EV6 Hotfix

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -860,7 +860,7 @@ class CarController(CarControllerBase):
 
     lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING
     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_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 lfa_status_cars else longitudinal_active
     lka_steering_long = lka_steering and lfa_longitudinal_active

opendbc_repo/opendbc/car/hyundai/interface.py

@@ -27,6 +27,15 @@ 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_LIVE_LONGITUDINAL_CAR and car_fingerprint != CAR.KIA_EV6:
+    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)
 
@@ -353,14 +362,7 @@ class CarInterface(CarInterfaceBase):
     params = Params()
 
     if communication_control is None:
-      if CP.carFingerprint in CANFD_RADAR_LIVE_LONGITUDINAL_CAR:
+      communication_control = get_communication_control_request(CP.carFingerprint)
-        # 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
+from opendbc.car import Bus, ButtonType, gen_empty_fingerprint, structs, uds
 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
+from opendbc.car.hyundai.interface import CarInterface, KIA_EV9_ACCEL_MAX, get_communication_control_request
 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, \
@@ -129,6 +129,14 @@ def get_test_toggles() -> SimpleNamespace:
 
 
 class TestHyundaiFingerprint:
+  def test_ev6_uses_stock_hda2_communication_control_path(self):
+    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.KIA_EV6) == 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)
@@ -2552,9 +2560,10 @@ 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_ioniq_6_keeps_lfa_status_when_longitudinal_is_inactive(self):
+  @pytest.mark.parametrize("car", [CAR.HYUNDAI_IONIQ_6, CAR.KIA_EV6])
+  def test_egmp_keeps_lfa_status_when_longitudinal_is_inactive(self, car):
     CP = CarParams.new_message()
-    CP.carFingerprint = CAR.HYUNDAI_IONIQ_6
+    CP.carFingerprint = car
     CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_LKA_STEERING)
     CP.openpilotLongitudinalControl = True
 

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

@@ -36,7 +36,6 @@
   --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;
 
@@ -106,7 +105,6 @@
   --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;
@@ -188,8 +186,6 @@ body {
   pointer-events: none;
   transform: translateZ(0);
   will-change: transform;
-  isolation: isolate;
-  contain: strict;
 }
 
 #galaxy-bg::before {
@@ -208,6 +204,7 @@ 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 {
@@ -224,6 +221,7 @@ 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 {
@@ -236,6 +234,11 @@ 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); }
@@ -247,11 +250,6 @@ 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:
@@ -308,8 +306,6 @@ 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 {
@@ -329,8 +325,7 @@ ul { list-style: none; margin: 0; padding: 0; }
   transition: background-color var(--motion-fast), border-color var(--motion-fast);
 }
 
-.gx-appbar .gx-appbar__back,
+.gx-appbar__back {
-.gx-appbar .gx-theme-toggle {
   background: var(--glass-bg);
   backdrop-filter: var(--glass-blur);
   -webkit-backdrop-filter: var(--glass-blur);
@@ -344,8 +339,7 @@ ul { list-style: none; margin: 0; padding: 0; }
   transition: transform var(--motion-fast), background-color var(--motion-fast);
 }
 
-.gx-appbar .gx-appbar__back:active,
+.gx-appbar__back:active { transform: scale(0.92); }
-.gx-appbar .gx-theme-toggle:active { transform: scale(0.92); }
 
 .gx-appbar__title {
   background: linear-gradient(135deg, #8b6cc5 0%, #5ec8c8 55%, #d4789c 100%);
@@ -364,24 +358,6 @@ 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;
@@ -435,6 +411,27 @@ 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;
@@ -516,10 +513,7 @@ ul { list-style: none; margin: 0; padding: 0; }
   position: fixed;
   bottom: calc(18px + env(safe-area-inset-bottom, 0px));
   left: 50%;
-  transform: translateX(-50%) translateZ(0);
+  transform: translateX(-50%);
-  will-change: transform;
-  isolation: isolate;
-  contain: layout style;
   z-index: 1000;
 
   display: flex;
@@ -595,37 +589,7 @@ 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), background-color 0.15s ease-out;
+  transition: transform var(--motion-fast), box-shadow var(--motion-fast);
-}
-
-/* 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 {
@@ -1495,9 +1459,6 @@ 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

@@ -90,71 +90,6 @@ 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

@@ -81,9 +81,6 @@ export const AppShell = {
     bottomNavTo(item) {
       navigate(item.link)
     },
-    goHome() {
-      navigate("/")
-    },
     isActive(link) {
       return this.activePath === link || (link !== "/" && this.activePath.startsWith(link))
     },
@@ -105,10 +102,7 @@ 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"
+          <span class="gx-appbar__title">Galaxy</span>
-            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>Want more advanced features or missing a few toggles? Enable Developer Mode whenever you’re ready.</span>
+        <span>Advanced features are tucked away until you enable Developer Mode.</span>
       </div>
-      <button type="button" class="gx-btn gx-btn--tonal" @click="unlock">Go to Developer Tab</button>
+      <button type="button" class="gx-btn gx-btn--tonal" @click="unlock">Enable Developer Mode</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 "Go to Developer Tab" in banner
+  assert "Enable Developer Mode" in banner
   assert 'navigate("/settings/developer")' in banner
   assert "advanced setting" in banner
 
@@ -295,8 +295,6 @@ 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():
@@ -540,110 +538,6 @@ 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

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