C3X Cooling Curve

This reverts commit b3a14cb48d.

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -10,9 +10,8 @@ from opendbc.car.lateral import apply_driver_steer_torque_limits, apply_steer_an
 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.values import HyundaiFlags, HyundaiSafetyFlags, HyundaiStarPilotFlags, Buttons, CarControllerParams, CAR, \
+from opendbc.car.hyundai.values import HyundaiFlags, HyundaiSafetyFlags, HyundaiStarPilotFlags, Buttons, CarControllerParams, CAR, CANFD_ANGLE_LONGITUDINAL_CAR, \
-                                        CANFD_ANGLE_LONGITUDINAL_CAR, CANFD_RADAR_ECU_KEEPALIVE_CAR, CANFD_ALT_BUTTONS_RESUME_CAR, \
+                                        CANFD_RADAR_LIVE_LONGITUDINAL_CAR, CANFD_ALT_BUTTONS_RESUME_CAR, kia_ev6_gt_line_longitudinal_tuning, \
-                                        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
@@ -860,9 +859,10 @@ 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)
+    longitudinal_active = bool(self.long_active_ecu and getattr(CC, "longActive", False))
+    lfa_status_cars = (CAR.HYUNDAI_IONIQ_6, CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN)
     lfa_longitudinal_active = self.CP.openpilotLongitudinalControl \
-      if self.CP.carFingerprint in persistent_lfa_status_cars else self.long_active_ecu
+      if self.CP.carFingerprint in lfa_status_cars else longitudinal_active
     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 \
@@ -889,10 +889,11 @@ 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 (
+    forward_stock_lkas = (self.CP.carFingerprint in CANFD_ANGLE_LONGITUDINAL_CAR or
+                          self.CP.carFingerprint == CAR.KIA_SPORTAGE_HEV_2026) and angle_lkas_alt and (
       angle_lkas_alt_standstill_handoff or not (drive_gear and (CC.latActive or CC.enabled))
     )
     preserve_stock_lfa_status = preserve_stock_canfd_lfa_status(self.CP.carFingerprint)
@@ -919,7 +920,7 @@ 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,
@@ -994,7 +995,7 @@ class CarController(CarControllerBase):
         # 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))

opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py

@@ -142,21 +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:
+      if lat_active:
-        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:
         lkas_values = {
           "LKA_OptUsmSta": 0,
           "LKA_RcgSta": 3,

opendbc_repo/opendbc/car/hyundai/interface.py

@@ -7,7 +7,7 @@ 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, \
@@ -27,15 +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)
 
@@ -362,7 +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} ===")
 

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

@@ -4,7 +4,7 @@ from types import SimpleNamespace
 import pytest
 
 from opendbc.can import CANPacker, CANParser
-from opendbc.car import Bus, ButtonType, gen_empty_fingerprint, structs, uds
+from opendbc.car import Bus, ButtonType, gen_empty_fingerprint, structs
 from opendbc.car.structs import CarControl, CarParams
 from opendbc.car.fw_versions import build_fw_dict, match_fw_to_car
 from opendbc.car.hyundai.carcontroller import CarController, CANCEL_BUTTON_DELAY_FRAMES, Ioniq6LongitudinalTuningState, GenesisG90LongitudinalTuningState, \
@@ -24,7 +24,7 @@ from opendbc.car.hyundai.carcontroller import CarController, CANCEL_BUTTON_DELAY
                                              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.radar_interface import MRREVO14F_RADAR_START_ADDR, MRR30_RADAR_START_ADDR, MRR35_RADAR_START_ADDR, \
@@ -129,19 +129,6 @@ def get_test_toggles() -> SimpleNamespace:
 
 
 class TestHyundaiFingerprint:
-  @pytest.mark.parametrize("car", [
-    CAR.HYUNDAI_IONIQ_5,
-    CAR.KIA_EV6,
-    CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN,
-  ])
-  def test_hda2_cars_without_radar_keepalive_use_stock_communication_control(self, car):
-    stock_request = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x83, uds.MESSAGE_TYPE.NORMAL])
-    radar_keepalive_request = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL,
-                                     uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
-
-    assert get_communication_control_request(car) == stock_request
-    assert get_communication_control_request(CAR.HYUNDAI_IONIQ_6) == radar_keepalive_request
-
   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)
@@ -2565,10 +2552,9 @@ 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)]
 
-  @pytest.mark.parametrize("car", [CAR.HYUNDAI_IONIQ_6, CAR.KIA_EV6, CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN])
+  def test_ioniq_6_keeps_lfa_status_when_longitudinal_is_inactive(self):
-  def test_egmp_keeps_lfa_status_when_longitudinal_is_inactive(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
 
@@ -2589,38 +2575,6 @@ class TestHyundaiFingerprint:
                                         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", "powertrain_flag"), [
-    (CAR.HYUNDAI_IONIQ_5, HyundaiFlags.EV),
-    (CAR.KIA_CARNIVAL_2025, 0),
-    (CAR.KIA_CARNIVAL_HEV_4TH_GEN, HyundaiFlags.HYBRID),
-  ])
-  def test_hda2_keeps_lfa_status_while_longitudinal_ecu_is_disabled(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)
-    controller.frame = 1
-    controller.long_active_ecu = True
-    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(
-        brakePressed=False, gasPressed=False,
-        gearShifter=structs.CarState.GearShifter.park,
-      ),
-    )
-
-    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)
-
   def test_gv70_electrified_longitudinal_uses_hda2_scc_contract(self):
     CP = CarParams.new_message()
     CP.carFingerprint = CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN
@@ -2753,7 +2707,7 @@ 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_forwards_stock_status_when_inactive(self, standstill):
     CP = CarParams.new_message()
     CP.carFingerprint = CAR.KIA_SPORTAGE_HEV_2026
     CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.HYBRID | HyundaiFlags.CANFD_ANGLE_STEERING |
@@ -2761,67 +2715,16 @@ class TestHyundaiFingerprint:
     CP.openpilotLongitudinalControl = False
 
     controller = CarController(DBC[CP.carFingerprint], CP)
-    controller.frame = 5
-    can_bus = CanBus(CP)
     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}
+    cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg={},
-    lfa_block_msg["COUNTER"] = 0
-    cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg={}, lfa_block_msg=lfa_block_msg,
                          out=SimpleNamespace(standstill=standstill, steeringAngleDeg=0.0,
                                              gearShifter=structs.CarState.GearShifter.drive))
 
     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)
-    lkas_msgs = [msg for msg in msgs if msg[0] == 0x110]
+    assert not [msg for msg in msgs if msg[0] in (0x110, 0x12A)]
-    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"] == 1
-    assert parser.vl["LKAS_ALT"]["LKA_RcgSta"] == 0
-    assert parser.vl["LKAS_ALT"]["Damping_Gain"] == 100
-    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()

opendbc_repo/opendbc/car/hyundai/values.py

@@ -1218,13 +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,

selfdrive/controls/controlsd.py

@@ -404,6 +404,7 @@ class Controls:
     self.turn_blinker_swept = 0.0
     self.twitch_guard_remaining = 0.0
     self.kona_non_scc_lateral_active = False
+    self.kona_non_scc_lateral_faulted = False
     self.elantra_hev_2024_lateral_faulted = False
     self.elantra_hev_2024_previous_cruise_enabled = False
 
@@ -503,6 +504,11 @@ class Controls:
     standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, 0.3) or CS.standstill
     if self.CP.carFingerprint == HYUNDAI_CAR.HYUNDAI_KONA_NON_SCC:
       always_on_lateral_enabled = self.sm['starpilotCarState'].alwaysOnLateralEnabled
+      lateral_requested = (CC.enabled and self.sm['selfdriveState'].active) or always_on_lateral_enabled
+      if not lateral_requested:
+        self.kona_non_scc_lateral_faulted = False
+      elif CS.steerFaultTemporary:
+        self.kona_non_scc_lateral_faulted = True
       CC.latActive = get_kona_non_scc_lateral_active(
         CC.enabled, self.sm['selfdriveState'].active,
         always_on_lateral_enabled,
@@ -510,6 +516,7 @@ class Controls:
         standstill, self.CP.steerAtStandstill,
         self.sm['starpilotPlan'].lateralCheck,
         CS.steeringPressed, self.kona_non_scc_lateral_active,
+        self.kona_non_scc_lateral_faulted,
       )
       self.kona_non_scc_lateral_active = CC.latActive
     elif self.CP.carFingerprint == HYUNDAI_CAR.HYUNDAI_ELANTRA_HEV_2024:

selfdrive/controls/lib/drive_helpers.py

@@ -89,12 +89,13 @@ def update_lateral_fault_latch(previous_latched: bool, lateral_requested: bool,
 def get_kona_non_scc_lateral_active(enabled: bool, active: bool, always_on_lateral_enabled: bool,
                                     steer_fault_temporary: bool, steer_fault_permanent: bool,
                                     standstill: bool, steer_at_standstill: bool, lateral_check: bool,
-                                    steering_pressed: bool, previous_lateral_active: bool) -> bool:
+                                    steering_pressed: bool, previous_lateral_active: bool,
+                                    steer_fault_latched: bool = False) -> bool:
   """Avoid the Kona EPS torque fault when AOL is enabled over driver steering input."""
   lateral_active = get_lateral_active(enabled, active, always_on_lateral_enabled,
                                       steer_fault_temporary, steer_fault_permanent,
                                       standstill, steer_at_standstill, lateral_check)
-  if not lateral_active:
+  if not lateral_active or steer_fault_latched:
     return False
 
   aol_rising_edge = always_on_lateral_enabled and not enabled and not previous_lateral_active

selfdrive/controls/tests/test_drive_helpers.py

@@ -35,15 +35,9 @@ def test_kona_non_scc_aol_gate_does_not_change_fault_or_normal_lateral_gates():
   )
 
 
-def test_kona_non_scc_recovers_after_temporary_fault_clears():
+def test_kona_non_scc_does_not_retry_after_a_latched_temporary_fault():
   assert not get_kona_non_scc_lateral_active(
-    False, False, True, True, False, False, False, True, False, True,
+    False, False, True, False, False, False, False, True, False, False, True,
-  )
-  assert not get_kona_non_scc_lateral_active(
-    False, False, True, False, False, False, False, True, True, False,
-  )
-  assert get_kona_non_scc_lateral_active(
-    False, False, True, False, False, False, False, True, False, False,
   )
 
 

starpilot/system/the_galaxy/assets/mobile/css/material.css

@@ -36,6 +36,7 @@
   --glass-border-light: rgba(255, 255, 255, 0.2);
   --glass-shadow: 0 8px 24px 0 rgba(0, 0, 0, 0.35);
   --glass-blur: blur(4px);
+  --card-scroll-bg: rgba(22, 18, 38, 0.95);
   --glass-text: #f3f2f8;
   --glass-accent: #9d72ff;
 
@@ -105,6 +106,7 @@
   --surface-container: rgba(255, 255, 255, 0.75);
   --surface-container-high: rgba(255, 255, 255, 0.95);
   --surface-container-low: rgba(240, 243, 252, 0.75);
+  --card-scroll-bg: rgba(245, 246, 252, 0.96);
 
   --on-surface: #171526;
   --on-surface-variant: #5f5b7d;
@@ -186,6 +188,8 @@ body {
   pointer-events: none;
   transform: translateZ(0);
   will-change: transform;
+  isolation: isolate;
+  contain: strict;
 }
 
 #galaxy-bg::before {
@@ -204,7 +208,6 @@ body {
   opacity: 0.5;
   will-change: transform;
   transform: translate3d(var(--gx-para-x), 0, 0);
-  animation: galaxy-drift-smooth 160s linear infinite;
 }
 
 #galaxy-bg::after {
@@ -221,7 +224,6 @@ body {
   opacity: 0.6;
   will-change: transform;
   transform: translate3d(var(--gx-para-x), 0, 0);
-  animation: galaxy-drift-smooth 100s linear infinite;
 }
 
 #galaxy-bg .galaxy-hero {
@@ -234,11 +236,6 @@ body {
   animation: galaxy-twinkle 6s ease-in-out infinite alternate;
 }
 
-@keyframes galaxy-drift-smooth {
-  from { transform: translate3d(0, 0, 0); }
-  to { transform: translate3d(0, -400px, 0); }
-}
-
 @keyframes galaxy-twinkle {
   0%, 100% { opacity: 0.3; transform: scale(0.9); }
   50% { opacity: 1; transform: scale(1.2); }
@@ -250,6 +247,11 @@ body {
   }
 }
 
+/* Keep decorative animation out of modal backdrops and drawer content. */
+body:has(.gx-scrim, .gx-underlay, .gx-drawer.open) #galaxy-bg .galaxy-hero {
+  display: none;
+}
+
 [data-theme="light"] #galaxy-bg {
   background-color: #eef1fb;
   background-image:
@@ -306,6 +308,8 @@ ul { list-style: none; margin: 0; padding: 0; }
   position: sticky;
   top: 0;
   z-index: var(--z-appbar);
+  transform: translateZ(0);
+  isolation: isolate;
 }
 
 .gx-appbar__pill {
@@ -325,7 +329,8 @@ ul { list-style: none; margin: 0; padding: 0; }
   transition: background-color var(--motion-fast), border-color var(--motion-fast);
 }
 
-.gx-appbar__back {
+.gx-appbar .gx-appbar__back,
+.gx-appbar .gx-theme-toggle {
   background: var(--glass-bg);
   backdrop-filter: var(--glass-blur);
   -webkit-backdrop-filter: var(--glass-blur);
@@ -339,7 +344,8 @@ ul { list-style: none; margin: 0; padding: 0; }
   transition: transform var(--motion-fast), background-color var(--motion-fast);
 }
 
-.gx-appbar__back:active { transform: scale(0.92); }
+.gx-appbar .gx-appbar__back:active,
+.gx-appbar .gx-theme-toggle:active { transform: scale(0.92); }
 
 .gx-appbar__title {
   background: linear-gradient(135deg, #8b6cc5 0%, #5ec8c8 55%, #d4789c 100%);
@@ -358,6 +364,24 @@ ul { list-style: none; margin: 0; padding: 0; }
   vertical-align: middle;
 }
 
+.gx-appbar__home {
+  display: inline-flex;
+  align-items: center;
+  cursor: pointer;
+  padding: 2px 8px;
+  border-radius: var(--radius-full);
+  transition: background-color var(--motion-fast), transform var(--motion-fast);
+}
+
+.gx-appbar__home:hover { background-color: var(--glass-bg-hover); }
+
+.gx-appbar__home:active { transform: scale(0.96); }
+
+.gx-appbar__home:focus-visible {
+  outline: 2px solid var(--primary);
+  outline-offset: 2px;
+}
+
 .gx-appbar__right {
   align-items: center;
   display: flex;
@@ -411,27 +435,6 @@ ul { list-style: none; margin: 0; padding: 0; }
 .gx-back-btn { display: none; }
 .gx-menu-btn { display: inline-flex; }
 
-.gx-theme-toggle {
-  background: var(--glass-bg);
-  backdrop-filter: var(--glass-blur);
-  -webkit-backdrop-filter: var(--glass-blur);
-  border: 1px solid var(--glass-border);
-  border-radius: 50%;
-  box-shadow: var(--glass-shadow);
-  color: var(--glass-text);
-  flex: none;
-  height: var(--touch-target);
-  width: var(--touch-target);
-  transition: transform var(--motion-fast), background-color var(--motion-fast), border-color var(--motion-fast);
-}
-
-.gx-theme-toggle:active { transform: scale(0.92); }
-
-[data-theme="light"] .gx-theme-toggle {
-  border: 1.5px solid var(--primary);
-  box-shadow: 0 2px 8px rgba(120, 73, 232, 0.2);
-}
-
 .gx-searchwrap {
   align-items: center;
   display: flex;
@@ -513,7 +516,10 @@ ul { list-style: none; margin: 0; padding: 0; }
   position: fixed;
   bottom: calc(18px + env(safe-area-inset-bottom, 0px));
   left: 50%;
-  transform: translateX(-50%);
+  transform: translateX(-50%) translateZ(0);
+  will-change: transform;
+  isolation: isolate;
+  contain: layout style;
   z-index: 1000;
 
   display: flex;
@@ -589,7 +595,37 @@ ul { list-style: none; margin: 0; padding: 0; }
   box-shadow: var(--elev-1);
   margin-bottom: var(--sp-4);
   overflow: hidden;
-  transition: transform var(--motion-fast), box-shadow var(--motion-fast);
+  transition: transform var(--motion-fast), box-shadow var(--motion-fast), background-color 0.15s ease-out;
+}
+
+/* Surgical content-visibility for top-level non-collapsible cards */
+.dh-card:not(.dh-stat),
+.gx-content > div > .gx-card {
+  content-visibility: auto;
+  contain-intrinsic-size: 280px;
+  contain-intrinsic-size: auto 280px;
+}
+
+.dh-stat {
+  content-visibility: auto;
+  contain-intrinsic-size: 110px;
+  contain-intrinsic-size: auto 110px;
+}
+
+/* Disarm containment on collapsible sections and nested cards */
+.gx-card:has(.gx-section__body),
+.gx-card .gx-card,
+.gx-tree-node .gx-card {
+  content-visibility: visible !important;
+  contain-intrinsic-size: none !important;
+}
+
+/* Velocity-Adaptive Glass: bypass blur on scrolling cards with contrast boost */
+body.is-scrolling .gx-card,
+body.is-scrolling .gx-tile {
+  backdrop-filter: none !important;
+  -webkit-backdrop-filter: none !important;
+  background: var(--card-scroll-bg) !important;
 }
 
 .gx-unit-note {
@@ -1459,6 +1495,9 @@ input[type="color"].gx-color {
 .gx-fade-enter-active, .gx-fade-leave-active { transition: opacity var(--motion-base); }
 .gx-fade-enter-from, .gx-fade-leave-to { opacity: 0; }
 
+/* Keep the underlay (and star suppression) until the drawer finishes closing. */
+.gx-underlay.gx-fade-leave-active { transition: opacity var(--motion-slow); }
+
 .gx-slide-enter-active, .gx-slide-leave-active {
   transition: transform var(--motion-base), opacity var(--motion-base);
 }

starpilot/system/the_galaxy/assets/mobile/js/app.js

@@ -90,6 +90,71 @@ app.mount("#galaxy-app")
 
 initRouter()
 
+// Disable card blur during document scrolling.
+;(() => {
+  let timer = null
+  let scrollEnded = true
+  const touches = new Set()
+  const nativeScrollEnd = "onscrollend" in document
+  const body = document.body
+
+  const isModalEvent = (e) => {
+    const t = e.target
+    return t instanceof Element && t.closest(".gx-scrim, .gx-sheet, .gx-dialog, .gx-drawer") !== null
+  }
+
+  const setScrolling = (active) => {
+    if (active) {
+      if (!body.classList.contains("is-scrolling")) body.classList.add("is-scrolling")
+    } else if (!touches.size && body.classList.contains("is-scrolling")) {
+      body.classList.remove("is-scrolling")
+    }
+  }
+
+  const scheduleRestore = () => {
+    clearTimeout(timer)
+    const scrollY = window.scrollY
+    // Finger release and completion notifications can precede the last movement.
+    // Keep glass disabled until the scroll position has also settled.
+    timer = setTimeout(() => {
+      if (window.scrollY !== scrollY) scheduleRestore()
+      else setScrolling(false)
+    }, 120)
+  }
+
+  document.addEventListener("scroll", () => {
+    scrollEnded = false
+    setScrolling(true)
+    clearTimeout(timer)
+    if (!nativeScrollEnd) scheduleRestore()
+  }, { passive: true })
+
+  document.addEventListener("scrollend", () => {
+    scrollEnded = true
+    scheduleRestore()
+  }, { passive: true })
+
+  window.addEventListener("touchstart", (e) => {
+    if (isModalEvent(e)) return
+    for (const touch of e.changedTouches) touches.add(touch.identifier)
+  }, { passive: true })
+
+  const releaseTouches = (e) => {
+    for (const touch of e.changedTouches) touches.delete(touch.identifier)
+    if (!touches.size && (scrollEnded || !nativeScrollEnd)) scheduleRestore()
+  }
+  window.addEventListener("touchend", releaseTouches, { passive: true })
+  window.addEventListener("touchcancel", releaseTouches, { passive: true })
+
+  window.addEventListener("hashchange", () => {
+    scrollEnded = true
+    touches.clear()
+    clearTimeout(timer)
+    body.classList.remove("is-scrolling")
+  }, { passive: true })
+})()
+
+// Layer 2: Ambient Hero Stars Spawner
 ;(() => {
   const bg = document.getElementById("galaxy-bg")
   if (!bg) return

starpilot/system/the_galaxy/assets/mobile/js/components/AppShell.js

@@ -81,6 +81,9 @@ export const AppShell = {
     bottomNavTo(item) {
       navigate(item.link)
     },
+    goHome() {
+      navigate("/")
+    },
     isActive(link) {
       return this.activePath === link || (link !== "/" && this.activePath.startsWith(link))
     },
@@ -102,7 +105,10 @@ export const AppShell = {
           <button type="button" class="gx-icon-btn gx-menu-btn" aria-label="Menu" @click="store.drawerOpen = true">
             <i class="bi bi-list"></i>
           </button>
+          <span class="gx-appbar__home" role="button" tabindex="0"
+            aria-label="Galaxy home" @click="goHome" @keydown.enter="goHome" @keydown.space.prevent="goHome">
             <span class="gx-appbar__title">Galaxy</span>
+          </span>
           <div class="gx-searchwrap">
             <input ref="searchInput" class="gx-search gx-appbar__search" type="search" placeholder="Search toggles..."
               v-model="search" aria-label="Search toggles" />

starpilot/system/the_galaxy/assets/mobile/js/components/DevModeBanner.js

@@ -17,9 +17,9 @@ export const DevModeBanner = {
       <i class="bi bi-shield-lock gx-alert__icon"></i>
       <div class="gx-alert__body">
         <strong>{{ hiddenCount }} advanced setting{{ hiddenCount !== 1 ? "s" : "" }} hidden.</strong>
-        <span>Advanced features are tucked away until you enable Developer Mode.</span>
+        <span>Want more advanced features or missing a few toggles? Enable Developer Mode whenever you’re ready.</span>
       </div>
-      <button type="button" class="gx-btn gx-btn--tonal" @click="unlock">Enable Developer Mode</button>
+      <button type="button" class="gx-btn gx-btn--tonal" @click="unlock">Go to Developer Tab</button>
     </div>
   `,
 }

starpilot/system/the_galaxy/tests/test_ui_vue_frontend.py

@@ -277,7 +277,7 @@ def test_ui_eliminates_slider_toggle_flicker():
 
 def test_ui_developer_mode_banner_offers_unlock():
   banner = _read("js/components/DevModeBanner.js")
-  assert "Enable Developer Mode" in banner
+  assert "Go to Developer Tab" in banner
   assert 'navigate("/settings/developer")' in banner
   assert "advanced setting" in banner
 
@@ -295,6 +295,8 @@ def test_ui_has_bottom_navigation_and_drawer():
   assert "gx-appbar" in shell
   assert "Search toggles" in shell
   assert ">Galaxy</span>" in shell
+  assert "gx-appbar__home" in shell
+  assert "goHome" in shell and 'navigate("/")' in shell
 
 
 def test_ui_search_visible_on_mobile_and_content_full_width():
@@ -538,6 +540,110 @@ def test_ui_mobile_polish_regressions():
   assert 'tr("Longitudinal Maneuver Mode")' not in c4_developer
 
 
+@pytest.mark.parametrize("native_scrollend", [False, True])
+def test_scroll_coordinator_gesture_lifecycle(native_scrollend):
+  node = _node_exe()
+  if node is None:
+    pytest.skip("no node.js runtime available")
+  script = r"""
+const assert = require('node:assert/strict');
+const fs = require('node:fs');
+const vm = require('node:vm');
+const native = process.argv[2] === 'true';
+const source = fs.readFileSync(process.argv[1], 'utf8');
+const handlers = { document: {}, window: {} };
+const classes = new Set();
+const timers = new Map();
+let nextTimer = 0;
+const window = {
+  scrollY: 0,
+  addEventListener: (name, fn) => { handlers.window[name] = fn; },
+};
+class Element {
+  constructor(modal = false) { this.modal = modal; }
+  closest() { return this.modal ? this : null; }
+}
+const document = {
+  body: { classList: {
+    contains: k => classes.has(k), add: k => classes.add(k), remove: k => classes.delete(k),
+  } },
+  addEventListener: (name, fn) => { handlers.document[name] = fn; },
+};
+if (native) document.onscrollend = null;
+vm.runInNewContext(source.slice(source.indexOf('// Disable card blur'), source.indexOf('// Layer 2')), {
+  document, Element,
+  window,
+  setTimeout: fn => { timers.set(++nextTimer, fn); return nextTimer; },
+  clearTimeout: id => timers.delete(id),
+});
+const fire = (scope, name, ids = [], modal = false) => handlers[scope][name]?.({
+  target: new Element(modal), changedTouches: ids.map(identifier => ({ identifier })),
+});
+const tick = () => { const pending = [...timers.values()]; timers.clear(); pending.forEach(fn => fn()); };
+const active = () => classes.has('is-scrolling');
+// Inertial movement can continue between delivered scroll events after release.
+fire('window', 'touchstart', [10]);
+fire('document', 'scroll');
+fire('window', 'touchend', [10]);
+if (native) fire('document', 'scrollend');
+window.scrollY = 100;
+tick();
+assert.equal(active(), true, 'finger release must not end momentum scrolling');
+window.scrollY = 160;
+tick();
+assert.equal(active(), true, 'continued movement must keep blur disabled');
+tick();
+assert.equal(active(), false, 'restore after completion and a stable position');
+fire('document', 'scrollend');
+fire('window', 'wheel');
+assert.equal(active(), false, 'wheel without document movement');
+fire('window', 'touchstart', [1, 2]);
+fire('document', 'scroll');
+fire('window', 'touchend', [1]);
+fire('window', 'touchstart', [3], true);
+fire('window', 'touchend', [3], true);
+tick();
+assert.equal(active(), true, 'remaining page finger holds blur disabled');
+fire('window', 'touchcancel', [2]);
+tick();
+assert.equal(active(), native, 'native completion must be authoritative');
+fire('document', 'scrollend');
+tick();
+assert.equal(active(), false);
+// More scroll events after a completion signal invalidate its pending restore.
+fire('document', 'scroll');
+fire('document', 'scrollend');
+fire('document', 'scroll');
+tick();
+assert.equal(active(), native, 'new scrolling cancels the previous native completion');
+fire('document', 'scrollend');
+tick();
+assert.equal(active(), false);
+fire('window', 'touchstart', [4]);
+fire('document', 'scroll');
+fire('document', 'scrollend');
+assert.equal(active(), true, 'hold survives completion');
+fire('window', 'touchend', [4]);
+tick();
+assert.equal(active(), false, 'release after completion cannot leave state stuck');
+fire('document', 'scroll');
+fire('window', 'hashchange');
+tick();
+assert.equal(active(), false, 'navigation clears pending gesture');
+fire('document', 'scroll');
+tick();
+assert.equal(active(), native, 'fallback only on unsupported browsers');
+fire('document', 'scrollend');
+tick();
+assert.equal(active(), false);
+"""
+  result = subprocess.run(
+    [node, "-e", script, str(UI_ROOT / "js/app.js"), str(native_scrollend).lower()],
+    capture_output=True, text=True,
+  )
+  assert result.returncode == 0, result.stdout + result.stderr
+
+
 def _node_exe():
   candidates = [
     shutil.which("node"),

system/hardware/fan_controller.py

@@ -7,9 +7,12 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.common.pid import PIDController
 from openpilot.system.hardware import HARDWARE
 
-# raise fan setpoint on tici/tizi to reduce noise
+# comma 3/3X (tici/tizi) run a more aggressive, cooler-targeting curve than comma 4 (mici)
-# after raising LMH threshold in AGNOS 18.1 to prevent CPU throttling
+IS_MICI = HARDWARE.get_device_type() == "mici"
-OFFSET = 0 if HARDWARE.get_device_type() == "mici" else 5
+OFFSET = 0 if IS_MICI else -5
+K_P = 0 if IS_MICI else 1.0
+FF_LOW = 60.0 if IS_MICI else 55.0
+FF_HIGH = 100.0 if IS_MICI else 80.0
 
 class BaseFanController(ABC):
   @abstractmethod
@@ -23,7 +26,7 @@ class TiciFanController(BaseFanController):
     cloudlog.info("Setting up TICI fan handler")
 
     self.last_ignition = False
-    self.controller = PIDController(k_p=0, k_i=4e-3, rate=(1 / DT_HW))
+    self.controller = PIDController(k_p=K_P, k_i=4e-3, rate=(1 / DT_HW))
 
   def update(self, cur_temp: float, ignition: bool) -> int:
     self.controller.pos_limit = 100 if ignition else 30
@@ -35,7 +38,7 @@ class TiciFanController(BaseFanController):
     error = cur_temp - (75 + OFFSET)
     fan_pwr_out = int(self.controller.update(
                       error=error,
-                      feedforward=np.interp(cur_temp, [60.0 + OFFSET, 100.0 + OFFSET], [0, 100])
+                      feedforward=np.interp(cur_temp, [FF_LOW, FF_HIGH], [0, 100])
                     ))
 
     self.last_ignition = ignition