, 5, False, SignalType.HONDA_CHECKSUM, honda_checksum)
   elif dbc_name.startswith(("toyota_", "lexus_")):
     return ChecksumState(8, -1, 7, -1, False, SignalType.TOYOTA_CHECKSUM, toyota_checksum)
-  elif dbc_name.startswith(("hyundai_canfd_generated", "hyundai_radar_210_21f_generated")):
+  elif dbc_name.startswith("hyundai_canfd_generated"):
     return ChecksumState(16, -1, 0, -1, True, SignalType.HKG_CAN_FD_CHECKSUM, hkg_can_fd_checksum)
-  elif dbc_name.startswith("vw_meb_2024"):
-    return ChecksumState(8, 4, 0, 0, True, SignalType.VOLKSWAGEN_MQB_MEB_CHECKSUM, volkswagen_meb_alt_crc_checksum)
   elif dbc_name.startswith(("vw_mqb", "vw_mqbevo", "vw_meb")):
     return ChecksumState(8, 4, 0, 0, True, SignalType.VOLKSWAGEN_MQB_MEB_CHECKSUM, volkswagen_mqb_meb_checksum)
   elif dbc_name.startswith("vw_mlb"):

opendbc_repo/opendbc/car/__init__.py

@@ -90,7 +90,6 @@ class Bus(StrEnum):
   main = auto()
   party = auto()
   ap_party = auto()
-  ap_pt = auto()
 
 
 def rate_limit(new_value, last_value, dw_step, up_step):

opendbc_repo/opendbc/car/car_helpers.py

@@ -56,20 +56,6 @@ GM_CANDIDATE_PREFIXES = ("CHEVROLET_", "GMC_", "CADILLAC_", "BUICK_", "HOLDEN_")
 GM_CORE_FINGERPRINT_MSGS = frozenset((190, 201, 209, 211, 241))
 GM_CAMERA_BUS = 2
 GM_VOLT_CAMERA_MSG = 0x320
-GM_SUBURBAN_CAMERA_VIN_PREFIX = "1GNSKJKJ"
-GM_SUBURBAN_CAMERA_PT_SIGNATURE = {
-  190: 6,
-  201: 8,
-  209: 7,
-  211: 2,
-  241: 6,
-  304: 1,
-  320: 3,
-}
-GM_CAMERA_DIAGNOSTIC_MESSAGES = {
-  0x24b: 8,
-  0x64b: 8,
-}
 
 
 def _normalize_forced_candidate(candidate: str | None) -> str | None:
@@ -166,24 +152,6 @@ def _normalize_gm_volt_candidate(candidate: str | None, fingerprints: dict[int,
   return candidate
 
 
-def _normalize_gm_suburban_camera_candidate(candidate: str | None, fingerprints: dict[int, dict], vin: str | None) -> str | None:
-  """Resolve the 2019 Suburban camera-harness variant when CAN is shared with Yukon."""
-  if candidate not in (None, "GMC_YUKON", "GMC_YUKON_CC"):
-    return candidate
-
-  if not isinstance(vin, str) or not vin.startswith(GM_SUBURBAN_CAMERA_VIN_PREFIX):
-    return candidate
-
-  powertrain = fingerprints.get(0, {})
-  camera = fingerprints.get(GM_CAMERA_BUS, {})
-  if not all(powertrain.get(address) == length for address, length in GM_SUBURBAN_CAMERA_PT_SIGNATURE.items()):
-    return candidate
-  if not all(camera.get(address) == length for address, length in GM_CAMERA_DIAGNOSTIC_MESSAGES.items()):
-    return candidate
-
-  return "CHEVROLET_SUBURBAN_CAMERA"
-
-
 def _is_gm_candidate(candidate: str | None) -> bool:
   return isinstance(candidate, str) and candidate.startswith(GM_CANDIDATE_PREFIXES)
 
@@ -339,10 +307,6 @@ def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multip
   stored_candidate = _normalize_forced_candidate(params.get("CarModel"))
   cached_candidate = _normalize_forced_candidate(getattr(cached_params, "carFingerprint", None))
 
-  if candidate is None and stored_candidate is None and cached_candidate is None:
-    candidate = _normalize_gm_suburban_camera_candidate(candidate, fingerprints, vin)
-    fingerprinted_candidate = candidate
-
   if candidate is None:
     gm_fallback_candidate = _get_gm_stored_candidate_fallback(fingerprints, stored_candidate, cached_candidate)
     if gm_fallback_candidate is not None:

opendbc_repo/opendbc/car/ford/carcontroller.py

@@ -4,7 +4,7 @@ from opendbc.can import CANPacker
 from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, DT_CTRL, structs
 from opendbc.car.lateral import ISO_LATERAL_ACCEL, apply_std_steer_angle_limits
 from opendbc.car.ford import fordcan
-from opendbc.car.ford.values import CAR, CarControllerParams, FordFlags
+from opendbc.car.ford.values import CarControllerParams, FordFlags
 from opendbc.car.interfaces import CarControllerBase, V_CRUISE_MAX
 # This Ford extension boundary substantially adapts BluePilot bp-7.0 work. See the root CREDITS.md
 # (including Alan Polk's d0aac605f and db2bdff05) and THIRD_PARTY_NOTICES.md.
@@ -64,9 +64,7 @@ def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_c
   return apply_curvature
 
 
-def apply_creep_compensation(accel: float, v_ego: float, car_fingerprint: str, *, standstill: bool, stopping: bool) -> float:
-  if car_fingerprint == CAR.FORD_MUSTANG_MACH_E_MK1 and not (standstill and stopping):
-    return accel
+def apply_creep_compensation(accel: float, v_ego: float) -> float:
   creep_accel = np.interp(v_ego, [1., 3.], [0.6, 0.])
   creep_accel = np.interp(accel, [0., 0.2], [creep_accel, 0.])
   accel -= creep_accel
@@ -167,7 +165,7 @@ class CarController(CarControllerBase):
           can_sends.append(starpilot_fordcan.create_lat_ctl2_msg(
             self.packer, self.CAN, 1 if lateral.active else 0,
             lateral.ramp_type, lateral.precision_type,
-            -lateral.curvature, -lateral.curvature_rate, counter, -lateral.path_angle))
+            -lateral.curvature, -lateral.curvature_rate, counter))
         else:
           can_sends.append(starpilot_fordcan.create_lat_ctl_msg(
             self.packer, self.CAN, lateral.active,
@@ -183,11 +181,12 @@ class CarController(CarControllerBase):
     if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
       accel = actuators.accel
       gas = accel
-      stopping = actuators.longControlState == LongCtrlState.stopping
 
       if CC.longActive:
-        accel = apply_creep_compensation(accel, CS.out.vEgo, self.CP.carFingerprint,
-                                         standstill=CS.out.standstill, stopping=stopping)
+        # Compensate for engine creep at low speed.
+        # Either the ABS does not account for engine creep, or the correction is very slow
+        # TODO: verify this applies to EV/hybrid
+        accel = apply_creep_compensation(accel, CS.out.vEgo)
 
         # The stock system has been seen rate limiting the brake accel to 5 m/s^3,
         # however even 3.5 m/s^3 causes some overshoot with a step response.
@@ -211,6 +210,7 @@ class CarController(CarControllerBase):
       elif accel_pitch_compensated < 0.0:
         self.brake_request = True
 
+      stopping = CC.actuators.longControlState == LongCtrlState.stopping
       # TODO: look into using the actuators packet to send the desired speed
       can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, self.brake_request, v_ego_kph=V_CRUISE_MAX))
 

opendbc_repo/opendbc/car/ford/interface.py

@@ -8,7 +8,7 @@ from opendbc.car.ford.carcontroller import CarController
 from opendbc.car.ford.carstate import CarState
 from opendbc.car.ford.fordcan import CanBus
 from opendbc.car.ford.radar_interface import RadarInterface
-from opendbc.car.ford.values import CAR, CarControllerParams, DBC, Ecu, FordFlags, RADAR, FordSafetyFlags
+from opendbc.car.ford.values import CarControllerParams, DBC, Ecu, FordFlags, RADAR, FordSafetyFlags
 from opendbc.car.interfaces import CarInterfaceBase
 
 TransmissionType = structs.CarParams.TransmissionType
@@ -63,8 +63,6 @@ class CarInterface(CarInterfaceBase):
 
     if ret.flags & FordFlags.CANFD:
       ret.safetyConfigs[-1].safetyParam |= FordSafetyFlags.CANFD.value
-      if candidate == CAR.FORD_MUSTANG_MACH_E_MK1:
-        ret.safetyConfigs[-1].safetyParam |= FordSafetyFlags.MACH_E_CURVATURE.value
 
       # TRON (SecOC) platforms are not supported
       # LateralMotionControl2, ACCDATA are 16 bytes on these platforms

opendbc_repo/opendbc/car/ford/tests/test_ford.py

@@ -9,7 +9,7 @@ import pytest
 from opendbc.car import Bus, gen_empty_fingerprint
 from opendbc.can import CANPacker
 from opendbc.car.ford import fordcan
-from opendbc.car.ford.carcontroller import FordStockCruiseButton, apply_creep_compensation
+from opendbc.car.ford.carcontroller import FordStockCruiseButton
 from opendbc.car.gps import FORD_MACH_E_GPS_MESSAGES, get_car_gps_config, parse_ford_can_gps
 from opendbc.car.structs import CarParams
 from opendbc.car.fw_versions import build_fw_dict
@@ -38,17 +38,6 @@ def test_stock_cruise_button_ignores_press_with_cruise_master_off():
   assert button.update(True, cruise_available=False, cruise_enabled=False) == (False, False)
 
 
-def test_mach_e_does_not_apply_engine_creep_compensation():
-  for accel in (-1.0, -0.1, 0.0, 0.1):
-    assert apply_creep_compensation(accel, 0.5, CAR.FORD_MUSTANG_MACH_E_MK1,
-                                     standstill=False, stopping=False) == accel
-
-  assert apply_creep_compensation(0.0, 0.0, CAR.FORD_MUSTANG_MACH_E_MK1,
-                                   standstill=True, stopping=True) == -0.6
-  assert apply_creep_compensation(0.0, 0.5, CAR.FORD_F_150_MK14,
-                                   standstill=False, stopping=False) == -0.6
-
-
 ECU_ADDRESSES = {
   Ecu.eps: 0x730,          # Power Steering Control Module (PSCM)
   Ecu.abs: 0x760,          # Anti-Lock Brake System (ABS)
@@ -203,12 +192,10 @@ def test_mach_e_longitudinal_toggle_controls_stock_acc_selection():
   assert not stock.openpilotLongitudinalControl
   assert stock.pcmCruise
   assert not (stock.safetyConfigs[-1].safetyParam & FordSafetyFlags.LONG_CONTROL)
-  assert stock.safetyConfigs[-1].safetyParam & FordSafetyFlags.MACH_E_CURVATURE
 
   assert enhanced.alphaLongitudinalAvailable
   assert enhanced.openpilotLongitudinalControl
   assert enhanced.safetyConfigs[-1].safetyParam & FordSafetyFlags.LONG_CONTROL
-  assert enhanced.safetyConfigs[-1].safetyParam & FordSafetyFlags.MACH_E_CURVATURE
 
 
 def test_mach_e_can_gps_decode():

opendbc_repo/opendbc/car/ford/values.py

@@ -50,7 +50,6 @@ class FordSafetyFlags(IntFlag):
   LONG_CONTROL = 1
   CANFD = 2
   LKA_STEERING = 4
-  MACH_E_CURVATURE = 8
 
 
 class FordFlags(IntFlag):

opendbc_repo/opendbc/car/gm/carcontroller.py

@@ -6,7 +6,7 @@ from opendbc.car.lateral import apply_driver_steer_torque_limits
 from opendbc.car.gm import gmcan
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.gm.values import (
-  ASCM_INT, CAMERA_ACC_CAR, CAR, CC_ONLY_CAR, CC_REGEN_PADDLE_CAR, DBC, EV_CAR, GM_AUTO_HOLD_CARS, SDGM_CAR, AccState, CanBus, CarControllerParams,
+  ASCM_INT, CAMERA_ACC_CAR, CAR, CC_ONLY_CAR, CC_REGEN_PADDLE_CAR, DBC, EV_CAR, SDGM_CAR, AccState, CanBus, CarControllerParams,
   CruiseButtons, GMFlags, GMSafetyFlags,
 )
 from opendbc.car.interfaces import CarControllerBase
@@ -309,7 +309,7 @@ def supports_volt_auto_hold(CP, auto_hold_enabled: bool):
     auto_hold_enabled and
     getattr(CP, "openpilotLongitudinalControl", False) and
     stock_hold_safety_ready and
-    CP.carFingerprint in GM_AUTO_HOLD_CARS
+    CP.carFingerprint in AUTO_HOLD_VOLT_CARS
   )
 
 
@@ -852,6 +852,7 @@ class CarController(CarControllerBase):
       CAR.CHEVROLET_VOLT_CC,
       CAR.CHEVROLET_MALIBU_CC,
       CAR.CHEVROLET_MALIBU_HYBRID_CC,
+      CAR.BUICK_LACROSSE,
     }
 
     if (self.CP.enableGasInterceptorDEPRECATED and self.CP.carFingerprint in CC_REGEN_PADDLE_CAR and
@@ -1159,13 +1160,7 @@ class CarController(CarControllerBase):
           if should_send_cc_button_spam(self.CP, CC, CS):
             if self.CP.carFingerprint != CAR.CADILLAC_XT4_CC:
               # Using extend instead of append since the message is only sent intermittently
-              longitudinal_adjustment_active = bool(getattr(
-                CS, "openpilot_longitudinal_adjustment_active", CC.hudControl.leadVisible,
-              ))
-              can_sends.extend(gmcan.create_gm_cc_spam_command(
-                self.packer_pt, self, CS, actuators, starpilot_toggles,
-                longitudinal_adjustment_active=longitudinal_adjustment_active,
-              ))
+              can_sends.extend(gmcan.create_gm_cc_spam_command(self.packer_pt, self, CS, actuators, starpilot_toggles))
           else:
             if (CS.out.cruiseState.enabled and CC.enabled and self.frame % 52 == 0 and
                 CS.cruise_buttons == CruiseButtons.UNPRESS and CS.out.gasPressed and CS.out.cruiseState.speed < CS.out.vEgo < hud_v_cruise):
@@ -1197,7 +1192,7 @@ class CarController(CarControllerBase):
           # cannot linger after a disengage or main-off event.
           if should_send_bolt_acc_pedal_friction:
             can_sends.append(gmcan.create_friction_brake_command(
-              self.packer_ch, friction_brake_bus, experiment_brake, idx, bolt_acc_pedal_friction_main_on and CC.longActive,
+              self.packer_ch, friction_brake_bus, experiment_brake, idx, bolt_acc_pedal_friction_main_on,
               near_stop, at_full_stop, self.CP))
         if self.CP.carFingerprint not in CC_ONLY_CAR:
           friction_brake_bus = get_friction_brake_bus(self.CP)

opendbc_repo/opendbc/car/gm/carstate.py

@@ -1,5 +1,7 @@
 import copy
 import math
+from datetime import UTC, datetime, timedelta
+from collections.abc import Mapping
 from cereal import custom
 from opendbc.can import CANDefine, CANParser
 from opendbc.car import Bus, create_button_events, structs
@@ -8,17 +10,14 @@ from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.gps import get_car_gps_config
 from opendbc.car.interfaces import CarStateBase
 from opendbc.car.gm.values import (
-  ALT_ACCS,
   ASCM_INT,
   CAMERA_ACC_CAR,
   CAR,
   CC_ONLY_CAR,
-  CC_REGEN_PADDLE_CAR,
   DBC,
   AccState,
   CanBus,
   CruiseButtons,
-  GM_AUTO_HOLD_CARS,
   GMFlags,
   SDGM_CAR,
   STEER_THRESHOLD,
@@ -33,13 +32,118 @@ STANDSTILL_THRESHOLD = 10 * 0.0311
 VOLT_EBCM_BRAKE_PRESSED_THRESHOLD = 6 / 0xd0
 AUTO_HOLD_MIN_DRIVE_TIME_S = 3.0
 AUTO_HOLD_REGEN_RELEASE_COOLDOWN_S = 1.0
-ACC_STARTUP_FAULT_GRACE_PERIOD_S = 5.0
 
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
                 CruiseButtons.MAIN: ButtonType.mainCruise, CruiseButtons.CANCEL: ButtonType.cancel}
 HARD_BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise}
 NORMAL_CRUISE_BUTTONS = (CruiseButtons.RES_ACCEL, CruiseButtons.DECEL_SET)
 
+# Optional ~10 Hz CT6 PPS GPS messages on the powertrain bus.
+PPS_GPS_MESSAGES = (
+  "PPS_ElevHdSpd_FO",
+  "PPS_PosLat_FO",
+  "PPS_PosLong_FO",
+  "PPS_Time_FO",
+  "PPS_QualMetrics_FO",
+)
+# PPS_SigAcqTime_FO is omitted: its validity bit stays 1 even during valid fixes.
+
+
+def pps_checksum_ok(data: bytes) -> bool:
+  """Validate the 11-bit checksum used by the observed PPS frames."""
+  if len(data) < 2:
+    return False
+  received = ((data[-2] & 0x07) << 8) | data[-1]
+  expected = sum(data[:-2]) + (data[-2] >> 3) + 0x4C
+  return (expected & 0x7FF) == received
+
+
+def decode_gm_pps_gps(values: Mapping[str, Mapping[str, float]], raw: Mapping[str, bytes],
+                      timestamp_nanos: int) -> dict | None:
+  """Decode one coherent PPS bundle into the existing car-GPS sample shape."""
+  if any(not pps_checksum_ok(raw.get(name, b"")) for name in PPS_GPS_MESSAGES):
+    return None
+
+  try:
+    pos_lat = values["PPS_PosLat_FO"]
+    pos_long = values["PPS_PosLong_FO"]
+    timestamp_values = values["PPS_Time_FO"]
+    quality = values["PPS_QualMetrics_FO"]
+    if (int(pos_lat.get("PPSLatV", 1)) != 0 or
+        int(pos_long.get("PPSLongV", 1)) != 0 or
+        int(quality.get("PPS2DAbsPosErrEstmtV", 1)) != 0 or
+        int(quality.get("PPSMdV", 1)) != 0 or
+        int(quality.get("PPSPstnDilPrcsV", 1)) != 0 or
+        int(timestamp_values.get("PPSTmdayV", 1)) != 0 or
+        int(timestamp_values.get("PPSCldrDayV", 1)) != 0 or
+        int(timestamp_values.get("PPSCldrYrV", 1)) != 0):
+      return None
+    # Reject mode 6 (dead reckoning only without GNSS).
+    if int(quality["PPSMd"]) == 6:
+      return None
+
+    latitude = float(pos_lat["PPSLat"]) / 3_600_000.0
+    longitude = float(pos_long["PPSLong"]) / 3_600_000.0
+    if not (math.isfinite(latitude) and math.isfinite(longitude) and
+            -90.0 <= latitude <= 90.0 and -180.0 <= longitude <= 180.0 and
+            (latitude != 0.0 or longitude != 0.0)):
+      return None
+
+    year = int(timestamp_values["PPSCldrYr"])
+    day_of_year = int(timestamp_values["PPSCldrDay"])
+    millis_of_day = int(timestamp_values["PPSTmday"])
+    if not 2014 <= year <= 2141 or day_of_year < 1 or not 0 <= millis_of_day < 86_400_000:
+      return None
+    timestamp = datetime(year, 1, 1, tzinfo=UTC) + timedelta(days=day_of_year - 1, milliseconds=millis_of_day)
+    if timestamp.year != year:
+      return None
+
+    elev = values["PPS_ElevHdSpd_FO"]
+    speed = float(elev["PPSVel"]) * CV.KPH_TO_MS
+    if int(elev.get("PPSVelV", 1)) != 0 or not math.isfinite(speed) or not 0.0 <= speed <= 200.0:
+      speed = 0.0
+    heading = float(elev["PPSHedng"])
+    if (int(elev.get("PPSHedngV", 1)) != 0 or
+        not math.isfinite(heading) or not 0.0 <= heading < 360.0):
+      heading = 0.0
+
+    altitude = float(elev["PPSElvtn"]) / 100.0
+    if int(elev.get("PPSElvtnV", 1)) != 0 or not math.isfinite(altitude):
+      altitude = 0.0
+
+    horizontal_accuracy = float(quality["PPS2DAbsPosErrEstmt"])
+    if not math.isfinite(horizontal_accuracy) or horizontal_accuracy < 0.0:
+      horizontal_accuracy = 0.0
+
+    vertical_accuracy = float(quality["PPS3DAbsPosErrEstmt"])
+    if int(quality.get("PPS3DAbsPosErrEstmtV", 1)) != 0 or not math.isfinite(vertical_accuracy) or vertical_accuracy < 0.0:
+      vertical_accuracy = 0.0
+
+    bearing_accuracy = float(quality["PPSAbsHdngErrEstmt"])
+    if int(quality.get("PPSAbsHdngErrEstmtV", 1)) != 0 or not math.isfinite(bearing_accuracy) or bearing_accuracy < 0.0:
+      bearing_accuracy = 180.0
+  except (KeyError, TypeError, ValueError, OverflowError, AttributeError):
+    return None
+
+  heading_rad = math.radians(heading)
+  return {
+    "timestamp_nanos": timestamp_nanos,
+    "latitude": latitude,
+    "longitude": longitude,
+    "altitude": altitude,
+    "speed": speed,
+    "bearingDeg": heading,
+    "horizontalAccuracy": horizontal_accuracy,
+    "unixTimestampMillis": round(timestamp.timestamp() * 1000),
+    "verticalAccuracy": vertical_accuracy,
+    "bearingAccuracyDeg": bearing_accuracy,
+    # Velocity error units are undocumented in DBC; omit conversion.
+    "speedAccuracy": 0.0,
+    "hasFix": True,
+    "satelliteCount": 0,
+    "vNED": [speed * math.cos(heading_rad), speed * math.sin(heading_rad), 0.0],
+  }
+
 
 def get_hard_cruise_buttons(steering_button_msg: dict) -> int:
   return steering_button_msg.get("ACCButtonsHard", CruiseButtons.INIT)
@@ -69,36 +173,6 @@ def update_auto_hold_drive_timers(in_drive_for_hold: bool, moving_for_hold: bool
   return auto_hold_drive_time, one_pedal_drive_time
 
 
-def is_gm_auto_hold_active(car_fingerprint: str, auto_hold_engaged: bool, in_drive_for_hold: bool,
-                           cruise_available: bool, standstill: bool, gas_pressed: bool) -> bool:
-  return (
-    auto_hold_engaged and
-    car_fingerprint in GM_AUTO_HOLD_CARS and
-    in_drive_for_hold and
-    cruise_available and
-    standstill and
-    not gas_pressed
-  )
-
-
-def update_startup_acc_fault_suppression(car_fingerprint: str, system_power_mode: int,
-                                          previous_system_power_mode: int, timer: float,
-                                          acc_state: int, friction_brake_unavailable: bool) -> tuple[float, bool]:
-  if car_fingerprint != CAR.BUICK_LACROSSE:
-    return 0.0, False
-
-  if system_power_mode == 2 and previous_system_power_mode != 2:
-    timer = ACC_STARTUP_FAULT_GRACE_PERIOD_S
-  elif system_power_mode != 2:
-    timer = 0.0
-
-  if timer <= 0.0 or acc_state != AccState.FAULTED:
-    return 0.0, False
-
-  timer = max(timer - DT_CTRL, 0.0)
-  return timer, timer > 0.0 and not friction_brake_unavailable
-
-
 class CarState(CarStateBase):
   def __init__(self, CP, FPCP):
     super().__init__(CP, FPCP)
@@ -137,17 +211,19 @@ class CarState(CarStateBase):
     self.lkas_previously_enabled = 0
     self.lkas_enabled = 0
     self.pcm_acc_status = AccState.OFF
-    self.system_power_mode = 0
-    self.startup_acc_fault_suppression_timer = 0.0
     self.stock_fcw_alert = 0
     self.car_gps_config = get_car_gps_config(CP)
     self.car_gps_supported = self.car_gps_config is not None
     self.car_gps = None
+    self.onstar_gps = None
     self._car_gps_timestamp_nanos = 0
     self._prev_gps_lat = None
     self._prev_gps_lon = None
     self._last_gps_bearing = None
 
+    self.pps_gps = None
+    self._pps_gps_timestamp_nanos = 0
+
   def _update_car_gps(self, cp, v_ego: float = 0.0) -> None:
     if self.car_gps_config is None:
       return
@@ -182,12 +258,47 @@ class CarState(CarStateBase):
       else:
         self._prev_gps_lat = self._prev_gps_lon = None
 
+      self.onstar_gps = gps
       self.car_gps = gps
       self._car_gps_timestamp_nanos = timestamp_nanos
 
-  def get_car_gps(self):
+  def _update_pps_gps(self, cp) -> None:
+    """Decode a complete, checksum-valid PPS burst when one is available."""
+    timestamps = [max(cp.ts_nanos[name].values(), default=0) for name in PPS_GPS_MESSAGES]
+    if not all(timestamps):
+      return
+
+    timestamp_nanos = max(timestamps)
+    if timestamp_nanos <= self._pps_gps_timestamp_nanos:
+      return
+    if timestamp_nanos - min(timestamps) > 100_000_000:
+      return
+
+    vl = cp.vl
+    try:
+      first_id = int(vl["PPS_ElevHdSpd_FO"]["PPSElvHedngSpdBrstID"])
+      if not (first_id == int(vl["PPS_PosLat_FO"]["PPSLatBrstID"]) ==
+              int(vl["PPS_PosLong_FO"]["PPSLongBrstID"]) ==
+              int(vl["PPS_Time_FO"]["PPSTmBrstID"]) ==
+              int(vl["PPS_QualMetrics_FO"]["PPSPosQltyMtcBrstID"])):
+        return
+    except (KeyError, ValueError, TypeError, OverflowError):
+      return
+
+    values = {name: cp.vl[name] for name in PPS_GPS_MESSAGES}
+    raw = {name: cp.vl_raw[name] for name in PPS_GPS_MESSAGES}
+    self.pps_gps = decode_gm_pps_gps(values, raw, timestamp_nanos)
+    self._pps_gps_timestamp_nanos = timestamp_nanos
+
+  def get_car_gps(self) -> dict | None:
     return self.car_gps
 
+  def get_car_gps_sources(self) -> dict[str, dict | None]:
+    return {
+      "pps": self.pps_gps,
+      "onstar": self.onstar_gps,
+    }
+
   def update_button_enable(self, buttonEvents: list[structs.CarState.ButtonEvent]):
     if not self.CP.pcmCruise:
       for b in buttonEvents:
@@ -273,6 +384,9 @@ class CarState(CarStateBase):
                      abs(pt_cp.vl["EBCMWheelSpdRear"]["RRWheelSpd"]) <= STANDSTILL_THRESHOLD
 
     self._update_car_gps(pt_cp, ret.vEgo)
+    pps_cp = can_parsers.get(Bus.adas)
+    if pps_cp is not None:
+      self._update_pps_gps(pps_cp)
 
     if pt_cp.vl["ECMPRDNL2"]["ManualMode"] == 1:
       ret.gearShifter = self.parse_gear_shifter("T")
@@ -384,18 +498,8 @@ class CarState(CarStateBase):
 
     ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
     ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
-    acc_state = pt_cp.vl["AcceleratorPedal2"]["CruiseState"]
-    friction_brake_unavailable = pt_cp.vl["EBCMFrictionBrakeStatus"]["FrictionBrakeUnavailable"] == 1
-    self.startup_acc_fault_suppression_timer, suppress_startup_acc_fault = update_startup_acc_fault_suppression(
-      self.CP.carFingerprint,
-      int(pt_cp.vl["BCMGeneralPlatformStatus"]["SystemPowerMode"]),
-      self.system_power_mode,
-      self.startup_acc_fault_suppression_timer,
-      acc_state,
-      friction_brake_unavailable,
-    )
-    self.system_power_mode = int(pt_cp.vl["BCMGeneralPlatformStatus"]["SystemPowerMode"])
-    ret.accFaulted = (acc_state == AccState.FAULTED and not suppress_startup_acc_fault) or friction_brake_unavailable
+    ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
+                      pt_cp.vl["EBCMFrictionBrakeStatus"]["FrictionBrakeUnavailable"] == 1)
 
     ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
     ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
@@ -444,11 +548,6 @@ class CarState(CarStateBase):
       self.auto_hold_fault_suppression_timer = max(self.auto_hold_fault_suppression_timer - DT_CTRL, 0.0)
       ret.accFaulted = False
 
-    ret.brakeHoldActive = is_gm_auto_hold_active(
-      self.CP.carFingerprint, self.auto_hold_engaged, in_drive_for_hold,
-      ret.cruiseState.available, ret.standstill, ret.gasPressed,
-    )
-
     if self.CP.enableBsm and not sdgm_non_volt:
       ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
       ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
@@ -637,8 +736,16 @@ class CarState(CarStateBase):
       ("ASCMLKASteeringCmd", 0),
     ]
 
-    return {
+    parsers = {
       Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, CanBus.POWERTRAIN),
       Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, CanBus.CAMERA),
       Bus.loopback: CANParser(DBC[CP.carFingerprint][Bus.pt], loopback_messages, CanBus.LOOPBACK),
     }
+    if getattr(CP, "brand", None) == "gm":
+      # Optional CT6 PPS parser on Bus.adas; non-PPS vehicles remain CAN-valid.
+      parsers[Bus.adas] = CANParser(
+        "cadillac_ct6_object",
+        [(name, 0) for name in PPS_GPS_MESSAGES],
+        CanBus.POWERTRAIN,
+      )
+    return parsers

opendbc_repo/opendbc/car/gm/fingerprints.py

@@ -212,10 +212,6 @@ FINGERPRINTS.update({
   CAR.CADILLAC_ESCALADE_ASCM: FINGERPRINTS[CAR.CADILLAC_ESCALADE],
   CAR.CADILLAC_ESCALADE_ESV_2019_ASCM: [{**fp, SASCM_ADDRESS: 8} for fp in FINGERPRINTS[CAR.CADILLAC_ESCALADE_ESV_2019]],
   CAR.CHEVROLET_SUBURBAN: FINGERPRINTS[CAR.CHEVROLET_SUBURBAN_CC],
-  CAR.CHEVROLET_SUBURBAN_ASCM: FINGERPRINTS[CAR.CHEVROLET_SUBURBAN_CC],
-  # The camera-harness Suburban shares the observed CAN map with the 2019 Yukon;
-  # VIN and camera-bus diagnostics disambiguate it during live fingerprinting.
-  CAR.CHEVROLET_SUBURBAN_CAMERA: FINGERPRINTS[CAR.GMC_YUKON],
   CAR.GMC_YUKON_CC: FINGERPRINTS[CAR.GMC_YUKON],
   CAR.CADILLAC_XT6: FINGERPRINTS[CAR.CHEVROLET_TRAVERSE],
   CAR.CADILLAC_XT5: FINGERPRINTS[CAR.CHEVROLET_TRAVERSE],

opendbc_repo/opendbc/car/gm/gmcan.py

@@ -31,8 +31,6 @@ BOLT_CC_DIRECTION_MEMORY_S = 1.5
 VOLT_CC_CARS = {
   CAR.CHEVROLET_VOLT_CC,
 }
-VOLT_CC_FREE_REQUEST_DEADBAND_MPH = 5.0
-VOLT_CC_ACTIVE_REQUEST_DEADBAND_MPH = 2.0
 
 
 def malibu_phase_map_for_button(button):
@@ -341,35 +339,10 @@ def stabilize_bolt_cc_button(controller, CP, requested_button):
   return requested_button
 
 
-def _create_volt_cc_spam_command(CS, actuators, ms_convert, longitudinal_adjustment_active):
+def _create_volt_cc_spam_command(CS, actuators, ms_convert):
   accel = float(actuators.accel)
   speed_setpoint = int(round(CS.out.cruiseState.speed * ms_convert))
   ego_speed = CS.out.vEgo * ms_convert
-  requested_setpoint = (CS.out.vEgo * 1.01 + 3 * accel) * ms_convert
-  deadband_mph = (
-    VOLT_CC_ACTIVE_REQUEST_DEADBAND_MPH if longitudinal_adjustment_active
-    else VOLT_CC_FREE_REQUEST_DEADBAND_MPH
-  )
-  request_deadband = deadband_mph * (CV.MPH_TO_KPH if ms_convert == CV.MS_TO_KPH else 1.0)
-
-  target_setpoint = None
-  v_cruise_kph = float(getattr(CS.out, "vCruise", 0.0))
-  if 0.0 < v_cruise_kph < 255.0:
-    is_metric = ms_convert == CV.MS_TO_KPH
-    target_setpoint = int(round(v_cruise_kph if is_metric else v_cruise_kph * CV.KPH_TO_MPH))
-
-  moving_toward_target = target_setpoint is not None and (
-    (accel > 0.0 and speed_setpoint < target_setpoint) or
-    (accel < 0.0 and speed_setpoint > target_setpoint)
-  )
-  if target_setpoint is not None and accel > 0.0 and speed_setpoint >= target_setpoint:
-    return CruiseButtons.INIT, float("inf")
-  if (target_setpoint is not None and accel < 0.0 and speed_setpoint <= target_setpoint and
-      not longitudinal_adjustment_active):
-    return CruiseButtons.INIT, float("inf")
-
-  if not moving_toward_target and abs(requested_setpoint - speed_setpoint) <= request_deadband:
-    return CruiseButtons.INIT, float("inf")
 
   if accel == 0.0:
     return CruiseButtons.INIT, float("inf")
@@ -388,7 +361,7 @@ def _create_volt_cc_spam_command(CS, actuators, ms_convert, longitudinal_adjustm
   return CruiseButtons.RES_ACCEL, rate
 
 
-def create_gm_cc_spam_command(packer, controller, CS, actuators, starpilot_toggles, longitudinal_adjustment_active=False):
+def create_gm_cc_spam_command(packer, controller, CS, actuators, starpilot_toggles):
   accel = actuators.accel
   v_ego = CS.out.vEgo
   cruise_btn = CruiseButtons.INIT
@@ -403,7 +376,7 @@ def create_gm_cc_spam_command(packer, controller, CS, actuators, starpilot_toggl
   comparison_setpoint = projected_setpoint if bolt_cc else desired_setpoint
 
   if CS.CP.carFingerprint in VOLT_CC_CARS:
-    cruise_btn, rate = _create_volt_cc_spam_command(CS, actuators, ms_convert, longitudinal_adjustment_active)
+    cruise_btn, rate = _create_volt_cc_spam_command(CS, actuators, ms_convert)
   else:
     if CS.CP.minEnableSpeed - (desired_setpoint / ms_convert) > 3.25:
       cruise_btn = CruiseButtons.CANCEL

opendbc_repo/opendbc/car/gm/interface.py

@@ -15,7 +15,6 @@ from opendbc.car.gm.values import (
   CC_ONLY_CAR,
   CC_REGEN_PADDLE_CAR,
   EV_CAR,
-  GM_AUTO_HOLD_CARS,
   SDGM_CAR,
   CarControllerParams,
   CanBus,
@@ -306,7 +305,7 @@ class CarInterface(CarInterfaceBase):
         ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.HW_CAM_LONG.value
 
     elif is_camera_acc:
-      ret.alphaLongitudinalAvailable = candidate not in (CC_ONLY_CAR | ALT_ACCS) and not ret.enableGasInterceptorDEPRECATED
+      ret.alphaLongitudinalAvailable = (candidate not in CC_ONLY_CAR) and not ret.enableGasInterceptorDEPRECATED
       ret.networkLocation = NetworkLocation.fwdCamera
       ret.radarUnavailable = True
       ret.pcmCruise = not ret.enableGasInterceptorDEPRECATED
@@ -409,7 +408,7 @@ class CarInterface(CarInterfaceBase):
     ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
 
     ret.steerLimitTimer = 0.4
-    ret.radarTimeStepDEPRECATED = 0.15 if candidate == CAR.BUICK_LACROSSE else 0.0667
+    ret.radarTimeStepDEPRECATED = 0.0667  # GM radar runs at 15Hz instead of the standard 20Hz
     ret.longitudinalActuatorDelay = 0.5  # large delay to initially start braking
 
     if candidate in (
@@ -441,7 +440,7 @@ class CarInterface(CarInterfaceBase):
     elif candidate in (CAR.BUICK_LACROSSE, CAR.BUICK_LACROSSE_ASCM, CAR.BUICK_LACROSSE_ASCM_19US):
       CarInterfaceBase.configure_torque_tune(CAR.BUICK_LACROSSE, ret.lateralTuning)
       if candidate == CAR.BUICK_LACROSSE_ASCM_19US:
-        ret.minSteerSpeed = 28 * CV.MPH_TO_MS
+        ret.minSteerSpeed = 27 * CV.MPH_TO_MS
 
     elif candidate == CAR.CADILLAC_ESCALADE:
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm
@@ -522,7 +521,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    elif candidate in (CAR.CHEVROLET_SUBURBAN, CAR.CHEVROLET_SUBURBAN_ASCM, CAR.CHEVROLET_SUBURBAN_CAMERA, CAR.CHEVROLET_SUBURBAN_CC):
+    elif candidate in (CAR.CHEVROLET_SUBURBAN, CAR.CHEVROLET_SUBURBAN_CC):
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
@@ -711,19 +710,18 @@ class CarInterface(CarInterfaceBase):
     if remote_start_boots_comma:
       ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_REMOTE_START_BOOTS_COMMA.value
 
-    gm_stock_friction_brake_safety = (
+    volt_stock_friction_brake_safety = (
       ret.openpilotLongitudinalControl and
-      (
-        (gm_auto_hold and candidate in GM_AUTO_HOLD_CARS) or
-        (volt_one_pedal_mode and candidate in {
-          CAR.CHEVROLET_VOLT,
-          CAR.CHEVROLET_VOLT_2019,
-          CAR.CHEVROLET_VOLT_ASCM,
-          CAR.CHEVROLET_VOLT_CAMERA,
-        })
-      )
+      (gm_auto_hold or volt_one_pedal_mode) and
+      candidate in {
+        CAR.CHEVROLET_VOLT,
+        CAR.CHEVROLET_VOLT_2019,
+        CAR.CHEVROLET_VOLT_ASCM,
+        CAR.CHEVROLET_VOLT_CAMERA,
+      }
     )
-    if gm_stock_friction_brake_safety:
+    if volt_stock_friction_brake_safety:
+      # Reuse the paddle-scheduler safety bit as a Volt stock friction-brake
       # marker on non-pedal paths. Auto hold and one-pedal can run while OP
       # longitudinal is configured but not currently active, so the bit must
       # be present regardless of the current long-control mode. Do not expose

opendbc_repo/opendbc/car/gm/tests/test_carcontroller.py

@@ -431,15 +431,6 @@ def test_volt_auto_hold_requires_toggle_supported_non_cc_only_volt_and_stock_saf
     ),
     True,
   )
-  assert supports_volt_auto_hold(
-    SimpleNamespace(
-      carFingerprint=CAR.BUICK_LACROSSE,
-      openpilotLongitudinalControl=True,
-      networkLocation=CarParams.NetworkLocation.gateway,
-      safetyConfigs=stock_safety,
-    ),
-    True,
-  )
   assert not supports_volt_auto_hold(
     SimpleNamespace(
       carFingerprint=CAR.CHEVROLET_VOLT,

opendbc_repo/opendbc/car/gm/tests/test_gm.py

@@ -1,5 +1,6 @@
 import pytest
 import numpy as np
+from datetime import UTC, datetime
 from types import SimpleNamespace
 from parameterized import parameterized
 
@@ -10,10 +11,11 @@ from opendbc.car.car_helpers import interfaces
 from opendbc.car.gm import gmcan
 from opendbc.car.gm.carstate import (
   CarState as GMCarState,
+  PPS_GPS_MESSAGES,
+  decode_gm_pps_gps,
   get_hard_cruise_buttons,
-  is_gm_auto_hold_active,
+  pps_checksum_ok,
   update_auto_hold_drive_timers,
-  update_startup_acc_fault_suppression,
 )
 from opendbc.car.gm.carcontroller import (
   VisualAlert,
@@ -28,7 +30,7 @@ import opendbc.car.gm.interface as gm_interface
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.gps import CHEVROLET_BOLT_GPS_CARS, CHEVROLET_BOLT_GPS_MESSAGES, get_car_gps_config, parse_chevrolet_bolt_can_gps
 from opendbc.car.gm.fingerprints import FINGERPRINTS
-from opendbc.car.gm.values import ALT_ACCS, ASCM_INT, CAMERA_ACC_CAR, CAR, CC_ONLY_CAR, DBC, GM_RX_OFFSET, CarControllerParams, CruiseButtons, GMFlags, GMSafetyFlags
+from opendbc.car.gm.values import ASCM_INT, CAMERA_ACC_CAR, CAR, CC_ONLY_CAR, DBC, GM_RX_OFFSET, CarControllerParams, CruiseButtons, GMFlags, GMSafetyFlags
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.common.params import Params
 
@@ -101,6 +103,146 @@ class TestBoltGps:
     assert gps["verticalAccuracy"] == 10.0
     assert gps["speedAccuracy"] == 0.5
 
+
+class TestPpsGps:
+  _frames = [
+    (0x260, bytes.fromhex("10ddac000d831277"), 0),
+    (0x261, bytes.fromhex("08386fce09ca"), 0),
+    (0x262, bytes.fromhex("6d98820341de"), 0),
+    (0x264, bytes.fromhex("0018f90578b5eaac"), 0),
+    (0x265, bytes.fromhex("1a0000800a0258fd"), 0),
+  ]
+
+  def test_observed_bundle_checksum_and_conversion(self):
+    parser = CANParser("cadillac_ct6_object", [(name, 0) for name in PPS_GPS_MESSAGES], 0)
+    parser.update([(1_000_000_000, self._frames)])
+
+    assert all(pps_checksum_ok(parser.vl_raw[name]) for name in PPS_GPS_MESSAGES)
+    gps = decode_gm_pps_gps(
+      {name: parser.vl[name] for name in PPS_GPS_MESSAGES},
+      {name: parser.vl_raw[name] for name in PPS_GPS_MESSAGES},
+      1_000_000_000,
+    )
+    assert gps is not None
+    assert gps["hasFix"]
+    assert gps["latitude"] == pytest.approx(38.3101, abs=1e-4)
+    assert gps["longitude"] == pytest.approx(-85.7701, abs=1e-4)
+    assert gps["altitude"] == pytest.approx(106.9)
+    assert gps["bearingDeg"] == pytest.approx(56.748)
+    assert gps["horizontalAccuracy"] == pytest.approx(1.0)
+    assert gps["unixTimestampMillis"] == 1788655668655
+
+  @pytest.fixture
+  def bundle(self):
+    parser = CANParser("cadillac_ct6_object", [(name, 0) for name in PPS_GPS_MESSAGES], 0)
+    parser.update([(1_000_000_000, self._frames)])
+    return ({name: dict(parser.vl[name]) for name in PPS_GPS_MESSAGES},
+            {name: parser.vl_raw[name] for name in PPS_GPS_MESSAGES})
+
+  @pytest.mark.parametrize("year,day,date", [
+    (2025, 1, "2025-01-01"), (2025, 365, "2025-12-31"), (2025, 366, None),
+    (2024, 366, "2024-12-31"), (2024, 367, None), (2025, 0, None),
+  ])
+  def test_one_based_day_of_year(self, bundle, year, day, date):
+    values, raw = bundle
+    values["PPS_Time_FO"].update(PPSCldrYr=year, PPSCldrDay=day, PPSTmday=1234)
+    gps = decode_gm_pps_gps(values, raw, 1_000_000_000)
+    if date is None:
+      assert gps is None
+    else:
+      expected = int(datetime.fromisoformat(date).replace(tzinfo=UTC).timestamp() * 1000) + 1234
+      assert gps["unixTimestampMillis"] == expected
+
+  @pytest.mark.parametrize("bad_data", [b"", b"\x01"])
+  def test_checksum_short_input(self, bad_data):
+    assert not pps_checksum_ok(bad_data)
+
+  @pytest.mark.parametrize("lat,lon,valid", [(0.0, 10.0 * 3_600_000, True), (10.0 * 3_600_000, 0.0, True), (0.0, 0.0, False)])
+  def test_coordinate_axes(self, bundle, lat, lon, valid):
+    values, raw = bundle
+    values["PPS_PosLat_FO"]["PPSLat"] = lat
+    values["PPS_PosLong_FO"]["PPSLong"] = lon
+    gps = decode_gm_pps_gps(values, raw, 1_000_000_000)
+    if valid:
+      assert gps is not None
+      assert gps["hasFix"]
+    else:
+      assert gps is None
+
+  def test_get_car_gps_sources_shape(self):
+    cs = GMCarState.__new__(GMCarState)
+    cs.pps_gps = {"hasFix": True}
+    cs.onstar_gps = None
+    sources = cs.get_car_gps_sources()
+    assert sources == {"pps": {"hasFix": True}, "onstar": None}
+
+  @pytest.mark.parametrize("message,signal,value", [
+    ("PPS_PosLat_FO", "PPSLatV", 1),
+    ("PPS_PosLong_FO", "PPSLongV", 1),
+    ("PPS_QualMetrics_FO", "PPS2DAbsPosErrEstmtV", 1),
+    ("PPS_PosLat_FO", "PPSLat", float("nan")),
+    ("PPS_PosLong_FO", "PPSLong", 181 * 3_600_000),
+    ("PPS_QualMetrics_FO", "PPSMd", 6),
+    ("PPS_Time_FO", "PPSTmdayV", 1),
+  ])
+  def test_unusable_position_rejected(self, bundle, message, signal, value):
+    values, raw = bundle
+    values[message][signal] = value
+    assert decode_gm_pps_gps(values, raw, 1_000_000_000) is None
+
+  @pytest.mark.parametrize("invalidity", ["checksum", "position-validity"])
+  def test_burst_cache_and_explicit_invalidation(self, invalidity):
+    parser = CANParser("cadillac_ct6_object", [(name, 0) for name in PPS_GPS_MESSAGES], 0)
+    cs = GMCarState.__new__(GMCarState)
+    cs.pps_gps = None
+    cs._pps_gps_timestamp_nanos = 0
+    parser.update([(1_000_000_000, self._frames[:-1])])
+    cs._update_pps_gps(parser)
+    assert cs.pps_gps is None  # Incomplete startup burst.
+    parser.update([(1_000_000_000, self._frames[-1:])])
+    cs._update_pps_gps(parser)
+    good = cs.pps_gps
+    assert good is not None
+    # No complete new burst: keep its original timestamp for freshness.
+    parser.update([(2_000_000_000, self._frames[:1])])
+    cs._update_pps_gps(parser)
+    assert cs.pps_gps is good
+    parser.update([(2_100_000_000, self._frames)])
+    parser.vl["PPS_PosLat_FO"]["PPSLatBrstID"] = int(parser.vl["PPS_PosLat_FO"]["PPSLatBrstID"]) ^ 1
+    cs._update_pps_gps(parser)
+    assert cs.pps_gps is good  # A mismatched burst must not refresh the fix.
+    bad_frames = ([(addr, data[:-1] + bytes([data[-1] ^ 1]), bus) for addr, data, bus in self._frames]
+                  if invalidity == "checksum" else self._frames)
+    parser.update([(3_000_000_000, bad_frames)])
+    if invalidity == "position-validity":
+      parser.vl["PPS_PosLat_FO"]["PPSLatV"] = 1
+    cs._update_pps_gps(parser)
+    assert cs.pps_gps is None
+    parser.update([(4_000_000_000, self._frames)])
+    cs._update_pps_gps(parser)
+    assert cs.pps_gps is not None
+
+  @pytest.mark.parametrize("speed_bad,heading_bad,elevation_bad,vertical_bad,bearing_bad", [
+    (0, 0, 0, 0, 0), (1, 0, 0, 0, 0), (0, 1, 0, 0, 0), (0, 0, 1, 0, 0),
+    (0, 0, 0, 1, 0), (0, 0, 0, 0, 1), (1, 1, 1, 1, 1),
+  ], ids=["valid", "speed", "heading", "elevation", "vertical-accuracy", "bearing-accuracy", "all-invalid"])
+  def test_optional_field_fallbacks(self, bundle, speed_bad, heading_bad, elevation_bad, vertical_bad, bearing_bad):
+    values, raw = bundle
+    values["PPS_ElevHdSpd_FO"].update(PPSVel=36, PPSVelV=speed_bad, PPSHedng=90, PPSHedngV=heading_bad,
+                                     PPSElvtn=12345, PPSElvtnV=elevation_bad)
+    values["PPS_QualMetrics_FO"].update(PPS2DAbsPosErrEstmt=3.2, PPS3DAbsPosErrEstmt=4.5, PPS3DAbsPosErrEstmtV=vertical_bad,
+                                        PPSAbsHdngErrEstmt=6.0, PPSAbsHdngErrEstmtV=bearing_bad)
+    gps = decode_gm_pps_gps(values, raw, 1_000_000_000)
+    assert gps is not None
+    assert gps["hasFix"]
+    assert gps["speed"] == pytest.approx(0.0 if speed_bad else 10.0)
+    assert gps["bearingDeg"] == (0 if heading_bad else 90)
+    assert gps["altitude"] == pytest.approx(0.0 if elevation_bad else 123.45)
+    assert gps["vNED"] == pytest.approx([gps["speed"], 0, 0] if heading_bad else [0, gps["speed"], 0])
+    assert gps["horizontalAccuracy"] == pytest.approx(3.2)
+    assert gps["verticalAccuracy"] == pytest.approx(0.0 if vertical_bad else 4.5)
+    assert gps["bearingAccuracyDeg"] == pytest.approx(180.0 if bearing_bad else 6.0)
+
   def test_bolt_gps_heading_and_speed_derivation(self):
     cp = SimpleNamespace(
       brand="gm",
@@ -210,179 +352,7 @@ class TestBoltGps:
     assert all(message in parsers[Bus.pt].vl for message in CHEVROLET_BOLT_GPS_MESSAGES)
 
 
-class TestGMCarState:
-  @parameterized.expand([
-    (CAR.BUICK_LACROSSE, True, True, True, True, False, True),
-    (CAR.CHEVROLET_VOLT, True, True, True, True, False, True),
-    (CAR.CHEVROLET_BOLT_CC_2017, True, True, True, True, False, False),
-    (CAR.BUICK_LACROSSE, True, True, True, False, False, False),
-    (CAR.BUICK_LACROSSE, True, True, True, True, True, False),
-  ])
-  def test_auto_hold_alert_state_requires_supported_complete_stop(self, car_fingerprint, engaged, in_drive,
-                                                                    cruise_available, standstill, gas_pressed, expected):
-    assert is_gm_auto_hold_active(
-      car_fingerprint, engaged, in_drive, cruise_available, standstill, gas_pressed,
-    ) is expected
-
-  def test_lacrosse_startup_acc_fault_is_suppressed(self):
-    timer, suppressed = update_startup_acc_fault_suppression(
-      CAR.BUICK_LACROSSE, 2, 0, 0.0, 3, False,
-    )
-
-    assert suppressed
-    assert timer == pytest.approx(5.0 - DT_CTRL)
-
-    timer, suppressed = update_startup_acc_fault_suppression(
-      CAR.BUICK_LACROSSE, 2, 2, timer, 0, False,
-    )
-
-    assert timer == 0.0
-    assert not suppressed
-
-  def test_lacrosse_persistent_acc_fault_is_reported_after_startup(self):
-    timer, suppressed = update_startup_acc_fault_suppression(
-      CAR.BUICK_LACROSSE, 2, 0, 0.0, 3, False,
-    )
-
-    for _ in range(int(5.0 / DT_CTRL)):
-      timer, suppressed = update_startup_acc_fault_suppression(
-        CAR.BUICK_LACROSSE, 2, 2, timer, 3, False,
-      )
-
-    assert timer == 0.0
-    assert not suppressed
-
-  def test_lacrosse_brake_unavailable_fault_is_never_suppressed(self):
-    _, suppressed = update_startup_acc_fault_suppression(
-      CAR.BUICK_LACROSSE, 2, 0, 0.0, 3, True,
-    )
-
-    assert not suppressed
-
-  def test_startup_acc_fault_suppression_is_scoped_to_lacrosse(self):
-    _, suppressed = update_startup_acc_fault_suppression(
-      CAR.BUICK_REGAL, 2, 0, 0.0, 3, False,
-    )
-
-    assert not suppressed
-
-
 class TestGMInterface:
-  def test_suburban_obd_and_ascm_integrations_remain_separate(self):
-    fingerprint = _empty_fingerprint()
-    fingerprint[0] = FINGERPRINTS[CAR.CHEVROLET_SUBURBAN][0].copy()
-
-    assert CAR.CHEVROLET_SUBURBAN_ASCM in ASCM_INT
-    assert FINGERPRINTS[CAR.CHEVROLET_SUBURBAN_ASCM] == FINGERPRINTS[CAR.CHEVROLET_SUBURBAN]
-
-    obd_params = interfaces[CAR.CHEVROLET_SUBURBAN].get_params(
-      CAR.CHEVROLET_SUBURBAN,
-      fingerprint,
-      [],
-      alpha_long=False,
-      is_release=False,
-      docs=False,
-      starpilot_toggles=_test_starpilot_toggles(),
-    )
-    ascm_params = interfaces[CAR.CHEVROLET_SUBURBAN_ASCM].get_params(
-      CAR.CHEVROLET_SUBURBAN_ASCM,
-      fingerprint,
-      [],
-      alpha_long=True,
-      is_release=False,
-      docs=False,
-      starpilot_toggles=_test_starpilot_toggles(),
-    )
-
-    assert obd_params.networkLocation == structs.CarParams.NetworkLocation.gateway
-    assert obd_params.openpilotLongitudinalControl
-    assert not obd_params.pcmCruise
-    assert obd_params.safetyConfigs[0].safetyParam == 0
-
-    assert ascm_params.networkLocation == structs.CarParams.NetworkLocation.fwdCamera
-    assert not ascm_params.flags & GMFlags.SASCM.value
-    assert not ascm_params.alphaLongitudinalAvailable
-    assert not ascm_params.openpilotLongitudinalControl
-    assert ascm_params.pcmCruise
-    assert ascm_params.safetyConfigs[0].safetyParam == GMSafetyFlags.HW_CAM.value | GMSafetyFlags.HW_ASCM_INT.value
-    assert ascm_params.lateralTuning.torque.latAccelFactor == pytest.approx(obd_params.lateralTuning.torque.latAccelFactor)
-    assert ascm_params.lateralTuning.torque.friction == pytest.approx(obd_params.lateralTuning.torque.friction)
-
-  def test_suburban_camera_harness_preserves_stock_acc(self):
-    fingerprint = _empty_fingerprint()
-    fingerprint[0] = FINGERPRINTS[CAR.CHEVROLET_SUBURBAN][0].copy()
-    fingerprint[2] = fingerprint[0].copy()
-
-    assert CAR.CHEVROLET_SUBURBAN_CAMERA in CAMERA_ACC_CAR
-    assert CAR.CHEVROLET_SUBURBAN_CAMERA in ALT_ACCS
-    assert CAR.CHEVROLET_SUBURBAN_CAMERA not in CC_ONLY_CAR
-    assert CAR.CHEVROLET_SUBURBAN_CAMERA not in ASCM_INT
-    assert all(fp[CAMERA_DIAGNOSTIC_ADDRESS] == 8 for fp in FINGERPRINTS[CAR.CHEVROLET_SUBURBAN_CAMERA])
-    assert all(fp[CAMERA_DIAGNOSTIC_ADDRESS + GM_RX_OFFSET] == 8 for fp in FINGERPRINTS[CAR.CHEVROLET_SUBURBAN_CAMERA])
-
-    camera_params = interfaces[CAR.CHEVROLET_SUBURBAN_CAMERA].get_params(
-      CAR.CHEVROLET_SUBURBAN_CAMERA,
-      fingerprint,
-      [],
-      alpha_long=True,
-      is_release=False,
-      docs=False,
-      starpilot_toggles=_test_starpilot_toggles(),
-    )
-
-    assert camera_params.networkLocation == structs.CarParams.NetworkLocation.fwdCamera
-    assert camera_params.pcmCruise
-    assert not camera_params.alphaLongitudinalAvailable
-    assert not camera_params.openpilotLongitudinalControl
-    assert camera_params.safetyConfigs[0].safetyParam == GMSafetyFlags.HW_CAM.value
-
-  def test_suburban_cc_remains_no_acc_gateway_profile(self):
-    fingerprint = _empty_fingerprint()
-    fingerprint[0] = FINGERPRINTS[CAR.CHEVROLET_SUBURBAN_CC][0].copy()
-
-    cc_params = interfaces[CAR.CHEVROLET_SUBURBAN_CC].get_params(
-      CAR.CHEVROLET_SUBURBAN_CC,
-      fingerprint,
-      [],
-      alpha_long=False,
-      is_release=False,
-      docs=False,
-      starpilot_toggles=_test_starpilot_toggles(),
-    )
-
-    assert cc_params.networkLocation == structs.CarParams.NetworkLocation.gateway
-    assert cc_params.openpilotLongitudinalControl
-    assert not cc_params.pcmCruise
-    assert cc_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_CC_LONG.value
-    assert cc_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_NO_ACC.value
-
-  def test_lacrosse_obd_and_ascm_integrations_remain_separate(self):
-    obd_params = interfaces[CAR.BUICK_LACROSSE].get_params(
-      CAR.BUICK_LACROSSE,
-      _empty_fingerprint(),
-      [],
-      alpha_long=False,
-      is_release=False,
-      docs=False,
-      starpilot_toggles=_test_starpilot_toggles(),
-    )
-    ascm_params = interfaces[CAR.BUICK_LACROSSE_ASCM].get_params(
-      CAR.BUICK_LACROSSE_ASCM,
-      _empty_fingerprint(),
-      [],
-      alpha_long=False,
-      is_release=False,
-      docs=False,
-      starpilot_toggles=_test_starpilot_toggles(),
-    )
-
-    assert obd_params.networkLocation == structs.CarParams.NetworkLocation.gateway
-    assert obd_params.openpilotLongitudinalControl
-    assert obd_params.radarTimeStepDEPRECATED == pytest.approx(0.15)
-    assert ascm_params.networkLocation == structs.CarParams.NetworkLocation.fwdCamera
-    assert not ascm_params.openpilotLongitudinalControl
-    assert ascm_params.radarTimeStepDEPRECATED == pytest.approx(0.0667)
-
   @parameterized.expand([
     CAR.CHEVROLET_BOLT_CC_2017,
     CAR.CHEVROLET_BOLT_CC_2018_2021,
@@ -469,14 +439,6 @@ class TestGMInterface:
 
     assert car_params.minSteerSpeed == pytest.approx(7 * CV.MPH_TO_MS)
 
-  def test_lacrosse_2019_ascm_min_steer_speed_is_28_mph(self):
-    car_model = CAR.BUICK_LACROSSE_ASCM_19US
-    CarInterface = interfaces[car_model]
-    car_params = CarInterface.get_params(car_model, _empty_fingerprint(), [], alpha_long=False, is_release=False, docs=False,
-                                         starpilot_toggles=_test_starpilot_toggles())
-
-    assert car_params.minSteerSpeed == pytest.approx(28 * CV.MPH_TO_MS)
-
   @parameterized.expand([
     ("interceptor", True),
     ("ascm_int", False),
@@ -672,43 +634,6 @@ class TestGMInterface:
     assert car_params.openpilotLongitudinalControl
     assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED.value
 
-  def test_buick_lacrosse_auto_hold_sets_stock_hold_safety_bit_with_op_long_enabled(self):
-    params = Params()
-    try:
-      params.put_bool("GMAutoHold", True)
-      car_params = interfaces[CAR.BUICK_LACROSSE].get_params(
-        CAR.BUICK_LACROSSE,
-        _empty_fingerprint(),
-        [],
-        alpha_long=False,
-        is_release=False,
-        docs=False,
-        starpilot_toggles=_test_starpilot_toggles(),
-      )
-    finally:
-      params.remove("GMAutoHold")
-
-    assert car_params.openpilotLongitudinalControl
-    assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED.value
-
-  def test_buick_lacrosse_auto_hold_is_off_when_toggle_is_disabled(self):
-    params = Params()
-    try:
-      params.put_bool("GMAutoHold", False)
-      car_params = interfaces[CAR.BUICK_LACROSSE].get_params(
-        CAR.BUICK_LACROSSE,
-        _empty_fingerprint(),
-        [],
-        alpha_long=False,
-        is_release=False,
-        docs=False,
-        starpilot_toggles=_test_starpilot_toggles(),
-      )
-    finally:
-      params.remove("GMAutoHold")
-
-    assert not car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED.value
-
   def test_volt_auto_hold_does_not_set_stock_hold_safety_bit_with_op_long_disabled(self):
     CarInterface = interfaces[CAR.CHEVROLET_VOLT_ASCM]
     fingerprint = _empty_fingerprint()
@@ -1007,7 +932,7 @@ class TestGMCarController:
 
   def test_volt_cc_redneck_rate_limits_setpoint_changes_by_planner_acceleration(self):
     packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
-    controller = SimpleNamespace(frame=int(0.2 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
+    controller = SimpleNamespace(frame=int(0.5 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
     cs = SimpleNamespace(
       CP=SimpleNamespace(
         carFingerprint=CAR.CHEVROLET_VOLT_CC,
@@ -1022,225 +947,18 @@ class TestGMCarController:
       ),
     )
 
-    msgs = gmcan.create_gm_cc_spam_command(
-      packer, controller, cs, SimpleNamespace(accel=1.0), SimpleNamespace(is_metric=True),
-    )
-
-    assert msgs == []
-
-    controller.frame = int(0.3 / DT_CTRL)
-    msgs = gmcan.create_gm_cc_spam_command(
-      packer, controller, cs, SimpleNamespace(accel=1.0), SimpleNamespace(is_metric=True),
-    )
-
-    assert len(msgs) == 1
-
-  def test_volt_cc_redneck_does_not_raise_stock_setpoint_above_max(self):
-    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
-    controller = SimpleNamespace(frame=int(2.0 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
-    cs = SimpleNamespace(
-      CP=SimpleNamespace(
-        carFingerprint=CAR.CHEVROLET_VOLT_CC,
-        flags=GMFlags.NO_CAMERA.value,
-        networkLocation=structs.CarParams.NetworkLocation.gateway,
-        minEnableSpeed=0.0,
-      ),
-      buttons_counter=2,
-      out=SimpleNamespace(
-        vEgo=100.0 * CV.KPH_TO_MS,
-        cruiseState=SimpleNamespace(speed=100.0 * CV.KPH_TO_MS),
-        vCruise=100.0,
-      ),
-    )
-
     msgs = gmcan.create_gm_cc_spam_command(
       packer, controller, cs, SimpleNamespace(accel=0.5), SimpleNamespace(is_metric=True),
     )
 
     assert msgs == []
-    assert controller.apply_speed == 100
-
-  def test_volt_cc_redneck_tracks_max_inside_request_deadband(self):
-    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
-    controller = SimpleNamespace(frame=int(3.0 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
-    cs = SimpleNamespace(
-      CP=SimpleNamespace(
-        carFingerprint=CAR.CHEVROLET_VOLT_CC,
-        flags=GMFlags.NO_CAMERA.value,
-        networkLocation=structs.CarParams.NetworkLocation.gateway,
-        minEnableSpeed=0.0,
-      ),
-      buttons_counter=2,
-      out=SimpleNamespace(
-        vEgo=52.0 * CV.KPH_TO_MS,
-        cruiseState=SimpleNamespace(speed=52.0 * CV.KPH_TO_MS),
-        vCruise=60.0,
-      ),
-    )
 
+    controller.frame = int(0.7 / DT_CTRL)
     msgs = gmcan.create_gm_cc_spam_command(
-      packer, controller, cs, SimpleNamespace(accel=0.1), SimpleNamespace(is_metric=True),
+      packer, controller, cs, SimpleNamespace(accel=0.5), SimpleNamespace(is_metric=True),
     )
 
     assert len(msgs) == 1
-    assert controller.apply_speed == 53
-
-  def test_volt_cc_redneck_tracks_max_down_inside_request_deadband(self):
-    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
-    controller = SimpleNamespace(frame=int(3.0 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
-    cs = SimpleNamespace(
-      CP=SimpleNamespace(
-        carFingerprint=CAR.CHEVROLET_VOLT_CC,
-        flags=GMFlags.NO_CAMERA.value,
-        networkLocation=structs.CarParams.NetworkLocation.gateway,
-        minEnableSpeed=0.0,
-      ),
-      buttons_counter=2,
-      out=SimpleNamespace(
-        vEgo=68.0 * CV.KPH_TO_MS,
-        cruiseState=SimpleNamespace(speed=68.0 * CV.KPH_TO_MS),
-        vCruise=60.0,
-      ),
-    )
-
-    msgs = gmcan.create_gm_cc_spam_command(
-      packer, controller, cs, SimpleNamespace(accel=-0.1), SimpleNamespace(is_metric=True),
-    )
-
-    assert len(msgs) == 1
-    assert controller.apply_speed == 67
-
-  def test_volt_cc_redneck_holds_small_decel_request_at_max(self):
-    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
-    controller = SimpleNamespace(frame=int(3.0 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
-    cs = SimpleNamespace(
-      CP=SimpleNamespace(
-        carFingerprint=CAR.CHEVROLET_VOLT_CC,
-        flags=GMFlags.NO_CAMERA.value,
-        networkLocation=structs.CarParams.NetworkLocation.gateway,
-        minEnableSpeed=0.0,
-      ),
-      buttons_counter=2,
-      out=SimpleNamespace(
-        vEgo=100.0 * CV.KPH_TO_MS,
-        cruiseState=SimpleNamespace(speed=100.0 * CV.KPH_TO_MS),
-        vCruise=100.0,
-      ),
-    )
-
-    msgs = gmcan.create_gm_cc_spam_command(
-      packer, controller, cs, SimpleNamespace(accel=-0.1), SimpleNamespace(is_metric=True),
-    )
-
-    assert msgs == []
-    assert controller.apply_speed == 100
-
-  def test_volt_cc_redneck_holds_strong_decel_request_at_max_during_free_cruise(self):
-    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
-    controller = SimpleNamespace(frame=int(3.0 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
-    cs = SimpleNamespace(
-      CP=SimpleNamespace(
-        carFingerprint=CAR.CHEVROLET_VOLT_CC,
-        flags=GMFlags.NO_CAMERA.value,
-        networkLocation=structs.CarParams.NetworkLocation.gateway,
-        minEnableSpeed=0.0,
-      ),
-      buttons_counter=2,
-      out=SimpleNamespace(
-        vEgo=100.0 * CV.KPH_TO_MS,
-        cruiseState=SimpleNamespace(speed=100.0 * CV.KPH_TO_MS),
-        vCruise=100.0,
-      ),
-    )
-
-    msgs = gmcan.create_gm_cc_spam_command(
-      packer, controller, cs, SimpleNamespace(accel=-1.2), SimpleNamespace(is_metric=True),
-    )
-
-    assert msgs == []
-    assert controller.apply_speed == 100
-
-  def test_volt_cc_redneck_brakes_for_active_lead_inside_free_road_deadband(self):
-    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
-    controller = SimpleNamespace(frame=int(3.0 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
-    cs = SimpleNamespace(
-      CP=SimpleNamespace(
-        carFingerprint=CAR.CHEVROLET_VOLT_CC,
-        flags=GMFlags.NO_CAMERA.value,
-        networkLocation=structs.CarParams.NetworkLocation.gateway,
-        minEnableSpeed=0.0,
-      ),
-      buttons_counter=2,
-      out=SimpleNamespace(
-        vEgo=100.0 * CV.KPH_TO_MS,
-        cruiseState=SimpleNamespace(speed=100.0 * CV.KPH_TO_MS),
-        vCruise=100.0,
-      ),
-    )
-
-    msgs = gmcan.create_gm_cc_spam_command(
-      packer, controller, cs, SimpleNamespace(accel=-0.5), SimpleNamespace(is_metric=True), longitudinal_adjustment_active=True,
-    )
-
-    assert len(msgs) == 1
-    assert controller.apply_speed == 99
-
-  def test_volt_cc_redneck_accelerates_when_pseudo_speed_request_exceeds_deadband(self):
-    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
-    controller = SimpleNamespace(frame=int(0.1 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
-    cs = SimpleNamespace(
-      CP=SimpleNamespace(
-        carFingerprint=CAR.CHEVROLET_VOLT_CC,
-        flags=GMFlags.NO_CAMERA.value,
-        networkLocation=structs.CarParams.NetworkLocation.gateway,
-        minEnableSpeed=0.0,
-      ),
-      buttons_counter=2,
-      out=SimpleNamespace(
-        vEgo=44.0 * CV.KPH_TO_MS,
-        cruiseState=SimpleNamespace(speed=44.0 * CV.KPH_TO_MS),
-        vCruise=50.0,
-      ),
-    )
-
-    msgs = gmcan.create_gm_cc_spam_command(
-      packer, controller, cs, SimpleNamespace(accel=2.0), SimpleNamespace(is_metric=True),
-    )
-
-    assert msgs == []
-
-    controller.frame = int(0.3 / DT_CTRL)
-    msgs = gmcan.create_gm_cc_spam_command(
-      packer, controller, cs, SimpleNamespace(accel=2.0), SimpleNamespace(is_metric=True),
-    )
-
-    assert len(msgs) == 1
-    assert controller.apply_speed == 45
-
-  def test_volt_cc_redneck_brakes_when_pseudo_speed_request_exceeds_deadband(self):
-    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
-    controller = SimpleNamespace(frame=int(0.3 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
-    cs = SimpleNamespace(
-      CP=SimpleNamespace(
-        carFingerprint=CAR.CHEVROLET_VOLT_CC,
-        flags=GMFlags.NO_CAMERA.value,
-        networkLocation=structs.CarParams.NetworkLocation.gateway,
-        minEnableSpeed=0.0,
-      ),
-      buttons_counter=2,
-      out=SimpleNamespace(
-        vEgo=50.7 * CV.KPH_TO_MS,
-        cruiseState=SimpleNamespace(speed=49.0 * CV.KPH_TO_MS),
-        vCruise=49.0,
-      ),
-    )
-
-    msgs = gmcan.create_gm_cc_spam_command(
-      packer, controller, cs, SimpleNamespace(accel=-1.36), SimpleNamespace(is_metric=True), longitudinal_adjustment_active=True,
-    )
-
-    assert len(msgs) == 1
-    assert controller.apply_speed == 48
 
   def test_volt_cc_no_camera_redneck_spam_stays_on_powertrain_bus(self):
     packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])

opendbc_repo/opendbc/car/gm/values.py

@@ -357,14 +357,6 @@ class CAR(Platforms):
     [GMCarDocs("Chevrolet Suburban Premier 2016-20")],
     CarSpecs(mass=2731, wheelbase=3.302, steerRatio=17.3, centerToFrontRatio=0.49),
   )
-  CHEVROLET_SUBURBAN_ASCM = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Suburban Premier ASCM Harness 2016-20", "Adaptive Cruise Control (ACC) & LKAS")],
-    CHEVROLET_SUBURBAN.specs,
-  )
-  CHEVROLET_SUBURBAN_CAMERA = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Suburban Premier Camera Harness 2016-20", "Adaptive Cruise Control (ACC) & LKAS")],
-    CHEVROLET_SUBURBAN.specs,
-  )
   GMC_YUKON_CC = GMPlatformConfig(
     [GMCarDocs("GMC Yukon No-ACC 2019-20")],
     CarSpecs(mass=2541, wheelbase=2.95, steerRatio=16.3, centerToFrontRatio=0.4),
@@ -541,21 +533,12 @@ EV_CAR = {
   CAR.CHEVROLET_MALIBU_HYBRID_CC,
 }
 
-GM_AUTO_HOLD_CARS = {
-  CAR.CHEVROLET_VOLT,
-  CAR.CHEVROLET_VOLT_2019,
-  CAR.CHEVROLET_VOLT_ASCM,
-  CAR.CHEVROLET_VOLT_CAMERA,
-  CAR.BUICK_LACROSSE,
-}
-
 # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
 CAMERA_ACC_CAR = {
   CAR.CHEVROLET_BOLT_ACC_2022_2023,
   CAR.CHEVROLET_SILVERADO,
   CAR.CHEVROLET_EQUINOX,
   CAR.CHEVROLET_TRAILBLAZER,
-  CAR.CHEVROLET_SUBURBAN_CAMERA,
   CAR.CHEVROLET_VOLT_CAMERA,
   CAR.CHEVROLET_BLAZER,
   CAR.CHEVROLET_TRAX,
@@ -563,7 +546,7 @@ CAMERA_ACC_CAR = {
 }
 
 # Alt ASCMActiveCruiseControlStatus
-ALT_ACCS = {CAR.CHEVROLET_SUBURBAN_CAMERA, CAR.GMC_YUKON, CAR.GMC_YUKON_CC}
+ALT_ACCS = {CAR.GMC_YUKON, CAR.GMC_YUKON_CC}
 
 # We're integrated at the Safety Data Gateway Module on these cars
 SDGM_CAR = {
@@ -602,10 +585,9 @@ CC_REGEN_PADDLE_CAR = {
 }
 CAMERA_ACC_CAR.update(CC_ONLY_CAR)
 
-# ASCM-intercept variants preserve stock ACC. SASCM (0x2FF) enables alpha-long where supported.
+# ASCM-INT paths are only enabled when SASCM (0x2FF) is detected at runtime
 ASCM_INT = {
   CAR.CHEVROLET_VOLT_ASCM,
-  CAR.CHEVROLET_SUBURBAN_ASCM,
   CAR.GMC_ACADIA_ASCM,
   CAR.CHEVROLET_MALIBU_ASCM,
   CAR.CADILLAC_ESCALADE_ASCM,

opendbc_repo/opendbc/car/gps.py

@@ -6,8 +6,10 @@ from collections.abc import Callable, Mapping
 from typing import Any
 
 from opendbc.car.common.conversions import Conversions as CV
+from opendbc.can.dbc import DBC as DBC_FILE
+from opendbc.car import Bus
 from opendbc.car.ford.values import CAR as FORD_CAR
-from opendbc.car.gm.values import CAR as GM_CAR
+from opendbc.car.gm.values import CAR as GM_CAR, DBC as GM_DBC
 
 
 CarGpsSample = dict[str, Any]
@@ -158,8 +160,25 @@ CAR_GPS_CONFIGS: dict[str, CarGpsConfig] = {
 
 
 def get_car_gps_config(CP) -> CarGpsConfig | None:
+  cp_brand = getattr(CP, "brand", None)
   config = CAR_GPS_CONFIGS.get(CP.carFingerprint)
-  return config if config is not None and config.brand == CP.brand else None
+  if config is not None and config.brand == cp_brand:
+    return config
+
+  # Enable OnStar GPS for GM cars whose powertrain DBC defines it.
+  if cp_brand == "gm":
+    try:
+      dbc_name = GM_DBC[CP.carFingerprint][Bus.pt]
+      if "TCICOnStarGPSPosition" in DBC_FILE(dbc_name).name_to_msg:
+        return CarGpsConfig(
+          brand="gm",
+          messages=CHEVROLET_BOLT_GPS_MESSAGES,
+          decoder=parse_chevrolet_bolt_can_gps,
+        )
+    except (KeyError, OSError, TypeError, RuntimeError):
+      pass
+
+  return None
 
 
 def car_gps_available(CP) -> bool:

opendbc_repo/opendbc/car/honda/carcontroller.py

@@ -23,20 +23,6 @@ from openpilot.common.params import Params
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
 LongCtrlState = structs.CarControl.Actuators.LongControlState
 
-BOSCH_BRAKE_FORCE_ON = -0.12
-BOSCH_BRAKE_FORCE_RELEASE = -0.02
-
-
-def update_honda_bosch_braking(braking: bool, gas_pedal_force: float, stopping: bool, long_active: bool) -> bool:
-  """Select Bosch brake mode from the same road-load-adjusted force used for gas."""
-  if not long_active:
-    return False
-  if stopping:
-    return True
-  if braking:
-    return gas_pedal_force <= BOSCH_BRAKE_FORCE_RELEASE
-  return gas_pedal_force < BOSCH_BRAKE_FORCE_ON
-
 
 def get_civic_bosch_modified_torque_lpf_tau(torque_cmd: float, prev_torque_cmd: float, v_ego: float) -> float:
   torque_delta = abs(float(torque_cmd) - float(prev_torque_cmd))
@@ -252,7 +238,6 @@ class CarController(CarControllerBase):
     self.steering_pressed_filter_s = 0.0
     self.steering_pressed_robust_prev = False
     self.bosch_last_gas = 0.0
-    self.bosch_braking = False
     self.bosch_gas_factor = self.param_store.get_float("HondaGasFactorParams", default=1.0)
     self.bosch_wind_factor = self.param_store.get_float("HondaWindFactorParams", default=1.0)
     self.bosch_wind_factor_before_brake = self.bosch_wind_factor
@@ -487,16 +472,12 @@ class CarController(CarControllerBase):
           self.bosch_last_gas = self.gas
 
           stopping = actuators.longControlState == LongCtrlState.stopping
-          bosch_braking = None
-          if not self.mvl_accord_mode:
-            self.bosch_braking = update_honda_bosch_braking(self.bosch_braking, gas_pedal_force, stopping, CC.longActive)
-            bosch_braking = self.bosch_braking
           self.stopping_counter = self.stopping_counter + 1 if stopping else 0
           if not self.mvl_accord_mode or mvl_radar_owned:
             can_sends.extend(
               hondacan.create_acc_commands(
                 self.packer, self.CAN, CC.enabled, CC.longActive, self.accel, self.gas, self.stopping_counter, self.CP,
-                gas_force=gas_pedal_force, braking=bosch_braking,
+                gas_force=gas_pedal_force if self.mvl_accord_mode else None,
               )
             )
         else:

opendbc_repo/opendbc/car/honda/hondacan.py

@@ -71,18 +71,16 @@ def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_ca
   return packer.make_can_msg("BRAKE_COMMAND", CAN.pt, values)
 
 
-def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_counter, CP, gas_force=None, braking=None):
+def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_counter, CP, gas_force=None):
   commands = []
   min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
 
   control_on = 5 if enabled else 0
   if gas_force is None:
     gas_force = accel
-  if braking is None:
-    braking = gas_force < min_gas_accel
-  braking = int(active and braking)
-  gas_command = gas if active and gas_force > min_gas_accel and not braking else -30000
+  gas_command = gas if active and gas_force > min_gas_accel else -30000
   accel_command = accel if active else 0
+  braking = 1 if active and gas_force < min_gas_accel else 0
   standstill = 1 if active and stopping_counter > 0 else 0
   standstill_release = 1 if active and stopping_counter == 0 else 0
 

opendbc_repo/opendbc/car/honda/tests/test_honda.py

@@ -7,16 +7,13 @@ from opendbc.car.structs import CarParams
 from opendbc.car import gen_empty_fingerprint
 from opendbc.car.honda.interface import CarInterface
 from opendbc.car.honda.carcontroller import (
-  BOSCH_BRAKE_FORCE_ON,
-  BOSCH_BRAKE_FORCE_RELEASE,
   CarController,
   get_civic_bosch_modified_steering_pressed,
   get_civic_bosch_modified_torque_lpf_tau,
   get_honda_bosch_wind_brake_mps2,
-  update_honda_bosch_braking,
   update_honda_bosch_live_learning,
 )
-from opendbc.car.honda.hondacan import create_acc_commands, create_lkas_hud
+from opendbc.car.honda.hondacan import create_lkas_hud
 from opendbc.car.honda.fingerprints import FW_VERSIONS
 from opendbc.car.honda.values import CAR, DBC, HONDA_BOSCH, HONDA_BOSCH_TJA_CONTROL, CarControllerParams, HondaFlags, HondaSafetyFlags, \
                                      HondaStarPilotFlags
@@ -29,67 +26,6 @@ def get_test_toggles() -> SimpleNamespace:
 
 
 class TestHondaFingerprint:
-  @staticmethod
-  def _acc_control_values(active, accel, gas=500, gas_force=0.5, braking=False):
-    class FakePacker:
-      @staticmethod
-      def make_can_msg(name, bus, values):
-        return name, bus, values
-
-    can = SimpleNamespace(pt=1)
-    cp = SimpleNamespace(carFingerprint=CAR.HONDA_CRV_5G)
-    commands = create_acc_commands(FakePacker(), can, True, active, accel, gas, 0, cp, gas_force, braking)
-    assert commands[-1][0] == "ACC_CONTROL"
-    return commands[-1][2]
-
-  def test_bosch_acc_commands_reject_fault_route_gas_brake_conflict(self):
-    braking = update_honda_bosch_braking(False, 0.2, False, True)
-    values = self._acc_control_values(True, -0.27, gas=160, gas_force=0.2, braking=braking)
-
-    assert values["GAS_COMMAND"] == 160
-    assert values["ACCEL_COMMAND"] == pytest.approx(-0.27)
-    assert values["BRAKE_REQUEST"] == 0
-    assert values["BRAKE_LIGHTS"] == 0
-
-  @pytest.mark.parametrize("active", [False, True])
-  @pytest.mark.parametrize("accel", [-3.5, -0.27, -0.2, -0.1, 0.0, 0.01, 2.0])
-  @pytest.mark.parametrize("gas_force", [-0.5, 0.0, 0.5])
-  @pytest.mark.parametrize("braking", [False, True])
-  def test_bosch_acc_commands_never_request_gas_and_braking_together(self, active, accel, gas_force, braking):
-    values = self._acc_control_values(active, accel, gas_force=gas_force, braking=braking)
-
-    assert not (values["GAS_COMMAND"] > 0 and values["BRAKE_REQUEST"] == 1)
-    assert not (values["GAS_COMMAND"] > 0 and values["BRAKE_LIGHTS"] == 1)
-    if values["GAS_COMMAND"] > 0:
-      assert active
-
-  def test_bosch_acc_commands_preserve_road_load_gas_above_brake_threshold(self):
-    values = self._acc_control_values(True, -0.27, gas=500, gas_force=0.3)
-
-    assert values["GAS_COMMAND"] == 500
-    assert values["ACCEL_COMMAND"] == pytest.approx(-0.27)
-    assert values["BRAKE_REQUEST"] == 0
-    assert values["BRAKE_LIGHTS"] == 0
-
-  def test_bosch_acc_commands_do_not_send_gas_without_positive_force(self):
-    values = self._acc_control_values(True, 0.2, gas=500, gas_force=-0.4)
-
-    assert values["GAS_COMMAND"] == -30000
-
-  def test_bosch_braking_uses_force_hysteresis(self):
-    braking = update_honda_bosch_braking(False, BOSCH_BRAKE_FORCE_ON - 0.01, False, True)
-    assert braking
-
-    braking = update_honda_bosch_braking(braking, -0.05, False, True)
-    assert braking
-
-    braking = update_honda_bosch_braking(braking, BOSCH_BRAKE_FORCE_RELEASE + 0.01, False, True)
-    assert not braking
-
-  def test_bosch_braking_preserves_stopping_and_resets_inactive(self):
-    assert update_honda_bosch_braking(False, 0.5, True, True)
-    assert not update_honda_bosch_braking(True, -1.0, False, False)
-
   def test_honda_lkas_hud_shows_lane_lines_when_lateral_only_is_active(self):
     class FakePacker:
       @staticmethod

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -4,20 +4,18 @@ from dataclasses import dataclass
 # hkg-angle-steering-2025 branch at cc4b08625. See CREDITS.md and THIRD_PARTY_NOTICES.md.
 import numpy as np
 from opendbc.can import CANPacker
-from opendbc.car import Bus, DT_CTRL, create_gas_interceptor_command, make_tester_present_msg, rate_limit, structs
+from opendbc.car import Bus, DT_CTRL, make_tester_present_msg, rate_limit, structs
 from opendbc.car.common.filter_simple import FirstOrderFilter
 from opendbc.car.lateral import apply_driver_steer_torque_limits, apply_steer_angle_limits_vm, common_fault_avoidance, get_max_angle_delta_vm, get_max_angle_vm
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.hyundai import hyundaicanfd, hyundaican
 from opendbc.car.hyundai.hyundaicanfd import CanBus
-from opendbc.car.hyundai.lead_data import CanLeadDataState
 from opendbc.car.hyundai.values import HyundaiFlags, HyundaiSafetyFlags, HyundaiStarPilotFlags, Buttons, CarControllerParams, CAR, CANFD_ANGLE_LONGITUDINAL_CAR, \
-                                        CANFD_RADAR_ECU_KEEPALIVE_CAR, CANFD_ALT_BUTTONS_RESUME_CAR, kia_ev6_gt_line_longitudinal_tuning, \
+                                        CANFD_RADAR_LIVE_LONGITUDINAL_CAR, CANFD_ALT_BUTTONS_RESUME_CAR, kia_ev6_gt_line_longitudinal_tuning, \
                                         KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.common.params import Params
-from openpilot.selfdrive.controls.lib.longitudinal_vehicle_tunes import get_hyundai_canfd_scc_jerk_limits, shape_hyundai_canfd_scc_accel
 from openpilot.starpilot.common.testing_grounds import testing_ground
 
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
@@ -42,11 +40,6 @@ IONIQ_6_RESPONSE_MULTIPLIER = 1.2
 IONIQ_6_CANFD_SCC_ACCEL_STEP = (6.0 / 50.0) * IONIQ_6_RESPONSE_MULTIPLIER
 IONIQ_6_CANFD_SCC_DECEL_STEP = (15.0 / 50.0) * IONIQ_6_RESPONSE_MULTIPLIER
 EV9_CANFD_SCC_DECEL_STEP = 10.0 / 50.0
-RAY_PEDAL_COMMAND_CAP = 0.55
-RAY_PEDAL_RATE_UP = 0.02
-RAY_PEDAL_RATE_DOWN = 0.06
-RAY_PEDAL_OVERSPEED_CUTOFF = 0.5
-RAY_PEDAL_TAPER_BELOW_TARGET = 0.75
 GENESIS_G90_STOP_HOLD_SPEED_BP = [0.0, 0.03, 0.08, 0.16, 0.3, 0.5, 0.8, 1.2, 2.0, 3.0]
 GENESIS_G90_STOP_HOLD_ACCEL_V = [-0.10, -0.10, -0.12, -0.18, -0.30, -0.50, -0.75, -1.00, -1.40, -1.80]
 GENESIS_G90_STOP_HOLD_RELAX_SPEED_BP = [0.0, 0.08, 0.16, 0.3, 0.5, 0.8, 1.2, 2.0, 3.0]
@@ -443,6 +436,12 @@ def suppress_redundant_gv70_brake_cancel(CP, brake_pressed: bool, lat_active: bo
   )
 
 
+def clear_ioniq_6_torque_when_request_inactive(CP, apply_torque: int, apply_steer_req: bool) -> int:
+  if CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and not apply_steer_req:
+    return 0
+  return apply_torque
+
+
 class CarController(CarControllerBase):
   def __init__(self, dbc_names, CP):
     super().__init__(dbc_names, CP)
@@ -474,7 +473,6 @@ class CarController(CarControllerBase):
     self._ioniq_6_lane_change_ui_frames = 0
     self._ioniq_6_long_tuning = Ioniq6LongitudinalTuningState()
     self._genesis_g90_long_tuning = GenesisG90LongitudinalTuningState()
-    self._can_lead_data = CanLeadDataState()
     self._dash_lat_disengage_blink_frame = 0
     self._dash_lat_disengage_init = False
     self._dash_prev_lat_active = False
@@ -484,9 +482,6 @@ class CarController(CarControllerBase):
       CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CAN_REFRESH_MSGS
     )
     self._ray_lfa_packer = CANPacker("hyundai_kia_ray_lfa") if self._ray_lfa_8byte else None
-    self._ray_pedal = CP.carFingerprint == CAR.KIA_RAY_EV and CP.enableGasInterceptorDEPRECATED
-    self._ray_pedal_packer = CANPacker("hyundai_kia_ray_pedal") if self._ray_pedal else None
-    self._ray_pedal_gas_last = 0.0
 
   def _update_dash_icon_state(self, CC):
     if CC.latActive:
@@ -507,9 +502,7 @@ class CarController(CarControllerBase):
     return lka_icon, lfa_icon
 
   def _get_canfd_scc_lead_state(self, CC, CS, now_nanos):
-    openpilot_lead_visible = bool(
-      getattr(CS, "openpilot_lead_visible", False) or getattr(CC.hudControl, "leadVisible", False)
-    )
+    openpilot_lead_visible = bool(getattr(CS, "openpilot_lead_visible", False) or CC.hudControl.leadVisible)
     openpilot_lead_distance = float(np.clip(getattr(CS, "openpilot_lead_distance", 0.0), 0.0, 204.7))
     openpilot_lead_rel_speed = float(np.clip(getattr(CS, "openpilot_lead_rel_speed", 0.0), -16.4, 34.7))
     stock_camera_lead_fresh = now_nanos - getattr(CS, "stock_camera_lead_ts", 0) <= CANFD_CAMERA_LEAD_STALE_NS
@@ -638,6 +631,8 @@ class CarController(CarControllerBase):
       if not CC.latActive:
         apply_torque = 0
 
+      apply_torque = clear_ioniq_6_torque_when_request_inactive(self.CP, apply_torque, apply_steer_req)
+
       # Hold torque with induced temporary fault when cutting the actuation bit
       # FIXME: we don't use this with CAN FD?
       torque_fault = CC.latActive and not apply_steer_req
@@ -761,23 +756,14 @@ class CarController(CarControllerBase):
     can_canfd_blended = bool(self.CP.flags & HyundaiFlags.CAN_CANFD_BLENDED)
     blended_hda2 = can_canfd_blended and bool(self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING)
     longitudinal_active = bool(self.long_active_ecu and getattr(CC, "longActive", False))
-    lead_visible = bool(getattr(CS, "openpilot_lead_visible", False) or getattr(hud_control, "leadVisible", False))
-    lead_distance = float(np.clip(getattr(CS, "openpilot_lead_distance", 0.0), 0.0, 204.7))
-    lead_rel_speed = float(np.clip(getattr(CS, "openpilot_lead_rel_speed", 0.0), -170.0, 239.5))
-    if lead_visible and lead_distance <= CANFD_LEAD_MIN_DISTANCE:
-      lead_distance = CANFD_FALLBACK_LEAD_DISTANCE
-      lead_rel_speed = 0.0
-    lead_data = self._can_lead_data.update(lead_distance, lead_rel_speed, lead_visible)
 
     # HUD messages
-    stinger_hud_enabled = CC.enabled or (self.CP.carFingerprint == CAR.KIA_STINGER_2022 and CC.latActive)
-    sys_warning, sys_state, left_lane_warning, right_lane_warning = process_hud_alert(stinger_hud_enabled, self.car_fingerprint,
+    sys_warning, sys_state, left_lane_warning, right_lane_warning = process_hud_alert(CC.enabled, self.car_fingerprint,
                                                                                       hud_control)
 
     if blended_hda2:
       can_sends.extend(hyundaicanfd.create_steering_messages(
         self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_torque, 0.0,
-        lka_icon=lka_icon,
         longitudinal_active=longitudinal_active,
       ))
       if self.long_active_ecu:
@@ -788,7 +774,6 @@ class CarController(CarControllerBase):
           left_lane_warning, right_lane_warning, CS.msg_364,
           include_alerts=False,
           counter_mod=0xF,
-          fcw_opt_usm=2 if apply_steer_req or lka_icon == 3 else 1,
         ))
       if self.frame % 5 == 0:
         can_sends.append(hyundaicanfd.create_suppress_lfa(
@@ -812,13 +797,9 @@ class CarController(CarControllerBase):
 
     # Button messages
     if not self.long_active_ecu:
-      if self._ray_pedal and CC.enabled and CS.out.cruiseState.enabled:
-        if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
-          can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP))
-          self.last_button_frame = self.frame
-      elif self.cancel_counter > CANCEL_BUTTON_DELAY_FRAMES:
+      if self.cancel_counter > CANCEL_BUTTON_DELAY_FRAMES:
         can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP))
-      elif CC.cruiseControl.resume and not self._ray_pedal:
+      elif CC.cruiseControl.resume:
         # send resume at a max freq of 10Hz
         if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
           # send 25 messages at a time to increases the likelihood of resume being accepted
@@ -826,39 +807,7 @@ class CarController(CarControllerBase):
           if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15:
             self.last_button_frame = self.frame
       else:
-        if not self._ray_pedal:
-          can_sends.extend(self._create_can_redneck_button_messages(CS))
-
-    if self._ray_pedal and self.frame % 4 == 0:
-      pedal_ready = CS.ray_pedal_valid and CS.ray_pedal_state == 0
-      pedal_active = (CC.longActive and pedal_ready and not CC.cruiseControl.override and
-                      not CS.out.gasPressed and not CS.out.brakePressed)
-      if pedal_active:
-        set_speed = hud_control.setSpeed
-        if not np.isfinite(set_speed) or set_speed < 1.0:
-          self._ray_pedal_gas_last = 0.0
-        else:
-          speed_error = set_speed - CS.out.vEgo
-          if speed_error <= -RAY_PEDAL_OVERSPEED_CUTOFF:
-            self._ray_pedal_gas_last = 0.0
-          else:
-            pedal_offset = float(np.interp(CS.out.vEgo, [0., 2., 4., 8., 12., 20.],
-                                           [0.08, 0.13, 0.20, 0.32, 0.42, 0.48]))
-            pedal_gain = 2.0 if accel < 0.0 else 0.22
-            target = float(np.clip(pedal_offset + accel * pedal_gain, 0.0, RAY_PEDAL_COMMAND_CAP))
-            if speed_error < 0.0:
-              target *= float(np.clip(0.65 * (1.0 + speed_error / RAY_PEDAL_OVERSPEED_CUTOFF), 0.0, 1.0))
-            elif speed_error < RAY_PEDAL_TAPER_BELOW_TARGET:
-              target *= 0.65 + 0.35 * speed_error / RAY_PEDAL_TAPER_BELOW_TARGET
-            if target <= 0.001:
-              self._ray_pedal_gas_last = 0.0
-            else:
-              next_gas = rate_limit(target, self._ray_pedal_gas_last, -RAY_PEDAL_RATE_DOWN, RAY_PEDAL_RATE_UP)
-              self._ray_pedal_gas_last = min(next_gas, target)
-      else:
-        self._ray_pedal_gas_last = 0.0
-      can_sends.append(create_gas_interceptor_command(
-        self._ray_pedal_packer, self._ray_pedal_gas_last, (self.frame // 4) & 0xF))
+        can_sends.extend(self._create_can_redneck_button_messages(CS))
 
     if self.long_active_ecu and can_canfd_blended:
       if blended_hda2:
@@ -886,7 +835,7 @@ class CarController(CarControllerBase):
         can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
                                                         hud_control, set_speed_in_units, stopping,
                                                         CC.cruiseControl.override, use_fca, self.CP,
-                                                        main_cruise_enabled, lead_data))
+                                                        main_cruise_enabled))
 
     # 20 Hz LFA MFA message
     if self.frame % 5 == 0 and (self.CP.flags & HyundaiFlags.SEND_LFA.value or (self.long_active_ecu and blended_hda2)):
@@ -910,13 +859,8 @@ class CarController(CarControllerBase):
     can_sends = []
 
     lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING
-    persistent_lfa_status_cars = (
-      CAR.HYUNDAI_IONIQ_6,
-      CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN,
-      CAR.KIA_EV6,
-    )
-    lfa_longitudinal_active = self.CP.openpilotLongitudinalControl \
-      if self.CP.carFingerprint in persistent_lfa_status_cars else self.long_active_ecu
+    longitudinal_active = bool(self.long_active_ecu and getattr(CC, "longActive", False))
+    lfa_longitudinal_active = longitudinal_active if self.CP.carFingerprint == CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN else self.CP.openpilotLongitudinalControl
     lka_steering_long = lka_steering and lfa_longitudinal_active
     ccnc_non_hda2 = self.CP.flags & HyundaiFlags.CCNC and not lka_steering
     use_egmp_dynamic_long_tuning = egmp_dynamic_longitudinal_tuning(self.CP) and self.long_active_ecu and \
@@ -943,7 +887,7 @@ class CarController(CarControllerBase):
 
     gear = getattr(getattr(CS, "out", None), "gearShifter", None)
     drive_gear = gear == structs.CarState.GearShifter.drive
-    if angle_lkas_alt and self.CP.carFingerprint != CAR.KIA_SPORTAGE_HEV_2026:
+    if angle_lkas_alt:
       steering_msg_active = bool(steering_msg_active and drive_gear)
     angle_lkas_alt_standstill_handoff = bool(getattr(CS.out, "standstill", False) and not CC.latActive)
     forward_stock_lkas = self.CP.carFingerprint in CANFD_ANGLE_LONGITUDINAL_CAR and angle_lkas_alt and (
@@ -973,7 +917,7 @@ 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 angle_lkas_alt and self.CP.carFingerprint != CAR.KIA_SPORTAGE_HEV_2026:
+    if angle_lkas_alt:
       suppress_lfa = bool(lka_steering and drive_gear and (CC.latActive or (ccnc_angle_long and CC.enabled)))
     if self.frame % 5 == 0 and suppress_lfa:
       can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.lfa_block_msg,
@@ -1043,14 +987,12 @@ class CarController(CarControllerBase):
             left_sound_active=left_warning.sound_active, right_sound_active=right_warning.sound_active,
           )
         else:
-          adrv_messages = hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame,
-                                                             car_fingerprint=self.CP.carFingerprint,
-                                                             drive_gear=drive_gear)
+          adrv_messages = hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame)
         can_sends.extend(adrv_messages)
         # The front radar treats ADAS_DRV's 0x100 broadcast as its host heartbeat
         # and stops publishing object tracks when it disappears.
         radar_heartbeat_step = 1 if ccnc_angle_long else 4
-        if self.CP.carFingerprint in CANFD_RADAR_ECU_KEEPALIVE_CAR and self.frame % radar_heartbeat_step == 0:
+        if self.CP.carFingerprint in CANFD_RADAR_LIVE_LONGITUDINAL_CAR and self.frame % radar_heartbeat_step == 0:
           can_sends.append(hyundaicanfd.create_accelerator_brake_alt_spoof(0, self.frame // radar_heartbeat_step,
                                                                             CS.out.brakePressed, CS.out.gasPressed,
                                                                             self.CP.carFingerprint))
@@ -1074,23 +1016,10 @@ class CarController(CarControllerBase):
                                                                                  CC.leftBlinker,
                                                                                  CC.rightBlinker))
       if self.frame % 2 == 0:
-        lead_visible, lead_distance, lead_rel_speed = self._get_canfd_scc_lead_state(CC, CS, now_nanos)
         if self.CP.carFingerprint == CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN:
-          scc_jerk_limits = get_hyundai_canfd_scc_jerk_limits(self.CP, stopping, accel)
-          raw_accel = accel
-          accel = shape_hyundai_canfd_scc_accel(
-            self.CP, CC.enabled, CC.cruiseControl.override, stopping, accel, self.accel_last,
-          )
-          acc_kwargs = {
-            "direct_accel": True,
-            "raw_accel": raw_accel,
-            "jerk_upper": scc_jerk_limits[0],
-            "jerk_lower": scc_jerk_limits[1],
-            "lead_distance": lead_distance,
-            "lead_rel_speed": lead_rel_speed,
-            "lead_visible": lead_visible,
-          }
+          acc_kwargs = {}
         else:
+          lead_visible, lead_distance, lead_rel_speed = self._get_canfd_scc_lead_state(CC, CS, now_nanos)
           acc_kwargs = {
             "main_mode_acc": int(CS.out.cruiseState.available),
             "direct_accel": True,

opendbc_repo/opendbc/car/hyundai/carstate.py

@@ -138,9 +138,6 @@ class CarState(CarStateBase):
     self.buttons_counter = 0
     self.main_cruise_on = False
     self.main_cruise_tracking = bool(getattr(FPCP, "flags", 0) & HyundaiStarPilotFlags.MAIN_CRUISE_STATE_TRACKING)
-    if CP.carFingerprint == CAR.KIA_RAY_EV:
-      self.ray_pedal_state = 5
-      self.ray_pedal_valid = False
 
     self.cruise_info = {}
     self.msg_161 = {}
@@ -303,7 +300,6 @@ class CarState(CarStateBase):
     cp = can_parsers[Bus.pt]
     cp_cam = can_parsers[Bus.cam]
     cp_alt = can_parsers.get(Bus.alt)
-    cp_pedal = can_parsers.get(Bus.party)
 
     if self.CP.flags & HyundaiFlags.CANFD:
       return self.update_canfd(can_parsers)
@@ -397,11 +393,6 @@ class CarState(CarStateBase):
     ret.espDisabled = cp.vl["TCS11"]["TCS_PAS"] == 1
     ret.espActive = cp.vl["TCS11"]["ABS_ACT"] == 1
     ret.accFaulted = False if no_scc else cp.vl["TCS13"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
-    if self.CP.carFingerprint == CAR.KIA_RAY_EV and self.CP.enableGasInterceptorDEPRECATED:
-      self.ray_pedal_valid = bool(cp_pedal is not None and cp_pedal.can_valid and
-                                  cp_pedal.ts_nanos["GAS_SENSOR"]["STATE"] > 0)
-      self.ray_pedal_state = int(cp_pedal.vl["GAS_SENSOR"]["STATE"]) if cp_pedal is not None else 5
-      ret.accFaulted = not self.ray_pedal_valid or self.ray_pedal_state != 0
 
     if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV | HyundaiFlags.FCEV):
       if self.CP.flags & HyundaiFlags.FCEV:
@@ -413,12 +404,6 @@ class CarState(CarStateBase):
     else:
       ret.gasPressed = bool(cp.vl["EMS16"]["CF_Ems_AclAct"])
 
-    if self.CP.carFingerprint == CAR.KIA_RAY_EV and self.CP.enableGasInterceptorDEPRECATED and self.ray_pedal_valid:
-      driver_pedal = cp_pedal.vl_raw["GAS_SENSOR"]
-      track1 = int.from_bytes(driver_pedal[:2], "big")
-      track2 = int.from_bytes(driver_pedal[2:4], "big")
-      ret.gasPressed = track1 > 272 or track2 > 513
-
     # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection,
     # as this seems to be standard over all cars, but is not the preferred method.
     if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
@@ -763,6 +748,4 @@ class CarState(CarStateBase):
     }
     if CP.carFingerprint in ALT_BUS_LDA_BUTTON_CARS:
       parsers[Bus.alt] = CANParser(DBC[CP.carFingerprint][Bus.pt], [("CLU13", 0)], 1)
-    if CP.carFingerprint == CAR.KIA_RAY_EV and CP.enableGasInterceptorDEPRECATED:
-      parsers[Bus.party] = CANParser("hyundai_kia_ray_pedal", [("GAS_SENSOR", 50)], 0)
     return parsers

opendbc_repo/opendbc/car/hyundai/fingerprints.py

@@ -185,7 +185,6 @@ FW_VERSIONS = {
     ],
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00DN ESC \x01 102\x19\x04\x13 58910-L1300',
-      b'\xf1\x00DN ESC \x01 107 \x07\x03 58910-L1300',
       b'\xf1\x00DN ESC \x03 100 \x08\x01 58910-L0300',
       b'\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100',
       b'\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100',
@@ -209,7 +208,6 @@ FW_VERSIONS = {
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC102',
       b'\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1010 4DNDC103',
       b'\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1030 4DNDC103',
-      b'\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1210 4DNDC103',
       b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100',
       b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP101',
       b'\xf1\x00DN8 MDPS R 1.00 1.02 57700-L1000 4DNDP105',
@@ -217,7 +215,6 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.02 99211-L1000 190422',
       b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.04 99211-L1000 191016',
-      b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.06 99211-L1000 210325',
       b'\xf1\x00DN8 MFC  AT RUS LHD 1.00 1.03 99211-L1000 190705',
       b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.00 99211-L0000 190716',
       b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.01 99211-L0000 191016',
@@ -1556,7 +1553,6 @@ FW_VERSIONS = {
   },
   CAR.HYUNDAI_STARIA_4TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00US4 MFC  AT AUS RHD 1.00 1.04 99211-CG000 210819',
       b'\xf1\x00US4 MFC  AT KOR LHD 1.00 1.06 99211-CG000 230524',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [

opendbc_repo/opendbc/car/hyundai/hyundaican.py

@@ -1,6 +1,5 @@
 import crcmod
 from opendbc.car.hyundai.hyundaicanfd import CanBus
-from opendbc.car.hyundai.lead_data import CanLeadData
 from opendbc.car.hyundai.values import CAR, HyundaiFlags
 
 hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
@@ -52,7 +51,7 @@ def create_lkas11(packer, frame, CP, apply_torque, steer_req,
     # FcwOpt_USM 2 = Green car + lanes
     # FcwOpt_USM 1 = White car + lanes
     # FcwOpt_USM 0 = No car + lanes
-    values["CF_Lkas_FcwOpt_USM"] = lka_icon
+    values["CF_Lkas_FcwOpt_USM"] = lka_icon if CP.carFingerprint == CAR.GENESIS_G70_2020 else 2 if enabled else 1
 
     # SysWarning 4 = keep hands on wheel
     # SysWarning 5 = keep hands on wheel (red)
@@ -129,13 +128,13 @@ def create_lkas11_can_canfd_blended(packer, frame, CP, apply_steer, steer_req,
                                     torque_fault, lkas11, sys_warning, sys_state, enabled,
                                     left_lane, right_lane,
                                     left_lane_depart, right_lane_depart, msg_364,
-                                    include_alerts=True, counter_mod=0x10, fcw_opt_usm=None):
+                                    include_alerts=True, counter_mod=0x10):
   bus = CanBus(CP).ECAN
   values = {
     "CF_Lkas_LdwsActivemode": int(left_lane) + (int(right_lane) << 1),
     "CF_Lkas_LdwsLHWarning": left_lane_depart,
     "CF_Lkas_LdwsRHWarning": right_lane_depart,
-    "CF_Lkas_FcwOpt_USM": (2 if enabled else 1) if fcw_opt_usm is None else fcw_opt_usm,
+    "CF_Lkas_FcwOpt_USM": 2 if enabled else 1,
     "CR_Lkas_StrToqReq": apply_steer,
     "CF_Lkas_ActToi": steer_req,
     "CF_Lkas_ToiFlt": torque_fault,
@@ -318,20 +317,19 @@ def create_acc_commands_can_canfd_blended_hda2(packer, enabled, accel, accel_las
 
 
 def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca, CP,
-                        main_cruise_enabled=True, lead_data: CanLeadData | None = None):
+                        main_cruise_enabled=True):
   commands = []
-  lead_data = lead_data or CanLeadData()
 
   scc11_values = {
     "MainMode_ACC": int(bool(main_cruise_enabled)),
     "TauGapSet": hud_control.leadDistanceBars,
     "VSetDis": set_speed if enabled else 0,
     "AliveCounterACC": idx % 0x10,
-    "ObjValid": int(lead_data.lead_visible),
-    "ACC_ObjStatus": int(lead_data.lead_visible),
+    "ObjValid": 1, # close lead makes controls tighter
+    "ACC_ObjStatus": 1, # close lead makes controls tighter
     "ACC_ObjLatPos": 0,
-    "ACC_ObjRelSpd": lead_data.lead_rel_speed,
-    "ACC_ObjDist": int(lead_data.lead_distance),
+    "ACC_ObjRelSpd": 0,
+    "ACC_ObjDist": 1, # close lead makes controls tighter
     }
   commands.append(packer.make_can_msg("SCC11", 0, scc11_values))
 
@@ -359,8 +357,7 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, se
     "JerkUpperLimit": upper_jerk, # stock usually is 1.0 but sometimes uses higher values
     "JerkLowerLimit": 5.0, # stock usually is 0.5 but sometimes uses higher values
     "ACCMode": 2 if enabled and long_override else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage
-    "ObjGap": lead_data.object_gap, # 5: >30 m, 4: 25-30 m, 3: 20-25 m, 2: <20 m, 0: no lead
-    "ObjDistStat": lead_data.object_rel_gap,
+    "ObjGap": 2 if hud_control.leadVisible else 0, # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
   }
   commands.append(packer.make_can_msg("SCC14", 0, scc14_values))
 

opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py

@@ -8,33 +8,6 @@ from opendbc.car.crc import CRC16_XMODEM
 from opendbc.car.hyundai.values import HyundaiFlags, CAR, CANFD_ALT_BUTTONS_RESUME_CAR
 
 
-_adrv_0x51_templates: dict[CAR, bytes] = {}
-
-
-def cache_adrv_0x51_template(car_fingerprint: CAR, dat: bytes | None) -> None:
-  if car_fingerprint not in (CAR.KIA_EV6, CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN):
-    return
-
-  if dat is None:
-    _adrv_0x51_templates.pop(car_fingerprint, None)
-  elif len(dat) == 32 and any(dat[3:]):
-    _adrv_0x51_templates[car_fingerprint] = bytes(dat)
-
-
-def create_adrv_0x51(packer, CAN, frame: int, car_fingerprint: CAR | None = None, drive_gear: bool = False):
-  template = _adrv_0x51_templates.get(car_fingerprint)
-  if template is None:
-    return packer.make_can_msg("ADRV_0x51", CAN.ACAN, {})
-
-  dat = bytearray(template)
-  dat[2] = (template[2] + frame + 1) & 0xFF
-  dat[3] = (dat[3] & ~0x1) | int(drive_gear)
-  crc = hkg_can_fd_checksum(0x51, None, dat)
-  dat[0] = crc & 0xFF
-  dat[1] = (crc >> 8) & 0xFF
-  return CanData(0x51, bytes(dat), CAN.ACAN)
-
-
 def _set_value(msg: bytearray, sig, ival: int) -> None:
   i = sig.lsb // 8
   bits = sig.size
@@ -150,12 +123,7 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
   else:
     lkas_values = copy.copy(control_values)
     lkas_values["LKA_AVAILABLE"] = 0
-    if CP.carFingerprint in (
-      CAR.KIA_CARNIVAL_4TH_GEN,
-      CAR.KIA_CARNIVAL_2025,
-      CAR.KIA_CARNIVAL_HEV_4TH_GEN,
-      CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN,
-    ):
+    if CP.carFingerprint in (CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_CARNIVAL_2025, CAR.KIA_CARNIVAL_HEV_4TH_GEN):
       lkas_values["DAMP_FACTOR"] = 100
 
   if lfa_base_values:
@@ -174,21 +142,7 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
     lkas_values["LKAS_ANGLE_ACTIVE"] = 2 if lat_active else 1
     lkas_values["ADAS_ACIAnglTqRedcGainVal"] = apply_torque if lat_active else 0.0
     if angle_lkas_alt:
-      if CP.carFingerprint == CAR.KIA_SPORTAGE_HEV_2026:
-        lkas_values = {
-          "LKA_OptUsmSta": 0,
-          "LKA_SysIndReq": 2 if enabled else 1,
-          "StrTqReqVal": 0,
-          "LKA_SysWrn": 0,
-          "ActToiSta": 0,
-          "LKA_UsmMod": 0,
-          "LKA_RcgSta": 3 if lat_active else 0,
-          "Damping_Gain": 100,
-          "ADAS_StrAnglReqVal": apply_angle,
-          "LKAS_ANGLE_ACTIVE": 2 if lat_active else 1,
-          "ADAS_ACIAnglTqRedcGainVal": apply_torque if lat_active else 0.0,
-        }
-      elif lat_active:
+      if lat_active:
         lkas_values = {
           "LKA_OptUsmSta": 0,
           "LKA_RcgSta": 3,
@@ -731,13 +685,13 @@ def create_ioniq_6_cluster_lane_change_messages(CAN, frame, side=None):
 
 def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control,
                        main_mode_acc=1, jerk_lower=None, jerk_upper=None, direct_accel=False,
-                       lead_distance=None, lead_rel_speed=None, lead_visible=None, cruise_info=None, raw_accel=None):
+                       lead_distance=None, lead_rel_speed=None, lead_visible=None, cruise_info=None):
   jerk = 5
   jn = jerk / 50
   if not enabled or gas_override:
     a_val, a_raw = 0, 0
   elif direct_accel:
-    a_raw = accel if raw_accel is None else raw_accel
+    a_raw = accel
     a_val = accel
   else:
     a_raw = accel
@@ -815,13 +769,15 @@ def create_fca_warning_light(packer, CAN, frame):
   return ret
 
 
-def create_adrv_messages(packer, CAN, frame, blended_hda2=False, car_fingerprint=None, drive_gear=False):
+def create_adrv_messages(packer, CAN, frame, blended_hda2=False):
   # messages needed to car happy after disabling
   # the ADAS Driving ECU to do longitudinal control
 
   ret = []
 
-  ret.append(create_adrv_0x51(packer, CAN, frame, car_fingerprint, drive_gear))
+  values = {
+  }
+  ret.append(packer.make_can_msg("ADRV_0x51", CAN.ACAN, values))
 
   if blended_hda2:
     return ret

opendbc_repo/opendbc/car/hyundai/interface.py

@@ -2,13 +2,12 @@ import time
 # Provenance: portions of HKG angle integration are adapted from sunnypilot/opendbc's
 # hkg-angle-steering-2025 branch at cc4b08625. See CREDITS.md and THIRD_PARTY_NOTICES.md.
 from opendbc.car import get_safety_config, structs, uds
-from opendbc.car.hyundai import hyundaicanfd
 from opendbc.car.hyundai.hyundaicanfd import CanBus
 from opendbc.car.hyundai.values import HyundaiFlags, CAR, CarControllerParams, \
                                                    CANFD_UNSUPPORTED_LONGITUDINAL_CAR, \
                                                    CANFD_SECURITYACCESS_CAR, \
                                                    CANFD_ANGLE_LONGITUDINAL_CAR, \
-                                                   CANFD_RADAR_ECU_KEEPALIVE_CAR, \
+                                                   CANFD_RADAR_LIVE_LONGITUDINAL_CAR, \
                                                    RADAR_LIVE_LONGITUDINAL_CAR, \
                                                    UNSUPPORTED_LONGITUDINAL_CAR, HyundaiSafetyFlags, \
                                                    LEGACY_LONGITUDINAL_CAR, \
@@ -28,15 +27,6 @@ from openpilot.starpilot.common.testing_grounds import testing_ground
 ButtonType = structs.CarState.ButtonEvent.Type
 Ecu = structs.CarParams.Ecu
 
-
-def get_communication_control_request(car_fingerprint):
-  if car_fingerprint in CANFD_RADAR_ECU_KEEPALIVE_CAR:
-    return bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX,
-                  uds.MESSAGE_TYPE.NORMAL])
-
-  return bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.DISABLE_RX_DISABLE_TX,
-                uds.MESSAGE_TYPE.NORMAL])
-
 # Cancel button can sometimes be ACC pause/resume button, main button can also enable on some cars
 ENABLE_BUTTONS = (ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.cancel, ButtonType.mainCruise)
 
@@ -44,7 +34,6 @@ ENABLE_BUTTONS = (ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.can
 ECU_DISABLE_TIMESTAMP = 0.0
 KONA_NON_SCC_FCA_RADAR_ADDR = 0x602
 KIA_EV9_ACCEL_MAX = 2.2
-RAY_PEDAL_SENSOR_ADDR = 0x201
 
 
 def apply_platform_longitudinal_params(ret: structs.CarParams) -> None:
@@ -201,8 +190,6 @@ class CarInterface(CarInterfaceBase):
       if ret.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
         ret.steerControlType = structs.CarParams.SteerControlType.angle
         ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_ANGLE_STEERING.value
-        if candidate == CAR.KIA_SPORTAGE_HEV_2026:
-          ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.CANFD_NO_STOCK_LKA.value
       if candidate == CAR.HYUNDAI_IONIQ_6:
         # Keep lateral active through stops: zeroing torque at standstill dropped the
         # stop-turn hold and forced a rate-limit re-ramp from zero on every pull-away
@@ -306,18 +293,6 @@ class CarInterface(CarInterfaceBase):
     elif ret.flags & HyundaiFlags.FCEV:
       ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.FCEV_GAS.value
 
-    if (candidate == CAR.KIA_RAY_EV and fingerprint[0].get(RAY_PEDAL_SENSOR_ADDR) == 6 and
-        ret.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CAN_REFRESH_MSGS and
-        ret.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON):
-      ret.enableGasInterceptorDEPRECATED = True
-      ret.alphaLongitudinalAvailable = True
-      ret.openpilotLongitudinalControl = True
-      ret.pcmCruise = False
-      ret.radarUnavailable = True
-      ret.autoResumeSng = False
-      ret.minEnableSpeed = -1.0
-      ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.LONG.value
-
     # Car specific configuration overrides
 
     if candidate == CAR.GENESIS_G90:
@@ -333,8 +308,8 @@ class CarInterface(CarInterfaceBase):
 
     if candidate == CAR.HYUNDAI_ELANTRA_2021:
       ret.longitudinalActuatorDelay = 0.22
-      ret.stopAccel = -1.1
-      ret.stoppingDecelRate = 0.55
+      ret.stopAccel = -0.85
+      ret.stoppingDecelRate = 0.35
 
     if candidate == CAR.HYUNDAI_ELANTRA_HEV_2024:
       ret.longitudinalActuatorDelay = 0.22
@@ -378,7 +353,14 @@ class CarInterface(CarInterfaceBase):
     params = Params()
 
     if communication_control is None:
-      communication_control = get_communication_control_request(CP.carFingerprint)
+      if CP.carFingerprint in CANFD_RADAR_LIVE_LONGITUDINAL_CAR:
+        # Don't use 0x80 suppress bit so we can read the ECU response.
+        # Use ENABLE_RX_DISABLE_TX (0x01) so the ECU can still receive from rear radars for BSM
+        # while blocking SCC TX.
+        communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
+      else:
+        # 0x80 silences response for other cars (original behavior)
+        communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.DISABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
 
     ecu_log(f"=== init() called: opLong={CP.openpilotLongitudinalControl}, flags=0x{CP.flags:x}, safetyParam={CP.safetyConfigs[-1].safetyParam} ===")
 
@@ -394,25 +376,11 @@ class CarInterface(CarInterfaceBase):
         skip_disable_ecu = True
 
       if not skip_disable_ecu:
-        disable_can_recv = can_recv
-        if CP.carFingerprint in (CAR.KIA_EV6, CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN) and can_recv is not None:
-          hyundaicanfd.cache_adrv_0x51_template(CP.carFingerprint, None)
-          base_can_recv = can_recv
-          adrv_bus = CanBus(CP).ACAN
-
-          def disable_can_recv(*args, **kwargs):
-            packets = base_can_recv(*args, **kwargs)
-            for packet in packets or []:
-              for msg in packet:
-                if msg.src == adrv_bus and msg.address == 0x51:
-                  hyundaicanfd.cache_adrv_0x51_template(CP.carFingerprint, msg.dat)
-            return packets
-
         # Try ECU disable. If it succeeds (IGN-ON mode), enable longitudinal.
         # If it fails (READY mode returns NRC 0x22, or timeout), strip LONG safety flag
         # so panda forwards stock SCC messages normally (lateral-only mode).
         ecu_log(f"=== ECU DISABLE attempt: addr=0x{addr:x}, bus={bus} ===")
-        ecu_disabled = disable_ecu(disable_can_recv, can_send, bus=bus, addr=addr, com_cont_req=communication_control,
+        ecu_disabled = disable_ecu(can_recv, can_send, bus=bus, addr=addr, com_cont_req=communication_control,
                                    reset=bool(CP.flags & HyundaiFlags.CAN_CANFD_BLENDED))
 
         if CP.carFingerprint in (CAR.HYUNDAI_IONIQ_6, CAR.HYUNDAI_IONIQ_5_PE):

opendbc_repo/opendbc/car/hyundai/lead_data.py

@@ -1,63 +0,0 @@
-from dataclasses import dataclass
-
-
-@dataclass(frozen=True)
-class CanLeadData:
-  object_gap: int = 0
-  lead_distance: float = 0.0
-  lead_rel_speed: float = 0.0
-  lead_visible: bool = False
-
-  @property
-  def object_rel_gap(self) -> int:
-    return 0 if self.lead_distance == 0 else 2 if self.lead_rel_speed < -0.2 else 1
-
-
-def _hysteresis_update(current, new_value, counter, threshold):
-  if new_value == current:
-    return current, 0
-
-  counter += 1
-  return (new_value, 0) if counter >= threshold else (current, counter)
-
-
-class CanLeadDataState:
-  LEAD_HYSTERESIS_FRAMES = 50
-
-  def __init__(self):
-    self._lead_on_counter = 0
-    self._lead_off_counter = 0
-    self._gap_counter = 0
-    self._lead_visible = False
-    self._object_gap = 0
-
-  @staticmethod
-  def _get_object_gap(lead_distance: float) -> int:
-    if lead_distance == 0:
-      return 0
-    if lead_distance < 20:
-      return 2
-    if lead_distance < 25:
-      return 3
-    if lead_distance < 30:
-      return 4
-    return 5
-
-  def update(self, lead_distance: float, lead_rel_speed: float, lead_visible: bool) -> CanLeadData:
-    counter = self._lead_on_counter if lead_visible else self._lead_off_counter
-    self._lead_visible, counter = _hysteresis_update(
-      self._lead_visible, lead_visible, counter, self.LEAD_HYSTERESIS_FRAMES,
-    )
-    if lead_visible:
-      self._lead_on_counter = counter
-      self._lead_off_counter = 0
-    else:
-      self._lead_off_counter = counter
-      self._lead_on_counter = 0
-
-    object_gap = self._get_object_gap(lead_distance)
-    self._object_gap, self._gap_counter = _hysteresis_update(
-      self._object_gap, object_gap, self._gap_counter, self.LEAD_HYSTERESIS_FRAMES,
-    )
-
-    return CanLeadData(self._object_gap, lead_distance, lead_rel_speed, self._lead_visible)

opendbc_repo/opendbc/car/hyundai/radar_interface.py

@@ -19,9 +19,6 @@ MRR30_RADAR_START_ADDR = 0x210
 MRR30_RADAR_MSG_COUNT = 16
 MRR35_RADAR_START_ADDR = 0x3A5
 MRR35_RADAR_MSG_COUNT = 32
-GV70_RADAR_START_ADDR = 0x210
-GV70_RADAR_MSG_COUNT = 16
-GV70_RADAR_DBC = "hyundai_radar_210_21f_generated"
 
 
 @dataclass(frozen=True)
@@ -33,7 +30,6 @@ class RadarTrackConfig:
   frequency: int = 50
   parser_msg_count: int | None = None
   expected_length: int | None = None
-  dbc_name: str | None = None
 
   @property
   def can_parser_msg_count(self) -> int:
@@ -51,10 +47,6 @@ RADAR_TRACK_CONFIGS = {
 
 
 def get_radar_track_config(car_fingerprint, flags: int = 0) -> RadarTrackConfig | None:
-  if car_fingerprint == CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN:
-    return RadarTrackConfig(GV70_RADAR_START_ADDR, GV70_RADAR_MSG_COUNT, "gv70_210", bus=0,
-                            frequency=20, expected_length=32, dbc_name=GV70_RADAR_DBC)
-
   radar_dbc = DBC[car_fingerprint].get(Bus.radar)
   if car_fingerprint == CAR.GENESIS_G90 and radar_dbc == HYUNDAI_MANDO_FRONT_RADAR_DBC:
     return RadarTrackConfig(RADAR_START_ADDR, G90_RADAR_MSG_COUNT, "mando", parser_msg_count=RADAR_MSG_COUNT)
@@ -73,10 +65,6 @@ def radar_tracks_available(radar_config: RadarTrackConfig | None, fingerprint) -
   if radar_config is None:
     return False
 
-  if radar_config.radar_type == "gv70_210":
-    return all(fingerprint[radar_config.bus].get(addr) == radar_config.expected_length
-               for addr in range(radar_config.start_addr, radar_config.start_addr + radar_config.msg_count))
-
   msg_len = fingerprint[radar_config.bus].get(radar_config.start_addr)
   if msg_len is None:
     return False
@@ -90,8 +78,7 @@ def get_radar_can_parser(CP, radar_config):
 
   messages = [(f"RADAR_TRACK_{addr:x}", radar_config.frequency)
               for addr in range(radar_config.start_addr, radar_config.start_addr + radar_config.can_parser_msg_count)]
-  dbc_name = radar_config.dbc_name or DBC[CP.carFingerprint][Bus.radar]
-  return CANParser(dbc_name, messages, radar_config.bus)
+  return CANParser(DBC[CP.carFingerprint][Bus.radar], messages, radar_config.bus)
 
 
 class RadarInterface(RadarInterfaceBase):
@@ -236,27 +223,6 @@ class RadarInterface(RadarInterfaceBase):
             del self.pts[track_key]
         continue
 
-      if radar_type == "gv70_210":
-        for i in ("1", "2"):
-          track_key = addr * 2 + int(i) - 1
-          valid = msg[f"{i}_STATE"] in (3, 4)
-          if valid:
-            pt = self.pts.get(track_key)
-            if pt is None:
-              pt = structs.RadarData.RadarPoint()
-              pt.trackId = self.track_id
-              self.track_id += 1
-              self.pts[track_key] = pt
-            pt.measured = True
-            pt.dRel = msg[f"{i}_LONG_DIST"]
-            pt.yRel = msg[f"{i}_LAT_DIST"]
-            pt.vRel = msg[f"{i}_REL_SPEED"]
-            pt.aRel = msg[f"{i}_REL_ACCEL"]
-            pt.yvRel = msg[f"{i}_REL_LAT_SPEED"]
-          elif track_key in self.pts:
-            del self.pts[track_key]
-        continue
-
       if radar_type == "mrrevo14f":
         for i in ("1", "2"):
           track_key = addr * 2 + int(i) - 1

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

@@ -20,21 +20,20 @@ from opendbc.car.hyundai.carcontroller import CarController, CANCEL_BUTTON_DELAY
                                              should_track_stop_accel_directly_for_car, \
                                              preserve_stock_canfd_lfa_status, \
                                              preserve_stock_canfd_lkas_status, \
-                                             suppress_redundant_gv70_brake_cancel
+                                             suppress_redundant_gv70_brake_cancel, \
+                                             clear_ioniq_6_torque_when_request_inactive
 from opendbc.car.hyundai.carstate import CarState, decode_canfd_camera_lead, decode_ioniq_6_blindspot_radar_state, \
                                              get_canfd_cruise_available
-from opendbc.car.hyundai.interface import CarInterface, KIA_EV9_ACCEL_MAX, get_communication_control_request
+from opendbc.car.hyundai.interface import CarInterface, KIA_EV9_ACCEL_MAX
 from opendbc.car.hyundai import hyundaican, hyundaicanfd
 from opendbc.car.hyundai.hyundaicanfd import CanBus, hkg_can_fd_checksum
-from opendbc.car.hyundai.lead_data import CanLeadData, CanLeadDataState
 from opendbc.car.hyundai.radar_interface import MRREVO14F_RADAR_START_ADDR, MRR30_RADAR_START_ADDR, MRR35_RADAR_START_ADDR, \
-                                             RADAR_START_ADDR, RadarInterface, get_radar_track_config, radar_tracks_available
+                                             RADAR_START_ADDR, get_radar_track_config
 from opendbc.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, DATELESS_FUZZY_CARS, \
                                          HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, LEGACY_SAFETY_MODE_CAR, CANFD_FUZZY_WHITELIST, \
                                          UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \
                                          LEGACY_LONGITUDINAL_CAR, DBC, HyundaiFlags, get_platform_codes, HyundaiSafetyFlags, \
-                                         HyundaiStarPilotFlags, HyundaiStarPilotSafetyFlags, Buttons, CarControllerParams, \
-                                         CANFD_RADAR_ECU_KEEPALIVE_CAR, CANFD_RADAR_LIVE_LONGITUDINAL_CAR, kia_ev6_gt_line_longitudinal_tuning
+                                         HyundaiStarPilotFlags, HyundaiStarPilotSafetyFlags, Buttons, CarControllerParams, kia_ev6_gt_line_longitudinal_tuning
 
 LongCtrlState = CarControl.Actuators.LongControlState
 from opendbc.car.hyundai.fingerprints import FW_VERSIONS
@@ -130,78 +129,6 @@ def get_test_toggles() -> SimpleNamespace:
 
 
 class TestHyundaiFingerprint:
-  def test_egmp_communication_control_paths(self):
-    stock_request = bytes([0x28, 0x83, 0x01])
-    radar_keepalive_request = bytes([0x28, 0x01, 0x01])
-
-    assert CAR.KIA_EV6 in CANFD_RADAR_LIVE_LONGITUDINAL_CAR
-    assert CAR.KIA_EV6 not in CANFD_RADAR_ECU_KEEPALIVE_CAR
-    assert get_communication_control_request(CAR.KIA_EV6) == stock_request
-
-    assert CAR.HYUNDAI_IONIQ_5 in CANFD_RADAR_LIVE_LONGITUDINAL_CAR
-    assert CAR.HYUNDAI_IONIQ_5 not in CANFD_RADAR_ECU_KEEPALIVE_CAR
-    assert get_communication_control_request(CAR.HYUNDAI_IONIQ_5) == stock_request
-
-    assert CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN in CANFD_RADAR_LIVE_LONGITUDINAL_CAR
-    assert CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN not in CANFD_RADAR_ECU_KEEPALIVE_CAR
-    assert get_communication_control_request(CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN) == stock_request
-
-    assert get_communication_control_request(CAR.HYUNDAI_IONIQ_6) == radar_keepalive_request
-
-  def test_ev6_adrv_0x51_replays_factory_payload(self):
-    CP = CarParams.new_message()
-    CP.carFingerprint = CAR.KIA_EV6
-    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CANFD_LKA_STEERING | HyundaiFlags.EV)
-    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
-    can_bus = CanBus(CP)
-    factory = bytes.fromhex("88ed2e091700ffff5e0d0000012006ff021c2200000000000800000010000000")
-
-    hyundaicanfd.cache_adrv_0x51_template(CAR.KIA_EV6, factory)
-    try:
-      address, dat, bus = hyundaicanfd.create_adrv_0x51(packer, can_bus, 7, CAR.KIA_EV6, drive_gear=True)
-      _, parked_dat, _ = hyundaicanfd.create_adrv_0x51(packer, can_bus, 8, CAR.KIA_EV6, drive_gear=False)
-      _, other_dat, _ = hyundaicanfd.create_adrv_0x51(packer, can_bus, 7, CAR.HYUNDAI_IONIQ_6)
-    finally:
-      hyundaicanfd.cache_adrv_0x51_template(CAR.KIA_EV6, None)
-
-    assert address == 0x51
-    assert bus == can_bus.ACAN
-    assert dat[2] == (factory[2] + 8) & 0xFF
-    assert dat[3:] == factory[3:]
-    assert int.from_bytes(dat[:2], "little") == hkg_can_fd_checksum(address, None, bytearray(dat))
-    assert parked_dat[3] == factory[3] & ~0x1
-    assert parked_dat[4:] == factory[4:]
-    assert int.from_bytes(parked_dat[:2], "little") == hkg_can_fd_checksum(address, None, bytearray(parked_dat))
-    assert other_dat[3:] == bytes(29)
-
-  def test_ev6_init_captures_factory_adrv_0x51(self, monkeypatch):
-    fingerprint = gen_empty_fingerprint()
-    fingerprint[CanBus(None, fingerprint).CAM][0x50] = 16
-    radar_config = get_radar_track_config(CAR.KIA_EV6)
-    fingerprint[radar_config.bus][radar_config.start_addr] = radar_config.expected_length
-    car_fw = [CarParams.CarFw(ecu=Ecu.adas, fwVersion=b"", address=0x730, brand="hyundai")]
-    CP = CarInterface.get_params(CAR.KIA_EV6, fingerprint, car_fw, True, False, False, get_test_toggles())
-    factory = bytes.fromhex("6b657d090900e1ff000000000020ffff00000000000000000800000010000000")
-
-    def can_recv(*, wait_for_one=True):
-      msg = SimpleNamespace(address=0x51, src=CanBus(CP).ACAN, dat=factory)
-      return [[msg]]
-
-    def fake_disable_ecu(capturing_can_recv, *_args, **_kwargs):
-      capturing_can_recv(wait_for_one=True)
-      return True
-
-    monkeypatch.setattr("opendbc.car.hyundai.interface.disable_ecu", fake_disable_ecu)
-    CarInterface.init(CP, can_recv, None)
-
-    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
-    try:
-      _, dat, _ = hyundaicanfd.create_adrv_0x51(packer, CanBus(CP), 0, CAR.KIA_EV6, drive_gear=True)
-    finally:
-      hyundaicanfd.cache_adrv_0x51_template(CAR.KIA_EV6, None)
-
-    assert dat[3:] == factory[3:]
-
   def test_carnival_hev_low_speed_torque_rate_limits(self):
     CP = CarInterface.get_params(CAR.KIA_CARNIVAL_HEV_4TH_GEN, gen_empty_fingerprint(), [],
                                  False, False, False, None)
@@ -499,42 +426,6 @@ class TestHyundaiFingerprint:
     assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CANFD_LKA_STEERING
     assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.EV_GAS
 
-    gv70_radar_config = get_radar_track_config(CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN)
-    assert gv70_radar_config.radar_type == "gv70_210"
-    for addr in range(gv70_radar_config.start_addr, gv70_radar_config.start_addr + gv70_radar_config.msg_count):
-      gv70_fingerprint[gv70_radar_config.bus][addr] = gv70_radar_config.expected_length
-    assert radar_tracks_available(gv70_radar_config, gv70_fingerprint)
-
-    CP = CarInterface.get_params(CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN, gv70_fingerprint, gv70_car_fw,
-                                 True, False, False, None)
-    assert not CP.radarUnavailable
-
-    radar = RadarInterface(CP)
-    packer = CANPacker(gv70_radar_config.dbc_name)
-    messages = []
-    for addr in range(gv70_radar_config.start_addr, gv70_radar_config.start_addr + gv70_radar_config.msg_count):
-      message = packer.make_can_msg(f"RADAR_TRACK_{addr:x}", 0, {
-        "1_STATE": 3,
-        "1_LONG_DIST": 25.0,
-        "1_LAT_DIST": 0.5,
-        "1_REL_SPEED": -2.0,
-        "1_REL_LAT_SPEED": 0.1,
-        "1_REL_ACCEL": -0.2,
-      })
-      data = bytearray(message[1])
-      checksum = hkg_can_fd_checksum(addr, None, data)
-      data[0] = checksum & 0xff
-      data[1] = (checksum >> 8) & 0xff
-      messages.append((message[0], bytes(data), message[2]))
-    radar_data = radar.update([(1, messages)])
-    assert radar_data is not None
-    assert len(radar_data.points) == 16
-    assert radar_data.points[0].dRel == pytest.approx(25.0)
-
-    other_config = get_radar_track_config(CAR.HYUNDAI_IONIQ_5)
-    assert other_config.radar_type == "mrr30"
-    assert other_config.dbc_name is None
-
     for candidate in HYUNDAI_NON_SCC_CARS:
       CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], True, False, False, None)
       assert bool(CP.flags & HyundaiFlags.NON_SCC)
@@ -552,13 +443,6 @@ class TestHyundaiFingerprint:
     CP = CarInterface.get_params(CAR.KIA_SPORTAGE_HEV_2026, fingerprint, [], False, False, False, None)
     assert CP.flags & HyundaiFlags.SEND_LFA
 
-  @pytest.mark.parametrize("candidate", list(CAR))
-  def test_no_stock_lka_safety_flag_is_sportage_only(self, candidate):
-    CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], False, False, False, None)
-    if CP.flags & HyundaiFlags.CANFD:
-      assert bool(CP.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.CANFD_NO_STOCK_LKA) == \
-        (candidate == CAR.KIA_SPORTAGE_HEV_2026)
-
   def test_smart_mdps_allows_low_speed_steering(self):
     candidate = CAR.HYUNDAI_IONIQ_EV_LTD
 
@@ -686,7 +570,14 @@ class TestHyundaiFingerprint:
     assert not (CP.flags & HyundaiFlags.CANFD_LKA_STEERING)
     assert bool(CP.flags & HyundaiFlags.CANFD_CAMERA_SCC)
 
-  def test_palisade_2023_uses_can_canfd_blended_layout(self):
+  def test_ioniq_6_clears_torque_with_inactive_safety_request(self):
+    ioniq_6_cp = SimpleNamespace(carFingerprint=CAR.HYUNDAI_IONIQ_6)
+    other_cp = SimpleNamespace(carFingerprint=CAR.KIA_EV6)
+
+    assert clear_ioniq_6_torque_when_request_inactive(ioniq_6_cp, -409, False) == 0
+    assert clear_ioniq_6_torque_when_request_inactive(ioniq_6_cp, -409, True) == -409
+    assert clear_ioniq_6_torque_when_request_inactive(other_cp, -409, False) == -409
+
     palisade_2023 = CarInterface.get_params(CAR.HYUNDAI_PALISADE_2023, gen_empty_fingerprint(), [], True, False, False, None)
     assert palisade_2023.flags & HyundaiFlags.CAN_CANFD_BLENDED
     assert DBC[palisade_2023.carFingerprint][Bus.pt] == "hyundai_palisade_2023_generated"
@@ -780,45 +671,6 @@ class TestHyundaiFingerprint:
     } <= msg_addrs_buses
     assert (0x364, 1) not in msg_addrs_buses
 
-  def test_palisade_telluride_hda2_aol_keeps_lkas_status_after_long_cancel(self):
-    fingerprint = gen_empty_fingerprint()
-    fingerprint[2][0x50] = 16
-    car_fw = [CarParams.CarFw(ecu=Ecu.adas, fwVersion=b"", address=0x730, brand="hyundai")]
-    CP = CarInterface.get_params(CAR.HYUNDAI_PALISADE_2023, fingerprint, car_fw, True, False, False, None)
-    controller = CarController(DBC[CP.carFingerprint], CP)
-    controller.frame = 1
-
-    hud_control = SimpleNamespace(
-      visualAlert=CarControl.HUDControl.VisualAlert.none,
-      leftLaneVisible=True,
-      rightLaneVisible=True,
-      leftLaneDepart=False,
-      rightLaneDepart=False,
-      leadDistanceBars=3,
-      leadVisible=False,
-    )
-    lfa_block_msg = {f"BYTE{i}": 0 for i in range(3, 24) if i != 7}
-    lfa_block_msg["COUNTER"] = 0
-    CS = SimpleNamespace(lfa_block_msg=lfa_block_msg, redneck_send_button=Buttons.NONE, lkas11={}, msg_364={},
-                         out=SimpleNamespace(vEgoRaw=5.0))
-    CC = SimpleNamespace(enabled=False, latActive=True, longActive=False,
-                         cruiseControl=SimpleNamespace(cancel=False, resume=False, override=False))
-    actuators = SimpleNamespace(longControlState=LongCtrlState.off)
-    adas_parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS", 0)], 0)
-    ecan_parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS11", 0)], 1)
-
-    for steering_requested, icon, expected_status in ((True, 2, 2), (False, 1, 1)):
-      msgs = controller.create_can_msgs(steering_requested, 16 if steering_requested else 0, False,
-                                        0.0, 0.0, False, hud_control, actuators, CS, CC, icon, icon)
-      adas_parser.update([(1, [msg for msg in msgs if msg[0] == 0x50])])
-      ecan_parser.update([(1, [msg for msg in msgs if msg[0] == 0x340])])
-
-      assert adas_parser.vl["LKAS"]["LKA_ICON"] == icon
-      assert adas_parser.vl["LKAS"]["STEER_REQ"] == int(steering_requested)
-      assert ecan_parser.vl["LKAS11"]["CF_Lkas_FcwOpt_USM"] == expected_status
-      assert ecan_parser.vl["LKAS11"]["CF_Lkas_ActToi"] == int(steering_requested)
-      assert not any(msg[0] == 0x364 for msg in msgs)
-
   def test_g70_aol_uses_active_lkas_icon(self):
     CP = CarInterface.get_params(CAR.GENESIS_G70_2020, gen_empty_fingerprint(), [], False, False, False, None)
     controller = CarController(DBC[CP.carFingerprint], CP)
@@ -841,48 +693,6 @@ class TestHyundaiFingerprint:
 
     assert parser.vl["LKAS11"]["CF_Lkas_FcwOpt_USM"] == 2
 
-  @pytest.mark.parametrize(("candidate", "expected_status"), (
-    (CAR.KIA_NIRO_PHEV_2022, 2),
-    (CAR.KIA_NIRO_HEV_2021, 2),
-  ))
-  def test_classic_niro_aol_keeps_active_lkas_status(self, candidate, expected_status):
-    CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], True, False, False, get_test_toggles())
-    controller = CarController(DBC[CP.carFingerprint], CP)
-    controller.frame = 1
-    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS11", 0)], 0)
-
-    hud_control = SimpleNamespace(
-      visualAlert=CarControl.HUDControl.VisualAlert.none,
-      leftLaneVisible=True,
-      rightLaneVisible=True,
-      leftLaneDepart=False,
-      rightLaneDepart=False,
-      leadVisible=False,
-    )
-    CS = SimpleNamespace(lkas11=parser.vl["LKAS11"])
-    CC = SimpleNamespace(
-      enabled=False,
-      latActive=True,
-      longActive=False,
-      cruiseControl=SimpleNamespace(cancel=False, resume=False, override=False),
-    )
-    actuators = SimpleNamespace(longControlState=LongCtrlState.off)
-
-    msgs = controller.create_can_msgs(True, 156, False, 0.0, 0.0, False, hud_control, actuators, CS, CC, 2, 0)
-    lkas11 = next(msg for msg in msgs if msg[0] == 0x340)
-    parser.update([(1, [lkas11])])
-
-    assert parser.vl["LKAS11"]["CF_Lkas_ActToi"] == 1
-    assert parser.vl["LKAS11"]["CF_Lkas_FcwOpt_USM"] == expected_status
-
-    CC.latActive = False
-    msgs = controller.create_can_msgs(False, 0, False, 0.0, 0.0, False, hud_control, actuators, CS, CC, 1, 0)
-    lkas11 = next(msg for msg in msgs if msg[0] == 0x340)
-    parser.update([(2, [lkas11])])
-
-    assert parser.vl["LKAS11"]["CF_Lkas_ActToi"] == 0
-    assert parser.vl["LKAS11"]["CF_Lkas_FcwOpt_USM"] == 1
-
   def test_kona_non_scc_uses_no_individual_lane_lkas_status(self):
     CP = CarInterface.get_params(CAR.HYUNDAI_KONA_NON_SCC, gen_empty_fingerprint(), [], False, False, False, None)
     packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
@@ -1086,31 +896,6 @@ class TestHyundaiFingerprint:
 
     assert not (FPCP.flags & HyundaiStarPilotFlags.HAS_LKAS12)
 
-  @pytest.mark.parametrize("length, expected", ((6, True), (8, False)))
-  def test_stinger_only_replaces_six_byte_lkas12(self, length, expected):
-    fingerprint = gen_empty_fingerprint()
-    fingerprint[2][0x53E] = length
-    CP = CarInterface.get_params(CAR.KIA_STINGER_2022, fingerprint, [], True, False, False, None)
-    FPCP = CarInterface.get_starpilot_params(CAR.KIA_STINGER_2022, fingerprint, [], CP, get_test_toggles())
-
-    assert bool(FPCP.flags & HyundaiStarPilotFlags.HAS_LKAS12) is expected
-
-  @pytest.mark.parametrize("alpha_long, main_aol, expected", (
-    (True, True, True), (True, False, True), (False, True, False),
-  ))
-  def test_stinger_aol_latches_lkas_after_long_engagement(self, alpha_long, main_aol, expected):
-    toggles = get_test_toggles()
-    toggles.always_on_lateral_main = main_aol
-    fingerprint = gen_empty_fingerprint()
-    CP = CarInterface.get_params(CAR.KIA_STINGER_2022, fingerprint, [], alpha_long, False, False, toggles)
-    FPCP = CarInterface.get_starpilot_params(CAR.KIA_STINGER_2022, fingerprint, [], CP, toggles)
-
-    assert bool(FPCP.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE) is expected
-
-    sonata_cp = CarInterface.get_params(CAR.HYUNDAI_SONATA, fingerprint, [], alpha_long, False, False, toggles)
-    sonata_fpcp = CarInterface.get_starpilot_params(CAR.HYUNDAI_SONATA, fingerprint, [], sonata_cp, toggles)
-    assert not (sonata_fpcp.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE)
-
   def test_ray_ev_does_not_treat_eight_byte_485_as_lfa(self):
     fingerprint = gen_empty_fingerprint()
     fingerprint[2][0x485] = 8
@@ -1316,103 +1101,6 @@ class TestHyundaiFingerprint:
     assert canfd_alt_buttons_cp.flags & HyundaiFlags.CANFD_ALT_BUTTONS
     assert not canfd_alt_buttons_fpcp.redneckCruiseAvailable
 
-  def test_sportage_hev_hda2_redneck_uses_stock_scc(self, monkeypatch):
-    class FakeParams:
-      def __init__(self, *args, **kwargs):
-        pass
-
-      @staticmethod
-      def get_bool(key):
-        return key == "RedneckCruise"
-
-    monkeypatch.setattr("opendbc.car.interfaces.Params", FakeParams)
-    toggles = get_test_toggles()
-    fingerprint = gen_empty_fingerprint()
-    can_bus = CanBus(None, fingerprint, True)
-    fingerprint[can_bus.CAM][0x110] = 32
-    fingerprint[can_bus.ECAN][0x1CF] = 8
-
-    CP = CarInterface.get_params(CAR.KIA_SPORTAGE_HEV_2026, fingerprint, [], False, False, False, toggles)
-    FPCP = CarInterface.get_starpilot_params(CAR.KIA_SPORTAGE_HEV_2026, fingerprint, [], CP, toggles)
-
-    assert CP.flags & HyundaiFlags.CANFD_LKA_STEERING
-    assert FPCP.redneckCruiseAvailable
-    assert not FPCP.pcmCruiseSpeed
-    assert CP.pcmCruise
-    assert not CP.openpilotLongitudinalControl
-    assert not CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.LONG
-    controller = CarInterface(CP, FPCP).CC
-    assert not controller.long_active_ecu
-
-    controller.frame = 30
-    CS = SimpleNamespace(redneck_send_button=1, buttons_counter=5)
-    msgs = controller._create_canfd_redneck_button_messages(CS)
-    assert len(msgs) == 20
-    assert all(msg[0] == 0x1CF and msg[2] == can_bus.ECAN for msg in msgs)
-    assert all(msg[1][2] & 0x7 == Buttons.RES_ACCEL for msg in msgs)
-
-    controller.frame = 60
-    CS.redneck_send_button = 2
-    msgs = controller._create_canfd_redneck_button_messages(CS)
-    assert len(msgs) == 20
-    assert all(msg[1][2] & 0x7 == Buttons.SET_DECEL for msg in msgs)
-
-    monkeypatch.setattr(FakeParams, "get_bool", staticmethod(lambda key: False))
-    CP = CarInterface.get_params(CAR.KIA_SPORTAGE_HEV_2026, fingerprint, [], False, False, False, toggles)
-    FPCP = CarInterface.get_starpilot_params(CAR.KIA_SPORTAGE_HEV_2026, fingerprint, [], CP, toggles)
-    assert FPCP.redneckCruiseAvailable
-    assert FPCP.pcmCruiseSpeed
-    assert CP.pcmCruise
-    assert not CP.openpilotLongitudinalControl
-
-  def test_sportage_redneck_rejects_unverified_button_layouts(self, monkeypatch):
-    class FakeParams:
-      def __init__(self, *args, **kwargs):
-        pass
-
-      @staticmethod
-      def get_bool(key):
-        return key == "RedneckCruise"
-
-    monkeypatch.setattr("opendbc.car.interfaces.Params", FakeParams)
-    toggles = get_test_toggles()
-    for button_address, button_bus, button_length, lka_steering in (
-      (0x1AA, 1, 16, True),
-      (0x1CF, 0, 8, True),
-      (0x1CF, 0, 8, False),
-      (0x1CF, 1, 16, True),
-    ):
-      fingerprint = gen_empty_fingerprint()
-      can_bus = CanBus(None, fingerprint, lka_steering)
-      if lka_steering:
-        fingerprint[can_bus.CAM][0x110] = 32
-      fingerprint[button_bus][button_address] = button_length
-
-      CP = CarInterface.get_params(CAR.KIA_SPORTAGE_HEV_2026, fingerprint, [], False, False, False, toggles)
-      FPCP = CarInterface.get_starpilot_params(CAR.KIA_SPORTAGE_HEV_2026, fingerprint, [], CP, toggles)
-      assert not FPCP.redneckCruiseAvailable
-      assert FPCP.pcmCruiseSpeed
-      assert CP.pcmCruise
-      assert not CP.openpilotLongitudinalControl
-
-    fingerprint = gen_empty_fingerprint()
-    can_bus = CanBus(None, fingerprint, True)
-    fingerprint[can_bus.CAM][0x110] = 32
-    fingerprint[can_bus.ECAN][0x1CF] = 8
-    fingerprint[can_bus.ECAN][0x1AA] = 16
-    CP = CarInterface.get_params(CAR.KIA_SPORTAGE_HEV_2026, fingerprint, [], False, False, False, toggles)
-    FPCP = CarInterface.get_starpilot_params(CAR.KIA_SPORTAGE_HEV_2026, fingerprint, [], CP, toggles)
-    assert not FPCP.redneckCruiseAvailable
-
-    fingerprint = gen_empty_fingerprint()
-    can_bus = CanBus(None, fingerprint, True)
-    fingerprint[can_bus.CAM][0x110] = 32
-    fingerprint[can_bus.ECAN][0x1CF] = 8
-    CP = CarInterface.get_params(CAR.KIA_SPORTAGE_HEV_2026, fingerprint, [], False, False, False, toggles)
-    CP.openpilotLongitudinalControl = True
-    FPCP = CarInterface.get_starpilot_params(CAR.KIA_SPORTAGE_HEV_2026, fingerprint, [], CP, toggles)
-    assert not FPCP.redneckCruiseAvailable
-
   def test_hyundai_non_scc_without_redneck_keeps_stock_longitudinal_mode(self, monkeypatch):
     class FakeParams:
       def __init__(self, *args, **kwargs):
@@ -1752,8 +1440,8 @@ class TestHyundaiFingerprint:
     CP = CarInterface.get_params(CAR.HYUNDAI_ELANTRA_2021, gen_empty_fingerprint(), [], True, False, False, toggles)
 
     assert CP.longitudinalActuatorDelay == pytest.approx(0.22)
-    assert CP.stopAccel == pytest.approx(-1.1)
-    assert CP.stoppingDecelRate == pytest.approx(0.55)
+    assert CP.stopAccel == pytest.approx(-0.85)
+    assert CP.stoppingDecelRate == pytest.approx(0.35)
 
   def test_elantra_hev_2024_longitudinal_delay_matches_observed_response(self):
     toggles = get_test_toggles()
@@ -1796,20 +1484,6 @@ class TestHyundaiFingerprint:
     assert exact
     assert matches == {candidate}
 
-  def test_staria_2023_australian_route_fw_exact_matches(self):
-    route_fw = {
-      (Ecu.fwdCamera, 0x7c4): b'\xf1\x00US4 MFC  AT AUS RHD 1.00 1.04 99211-CG000 210819',
-      (Ecu.fwdRadar, 0x7d0): b'\xf1\x00US4_ RDR -----      1.00 1.00 99110-CG000         ',
-    }
-    car_fw = [
-      CarParams.CarFw(ecu=ecu, fwVersion=version, address=address, subAddress=0, brand="hyundai")
-      for (ecu, address), version in route_fw.items()
-    ]
-
-    exact, matches = match_fw_to_car(car_fw, "KMFYFX71MPU095311", allow_fuzzy=False, log=False)
-    assert exact
-    assert matches == {CAR.HYUNDAI_STARIA_4TH_GEN}
-
   def test_kona_ev_non_scc_has_no_dedicated_fw_coverage(self):
     assert CAR.HYUNDAI_KONA_EV_NON_SCC not in FW_VERSIONS
 
@@ -2806,15 +2480,14 @@ class TestHyundaiFingerprint:
     assert parser.vl["LKAS_ALT"]["ADAS_ACIAnglTqRedcGainVal"] == pytest.approx(0.0)
     assert parser.vl["LKAS_ALT"]["ADAS_StrAnglReqVal"] == pytest.approx(8.5)
 
-  def test_gv70_electrified_uses_clean_damped_lkas_status_payload(self):
+  def test_gv70_electrified_uses_generic_lkas_status_payload(self):
     CP = CarParams.new_message()
     CP.carFingerprint = CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN
     CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_LKA_STEERING)
-    CP.openpilotLongitudinalControl = True
+    CP.openpilotLongitudinalControl = False
 
     controller = CarController(DBC[CP.carFingerprint], CP)
     controller.frame = 1
-    controller.long_active_ecu = True
     can_bus = CanBus(CP)
     parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS", 0)], can_bus.ACAN)
     stock_lkas = {
@@ -2835,7 +2508,6 @@ class TestHyundaiFingerprint:
       "DAMP_FACTOR": 100,
     }
     cc = SimpleNamespace(enabled=True, latActive=True,
-                         longActive=False,
                          actuators=SimpleNamespace(longControlState=LongCtrlState.off),
                          leftBlinker=False, rightBlinker=False,
                          hudControl=SimpleNamespace())
@@ -2851,12 +2523,13 @@ class TestHyundaiFingerprint:
     parser.update([(1, lkas_msgs)])
     assert parser.can_valid
     assert parser.vl["LKAS"]["HAS_LANE_SAFETY"] == 0
-    assert parser.vl["LKAS"]["DAMP_FACTOR"] == 100
+    assert parser.vl["LKAS"]["DAMP_FACTOR"] == 0
     assert parser.vl["LKAS"]["TORQUE_REQUEST"] == 0
     assert parser.vl["LKAS"]["STEER_REQ"] == 1
-    assert parser.vl["LKAS"]["STEER_MODE"] == 2
-    assert parser.vl["LKAS"]["NEW_SIGNAL_2"] == 3
+    assert parser.vl["LKAS"]["STEER_MODE"] == 0
+    assert parser.vl["LKAS"]["NEW_SIGNAL_2"] == 0
 
+    CP.openpilotLongitudinalControl = True
     lfa_parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LFA", 0)], can_bus.ECAN)
     lfa_msgs = hyundaicanfd.create_steering_messages(controller.packer, CP, can_bus, True, True, 0, 0.0)
     assert [(controller.packer.dbc.addr_to_msg[addr].name, bus) for addr, _, bus in lfa_msgs] == [("LFA", can_bus.ECAN), ("LKAS", can_bus.ACAN)]
@@ -2864,12 +2537,13 @@ class TestHyundaiFingerprint:
     assert lfa_parser.can_valid
     assert lfa_parser.vl["LFA"]["DAMP_FACTOR"] == 100
 
+    controller.long_active_ecu = True
     cc.longActive = False
     inactive_msgs = controller.create_canfd_msgs(0, True, 0.44, 0.0, 0.0, 0.0, False,
                                                  cc.hudControl, cs, cc, get_test_toggles(), lka_icon=2, lfa_icon=2)
     steering_names = [(controller.packer.dbc.addr_to_msg[addr].name, bus) for addr, _, bus in inactive_msgs
                       if controller.packer.dbc.addr_to_msg[addr].name in ("LFA", "LKAS")]
-    assert steering_names == [("LFA", can_bus.ECAN), ("LKAS", can_bus.ACAN)]
+    assert steering_names == [("LKAS", can_bus.ACAN)]
 
     controller.frame = 1
     cc.longActive = True
@@ -2879,67 +2553,9 @@ class TestHyundaiFingerprint:
                       if controller.packer.dbc.addr_to_msg[addr].name in ("LFA", "LKAS")]
     assert steering_names == [("LFA", can_bus.ECAN), ("LKAS", can_bus.ACAN)]
 
-  def test_gv70_electrified_stock_long_uses_damped_lkas_request(self):
+  def test_ioniq_6_keeps_lfa_status_when_longitudinal_is_inactive(self):
     CP = CarParams.new_message()
-    CP.carFingerprint = CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN
-    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_LKA_STEERING)
-    CP.openpilotLongitudinalControl = False
-
-    controller = CarController(DBC[CP.carFingerprint], CP)
-    can_bus = CanBus(CP)
-    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS", 0)], can_bus.ACAN)
-    msgs = hyundaicanfd.create_steering_messages(controller.packer, CP, can_bus, True, True, 123, 0.0)
-
-    assert [(controller.packer.dbc.addr_to_msg[addr].name, bus) for addr, _, bus in msgs] == [("LKAS", can_bus.ACAN)]
-    parser.update([(1, msgs)])
-    assert parser.can_valid
-    assert parser.vl["LKAS"]["TORQUE_REQUEST"] == 123
-    assert parser.vl["LKAS"]["STEER_REQ"] == 1
-    assert parser.vl["LKAS"]["HAS_LANE_SAFETY"] == 0
-    assert parser.vl["LKAS"]["DAMP_FACTOR"] == 100
-    assert parser.vl["LKAS"]["STEER_MODE"] == 2
-    assert parser.vl["LKAS"]["NEW_SIGNAL_2"] == 3
-
-  @pytest.mark.parametrize(("car", "powertrain_flag"), [
-    (CAR.HYUNDAI_IONIQ_5, HyundaiFlags.EV),
-    (CAR.HYUNDAI_IONIQ_6, HyundaiFlags.EV),
-    (CAR.KIA_EV6, HyundaiFlags.EV),
-    (CAR.KIA_CARNIVAL_2025, 0),
-    (CAR.KIA_CARNIVAL_HEV_4TH_GEN, HyundaiFlags.HYBRID),
-    (CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN, HyundaiFlags.EV),
-  ])
-  def test_hda2_keeps_lfa_status_when_longitudinal_is_inactive(self, car, powertrain_flag):
-    CP = CarParams.new_message()
-    CP.carFingerprint = car
-    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CANFD_LKA_STEERING | powertrain_flag)
-    CP.openpilotLongitudinalControl = True
-
-    controller = CarController(DBC[CP.carFingerprint], CP)
-    cc = SimpleNamespace(
-      enabled=False, latActive=False, longActive=False,
-      actuators=SimpleNamespace(longControlState=LongCtrlState.off),
-      leftBlinker=False, rightBlinker=False, hudControl=SimpleNamespace(),
-    )
-    cs = SimpleNamespace(
-      stock_lfa_msg=None, stock_lkas_msg=None,
-      left_blindspot_from_radar=False, right_blindspot_from_radar=False,
-      out=SimpleNamespace(gearShifter=structs.CarState.GearShifter.park),
-    )
-
-    controller.frame = 1
-    controller.long_active_ecu = True
-    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)
-    assert any(addr == 0x12A for addr, _, _ in msgs)
-
-  @pytest.mark.parametrize("car", [
-    CAR.HYUNDAI_IONIQ_6,
-    CAR.KIA_EV6,
-    CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN,
-  ])
-  def test_egmp_persistent_lfa_status_survives_ecu_fallback_state(self, car):
-    CP = CarParams.new_message()
-    CP.carFingerprint = car
+    CP.carFingerprint = CAR.HYUNDAI_IONIQ_6
     CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_LKA_STEERING)
     CP.openpilotLongitudinalControl = True
 
@@ -2953,7 +2569,6 @@ class TestHyundaiFingerprint:
     )
     cs = SimpleNamespace(
       stock_lfa_msg=None, stock_lkas_msg=None,
-      left_blindspot_from_radar=False, right_blindspot_from_radar=False,
       out=SimpleNamespace(gearShifter=structs.CarState.GearShifter.park),
     )
 
@@ -2976,11 +2591,10 @@ class TestHyundaiFingerprint:
       actuators=SimpleNamespace(longControlState=LongCtrlState.pid),
       cruiseControl=SimpleNamespace(override=False, cancel=False, resume=False),
       leftBlinker=False, rightBlinker=False,
-      hudControl=SimpleNamespace(leadDistanceBars=3, leadVisible=True),
+      hudControl=SimpleNamespace(leadDistanceBars=3),
     )
     cs = SimpleNamespace(
       stock_lfa_msg=None, stock_lkas_msg=None,
-      openpilot_lead_visible=True, openpilot_lead_distance=37.5, openpilot_lead_rel_speed=-1.3,
       out=SimpleNamespace(steeringAngleDeg=0.0, gearShifter=structs.CarState.GearShifter.drive),
     )
 
@@ -2993,8 +2607,7 @@ class TestHyundaiFingerprint:
     parser.update([(1, scc_msgs)])
     assert parser.can_valid
     assert parser.vl["SCC_CONTROL"]["MainMode_ACC"] == 1
-    assert parser.vl["SCC_CONTROL"]["ACC_ObjDist"] == pytest.approx(37.5)
-    assert parser.vl["SCC_CONTROL"]["ACC_ObjRelSpd"] == pytest.approx(-1.3)
+    assert parser.vl["SCC_CONTROL"]["ACC_ObjDist"] == pytest.approx(1.0)
     assert parser.vl["SCC_CONTROL"]["ObjValid"] == 0
     assert parser.vl["SCC_CONTROL"]["aReqValue"] == pytest.approx(-0.1)
     assert parser.vl["SCC_CONTROL"]["aReqRaw"] == pytest.approx(-1.0)
@@ -3095,7 +2708,7 @@ class TestHyundaiFingerprint:
     assert len([msg for msg in msgs if msg[0] == 0x110]) == expected_lkas_msgs
 
   @pytest.mark.parametrize("standstill", [False, True])
-  def test_sportage_angle_lkas_alt_keeps_status_and_suppression_alive(self, standstill):
+  def test_sportage_angle_lkas_alt_keeps_inactive_status_in_drive(self, standstill):
     CP = CarParams.new_message()
     CP.carFingerprint = CAR.KIA_SPORTAGE_HEV_2026
     CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.HYBRID | HyundaiFlags.CANFD_ANGLE_STEERING |
@@ -3103,14 +2716,45 @@ class TestHyundaiFingerprint:
     CP.openpilotLongitudinalControl = False
 
     controller = CarController(DBC[CP.carFingerprint], CP)
-    controller.frame = 5
     can_bus = CanBus(CP)
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS_ALT", 0)], can_bus.ACAN)
+    stock_lkas = {
+      "CHECKSUM": 1234,
+      "COUNTER": 42,
+      "LKA_OptUsmSta": 2,
+      "LKA_MODE": 2,
+      "LKA_RcgSta": 3,
+      "LKA_AVAILABLE": 3,
+      "LKA_LHLnWrnSta": 3,
+      "LKA_RHLnWrnSta": 3,
+      "LKA_WARNING": 1,
+      "LKA_HndsoffSnd": 1,
+      "LKA_StrSnd": 1,
+      "LKA_SysIndReq": 4,
+      "LKA_ICON": 2,
+      "FCA_SYSWARN": 1,
+      "StrTqReqVal": 17,
+      "TORQUE_REQUEST": 17,
+      "ActToiSta": 3,
+      "STEER_REQ": 1,
+      "ToiFltSta": 3,
+      "LFA_BUTTON": 1,
+      "LKA_SysWrn": 15,
+      "LKA_ASSIST": 1,
+      "Damping_Gain": 0,
+      "STEER_MODE": 5,
+      "NEW_SIGNAL_2": 0,
+      "LKAS_ANGLE_ACTIVE": 2,
+      "LKA_UsmMod": 3,
+      "HAS_LANE_SAFETY": 1,
+      "ADAS_StrAnglReqVal": 12.3,
+      "ADAS_ACIAnglTqRedcGainVal": 0.42,
+      "DAMP_FACTOR": 0,
+    }
     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,
+    cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg=stock_lkas,
                          out=SimpleNamespace(standstill=standstill, steeringAngleDeg=0.0,
                                              gearShifter=structs.CarState.GearShifter.drive))
 
@@ -3118,52 +2762,14 @@ class TestHyundaiFingerprint:
                                         get_test_toggles(), lka_icon=1, lfa_icon=1)
     lkas_msgs = [msg for msg in msgs if msg[0] == 0x110]
     assert len(lkas_msgs) == 1
-    assert len([msg for msg in msgs if msg[0] == 0x362]) == 1
 
-    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS_ALT", 0)], can_bus.ACAN)
     parser.update([(1, lkas_msgs)])
     assert parser.can_valid
-    assert parser.vl["LKAS_ALT"]["LKA_OptUsmSta"] == 0
+    assert parser.vl["LKAS_ALT"]["LKA_StrSnd"] == 2
     assert parser.vl["LKAS_ALT"]["LKA_SysIndReq"] == 1
     assert parser.vl["LKAS_ALT"]["LKA_RcgSta"] == 0
-    assert parser.vl["LKAS_ALT"]["Damping_Gain"] == 100
+    assert parser.vl["LKAS_ALT"]["LKA_AVAILABLE"] == 0
     assert parser.vl["LKAS_ALT"]["LKAS_ANGLE_ACTIVE"] == 1
-    assert parser.vl["LKAS_ALT"]["ADAS_ACIAnglTqRedcGainVal"] == 0.0
-
-  def test_sportage_angle_lkas_alt_active_status_matches_vehicle_contract(self):
-    CP = CarParams.new_message()
-    CP.carFingerprint = CAR.KIA_SPORTAGE_HEV_2026
-    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.HYBRID | 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)
-    cc = SimpleNamespace(enabled=True, latActive=True,
-                         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(standstill=False, steeringAngleDeg=10.0,
-                                             gearShifter=structs.CarState.GearShifter.drive))
-
-    msgs = controller.create_canfd_msgs(0, True, 0.4, 12.0, 0.0, 0.0, False, cc.hudControl, cs, cc,
-                                        get_test_toggles(), lka_icon=2, lfa_icon=2)
-    lkas_msgs = [msg for msg in msgs if msg[0] == 0x110]
-    assert len(lkas_msgs) == 1
-    assert len([msg for msg in msgs if msg[0] == 0x362]) == 1
-
-    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS_ALT", 0)], can_bus.ACAN)
-    parser.update([(1, lkas_msgs)])
-    assert parser.can_valid
-    assert parser.vl["LKAS_ALT"]["LKA_OptUsmSta"] == 0
-    assert parser.vl["LKAS_ALT"]["LKA_SysIndReq"] == 2
-    assert parser.vl["LKAS_ALT"]["LKA_RcgSta"] == 3
-    assert parser.vl["LKAS_ALT"]["Damping_Gain"] == 100
-    assert parser.vl["LKAS_ALT"]["LKAS_ANGLE_ACTIVE"] == 2
-    assert parser.vl["LKAS_ALT"]["ADAS_ACIAnglTqRedcGainVal"] == pytest.approx(0.4)
 
   def test_ev9_inactive_angle_steering_does_not_suppress_stock_lfa(self):
     CP = CarParams.new_message()
@@ -3289,50 +2895,6 @@ class TestHyundaiFingerprint:
     assert parser.vl["SCC14"]["ComfortBandUpper"] == pytest.approx(0.0)
     assert parser.vl["SCC14"]["ComfortBandLower"] == pytest.approx(0.0)
     assert parser.vl["SCC14"]["JerkLowerLimit"] == pytest.approx(5.0)
-    assert parser.vl["SCC11"]["ObjValid"] == 0
-    assert parser.vl["SCC11"]["ACC_ObjDist"] == 0
-    assert parser.vl["SCC14"]["ObjGap"] == 0
-    assert parser.vl["SCC14"]["ObjDistStat"] == 0
-
-  def test_can_acc_commands_show_approaching_lead(self):
-    CP = CarParams.new_message()
-    CP.carFingerprint = CAR.HYUNDAI_ELANTRA_2021
-
-    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
-    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("SCC11", 0), ("SCC14", 0)], 0)
-    lead_data = CanLeadData(object_gap=4, lead_distance=27.5, lead_rel_speed=-1.3, lead_visible=True)
-
-    msgs = hyundaican.create_acc_commands(packer, enabled=True, accel=0.0, upper_jerk=1.0, idx=3,
-                                          hud_control=SimpleNamespace(leadDistanceBars=3), set_speed=42,
-                                          stopping=False, long_override=False, use_fca=False, CP=CP,
-                                          lead_data=lead_data)
-    parser.update([(1, msgs)])
-
-    assert parser.can_valid
-    assert parser.vl["SCC11"]["ObjValid"] == 1
-    assert parser.vl["SCC11"]["ACC_ObjStatus"] == 1
-    assert parser.vl["SCC11"]["ACC_ObjDist"] == pytest.approx(27.0)
-    assert parser.vl["SCC11"]["ACC_ObjRelSpd"] == pytest.approx(-1.3)
-    assert parser.vl["SCC14"]["ObjGap"] == 4
-    assert parser.vl["SCC14"]["ObjDistStat"] == 2
-
-  def test_can_lead_data_hysteresis_and_distance_bands(self):
-    state = CanLeadDataState()
-
-    for _ in range(state.LEAD_HYSTERESIS_FRAMES - 1):
-      lead_data = state.update(18.0, -0.5, True)
-    assert not lead_data.lead_visible
-    assert lead_data.object_gap == 0
-
-    lead_data = state.update(18.0, -0.5, True)
-    assert lead_data.lead_visible
-    assert lead_data.object_gap == 2
-    assert lead_data.object_rel_gap == 2
-
-    for _ in range(state.LEAD_HYSTERESIS_FRAMES):
-      lead_data = state.update(32.0, 0.5, True)
-    assert lead_data.object_gap == 5
-    assert lead_data.object_rel_gap == 1
 
   def test_can_acc_commands_follow_sonata_main_cruise_state(self):
     CP = CarParams.new_message()

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

@@ -1,291 +0,0 @@
-from types import SimpleNamespace
-
-import pytest
-
-from opendbc.can import CANPacker, CANParser
-from opendbc.car import Bus, gen_empty_fingerprint
-from opendbc.car.hyundai.carcontroller import CarController
-from opendbc.car.hyundai.carstate import CarState
-from opendbc.car.hyundai.interface import CarInterface
-from opendbc.car.hyundai.values import CAR, DBC, HyundaiSafetyFlags
-from opendbc.car.structs import CarControl
-
-
-def ray_fingerprint(sensor_length=6, lfa_length=8):
-  fingerprint = gen_empty_fingerprint()
-  fingerprint[0][0x201] = sensor_length
-  fingerprint[0][0x391] = 8
-  fingerprint[2][0x485] = lfa_length
-  return fingerprint
-
-
-@pytest.mark.parametrize(("candidate", "fingerprint", "has_pedal"), [
-  (CAR.KIA_RAY_EV, ray_fingerprint(), True),
-  (CAR.KIA_RAY_EV, ray_fingerprint(sensor_length=8), False),
-  (CAR.KIA_RAY_EV, ray_fingerprint(lfa_length=4), False),
-  (CAR.HYUNDAI_KONA_EV_NON_SCC, ray_fingerprint(), False),
-])
-def test_ray_pedal_fingerprint_isolation(candidate, fingerprint, has_pedal):
-  CP = CarInterface.get_params(candidate, fingerprint, [], False, False, False, None)
-  assert CP.enableGasInterceptorDEPRECATED is has_pedal
-  assert CP.openpilotLongitudinalControl is has_pedal
-  if has_pedal:
-    assert not CP.pcmCruise
-    assert CP.safetyConfigs[-1].safetyParam == 0x9405
-    assert CP.minEnableSpeed == -1.0
-    assert not CP.autoResumeSng
-    FPCP = CarInterface.get_starpilot_params(candidate, fingerprint, [], CP, SimpleNamespace())
-    assert FPCP.canUsePedal
-    assert not FPCP.pcmCruiseSpeed
-    assert not FPCP.redneckCruiseAvailable
-  else:
-    assert CP.pcmCruise
-    assert not (CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.LONG)
-
-
-def test_ray_pedal_safety_signature_is_unique_across_hyundai_platforms():
-  for candidate in CAR:
-    for alpha_long in (False, True):
-      CP = CarInterface.get_params(candidate, ray_fingerprint(), [],
-                                   alpha_long, False, False, None)
-      has_ray_signature = (CP.safetyConfigs[-1].safetyParam & ~(32 | 128 | 2048)) == 0x9405
-      assert has_ray_signature is (candidate == CAR.KIA_RAY_EV)
-      assert CP.enableGasInterceptorDEPRECATED is (candidate == CAR.KIA_RAY_EV)
-
-
-def test_ray_pedal_parser_validates_actual_route_frames():
-  CP = CarInterface.get_params(CAR.KIA_RAY_EV, ray_fingerprint(), [], False, False, False, None)
-  parser = CarState(CP, None).get_can_parsers(CP)[Bus.party]
-  assert parser.dbc_name == "hyundai_kia_ray_pedal"
-  # Consecutive bus-0 GAS_SENSOR frames from Sept. 15 Ray rlog segment 4.
-  samples = [bytes.fromhex(s) for s in (
-    "01f403d55de8", "01f603d55ef1", "01f403d55f51", "01f603d3503f",
-    "01f903d551ab", "01f903d552a4", "01f703d55370",
-  )]
-  for idx, dat in enumerate(samples):
-    parser.update([(1_000_000_000 + idx * 20_000_000, [(0x201, dat, 0)])])
-    assert parser.can_valid
-    assert parser.vl["GAS_SENSOR"]["STATE"] == 5  # FAULT_TIMEOUT: no 0x200 was sent
-
-  prior = parser.vl_raw["GAS_SENSOR"]
-  bad = bytearray(samples[-1])
-  bad[-1] ^= 1
-  parser.update([(1_160_000_000, [(0x201, bytes(bad), 0)])])
-  assert parser.vl_raw["GAS_SENSOR"] == prior
-
-
-def test_ray_pedal_fault_clears_only_with_healthy_sensor_state():
-  CP = CarInterface.get_params(CAR.KIA_RAY_EV, ray_fingerprint(), [], False, False, False, None)
-  state = CarState(CP, None)
-  parsers = state.get_can_parsers(CP)
-  packer = CANPacker("hyundai_kia_ray_pedal")
-  sensor = packer.make_can_msg("GAS_SENSOR", 0, {
-    "INTERCEPTOR_GAS": 0, "INTERCEPTOR_GAS2": 0,
-    "STATE": 0, "COUNTER_PEDAL": 1,
-  })
-  for parser in parsers.values():
-    parser.update([(1_000_000_000, [sensor])])
-  ret, _ = state.update(parsers, SimpleNamespace())
-  assert state.ray_pedal_valid
-  assert state.ray_pedal_state == 0
-  assert not ret.accFaulted
-
-
-def test_ray_driver_override_uses_physical_interceptor_tracks():
-  CP = CarInterface.get_params(CAR.KIA_RAY_EV, ray_fingerprint(), [], False, False, False, None)
-  state = CarState(CP, None)
-  parsers = state.get_can_parsers(CP)
-  native_gas = (0x371, bytes.fromhex("004e008000ae0700"), 0)
-  physical_rest = (0x201, bytes.fromhex("010801f30cef"), 0)
-  for parser in parsers.values():
-    parser.update([(1_000_000_000, [native_gas, physical_rest])])
-  ret, _ = state.update(parsers, SimpleNamespace())
-  assert state.ray_pedal_valid
-  assert not ret.gasPressed
-
-  packer = CANPacker("hyundai_kia_ray_pedal")
-  physical_press = packer.make_can_msg("GAS_SENSOR", 0, {
-    "INTERCEPTOR_GAS": (310 - 264) * 0.672,
-    "INTERCEPTOR_GAS2": (593 - 497) * 0.332,
-    "STATE": 0, "COUNTER_PEDAL": 13,
-  })
-  for parser in parsers.values():
-    parser.update([(1_020_000_000, [physical_press])])
-  ret, _ = state.update(parsers, SimpleNamespace())
-  assert ret.gasPressed
-
-
-def test_ray_without_pedal_keeps_native_gas_detection():
-  CP = CarInterface.get_params(CAR.KIA_RAY_EV, ray_fingerprint(sensor_length=8), [], False, False, False, None)
-  assert not CP.enableGasInterceptorDEPRECATED
-  state = CarState(CP, None)
-  parsers = state.get_can_parsers(CP)
-  assert Bus.party not in parsers
-  native_gas = (0x371, bytes.fromhex("004e008000ae0700"), 0)
-  for parser in parsers.values():
-    parser.update([(1_000_000_000, [native_gas])])
-  ret, _ = state.update(parsers, SimpleNamespace())
-  assert ret.gasPressed
-
-
-@pytest.mark.parametrize("speed", [0.0, 0.1, 1.0, 4.9, 5.0, 12.0])
-def test_ray_controller_heartbeats_and_only_actuates_when_ready(speed):
-  CP = CarInterface.get_params(CAR.KIA_RAY_EV, ray_fingerprint(), [], False, False, False, None)
-  controller = CarController(DBC[CP.carFingerprint], CP)
-  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS11", 0), ("CLU11", 0)], 0)
-  CS = SimpleNamespace(
-    lkas11=parser.vl["LKAS11"], clu11=parser.vl["CLU11"],
-    out=SimpleNamespace(vEgo=speed, gasPressed=False, brakePressed=False,
-                        cruiseState=SimpleNamespace(enabled=False)),
-    ray_pedal_valid=True, ray_pedal_state=5, is_metric=True,
-  )
-  CC = SimpleNamespace(
-    enabled=True, longActive=True, latActive=True,
-    cruiseControl=SimpleNamespace(cancel=False, resume=False, override=False),
-  )
-  hud = SimpleNamespace(
-    visualAlert=CarControl.HUDControl.VisualAlert.none,
-    setSpeed=20.0,
-    leftLaneVisible=True, rightLaneVisible=True,
-    leftLaneDepart=False, rightLaneDepart=False,
-  )
-  actuators = SimpleNamespace(longControlState=CarControl.Actuators.LongControlState.pid)
-
-  def pedal_msg(accel, frame):
-    controller.frame = frame
-    messages = controller.create_can_msgs(True, 0, False, 0.0, accel, False,
-                                          hud, actuators, CS, CC, 2, 0)
-    return next(dat for addr, dat, bus in messages if addr == 0x200 and bus == 0)
-
-  assert pedal_msg(2.0, 0)[:4] == bytes(4)  # fault timeout: heartbeat only
-  CS.ray_pedal_state = 0
-  assert pedal_msg(2.0, 4)[:4] != bytes(4)
-  CS.out.gasPressed = True
-  assert pedal_msg(2.0, 8)[:4] == bytes(4)
-  CS.out.gasPressed = False
-  assert pedal_msg(-1.0, 12)[:4] == bytes(4)  # decel = EV lift/regen, not gas
-  CS.out.cruiseState.enabled = True
-  controller.frame = 16
-  messages = controller.create_can_msgs(True, 0, False, 0.0, 2.0, False,
-                                        hud, actuators, CS, CC, 2, 0)
-  assert next(dat for addr, dat, bus in messages if addr == 0x200 and bus == 0)[4] & 0x80
-  assert any(addr == 0x4F1 and bus == 0 and dat[0] & 7 == 4 for addr, dat, bus in messages)
-
-  CS.out.cruiseState.enabled = False
-  CS.out.brakePressed = True
-  assert pedal_msg(2.0, 20)[:4] == bytes(4)
-  CS.out.brakePressed = False
-  assert pedal_msg(2.0, 24)[4] & 0x80
-  assert controller._ray_pedal_gas_last == pytest.approx(0.02)
-  assert pedal_msg(2.0, 28)[4] & 0x80
-  assert controller._ray_pedal_gas_last == pytest.approx(0.04)
-  CS.out.brakePressed = True
-  assert pedal_msg(2.0, 32)[:4] == bytes(4)
-  assert controller._ray_pedal_gas_last == 0.0
-  CS.out.brakePressed = False
-  assert pedal_msg(2.0, 36)[4] & 0x80
-  assert controller._ray_pedal_gas_last == pytest.approx(0.02)
-
-  CC.longActive = False
-  assert pedal_msg(2.0, 40)[:4] == bytes(4)
-  CC.longActive = True
-  CC.cruiseControl.override = True
-  assert pedal_msg(2.0, 44)[:4] == bytes(4)
-  CC.cruiseControl.override = False
-  CS.ray_pedal_valid = False
-  assert pedal_msg(2.0, 48)[:4] == bytes(4)
-  CS.ray_pedal_valid = True
-  for fault in range(1, 6):
-    CS.ray_pedal_state = fault
-    assert pedal_msg(2.0, 48 + 4 * fault)[:4] == bytes(4)
-
-  CS.ray_pedal_state = 0
-  CS.out.vEgo = 10.0
-  assert pedal_msg(0.0, 72)[4] & 0x80
-  assert pedal_msg(-1.0, 76)[:4] == bytes(4)
-
-  CS.out.vEgo = 12.0
-  for frame in range(80, 80 + 4 * 40, 4):
-    pedal_msg(1.5, frame)
-  assert controller._ray_pedal_gas_last == pytest.approx(0.55)
-  for frame in range(240, 240 + 4 * 12, 4):
-    dat = pedal_msg(-1.5, frame)
-  assert dat[:4] == bytes(4)
-
-  for frame in range(288, 288 + 4 * 40, 4):
-    pedal_msg(1.5, frame)
-  assert controller._ray_pedal_gas_last == pytest.approx(0.55)
-  hud.setSpeed = 12.0
-  pedal_msg(1.5, 448)
-  assert controller._ray_pedal_gas_last == pytest.approx(0.55 * 0.65)
-  hud.setSpeed = 11.8
-  dat = pedal_msg(1.5, 452)
-  assert controller._ray_pedal_gas_last == pytest.approx(0.55 * 0.65 * 0.6)
-  assert dat[4] & 0x80
-  hud.setSpeed = 11.4
-  assert pedal_msg(1.5, 456)[:4] == bytes(4)
-  hud.setSpeed = float('nan')
-  assert pedal_msg(1.5, 460)[:4] == bytes(4)
-  hud.setSpeed = 20.0
-  assert pedal_msg(-0.3, 464)[:4] == bytes(4)
-  CS.out.vEgo = 15.0
-  hud.setSpeed = 53.0 / 3.6
-  pedal_msg(-0.16, 468)
-  assert controller._ray_pedal_gas_last < 0.1
-  CS.out.vEgo = 12.0
-  hud.setSpeed = 8.0 / 3.6
-  assert pedal_msg(-0.3, 472)[:4] == bytes(4)
-  hud.setSpeed = 145.0 / 3.6
-  assert pedal_msg(1.5, 476)[4] & 0x80
-  assert controller._ray_pedal_gas_last == pytest.approx(0.02)
-  assert pedal_msg(1.5, 480)[4] & 0x80
-  assert controller._ray_pedal_gas_last == pytest.approx(0.04)
-  assert pedal_msg(-0.3, 484)[:4] == bytes(4)
-
-
-@pytest.mark.parametrize("candidate", [CAR.KIA_RAY_EV, CAR.HYUNDAI_KONA_EV_NON_SCC])
-def test_ray_stock_cruise_cancellation_survives_accelerator_override(candidate):
-  CP = CarInterface.get_params(candidate, ray_fingerprint(), [], False, False, False, None)
-  controller = CarController(DBC[CP.carFingerprint], CP)
-  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS11", 0), ("CLU11", 0)], 0)
-  CS = SimpleNamespace(
-    lkas11=parser.vl["LKAS11"], clu11=parser.vl["CLU11"],
-    out=SimpleNamespace(vEgo=12.0, gasPressed=True, brakePressed=False,
-                        cruiseState=SimpleNamespace(enabled=True)),
-    ray_pedal_valid=True, ray_pedal_state=0, is_metric=True,
-  )
-  CC = SimpleNamespace(
-    enabled=True, longActive=False, latActive=True,
-    cruiseControl=SimpleNamespace(cancel=False, resume=False, override=True),
-  )
-  hud = SimpleNamespace(
-    visualAlert=CarControl.HUDControl.VisualAlert.none,
-    setSpeed=20.0,
-    leftLaneVisible=True, rightLaneVisible=True, leftLaneDepart=False, rightLaneDepart=False,
-  )
-  actuators = SimpleNamespace(longControlState=CarControl.Actuators.LongControlState.off)
-  controller._create_can_redneck_button_messages = lambda _: []
-
-  def messages(frame):
-    controller.frame = frame
-    return controller.create_can_msgs(True, 0, False, 0.0, 2.0, False,
-                                      hud, actuators, CS, CC, 2, 0)
-
-  def cancel_frames(msgs):
-    return [dat for addr, dat, bus in msgs if addr == 0x4F1 and bus == 0 and dat[0] & 7 == 4]
-
-  msgs = messages(20)
-  assert bool(cancel_frames(msgs)) is (candidate == CAR.KIA_RAY_EV)
-  if candidate == CAR.KIA_RAY_EV:
-    pedal = next(dat for addr, dat, bus in msgs if addr == 0x200 and bus == 0)
-    assert pedal[:4] == bytes(4)
-    assert not (pedal[4] & 0x80)
-    assert not cancel_frames(messages(24))  # retain the existing cancellation rate limit
-    assert cancel_frames(messages(25))
-    assert cancel_frames(messages(32))
-
-  CS.out.cruiseState.enabled = False
-  assert not cancel_frames(messages(44))
-  CS.out.cruiseState.enabled = True
-  CC.enabled = False
-  assert not cancel_frames(messages(56))  # AOL alone must not cancel native cruise

opendbc_repo/opendbc/car/hyundai/values.py

@@ -117,7 +117,6 @@ class HyundaiSafetyFlags(IntFlag):
 
 
 class HyundaiStarPilotSafetyFlags(IntFlag):
-  CANFD_NO_STOCK_LKA = 4096  # CAN-FD only; classic CAN uses this bit for NON_SCC.
   AOL_MAIN_LKAS_ON_ENGAGE = 128
   AOL_MAIN_LKAS_SYNC = 32
   HAS_LDA_BUTTON = 1024
@@ -1219,13 +1218,6 @@ CANFD_ALT_BUTTONS_RESUME_CAR = {CAR.KIA_CARNIVAL_2025, CAR.KIA_CARNIVAL_HEV_4TH_
 CANFD_CORNER_RADAR_BSM_CAR = {CAR.HYUNDAI_IONIQ_6, CAR.HYUNDAI_IONIQ_5_PE, CAR.KIA_EV9}
 CANFD_RADAR_LIVE_LONGITUDINAL_CAR = {
   CAR.HYUNDAI_IONIQ_5, CAR.HYUNDAI_IONIQ_5_PE, CAR.HYUNDAI_IONIQ_6, CAR.KIA_EV6, CAR.KIA_EV9, CAR.GENESIS_GV60_EV_1ST_GEN,
-  CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN,
-}
-CANFD_RADAR_ECU_KEEPALIVE_CAR = {
-  CAR.HYUNDAI_IONIQ_5_PE,
-  CAR.HYUNDAI_IONIQ_6,
-  CAR.KIA_EV9,
-  CAR.GENESIS_GV60_EV_1ST_GEN,
 }
 RADAR_LIVE_LONGITUDINAL_CAR = CANFD_RADAR_LIVE_LONGITUDINAL_CAR | {
   CAR.HYUNDAI_IONIQ,

opendbc_repo/opendbc/car/interfaces.py

@@ -109,7 +109,6 @@ class RadarInterfaceBase(ABC):
     self.CP = CP
     self.rcp = None
     self.pts: dict[int, structs.RadarData.RadarPoint] = {}
-    self.track_id: int = 0
     self.frame = 0
 
   def update(self, can_packets: list[tuple[int, list[CanData]]]) -> structs.RadarDataT | None:
@@ -233,9 +232,6 @@ class CarInterfaceBase(ABC):
           fp_ret.flags |= int(HondaStarPilotFlags.HAS_CAMERA_MESSAGES)
 
       elif platform in HYUNDAI:
-        if candidate == HYUNDAI.KIA_RAY_EV and CP.enableGasInterceptorDEPRECATED:
-          fp_ret.canUsePedal = True
-          fp_ret.pcmCruiseSpeed = False
         if candidate in CANFD_CAR:
           hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
           CAN = CanBus(None, fingerprint, bool(CP.flags & HyundaiFlags.CANFD_LKA_STEERING))
@@ -244,28 +240,13 @@ class CarInterfaceBase(ABC):
           if 0x1FA in fingerprint[CAN.ECAN]:
             fp_ret.flags |= HyundaiStarPilotFlags.SPEED_LIMIT_AVAILABLE.value
 
-        if candidate != HYUNDAI.KIA_RAY_EV and not (CP.flags & HyundaiFlags.CANFD) and 0x53E in fingerprint[2] and \
-            (candidate != HYUNDAI.KIA_STINGER_2022 or fingerprint[2][0x53E] == 6):
+        if candidate != HYUNDAI.KIA_RAY_EV and not (CP.flags & HyundaiFlags.CANFD) and 0x53E in fingerprint[2]:
           fp_ret.flags |= HyundaiStarPilotFlags.HAS_LKAS12.value
 
-        sportage_stock_scc_buttons = (
-          candidate == HYUNDAI.KIA_SPORTAGE_HEV_2026 and
-          not CP.openpilotLongitudinalControl and
-          bool(CP.flags & HyundaiFlags.CANFD_LKA_STEERING) and
-          not bool(CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS) and
-          fingerprint[CAN.ECAN].get(0x1CF) == 8 and
-          0x1AA not in fingerprint[CAN.ECAN]
-        )
-        fp_ret.redneckCruiseAvailable = (
-          (bool(CP.flags & HyundaiFlags.NON_SCC) and
-           not bool(CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS) and
-           not (candidate == HYUNDAI.KIA_RAY_EV and CP.enableGasInterceptorDEPRECATED)) or
-          sportage_stock_scc_buttons
-        )
+        fp_ret.redneckCruiseAvailable = bool(CP.flags & HyundaiFlags.NON_SCC) and not bool(CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS)
         if fp_ret.redneckCruiseAvailable and params.get_bool("RedneckCruise"):
           fp_ret.pcmCruiseSpeed = False
-          if CP.flags & HyundaiFlags.NON_SCC:
-            CP.openpilotLongitudinalControl = True
+          CP.openpilotLongitudinalControl = True
 
         if candidate == HYUNDAI.HYUNDAI_ELANTRA_HEV_2024 and CP.openpilotLongitudinalControl:
           fp_ret.flags |= HyundaiStarPilotFlags.MAIN_CRUISE_STATE_TRACKING.value
@@ -288,9 +269,6 @@ class CarInterfaceBase(ABC):
           if candidate == HYUNDAI.HYUNDAI_SONATA_HYBRID:
             fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
 
-        if candidate == HYUNDAI.KIA_STINGER_2022 and CP.openpilotLongitudinalControl:
-          fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
-
         # The refresh Elantra's safety mapping comes from the resolved Galaxy
         # toggle above, not from this legacy persisted-parameter fallback.
         if candidate != HYUNDAI.HYUNDAI_ELANTRA_HEV_2024 and \

opendbc_repo/opendbc/car/subaru/avh.py

@@ -1,95 +0,0 @@
-"""One bounded Legacy AVH ON request; 0x32B is status, never a TX command."""
-
-AVH_REQUEST = 0x6BB
-AVH_STATUS = 0x32B
-INPUTS = (AVH_REQUEST, AVH_STATUS, 0x40, 0x48, 0x13A, 0x174)
-
-
-def checksum(address, data):
-  return ((address & 0xFF) + (address >> 8) + sum(data[1:])) & 0xFF
-
-
-def avh_request(template, step):
-  if len(template) != 8 or checksum(AVH_REQUEST, template) != template[0] or template[2] & 3 or step not in (1, 2):
-    raise ValueError("Invalid AVH template or counter step")
-  data = bytearray(template)
-  data[1] = (data[1] & 0xF0) | ((data[1] + step) & 0xF)
-  data[2] |= 2
-  data[0] = checksum(AVH_REQUEST, data)
-  return AVH_REQUEST, bytes(data), 1
-
-
-class AvhStartup:
-  def __init__(self):
-    self.started = None
-    self.last_time = None
-    self.stable_since = None
-    self.frames = {}
-    self.done = False
-    self.followup = None
-
-  def update(self, now, frames, enabled, can_valid, controls_active):
-    if self.started is None:
-      self.started = now
-    if self.last_time is not None and now < self.last_time:
-      self.done = True
-    self.last_time = now
-    if self.done:
-      return []
-    if now - self.started > 30 or controls_active:
-      self.done = True
-      return []
-
-    for address, (timestamp, data) in frames.items():
-      if address not in INPUTS or timestamp <= 0:
-        continue
-      previous = self.frames.get(address)
-      if previous and timestamp == previous[0]:
-        continue
-      if len(data) != 8 or checksum(address, data) != data[0] or timestamp > now or (previous and timestamp < previous[0]):
-        self.done = True
-        return []
-      if (address == AVH_REQUEST and data[2] & 3) or (address == AVH_STATUS and data[5] & 0x20) or \
-         (address == 0x48 and data[3] != 4) or (address == 0x40 and data[4]) or \
-         (address == 0x13A and any((int.from_bytes(data, 'little') >> bit) & 0x1FFF for bit in (12, 25, 38, 51))):
-        self.done = True
-        return []
-      if previous and (data[1] & 15) == (previous[1][1] & 15):
-        continue  # duplicate counters cannot refresh freshness
-      # Controller snapshots can skip 50/100 Hz samples between updates. Panda
-      # checks their full counter stream; require consecutive head-unit frames here.
-      sequential = bool(previous and (address not in (AVH_REQUEST, AVH_STATUS) or
-                                     (data[1] & 15) == ((previous[1][1] + 1) & 15)))
-      self.frames[address] = (timestamp, data, sequential)
-
-    fresh = all(a in self.frames and self.frames[a][2] and
-                0 <= now - self.frames[a][0] <= (1.5 if a == AVH_REQUEST else 0.3) for a in INPUTS)
-    if not enabled or not can_valid or not fresh:
-      self.stable_since = None
-      if self.followup is not None:
-        self.done = True
-      return []
-    throttle = self.frames[0x40][1]
-    rpm = int.from_bytes(throttle[2:4], 'little') & 0x1FFF
-    if rpm < 400 or not self.frames[0x174][1][2] & 8:
-      self.stable_since = None
-      if self.followup is not None:
-        self.done = True
-      return []
-    if self.stable_since is None:
-      self.stable_since = now
-    if self.followup is not None:
-      sent, timestamp, template = self.followup
-      if now - sent > 0.075 or self.frames[AVH_REQUEST][0] != timestamp:
-        self.done = True
-      elif now - sent >= 0.05:
-        self.done = True
-        return [avh_request(template, 2)]
-      return []
-    if now - self.started < 10 or now - self.stable_since < 3:
-      return []
-    timestamp, template, _ = self.frames[AVH_REQUEST]
-    if now - timestamp > 0.010:
-      return []
-    self.followup = (now, timestamp, template)
-    return [avh_request(template, 1)]

opendbc_repo/opendbc/car/subaru/carcontroller.py

@@ -4,7 +4,6 @@ from opendbc.car import Bus, DT_CTRL, make_tester_present_msg, structs
 from opendbc.car.lateral import apply_driver_steer_torque_limits, apply_std_steer_angle_limits, apply_steer_angle_limits_vm, common_fault_avoidance
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.subaru import subarucan
-from opendbc.car.subaru.avh import AvhStartup
 from opendbc.car.subaru.values import CAR, DBC, GLOBAL_ES_ADDR, SUBARU_STOP_START_CARS, CanBus, CarControllerParams, SubaruFlags
 from opendbc.car.vehicle_model import VehicleModel
 
@@ -17,11 +16,21 @@ _SNG_ACC_MIN_DIST = 3
 _SNG_ACC_MAX_DIST = 4.5
 _LEGACY_2025_MADS_MIN_SPEED = 0.44704
 _LEGACY_2025_MADS_MAX_STEER_ANGLE = 120.0
+_LEGACY_2025_OVERRIDE_HOLD_FRAMES = 10
+_LEGACY_2025_REENGAGE_SETTLE_FRAMES = 8
+_LEGACY_2025_REENGAGE_MAX_STEER_RATE = 2.0
+_LEGACY_2025_REENGAGE_MAX_ANGLE_DELTA = 1.0
+_LEGACY_2025_RECLAIM_FRAMES = 36
+_LEGACY_2025_RECLAIM_EXPONENT = 2.5
 _ANGLE_OVERRIDE_CONFIRM_FRAMES = 2
+_ANGLE_OVERRIDE_HOLD_FRAMES = 10
+_ANGLE_REENGAGE_SETTLE_FRAMES = 8
 _ANGLE_REENGAGE_MAX_STEER_RATE = 2.0
+_ANGLE_REENGAGE_MAX_ANGLE_DELTA = 1.0
+_ANGLE_RECLAIM_FRAMES = 36
+_ANGLE_RECLAIM_EXPONENT = 2.5
 _ANGLE_MADS_MIN_SPEED = 0.44704
 _ANGLE_MADS_MAX_STEER_ANGLE = 120.0
-_ASCENT_AOL_ARM_FRAMES = 30
 _STOP_START_STARTUP_DELAY_FRAMES = 100
 # StarPilot's first populated toggle message can arrive several seconds after
 # the car controller starts while fingerprinting and settings settle.
@@ -44,10 +53,20 @@ class CarController(CarControllerBase):
     self.apply_steer_last = 0
     self.driver_override = False
     self.angle_override_confirm_frames = 0
+    self.legacy_2025_lkas_active = False
+    self.legacy_2025_handoff_active = False
+    self.legacy_2025_override_hold_frames = 0
+    self.legacy_2025_reengage_settle_frames = 0
+    self.legacy_2025_reengage_reference_angle = 0.0
+    self.legacy_2025_reclaim_frames = 0
+    self.legacy_2025_reclaim_start_angle = 0.0
     self.angle_lkas_active = False
     self.angle_handoff_active = False
-    self.ascent_angle_initialized = False
-    self.ascent_aol_arm_frames = 0
+    self.angle_override_hold_frames = 0
+    self.angle_reengage_settle_frames = 0
+    self.angle_reengage_reference_angle = 0.0
+    self.angle_reclaim_frames = 0
+    self.angle_reclaim_start_angle = 0.0
 
     self.cruise_button_prev = 0
     self.steer_rate_counter = 0
@@ -58,7 +77,7 @@ class CarController(CarControllerBase):
     self.angle_bus = CanBus.angle_for_cp(CP)
     self.status_bus = CanBus.camera if CP.flags & SubaruFlags.D_PLATFORM_CAMERA else CanBus.main
 
-    if CP.flags & SubaruFlags.LKAS_ANGLE and CP.carFingerprint != CAR.SUBARU_OUTBACK_2023:
+    if CP.flags & SubaruFlags.LKAS_ANGLE:
       self.VM = VehicleModel(get_safety_CP())
 
     self.prev_close_distance = 0
@@ -71,7 +90,6 @@ class CarController(CarControllerBase):
     self.stop_start_counter = 0
     self.stop_start_acknowledged = False
     self.last_redneck_button_frame = 0
-    self.avh_startup = AvhStartup()
 
   def _stop_start_off_request(self, CC, CS, starpilot_toggles):
     """Send one bounded Subaru Stop/Start OFF request after ignition.
@@ -128,10 +146,81 @@ class CarController(CarControllerBase):
     self.stop_start_counter = (self.stop_start_counter + 1) % 0x10
     return msg
 
+  def _reset_legacy_2025_handoff(self):
+    self.driver_override = False
+    self.angle_override_confirm_frames = 0
+    self.legacy_2025_handoff_active = False
+    self.legacy_2025_override_hold_frames = 0
+    self.legacy_2025_reengage_settle_frames = 0
+    self.legacy_2025_reengage_reference_angle = 0.0
+    self.legacy_2025_reclaim_frames = 0
+    self.legacy_2025_reclaim_start_angle = 0.0
+
+  def _legacy_2025_manual_handoff(self, CS, lkas_available):
+    if not lkas_available:
+      self._reset_legacy_2025_handoff()
+      return False
+
+    driver_override = self._update_angle_driver_override(CS)
+    if driver_override:
+      self.legacy_2025_handoff_active = True
+      self.legacy_2025_override_hold_frames = _LEGACY_2025_OVERRIDE_HOLD_FRAMES
+      self.legacy_2025_reengage_settle_frames = 0
+      self.legacy_2025_reengage_reference_angle = CS.out.steeringAngleDeg
+      self.legacy_2025_reclaim_frames = 0
+      return True
+
+    if not self.legacy_2025_handoff_active and not self.legacy_2025_lkas_active and \
+       abs(getattr(CS.out, "steeringRateDeg", 0.0)) > _LEGACY_2025_REENGAGE_MAX_STEER_RATE:
+      self.legacy_2025_handoff_active = True
+      self.legacy_2025_reengage_reference_angle = CS.out.steeringAngleDeg
+
+    if not self.legacy_2025_handoff_active:
+      return False
+
+    if self.legacy_2025_override_hold_frames > 0:
+      self.legacy_2025_override_hold_frames -= 1
+      if self.legacy_2025_override_hold_frames == 0:
+        self.legacy_2025_reengage_reference_angle = CS.out.steeringAngleDeg
+      return True
+
+    wheel_stable = abs(getattr(CS.out, "steeringRateDeg", 0.0)) <= _LEGACY_2025_REENGAGE_MAX_STEER_RATE and \
+      abs(CS.out.steeringAngleDeg - self.legacy_2025_reengage_reference_angle) <= _LEGACY_2025_REENGAGE_MAX_ANGLE_DELTA
+    if wheel_stable:
+      self.legacy_2025_reengage_settle_frames += 1
+    else:
+      self.legacy_2025_reengage_settle_frames = 0
+      self.legacy_2025_reengage_reference_angle = CS.out.steeringAngleDeg
+
+    if self.legacy_2025_reengage_settle_frames < _LEGACY_2025_REENGAGE_SETTLE_FRAMES:
+      return True
+
+    self.legacy_2025_handoff_active = False
+    self.legacy_2025_reengage_settle_frames = 0
+    self.legacy_2025_reclaim_frames = _LEGACY_2025_RECLAIM_FRAMES
+    self.legacy_2025_reclaim_start_angle = CS.out.steeringAngleDeg
+    return True
+
+  def _legacy_2025_reclaim_target(self, target_angle):
+    if self.legacy_2025_reclaim_frames <= 0:
+      return target_angle
+
+    progress = (_LEGACY_2025_RECLAIM_FRAMES - self.legacy_2025_reclaim_frames + 1) / _LEGACY_2025_RECLAIM_FRAMES
+    eased_progress = progress ** _LEGACY_2025_RECLAIM_EXPONENT
+    target_angle = self.legacy_2025_reclaim_start_angle + eased_progress * \
+      (target_angle - self.legacy_2025_reclaim_start_angle)
+    self.legacy_2025_reclaim_frames -= 1
+    return target_angle
+
   def _reset_angle_handoff(self):
     self.driver_override = False
     self.angle_override_confirm_frames = 0
     self.angle_handoff_active = False
+    self.angle_override_hold_frames = 0
+    self.angle_reengage_settle_frames = 0
+    self.angle_reengage_reference_angle = 0.0
+    self.angle_reclaim_frames = 0
+    self.angle_reclaim_start_angle = 0.0
 
   def _angle_manual_handoff(self, CS, lat_active):
     if not lat_active:
@@ -139,23 +228,44 @@ class CarController(CarControllerBase):
       return False
 
     driver_override = self._update_angle_driver_override(CS)
-    steering_rate = abs(getattr(CS.out, "steeringRateDeg", 0.0))
     if driver_override:
       self.angle_handoff_active = True
+      self.angle_override_hold_frames = _ANGLE_OVERRIDE_HOLD_FRAMES
+      self.angle_reengage_settle_frames = 0
+      self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
+      self.angle_reclaim_frames = 0
       return True
 
-    if self.angle_handoff_active:
-      if steering_rate > _ANGLE_REENGAGE_MAX_STEER_RATE:
-        return True
-
-      self.angle_handoff_active = False
-      return True
-
-    if not self.angle_lkas_active and steering_rate > _ANGLE_REENGAGE_MAX_STEER_RATE:
+    if not self.angle_handoff_active and not self.angle_lkas_active and \
+       abs(getattr(CS.out, "steeringRateDeg", 0.0)) > _ANGLE_REENGAGE_MAX_STEER_RATE:
       self.angle_handoff_active = True
+      self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
+
+    if not self.angle_handoff_active:
+      return False
+
+    if self.angle_override_hold_frames > 0:
+      self.angle_override_hold_frames -= 1
+      if self.angle_override_hold_frames == 0:
+        self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
       return True
 
-    return False
+    wheel_stable = abs(getattr(CS.out, "steeringRateDeg", 0.0)) <= _ANGLE_REENGAGE_MAX_STEER_RATE and \
+      abs(CS.out.steeringAngleDeg - self.angle_reengage_reference_angle) <= _ANGLE_REENGAGE_MAX_ANGLE_DELTA
+    if wheel_stable:
+      self.angle_reengage_settle_frames += 1
+    else:
+      self.angle_reengage_settle_frames = 0
+      self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
+
+    if self.angle_reengage_settle_frames < _ANGLE_REENGAGE_SETTLE_FRAMES:
+      return True
+
+    self.angle_handoff_active = False
+    self.angle_reengage_settle_frames = 0
+    self.angle_reclaim_frames = _ANGLE_RECLAIM_FRAMES
+    self.angle_reclaim_start_angle = CS.out.steeringAngleDeg
+    return True
 
   def _update_angle_driver_override(self, CS):
     """Debounce the higher-confidence raw torque override signal for angle cars."""
@@ -173,13 +283,16 @@ class CarController(CarControllerBase):
 
     return self.driver_override
 
-  def _ascent_aol_ready(self, ready):
-    if not ready:
-      self.ascent_aol_arm_frames = 0
-      return False
+  def _angle_reclaim_target(self, target_angle):
+    if self.angle_reclaim_frames <= 0:
+      return target_angle
 
-    self.ascent_aol_arm_frames = min(self.ascent_aol_arm_frames + 1, _ASCENT_AOL_ARM_FRAMES)
-    return self.ascent_aol_arm_frames >= _ASCENT_AOL_ARM_FRAMES
+    progress = (_ANGLE_RECLAIM_FRAMES - self.angle_reclaim_frames + 1) / _ANGLE_RECLAIM_FRAMES
+    eased_progress = progress ** _ANGLE_RECLAIM_EXPONENT
+    target_angle = self.angle_reclaim_start_angle + eased_progress * \
+      (target_angle - self.angle_reclaim_start_angle)
+    self.angle_reclaim_frames -= 1
+    return target_angle
 
   def lateral_angle(self, CC, CS):
     if self.CP.carFingerprint == CAR.SUBARU_LEGACY_2025:
@@ -189,11 +302,12 @@ class CarController(CarControllerBase):
       lkas_available = CC.latActive and (not mads_only or mads_only_ok) and \
         CS.out.gearShifter == structs.CarState.GearShifter.drive and not CS.out.standstill
 
-      manual_handoff = self._angle_manual_handoff(CS, lkas_available)
+      manual_handoff = self._legacy_2025_manual_handoff(CS, lkas_available)
       lkas_active = lkas_available and not manual_handoff
 
+      steer_target = self._legacy_2025_reclaim_target(CC.actuators.steeringAngleDeg) if lkas_active else CC.actuators.steeringAngleDeg
       apply_steer = apply_std_steer_angle_limits(
-        CC.actuators.steeringAngleDeg,
+        steer_target,
         self.apply_steer_last,
         CS.out.vEgoRaw,
         CS.out.steeringAngleDeg,
@@ -201,44 +315,42 @@ class CarController(CarControllerBase):
         self.p.LEGACY_2025_ANGLE_LIMITS,
       )
       self.apply_steer_last = apply_steer
-      self.angle_lkas_active = lkas_active
+      self.legacy_2025_lkas_active = lkas_active
       return subarucan.create_steering_control_angle(self.packer, apply_steer, lkas_active, self.angle_bus)
 
     if self.CP.carFingerprint in (CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023):
-      if self.CP.carFingerprint == CAR.SUBARU_ASCENT_2023 and not self.ascent_angle_initialized:
-        self.apply_steer_last = CS.out.steeringAngleDeg
-        self.ascent_angle_initialized = True
-
       mads_only = CC.latActive and not CC.enabled
       mads_only_ok = CS.out.vEgoRaw > _ANGLE_MADS_MIN_SPEED and \
         abs(CS.out.steeringAngleDeg) < _ANGLE_MADS_MAX_STEER_ANGLE
       lkas_available = CC.latActive and (not mads_only or mads_only_ok) and \
         CS.out.gearShifter == structs.CarState.GearShifter.drive and not CS.out.standstill
-      if self.CP.carFingerprint == CAR.SUBARU_ASCENT_2023:
-        if mads_only:
-          cruise_available = getattr(getattr(CS.out, "cruiseState", None), "available", True)
-          lkas_available = self._ascent_aol_ready(lkas_available and cruise_available)
-        else:
-          self.ascent_aol_arm_frames = _ASCENT_AOL_ARM_FRAMES if lkas_available else 0
 
-      if self.CP.carFingerprint == CAR.SUBARU_OUTBACK_2023:
-        manual_handoff = not self.angle_lkas_active and \
-          abs(getattr(CS.out, "steeringRateDeg", 0.0)) > _ANGLE_REENGAGE_MAX_STEER_RATE
-      else:
-        manual_handoff = self._angle_manual_handoff(CS, lkas_available)
+      manual_handoff = self._angle_manual_handoff(CS, lkas_available)
       lkas_active = lkas_available and not manual_handoff
 
-      if lkas_active and not self.angle_lkas_active and self.CP.carFingerprint != CAR.SUBARU_ASCENT_2023:
+      if lkas_active and not self.angle_lkas_active:
         self.apply_steer_last = CS.out.steeringAngleDeg
 
-      apply_steer = apply_std_steer_angle_limits(
-        CC.actuators.steeringAngleDeg,
-        self.apply_steer_last,
-        CS.out.vEgoRaw,
-        CS.out.steeringAngleDeg,
-        lkas_active,
-        self.p.FIXED_ANGLE_LIMITS,
-      )
+      steer_target = self._angle_reclaim_target(CC.actuators.steeringAngleDeg) if lkas_active else CC.actuators.steeringAngleDeg
+      if self.CP.carFingerprint == CAR.SUBARU_ASCENT_2023:
+        apply_steer = apply_std_steer_angle_limits(
+          steer_target,
+          self.apply_steer_last,
+          CS.out.vEgoRaw,
+          CS.out.steeringAngleDeg,
+          lkas_active,
+          self.p.FIXED_ANGLE_LIMITS,
+        )
+      else:
+        apply_steer = apply_steer_angle_limits_vm(
+          steer_target,
+          self.apply_steer_last,
+          CS.out.vEgoRaw,
+          CS.out.steeringAngleDeg,
+          lkas_active,
+          self.p,
+          self.VM,
+        )
       self.apply_steer_last = apply_steer
       self.angle_lkas_active = lkas_active
       return subarucan.create_steering_control_angle(self.packer, apply_steer, lkas_active, self.angle_bus)
@@ -253,8 +365,9 @@ class CarController(CarControllerBase):
     lat_active = lkas_available and not self.driver_override and not manual_handoff
     if lat_active and not self.angle_lkas_active:
       self.apply_steer_last = CS.out.steeringAngleDeg
+    steer_target = self._angle_reclaim_target(CC.actuators.steeringAngleDeg) if lat_active else CC.actuators.steeringAngleDeg
     apply_steer = apply_steer_angle_limits_vm(
-      CC.actuators.steeringAngleDeg,
+      steer_target,
       self.apply_steer_last,
       CS.out.vEgoRaw,
       CS.out.steeringAngleDeg,
@@ -295,11 +408,6 @@ class CarController(CarControllerBase):
 
     return subarucan.create_steering_control(self.packer, apply_torque, apply_steer_req)
 
-  def _lkas_status_active(self, CC):
-    if self.CP.carFingerprint in (CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023):
-      return self.angle_lkas_active
-    return CC.latActive
-
   def update(self, CC, CS, now_nanos, starpilot_toggles):
     actuators = CC.actuators
     hud_control = CC.hudControl
@@ -315,13 +423,6 @@ class CarController(CarControllerBase):
     if stop_start_msg is not None:
       can_sends.append(stop_start_msg)
 
-    if self.CP.carFingerprint == CAR.SUBARU_LEGACY_2025:
-      can_sends.extend(self.avh_startup.update(
-        now_nanos / 1e9, getattr(CS, "avh_frames", {}),
-        getattr(starpilot_toggles, "subaru_avh_on", False), getattr(CS.out, "canValid", False),
-        CC.enabled or CC.latActive or CC.longActive,
-      ))
-
     # *** steering ***
     if (self.frame % self.p.STEER_STEP) == 0:
       if self.CP.flags & SubaruFlags.LKAS_ANGLE:
@@ -383,11 +484,9 @@ class CarController(CarControllerBase):
                                                         CC.longActive, hud_control.leadVisible,
                                                         self.status_bus))
 
-        can_sends.append(subarucan.create_es_lkas_state(
-          self.packer, self.frame // 10, CS.es_lkas_state_msg, self._lkas_status_active(CC), hud_control.visualAlert,
-          hud_control.leftLaneVisible, hud_control.rightLaneVisible,
-          hud_control.leftLaneDepart, hud_control.rightLaneDepart, self.status_bus,
-        ))
+        can_sends.append(subarucan.create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.latActive, hud_control.visualAlert,
+                                                        hud_control.leftLaneVisible, hud_control.rightLaneVisible,
+                                                        hud_control.leftLaneDepart, hud_control.rightLaneDepart, self.status_bus))
 
         if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
           can_sends.append(subarucan.create_es_infotainment(self.packer, self.frame // 10, CS.es_infotainment_msg,

opendbc_repo/opendbc/car/subaru/carstate.py

@@ -4,9 +4,8 @@ from opendbc.can import CANDefine, CANParser
 from opendbc.car import Bus, create_button_events, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarStateBase
-from opendbc.car.subaru.values import CAR, DBC, CanBus, SUBARU_REDNECK_CRUISE_CARS, SUBARU_STOP_START_CARS, SubaruFlags
+from opendbc.car.subaru.values import DBC, CanBus, SUBARU_REDNECK_CRUISE_CARS, SUBARU_STOP_START_CARS, SubaruFlags
 from opendbc.car import CanSignalRateCalculator
-from opendbc.car.subaru.avh import INPUTS as AVH_INPUTS
 
 ButtonType = structs.CarState.ButtonEvent.Type
 
@@ -27,7 +26,6 @@ class CarState(CarStateBase):
     self.dashlights_msg = {}
     self.dashlights_dat = b""
     self.stop_start_state = 0
-    self.avh_frames = {}
     self.cruise_buttons_msg = {}
     self.cruise_buttons = {button: 0 for button in SUBARU_CRUISE_BUTTONS}
 
@@ -39,9 +37,6 @@ class CarState(CarStateBase):
     cp_angle = cp_main if self.CP.flags & SubaruFlags.D_PLATFORM else cp
     ret = structs.CarState()
 
-    if self.CP.carFingerprint == CAR.SUBARU_LEGACY_2025:
-      self.avh_frames = {a: (cp_alt.ts_nanos[a]["CHECKSUM"] / 1e9, cp_alt.vl_raw[a]) for a in AVH_INPUTS}
-
     if self.CP.carFingerprint in SUBARU_STOP_START_CARS:
       stop_start_cp = cp_alt if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
       self.dashlights_msg = copy.copy(stop_start_cp.vl["Dashlights"])
@@ -90,14 +85,14 @@ class CarState(CarStateBase):
 
     if self.CP.flags & SubaruFlags.LKAS_ANGLE:
       ret.steeringAngleDeg = cp_angle.vl["Steering_2"]["Steering_Angle"]
-      steering_counter = cp_angle.vl["Steering_2"]["COUNTER"]
+      steering_updated = len(cp_angle.vl_all["Steering_2"]["Steering_Angle"]) > 0
     else:
       ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"]
-      steering_counter = cp.vl["Steering_Torque"].get("COUNTER", 0)
+      steering_updated = len(cp.vl_all["Steering_Torque"]["Steering_Angle"]) > 0
 
     if not (self.CP.flags & SubaruFlags.PREGLOBAL):
       # ideally we get this from the car, but unclear if it exists. diagnostic software doesn't even have it
-      ret.steeringRateDeg = self.angle_rate_calulator.update(ret.steeringAngleDeg, steering_counter)
+      ret.steeringRateDeg = self.angle_rate_calulator.update(ret.steeringAngleDeg, steering_updated)
 
     ret.steeringTorque = cp_angle.vl["Steering_Torque"]["Steer_Torque_Sensor"]
     ret.steeringTorqueEps = cp_angle.vl["Steering_Torque"]["Steer_Torque_Output"]
@@ -182,15 +177,11 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_can_parsers(CP):
-    avh_messages = [(a, 0) for a in (0x6BB, 0x32B, 0x40, 0x48)] if CP.carFingerprint == CAR.SUBARU_LEGACY_2025 else []
     parsers = {
       Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus.main_for_cp(CP)),
       Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus.camera),
-      Bus.alt: CANParser(DBC[CP.carFingerprint][Bus.pt], avh_messages, CanBus.alt_for_cp(CP))
+      Bus.alt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus.alt_for_cp(CP))
     }
     if CP.flags & SubaruFlags.D_PLATFORM:
       parsers[Bus.main] = CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus.main)
-    if CP.carFingerprint == CAR.SUBARU_LEGACY_2025:
-      for address in AVH_INPUTS:
-        parsers[Bus.alt].vl[address]
     return parsers

opendbc_repo/opendbc/car/subaru/interface.py

@@ -42,9 +42,7 @@ class CarInterface(CarInterfaceBase):
         ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.D_PLATFORM_CAMERA.value
       if candidate in SUBARU_STOP_START_CARS:
         ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.STOP_START_BUTTON.value
-      if candidate == CAR.SUBARU_LEGACY_2025:
-        ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.AVH_STARTUP.value
-      if candidate in (CAR.SUBARU_LEGACY_2025, CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023):
+      if candidate in (CAR.SUBARU_LEGACY_2025, CAR.SUBARU_ASCENT_2023):
         ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.FIXED_ANGLE_LIMITS.value
 
     ret.steerLimitTimer = 0.4

opendbc_repo/opendbc/car/subaru/tests/test_avh.py

@@ -1,112 +0,0 @@
-from types import SimpleNamespace
-
-import pytest
-
-from opendbc.car.subaru.avh import AVH_REQUEST, AVH_STATUS, INPUTS, AvhStartup, avh_request, checksum
-from opendbc.car.subaru.carcontroller import CarController
-from opendbc.car.subaru.interface import CarInterface
-from opendbc.car.subaru.values import CAR, SubaruSafetyFlags
-from opendbc.car import Bus
-
-
-def sample(address, counter):
-  data = bytearray(8)
-  data[1] = counter & 15
-  if address == AVH_REQUEST:
-    data[3], data[5], data[6] = 1, 0x80, 0x0E  # captured Legacy payload, not Outback constants
-  elif address == 0x40:
-    data[2:4] = (800).to_bytes(2, 'little')
-  elif address == 0x48:
-    data[3] = 4
-  elif address == 0x174:
-    data[2] = 8
-  data[0] = checksum(address, data)
-  return bytes(data)
-
-
-def prepare(fast_counter_step=1):
-  policy = AvhStartup()
-  frames = {}
-  for tick in range(101):
-    now = 100 + tick / 10
-    for address in INPUTS:
-      if address != AVH_REQUEST or tick % 10 == 0:
-        counter = tick // 10 if address == AVH_REQUEST else tick * (1 if address == AVH_STATUS else fast_counter_step)
-        frames[address] = (now, sample(address, counter))
-    sent = policy.update(now, frames, True, True, False)
-    if tick < 100:
-      assert sent == []
-  assert sent == [avh_request(frames[AVH_REQUEST][1], 1)]
-  return policy, frames
-
-
-def test_captured_legacy_press_bytes():
-  template = bytes.fromhex('5b0b000100800e00')
-  assert avh_request(template, 1) == (0x6BB, bytes.fromhex('5e0c020100800e00'), 1)
-  assert avh_request(template, 2) == (0x6BB, bytes.fromhex('5f0d020100800e00'), 1)
-  wrap = sample(AVH_REQUEST, 15)
-  assert avh_request(wrap, 1)[1][1] == 0
-  assert avh_request(wrap, 2)[1][1] == 1
-
-
-def test_two_frames_only_and_no_retry():
-  policy, frames = prepare()
-  assert policy.update(110.04, frames, True, True, False) == []
-  assert policy.update(110.06, frames, True, True, False) == [avh_request(frames[AVH_REQUEST][1], 2)]
-  assert policy.update(110.07, frames, True, True, False) == []
-  assert policy.update(111, frames, True, True, False) == []
-
-
-def test_controller_snapshots_may_skip_fast_can_samples():
-  policy, frames = prepare(fast_counter_step=2)
-  assert policy.update(110.06, frames, True, True, False) == [avh_request(frames[AVH_REQUEST][1], 2)]
-
-
-@pytest.mark.parametrize('reason', ['late', 'new_template', 'manual', 'ack', 'moving', 'gas', 'gear', 'invalid', 'disabled', 'engaged', 'stale'])
-def test_followup_aborts_permanently(reason):
-  policy, frames = prepare()
-  address, offset, value = {
-    'manual': (AVH_REQUEST, 2, 1), 'ack': (AVH_STATUS, 5, 32),
-    'moving': (0x13A, 2, 1), 'gas': (0x40, 4, 1), 'gear': (0x48, 3, 3),
-    'new_template': (AVH_REQUEST, 1, 11),
-  }.get(reason, (None, None, None))
-  if address is not None:
-    data = bytearray(frames[address][1])
-    data[1] = (data[1] + 1) & 15
-    data[offset] = value
-    data[0] = checksum(address, data)
-    frames[address] = (110.05, bytes(data))
-  if reason == 'stale':
-    frames[0x40] = (109, frames[0x40][1])
-  now = 110.08 if reason == 'late' else 110.06
-  assert policy.update(now, frames, reason != 'disabled', reason != 'invalid', reason == 'engaged') == []
-  assert policy.done
-  assert policy.update(111, frames, True, True, False) == []
-
-
-def test_only_legacy_has_avh_safety_permission():
-  for car in CAR:
-    cp = CarInterface.get_non_essential_params(car)
-    assert bool(cp.safetyConfigs[0].safetyParam & SubaruSafetyFlags.AVH_STARTUP) == (car == CAR.SUBARU_LEGACY_2025)
-
-
-def test_existing_required_messages_keep_alive_checks():
-  cp = CarInterface.get_non_essential_params(CAR.SUBARU_LEGACY_2025)
-  parser = CarInterface.CarState.get_can_parsers(cp)[Bus.alt]
-  assert not parser.message_states[0x13A].ignore_alive
-  assert not parser.message_states[0x174].ignore_alive
-  assert parser.message_states[AVH_REQUEST].ignore_alive
-  assert parser.message_states[AVH_STATUS].ignore_alive
-
-
-def test_controller_sends_only_when_opted_in():
-  cp = CarInterface.get_non_essential_params(CAR.SUBARU_LEGACY_2025)
-  controller = CarController({}, cp)
-  cc = SimpleNamespace(enabled=False, latActive=False, longActive=False,
-                       actuators=SimpleNamespace(as_builder=lambda: SimpleNamespace(steeringAngleDeg=0)),
-                       hudControl=SimpleNamespace(leadVisible=False), cruiseControl=SimpleNamespace(cancel=False))
-  cs = SimpleNamespace(out=SimpleNamespace(canValid=True), avh_frames={})
-  toggles = SimpleNamespace(subaru_stop_start_off=False, subaru_avh_on=False, subaru_sng=False)
-  controller.frame = 1
-  _, sent = controller.update(cc, cs, 100_000_000_000, toggles)
-  assert not any(m[0] in (AVH_REQUEST, AVH_STATUS) for m in sent)

opendbc_repo/opendbc/car/subaru/tests/test_subaru.py

@@ -8,7 +8,7 @@ from opendbc.can import CANPacker, CANParser
 from opendbc.car import Bus, fw_versions, gen_empty_fingerprint, structs
 from opendbc.car.fw_query_definitions import StdQueries
 from opendbc.car.subaru import subarucan
-from opendbc.car.subaru.carcontroller import CarController, _ASCENT_AOL_ARM_FRAMES
+from opendbc.car.subaru.carcontroller import CarController
 from opendbc.car.subaru.carstate import CarState
 from opendbc.car.subaru.fingerprints import FW_VERSIONS
 from opendbc.car.fw_versions import match_fw_to_car
@@ -244,7 +244,7 @@ def test_outback_2023_uses_d_platform_bus_layout():
   assert CP.flags & SubaruFlags.D_PLATFORM
   assert CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.D_PLATFORM
   assert CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.STOP_START_BUTTON
-  assert CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.FIXED_ANGLE_LIMITS
+  assert not (CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.LEGACY_2025_ANGLE_LIMITS)
   assert CanBus.main_for_cp(CP) == CanBus.alt
   assert CanBus.angle_for_cp(CP) == CanBus.main
   assert parsers[Bus.pt].bus == CanBus.alt
@@ -414,7 +414,7 @@ def test_legacy_2025_engagement_continues_from_last_sent_angle():
   assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(0.47)
 
 
-def test_legacy_2025_reengages_immediately_after_manual_steering_stops():
+def test_legacy_2025_waits_for_manual_steering_to_settle_before_reengaging():
   CP = CarInterface.get_non_essential_params(CAR.SUBARU_LEGACY_2025)
   controller = CarController({}, CP)
   CC = SimpleNamespace(
@@ -444,20 +444,42 @@ def test_legacy_2025_reengages_immediately_after_manual_steering_stops():
   CS.out.steeringPressed = False
   CS.out.steeringTorque = 0.0
   CS.out.steeringAngleDeg = -113.78
-  CS.out.steeringRateDeg = 0.0
   msg = controller.lateral_angle(CC, CS)
-  parser.update([(3, [msg])])
+  parser.update([(2, [msg])])
   assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
   assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)
 
+  for i in range(9):
+    CS.out.steeringAngleDeg += 0.5
+    CS.out.steeringRateDeg = 20.0
+    msg = controller.lateral_angle(CC, CS)
+    parser.update([(3 + i, [msg])])
+    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)
+
+  for i in range(6):
+    if i % 2:
+      CS.out.steeringAngleDeg += 0.5
+    CS.out.steeringRateDeg = 0.0 if i % 2 == 0 else 20.0
+    msg = controller.lateral_angle(CC, CS)
+    parser.update([(12 + i, [msg])])
+    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)
+
   CS.out.steeringRateDeg = 0.0
+  for i in range(8):
+    msg = controller.lateral_angle(CC, CS)
+    parser.update([(18 + i, [msg])])
+    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+
+  measured_angle = CS.out.steeringAngleDeg
   msg = controller.lateral_angle(CC, CS)
-  parser.update([(4, [msg])])
+  parser.update([(26, [msg])])
   assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
-  assert -113.78 < parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] < -100.0
+  assert abs(parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] - measured_angle) < 0.1
 
 
-def test_legacy_2025_manual_handoff_reentry_uses_normal_angle_limits():
+def test_legacy_2025_manual_handoff_reclaim_is_gradual():
   CP = CarInterface.get_non_essential_params(CAR.SUBARU_LEGACY_2025)
   controller = CarController({}, CP)
   CC = SimpleNamespace(
@@ -486,24 +508,22 @@ def test_legacy_2025_manual_handoff_reentry_uses_normal_angle_limits():
   CS.out.steeringPressed = False
   CS.out.steeringTorque = 0.0
   CS.out.steeringRateDeg = 0.0
-  msg = controller.lateral_angle(CC, CS)
-  parser.update([(3, [msg])])
-  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+  for i in range(19):
+    msg = controller.lateral_angle(CC, CS)
+    parser.update([(2 + i, [msg])])
 
-  msg = controller.lateral_angle(CC, CS)
-  parser.update([(4, [msg])])
   assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
-  first_reentry_angle = parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"]
-  assert CC.actuators.steeringAngleDeg < first_reentry_angle < CS.out.steeringAngleDeg
+  first_reclaim_angle = parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"]
+  assert first_reclaim_angle == pytest.approx(CS.out.steeringAngleDeg, abs=0.1)
 
-  reentry_angles = []
+  reclaim_angles = []
   for i in range(6):
     msg = controller.lateral_angle(CC, CS)
     parser.update([(20 + i, [msg])])
-    reentry_angles.append(parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"])
+    reclaim_angles.append(parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"])
 
-  assert all(reentry_angles[i] >= reentry_angles[i + 1] for i in range(len(reentry_angles) - 1))
-  assert reentry_angles[-1] > CC.actuators.steeringAngleDeg
+  assert all(reclaim_angles[i] >= reclaim_angles[i + 1] for i in range(len(reclaim_angles) - 1))
+  assert reclaim_angles[-1] > CC.actuators.steeringAngleDeg
 
 
 def test_ascent_2023_uses_gen2_angle_bus_layout():
@@ -526,25 +546,6 @@ def test_ascent_2023_uses_gen2_angle_bus_layout():
   assert controller.status_bus == CanBus.main
 
 
-def test_ascent_steering_rate_retains_last_can_sample():
-  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
-  car_state = CarState(CP, None)
-  parsers = car_state.get_can_parsers(CP)
-  toggles = SimpleNamespace(subaru_sng=False)
-
-  parsers[Bus.pt].vl["Steering_2"]["Steering_Angle"] = 1.0
-  parsers[Bus.pt].vl["Steering_2"]["COUNTER"] = 1
-  car_state.update(parsers, toggles)
-
-  parsers[Bus.pt].vl["Steering_2"]["Steering_Angle"] = 2.0
-  parsers[Bus.pt].vl["Steering_2"]["COUNTER"] = 2
-  state, _ = car_state.update(parsers, toggles)
-  assert state.steeringRateDeg == pytest.approx(50.0)
-
-  state, _ = car_state.update(parsers, toggles)
-  assert state.steeringRateDeg == pytest.approx(50.0)
-
-
 def test_other_angle_platforms_keep_existing_bus_layout():
   CP = CarInterface.get_non_essential_params(CAR.SUBARU_CROSSTREK_2025)
   parsers = CarState.get_can_parsers(CP)
@@ -621,9 +622,8 @@ def test_angle_controller_blocks_low_speed_mads_engagement():
   assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
 
 
-@pytest.mark.parametrize("platform", (CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023))
-def test_angle_controller_uses_fixed_angle_rate_limits(platform):
-  CP = CarInterface.get_non_essential_params(platform)
+def test_ascent_angle_controller_uses_fixed_angle_rate_limits():
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
   controller = CarController({}, CP)
   CC = SimpleNamespace(enabled=True, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=-14.88))
   CS = SimpleNamespace(out=SimpleNamespace(
@@ -643,8 +643,8 @@ def test_angle_controller_uses_fixed_angle_rate_limits(platform):
   assert CS.out.steeringAngleDeg < parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] < -25.0
 
 
-def test_ascent_angle_controller_reengages_immediately_after_manual_steering_stops():
-  platform = CAR.SUBARU_ASCENT_2023
+@pytest.mark.parametrize("platform", (CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023))
+def test_angle_controller_yields_until_manual_steering_settles(platform):
   CP = CarInterface.get_non_essential_params(platform)
   controller = CarController({}, CP)
   CC = SimpleNamespace(enabled=True, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=-10.0))
@@ -671,40 +671,18 @@ def test_ascent_angle_controller_reengages_immediately_after_manual_steering_sto
   CS.out.steeringTorque = 0.0
   CS.out.steeringAngleDeg = -17.91
   CS.out.steeringRateDeg = 0.0
-  msg = controller.lateral_angle(CC, CS)
-  parser.update([(3, [msg])])
-  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
-  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)
+  for i in range(18):
+    msg = controller.lateral_angle(CC, CS)
+    parser.update([(2 + i, [msg])])
+    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
 
   msg = controller.lateral_angle(CC, CS)
-  parser.update([(4, [msg])])
+  parser.update([(20, [msg])])
   assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
-  assert CS.out.steeringAngleDeg < parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] < CC.actuators.steeringAngleDeg
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg, abs=0.1)
 
 
-def test_ascent_reentry_rate_uses_last_transmitted_angle():
-  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
-  controller = CarController({}, CP)
-  controller.angle_handoff_active = True
-  CC = SimpleNamespace(enabled=True, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=-1.45))
-  CS = SimpleNamespace(out=SimpleNamespace(
-    vEgoRaw=30.3, steeringAngleDeg=0.78, steeringRateDeg=-1.5, steeringTorque=56.0,
-    gearShifter=structs.CarState.GearShifter.drive, standstill=False,
-  ))
-  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("ES_LKAS_ANGLE", 0)], CanBus.main)
-
-  parser.update([(1, [controller.lateral_angle(CC, CS)])])
-  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
-  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(0.78)
-
-  CS.out.steeringAngleDeg = 0.74
-  CS.out.steeringRateDeg = -1.99
-  parser.update([(2, [controller.lateral_angle(CC, CS)])])
-  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
-  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(0.53, abs=0.01)
-
-
-def test_ascent_angle_controller_waits_for_parking_lot_safety_envelope():
+def test_ascent_angle_controller_blocks_parking_lot_aol_engagement():
   CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
   controller = CarController({}, CP)
   CC = SimpleNamespace(enabled=False, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=-206.12))
@@ -714,7 +692,6 @@ def test_ascent_angle_controller_waits_for_parking_lot_safety_envelope():
     steeringRateDeg=96.0,
     steeringTorque=7.0,
     steeringPressed=False,
-    cruiseState=SimpleNamespace(available=True),
     gearShifter=structs.CarState.GearShifter.drive,
     standstill=False,
   ))
@@ -727,77 +704,21 @@ def test_ascent_angle_controller_waits_for_parking_lot_safety_envelope():
 
   CS.out.steeringAngleDeg = -100.0
   CS.out.steeringRateDeg = 0.0
-  for frame in range(2, _ASCENT_AOL_ARM_FRAMES + 1):
-    msg = controller.lateral_angle(CC, CS)
-    parser.update([(frame, [msg])])
-    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
-
   msg = controller.lateral_angle(CC, CS)
-  parser.update([(_ASCENT_AOL_ARM_FRAMES + 1, [msg])])
+  parser.update([(2, [msg])])
   assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
 
   CS.out.gearShifter = structs.CarState.GearShifter.reverse
   msg = controller.lateral_angle(CC, CS)
-  parser.update([(_ASCENT_AOL_ARM_FRAMES + 2, [msg])])
+  parser.update([(3, [msg])])
   assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
   assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)
 
 
-def test_ascent_aol_does_not_arm_before_cruise_main_is_available():
-  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
-  controller = CarController({}, CP)
-  CC = SimpleNamespace(enabled=False, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=5.0))
-  CS = SimpleNamespace(out=SimpleNamespace(
-    vEgoRaw=10.0,
-    steeringAngleDeg=0.0,
-    steeringRateDeg=0.0,
-    steeringTorque=0.0,
-    steeringPressed=False,
-    cruiseState=SimpleNamespace(available=False),
-    gearShifter=structs.CarState.GearShifter.drive,
-    standstill=False,
-  ))
-  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("ES_LKAS_ANGLE", 0)], CanBus.main)
-
-  for frame in range(_ASCENT_AOL_ARM_FRAMES):
-    msg = controller.lateral_angle(CC, CS)
-    parser.update([(frame + 1, [msg])])
-
-  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
-  assert controller.ascent_aol_arm_frames == 0
-
-  CS.out.cruiseState.available = True
-  msg = controller.lateral_angle(CC, CS)
-  parser.update([(_ASCENT_AOL_ARM_FRAMES + 1, [msg])])
-  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
-  assert controller.ascent_aol_arm_frames == 1
-
-
-def test_ascent_angle_controller_does_not_delay_normal_engagement():
-  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
-  controller = CarController({}, CP)
-  CC = SimpleNamespace(enabled=True, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=5.0))
-  CS = SimpleNamespace(out=SimpleNamespace(
-    vEgoRaw=10.0,
-    steeringAngleDeg=0.0,
-    steeringRateDeg=0.0,
-    steeringTorque=0.0,
-    steeringPressed=False,
-    gearShifter=structs.CarState.GearShifter.drive,
-    standstill=False,
-  ))
-  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("ES_LKAS_ANGLE", 0)], CanBus.main)
-
-  msg = controller.lateral_angle(CC, CS)
-  parser.update([(1, [msg])])
-
-  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
-
-
-def test_lkas_hud_state_uses_angle_request_state():
+def test_lkas_hud_state_uses_lateral_active():
   update_source = inspect.getsource(CarController.update)
 
-  assert "CS.es_lkas_state_msg, self._lkas_status_active(CC), hud_control.visualAlert" in update_source
+  assert "create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.latActive" in update_source
   assert "create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.enabled" not in update_source
 
 
@@ -815,73 +736,3 @@ def test_lkas_hud_active_bit_follows_lateral_state(enabled, expected):
 
   assert parser.can_valid
   assert parser.vl["ES_LKAS_State"]["LKAS_ACTIVE"] == expected
-
-
-def test_outback_manual_steering_keeps_cooperative_angle_request():
-  CP = CarInterface.get_non_essential_params(CAR.SUBARU_OUTBACK_2023)
-  controller = CarController({}, CP)
-  CC = SimpleNamespace(
-    enabled=False,
-    latActive=True,
-    actuators=SimpleNamespace(steeringAngleDeg=-225.0),
-  )
-  CS = SimpleNamespace(out=SimpleNamespace(
-    vEgoRaw=0.9,
-    steeringAngleDeg=-57.0,
-    steeringRateDeg=0.0,
-    steeringTorque=0.0,
-    steeringPressed=True,
-    gearShifter=structs.CarState.GearShifter.drive,
-    standstill=False,
-  ))
-  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("ES_LKAS_ANGLE", 0)], CanBus.main)
-
-  for frame, steering_torque in enumerate((-79.0, -81.0, -170.0, -250.0, -250.0, 79.0, 81.0, 170.0, 250.0, 250.0), start=1):
-    CS.out.steeringRateDeg = 0.0 if frame == 1 else -45.0
-    CS.out.steeringTorque = steering_torque
-    CS.out.steeringPressed = abs(steering_torque) > 80.0
-    msg = controller.lateral_angle(CC, CS)
-    parser.update([(frame, [msg])])
-
-    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
-    assert CC.actuators.steeringAngleDeg < parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] < CS.out.steeringAngleDeg
-    assert controller._lkas_status_active(CC)
-
-
-def test_outback_waits_for_manual_turn_to_settle_before_reentry():
-  CP = CarInterface.get_non_essential_params(CAR.SUBARU_OUTBACK_2023)
-  controller = CarController({}, CP)
-  CC = SimpleNamespace(enabled=False, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=-80.0))
-  CS = SimpleNamespace(out=SimpleNamespace(
-    vEgoRaw=7.3, steeringAngleDeg=-121.47, steeringRateDeg=126.5,
-    gearShifter=structs.CarState.GearShifter.drive, standstill=False,
-  ))
-  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("ES_LKAS_ANGLE", 0)], CanBus.main)
-  for frame, (angle, rate, active) in enumerate([
-    (-121.47, 126.5, False), (-117.96, 122.5, False), (-88.65, 112.0, False),
-    (-0.24, 0.0, True),
-  ], start=1):
-    CS.out.steeringAngleDeg = angle
-    CS.out.steeringRateDeg = rate
-    parser.update([(frame, [controller.lateral_angle(CC, CS)])])
-    assert bool(parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"]) == active
-    if not active:
-      assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(angle, abs=0.01)
-
-
-def test_ascent_hud_waits_for_angle_request():
-  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
-  controller = CarController({}, CP)
-  CC = SimpleNamespace(latActive=True)
-
-  assert not controller._lkas_status_active(CC)
-  controller.angle_lkas_active = True
-  assert controller._lkas_status_active(CC)
-
-
-def test_other_angle_cars_keep_lateral_status_behavior():
-  CP = CarInterface.get_non_essential_params(CAR.SUBARU_CROSSTREK_2025)
-  controller = CarController({}, CP)
-  controller.angle_lkas_active = False
-
-  assert controller._lkas_status_active(SimpleNamespace(latActive=True))

opendbc_repo/opendbc/car/subaru/values.py

@@ -90,7 +90,6 @@ class SubaruSafetyFlags(IntFlag):
   FIXED_ANGLE_LIMITS = 128
   STOP_START_BUTTON = 256
   REDNECK_CRUISE = 512
-  AVH_STARTUP = 1024
   LEGACY_2025_ANGLE_LIMITS = FIXED_ANGLE_LIMITS
 
 

opendbc_repo/opendbc/car/tesla/carcontroller.py

@@ -5,10 +5,9 @@ from opendbc.car.lateral import apply_steer_angle_limits_vm
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.tesla.coop_steering import CooperativeSteeringController
 from opendbc.car.tesla.teslacan import TeslaCAN
-from opendbc.car.tesla.teslacan_legacy import TeslaCANRaven
 from opendbc.car.tesla.preap.carcontroller import PreAPLongController, init_preap_can
 from opendbc.car.tesla.preap.stock_cc_spoofer import StockCCSpoofer
-from opendbc.car.tesla.values import CANBUS, CAR, CarControllerParams, TeslaSafetyFlags, LEGACY_CARS
+from opendbc.car.tesla.values import CANBUS, CAR, CarControllerParams, TeslaSafetyFlags
 from opendbc.car.vehicle_model import VehicleModel
 
 def get_safety_CP():
@@ -25,7 +24,6 @@ class CarController(CarControllerBase):
     self.coop_enabled = CP.carFingerprint == CAR.TESLA_MODEL_3 and any(
       config.safetyParam & TeslaSafetyFlags.COOP_STEERING.value for config in CP.safetyConfigs
     )
-    self._clear_steering_limit_info()
     self.packer = CANPacker(dbc_names[Bus.party])
     self.tesla_can = TeslaCAN(self.packer)
     self.preap_long = None
@@ -40,37 +38,9 @@ class CarController(CarControllerBase):
       self.stock_cc = StockCCSpoofer()
       from opendbc.car.tesla.interface import CarInterface
       self.VM = VehicleModel(CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_PREAP))
-    elif CP.carFingerprint in LEGACY_CARS:
-      self.packers = {
-        CANBUS.party: CANPacker(dbc_names[Bus.party]),
-      }
-      self.tesla_can = TeslaCANRaven(self.packers)
-      from opendbc.car.tesla.interface import CarInterface
-      self.VM = VehicleModel(CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_HW1))
-
-  def _clear_steering_limit_info(self):
-    self.steering_limit_info_valid = False
-    self.model_limit_error_deg = 0.0
-    self.resume_limit_error_deg = 0.0
-    self.cooperative_limit_error_deg = 0.0
-    self.cooperative_offset_deg = 0.0
-    self.steering_limit_mono_time = 0
-    self.combined_limit_error_deg = 0.0
-
-  def get_steering_limit_info(self) -> dict[str, bool | float | int]:
-    return {
-      "valid": self.steering_limit_info_valid,
-      "modelLimitErrorDeg": self.model_limit_error_deg,
-      "resumeLimitErrorDeg": self.resume_limit_error_deg,
-      "cooperativeLimitErrorDeg": self.cooperative_limit_error_deg,
-      "cooperativeOffsetDeg": self.cooperative_offset_deg,
-      "monoTime": self.steering_limit_mono_time,
-      "combinedLimitErrorDeg": self.combined_limit_error_deg,
-    }
 
   def update(self, CC, CS, now_nanos, starpilot_toggles):
     if self.CP.carFingerprint == CAR.TESLA_MODEL_S_PREAP:
-      self._clear_steering_limit_info()
       return self._update_preap(CC, CS)
 
     actuators = CC.actuators
@@ -78,12 +48,8 @@ class CarController(CarControllerBase):
 
     # Preserve the stock controller path unless cooperative steering is explicitly enabled.
     lat_active = CC.latActive and (not CS.out.steeringDisengage if self.coop_enabled else CS.hands_on_level < 3)
-    if not (self.coop_enabled and lat_active):
-      self._clear_steering_limit_info()
 
     if self.frame % 2 == 0:
-      requested_angle = actuators.steeringAngleDeg
-
       # Angular rate limit based on speed
       self.apply_angle_last = apply_steer_angle_limits_vm(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw, CS.out.steeringAngleDeg,
                                                           lat_active, CarControllerParams, self.VM)
@@ -91,34 +57,9 @@ class CarController(CarControllerBase):
       self.apply_angle_command_last, lat_active = self.coop_steer.update(
         self.apply_angle_last, lat_active, self.coop_enabled, CS, self.VM,
       )
+      can_sends.append(self.tesla_can.create_steering_control(self.apply_angle_command_last, lat_active))
 
-      if self.coop_enabled and lat_active:
-        model_limit_error_deg = abs(requested_angle - self.apply_angle_last)
-        resume_limit_error_deg = self.coop_steer.resume_limit_error_deg
-        cooperative_limit_error_deg = self.coop_steer.cooperative_limit_error_deg
-        cooperative_offset_deg = self.coop_steer.cooperative_offset_deg
-        combined_limit_error_deg = abs(requested_angle + cooperative_offset_deg - self.apply_angle_command_last)
-        limit_values = (model_limit_error_deg, resume_limit_error_deg, cooperative_limit_error_deg,
-                        cooperative_offset_deg, combined_limit_error_deg)
-
-        if all(np.isfinite(value) for value in limit_values):
-          self.steering_limit_info_valid = True
-          self.model_limit_error_deg = model_limit_error_deg
-          self.resume_limit_error_deg = resume_limit_error_deg
-          self.cooperative_limit_error_deg = cooperative_limit_error_deg
-          self.cooperative_offset_deg = cooperative_offset_deg
-          self.steering_limit_mono_time = now_nanos
-          self.combined_limit_error_deg = combined_limit_error_deg
-        else:
-          self._clear_steering_limit_info()
-
-      if self.CP.carFingerprint in LEGACY_CARS:
-        cntr = (self.frame // 2) % 16
-        can_sends.append(self.tesla_can.create_steering_control(cntr, self.apply_angle_command_last, lat_active))
-      else:
-        can_sends.append(self.tesla_can.create_steering_control(self.apply_angle_command_last, lat_active))
-
-    if self.frame % 10 == 0 and self.CP.carFingerprint not in LEGACY_CARS:
+    if self.frame % 10 == 0:
       can_sends.append(self.tesla_can.create_steering_allowed())
 
     # Longitudinal control
@@ -127,21 +68,13 @@ class CarController(CarControllerBase):
         state = 13 if CC.cruiseControl.cancel else 4  # 4=ACC_ON, 13=ACC_CANCEL_GENERIC_SILENT
         accel = float(np.clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
         cntr = (self.frame // 4) % 8
-        if self.CP.carFingerprint in LEGACY_CARS:
-          hw1_accel = accel if CC.longActive and not CC.cruiseControl.cancel else 0.
-          hw1_active = CC.longActive and not CC.cruiseControl.cancel
-          can_sends.append(self.tesla_can.create_longitudinal_command(state, hw1_accel, cntr, CS.out.vEgo, hw1_active, CS.out.gasPressed))
-        else:
-          can_sends.append(self.tesla_can.create_longitudinal_command(state, accel, cntr, self.frame, CS.out.vEgo, CS.out.gasPressed))
+        can_sends.append(self.tesla_can.create_longitudinal_command(state, accel, cntr, self.frame, CS.out.vEgo, CS.out.gasPressed))
 
     else:
       # Increment counter so cancel is prioritized even without openpilot longitudinal
       if CC.cruiseControl.cancel:
         cntr = (CS.das_control["DAS_controlCounter"] + 1) % 8
-        if self.CP.carFingerprint in LEGACY_CARS:
-          can_sends.append(self.tesla_can.create_longitudinal_command(13, 0, cntr, CS.out.vEgo, False, CS.out.gasPressed))
-        else:
-          can_sends.append(self.tesla_can.create_longitudinal_command(13, 0, cntr, self.frame, CS.out.vEgo, False))
+        can_sends.append(self.tesla_can.create_longitudinal_command(13, 0, cntr, self.frame, CS.out.vEgo, False))
 
     # TODO: HUD control
     new_actuators = actuators.as_builder()
@@ -153,7 +86,7 @@ class CarController(CarControllerBase):
   def _update_preap(self, CC, CS):
     actuators = CC.actuators
     can_sends = []
-    lat_active = CC.latActive and CS.hands_on_level < 3 and getattr(CS, "preap_lateral_authorized", False)
+    lat_active = CC.latActive and CS.hands_on_level < 3
 
     if CC.cruiseControl.cancel and CS.cruiseEnabled:
       CS.cruiseEnabled = False
@@ -169,10 +102,8 @@ class CarController(CarControllerBase):
         CS.engagement.pedal_speed_kph = 0.0
 
     if self.frame % 2 == 0:
-      requested_angle = float(np.clip(actuators.steeringAngleDeg,
-                                       CS.out.steeringAngleDeg - 20., CS.out.steeringAngleDeg + 20.))
       self.apply_angle_last = apply_steer_angle_limits_vm(
-        requested_angle, self.apply_angle_last, CS.out.vEgoRaw, CS.out.steeringAngleDeg,
+        actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw, CS.out.steeringAngleDeg,
         lat_active, CarControllerParams, self.VM,
       )
       cntr = (self.frame // 2) % 16

opendbc_repo/opendbc/car/tesla/carstate.py

@@ -4,10 +4,7 @@ from opendbc.can import CANDefine, CANParser
 from opendbc.car import Bus, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarStateBase
-from opendbc.car.tesla.values import (
-  DBC, CANBUS, GEAR_MAP, STEER_DISENGAGE_THRESHOLD, STEER_THRESHOLD, TeslaSafetyFlags,
-  CAR, LEGACY_CARS,
-)
+from opendbc.car.tesla.values import DBC, CANBUS, GEAR_MAP, STEER_DISENGAGE_THRESHOLD, STEER_THRESHOLD, TeslaSafetyFlags, CAR
 from opendbc.car.tesla.preap.carstate import get_preap_can_parsers, update_preap
 from opendbc.car.tesla.preap.engagement import PreAPEngagement
 from opendbc.car.tesla.preap.nap_conf import nap_conf
@@ -28,19 +25,8 @@ class CarState(CarStateBase):
   def __init__(self, CP, FPCP):
     super().__init__(CP, FPCP)
     self.can_define = CANDefine(DBC[CP.carFingerprint][Bus.party])
-    if CP.carFingerprint in LEGACY_CARS:
-      self.can_define_party = CANDefine(DBC[CP.carFingerprint][Bus.party])
-      self.can_define_pt = CANDefine(DBC[CP.carFingerprint][Bus.pt])
-      self.can_define_chassis = CANDefine(DBC[CP.carFingerprint][Bus.chassis])
-      self.can_defines = {
-        **self.can_define_party.dv,
-        **self.can_define_pt.dv,
-        **self.can_define_chassis.dv,
-      }
-      self.shifter_values = self.can_defines["DI_torque2"]["DI_gear"]
-    else:
-      self.shifter_values = self.can_define.dv["DI_systemStatus"]["DI_gear"] if CP.carFingerprint != CAR.TESLA_MODEL_S_PREAP else \
-                            self.can_define.dv["DI_torque2"]["DI_gear"]
+    self.shifter_values = self.can_define.dv["DI_systemStatus"]["DI_gear"] if CP.carFingerprint != CAR.TESLA_MODEL_S_PREAP else \
+                          self.can_define.dv["DI_torque2"]["DI_gear"]
 
     self.autopark = False
     self.autopark_prev = False
@@ -89,8 +75,6 @@ class CarState(CarStateBase):
   def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
     if self.CP.carFingerprint == CAR.TESLA_MODEL_S_PREAP:
       return update_preap(self, can_parsers)
-    if self.CP.carFingerprint in LEGACY_CARS:
-      return self.update_legacy(can_parsers)
 
     cp_party = can_parsers[Bus.party]
     cp_ap_party = can_parsers[Bus.ap_party]
@@ -189,94 +173,10 @@ class CarState(CarStateBase):
 
     return ret, fp_ret
 
-  def update_legacy(self, can_parsers):
-    cp_party = can_parsers[Bus.party]
-    cp_ap_party = can_parsers[Bus.ap_party]
-    cp_pt = can_parsers[Bus.pt]
-    cp_ap_pt = can_parsers[Bus.ap_pt]
-    cp_chassis = can_parsers[Bus.chassis]
-    ret = structs.CarState()
-    fp_ret = custom.StarPilotCarState.new_message()
-
-    # Vehicle speed
-    ret.vEgoRaw = cp_chassis.vl["ESP_B"]["ESP_vehicleSpeed"] * CV.KPH_TO_MS
-    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-
-    # Gas and brake
-    ret.gasPressed = cp_pt.vl["DI_torque1"]["DI_pedalPos"] > 0
-    ret.brake = 0
-    ret.brakePressed = cp_chassis.vl["BrakeMessage"]["driverBrakeStatus"] != 1
-
-    # Steering wheel and EPAS status
-    epas_status = cp_chassis.vl["EPAS_sysStatus"]
-    self.hands_on_level = epas_status["EPAS_handsOnLevel"]
-    ret.steeringAngleDeg = -epas_status["EPAS_internalSAS"]
-    ret.steeringRateDeg = -cp_chassis.vl["STW_ANGLHP_STAT"]["StW_AnglHP_Spd"]
-    ret.steeringTorque = -epas_status["EPAS_torsionBarTorque"]
-    ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > STEER_THRESHOLD, 5)
-
-    eac_status = self.can_defines["EPAS_sysStatus"]["EPAS_eacStatus"].get(int(epas_status["EPAS_eacStatus"]), None)
-    ret.steerFaultPermanent = eac_status == "EAC_FAULT"
-    ret.steerFaultTemporary = eac_status == "EAC_INHIBITED"
-    eac_error_code = self.can_defines["EPAS_sysStatus"]["EPAS_eacErrorCode"].get(int(epas_status["EPAS_eacErrorCode"]), None)
-    ret.steeringDisengage = self.hands_on_level >= 3 or (
-      eac_status == "EAC_INHIBITED" and eac_error_code == "EAC_ERROR_HIGH_ANGLE_RATE_SAFETY"
-    )
-
-    # Cruise
-    cruise_state = self.can_defines["DI_state"]["DI_cruiseState"].get(int(cp_chassis.vl["DI_state"]["DI_cruiseState"]), None)
-    speed_units = self.can_defines["DI_state"]["DI_speedUnits"].get(int(cp_chassis.vl["DI_state"]["DI_speedUnits"]), None)
-    cruise_enabled = cruise_state in ("ENABLED", "STANDSTILL", "OVERRIDE", "PRE_FAULT", "PRE_CANCEL")
-    ret.cruiseState.enabled = cruise_enabled
-    if speed_units == "KPH":
-      ret.cruiseState.speed = max(cp_chassis.vl["DI_state"]["DI_hw1CruiseSet"] * CV.KPH_TO_MS, 1e-3)
-    elif speed_units == "MPH":
-      ret.cruiseState.speed = max(cp_chassis.vl["DI_state"]["DI_hw1CruiseSet"] * CV.MPH_TO_MS, 1e-3)
-    ret.cruiseState.available = cruise_state == "STANDBY" or ret.cruiseState.enabled
-    ret.cruiseState.standstill = False
-    ret.standstill = ret.vEgoRaw < 0.1
-    ret.accFaulted = cruise_state == "FAULT"
-
-    # Gear, body state, and safety state
-    ret.gearShifter = GEAR_MAP[self.can_defines["DI_torque2"]["DI_gear"].get(
-      int(cp_chassis.vl["DI_torque2"]["DI_gear"]), "DI_GEAR_INVALID")]
-
-    doors = ("DOOR_STATE_FL", "DOOR_STATE_FR", "DOOR_STATE_RL", "DOOR_STATE_RR", "DOOR_STATE_FrontTrunk", "BOOT_STATE")
-    ret.doorOpen = any(
-      self.can_defines["GTW_carState"][door].get(int(cp_chassis.vl["GTW_carState"][door]), "OPEN") == "OPEN"
-      for door in doors
-    )
-    ret.leftBlinker = cp_chassis.vl["GTW_carState"]["BC_indicatorLStatus"] == 1
-    ret.rightBlinker = cp_chassis.vl["GTW_carState"]["BC_indicatorRStatus"] == 1
-
-    _ = cp_chassis.vl["SDM1"]
-    _ = cp_chassis.vl["RCM_status"]
-    sd_time = cp_chassis.ts_nanos["SDM1"]["SDM_bcklDrivStatus"]
-    rcm_time = cp_chassis.ts_nanos["RCM_status"]["RCM_buckleDriverStatus"]
-    if sd_time and cp_chassis._last_update_nanos - sd_time <= 1_000_000_000:
-      ret.seatbeltUnlatched = cp_chassis.vl["SDM1"]["SDM_bcklDrivStatus"] != 1
-    elif rcm_time and cp_chassis._last_update_nanos - rcm_time <= 1_000_000_000:
-      ret.seatbeltUnlatched = cp_chassis.vl["RCM_status"]["RCM_buckleDriverStatus"] != 1
-    else:
-      ret.seatbeltUnlatched = True
-
-    ret.stockAeb = cp_ap_pt.vl["DAS_control"]["DAS_aebEvent"] == 1
-    ret.stockLkas = cp_ap_party.vl["DAS_steeringControl"]["DAS_steeringControlType"] == 2
-    self.das_control = copy.copy(cp_ap_pt.vl["DAS_control"])
-    return ret, fp_ret
-
   @staticmethod
   def get_can_parsers(CP):
     if CP.carFingerprint == CAR.TESLA_MODEL_S_PREAP:
       return get_preap_can_parsers(CP)
-    if CP.carFingerprint in LEGACY_CARS:
-      return {
-        Bus.party: CANParser(DBC[CP.carFingerprint][Bus.party], [], CANBUS.party),
-        Bus.ap_party: CANParser(DBC[CP.carFingerprint][Bus.party], [], CANBUS.autopilot_party),
-        Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CANBUS.party),
-        Bus.ap_pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CANBUS.autopilot_party),
-        Bus.chassis: CANParser(DBC[CP.carFingerprint][Bus.chassis], [("SDM1", 0), ("RCM_status", 0)], CANBUS.party),
-      }
     return {
       Bus.party: CANParser(DBC[CP.carFingerprint][Bus.party], [], CANBUS.party),
       Bus.ap_party: CANParser(DBC[CP.carFingerprint][Bus.party], [], CANBUS.autopilot_party)

opendbc_repo/opendbc/car/tesla/coop_steering.py

@@ -62,9 +62,6 @@ class CooperativeSteeringController:
     self.angle_override = 0.0
     self.resume_rate_limiter_delta = SteerRateLimiter()
     self.resume_rate_limiter = SteerRateLimiter()
-    self.resume_limit_error_deg = 0.0
-    self.cooperative_limit_error_deg = 0.0
-    self.cooperative_offset_deg = 0.0
 
   def reset_override_state(self, apply_angle: float) -> None:
     self.apply_angle_last = apply_angle
@@ -108,25 +105,19 @@ class CooperativeSteeringController:
     return self.resume_rate_limiter.update(apply_angle, angle_rate_delta)
 
   def update(self, apply_angle: float, lat_active: bool, enabled: bool, CS, VM: VehicleModel) -> tuple[float, bool]:
-    self.resume_limit_error_deg = 0.0
-    self.cooperative_limit_error_deg = 0.0
-    self.cooperative_offset_deg = 0.0
     if not enabled:
       self.reset_resume_state(apply_angle)
       self.reset_override_state(apply_angle)
       return apply_angle, lat_active
 
-    requested_angle = apply_angle
     apply_angle = self.apply_resume_rate_limit(lat_active, apply_angle)
-    self.resume_limit_error_deg = abs(requested_angle - apply_angle)
     if not lat_active:
       self.reset_override_state(apply_angle)
       return apply_angle, False
 
     apply_angle_delta = apply_angle - self.apply_angle_last
     self.apply_angle_last = apply_angle
-    self.cooperative_offset_deg = self.update_override_angle(apply_angle_delta, CS.out.steeringTorque, CS.out.vEgo, VM)
-    apply_angle += self.cooperative_offset_deg
+    apply_angle += self.update_override_angle(apply_angle_delta, CS.out.steeringTorque, CS.out.vEgo, VM)
 
     limited_angle = apply_steer_angle_limits_vm(
       apply_angle,
@@ -138,6 +129,5 @@ class CooperativeSteeringController:
       VM,
     )
     self.coop_apply_angle_last = limited_angle
-    self.cooperative_limit_error_deg = abs(apply_angle - limited_angle)
     self.unwind_override_angle(apply_angle - limited_angle)
     return limited_angle, True

opendbc_repo/opendbc/car/tesla/fingerprints.py

@@ -5,12 +5,6 @@ from opendbc.car.tesla.values import CAR
 Ecu = CarParams.Ecu
 
 FW_VERSIONS = {
-  CAR.TESLA_MODEL_S_HW1: {
-    (Ecu.eps, 0x730, None): [
-      b'1016704-00-HAA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x10\x00A',
-    ],
-  },
   CAR.TESLA_MODEL_3: {
     (Ecu.eps, 0x730, None): [
       b'TeM3_E014p10_0.0.0 (16),E014.17.00',

opendbc_repo/opendbc/car/tesla/interface.py

@@ -1,9 +1,9 @@
-from opendbc.car import Bus, get_safety_config, structs
+from opendbc.car import get_safety_config, structs
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.tesla.carcontroller import CarController
 from opendbc.car.tesla.carstate import CarState
 from opendbc.car.tesla.radar_interface import RadarInterface
-from opendbc.car.tesla.values import TeslaSafetyFlags, CAR, DBC, LEGACY_CARS
+from opendbc.car.tesla.values import TeslaSafetyFlags, CAR
 from opendbc.car.tesla.preap.interface import get_preap_accel_limits, get_preap_params
 
 
@@ -32,21 +32,6 @@ class CarInterface(CarInterfaceBase):
     if candidate == CAR.TESLA_MODEL_S_PREAP:
       return get_preap_params(ret)
 
-    if candidate in LEGACY_CARS:
-      ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.tesla, TeslaSafetyFlags.FLAG_HW1.value)]
-      ret.steerLimitTimer = 0.4
-      ret.steerActuatorDelay = 0.1
-      ret.steerAtStandstill = True
-      ret.steerControlType = structs.CarParams.SteerControlType.angle
-      ret.radarUnavailable = Bus.radar not in DBC[candidate]
-      ret.radarTimeStepDEPRECATED = 0.125
-      ret.alphaLongitudinalAvailable = True
-
-      if alpha_long:
-        ret.openpilotLongitudinalControl = True
-        ret.safetyConfigs[0].safetyParam |= TeslaSafetyFlags.LONG_CONTROL.value
-      return ret
-
     ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.tesla)]
 
     ret.steerLimitTimer = 0.4

opendbc_repo/opendbc/car/tesla/preap/engagement.py

@@ -13,8 +13,6 @@ class PreAPEngagement:
     self.enableDoublePull = double_pull_enabled
     self.double_pull_window_ms = double_pull_window_ms
     self.cruiseEnabled = False
-    self.lateralEnabled = False
-    self.lateralRearmRequired = False
     self.enableLongControl = False
     self.enableJustCC = False
     self.pending_enable = False
@@ -30,8 +28,6 @@ class PreAPEngagement:
 
   def handle_steering_disengage(self, steering_disengage: bool) -> None:
     if steering_disengage and not self.prev_steering_disengage:
-      self.lateralEnabled = False
-      self.lateralRearmRequired = True
       self.cruiseEnabled = False
       self.enableLongControl = False
       self.enableJustCC = False
@@ -49,8 +45,6 @@ class PreAPEngagement:
     button_events: list[structs.CarState.ButtonEvent] = []
 
     if cruise_buttons == CruiseButtons.MAIN and prev_cruise_buttons != CruiseButtons.MAIN:
-      self.lateralEnabled = True
-      self.lateralRearmRequired = False
       if self.enableDoublePull:
         self._handle_double_pull(curr_time_ms, v_ego, speed_units, use_pedal, pedal_long_allowed, long_control_allowed, di_cruise_state)
       else:
@@ -81,8 +75,6 @@ class PreAPEngagement:
   def check_can_engage(self, door_open: bool, gear_shifter, seatbelt_unlatched: bool) -> bool:
     can_engage = not door_open and gear_shifter == structs.CarState.GearShifter.drive and not seatbelt_unlatched
     if not can_engage:
-      self.lateralEnabled = False
-      self.lateralRearmRequired = True
       self.cruiseEnabled = False
       self.enableLongControl = False
       self.enableJustCC = False
@@ -126,8 +118,6 @@ class PreAPEngagement:
                 ((curr_time_ms - self.preap_last_cc_spoof_ms) < SPOOF_ECHO_WINDOW_MS)
       be.type = ButtonType.unknown if is_echo else ButtonType.cancel
       if not is_echo:
-        self.lateralEnabled = False
-        self.lateralRearmRequired = True
         self.cruiseEnabled = False
         self.enableLongControl = False
         self.enableJustCC = False
@@ -155,3 +145,4 @@ class PreAPEngagement:
   def _capture_target_speed(v_ego: float, speed_units: str) -> float:
     speed_uom_kph = CV.MPH_TO_KPH if speed_units == "MPH" else 1.0
     return max(int(v_ego * CV.MS_TO_KPH / speed_uom_kph + 0.5) * speed_uom_kph, 0.0)
+

opendbc_repo/opendbc/car/tesla/preap/lateral.py

@@ -1,21 +0,0 @@
-from opendbc.car import structs
-from opendbc.safety import ALTERNATIVE_EXPERIENCE
-
-
-def preap_lateral_authorized(CP, CS, panda_states, panda_states_valid: bool) -> bool:
-  """Match Pre-AP's existing safety authorization without treating software CC availability as ACC main."""
-  if not panda_states_valid or CS.out.gearShifter != structs.CarState.GearShifter.drive or CS.out.doorOpen or CS.out.steeringDisengage:
-    return False
-  if CS.engagement.lateralRearmRequired:
-    return False
-  config = CP.safetyConfigs[0]
-  matching = [p for p in panda_states if p.safetyModel == config.safetyModel and p.safetyParam == config.safetyParam]
-  if len(matching) != 1 or matching[0].safetyRxChecksInvalid:
-    return False
-  panda = matching[0]
-  # Physical cancel/override/gear changes clear this latch immediately, whereas
-  # Panda telemetry can lag. Longitudinal software cancellation leaves it intact.
-  stalk_authorized = CS.engagement.lateralEnabled and panda.controlsAllowed
-  stock_main = CS.di_cruise_state in ("STANDBY", "ENABLED", "STANDSTILL", "OVERRIDE", "PRE_FAULT", "PRE_CANCEL")
-  aol_authorized = bool(panda.alternativeExperience & ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL) and stock_main
-  return bool(stalk_authorized or aol_authorized)

opendbc_repo/opendbc/car/tesla/preap/tests/test_angle_tracking.py

@@ -1,36 +0,0 @@
-from types import SimpleNamespace
-
-import pytest
-
-from opendbc.car import structs
-from opendbc.car.tesla.carcontroller import CarController
-from opendbc.car.tesla.interface import CarInterface
-from opendbc.car.tesla.values import CAR, DBC
-
-
-@pytest.mark.parametrize('direction', [-1., 1.])
-def test_preap_stalled_rack_request_stays_within_legacy_tracking_envelope(direction):
-  cp = CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_PREAP)
-  controller = CarController(DBC[cp.carFingerprint], cp)
-  controller.stock_cc = None
-  cs = SimpleNamespace(out=SimpleNamespace(vEgoRaw=3., steeringAngleDeg=0.),
-                       hands_on_level=0, preap_lateral_authorized=True, cruiseEnabled=False)
-  cc = structs.CarControl.new_message()
-  cc.latActive = True
-  cc.actuators.steeringAngleDeg = direction * 100.
-  previous = 0.
-  for frame in range(100):
-    output, _ = controller.update(cc.as_reader(), cs, frame * 10000000, None)
-    assert abs(output.steeringAngleDeg) <= 20.
-    assert abs(output.steeringAngleDeg - previous) <= 5.
-    previous = output.steeringAngleDeg
-  assert previous == direction * 20.
-
-  cs.out.steeringAngleDeg = -direction * 50.
-  output, _ = controller.update(cc.as_reader(), cs, 1000000000, None)
-  assert abs(output.steeringAngleDeg - previous) <= 5.
-
-  cc.latActive = False
-  controller.frame = 102
-  output, _ = controller.update(cc.as_reader(), cs, 1020000000, None)
-  assert output.steeringAngleDeg == cs.out.steeringAngleDeg

opendbc_repo/opendbc/car/tesla/radar_interface.py

@@ -16,7 +16,7 @@ class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
     super().__init__(CP)
 
-    self.radar_off_can = CP.radarUnavailable or Bus.radar not in DBC[CP.carFingerprint]
+    self.radar_off_can = CP.radarUnavailable or CP.carFingerprint != CAR.TESLA_MODEL_S_PREAP
     self.updated_messages: set[int] = set()
     self.track_id = 0
     self.radar_offset = float(nap_conf.radar_offset) if CP.carFingerprint == CAR.TESLA_MODEL_S_PREAP else 0.0

opendbc_repo/opendbc/car/tesla/teslacan_legacy.py

@@ -1,53 +0,0 @@
-from opendbc.car.common.conversions import Conversions as CV
-from opendbc.car.interfaces import V_CRUISE_MAX
-from opendbc.car.tesla.values import CANBUS, CarControllerParams
-
-
-class TeslaCANRaven:
-  """CAN commands used by the legacy Model S/X powertrain and EPAS buses."""
-
-  def __init__(self, packers):
-    self.packers = packers
-    self.CCP = CarControllerParams
-    self.jerk_upper = self.CCP.JERK_LIMIT_MAX
-    self.jerk_lower = self.CCP.JERK_LIMIT_MIN
-
-  @staticmethod
-  def checksum(msg_id, dat):
-    return ((msg_id & 0xFF) + ((msg_id >> 8) & 0xFF) + sum(dat)) & 0xFF
-
-  def create_steering_control(self, counter, angle, enabled):
-    values = {
-      "DAS_steeringControlCounter": counter,
-      "DAS_steeringAngleRequest": -angle,
-      "DAS_steeringHapticRequest": 0,
-      "DAS_steeringControlType": 1 if enabled else 0,
-    }
-    data = self.packers[CANBUS.party].make_can_msg("DAS_steeringControl", CANBUS.party, values)[1]
-    values["DAS_steeringControlChecksum"] = self.checksum(0x488, data[:3])
-    return self.packers[CANBUS.party].make_can_msg("DAS_steeringControl", CANBUS.party, values)
-
-  def create_longitudinal_command(self, acc_state, accel, counter, v_ego, active, gas_pressed):
-    set_speed = max(v_ego * CV.MS_TO_KPH, 0)
-    if active:
-      set_speed = 0 if accel < 0 else V_CRUISE_MAX
-
-    if gas_pressed:
-      self.jerk_upper = self.jerk_lower = 0.0
-    else:
-      self.jerk_lower = max(self.jerk_lower - self.CCP.JERK_RAMP_RATE, self.CCP.JERK_LIMIT_MIN)
-      self.jerk_upper = min(self.jerk_upper + self.CCP.JERK_RAMP_RATE, self.CCP.JERK_LIMIT_MAX)
-
-    values = {
-      "DAS_setSpeed": set_speed,
-      "DAS_accState": acc_state,
-      "DAS_aebEvent": 0,
-      "DAS_jerkMin": self.jerk_lower,
-      "DAS_jerkMax": self.jerk_upper,
-      "DAS_accelMin": accel,
-      "DAS_accelMax": max(accel, 0),
-      "DAS_controlCounter": counter,
-    }
-    data = self.packers[CANBUS.party].make_can_msg("DAS_control", CANBUS.party, values)[1]
-    values["DAS_controlChecksum"] = self.checksum(0x2b9, data[:7])
-    return self.packers[CANBUS.party].make_can_msg("DAS_control", CANBUS.party, values)

opendbc_repo/opendbc/car/tesla/tests/replay_hw1_route.py

@@ -1,148 +0,0 @@
-#!/usr/bin/env python3
-"""Offline AP1/HW1 CAN, radar, controller, and panda-safety replay.
-
-Usage: PYTHONPATH=. python -m opendbc.car.tesla.tests.replay_hw1_route PATH_TO_RLOGS
-
-The supplied Pre-AP recording contains stock AP commands copied to bus 0 while
-ELM327/old firmware forwarded traffic. The counterfactual run skips those copies:
-the HW1 safety mode blocks stock 0x488/0x2b9 forwarding on bus 2. This is NOT a
-physical HW1 drive; it cannot validate engagement or steering actuation on-car.
-"""
-
-import argparse
-from collections import Counter
-from pathlib import Path
-
-from cereal import custom
-from openpilot.tools.lib.logreader import LogReader
-from opendbc.car import Bus, structs
-from opendbc.car.tesla.carcontroller import CarController
-from opendbc.car.tesla.carstate import CarState
-from opendbc.car.tesla.interface import CarInterface
-from opendbc.car.tesla.radar_interface import RadarInterface
-from opendbc.car.tesla.values import CAR, DBC, TeslaSafetyFlags
-from opendbc.safety.tests.libsafety import libsafety_py
-
-
-def replay(paths: list[Path], simulate_active: bool = False):
-  fp = {0: {0x201: 5}, 1: {}, 2: {}}
-  cp = CarInterface.get_params(CAR.TESLA_MODEL_S_HW1, fp, [], True, False, False, None)
-  assert cp.safetyConfigs[0].safetyModel == structs.CarParams.SafetyModel.tesla
-  assert cp.safetyConfigs[0].safetyParam == TeslaSafetyFlags.FLAG_HW1.value | TeslaSafetyFlags.LONG_CONTROL.value
-  safety = libsafety_py.libsafety
-  assert safety.set_safety_hooks(int(structs.CarParams.SafetyModel.tesla), cp.safetyConfigs[0].safetyParam) == 0
-  safety.init_tests()
-
-  parsers = CarState.get_can_parsers(cp)
-  cs = CarState(cp, custom.StarPilotCarParams.new_message())
-  controller = CarController(DBC[CAR.TESLA_MODEL_S_HW1], cp)
-  active_controller = CarController(DBC[CAR.TESLA_MODEL_S_HW1], cp) if simulate_active else None
-  radar = RadarInterface(cp)
-  stats = Counter()
-  first_rejected = []
-  active_rejected = []
-  last_ap_command: dict[tuple[int, bytes], int] = {}
-  suppressed_examples = []
-
-  for path in paths:
-    for event in LogReader(str(path)):
-      if event.which() != "can":
-        continue
-      t = event.logMonoTime
-      frames = [(x.address, bytes(x.dat), x.src) for x in event.can]
-      stock_in_event = {(a, d) for a, d, b in frames if b == 2 and a in (0x488, 0x2b9)}
-      for a, d, b in frames:
-        if b == 2 and a in (0x488, 0x2b9):
-          last_ap_command[(a, d)] = t
-        if b == 0 and a in (0x488, 0x2b9):
-          seen = last_ap_command.get((a, d), -1)
-          if (a, d) in stock_in_event or (0 <= t - seen < 250_000_000):
-            stats["suppressed_bus0_stock_copies"] += 1
-            continue
-          stats["unmatched_bus0_stock_commands"] += 1
-          if len(suppressed_examples) < 5:
-            suppressed_examples.append((path.name, t, hex(a), d.hex()))
-        if b < 128:
-          stats["physical_rx"] += 1
-          if not safety.safety_rx_hook(libsafety_py.make_CANPacket(a, b, d)):
-            stats["rx_rejected"] += 1
-          if b == 2 and a in (0x488, 0x2b9):
-            stats["stock_forward_blocked"] += safety.safety_fwd_hook(b, a) == -1
-
-      safety.set_timer((t // 1000) & 0xffffffff)
-      safety.safety_tick_current_safety_config()
-      stats["safety_invalid_ticks"] += not safety.safety_config_valid()
-      stats["relay_malfunction_ticks"] += safety.get_relay_malfunction()
-      stats["controls_allowed_ticks"] += safety.get_controls_allowed()
-
-      batch = [(t, frames)]
-      for parser in parsers.values():
-        parser.update(batch)
-        stats["invalid_car_parser_ticks"] += not parser.can_valid
-      out, _ = cs.update(parsers, None)
-      cs.out = out
-      stats["carstate_faulted_ticks"] += out.accFaulted
-      stats["seatbelt_unlatched_ticks"] += out.seatbeltUnlatched
-      stats["steering_inhibited_ticks"] += out.steerFaultTemporary
-      stats["cruise_engaged_ticks"] += out.cruiseState.enabled
-
-      radar_data = radar.update(batch)
-      if radar_data is not None:
-        stats["radar_updates"] += 1
-        stats["radar_points"] += len(radar_data.points)
-        stats["radar_error_updates"] += radar_data.errors.canError or radar_data.errors.radarFault
-
-      cc = structs.CarControl.new_message()
-      cc.actuators.steeringAngleDeg = out.steeringAngleDeg
-      cc.actuators.accel = 0.
-      # Do not fabricate engagement on the actual faulted/standby route.
-      _, sends = controller.update(cc.as_reader(), cs, t, None)
-      for a, d, b in sends:
-        stats["generated_tx"] += 1
-        stats[f"generated_{hex(a)}"] += 1
-        if not safety.safety_tx_hook(libsafety_py.make_CANPacket(a, b, d)):
-          stats["tx_rejected"] += 1
-          if len(first_rejected) < 5:
-            first_rejected.append((path.name, t, hex(a), d.hex(), out.steeringAngleDeg, safety.get_relay_malfunction()))
-
-      if active_controller is not None:
-        # A synthetic gate test only. This recording never engaged cruise, so
-        # enabling controls here does NOT represent an actual car-state transition.
-        eligible = (not (out.steerFaultTemporary or out.steerFaultPermanent or out.steeringDisengage or out.accFaulted or
-                         out.gasPressed or out.brakePressed or out.stockAeb or out.stockLkas) and out.vEgoRaw > 2.)
-        simulated = structs.CarControl.new_message()
-        simulated.latActive = eligible
-        simulated.longActive = eligible
-        simulated.actuators.steeringAngleDeg = out.steeringAngleDeg
-        simulated.actuators.accel = 0.5 if eligible else 0.
-        _, active_sends = active_controller.update(simulated.as_reader(), cs, t, None)
-        if eligible:
-          stats["simulated_eligible_ticks"] += 1
-          safety.set_controls_allowed(True)
-          for a, d, b in active_sends:
-            stats["simulated_tx"] += 1
-            stats[f"simulated_{hex(a)}"] += 1
-            if not safety.safety_tx_hook(libsafety_py.make_CANPacket(a, b, d)):
-              stats["simulated_tx_rejected"] += 1
-              if len(active_rejected) < 5:
-                active_rejected.append((path.name, t, hex(a), d.hex(), out.steeringAngleDeg, out.vEgoRaw))
-          safety.set_controls_allowed(False)
-      stats["can_events"] += 1
-    print(f"{path.name}: {dict(stats)}", flush=True)
-
-  print(f"unmatched bus-0 command examples: {suppressed_examples}")
-  print(f"rejected TX examples: {first_rejected}")
-  print(f"rejected synthetic-active TX examples: {active_rejected}")
-  print(f"final: {dict(stats)}")
-  return stats
-
-
-if __name__ == "__main__":
-  argp = argparse.ArgumentParser(description=__doc__)
-  argp.add_argument("rlogs", type=Path, help="directory containing segment rlog.zst files")
-  argp.add_argument("--simulate-active", action="store_true", help="force safety engagement only on healthy standby samples")
-  args = argp.parse_args()
-  files = sorted(args.rlogs.glob("*.rlog.zst"))
-  if not files:
-    argp.error("no *.rlog.zst files found")
-  replay(files, args.simulate_active)

opendbc_repo/opendbc/car/tesla/tests/test_coop_steering.py

@@ -1,4 +1,3 @@
-import math
 from types import SimpleNamespace
 
 import pytest
@@ -74,110 +73,3 @@ def test_safety_flag_is_model_3_only(candidate, enabled, expected):
 
   if candidate != CAR.TESLA_MODEL_S_PREAP:
     assert CarController(DBC[candidate], params).coop_enabled is expected
-
-
-def assert_finite_nonnegative_limit_errors(controller):
-  errors = (controller.resume_limit_error_deg, controller.cooperative_limit_error_deg)
-  assert all(math.isfinite(error) and error >= 0.0 for error in errors)
-  assert math.isfinite(controller.cooperative_offset_deg)
-
-
-def test_zero_torque_has_zero_cooperative_diagnostics(vehicle_model):
-  controller = CooperativeSteeringController()
-
-  angle, lat_active = controller.update(0.0, True, True, make_car_state(), vehicle_model)
-
-  assert angle == 0.0
-  assert lat_active
-  assert controller.resume_limit_error_deg == 0.0
-  assert controller.cooperative_limit_error_deg == 0.0
-  assert controller.cooperative_offset_deg == 0.0
-  assert_finite_nonnegative_limit_errors(controller)
-
-
-def test_steady_light_torque_reports_offset_without_real_limiting(vehicle_model):
-  controller = CooperativeSteeringController()
-
-  for _ in range(100):
-    controller.update(0.0, True, True, make_car_state(torque=0.9), vehicle_model)
-
-  assert controller.cooperative_offset_deg > 2.5
-  assert controller.resume_limit_error_deg < 2.5
-  assert controller.cooperative_limit_error_deg < 2.5
-  assert_finite_nonnegative_limit_errors(controller)
-
-
-def test_torque_reversal_updates_signed_offset_without_negative_errors(vehicle_model):
-  controller = CooperativeSteeringController()
-  for _ in range(100):
-    controller.update(0.0, True, True, make_car_state(torque=0.9), vehicle_model)
-
-  for _ in range(200):
-    controller.update(0.0, True, True, make_car_state(torque=-0.9), vehicle_model)
-
-  assert controller.cooperative_offset_deg < -2.5
-  assert_finite_nonnegative_limit_errors(controller)
-
-
-def test_release_reports_gradual_offset_unwind(vehicle_model):
-  controller = CooperativeSteeringController()
-  for _ in range(100):
-    controller.update(0.0, True, True, make_car_state(torque=1.5), vehicle_model)
-
-  offsets = []
-  for _ in range(100):
-    controller.update(0.0, True, True, make_car_state(), vehicle_model)
-    offsets.append(controller.cooperative_offset_deg)
-
-  assert offsets[0] > offsets[-1] >= 0.0
-  assert all(next_offset <= offset for offset, next_offset in zip(offsets, offsets[1:]))
-  assert offsets[-1] == pytest.approx(0.0, abs=1e-6)
-  assert_finite_nonnegative_limit_errors(controller)
-
-
-def test_resume_ramp_reports_resume_limiting(vehicle_model):
-  controller = CooperativeSteeringController()
-  controller.reset_resume_state(0.0)
-  controller.reset_override_state(0.0)
-
-  controller.update(20.0, True, True, make_car_state(), vehicle_model)
-
-  assert controller.resume_limit_error_deg > 2.5
-  assert controller.cooperative_limit_error_deg < 2.5
-  assert controller.cooperative_offset_deg == 0.0
-
-
-def test_final_limiter_reports_cooperative_target_clipping(vehicle_model):
-  controller = CooperativeSteeringController()
-  controller.reset_resume_state(20.0)
-  controller.reset_override_state(0.0)
-
-  controller.update(20.0, True, True, make_car_state(), vehicle_model)
-
-  assert controller.resume_limit_error_deg == 0.0
-  assert controller.cooperative_limit_error_deg > 2.5
-  assert controller.cooperative_offset_deg == 0.0
-
-
-def test_final_limiter_remains_visible_with_light_torque(vehicle_model):
-  controller = CooperativeSteeringController()
-  controller.reset_resume_state(20.0)
-  controller.reset_override_state(0.0)
-
-  controller.update(20.0, True, True, make_car_state(torque=-0.9), vehicle_model)
-
-  assert abs(controller.cooperative_offset_deg) > 0.0
-  assert controller.cooperative_limit_error_deg > 2.5
-
-
-def test_diagnostics_reset_on_disabled_update(vehicle_model):
-  controller = CooperativeSteeringController()
-  controller.reset_resume_state(20.0)
-  controller.update(20.0, True, True, make_car_state(), vehicle_model)
-  assert controller.cooperative_limit_error_deg > 2.5
-
-  controller.update(4.0, True, False, make_car_state(torque=2.0), vehicle_model)
-
-  assert controller.resume_limit_error_deg == 0.0
-  assert controller.cooperative_limit_error_deg == 0.0
-  assert controller.cooperative_offset_deg == 0.0

opendbc_repo/opendbc/car/tesla/tests/test_coop_steering_limit_info.py

@@ -1,228 +0,0 @@
-import json
-import math
-from pathlib import Path
-from types import SimpleNamespace
-
-import pytest
-
-import cereal.messaging as messaging
-
-from cereal import car
-from opendbc.car import gen_empty_fingerprint
-from opendbc.car.tesla.carcontroller import CarController
-from opendbc.car.tesla.interface import CarInterface
-from opendbc.car.tesla.values import CAR, DBC
-
-
-BASELINE_SHA = "a80064be4fdf4b8765a5e9dec44d8a5c266f48a8"
-BASELINE_SOURCE_SHA256 = {
-  "opendbc_repo/opendbc/car/tesla/coop_steering.py": "9c9d60bbfae2aaa0d8c1fca203a9fa19a14a19feef5aa89e85ecaa6f6502a9f0",
-  "opendbc_repo/opendbc/car/tesla/carcontroller.py": "1ef3cf646bc4b3c398bd12010e624b90e083426152d632fafb5b2e93fd3d8661",
-}
-BASELINE_FIXTURE = Path(__file__).parent / "fixtures" / "coop_steering_baseline_a80064be.json"
-
-
-def make_params(candidate=CAR.TESLA_MODEL_3, cooperative=True):
-  toggles = SimpleNamespace(tesla_cooperative_steering=cooperative, trailer_load_kg=0.0)
-  return CarInterface.get_params(candidate, gen_empty_fingerprint(), [], False, False, False, toggles)
-
-
-def make_car_state(torque=0.0, speed=15.0, angle=0.0, steering_disengage=False):
-  return SimpleNamespace(
-    out=SimpleNamespace(
-      steeringTorque=torque,
-      steeringAngleDeg=angle,
-      steeringDisengage=steering_disengage,
-      vEgo=speed,
-      vEgoRaw=speed,
-      gasPressed=False,
-    ),
-    hands_on_level=0,
-    das_control={"DAS_controlCounter": 0},
-  )
-
-
-def make_control(requested_angle=0.0, lat_active=True):
-  control = car.CarControl.new_message()
-  control.latActive = lat_active
-  control.actuators.steeringAngleDeg = requested_angle
-  return control.as_reader()
-
-
-def make_controller(candidate=CAR.TESLA_MODEL_3, cooperative=True):
-  params = make_params(candidate, cooperative)
-  return CarController(DBC[candidate], params)
-
-
-def run_frame(controller, requested_angle=0.0, torque=0.0, speed=15.0, measured_angle=0.0,
-              lat_active=True, steering_disengage=False, now_nanos=1_000_000_000):
-  return controller.update(
-    make_control(requested_angle, lat_active),
-    make_car_state(torque, speed, measured_angle, steering_disengage),
-    now_nanos,
-    SimpleNamespace(),
-  )
-
-
-def get_limit_info(controller):
-  return SimpleNamespace(**controller.get_steering_limit_info())
-
-
-def legacy_actuator_dict(actuators):
-  return actuators.to_dict()
-
-
-def test_steering_limit_info_defaults_to_invalid():
-  controller = make_controller()
-
-  info = get_limit_info(controller)
-  assert not info.valid
-  assert info.monoTime == 0
-
-
-def test_steering_limit_info_round_trips_through_custom_message():
-  message = messaging.new_message("starpilotCarControl", valid=True)
-  info = message.starpilotCarControl.steeringLimitInfo
-  info.valid = True
-  info.modelLimitErrorDeg = 1.25
-  info.resumeLimitErrorDeg = 0.5
-  info.cooperativeLimitErrorDeg = 2.0
-  info.cooperativeOffsetDeg = -4.5
-  info.monoTime = 1_234_567_890
-  info.combinedLimitErrorDeg = 3.75
-
-  restored = messaging.log_from_bytes(message.to_bytes())
-  restored_info = restored.starpilotCarControl.steeringLimitInfo
-  assert restored_info.valid
-  assert restored_info.modelLimitErrorDeg == 1.25
-  assert restored_info.resumeLimitErrorDeg == 0.5
-  assert restored_info.cooperativeLimitErrorDeg == 2.0
-  assert restored_info.cooperativeOffsetDeg == -4.5
-  assert restored_info.monoTime == 1_234_567_890
-  assert restored_info.combinedLimitErrorDeg == 3.75
-
-
-def test_active_cooperative_controller_reports_diagnostics():
-  controller = make_controller()
-  requested_angle = 20.0
-  now_nanos = 1_234_567_890
-
-  actuators, _ = run_frame(controller, requested_angle, torque=0.9, measured_angle=0.0, now_nanos=now_nanos)
-
-  info = get_limit_info(controller)
-  assert info.valid
-  assert info.monoTime == now_nanos
-  assert info.modelLimitErrorDeg == pytest.approx(abs(requested_angle - controller.apply_angle_last), abs=1e-5)
-  assert info.resumeLimitErrorDeg == pytest.approx(controller.coop_steer.resume_limit_error_deg, abs=1e-5)
-  assert info.cooperativeLimitErrorDeg == pytest.approx(controller.coop_steer.cooperative_limit_error_deg, abs=1e-5)
-  assert info.cooperativeOffsetDeg == pytest.approx(controller.coop_steer.cooperative_offset_deg, abs=1e-5)
-  assert info.combinedLimitErrorDeg == pytest.approx(
-    abs(requested_angle + info.cooperativeOffsetDeg - actuators.steeringAngleDeg), abs=1e-5,
-  )
-  assert info.modelLimitErrorDeg > 2.5
-  assert info.cooperativeOffsetDeg > 0.0
-  assert info.combinedLimitErrorDeg > 2.5
-  errors = (info.modelLimitErrorDeg, info.resumeLimitErrorDeg,
-            info.cooperativeLimitErrorDeg, info.combinedLimitErrorDeg)
-  assert all(math.isfinite(error) and error >= 0.0 for error in errors)
-
-
-def test_cooperative_offset_alone_does_not_become_limiter_error():
-  controller = make_controller()
-  actuators = None
-
-  for frame in range(200):
-    actuators, _ = run_frame(controller, torque=0.9, now_nanos=1_000_000_000 + frame * 10_000_000)
-
-  assert actuators is not None
-  info = get_limit_info(controller)
-  assert info.valid
-  assert info.cooperativeOffsetDeg > 2.5
-  assert info.modelLimitErrorDeg < 2.5
-  assert info.resumeLimitErrorDeg < 2.5
-  assert info.cooperativeLimitErrorDeg < 2.5
-  assert info.combinedLimitErrorDeg < 2.5
-
-
-def test_combined_error_keeps_two_same_direction_small_limits_visible():
-  controller = make_controller()
-  # Prime the resume limiter to the first-stage output for this literal input.
-  controller.coop_steer.reset_resume_state(-0.9954867959022522)
-
-  actuators, _ = run_frame(controller, -2.5, torque=-1.5, speed=12.5, measured_angle=0.0)
-
-  info = get_limit_info(controller)
-  assert info.modelLimitErrorDeg == pytest.approx(1.5045133, abs=1e-5)
-  assert info.resumeLimitErrorDeg == pytest.approx(0.0, abs=1e-5)
-  assert info.cooperativeLimitErrorDeg == pytest.approx(1.5045133, abs=1e-5)
-  assert info.modelLimitErrorDeg < 2.5
-  assert info.cooperativeLimitErrorDeg < 2.5
-  assert info.combinedLimitErrorDeg == pytest.approx(3.0090265, abs=1e-5)
-  assert info.combinedLimitErrorDeg > 2.5
-
-
-def test_intervening_100hz_frame_retains_matching_50hz_sample():
-  controller = make_controller()
-  first, _ = run_frame(controller, 8.0, torque=0.9, now_nanos=1_000_000_000)
-  first_info = controller.get_steering_limit_info()
-
-  second, _ = run_frame(controller, -40.0, torque=-1.5, now_nanos=1_010_000_000)
-
-  assert controller.get_steering_limit_info() == first_info
-  assert controller.get_steering_limit_info()["monoTime"] == 1_000_000_000
-
-
-def test_inactive_interval_clears_sample_until_next_steering_update():
-  controller = make_controller()
-  active, _ = run_frame(controller, 8.0, torque=0.9, now_nanos=1_000_000_000)
-  assert get_limit_info(controller).valid
-
-  inactive, _ = run_frame(controller, 8.0, torque=0.9, lat_active=False, now_nanos=1_010_000_000)
-  assert not get_limit_info(controller).valid
-  assert get_limit_info(controller).monoTime == 0
-
-  resumed, _ = run_frame(controller, 8.0, torque=0.9, now_nanos=1_020_000_000)
-  assert get_limit_info(controller).valid
-  assert get_limit_info(controller).monoTime == 1_020_000_000
-
-
-@pytest.mark.parametrize(("candidate", "cooperative", "steering_disengage"), (
-  (CAR.TESLA_MODEL_3, False, False),
-  (CAR.TESLA_MODEL_Y, True, False),
-  (CAR.TESLA_MODEL_3, True, True),
-))
-def test_diagnostics_invalid_when_not_in_supported_active_path(candidate, cooperative, steering_disengage):
-  controller = make_controller(candidate, cooperative)
-
-  actuators, _ = run_frame(controller, torque=1.5, steering_disengage=steering_disengage)
-
-  info = get_limit_info(controller)
-  assert not info.valid
-  assert info.monoTime == 0
-
-
-def test_actual_actuators_and_steering_can_match_pinned_baseline_fixture():
-  fixture = json.loads(BASELINE_FIXTURE.read_text())
-  assert fixture["metadata"] == {
-    "schemaVersion": 1,
-    "baselineSha": BASELINE_SHA,
-    "baselineSourceSha256": BASELINE_SOURCE_SHA256,
-    "frameCount": 386,
-  }
-
-  candidate = make_controller()
-  for expected in fixture["frames"]:
-    inputs = expected["input"]
-    candidate_actuators, candidate_can = run_frame(
-      candidate,
-      inputs["requestedAngleDeg"],
-      inputs["torqueNm"],
-      inputs["speedMps"],
-      inputs["measuredAngleDeg"],
-      inputs["latActive"],
-      inputs["steeringDisengage"],
-      inputs["nowNanos"],
-    )
-
-    assert legacy_actuator_dict(candidate_actuators) == expected["actuators"]
-    assert [[address, data.hex(), bus] for address, data, bus in candidate_can] == expected["can"]

opendbc_repo/opendbc/car/tesla/tests/test_hw1.py

@@ -1,134 +0,0 @@
-import pytest
-
-from cereal import custom
-
-from opendbc.can import CANPacker, CANParser
-from opendbc.car import Bus, structs
-from opendbc.car.fw_versions import match_fw_to_car
-from opendbc.car.tesla.carcontroller import CarController
-from opendbc.car.tesla.carstate import CarState
-from opendbc.car.tesla.fingerprints import FW_VERSIONS
-from opendbc.car.tesla.interface import CarInterface
-from opendbc.car.tesla.teslacan_legacy import TeslaCANRaven
-from opendbc.car.tesla.values import CANBUS, CAR, DBC, TeslaSafetyFlags
-
-
-def test_hw1_is_distinct_from_preap_and_does_not_change_can_buses():
-  preap = CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_PREAP)
-  hw1 = CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_HW1)
-
-  assert preap.safetyConfigs[0].safetyModel == structs.CarParams.SafetyModel.teslaPreAP
-  assert hw1.safetyConfigs[0].safetyModel == structs.CarParams.SafetyModel.tesla
-  assert hw1.safetyConfigs[0].safetyParam == TeslaSafetyFlags.FLAG_HW1.value
-  assert hw1.radarTimeStepDEPRECATED == pytest.approx(0.125)
-  assert preap.radarTimeStepDEPRECATED == pytest.approx(0.05)
-  assert CANBUS.party == 0 and CANBUS.autopilot_party == 2
-  assert CarState.get_can_parsers(hw1)[Bus.ap_pt].bus == 2
-  assert CarState.get_can_parsers(hw1)[Bus.chassis].message_states[0x211].ignore_alive
-  assert CarState.get_can_parsers(preap)[Bus.party].bus == 0
-
-
-def test_hw1_requires_explicit_alpha_long_for_acceleration():
-  ret = CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_HW1)
-  hw1 = CarInterface._get_params(ret, CAR.TESLA_MODEL_S_HW1, {0: {0x201: 5}}, [], True, False, False)
-  assert hw1.openpilotLongitudinalControl
-  assert hw1.safetyConfigs[0].safetyParam == TeslaSafetyFlags.FLAG_HW1.value | TeslaSafetyFlags.LONG_CONTROL.value
-
-
-def test_ap1_eps_fw_matches_hw1_without_matching_preap():
-  version = FW_VERSIONS[CAR.TESLA_MODEL_S_HW1][(structs.CarParams.Ecu.eps, 0x730, None)][0]
-  fw = structs.CarParams.CarFw(ecu=structs.CarParams.Ecu.eps, address=0x730, brand="tesla", fwVersion=version)
-  exact, candidates = match_fw_to_car([fw], "", log=False)
-  assert exact and candidates == {CAR.TESLA_MODEL_S_HW1}
-
-
-def test_hw1_display_and_cruise_bytes_do_not_change_preap_signals():
-  # Captured bus-0 DI_state (0x368) from the AP1 route: display 9 MPH, set speed 10 MPH.
-  parser = CANParser("tesla_can", [(0x368, 0)], 0)
-  parser.message_states[0x368].ignore_counter = True
-  frames = [(0x368, bytes.fromhex("84185e3009980a2d"), 0)]
-  parser.update([(1_000_000_000, frames)])
-  parser.update([(2_000_000_000, frames)])
-  state = parser.vl["DI_state"]
-  assert state["DI_hw1DigitalSpeed"] == 9
-  assert state["DI_hw1CruiseSet"] == 10
-  assert state["DI_digitalSpeed"] == 10
-  assert state["DI_cruiseSet"] != 10
-
-
-def test_hw1_packer_emits_bus_zero_with_matching_checksums():
-  packer = CANPacker(DBC[CAR.TESLA_MODEL_S_HW1][Bus.party])
-  tesla_can = TeslaCANRaven({CANBUS.party: packer})
-  for msg, expected_addr, checksum_index in (
-    (tesla_can.create_steering_control(0, 0, False), 0x488, 3),
-    (tesla_can.create_longitudinal_command(13, 0, 0, 10, False, False), 0x2b9, 7),
-  ):
-    addr, data, bus = msg
-    assert addr == expected_addr and bus == 0
-    assert data[checksum_index] == TeslaCANRaven.checksum(addr, data[:checksum_index])
-
-
-def test_hw1_cancel_clears_acceleration_and_does_not_request_max_speed():
-  cp = CarInterface._get_params(CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_HW1),
-                                CAR.TESLA_MODEL_S_HW1, {0: {}}, [], True, False, False)
-  controller = CarController(DBC[CAR.TESLA_MODEL_S_HW1], cp)
-  state = CarState(cp, custom.StarPilotCarParams.new_message())
-  state.out.vEgo = 10.
-  cc = structs.CarControl.new_message()
-  cc.longActive = True
-  cc.cruiseControl.cancel = True
-  cc.actuators.accel = 2.
-  _, sends = controller.update(cc.as_reader(), state, 0, None)
-  _, data, bus = next(msg for msg in sends if msg[0] == 0x2b9)
-  assert bus == 0
-  parser = CANParser("tesla_can", [(0x2b9, 0)], 0)
-  parser.update([(1_000_000_000, [(0x2b9, data, bus)])])
-  decoded = parser.vl["DAS_control"]
-  assert decoded["DAS_accState"] == 13
-  assert decoded["DAS_accelMin"] == pytest.approx(0, abs=0.05)
-  assert decoded["DAS_accelMax"] == pytest.approx(0, abs=0.05)
-  assert decoded["DAS_setSpeed"] != 200
-
-
-def test_hw1_carstate_uses_ap1_powertrain_and_chassis():
-  cp = CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_HW1)
-  parsers = CarState.get_can_parsers(cp)
-  frames = [
-    (0x155, bytes.fromhex("000000000005e308"), 0),  # ESP speed 15.07 kph
-    (0x368, bytes.fromhex("84185e3009980a2d"), 0),
-    (0x201, bytes.fromhex("5444008df2"), 0),
-  ]
-  for parser in parsers.values():
-    for addr in (0x155, 0x368, 0x201):
-      _ = parser.vl[addr]
-      parser.message_states[addr].ignore_counter = True
-      parser.message_states[addr].ignore_checksum = True
-    parser.update([(1_000_000_000, frames)])
-    parser.update([(2_000_000_000, frames)])
-  state = CarState(cp, custom.StarPilotCarParams.new_message())
-  ret, _ = state.update(parsers, None)
-  assert not ret.cruiseState.enabled
-  assert ret.cruiseState.speed == pytest.approx(10 * 0.44704)
-  assert ret.vEgoRaw == pytest.approx(15.07 / 3.6)
-  assert not ret.seatbeltUnlatched
-
-  # A stale belt frame cannot allow an engagement indefinitely.
-  for parser in parsers.values():
-    parser.update([(4_000_000_000, [])])
-  ret, _ = state.update(parsers, None)
-  assert ret.seatbeltUnlatched
-
-
-def test_hw1_can_use_rcm_buckle_when_sdm1_is_absent():
-  cp = CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_HW1)
-  parsers = CarState.get_can_parsers(cp)
-  packer = CANPacker(DBC[CAR.TESLA_MODEL_S_HW1][Bus.chassis])
-  addr, data, bus = packer.make_can_msg("RCM_status", 0, {"RCM_buckleDriverStatus": 1})
-  assert addr == 0x211 and bus == 0
-  frames = [(addr, data, bus)]
-  for parser in parsers.values():
-    _ = parser.vl["RCM_status"]
-    parser.update([(1_000_000_000, frames)])
-  state = CarState(cp, custom.StarPilotCarParams.new_message())
-  out, _ = state.update(parsers, None)
-  assert not out.seatbeltUnlatched

opendbc_repo/opendbc/car/tesla/values.py

@@ -70,16 +70,6 @@ class CAR(Platforms):
       Bus.radar: 'tesla_radar_bosch_generated',
     },
   )
-  TESLA_MODEL_S_HW1 = TeslaPlatformConfig(
-    [CarDocs("Tesla Model S (with HW1) 2014-16", "All", support_type=SupportType.COMMUNITY, support_link="#community")],
-    CarSpecs(mass=2100., wheelbase=2.960, steerRatio=15.0),
-    {
-      Bus.chassis: 'tesla_can',
-      Bus.party: 'tesla_can',
-      Bus.pt: 'tesla_can',
-      Bus.radar: 'tesla_radar_bosch_generated',
-    },
-  )
 
 
 FW_QUERY_CONFIG = FwQueryConfig(
@@ -135,14 +125,10 @@ class CarControllerParams:
   ACCEL_MAX = 2.0    # m/s^2
   ACCEL_MIN = -3.48  # m/s^2
   JERK_LIMIT_MAX = 4.9  # m/s^3, ACC faults at 5.0
-  JERK_LIMIT_MIN = -4.9  # m/s^3, ACC faults at 5.0
-  JERK_RAMP_RATE = JERK_LIMIT_MAX * 0.002
 
 
 class TeslaSafetyFlags(IntFlag):
   LONG_CONTROL = 1
-  FLAG_EXTERNAL_PANDA = 4
-  FLAG_HW1 = 8
   COOP_STEERING = 256
 
 
@@ -171,7 +157,5 @@ class CruiseButtons:
 
 DBC = CAR.create_dbc_map()
 
-LEGACY_CARS = (CAR.TESLA_MODEL_S_HW1,)
-
 STEER_THRESHOLD = 1
 STEER_DISENGAGE_THRESHOLD = 5.0

opendbc_repo/opendbc/car/tests/routes.py

@@ -35,8 +35,6 @@ non_tested_cars = [
   GM.CHEVROLET_MALIBU_ASCM,
   GM.CHEVROLET_MALIBU_SDGM,
   GM.CHEVROLET_SUBURBAN,
-  GM.CHEVROLET_SUBURBAN_ASCM,
-  GM.CHEVROLET_SUBURBAN_CAMERA,
   GM.CHEVROLET_TRAX,
   GM.CHEVROLET_VOLT_ASCM,
   GM.CHEVROLET_VOLT_CAMERA,
@@ -110,7 +108,6 @@ non_tested_cars = [
   TOYOTA.TOYOTA_RAV4H,
 
   # No recorded routes yet
-  VOLVO.VOLVO_V40,
   VOLVO.VOLVO_XC40_RECHARGE,
   VOLVO.VOLVO_S60_RECHARGE,
   VOLVO.POLESTAR_2,

opendbc_repo/opendbc/car/tests/test_can_fingerprint.py

@@ -2,7 +2,7 @@ from types import SimpleNamespace
 
 import pytest
 from opendbc.car.can_definitions import CanData
-from opendbc.car.car_helpers import FRAME_FINGERPRINT, _apply_starpilot_access_policy, _get_gm_stored_candidate_fallback, _normalize_gm_suburban_camera_candidate, can_fingerprint
+from opendbc.car.car_helpers import FRAME_FINGERPRINT, _apply_starpilot_access_policy, _get_gm_stored_candidate_fallback, can_fingerprint
 from opendbc.car.fingerprints import _FINGERPRINTS as FINGERPRINTS
 from opendbc.car.gm.values import CAR as GM
 from opendbc.car.toyota.values import CAR as TOYOTA
@@ -116,14 +116,3 @@ class TestCanFingerprint:
     candidate = _apply_starpilot_access_policy("CHEVROLET_VOLT_CC", SimpleNamespace(block_user=True))
 
     assert candidate == "CHEVROLET_VOLT_CC"
-
-  def test_gm_suburban_camera_variant_uses_vin_and_camera_bus_signature(self):
-    fingerprints = {
-      0: {190: 6, 201: 8, 209: 7, 211: 2, 241: 6, 304: 1, 320: 3},
-      2: {0x24b: 8, 0x64b: 8},
-    }
-
-    assert _normalize_gm_suburban_camera_candidate(None, fingerprints, "1GNSKJKJXKR148371") == "CHEVROLET_SUBURBAN_CAMERA"
-    assert _normalize_gm_suburban_camera_candidate("GMC_YUKON", fingerprints, "1GNSKJKJXKR148371") == "CHEVROLET_SUBURBAN_CAMERA"
-    assert _normalize_gm_suburban_camera_candidate(None, fingerprints, "1GNSKCKC5KR255194") is None
-    assert _normalize_gm_suburban_camera_candidate(None, {0: fingerprints[0], 2: {0x320: 3}}, "1GNSKJKJXKR148371") is None

opendbc_repo/opendbc/car/torque_data/override.toml

@@ -26,7 +26,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "TESLA_MODEL_3" = [nan, 2.5, nan]
 "TESLA_MODEL_Y" = [nan, 2.5, nan]
 "TESLA_MODEL_X" = [nan, 2.5, nan]
-"TESLA_MODEL_S_HW1" = [nan, 2.5, nan]
 
 # Guess
 "VOLKSWAGEN_ID3_MK1" = [nan, 2.5, nan]
@@ -146,7 +145,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "PORSCHE_MACAN_MK1" = [2.0, 2.0, 0.2]
 "VOLVO_XC40_RECHARGE" = [1.5, 1.5, 0.1]
 "VOLVO_S60_RECHARGE" = [1.5, 1.5, 0.1]
-"VOLVO_V40" = [1.5, 1.5, 0.1]
 
 # Dashcam or fallback configured as ideal car
 "MOCK" = [10.0, 10, 0.0]

opendbc_repo/opendbc/car/torque_data/substitute.toml

@@ -90,8 +90,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CHEVROLET_MALIBU" = "CHEVROLET_VOLT"
 "CHEVROLET_MALIBU_ASCM" = "CHEVROLET_VOLT"
 "CHEVROLET_MALIBU_SDGM" = "CHEVROLET_VOLT"
-"CHEVROLET_SUBURBAN_ASCM" = "CHEVROLET_SUBURBAN"
-"CHEVROLET_SUBURBAN_CAMERA" = "CHEVROLET_SUBURBAN"
 "HOLDEN_ASTRA" = "CHEVROLET_VOLT"
 "CHEVROLET_VOLT_CC" = "CHEVROLET_VOLT"
 "CHEVROLET_VOLT_CAMERA" = "CHEVROLET_VOLT"

opendbc_repo/opendbc/car/toyota/carcontroller.py

@@ -11,7 +11,7 @@ from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.toyota import toyotacan
 from opendbc.car.toyota.values import CAR, MIN_ACC_SPEED, NO_STOP_TIMER_CAR, PEDAL_TRANSITION, TSS2_CAR, \
                                         CarControllerParams, ToyotaFlags, \
-                                        UNSUPPORTED_DSU_CAR, LEGACY_PRIUS_CAR, TOYOTA_AUTO_HOLD_CARS, TOYOTA_AUTO_HOLD_AEB_CARS
+                                        UNSUPPORTED_DSU_CAR, LEGACY_PRIUS_CAR, TOYOTA_AUTO_HOLD_CARS
 from opendbc.can import CANPacker
 
 Ecu = structs.CarParams.Ecu
@@ -40,14 +40,11 @@ TOYOTA_NO_LEAD_CRUISE_SIGN_FLIP_MIN_SET_SPEED_ERROR = 0.35  # m/s
 TOYOTA_RAV4_LAUNCH_PEDAL_BLEND_SPEED = 5.0  # m/s
 TOYOTA_RAV4_LAUNCH_PEDAL_SCALE = 0.11
 TOYOTA_RAV4_LOW_SPEED_PEDAL_SCALE = 0.23
-TOYOTA_AUTO_HOLD_ACCEL = -1.0
-TOYOTA_AUTO_HOLD_ACTIVATION_FRAMES = 100
 
 # LKA limits
 # EPS faults if you apply torque while the steering rate is above 100 deg/s for too long
 MAX_STEER_RATE = 100  # deg/s
-MAX_STEER_RATE_FRAMES = 17  # tx control frames needed before torque can be cut
-COROLLA_MAX_STEER_RATE = 80
+MAX_STEER_RATE_FRAMES = 18  # tx control frames needed before torque can be cut
 
 # EPS allows user torque above threshold for 50 frames before permanently faulting
 MAX_USER_TORQUE = 500
@@ -78,14 +75,6 @@ def should_bypass_toyota_long_pid(CP, starpilot_toggles=None) -> bool:
   ) or highlander_sdsu)
 
 
-def get_toyota_lat_active(requested_active: bool, steering_torque: float) -> bool:
-  return requested_active and abs(steering_torque) < MAX_USER_TORQUE
-
-
-def get_toyota_steer_rate_limit(car_fingerprint) -> int:
-  return COROLLA_MAX_STEER_RATE if car_fingerprint == CAR.TOYOTA_COROLLA_TSS2 else MAX_STEER_RATE
-
-
 def supports_toyota_auto_hold(CP, auto_hold_enabled: bool) -> bool:
   return (
     auto_hold_enabled and
@@ -253,7 +242,6 @@ class CarController(CarControllerBase):
     self.standstill_req = False
     self.permit_braking = True
     self.steer_rate_counter = 0
-    self.steer_rate_limit = get_toyota_steer_rate_limit(self.CP.carFingerprint)
     self.distance_button = 0
 
     # *** start long control state ***
@@ -321,22 +309,8 @@ class CarController(CarControllerBase):
 
     self.last_standstill = CS.out.standstill
 
-  def update_auto_hold_state(self, CS: structs.CarState, cancel_requested: bool = False,
-                             activation_frames: int = TOYOTA_AUTO_HOLD_ACTIVATION_FRAMES):
-    brake_hold_allowed = (not cancel_requested and CS.out.standstill and CS.out.cruiseState.available and
-                          not CS.out.gasPressed and not CS.out.cruiseState.enabled and
-                          CS.out.gearShifter not in (PARK, REVERSE))
-
-    if brake_hold_allowed and not self.brake_hold_active and CS.out.brakePressed:
-      self._brake_hold_counter += 1
-      self.brake_hold_active = self._brake_hold_counter > activation_frames
-    elif not brake_hold_allowed:
-      self._brake_hold_counter = 0
-      self.brake_hold_active = False
-
-    return self.brake_hold_active
-
   def create_auto_brake_hold_messages(self, CS: structs.CarState, brake_hold_allowed_timer: int = 100):
+    can_sends = []
     brake_hold_allowed = (CS.out.standstill and CS.out.cruiseState.available and
                           not CS.out.gasPressed and not CS.out.cruiseState.enabled and
                           CS.out.gearShifter not in (PARK, REVERSE))
@@ -349,19 +323,16 @@ class CarController(CarControllerBase):
       self.brake_hold_active = False
 
     if self.frame % 2 == 0:
-      return [toyotacan.create_brake_hold_command(self.packer, self.frame, CS.pre_collision_2, self.brake_hold_active)]
-    return []
+      can_sends.append(toyotacan.create_brake_hold_command(self.packer, self.frame, CS.pre_collision_2, self.brake_hold_active))
 
-  def reset_auto_hold_state(self):
-    self._brake_hold_counter = 0
-    self.brake_hold_active = False
+    return can_sends
 
   def update(self, CC, CS, now_nanos, starpilot_toggles):
     actuators = CC.actuators
     stopping = actuators.longControlState == LongCtrlState.stopping
     hud_control = CC.hudControl
     pcm_cancel_cmd = CC.cruiseControl.cancel
-    lat_active = get_toyota_lat_active(CC.latActive, CS.out.steeringTorque)
+    lat_active = CC.latActive and abs(CS.out.steeringTorque) < MAX_USER_TORQUE
 
     if len(CC.orientationNED) == 3:
       self.pitch.update(CC.orientationNED[1])
@@ -388,7 +359,7 @@ class CarController(CarControllerBase):
 
     # >100 degree/sec steering fault prevention
     self.steer_rate_counter, apply_steer_req = common_fault_avoidance(
-      abs(CS.out.steeringRateDeg) >= self.steer_rate_limit, lat_active,
+      abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE, lat_active,
       self.steer_rate_counter, MAX_STEER_RATE_FRAMES,
     )
 
@@ -452,12 +423,10 @@ class CarController(CarControllerBase):
 
     self._update_standstill_request(CC, CS, actuators, starpilot_toggles)
     if supports_toyota_auto_hold(self.CP, getattr(starpilot_toggles, "toyota_auto_hold", False)):
-      if self.CP.carFingerprint in TOYOTA_AUTO_HOLD_AEB_CARS:
-        can_sends.extend(self.create_auto_brake_hold_messages(CS))
-      else:
-        self.update_auto_hold_state(CS, pcm_cancel_cmd)
-    else:
-      self.reset_auto_hold_state()
+      can_sends.extend(self.create_auto_brake_hold_messages(CS))
+    elif self.brake_hold_active:
+      self._brake_hold_counter = 0
+      self.brake_hold_active = False
 
     interceptor_gas_cmd = self._compute_interceptor_gas_cmd(CC, CS)
 
@@ -565,11 +534,6 @@ class CarController(CarControllerBase):
 
         pcm_accel_cmd = float(np.clip(pcm_accel_cmd, self.params.ACCEL_MIN, self.params.ACCEL_MAX))
 
-        if self.brake_hold_active and self.CP.carFingerprint not in TOYOTA_AUTO_HOLD_AEB_CARS:
-          pcm_accel_cmd = TOYOTA_AUTO_HOLD_ACCEL
-          self.permit_braking = True
-          self.standstill_req = True
-
         main_accel_cmd = 0. if self.CP.flags & ToyotaFlags.SECOC.value else pcm_accel_cmd
         can_sends.append(toyotacan.create_accel_command(self.packer, main_accel_cmd, pcm_cancel_cmd, self.permit_braking, self.standstill_req, lead,
                                                         CS.acc_type, fcw_alert, self.distance_button,

opendbc_repo/opendbc/car/toyota/carstate.py

@@ -9,7 +9,6 @@ from opendbc.car.interfaces import CarStateBase
 from opendbc.car.toyota.values import ToyotaFlags, ToyotaStarPilotFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
                                                   TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR, \
                                                   SECOC_CAR, LEGACY_PRIUS_CAR
-from opendbc.safety import ALTERNATIVE_EXPERIENCE
 
 ButtonType = structs.CarState.ButtonEvent.Type
 SteerControlType = structs.CarParams.SteerControlType
@@ -91,10 +90,7 @@ class CarState(CarStateBase):
     self.has_can_filter = self.FPCP.flags & ToyotaStarPilotFlags.RADAR_CAN_FILTER.value
     self.has_SDSU = self.FPCP.flags & ToyotaStarPilotFlags.SMART_DSU.value
     self.has_ZSS = self.FPCP.flags & ToyotaStarPilotFlags.ZSS.value
-    self.auto_brake_hold = bool(
-      self.CP.flags & ToyotaFlags.AUTO_BRAKE_HOLD.value and
-      getattr(self.CP, "alternativeExperience", 0) & ALTERNATIVE_EXPERIENCE.ALLOW_AEB
-    )
+    self.auto_brake_hold = bool(self.CP.flags & ToyotaFlags.AUTO_BRAKE_HOLD.value)
     self.pre_collision_2 = {}
 
   def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
@@ -318,8 +314,7 @@ class CarState(CarStateBase):
     if CP.carFingerprint in DISTANCE_BUTTON_CAR:
       pt_messages.append(("PCM_CRUISE_4", 1))
 
-    if (CP.flags & ToyotaFlags.AUTO_BRAKE_HOLD.value and
-        getattr(CP, "alternativeExperience", 0) & ALTERNATIVE_EXPERIENCE.ALLOW_AEB):
+    if CP.flags & ToyotaFlags.AUTO_BRAKE_HOLD.value:
       cam_messages.append(("PRE_COLLISION_2", 50))
 
     return {

opendbc_repo/opendbc/car/toyota/interface.py

@@ -4,8 +4,7 @@ from opendbc.car.toyota.carcontroller import CarController
 from opendbc.car.toyota.radar_interface import RadarInterface
 from opendbc.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
                                                   MIN_ACC_SPEED, EPS_SCALE, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR, \
-                                                  ToyotaSafetyFlags, LEGACY_PRIUS_CAR, TOYOTA_AUTO_HOLD_CARS, \
-                                                  TOYOTA_AUTO_HOLD_AEB_CARS
+                                                  ToyotaSafetyFlags, LEGACY_PRIUS_CAR, TOYOTA_AUTO_HOLD_CARS
 from opendbc.car.disable_ecu import disable_ecu
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
@@ -165,10 +164,8 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs[0].safetyParam |= ToyotaSafetyFlags.GAS_INTERCEPTOR.value
 
     toyota_auto_hold = Params(return_defaults=True).get_bool("ToyotaAutoHold")
-    if toyota_auto_hold and ret.openpilotLongitudinalControl and candidate in TOYOTA_AUTO_HOLD_CARS:
-      ret.alternativeExperience |= (ALTERNATIVE_EXPERIENCE.ALLOW_AEB
-                                    if candidate in TOYOTA_AUTO_HOLD_AEB_CARS
-                                    else ALTERNATIVE_EXPERIENCE.TOYOTA_AUTO_HOLD)
+    if toyota_auto_hold and candidate in TOYOTA_AUTO_HOLD_CARS:
+      ret.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALLOW_AEB
       ret.flags |= ToyotaFlags.AUTO_BRAKE_HOLD.value
 
     if not ret.openpilotLongitudinalControl:

opendbc_repo/opendbc/car/toyota/tests/test_toyota.py

@@ -6,14 +6,11 @@ from hypothesis import given, settings, strategies as st
 from opendbc.car import Bus, structs
 from opendbc.can import CANPacker, CANParser
 from opendbc.car.structs import CarParams
-from opendbc.car.lateral import common_fault_avoidance
 from opendbc.car.fw_versions import build_fw_dict, match_fw_to_car
 from opendbc.car.toyota import toyotacan
 from opendbc.car.toyota.carcontroller import CarController, get_camry_hybrid_feedforward, get_long_tune, get_prius_feedforward, \
                                              get_prius_positive_feedforward_scale, \
                                              get_rav4_interceptor_pedal_scale, \
-                                             get_toyota_lat_active, get_toyota_steer_rate_limit, \
-                                             MAX_STEER_RATE, MAX_STEER_RATE_FRAMES, MAX_USER_TORQUE, \
                                              limit_interceptor_pcm_accel, \
                                              limit_interceptor_stopping_accel, limit_no_lead_cruise_sign_flip, \
                                              limit_prius_stopping_accel, should_bypass_toyota_long_pid, supports_toyota_auto_hold, \
@@ -25,7 +22,6 @@ from opendbc.car.toyota.radar_interface import RadarInterface, TSSP_RADAR_EGO_SP
 from opendbc.car.toyota.values import CAR, DBC, MIN_ACC_SPEED, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, SECOC_CAR, \
                                                   FW_QUERY_CONFIG, PLATFORM_CODE_ECUS, FUZZY_EXCLUDED_PLATFORMS, \
                                                   ToyotaFlags, ToyotaSafetyFlags, ToyotaStarPilotFlags, TOYOTA_AUTO_HOLD_CARS, \
-                                                  TOYOTA_AUTO_HOLD_AEB_CARS, \
                                                   get_platform_codes
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.common.params import Params
@@ -200,8 +196,7 @@ class TestToyotaInterfaces:
       params.put_bool("ToyotaAutoHold", True)
       car_params = CarInterface.get_params(
         candidate,
-        {bus: ({0x2FF: 8} if candidate in (CAR.TOYOTA_RAV4, CAR.TOYOTA_RAV4H) and bus == 0 else {})
-         for bus in range(8)},
+        {bus: {} for bus in range(8)},
         [],
         alpha_long=False,
         is_release=False,
@@ -212,17 +207,12 @@ class TestToyotaInterfaces:
       params.remove("ToyotaAutoHold")
 
     assert car_params.flags & ToyotaFlags.AUTO_BRAKE_HOLD.value
-    if candidate in TOYOTA_AUTO_HOLD_AEB_CARS:
-      assert car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.ALLOW_AEB
-      assert not car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.TOYOTA_AUTO_HOLD
-    else:
-      assert car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.TOYOTA_AUTO_HOLD
-      assert not car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.ALLOW_AEB
+    assert car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.ALLOW_AEB
 
     can_parsers = CarState.get_can_parsers(car_params)
     car_state = CarState(car_params, SimpleNamespace(flags=0))
     car_state.update(can_parsers, SimpleNamespace(cluster_offset=1.0))
-    assert (0x344 in can_parsers[Bus.cam].vl) == (candidate in TOYOTA_AUTO_HOLD_AEB_CARS)
+    assert "PRE_COLLISION_2" in can_parsers[Bus.cam].vl
 
   @pytest.mark.parametrize("candidate", [CAR.TOYOTA_CAMRY_TSS2, CAR.TOYOTA_RAV4, CAR.TOYOTA_RAV4H])
   def test_auto_hold_is_disabled_by_default(self, candidate):
@@ -239,7 +229,7 @@ class TestToyotaInterfaces:
     )
 
     assert not car_params.flags & ToyotaFlags.AUTO_BRAKE_HOLD.value
-    assert not car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.TOYOTA_AUTO_HOLD
+    assert not car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.ALLOW_AEB
 
   def test_prius_openpilot_long_uses_hybrid_long_defaults(self):
     car_params = CarInterface.get_params(
@@ -742,44 +732,6 @@ class TestToyotaFingerprint:
 
 
 class TestToyotaCarController:
-  @pytest.mark.parametrize("driver_torque", [-191, -117, -99, 99, 117, 191])
-  def test_toyota_assisting_driver_keeps_lateral_active(self, driver_torque):
-    assert get_toyota_lat_active(True, driver_torque)
-
-  @pytest.mark.parametrize("driver_torque", [-MAX_USER_TORQUE, MAX_USER_TORQUE, MAX_USER_TORQUE + 1])
-  def test_toyota_high_driver_torque_still_disables_lateral(self, driver_torque):
-    assert not get_toyota_lat_active(True, driver_torque)
-
-  def test_toyota_inactive_request_stays_inactive(self):
-    assert not get_toyota_lat_active(False, 0)
-
-  def test_toyota_assisting_driver_retains_rate_fault_protection(self):
-    counter = 0
-    requests = []
-    for _ in range(36):
-      counter, request = common_fault_avoidance(
-        150 >= MAX_STEER_RATE, get_toyota_lat_active(True, 117), counter, MAX_STEER_RATE_FRAMES,
-      )
-      requests.append(request)
-    assert requests == ([True] * 17 + [False]) * 2
-
-  @pytest.mark.parametrize("candidate", list(CAR))
-  def test_steer_rate_margin_is_corolla_only(self, candidate):
-    expected = 80 if candidate == CAR.TOYOTA_COROLLA_TSS2 else MAX_STEER_RATE
-    assert get_toyota_steer_rate_limit(candidate) == expected
-
-  @pytest.mark.parametrize("direction", [-1, 1])
-  def test_corolla_rate_margin_preserves_request_spacing(self, direction):
-    counter = 0
-    requests = []
-    for rate in [0] * 30 + [90 * direction] * 36 + [0] * 30:
-      counter, request = common_fault_avoidance(
-        abs(rate) >= get_toyota_steer_rate_limit(CAR.TOYOTA_COROLLA_TSS2),
-        get_toyota_lat_active(True, 117 * direction), counter, MAX_STEER_RATE_FRAMES,
-      )
-      requests.append(request)
-    assert requests == [True] * 30 + ([True] * 17 + [False]) * 2 + [True] * 30
-
   @staticmethod
   def _make_controller(*, standstill_req=False, last_standstill=False):
     controller = CarController.__new__(CarController)
@@ -792,8 +744,6 @@ class TestToyotaCarController:
     controller.standstill_req = standstill_req
     controller.last_standstill = last_standstill
     controller.accel = 0.0
-    controller.brake_hold_active = False
-    controller._brake_hold_counter = 0
     return controller
 
   @staticmethod
@@ -856,49 +806,9 @@ class TestToyotaCarController:
   def test_toyota_auto_hold_latches_after_brake_press_until_gas(self):
     controller = self._make_controller()
     controller.packer = CANPacker(DBC[CAR.TOYOTA_CAMRY_TSS2][Bus.pt])
-
-    cs = SimpleNamespace(
-      out=SimpleNamespace(
-        standstill=True,
-        cruiseState=SimpleNamespace(available=True, enabled=False),
-        gasPressed=False,
-        brakePressed=True,
-        gearShifter=structs.CarState.GearShifter.drive,
-      ),
-    )
-
-    controller.update_auto_hold_state(cs, activation_frames=0)
-    assert controller.brake_hold_active
-
-    cs.out.brakePressed = False
-    controller.update_auto_hold_state(cs, activation_frames=0)
-    assert controller.brake_hold_active
-
-    cs.out.gasPressed = True
-    controller.update_auto_hold_state(cs, activation_frames=0)
-    assert not controller.brake_hold_active
-
-  def test_toyota_auto_hold_does_not_trigger_without_brake_press(self):
-    controller = self._make_controller()
-    controller.packer = CANPacker(DBC[CAR.TOYOTA_CAMRY_TSS2][Bus.pt])
-    cs = SimpleNamespace(
-      out=SimpleNamespace(
-        standstill=True,
-        cruiseState=SimpleNamespace(available=True, enabled=False),
-        gasPressed=False,
-        brakePressed=False,
-        gearShifter=structs.CarState.GearShifter.drive,
-      ),
-    )
-
-    controller.update_auto_hold_state(cs, activation_frames=0)
-    assert not controller.brake_hold_active
-
-  def test_camry_auto_hold_uses_legacy_aeb_brake_path(self):
-    controller = self._make_controller()
-    controller.CP.carFingerprint = CAR.TOYOTA_CAMRY_TSS2
-    controller.packer = CANPacker(DBC[CAR.TOYOTA_CAMRY_TSS2][Bus.pt])
     controller.frame = 0
+    controller.brake_hold_active = False
+    controller._brake_hold_counter = 0
 
     cs = SimpleNamespace(
       out=SimpleNamespace(
@@ -911,13 +821,38 @@ class TestToyotaCarController:
       pre_collision_2={},
     )
 
-    can_sends = controller.create_auto_brake_hold_messages(cs, brake_hold_allowed_timer=0)
-    parser = CANParser(DBC[CAR.TOYOTA_CAMRY_TSS2][Bus.pt], [("PRE_COLLISION_2", 0)], 0)
-    parser.update([(1, can_sends)])
-
+    controller.create_auto_brake_hold_messages(cs, brake_hold_allowed_timer=0)
     assert controller.brake_hold_active
-    assert parser.vl["PRE_COLLISION_2"]["DSS1GDRV"] == -1.0
-    assert parser.vl["PRE_COLLISION_2"]["PBRTRGR"] == 1
+
+    cs.out.brakePressed = False
+    controller.frame = 2
+    controller.create_auto_brake_hold_messages(cs, brake_hold_allowed_timer=0)
+    assert controller.brake_hold_active
+
+    cs.out.gasPressed = True
+    controller.frame = 4
+    controller.create_auto_brake_hold_messages(cs, brake_hold_allowed_timer=0)
+    assert not controller.brake_hold_active
+
+  def test_toyota_auto_hold_does_not_trigger_without_brake_press(self):
+    controller = self._make_controller()
+    controller.packer = CANPacker(DBC[CAR.TOYOTA_CAMRY_TSS2][Bus.pt])
+    controller.frame = 0
+    controller.brake_hold_active = False
+    controller._brake_hold_counter = 0
+    cs = SimpleNamespace(
+      out=SimpleNamespace(
+        standstill=True,
+        cruiseState=SimpleNamespace(available=True, enabled=False),
+        gasPressed=False,
+        brakePressed=False,
+        gearShifter=structs.CarState.GearShifter.drive,
+      ),
+      pre_collision_2={},
+    )
+
+    controller.create_auto_brake_hold_messages(cs, brake_hold_allowed_timer=0)
+    assert not controller.brake_hold_active
 
   def test_prius_resume_request_releases_standstill_latch(self):
     controller = self._make_controller(standstill_req=True, last_standstill=True)
@@ -1056,9 +991,12 @@ class TestToyotaCarController:
     assert parser.can_valid
     assert parser.vl["ACC_CONTROL"]["ALLOW_LONG_PRESS"] == 1
 
-  def test_auto_hold_uses_acc_control_brake_path(self):
+  def test_auto_brake_hold_sends_modified_pre_collision_after_timer(self):
     controller = self._make_controller()
     controller.packer = CANPacker(DBC[CAR.TOYOTA_CAMRY_TSS2][Bus.pt])
+    controller.frame = 0
+    controller.brake_hold_active = False
+    controller._brake_hold_counter = 0
     cs = SimpleNamespace(
       out=SimpleNamespace(
         standstill=True,
@@ -1067,19 +1005,16 @@ class TestToyotaCarController:
         brakePressed=True,
         gearShifter=structs.CarState.GearShifter.drive,
       ),
+      pre_collision_2={},
     )
 
-    controller.update_auto_hold_state(cs, activation_frames=0)
-    can_sends = [toyotacan.create_accel_command(
-      controller.packer, -1.0, False, True, True, False, 1, False, 0, False,
-    )]
+    can_sends = controller.create_auto_brake_hold_messages(cs, brake_hold_allowed_timer=0)
 
-    parser = CANParser(DBC[CAR.TOYOTA_CAMRY_TSS2][Bus.pt], [("ACC_CONTROL", 0)], 0)
+    parser = CANParser(DBC[CAR.TOYOTA_CAMRY_TSS2][Bus.pt], [("PRE_COLLISION_2", 0)], 0)
     parser.update([(1, can_sends)])
     assert controller.brake_hold_active
-    assert parser.vl["ACC_CONTROL"]["ACCEL_CMD"] == -1.0
-    assert parser.vl["ACC_CONTROL"]["PERMIT_BRAKING"] == 1
-    assert parser.vl["ACC_CONTROL"]["RELEASE_STANDSTILL"] == 0
+    assert parser.vl["PRE_COLLISION_2"]["DSS1GDRV"] == -1.0
+    assert parser.vl["PRE_COLLISION_2"]["PBRTRGR"] == 1
 
   def test_interceptor_stop_and_go_holds_small_launch_at_standstill(self):
     controller = self._make_controller()

opendbc_repo/opendbc/car/toyota/values.py

@@ -629,10 +629,6 @@ TOYOTA_AUTO_HOLD_CARS = (TSS2_CAR - RADAR_ACC_CAR - SECOC_CAR) | {
   CAR.TOYOTA_RAV4H,
 }
 
-# The Camry uses the legacy camera AEB replacement for Auto Hold. Other
-# supported Toyota models use the ACC_CONTROL hold request.
-TOYOTA_AUTO_HOLD_AEB_CARS = {CAR.TOYOTA_CAMRY_TSS2}
-
 # no resume button press required
 NO_STOP_TIMER_CAR = CAR.with_flags(ToyotaFlags.NO_STOP_TIMER)
 

opendbc_repo/opendbc/car/volkswagen/mqbcan.py

@@ -185,29 +185,6 @@ def volkswagen_mqb_meb_checksum(address: int, sig, d: bytearray) -> int:
   return crc ^ 0xFF
 
 
-def volkswagen_mqb_meb_dyn_len_checksum(address: int, sig, d: bytearray, length: int, const: list[int]) -> int:
-  d = d[:length]
-  crc = 0xFF
-  for i in range(1, len(d)):
-    crc ^= d[i]
-    crc = CRC8H2F[crc]
-  counter = d[1] & 0x0F
-  crc ^= const[counter]
-  crc = CRC8H2F[crc]
-  return crc ^ 0xFF
-
-
-def volkswagen_meb_alt_crc_checksum(address: int, sig, d: bytearray) -> int:
-  entry = VOLKSWAGEN_MEB_ALT_CRC_CONSTANTS.get(address)
-  if entry:
-    length, const = entry
-    checksum = volkswagen_mqb_meb_dyn_len_checksum(address, sig, d, length, const)
-    if checksum == d[0]:
-      return checksum
-
-  return volkswagen_mqb_meb_checksum(address, sig, d)
-
-
 def xor_checksum(address: int, sig, d: bytearray, initial_value: int = 0) -> int:
   checksum = initial_value
   checksum_byte = sig.start_bit // 8
@@ -266,8 +243,6 @@ VOLKSWAGEN_MQB_MEB_CONSTANTS: dict[int, list[int]] = {
             0xC5, 0x91, 0x0F, 0x27, 0x34, 0x04, 0x7F, 0x02],  # EA_02
     0x20A: [0x9D, 0xE8, 0x36, 0xA1, 0xCA, 0x3B, 0x1D, 0x33,
             0xE0, 0xD5, 0xBB, 0x5F, 0xAE, 0x3C, 0x31, 0x9F],  # EML_06
-    0x25D: [0xDA, 0x6B, 0x0E, 0xB2, 0x78, 0xBD, 0x5A, 0x81,
-            0x7B, 0xD6, 0x41, 0x39, 0x76, 0xB6, 0xD7, 0x35],  # KLR_01
     0x26B: [0xCE, 0xCC, 0xBD, 0x69, 0xA1, 0x3C, 0x18, 0x76,
             0x0F, 0x04, 0xF2, 0x3A, 0x93, 0x24, 0x19, 0x51],  # TA_01
     0x30C: [0x0F] * 16,  # ACC_02
@@ -281,19 +256,3 @@ VOLKSWAGEN_MQB_MEB_CONSTANTS: dict[int, list[int]] = {
     0x65D: [0xAC, 0xB3, 0xAB, 0xEB, 0x7A, 0xE1, 0x3B, 0xF7,
             0x73, 0xBA, 0x7C, 0x9E, 0x06, 0x5F, 0x02, 0xD9],  # ESP_20
 }
-
-
-VOLKSWAGEN_MEB_ALT_CRC_CONSTANTS: dict[int, tuple[int, list[int]]] = {
-  0x0DB: (42, [0x09, 0xFA, 0xCA, 0x8E, 0x62, 0xD5, 0xD1, 0xF0,
-               0x31, 0xA0, 0xAF, 0xDA, 0x4D, 0x1A, 0x0A, 0x97]),  # AWV_03
-  0xFC:  (60, [0x69, 0xDC, 0xF9, 0x64, 0x6A, 0xCE, 0x55, 0x2C,
-               0xC4, 0x38, 0x8F, 0xD1, 0xC6, 0x43, 0xB4, 0xB1]),  # ESC_51
-  0x102: (44, [0xD7, 0x12, 0x85, 0x7E, 0x0B, 0x34, 0xFA, 0x16,
-               0x7A, 0x25, 0x2D, 0x8F, 0x04, 0x8E, 0x5D, 0x35]),  # ESC_50
-  0x10B: (44, [0x2C, 0xB1, 0x1A, 0x75, 0xBB, 0x65, 0x79, 0x47,
-               0x81, 0x2B, 0xCC, 0x96, 0x17, 0xDB, 0xC0, 0x94]),  # Motor_51
-  0x139: (28, [0x96, 0x92, 0x95, 0xB5, 0x6E, 0xE3, 0xBD, 0xB4,
-               0xFA, 0xAE, 0xBE, 0xCB, 0xCF, 0xA5, 0x77, 0xEF]),  # VMM_02
-  0x13D: (28, [0x18, 0x71, 0x10, 0x8D, 0xD7, 0xAA, 0xB0, 0x78,
-               0xAC, 0x12, 0xAE, 0x0C, 0xDD, 0xF1, 0x85, 0x68]),  # QFK_01
-}

opendbc_repo/opendbc/car/volkswagen/tests/test_volkswagen.py

@@ -1,16 +1,10 @@
 import random
 import re
 
-import pytest
-
-from opendbc.can.packer import CANPacker
-from opendbc.car import Bus
 from opendbc.car.structs import CarParams
 from opendbc.car.volkswagen.interface import CarInterface
+from opendbc.car.volkswagen.values import CAR, FW_QUERY_CONFIG, WMI, VolkswagenFlags, VolkswagenSafetyFlags
 from opendbc.car.volkswagen.fingerprints import FW_VERSIONS
-from opendbc.car.volkswagen.mqbcan import volkswagen_meb_alt_crc_checksum, volkswagen_mqb_meb_checksum
-from opendbc.car.volkswagen.radar_interface import RadarInterface
-from opendbc.car.volkswagen.values import CAR, DBC, FW_QUERY_CONFIG, WMI, CanBus, VolkswagenFlags, VolkswagenSafetyFlags
 
 Ecu = CarParams.Ecu
 
@@ -66,47 +60,6 @@ class TestVolkswagenPlatformConfigs:
     assert not cp.pcmCruise
     assert cp.safetyConfigs[-1].safetyParam & VolkswagenSafetyFlags.LONG_CONTROL
 
-  @pytest.mark.parametrize("data_hex", (
-    "fc03fcfcfc0f0000",
-    "e304fcfcfc0f0000",
-    "1105fcfcfc0f0000",
-  ))
-  def test_meb_klr_checksum(self, data_hex):
-    data = bytearray.fromhex(data_hex)
-    assert volkswagen_mqb_meb_checksum(0x25D, None, data) == data[0]
-
-  @pytest.mark.parametrize(("address", "data_hex"), (
-    (0x0DB, "bb0ffcf0fefe0000fd0fffc0ff0000000200000000000000010000000000000000000000000000000000000000000000"),
-    (0x0FC, "650b1f007ef0b10c0000000000000000ffff1019191c1cfefe0000000000000000e0fff40140ffeb7f0748e481af421f00000000000000000000000000000000"),
-    (0x102, "9f0e7cfa010500000020cb0402000000b703a00000ec0f00000000002cd3ff1f0020a60000000020000000007d5256ab"),
-    (0x10B, "9d06000000007efe000000010000ff01feff000000000000000000000090240000000000000000000000000000000000"),
-    (0x139, "ac0e850b0890132000d019800000000000000000000000003002000500000000"),
-    (0x13D, "2412111101d1060000d0d410d106000000000000000000000000000000000000"),
-  ))
-  def test_meb_gen2_checksum(self, address, data_hex):
-    data = bytearray.fromhex(data_hex)
-    assert volkswagen_meb_alt_crc_checksum(address, None, data) == data[0]
-
-  def test_meb_camera_radar_tracks(self):
-    cp = self._get_meb_params(CAR.SKODA_ENYAQ_MK1)
-    radar = RadarInterface(cp)
-    packer = CANPacker(DBC[cp.carFingerprint][Bus.radar])
-    message = packer.make_can_msg("MEB_Distance_01", CanBus(cp).cam, {
-      "Distance_Status": 0,
-      "Same_Lane_01_ObjectID": 1,
-      "Same_Lane_01_Long_Distance": 25.0,
-      "Same_Lane_01_Lat_Distance": 0.5,
-      "Same_Lane_01_Rel_Velo": -2.0,
-    })
-
-    radar_data = radar.update([(1_000_000_000, [message])])
-    assert radar_data is not None
-    assert len(radar_data.points) == 1
-    assert radar_data.points[0].trackId == 0
-    assert radar_data.points[0].dRel == pytest.approx(25.0, abs=0.1)
-    assert radar_data.points[0].yRel == pytest.approx(0.5, abs=0.1)
-    assert radar_data.points[0].vRel == pytest.approx(-2.0, abs=0.1)
-
   def test_taos_longitudinal_actuator_delay(self):
     taos_cp = CarInterface.get_non_essential_params(CAR.VOLKSWAGEN_TAOS_MK1)
     golf_cp = CarInterface.get_non_essential_params(CAR.VOLKSWAGEN_GOLF_MK7)

opendbc_repo/opendbc/car/volvo/carcontroller.py

@@ -1,5 +1,3 @@
-from collections import deque
-
 import numpy as np
 
 from opendbc.can.packer import CANPacker
@@ -7,20 +5,16 @@ from opendbc.car import Bus
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.lateral import apply_std_steer_angle_limits
 from opendbc.car.volvo.helpers import LCA3CounterSync
-from opendbc.car.volvo.volvocan import (create_c1_cancel, create_c1_pscm_message, create_c1_steering_control, create_lca_message,
-                                        create_pscm_message, create_lca_3_message, create_lca_2_message, create_lca_4_message, create_lca_5_message,
-                                        create_lca_6_message, create_lca_7_message, create_pscm_related_message)
-from opendbc.car.volvo.values import CAR, CarControllerParams, VolvoC1PlatformConfig
+from opendbc.car.volvo.volvocan import (create_lca_message, create_pscm_message, create_lca_3_message, create_lca_2_message, create_lca_4_message,
+                                        create_lca_5_message, create_lca_6_message, create_lca_7_message, create_pscm_related_message)
+from opendbc.car.volvo.values import CarControllerParams
 
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_names, CP):
     super().__init__(dbc_names, CP)
-    self.is_c1 = isinstance(CAR(CP.carFingerprint).config, VolvoC1PlatformConfig)
-    self.packer = CANPacker(dbc_names[Bus.pt] if self.is_c1 else dbc_names[Bus.party])
+    self.packer = CANPacker(dbc_names[Bus.party])
     self.apply_angle_last = 0.0  # Track last applied steering angle
-    self.c1_torque_samples = deque(maxlen=CarControllerParams.C1_N_ZERO_TORQUE)
-    self.c1_recovery_until = -1
 
     self.gear_acc = 60
     self.lca_4_acc = 0  # Bresenham accumulator for 29 Hz
@@ -68,9 +62,6 @@ class CarController(CarControllerBase):
     self.lca_auth_drv_mag_filt = 0.0
 
   def update(self, CC, CS, now_nanos, starpilot_toggles):
-    if self.is_c1:
-      return self._update_c1(CC, CS)
-
     can_sends = []
     actuators = CC.actuators
 
@@ -170,6 +161,8 @@ class CarController(CarControllerBase):
           # convention = driver pushing right → yields right authority
           # (LOOSELY/+ arm), retains left (INV/- arm).
           # Yield arm scales with |drv| above OVERRIDE_THRESH — strong presses
+          # (potholes, hard corrections) cross past zero so EPS hands the wheel
+          # to the driver in their direction.
           excess = max(0.0, self.lca_auth_drv_mag_filt - float(P.LCA_AUTH_OVERRIDE_ENTER))
           yield_signed = float(P.LCA_AUTH_YIELD_BASE) - P.LCA_AUTH_YIELD_SLOPE * excess
           yield_signed = max(float(P.LCA_AUTH_YIELD_MIN), min(yield_signed, float(P.LCA_AUTH_YIELD_BASE)))
@@ -292,50 +285,3 @@ class CarController(CarControllerBase):
     self.frame += 1
     self.last_lat_active = CC.latActive
     return new_actuators, can_sends
-
-  def _update_c1(self, CC, CS):
-    can_sends = []
-    actuators = CC.actuators
-
-    if self.frame % 2 == 0:  # stock FSM1 and PSCM1 messages are 50 Hz
-      requested_active = CC.latActive and CS.out.vEgo > self.CP.minSteerSpeed
-      recovering = requested_active and self.frame < self.c1_recovery_until
-
-      if not requested_active:
-        self.c1_torque_samples.clear()
-        self.c1_recovery_until = -1
-      elif recovering:
-        self.c1_torque_samples.clear()
-      else:
-        if self.c1_recovery_until >= 0:
-          self.c1_recovery_until = -1
-          self.c1_torque_samples.clear()
-        self.c1_torque_samples.append(CS.c1_lka_torque)
-        if (len(self.c1_torque_samples) == CarControllerParams.C1_N_ZERO_TORQUE and
-            all(torque == 0 for torque in self.c1_torque_samples)):
-          self.c1_recovery_until = self.frame + 100
-          self.c1_torque_samples.clear()
-          recovering = True
-
-      lat_active = requested_active and not recovering
-      desired_angle = float(np.clip(
-        actuators.steeringAngleDeg,
-        CS.out.steeringAngleDeg - CarControllerParams.C1_ANGLE_ERROR,
-        CS.out.steeringAngleDeg + CarControllerParams.C1_ANGLE_ERROR,
-      ))
-      apply_angle = apply_std_steer_angle_limits(
-        desired_angle, self.apply_angle_last, CS.out.vEgoRaw,
-        CS.out.steeringAngleDeg, lat_active, CarControllerParams.C1_ANGLE_LIMITS,
-      )
-
-      can_sends.append(create_c1_pscm_message(self.packer, CS.c1_msg_pscm))
-      can_sends.append(create_c1_steering_control(self.packer, apply_angle, lat_active))
-      self.apply_angle_last = apply_angle
-
-    if CC.cruiseControl.cancel and self.frame % 10 == 0:
-      can_sends.append(create_c1_cancel(self.packer))
-
-    new_actuators = actuators.as_builder()
-    new_actuators.steeringAngleDeg = self.apply_angle_last
-    self.frame += 1
-    return new_actuators, can_sends

opendbc_repo/opendbc/car/volvo/carstate.py

@@ -1,9 +1,8 @@
 from cereal import custom
-from opendbc.car import Bus, ButtonType, create_button_events, structs
+from opendbc.car import structs, Bus
 from opendbc.can.parser import CANParser
-from opendbc.car.common.conversions import Conversions as CV
+from opendbc.car.volvo.values import DBC, VolvoSPAPlatformConfig, CAR
 from opendbc.car.interfaces import CarStateBase
-from opendbc.car.volvo.values import CAR, DBC, VolvoC1PlatformConfig, VolvoSPAPlatformConfig
 
 GearShifter = structs.CarState.GearShifter
 TransmissionType = structs.CarParams.TransmissionType
@@ -17,7 +16,6 @@ STEERING_PRESSED_THRESHOLD = 2
 class CarState(CarStateBase):
   def __init__(self, CP, FPCP):
     super().__init__(CP, FPCP)
-    self.is_c1 = isinstance(CAR(CP.carFingerprint).config, VolvoC1PlatformConfig)
     self.is_spa = isinstance(CAR(CP.carFingerprint).config, VolvoSPAPlatformConfig)
     self.gas_pressed_prev = False
     self.dispatch_lca_2_msg = False
@@ -36,22 +34,8 @@ class CarState(CarStateBase):
     self.msg_lca_4 = {}
     self.msg_lca_6 = {}
     self.msg_lca_7 = {}
-    self.c1_msg_pscm = {}
-    self.c1_lka_torque = 0
-    self.c1_button_states = {
-      "ACCOnOffBtn": False,
-      "ACCStopBtn": False,
-      "ACCSetBtn": False,
-      "ACCResumeBtn": False,
-      "ACCMinusBtn": False,
-      "TimeGapIncreaseBtn": False,
-      "TimeGapDecreaseBtn": False,
-    }
 
   def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
-    if self.is_c1:
-      return self._update_c1(can_parsers)
-
     cp_main = can_parsers[Bus.main]
     cp_pt = can_parsers[Bus.pt]
     cp_party = can_parsers[Bus.party]
@@ -153,83 +137,8 @@ class CarState(CarStateBase):
     fp_ret = custom.StarPilotCarState.new_message()
     return ret, fp_ret
 
-  def _update_c1(self, can_parsers):
-    cp = can_parsers[Bus.pt]
-    cp_cam = can_parsers[Bus.cam]
-    ret = structs.CarState()
-
-    ret.vEgoRaw = cp.vl["VehicleSpeed1"]["VehicleSpeed"] * CV.KPH_TO_MS
-    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = ret.vEgoRaw < 0.1
-
-    ret.steeringAngleDeg = cp.vl["PSCM1"]["SteeringAngleServo"]
-    ret.steeringTorque = cp.vl["PSCM1"]["LKATorque"]
-    ret.steeringPressed = False
-
-    ret.gasPressed = cp.vl["PedalandBrake"]["AccPedal"] > 5.0
-    ret.brakePressed = bool(cp.vl["PedalandBrake"]["BrakePedalActive2"] or
-                            cp.vl["PedalandBrake"]["BrakePedalActive"])
-
-    ret.gearShifter = {
-      0: GearShifter.park,
-      1: GearShifter.reverse,
-      2: GearShifter.neutral,
-      3: GearShifter.drive,
-    }.get(int(cp.vl["TCM0"]["GearShifter"]), GearShifter.unknown)
-
-    ret.cruiseState.available = bool(cp_cam.vl["FSM0"]["ACCStatusOnOff"])
-    ret.cruiseState.enabled = bool(cp_cam.vl["FSM0"]["ACCStatusActive"])
-    ret.cruiseState.speed = cp.vl["ACC"]["SpeedTargetACC"] * CV.KPH_TO_MS
-    ret.cruiseState.nonAdaptive = False
-    ret.cruiseState.standstill = ret.standstill
-
-    turn_signal = int(cp.vl["MiscCarInfo"]["TurnSignal"])
-    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(
-      50, turn_signal == 1, turn_signal == 3)
-    ret.doorOpen = False
-    ret.seatbeltUnlatched = False
-
-    button_types = {
-      "ACCOnOffBtn": ButtonType.mainCruise,
-      "ACCStopBtn": ButtonType.cancel,
-      "ACCSetBtn": ButtonType.setCruise,
-      "ACCResumeBtn": ButtonType.resumeCruise,
-      "ACCMinusBtn": ButtonType.decelCruise,
-      "TimeGapIncreaseBtn": ButtonType.gapAdjustCruise,
-      "TimeGapDecreaseBtn": ButtonType.gapAdjustCruise,
-    }
-    button_events = []
-    for signal, button_type in button_types.items():
-      pressed = bool(cp.vl["CCButtons"][signal])
-      button_events.extend(create_button_events(pressed, self.c1_button_states[signal], {True: button_type}))
-      self.c1_button_states[signal] = pressed
-    ret.buttonEvents = button_events
-
-    self.c1_msg_pscm = cp.vl["PSCM1"]
-    self.c1_lka_torque = int(cp.vl["PSCM1"]["LKATorque"])
-
-    fp_ret = custom.StarPilotCarState.new_message()
-    return ret, fp_ret
-
   @staticmethod
   def get_can_parsers(CP):
-    if isinstance(CAR(CP.carFingerprint).config, VolvoC1PlatformConfig):
-      return {
-        Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [
-          ("VehicleSpeed1", 50),
-          ("CCButtons", 100),
-          ("PSCM1", 50),
-          ("PedalandBrake", 100),
-          ("TCM0", 10),
-          ("ACC", 17),
-          ("MiscCarInfo", 25),
-        ], 0),
-        Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.cam], [
-          ("FSM0", 100),
-          ("FSM1", 50),
-        ], 2),
-      }
-
     return {
       Bus.main: CANParser(DBC[CP.carFingerprint][Bus.main], [], 0),
       Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 1),

opendbc_repo/opendbc/car/volvo/fingerprints.py

@@ -3,14 +3,6 @@
 from opendbc.car.volvo.values import CAR
 
 FINGERPRINTS = {
-  CAR.VOLVO_V40: [
-    # V40 2017
-    {8: 8, 16: 8, 48: 8, 64: 8, 85: 8, 101: 8, 112: 8, 114: 8, 117: 8, 128: 8, 176: 8, 192: 8, 208: 8, 224: 8, 240: 8, 245: 8, 256: 8, 272: 8, 288: 8, 291: 8, 293: 8, 304: 8, 325: 8, 336: 8, 352: 8, 424: 8, 432: 8, 437: 8, 464: 8, 472: 8, 480: 8, 528: 8, 608: 8, 624: 8, 640: 8, 648: 8, 652: 8, 656: 8, 657: 8, 681: 8, 693: 8, 704: 8, 707: 8, 709: 8, 816: 8, 832: 8, 848: 8, 853: 8, 864: 8, 880: 8, 912: 8, 928: 8, 943: 8, 944: 8, 968: 8, 970: 8, 976: 8, 992: 8, 997: 8, 1024: 8, 1029: 8, 1061: 8, 1072: 8, 1409: 8},
-    # V40 2015
-    {8: 8, 16: 8, 64: 8, 85: 8, 101: 8, 112: 8, 114: 8, 117: 8, 128: 8, 176: 8, 192: 8, 224: 8, 240: 8, 245: 8, 256: 8, 272: 8, 288: 8, 291: 8, 293: 8, 304: 8, 325: 8, 336: 8, 424: 8, 432: 8, 437: 8, 464: 8, 472: 8, 480: 8, 528: 8, 608: 8, 648: 8, 652: 8, 656: 8, 657: 8, 681: 8, 693: 8, 704: 8, 707: 8, 709: 8, 816: 8, 832: 8, 864: 8, 880: 8, 912: 8, 928: 8, 943: 8, 944: 8, 968: 8, 970: 8, 976: 8, 992: 8, 997: 8, 1024: 8, 1029: 8, 1061: 8, 1072: 8, 1409: 8},
-    # V40 2014
-    {8: 8, 16: 8, 64: 8, 85: 8, 101: 8, 112: 8, 114: 8, 117: 8, 128: 8, 176: 8, 192: 8, 224: 8, 240: 8, 245: 8, 256: 8, 272: 8, 288: 8, 291: 8, 293: 8, 304: 8, 325: 8, 336: 8, 424: 8, 432: 8, 437: 8, 464: 8, 472: 8, 480: 8, 528: 8, 608: 8, 648: 8, 652: 8, 657: 8, 681: 8, 693: 8, 704: 8, 707: 8, 709: 8, 816: 8, 864: 8, 880: 8, 912: 8, 928: 8, 943: 8, 944: 8, 968: 8, 970: 8, 976: 8, 992: 8, 997: 8, 1024: 8, 1029: 8, 1072: 8, 1409: 8},
-  ],
   CAR.VOLVO_XC40_RECHARGE: [{
     21: 8, 22: 8, 23: 8, 26: 8, 69: 8, 85: 8, 87: 8, 88: 8, 96: 8, 103: 8, 104: 8, 105: 8, 128: 8, 144: 8, 146: 8, 147: 8, 151: 8, 304: 8, 336: 8, 339: 8, 341: 8, 394: 8, 395: 8, 640: 8, 656: 8, 666: 8, 773: 8, 778: 8, 1072: 8, 1120: 8, 1302: 8, 1336: 8, 1407: 8, 1422: 8, 1423: 8, 1424: 8, 1425: 8, 1426: 8
   }],

opendbc_repo/opendbc/car/volvo/interface.py

@@ -2,10 +2,11 @@ from opendbc.car import structs, get_safety_config
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.volvo.carcontroller import CarController
 from opendbc.car.volvo.carstate import CarState
-from opendbc.car.volvo.values import CAR, VolvoC1PlatformConfig, VolvoSafetyFlags, VolvoSPAPlatformConfig
+from opendbc.car.volvo.values import VolvoSPAPlatformConfig, CAR
 
 TransmissionType = structs.CarParams.TransmissionType
 
+VOLVO_FLAG_SPA = 1
 SAFETY_VOLVO = structs.CarParams.SafetyModel.volvo
 
 
@@ -17,20 +18,17 @@ class CarInterface(CarInterfaceBase):
   def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
     ret.brand = 'volvo'
 
-    platform = CAR(candidate).config
     safety_param = 0
-    if isinstance(platform, VolvoSPAPlatformConfig):
-      safety_param = VolvoSafetyFlags.SPA.value
-    elif isinstance(platform, VolvoC1PlatformConfig):
-      safety_param = VolvoSafetyFlags.C1.value
+    if isinstance(CAR(candidate).config, VolvoSPAPlatformConfig):
+      safety_param = VOLVO_FLAG_SPA
     ret.safetyConfigs = [get_safety_config(SAFETY_VOLVO, safety_param)]
     #ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.noOutput)]
 
     ret.dashcamOnly = False
 
-    ret.steerActuatorDelay = 0.2 if isinstance(platform, VolvoC1PlatformConfig) else 0.3
+    ret.steerActuatorDelay = 0.3
     ret.steerLimitTimer = 0.1
-    ret.steerAtStandstill = not isinstance(platform, VolvoC1PlatformConfig)
+    ret.steerAtStandstill = True
 
     # Use angle-based steering control for Volvo CMA platform
     ret.steerControlType = structs.CarParams.SteerControlType.angle
@@ -41,7 +39,4 @@ class CarInterface(CarInterfaceBase):
 
     ret.pcmCruise = True
 
-    if isinstance(platform, VolvoC1PlatformConfig):
-      ret.transmissionType = TransmissionType.automatic
-
     return ret

opendbc_repo/opendbc/car/volvo/tests/test_c1_carstate.py

@@ -1,57 +0,0 @@
-import pytest
-
-from cereal import custom
-from opendbc.can.packer import CANPacker
-from opendbc.car import Bus, ButtonType, CanData, structs
-from opendbc.car.volvo.carstate import CarState
-from opendbc.car.volvo.interface import CarInterface
-from opendbc.car.volvo.values import CAR, DBC
-
-
-def _can_data(msg):
-  address, data, bus = msg
-  return CanData(address, data, bus)
-
-
-def test_c1_carstate_decodes_vehicle_and_cruise_signals():
-  cp = CarInterface.get_non_essential_params(CAR.VOLVO_V40)
-  cs = CarState(cp, custom.StarPilotCarParams.new_message())
-  parsers = CarState.get_can_parsers(cp)
-  packer = CANPacker(DBC[cp.carFingerprint][Bus.pt])
-
-  messages = [
-    packer.make_can_msg("VehicleSpeed1", 0, {"VehicleSpeed": 72}),
-    packer.make_can_msg("CCButtons", 0, {"ACCStopBtn": 1, "ACCSetBtn": 1}),
-    packer.make_can_msg("PSCM1", 0, {"SteeringAngleServo": -12.5, "LKATorque": 7}),
-    packer.make_can_msg("PedalandBrake", 0, {"AccPedal": 6, "BrakePedalActive2": 1}),
-    packer.make_can_msg("TCM0", 0, {"GearShifter": 3}),
-    packer.make_can_msg("ACC", 0, {"SpeedTargetACC": 100}),
-    packer.make_can_msg("MiscCarInfo", 0, {"TurnSignal": 1}),
-    packer.make_can_msg("FSM0", 2, {"ACCStatusOnOff": 1, "ACCStatusActive": 1}),
-    packer.make_can_msg("FSM1", 2, {}),
-  ]
-  packets = [(1_000_000, [_can_data(msg) for msg in messages])]
-  for parser in parsers.values():
-    parser.update(packets)
-
-  ret, _ = cs.update(parsers, None)
-  assert ret.vEgoRaw == pytest.approx(20.0)
-  assert ret.steeringAngleDeg == pytest.approx(-12.5, abs=0.05)
-  assert ret.steeringTorque == 7
-  assert ret.gasPressed and ret.brakePressed
-  assert ret.gearShifter == structs.CarState.GearShifter.drive
-  assert ret.cruiseState.available and ret.cruiseState.enabled
-  assert ret.cruiseState.speed == pytest.approx(100 / 3.6)
-  assert ret.leftBlinker and not ret.rightBlinker
-  assert len(ret.buttonEvents) == 2
-  assert any(event.type == ButtonType.cancel and event.pressed for event in ret.buttonEvents)
-  assert any(event.type == ButtonType.setCruise and event.pressed for event in ret.buttonEvents)
-
-  release = packer.make_can_msg("CCButtons", 0, {})
-  packets = [(2_000_000, [_can_data(release)])]
-  for parser in parsers.values():
-    parser.update(packets)
-  ret, _ = cs.update(parsers, None)
-  assert len(ret.buttonEvents) == 2
-  assert any(event.type == ButtonType.cancel and not event.pressed for event in ret.buttonEvents)
-  assert any(event.type == ButtonType.setCruise and not event.pressed for event in ret.buttonEvents)

opendbc_repo/opendbc/car/volvo/tests/test_controller.py

@@ -1,14 +1,10 @@
 from collections import defaultdict
 from types import SimpleNamespace
 
-import pytest
-
 from opendbc.car.volvo.carcontroller import CarController
 from opendbc.car.volvo.helpers import checksum_lca_5_message
 from opendbc.car.volvo.interface import CarInterface
-from opendbc.car.volvo.values import CAR, DBC
-from opendbc.car.volvo.volvocan import create_c1_checksum
-from opendbc.safety.tests.libsafety import libsafety_py
+from opendbc.car.volvo.values import DBC
 
 
 def _zero_message():
@@ -71,99 +67,3 @@ def test_controller_relays_stock_lca5_angle_when_inactive():
   if raw & (1 << 14):
     raw -= 1 << 15
   assert abs(raw * 0.05596 - 12.0) < 0.1
-
-
-@pytest.mark.parametrize("fingerprint", [CAR.POLESTAR_2, CAR.VOLVO_XC40_RECHARGE])
-@pytest.mark.parametrize("driver_torque", [20.0, -20.0, 128.0, -127.0])
-def test_override_lca_stream_passes_safety_and_recovers(fingerprint, driver_torque):
-  cp = CarInterface.get_non_essential_params(fingerprint)
-  controller = CarController(DBC[cp.carFingerprint], cp)
-  cs = _state()
-  cc = SimpleNamespace(latActive=True, actuators=_Actuators())
-  safety = libsafety_py.libsafety
-  config = cp.safetyConfigs[0]
-  assert safety.set_safety_hooks(config.safetyModel.raw, config.safetyParam) == 0
-  safety.init_tests()
-  safety.set_controls_allowed(True)
-
-  for active, torque in [(True, 0), (True, driver_torque), (True, -driver_torque),
-                        (True, 0), (False, 0), (True, 0)]:
-    cc.latActive = active
-    cs.out.steeringTorque = torque
-    for _ in range(350):
-      _, messages = controller.update(cc, cs, 0, None)
-      address, data, bus = next(msg for msg in messages if msg[0] == 0x58)
-      assert safety.safety_tx_hook(libsafety_py.make_CANPacket(address, bus, data)), (
-        active, torque, controller.frame, controller.lca_auth_pos, controller.lca_auth_neg)
-    if active and torque == 0:
-      assert controller.lca_auth_pos == 614
-      assert controller.lca_auth_neg == -614
-    elif active:
-      assert min(abs(controller.lca_auth_pos), abs(controller.lca_auth_neg)) == 0
-
-
-def _c1_state():
-  return SimpleNamespace(
-    out=SimpleNamespace(steeringAngleDeg=10.0, vEgo=12.0, vEgoRaw=12.0),
-    c1_lka_torque=5,
-    c1_msg_pscm=_zero_message(),
-  )
-
-
-def test_c1_controller_emits_checked_steering_and_pscm_relay():
-  cp = CarInterface.get_non_essential_params(CAR.VOLVO_V40)
-  controller = CarController(DBC[cp.carFingerprint], cp)
-  cc = SimpleNamespace(
-    latActive=True,
-    actuators=_Actuators(),
-    cruiseControl=SimpleNamespace(cancel=False),
-  )
-
-  actuators, can_sends = controller.update(cc, _c1_state(), 0, None)
-  assert [(msg[0], msg[2]) for msg in can_sends] == [(0x125, 2), (0xD0, 0)]
-
-  fsm = can_sends[1][1]
-  assert fsm[7] & 0x3 == 3
-  assert fsm[6] == create_c1_checksum(fsm)
-  assert 0.0 < actuators.steeringAngleDeg <= 2.0
-
-
-def test_c1_controller_sends_only_cancel_button():
-  cp = CarInterface.get_non_essential_params(CAR.VOLVO_V40)
-  controller = CarController(DBC[cp.carFingerprint], cp)
-  cc = SimpleNamespace(
-    latActive=False,
-    actuators=_Actuators(),
-    cruiseControl=SimpleNamespace(cancel=True),
-  )
-
-  _, can_sends = controller.update(cc, _c1_state(), 0, None)
-  buttons = next(msg for msg in can_sends if msg[0] == 0x10)
-  assert buttons[2] == 0
-  assert buttons[1][7] == 0x10
-  assert buttons[1][6] == 0
-
-
-def test_c1_controller_temporarily_drops_steering_on_zero_torque_fault():
-  cp = CarInterface.get_non_essential_params(CAR.VOLVO_V40)
-  controller = CarController(DBC[cp.carFingerprint], cp)
-  cs = _c1_state()
-  cs.c1_lka_torque = 0
-  cc = SimpleNamespace(
-    latActive=True,
-    actuators=_Actuators(),
-    cruiseControl=SimpleNamespace(cancel=False),
-  )
-
-  directions = []
-  for _ in range(23):
-    _, can_sends = controller.update(cc, cs, 0, None)
-    directions.extend(msg[1][7] & 0x3 for msg in can_sends if msg[0] == 0xD0)
-
-  assert directions[:-1] == [3] * 11
-  assert directions[-1] == 0
-
-  while controller.frame <= 122:
-    _, can_sends = controller.update(cc, cs, 0, None)
-  fsm = next(msg for msg in can_sends if msg[0] == 0xD0)
-  assert fsm[1][7] & 0x3 == 3

opendbc_repo/opendbc/car/volvo/values.py

@@ -1,23 +1,13 @@
 from dataclasses import dataclass, field
-from enum import IntFlag
 
 from opendbc.car.structs import CarParams
 from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms
 from opendbc.car.lateral import AngleSteeringLimits
-from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.docs_definitions import CarDocs, CarHarness, CarParts
 from opendbc.car.fw_query_definitions import FwQueryConfig
 
 Ecu = CarParams.Ecu
 
-# C1 support is adapted from the original dragonpilot V40 port:
-# https://github.com/dragonpilot/dragonpilot/commit/773dce507082d931236b64dca8024dce9625446f
-
-
-class VolvoSafetyFlags(IntFlag):
-  SPA = 1
-  C1 = 2
-
 
 class CarControllerParams:
   STEER_STEP = 1  # 100 Hz LCA command frequency (controlsd runs at 100 Hz)
@@ -71,12 +61,14 @@ class CarControllerParams:
   # (potholes, lane corrections) get full yield while light sustained pressure
   # only gets a soft yield. yield_signed = YIELD_BASE − YIELD_SLOPE *
   # max(0, drv_mag_filt − OVERRIDE_ENTER), clamped to [YIELD_MIN, YIELD_BASE].
+  # At |drv|=7 (just over threshold): yield = +60 (light resistance).
+  # At |drv|=14: yield ≈ -4 (crosses past zero — EPS hands wheel to driver).
   # drv_mag_filt is a low-pass of |drv| (alpha=0.04, ~250 ms time constant) —
   # without it, 1-2 unit driver-torque jitter became ~10 unit yield-arm jitter
   # which PSCM converted to felt ripple at sustained co-steering pressure.
   LCA_AUTH_YIELD_BASE = 60        # yield-arm magnitude at the override threshold
   LCA_AUTH_YIELD_SLOPE = 8        # counts of yield reduction per unit |drv torque| above threshold
-  LCA_AUTH_YIELD_MIN = 0          # yield authority without crossing the safety sign boundary
+  LCA_AUTH_YIELD_MIN = -30        # cap how far past zero the yield arm can go (full hand-over)
   LCA_AUTH_YIELD_LP_ALPHA = 0.04  # LP-filter coefficient on |drv| for yield calc (~250 ms tau)
   LCA_AUTH_SPLIT = 200            # symmetric → asymmetric handover
   LCA_AUTH_REBUILD_RATE = 230     # counts/s (≈ 2.7 s rebuild from 0 to 614)
@@ -89,19 +81,6 @@ class CarControllerParams:
     ([0., 5., 25.], [5., 2., .3]),    # rate down limits at different speeds
   )
 
-  C1_STEER_NO = 0
-  C1_STEER = 3
-  C1_N_ZERO_TORQUE = 12
-  C1_ANGLE_ERROR = 20.0
-  C1_ANGLE_DELTA_BP = [0., 8.33, 13.89, 19.44, 25., 30.55, 36.1]
-  C1_ANGLE_DELTA_UP = [2., 1.2, .25, .20, .15, .10, .10]
-  C1_ANGLE_DELTA_DOWN = [2., 1.2, .25, .20, .15, .10, .10]
-  C1_ANGLE_LIMITS: AngleSteeringLimits = AngleSteeringLimits(
-    359.9,
-    (C1_ANGLE_DELTA_BP, C1_ANGLE_DELTA_UP),
-    (C1_ANGLE_DELTA_BP, C1_ANGLE_DELTA_DOWN),
-  )
-
 
 @dataclass
 class VolvoCarDocs(CarDocs):
@@ -126,26 +105,7 @@ class VolvoSPAPlatformConfig(PlatformConfig):
   })
 
 
-@dataclass
-class VolvoC1PlatformConfig(PlatformConfig):
-  dbc_dict: DbcDict = field(default_factory=lambda: {
-    Bus.pt: 'volvo_v40_2017_pt',
-    Bus.cam: 'volvo_v40_2017_pt',
-  })
-
-
 class CAR(Platforms):
-  VOLVO_V40 = VolvoC1PlatformConfig(
-    [VolvoCarDocs("Volvo V40 2013-19")],
-    CarSpecs(
-      mass=1610,
-      wheelbase=2.647,
-      steerRatio=14.7,
-      centerToFrontRatio=0.44,
-      minSteerSpeed=1.0 * CV.KPH_TO_MS,
-    ),
-  )
-
   VOLVO_XC40_RECHARGE = VolvoCMAPlatformConfig(
     [VolvoCarDocs("Volvo XC40 Recharge 2021-23")],
     CarSpecs(

opendbc_repo/opendbc/car/volvo/volvocan.py

@@ -2,47 +2,6 @@ from opendbc.car.volvo.helpers import (checksum_lca_2_message, checksum_2_0x69_m
                                        checksum_2_pscm_related_message, checksum_lca_5_message)
 from opendbc.car.carlog import carlog
 
-
-def create_c1_pscm_message(packer, msg_pscm: dict):
-  values = {
-    "LKATorque": 0,
-    "SteeringAngleServo": msg_pscm["SteeringAngleServo"],
-    "byte0": msg_pscm["byte0"],
-    "byte3": msg_pscm["byte3"],
-    "byte4": msg_pscm["byte4"],
-    "byte7": msg_pscm["byte7"],
-    "LKAActive": int(msg_pscm["LKAActive"]) & 0xD,
-  }
-  return packer.make_can_msg("PSCM1", 2, values)
-
-
-def create_c1_checksum(data: bytes) -> int:
-  angle_raw = ((data[4] & 0x3F) << 8) | data[5]
-  direction = data[7] & 0x3
-  checksum_sum = (data[3] + direction + angle_raw + (angle_raw >> 8)) & 0xFF
-  return checksum_sum ^ 0xFF
-
-
-def create_c1_steering_control(packer, apply_angle: float, lat_active: bool):
-  values = {
-    "SET_X_E3": 0xE3,
-    "SET_X_B4": 0xB4,
-    "SET_X_08": 0x08,
-    "TrqLim": 0,
-    "LKAAngleReq": apply_angle,
-    "LKASteerDirection": 3 if lat_active else 0,
-    "SET_X_25": 0x25,
-    "SET_X_02": 0x02,
-  }
-  data = packer.make_can_msg("FSM1", 0, values)[1]
-  values["Checksum"] = create_c1_checksum(data)
-  return packer.make_can_msg("FSM1", 0, values)
-
-
-def create_c1_cancel(packer):
-  return packer.make_can_msg("CCButtons", 0, {"ACCStopBtn": 1})
-
-
 def create_lca_message(packer, lat_active: bool, apply_angle: float, msg_lca: dict,
                        authority_pos: int = 614, authority_neg: int = -614,
                        overrides: dict | None = None):

opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_canfd.dbc

@@ -727,14 +727,10 @@ BO_ 1259 LOCAL_TIME2: 8 XXX
  SG_ NEW_SIGNAL_3 : 39|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1264 LOCAL_TIME: 8 XXX
- SG_ HOURS : 8|8@1+ (1,0) [0|23] "" XXX
- SG_ MINUTES : 16|8@1+ (1,0) [0|59] "" XXX
- SG_ SECONDS : 24|8@1+ (1,0) [0|59] "" XXX
- SG_ MONTH : 34|4@1+ (1,0) [1|12] "" XXX
- SG_ YEAR : 40|8@1+ (1,2000) [2000|2255] "" XXX
- SG_ DAY : 48|8@1+ (1,0) [1|31] "" XXX
+ SG_ HOURS : 12|5@0+ (1,0) [0|31] "" XXX
+ SG_ MINUTES : 21|6@0+ (1,0) [0|63] "" XXX
+ SG_ SECONDS : 31|8@0+ (1,0) [0|59] "" XXX
 
-CM_ BO_ 1264 "Cluster wall clock, 1Hz. Local time, not UTC. All 0xFF until the cluster initializes.";
 CM_ SG_ 96 BRAKE_PRESSURE "User applied brake pedal pressure. Ramps from computer applied pressure on falling edge of cruise. Cruise cancels if !=0";
 CM_ SG_ 101 BRAKE_POSITION "User applied brake pedal position, max is ~700. Signed on some vehicles";
 CM_ SG_ 203 ADAS_ActvACISta "ADAS Active AngleControlInterface State";

opendbc_repo/opendbc/dbc/generator/subaru/subaru_global_2017.dbc

@@ -1,15 +1,5 @@
 CM_ "IMPORT _subaru_global.dbc";
 
-BO_ 1723 AVH_Request: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ REQUEST : 16|2@1+ (1,0) [0|3] "" XXX
-
-BO_ 811 AVH_Status: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ ENABLED : 45|1@1+ (1,0) [0|1] "" XXX
-
 BO_ 72 Transmission: 8 XXX
  SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX

opendbc_repo/opendbc/dbc/hyundai_can_refresh_generated.dbc

@@ -1480,7 +1480,6 @@ BO_ 905 SCC14: 8 SCC
  SG_ JerkLowerLimit : 19|7@1+ (0.1,0) [0|12.7] "m/s^3" ESC
  SG_ ACCMode : 32|3@1+ (1,0) [0|7] "" CLU,HUD,LDWS_LKAS,ESC
  SG_ ObjGap : 56|8@1+ (1,0) [0|255] "" CLU,HUD,ESC
- SG_ ObjDistStat : 42|2@1+ (1,0) [0|3] "" XXX
 
 BO_ 1157 LFAHDA_MFC: 8 XXX
  SG_ HDA_USM : 0|2@1+ (1,0) [0|3] "" XXX
@@ -1498,7 +1497,7 @@ BO_ 913 BCM_PO_11: 8 Vector__XXX
  SG_ BCM_Door_Dri_Status : 5|1@0+ (1,0) [0|1] "" PT_ESC_ABS
  SG_ BCM_Shift_R_MT_SW_Status : 39|2@0+ (1,0) [0|3] "" PT_ESC_ABS
  SG_ LDA_BTN : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ RAY_LKAS_BTN : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ RAY_LKAS_BTN : 0|2@1+ (1,0) [0|3] "" XXX
 
 BO_ 1426 LABEL11: 8 XXX
  SG_ CC_React : 34|1@1+ (1,0) [0|1] "" XXX
@@ -1672,7 +1671,6 @@ VAL_ 871 CF_Lvr_IsgState 0 "enabled" 1 "activated" 2 "unknown" 3 "disabled";
 VAL_ 871 CF_Lvr_Gear 12 "T" 5 "D" 8 "S" 6 "N" 7 "R" 0 "P";
 VAL_ 882 Elect_Gear_Shifter 4 "S" 5 "D" 8 "S" 6 "N" 7 "R" 0 "P";
 VAL_ 905 ACCMode 0 "off" 1 "enabled" 2 "driver_override" 3 "off_maybe_fault" 4 "cancelled";
-VAL_ 905 ObjDistStat 0 "no_object" 1 "receding" 2 "approaching";
 VAL_ 909 CF_VSM_Warn 2 "FCW" 3 "AEB";
 VAL_ 916 ACCEnable 0 "SCC ready" 1 "SCC temp fault" 2 "SCC permanent fault" 3 "SCC permanent fault, communication issue";
 VAL_ 1056 SCCInfoDisplay 0 "No Message" 2 "Cruise Control" 3 "Lost Lead" 4 "Standstill";

opendbc_repo/opendbc/dbc/hyundai_canfd_generated.dbc

@@ -964,14 +964,10 @@ BO_ 1259 LOCAL_TIME2: 8 XXX
  SG_ NEW_SIGNAL_3 : 39|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1264 LOCAL_TIME: 8 XXX
- SG_ HOURS : 8|8@1+ (1,0) [0|23] "" XXX
- SG_ MINUTES : 16|8@1+ (1,0) [0|59] "" XXX
- SG_ SECONDS : 24|8@1+ (1,0) [0|59] "" XXX
- SG_ MONTH : 34|4@1+ (1,0) [1|12] "" XXX
- SG_ YEAR : 40|8@1+ (1,2000) [2000|2255] "" XXX
- SG_ DAY : 48|8@1+ (1,0) [1|31] "" XXX
+ SG_ HOURS : 12|5@0+ (1,0) [0|31] "" XXX
+ SG_ MINUTES : 21|6@0+ (1,0) [0|63] "" XXX
+ SG_ SECONDS : 31|8@0+ (1,0) [0|59] "" XXX
 
-CM_ BO_ 1264 "Cluster wall clock, 1Hz. Local time, not UTC. All 0xFF until the cluster initializes.";
 CM_ SG_ 96 BRAKE_PRESSURE "User applied brake pedal pressure. Ramps from computer applied pressure on falling edge of cruise. Cruise cancels if !=0";
 CM_ SG_ 101 BRAKE_POSITION "User applied brake pedal position, max is ~700. Signed on some vehicles";
 CM_ SG_ 203 ADAS_ActvACISta "ADAS Active AngleControlInterface State";

opendbc_repo/opendbc/dbc/hyundai_kia_generic.dbc

@@ -1480,7 +1480,6 @@ BO_ 905 SCC14: 8 SCC
  SG_ JerkLowerLimit : 19|7@1+ (0.1,0) [0|12.7] "m/s^3" ESC
  SG_ ACCMode : 32|3@1+ (1,0) [0|7] "" CLU,HUD,LDWS_LKAS,ESC
  SG_ ObjGap : 56|8@1+ (1,0) [0|255] "" CLU,HUD,ESC
- SG_ ObjDistStat : 42|2@1+ (1,0) [0|3] "" XXX
 
 BO_ 1157 LFAHDA_MFC: 4 XXX
  SG_ HDA_USM : 0|2@1+ (1,0) [0|3] "" XXX
@@ -1672,7 +1671,6 @@ VAL_ 871 CF_Lvr_IsgState 0 "enabled" 1 "activated" 2 "unknown" 3 "disabled";
 VAL_ 871 CF_Lvr_Gear 12 "T" 5 "D" 8 "S" 6 "N" 7 "R" 0 "P";
 VAL_ 882 Elect_Gear_Shifter 4 "S" 5 "D" 8 "S" 6 "N" 7 "R" 0 "P";
 VAL_ 905 ACCMode 0 "off" 1 "enabled" 2 "driver_override" 3 "off_maybe_fault" 4 "cancelled";
-VAL_ 905 ObjDistStat 0 "no_object" 1 "receding" 2 "approaching";
 VAL_ 909 CF_VSM_Warn 2 "FCW" 3 "AEB";
 VAL_ 916 ACCEnable 0 "SCC ready" 1 "SCC temp fault" 2 "SCC permanent fault" 3 "SCC permanent fault, communication issue";
 VAL_ 1056 SCCInfoDisplay 0 "No Message" 2 "Cruise Control" 3 "Lost Lead" 4 "Standstill";

opendbc_repo/opendbc/dbc/hyundai_kia_ray_pedal.dbc

@@ -1,23 +0,0 @@
-VERSION ""
-
-NS_ :
-BS_:
-BU_: INTERCEPTOR NEO
-
-BO_ 512 GAS_COMMAND: 6 NEO
- SG_ GAS_COMMAND : 7|16@0+ (0.672,-177.408) [0|255] "" INTERCEPTOR
- SG_ GAS_COMMAND2 : 23|16@0+ (0.332,-165.004) [0|255] "" INTERCEPTOR
- SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
-BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.672,-177.408) [0|255] "" NEO
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.332,-165.004) [0|255] "" NEO
- SG_ STATE : 39|4@0+ (1,0) [0|15] "" NEO
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" NEO
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" NEO
-
-VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-CM_ "Kia Ray EV comma pedal uses the standard 0x200/0x201 rolling counter and CRC8 protocol. Channel scaling is Ray-only, estimated from the September 15 route: sensor rest raw 264/497, slopes about 3.79/7.68 raw counts per native E_EMS11 pedal unit, and 100 native units mapped to 255 comma pedal command units. Confirm against installed Ray firmware before increasing the command cap.";

opendbc_repo/opendbc/dbc/subaru_global_2017_generated.dbc

@@ -307,16 +307,6 @@ VAL_ 544 AEB_Status 12 "AEB related" 8 "AEB actuation" 4 "AEB related" 0 "No AEB
 
 CM_ "subaru_global_2017.dbc starts here";
 
-BO_ 1723 AVH_Request: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ REQUEST : 16|2@1+ (1,0) [0|3] "" XXX
-
-BO_ 811 AVH_Status: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ ENABLED : 45|1@1+ (1,0) [0|1] "" XXX
-
 BO_ 72 Transmission: 8 XXX
  SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX

opendbc_repo/opendbc/dbc/tesla_can.dbc

@@ -217,9 +217,6 @@ BO_ 513 SDM1: 5 GTW
  SG_ SDM_bcklPassStatus : 3|2@0+ (1,0) [0|3] "" NEO
  SG_ SDM_bcklDrivStatus : 5|2@0+ (1,0) [0|3] "" NEO
 
-BO_ 529 RCM_status: 8 RCM
- SG_ RCM_buckleDriverStatus : 15|2@0+ (1,0) [0|3] "" GTW,OCS,DAS
-
 BO_ 532 EPB_epasControl: 3 EPB
  SG_ EPB_epasControlChecksum : 23|8@0+ (1,0) [0|255] ""  NEO,EPAS
  SG_ EPB_epasControlCounter : 11|4@0+ (1,0) [0|15] ""  NEO,EPAS
@@ -259,11 +256,9 @@ BO_ 872 DI_state: 8 DI
  SG_ DI_immobilizerState : 28|3@1+ (1,0) [0|0] ""  NEO
  SG_ DI_speedUnits : 31|1@1+ (1,0) [0|1] ""  NEO
  SG_ DI_cruiseSet : 32|9@1+ (0.5,0) [0|255.5] "speed"  NEO
- SG_ DI_hw1DigitalSpeed : 32|8@1+ (1,0) [0|250] "speed" NEO
  SG_ DI_aebState : 41|3@1+ (1,0) [0|0] ""  NEO
  SG_ DI_stateCounter : 44|4@1+ (1,0) [0|0] ""  NEO
  SG_ DI_digitalSpeed : 48|8@1+ (1,0) [0|250] ""  NEO
- SG_ DI_hw1CruiseSet : 48|8@1+ (1,0) [0|250] "speed" NEO
  SG_ DI_stateChecksum : 56|8@1+ (1,0) [0|0] ""  NEO
 
 BO_ 109 SBW_RQ_SCCM: 4 STW
@@ -911,3 +906,4 @@ VAL_ 1001 DAS_turnIndicatorRequestReason 6 "DAS_ACTIVE_COMMANDED_LANE_CHANGE" 5
 VAL_ 1160 DAS_steeringAngleRequest 16384 "ZERO_ANGLE" ;
 VAL_ 1160 DAS_steeringControlType 1 "ANGLE_CONTROL" 3 "DISABLED" 0 "NONE" 2 "RESERVED" ;
 VAL_ 1160 DAS_steeringHapticRequest 1 "ACTIVE" 0 "IDLE" ;
+