force stop handoff 2

cereal/custom.capnp

@@ -237,6 +237,8 @@ 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 {

common/params_keys.h

@@ -431,6 +431,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"HideSpeedLimit", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"HideSteeringWheel", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"HigherBitrate", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
+    {"HighwayCorrectionGain", {PERSISTENT, FLOAT, "1.0", "1.0", 3}},
     {"HolidayThemes", {PERSISTENT, BOOL, "1", "0", 0, SETTINGS_SIMPLE}},
     {"HumanLaneChanges", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"IconPack", {PERSISTENT, STRING, "stock", "stock", 0}},

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 CarControllerParams, FordFlags
+from opendbc.car.ford.values import CAR, 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.
@@ -64,7 +64,9 @@ def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_c
   return apply_curvature
 
 
-def apply_creep_compensation(accel: float, v_ego: float) -> float:
+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
   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
@@ -181,12 +183,11 @@ 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:
-        # 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)
+        accel = apply_creep_compensation(accel, CS.out.vEgo, self.CP.carFingerprint,
+                                         standstill=CS.out.standstill, stopping=stopping)
 
         # 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.
@@ -210,7 +211,6 @@ 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/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
+from opendbc.car.ford.carcontroller import FordStockCruiseButton, apply_creep_compensation
 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
@@ -38,6 +38,17 @@ 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)

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -770,7 +770,8 @@ class CarController(CarControllerBase):
     lead_data = self._can_lead_data.update(lead_distance, lead_rel_speed, lead_visible)
 
     # HUD messages
-    sys_warning, sys_state, left_lane_warning, right_lane_warning = process_hud_alert(CC.enabled, self.car_fingerprint,
+    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,
                                                                                       hud_control)
 
     if blended_hda2:

opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py

@@ -12,7 +12,7 @@ _adrv_0x51_templates: dict[CAR, bytes] = {}
 
 
 def cache_adrv_0x51_template(car_fingerprint: CAR, dat: bytes | None) -> None:
-  if car_fingerprint != CAR.KIA_EV6:
+  if car_fingerprint not in (CAR.KIA_EV6, CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN):
     return
 
   if dat is None:
@@ -26,7 +26,6 @@ def create_adrv_0x51(packer, CAN, frame: int, car_fingerprint: CAR | None = None
   if template is None:
     return packer.make_can_msg("ADRV_0x51", CAN.ACAN, {})
 
-  # EV6 MRR30 tracks stop when the ADAS takeover replaces this platform payload with zeros.
   dat = bytearray(template)
   dat[2] = (template[2] + frame + 1) & 0xFF
   dat[3] = (dat[3] & ~0x1) | int(drive_gear)

opendbc_repo/opendbc/car/hyundai/interface.py

@@ -395,7 +395,7 @@ class CarInterface(CarInterfaceBase):
 
       if not skip_disable_ecu:
         disable_can_recv = can_recv
-        if CP.carFingerprint == CAR.KIA_EV6 and can_recv is not None:
+        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

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

@@ -1316,6 +1316,103 @@ 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):

opendbc_repo/opendbc/car/interfaces.py

@@ -248,12 +248,24 @@ class CarInterfaceBase(ABC):
             (candidate != HYUNDAI.KIA_STINGER_2022 or fingerprint[2][0x53E] == 6):
           fp_ret.flags |= HyundaiStarPilotFlags.HAS_LKAS12.value
 
-        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))
+        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
+        )
         if fp_ret.redneckCruiseAvailable and params.get_bool("RedneckCruise"):
           fp_ret.pcmCruiseSpeed = False
-          CP.openpilotLongitudinalControl = True
+          if CP.flags & HyundaiFlags.NON_SCC:
+            CP.openpilotLongitudinalControl = True
 
         if candidate == HYUNDAI.HYUNDAI_ELANTRA_HEV_2024 and CP.openpilotLongitudinalControl:
           fp_ret.flags |= HyundaiStarPilotFlags.MAIN_CRUISE_STATE_TRACKING.value

opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py

@@ -992,6 +992,22 @@ class TestSportageNoStockLka(unittest.TestCase):
       "Damping_Gain": 100,
     })
 
+  def test_stock_scc_buttons_require_engagement(self):
+    resume = self.packer.make_can_msg_safety("CRUISE_BUTTONS", 1, {"CRUISE_BUTTONS": Buttons.RESUME})
+    set_button = self.packer.make_can_msg_safety("CRUISE_BUTTONS", 1, {"CRUISE_BUTTONS": Buttons.SET})
+    self.assertFalse(self.safety.safety_tx_hook(resume))
+    self.assertFalse(self.safety.safety_tx_hook(set_button))
+
+    self.safety.safety_rx_hook(set_button)
+    self.safety.safety_rx_hook(self.packer.make_can_msg_safety("SCC_CONTROL", 1, {"ACCMode": 1}))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.assertTrue(self.safety.safety_tx_hook(resume))
+    self.assertTrue(self.safety.safety_tx_hook(set_button))
+
+    self.safety.safety_rx_hook(self.packer.make_can_msg_safety("SCC_CONTROL", 1, {"ACCMode": 0}))
+    self.assertFalse(self.safety.safety_tx_hook(resume))
+    self.assertFalse(self.safety.safety_tx_hook(set_button))
+
   def test_aol_toggle_keeps_stock_blocked_and_inactive_status_allowed(self):
     self._speed(30)
     for expected_aol in (False, True, False, True, False):

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-96ef704d-DEBUG";
+const uint8_t gitversion[19] = "DEV-73164cc8-DEBUG";