EV6 Hotfix

opendbc_repo/opendbc/can/dbc.py

@@ -194,7 +194,7 @@ 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_mqb", "vw_mqbevo", "vw_meb")):
     return ChecksumState(8, 4, 0, 0, True, SignalType.VOLKSWAGEN_MQB_MEB_CHECKSUM, volkswagen_mqb_meb_checksum)

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
   )
 
 

opendbc_repo/opendbc/car/gm/carstate.py

@@ -32,7 +32,6 @@ 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}
@@ -68,24 +67,6 @@ 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 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)
@@ -124,8 +105,6 @@ 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
@@ -371,18 +350,8 @@ 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"]
+    ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
-    friction_brake_unavailable = pt_cp.vl["EBCMFrictionBrakeStatus"]["FrictionBrakeUnavailable"] == 1
+                      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.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
     ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL

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_TARGET_DEADBAND_MPH = 5.0
-VOLT_CC_ACCEL_DEADBAND_MS2 = 0.15
 
 
 def malibu_phase_map_for_button(button):
@@ -346,15 +344,7 @@ def _create_volt_cc_spam_command(CS, actuators, ms_convert):
   speed_setpoint = int(round(CS.out.cruiseState.speed * ms_convert))
   ego_speed = CS.out.vEgo * ms_convert
 
-  v_cruise_kph = float(getattr(CS.out, "vCruise", 0.0))
+  if accel == 0.0:
-  if 0.0 < v_cruise_kph < 255.0:
-    is_metric = ms_convert == CV.MS_TO_KPH
-    target_setpoint = v_cruise_kph if is_metric else v_cruise_kph * CV.KPH_TO_MPH
-    target_deadband = VOLT_CC_TARGET_DEADBAND_MPH * (CV.MPH_TO_KPH if is_metric else 1.0)
-    if abs(target_setpoint - speed_setpoint) <= target_deadband:
-      return CruiseButtons.INIT, float("inf")
-
-  if abs(accel) <= VOLT_CC_ACCEL_DEADBAND_MS2:
     return CruiseButtons.INIT, float("inf")
 
   if accel < 0.0:

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,
@@ -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 or volt_one_pedal_mode) and
-        (gm_auto_hold and candidate in GM_AUTO_HOLD_CARS) or
+      candidate in {
-        (volt_one_pedal_mode and candidate in {
+        CAR.CHEVROLET_VOLT,
-          CAR.CHEVROLET_VOLT,
+        CAR.CHEVROLET_VOLT_2019,
-          CAR.CHEVROLET_VOLT_2019,
+        CAR.CHEVROLET_VOLT_ASCM,
-          CAR.CHEVROLET_VOLT_ASCM,
+        CAR.CHEVROLET_VOLT_CAMERA,
-          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

@@ -8,12 +8,7 @@ from opendbc.can import CANPacker, CANParser
 from opendbc.car import Bus, DT_CTRL, structs
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.gm import gmcan
-from opendbc.car.gm.carstate import (
+from opendbc.car.gm.carstate import CarState as GMCarState, get_hard_cruise_buttons, update_auto_hold_drive_timers
-  CarState as GMCarState,
-  get_hard_cruise_buttons,
-  update_auto_hold_drive_timers,
-  update_startup_acc_fault_suppression,
-)
 from opendbc.car.gm.carcontroller import (
   VisualAlert,
   get_acc_dashboard_always_one,
@@ -209,50 +204,6 @@ class TestBoltGps:
     assert all(message in parsers[Bus.pt].vl for message in CHEVROLET_BOLT_GPS_MESSAGES)
 
 
-class TestGMCarState:
-  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_lacrosse_obd_and_ascm_integrations_remain_separate(self):
     obd_params = interfaces[CAR.BUICK_LACROSSE].get_params(
@@ -570,43 +521,6 @@ 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()
@@ -933,63 +847,6 @@ class TestGMCarController:
 
     assert len(msgs) == 1
 
-  def test_volt_cc_redneck_holds_when_stock_setpoint_is_within_target_deadband(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=99.0 * 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 == 99
-
-  def test_volt_cc_redneck_catches_up_when_target_exceeds_deadband(self):
-    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
-    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,
-        flags=GMFlags.NO_CAMERA.value,
-        networkLocation=structs.CarParams.NetworkLocation.gateway,
-        minEnableSpeed=0.0,
-      ),
-      buttons_counter=2,
-      out=SimpleNamespace(
-        vEgo=90.0 * CV.KPH_TO_MS,
-        cruiseState=SimpleNamespace(speed=90.0 * 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 == []
-
-    controller.frame = int(0.7 / DT_CTRL)
-    msgs = gmcan.create_gm_cc_spam_command(
-      packer, controller, cs, SimpleNamespace(accel=0.5), SimpleNamespace(is_metric=True),
-    )
-
-    assert len(msgs) == 1
-    assert controller.apply_speed == 91
-
   def test_volt_cc_no_camera_redneck_spam_stays_on_powertrain_bus(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)

opendbc_repo/opendbc/car/gm/values.py

@@ -533,14 +533,6 @@ 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,

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -11,7 +11,7 @@ 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, 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
@@ -860,11 +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 = (
+    lfa_status_cars = (CAR.HYUNDAI_IONIQ_6, CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN, CAR.KIA_EV6)
-      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
@@ -896,7 +892,8 @@ class CarController(CarControllerBase):
     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)
@@ -998,7 +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/interface.py

@@ -8,7 +8,6 @@ from opendbc.car.hyundai.values import HyundaiFlags, CAR, CarControllerParams, \
                                                    CANFD_SECURITYACCESS_CAR, \
                                                    CANFD_ANGLE_LONGITUDINAL_CAR, \
                                                    CANFD_RADAR_LIVE_LONGITUDINAL_CAR, \
-                                                   CANFD_RADAR_ECU_KEEPALIVE_CAR, \
                                                    RADAR_LIVE_LONGITUDINAL_CAR, \
                                                    UNSUPPORTED_LONGITUDINAL_CAR, HyundaiSafetyFlags, \
                                                    LEGACY_LONGITUDINAL_CAR, \
@@ -30,7 +29,7 @@ Ecu = structs.CarParams.Ecu
 
 
 def get_communication_control_request(car_fingerprint):
-  if car_fingerprint in CANFD_RADAR_ECU_KEEPALIVE_CAR:
+  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])
 

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[CP.carFingerprint][Bus.radar], messages, radar_config.bus)
-  return CANParser(dbc_name, 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

@@ -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, \
@@ -28,13 +28,12 @@ from opendbc.car.hyundai.interface import CarInterface, KIA_EV9_ACCEL_MAX, get_c
 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, \
-                                             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, \
+                                         HyundaiStarPilotFlags, HyundaiStarPilotSafetyFlags, Buttons, CarControllerParams, kia_ev6_gt_line_longitudinal_tuning
-                                         CANFD_RADAR_ECU_KEEPALIVE_CAR, CANFD_RADAR_LIVE_LONGITUDINAL_CAR, kia_ev6_gt_line_longitudinal_tuning
 
 LongCtrlState = CarControl.Actuators.LongControlState
 from opendbc.car.hyundai.fingerprints import FW_VERSIONS
@@ -131,11 +130,10 @@ def get_test_toggles() -> SimpleNamespace:
 
 class TestHyundaiFingerprint:
   def test_ev6_uses_stock_hda2_communication_control_path(self):
-    stock_request = bytes([0x28, 0x83, 0x01])
+    stock_request = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x83, uds.MESSAGE_TYPE.NORMAL])
-    radar_keepalive_request = bytes([0x28, 0x01, 0x01])
+    radar_keepalive_request = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL,
+                                     uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
 
-    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 get_communication_control_request(CAR.HYUNDAI_IONIQ_6) == radar_keepalive_request
 
@@ -436,42 +434,6 @@ 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)
@@ -2606,6 +2568,8 @@ class TestHyundaiFingerprint:
     CP.openpilotLongitudinalControl = True
 
     controller = CarController(DBC[CP.carFingerprint], CP)
+    controller.frame = 1
+    controller.long_active_ecu = False
     cc = SimpleNamespace(
       enabled=False, latActive=False, longActive=False,
       actuators=SimpleNamespace(longControlState=LongCtrlState.off),
@@ -2613,15 +2577,12 @@ 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),
     )
 
-    controller.frame = 1
+    msgs = controller.create_canfd_msgs(0, False, 0.0, 0.0, 0.0, 0.0, False,
-    for controller.long_active_ecu in (False, True):
+                                        cc.hudControl, cs, cc, get_test_toggles(), lka_icon=1, lfa_icon=1)
-      msgs = controller.create_canfd_msgs(0, False, 0.0, 0.0, 0.0, 0.0, False,
+    assert any(addr == 0x12A for addr, _, _ in msgs)
-                                          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()
@@ -2755,7 +2716,7 @@ 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_publishes_inactive_status(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 |
@@ -2763,7 +2724,6 @@ class TestHyundaiFingerprint:
     CP.openpilotLongitudinalControl = False
 
     controller = CarController(DBC[CP.carFingerprint], CP)
-    can_bus = CanBus(CP)
     cc = SimpleNamespace(enabled=False, latActive=False,
                          actuators=SimpleNamespace(longControlState=LongCtrlState.off),
                          leftBlinker=False, rightBlinker=False, hudControl=SimpleNamespace())
@@ -2773,16 +2733,7 @@ class TestHyundaiFingerprint:
 
     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
-
-    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_ICON"] == 1
-    assert parser.vl["LKAS_ALT"]["LKA_SysIndReq"] == 1
-    assert parser.vl["LKAS_ALT"]["LKA_RcgSta"] == 0
-    assert parser.vl["LKAS_ALT"]["LKAS_ANGLE_ACTIVE"] == 1
 
   def test_ev9_inactive_angle_steering_does_not_suppress_stock_lfa(self):
     CP = CarParams.new_message()

opendbc_repo/opendbc/car/hyundai/values.py

@@ -1218,9 +1218,7 @@ 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 = CANFD_RADAR_LIVE_LONGITUDINAL_CAR - {CAR.KIA_EV6}
 RADAR_LIVE_LONGITUDINAL_CAR = CANFD_RADAR_LIVE_LONGITUDINAL_CAR | {
   CAR.HYUNDAI_IONIQ,
   CAR.HYUNDAI_KONA_EV_2022,

opendbc_repo/opendbc/car/subaru/carcontroller.py

@@ -302,7 +302,7 @@ 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._legacy_2025_manual_handoff(CS, CC.latActive)
+      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
@@ -325,7 +325,7 @@ 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, CC.latActive)
+      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:
@@ -361,7 +361,7 @@ class CarController(CarControllerBase):
     lkas_available = CC.latActive and (not mads_only or mads_only_ok) and \
       getattr(CS.out, "gearShifter", structs.CarState.GearShifter.drive) == structs.CarState.GearShifter.drive and \
       not getattr(CS.out, "standstill", False)
-    manual_handoff = self._angle_manual_handoff(CS, CC.latActive)
+    manual_handoff = self._angle_manual_handoff(CS, lkas_available)
     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

opendbc_repo/opendbc/car/subaru/carstate.py

@@ -85,14 +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"]

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

@@ -546,25 +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)
@@ -726,20 +707,11 @@ def test_ascent_angle_controller_blocks_parking_lot_aol_engagement():
   CS.out.steeringRateDeg = 0.0
   msg = controller.lateral_angle(CC, CS)
   parser.update([(2, [msg])])
-  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
-
-  for i in range(8):
-    msg = controller.lateral_angle(CC, CS)
-    parser.update([(3 + i, [msg])])
-    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
-
-  msg = controller.lateral_angle(CC, CS)
-  parser.update([(11, [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([(12, [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)
 

opendbc_repo/opendbc/car/tests/routes.py

@@ -108,7 +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/torque_data/override.toml

@@ -145,7 +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/toyota/carcontroller.py

@@ -40,8 +40,6 @@ 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
@@ -311,24 +309,23 @@ class CarController(CarControllerBase):
 
     self.last_standstill = CS.out.standstill
 
-  def update_auto_hold_state(self, CS: structs.CarState, cancel_requested: bool = False,
+  def create_auto_brake_hold_messages(self, CS: structs.CarState, brake_hold_allowed_timer: int = 100):
-                             activation_frames: int = TOYOTA_AUTO_HOLD_ACTIVATION_FRAMES):
+    can_sends = []
-    brake_hold_allowed = (not cancel_requested and CS.out.standstill and CS.out.cruiseState.available and
+    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))
 
     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
+      self.brake_hold_active = self._brake_hold_counter > brake_hold_allowed_timer
     elif not brake_hold_allowed:
       self._brake_hold_counter = 0
       self.brake_hold_active = False
 
-    return self.brake_hold_active
+    if self.frame % 2 == 0:
+      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):
+    return can_sends
-    self._brake_hold_counter = 0
-    self.brake_hold_active = False
 
   def update(self, CC, CS, now_nanos, starpilot_toggles):
     actuators = CC.actuators
@@ -426,9 +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)):
-      self.update_auto_hold_state(CS, pcm_cancel_cmd)
+      can_sends.extend(self.create_auto_brake_hold_messages(CS))
-    else:
+    elif self.brake_hold_active:
-      self.reset_auto_hold_state()
+      self._brake_hold_counter = 0
+      self.brake_hold_active = False
 
     interceptor_gas_cmd = self._compute_interceptor_gas_cmd(CC, CS)
 
@@ -536,11 +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:
-          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

@@ -90,6 +90,8 @@ 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)
+    self.pre_collision_2 = {}
 
   def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
     cp = can_parsers[Bus.pt]
@@ -225,6 +227,9 @@ class CarState(CarStateBase):
     if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V:
       self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"])
 
+    if self.auto_brake_hold:
+      self.pre_collision_2 = copy.copy(cp_cam.vl["PRE_COLLISION_2"])
+
     if self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR:
       self.pcm_follow_distance = cp.vl["PCM_CRUISE_2"]["PCM_FOLLOW_DISTANCE"]
 
@@ -309,6 +314,9 @@ 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:
+      cam_messages.append(("PRE_COLLISION_2", 50))
+
     return {
       Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, 0),
       Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, 2),

opendbc_repo/opendbc/car/toyota/interface.py

@@ -164,8 +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:
+    if toyota_auto_hold and candidate in TOYOTA_AUTO_HOLD_CARS:
-      ret.alternativeExperience |= ALTERNATIVE_EXPERIENCE.TOYOTA_AUTO_HOLD
+      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

@@ -196,8 +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 {})
+        {bus: {} for bus in range(8)},
-         for bus in range(8)},
         [],
         alpha_long=False,
         is_release=False,
@@ -208,13 +207,12 @@ class TestToyotaInterfaces:
       params.remove("ToyotaAutoHold")
 
     assert car_params.flags & ToyotaFlags.AUTO_BRAKE_HOLD.value
-    assert car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.TOYOTA_AUTO_HOLD
+    assert car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.ALLOW_AEB
-    assert not 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 "PRE_COLLISION_2" not in can_parsers[Bus.cam].vl
+    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):
@@ -231,7 +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(
@@ -746,8 +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
@@ -810,6 +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])
+    controller.frame = 0
+    controller.brake_hold_active = False
+    controller._brake_hold_counter = 0
 
     cs = SimpleNamespace(
       out=SimpleNamespace(
@@ -819,22 +818,28 @@ class TestToyotaCarController:
         brakePressed=True,
         gearShifter=structs.CarState.GearShifter.drive,
       ),
+      pre_collision_2={},
     )
 
-    controller.update_auto_hold_state(cs, activation_frames=0)
+    controller.create_auto_brake_hold_messages(cs, brake_hold_allowed_timer=0)
     assert controller.brake_hold_active
 
     cs.out.brakePressed = False
-    controller.update_auto_hold_state(cs, activation_frames=0)
+    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.update_auto_hold_state(cs, activation_frames=0)
+    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,
@@ -843,9 +848,10 @@ class TestToyotaCarController:
         brakePressed=False,
         gearShifter=structs.CarState.GearShifter.drive,
       ),
+      pre_collision_2={},
     )
 
-    controller.update_auto_hold_state(cs, activation_frames=0)
+    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):
@@ -985,9 +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,
@@ -996,19 +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 = controller.create_auto_brake_hold_messages(cs, brake_hold_allowed_timer=0)
-    can_sends = [toyotacan.create_accel_command(
-      controller.packer, -1.0, False, True, True, False, 1, False, 0, False,
-    )]
 
-    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["PRE_COLLISION_2"]["DSS1GDRV"] == -1.0
-    assert parser.vl["ACC_CONTROL"]["PERMIT_BRAKING"] == 1
+    assert parser.vl["PRE_COLLISION_2"]["PBRTRGR"] == 1
-    assert parser.vl["ACC_CONTROL"]["RELEASE_STANDSTILL"] == 0
 
   def test_interceptor_stop_and_go_holds_small_launch_at_standstill(self):
     controller = self._make_controller()

opendbc_repo/opendbc/car/toyota/toyotacan.py

@@ -89,6 +89,38 @@ def create_pcs_commands(packer, accel, active, mass):
   return [msg1, msg2]
 
 
+def create_brake_hold_command(packer, frame, pre_collision_2, brake_hold_active):
+  values = {s: pre_collision_2[s] for s in [
+    "DSS1GDRV",
+    "DS1STAT2",
+    "DS1STBK2",
+    "PCSWAR",
+    "PCSALM",
+    "PCSOPR",
+    "PCSABK",
+    "PBATRGR",
+    "PPTRGR",
+    "IBTRGR",
+    "CLEXTRGR",
+    "IRLT_REQ",
+    "BRKHLD",
+    "AVSTRGR",
+    "VGRSTRGR",
+    "PREFILL",
+    "PBRTRGR",
+    "PCSDIS",
+    "PBPREPMP",
+  ] if s in pre_collision_2}
+
+  if brake_hold_active:
+    values = {
+      "DSS1GDRV": 0x3FF,
+      "PBRTRGR": frame % 730 < 727,
+    }
+
+  return packer.make_can_msg("PRE_COLLISION_2", 0, values)
+
+
 def create_acc_cancel_command(packer):
   values = {
     "GAS_RELEASED": 0,

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,
+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_pscm_message, create_lca_3_message, create_lca_2_message, create_lca_4_message, create_lca_5_message,
+                                        create_lca_5_message, create_lca_6_message, create_lca_7_message, create_pscm_related_message)
-                                        create_lca_6_message, create_lca_7_message, create_pscm_related_message)
+from opendbc.car.volvo.values import CarControllerParams
-from opendbc.car.volvo.values import CAR, CarControllerParams, VolvoC1PlatformConfig
 
 
 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.party])
-    self.packer = CANPacker(dbc_names[Bus.pt] if self.is_c1 else 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
 
@@ -294,50 +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):
+    if isinstance(CAR(candidate).config, VolvoSPAPlatformConfig):
-      safety_param = VolvoSafetyFlags.SPA.value
+      safety_param = VOLVO_FLAG_SPA
-    elif isinstance(platform, VolvoC1PlatformConfig):
-      safety_param = VolvoSafetyFlags.C1.value
     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

@@ -4,8 +4,7 @@ from types import SimpleNamespace
 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.values import DBC
-from opendbc.car.volvo.volvocan import create_c1_checksum
 
 
 def _zero_message():
@@ -68,70 +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
-
-
-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)
@@ -91,19 +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):
@@ -128,26 +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/safety/__init__.py

@@ -11,4 +11,3 @@ class ALTERNATIVE_EXPERIENCE:
 
   ALWAYS_ON_LATERAL = 32
   GM_REMAP_CANCEL_TO_DISTANCE = 64
-  TOYOTA_AUTO_HOLD = 128

opendbc_repo/opendbc/safety/declarations.h

@@ -339,7 +339,6 @@ extern bool gm_remote_start_boots_comma;
 
 #define ALT_EXP_ALWAYS_ON_LATERAL 32
 #define ALT_EXP_GM_REMAP_CANCEL_TO_DISTANCE 64
-#define ALT_EXP_TOYOTA_AUTO_HOLD 128
 
 extern int alternative_experience;
 

opendbc_repo/opendbc/safety/modes/toyota.h

@@ -2,8 +2,6 @@
 
 #include "opendbc/safety/declarations.h"
 
-#define TOYOTA_AUTO_HOLD_ACCEL -1000  // -1.0 m/s^2 in ACC_CONTROL units
-
 // Stock longitudinal
 #define TOYOTA_BASE_TX_MSGS \
   {0x191, 0, 8, .check_relay = true}, {0x412, 0, 8, .check_relay = true}, {0x1D2, 0, 8, .check_relay = false},  /* LKAS + LTA + PCM cancel cmd */  \
@@ -279,15 +277,7 @@ static bool toyota_tx_hook(const CANPacket_t *msg) {
         // SecOC cars move accel to 0x183. Only allow inactive accel on 0x343 to match stock behavior
         violation = desired_accel != TOYOTA_LONG_LIMITS.inactive_accel;
       }
-
+      violation |= longitudinal_accel_checks(desired_accel, TOYOTA_LONG_LIMITS);
-      bool toyota_auto_hold =
-        !toyota_stock_longitudinal &&
-        ((alternative_experience & ALT_EXP_TOYOTA_AUTO_HOLD) != 0) &&
-        !vehicle_moving && !gas_pressed && acc_main_on &&
-        (desired_accel == TOYOTA_AUTO_HOLD_ACCEL) &&
-        GET_BIT(msg, 30U) && !GET_BIT(msg, 31U) && !GET_BIT(msg, 24U);
-
-      violation |= !toyota_auto_hold && longitudinal_accel_checks(desired_accel, TOYOTA_LONG_LIMITS);
 
       // only ACC messages that cancel are allowed when openpilot is not controlling longitudinal
       if (toyota_stock_longitudinal) {
@@ -404,7 +394,12 @@ static bool toyota_tx_hook(const CANPacket_t *msg) {
       tx = false;
     }
 
-    if ((msg->addr == 0x344U) && toyota_stock_longitudinal) {
+    // Auto brake hold replaces the camera AEB message only while stopped.
+    if ((msg->addr == 0x344U) && ((alternative_experience & ALT_EXP_ALLOW_AEB) != 0)) {
+      if (vehicle_moving || gas_pressed || !acc_main_on) {
+        tx = false;
+      }
+    } else if ((msg->addr == 0x344U) && toyota_stock_longitudinal) {
       tx = false;
     }
   }
@@ -571,11 +566,21 @@ static safety_config toyota_init(uint16_t param) {
   return ret;
 }
 
+static bool toyota_fwd_hook(int bus_num, int addr) {
+  bool block_msg = false;
+  if (bus_num == 2) {
+    block_msg = (addr == 0x344) && ((alternative_experience & ALT_EXP_ALLOW_AEB) != 0) &&
+                !vehicle_moving && !gas_pressed && acc_main_on;
+  }
+  return block_msg;
+}
+
 const safety_hooks toyota_hooks = {
   .init = toyota_init,
   .rx = toyota_rx_hook,
   .rx_all = toyota_rx_all_hook,
   .tx = toyota_tx_hook,
+  .fwd = toyota_fwd_hook,
   .get_checksum = toyota_get_checksum,
   .compute_checksum = toyota_compute_checksum,
   .get_quality_flag_valid = toyota_get_quality_flag_valid,

opendbc_repo/opendbc/safety/modes/volvo.h

@@ -2,11 +2,9 @@
 
 #include "opendbc/safety/declarations.h"
 
-// safetyParam: 0 = CMA (XC40 Recharge), 1 = SPA (S60 Recharge, Polestar 2),
+// safetyParam: 0 = CMA (XC40 Recharge), 1 = SPA (S60 Recharge, Polestar 2)
-// 2 = C1 (V40)
 // Polestar 2 is technically CMA, but appears to use SPA DBC for CAN 1 bus
 #define VOLVO_FLAG_SPA 1U
-#define VOLVO_FLAG_C1 2U
 
 // Volvo CAN message addresses shared between CMA and SPA
 #define VOLVO_LCA_STEER           0x58U    // TX from VCU1 to PSCM, LCA steering command (0x58)
@@ -26,15 +24,6 @@
 #define VOLVO_LCA_6               0x97U   // TX LCA_6 message
 #define VOLVO_LCA_7               0x92U   // TX LCA_7 message
 
-// C1-specific addresses (V40). The V40 powertrain bus is bus 0 and its
-// forward-camera bus is bus 2; bus 1 is unused by this port.
-#define VOLVO_C1_BUTTONS           0x10U
-#define VOLVO_C1_FSM_0             0x30U
-#define VOLVO_C1_FSM_1             0xD0U
-#define VOLVO_C1_PSCM_1            0x125U
-#define VOLVO_C1_PEDAL_AND_BRAKE   0x55U
-#define VOLVO_C1_SPEED             0x150U
-
 // CMA-specific PT bus addresses
 #define VOLVO_CMA_BUS1_SPEED          0x70U   // RX vehicle speed
 #define VOLVO_CMA_ECM_1               0x250U  // RX accelerator pedal position
@@ -55,10 +44,6 @@
 #define VOLVO_MAX_ANGLE_CAN 9650
 #define VOLVO_RELAY_ANGLE_TOLERANCE 54  // approximately 3 degrees
 
-#define VOLVO_C1_ANGLE_DEG_TO_CAN 22.753128f
-#define VOLVO_C1_MAX_ANGLE_CAN 8189
-#define VOLVO_C1_RELAY_ANGLE_TOLERANCE 2
-
 
 // CAN bus definitions for Volvo
 // Using same naming as carstate.py for consistency: main, pt, party
@@ -69,7 +54,6 @@
 // Runtime addresses set by volvo_init based on safetyParam
 static uint16_t volvo_ecm_1_addr;
 static uint16_t volvo_bus1_cruise_control_addr;
-static bool volvo_c1;
 
 static int volvo_be_15(const CANPacket_t *msg, uint8_t byte) {
   return (int)(((uint16_t)(msg->data[byte] & 0x7FU) << 8U) | msg->data[byte + 1U]);
@@ -83,21 +67,6 @@ static int volvo_lca_5_angle(const CANPacket_t *msg) {
   return to_signed(volvo_be_15(msg, 6U), 15);
 }
 
-static int volvo_c1_pscm_angle(const CANPacket_t *msg) {
-  return (int)(((uint16_t)msg->data[5] << 8U) | msg->data[6]) - 32768;
-}
-
-static int volvo_c1_fsm_angle(const CANPacket_t *msg) {
-  return (int)(((uint16_t)(msg->data[4] & 0x3FU) << 8U) | msg->data[5]) - 8192;
-}
-
-static uint8_t volvo_c1_fsm_checksum(const CANPacket_t *msg) {
-  const uint16_t angle_raw = ((uint16_t)(msg->data[4] & 0x3FU) << 8U) | msg->data[5];
-  const uint8_t direction = msg->data[7] & 0x3U;
-  const uint8_t checksum_sum = (msg->data[3] + direction + angle_raw + (angle_raw >> 8U)) & 0xFFU;
-  return checksum_sum ^ 0xFFU;
-}
-
 static const AngleSteeringLimits VOLVO_ANGLE_STEERING_LIMITS = {
   .max_angle = VOLVO_MAX_ANGLE_CAN,
   .angle_deg_to_can = VOLVO_ANGLE_DEG_TO_CAN,
@@ -112,51 +81,8 @@ static const AngleSteeringLimits VOLVO_ANGLE_STEERING_LIMITS = {
   .frequency = 50U,
 };
 
-static const AngleSteeringLimits VOLVO_C1_ANGLE_STEERING_LIMITS = {
-  .max_angle = VOLVO_C1_MAX_ANGLE_CAN,
-  .angle_deg_to_can = VOLVO_C1_ANGLE_DEG_TO_CAN,
-  .angle_rate_up_lookup = {
-    {7.0f, 17.0f, 36.0f},
-    {2.0f, 0.25f, 0.1f},
-  },
-  .angle_rate_down_lookup = {
-    {7.0f, 17.0f, 36.0f},
-    {2.0f, 0.25f, 0.1f},
-  },
-  .max_angle_error = 455,  // 20 degrees
-  .angle_error_min_speed = 0.0f,
-  .frequency = 50U,
-  .enforce_angle_error = true,
-};
-
 static void volvo_rx_hook(const CANPacket_t *msg) {
 
-  if (volvo_c1) {
-    if (msg->bus == VOLVO_MAIN_BUS) {
-      if (msg->addr == VOLVO_C1_PSCM_1) {
-        update_sample(&angle_meas, volvo_c1_pscm_angle(msg));
-      }
-
-      if (msg->addr == VOLVO_C1_SPEED) {
-        const uint16_t speed_raw = ((uint16_t)msg->data[6] << 8U) | msg->data[7];
-        const float speed = ((float)speed_raw * 0.01f) / 3.6f;
-        vehicle_moving = speed > 0.1f;
-        UPDATE_VEHICLE_SPEED(speed);
-      }
-
-      if (msg->addr == VOLVO_C1_PEDAL_AND_BRAKE) {
-        const uint16_t gas_raw = ((uint16_t)(msg->data[1] & 0x3U) << 8U) | msg->data[2];
-        gas_pressed = gas_raw > 50U;  // DBC factor 0.1: greater than 5 percent
-        brake_pressed = GET_BIT(msg, 24U) || GET_BIT(msg, 38U);
-      }
-    }
-
-    if ((msg->bus == VOLVO_PARTY_BUS) && (msg->addr == VOLVO_C1_FSM_0)) {
-      pcm_cruise_check(GET_BIT(msg, 58U));
-    }
-    return;
-  }
-
   // Main bus (bus 0) messages
   if (msg->bus == VOLVO_MAIN_BUS) {
     // Update brake pedal and cruise state from BCM2
@@ -232,33 +158,6 @@ static void volvo_rx_hook(const CANPacket_t *msg) {
 static bool volvo_tx_hook(const CANPacket_t *msg) {
   bool tx = true;
 
-  if (volvo_c1) {
-    if (msg->addr == VOLVO_C1_FSM_1) {
-      const int desired_angle = volvo_c1_fsm_angle(msg);
-      const uint8_t direction = msg->data[7] & 0x3U;
-      const bool steer_control_enabled = direction != 0U;
-      tx &= SAFETY_ABS(desired_angle) <= VOLVO_C1_MAX_ANGLE_CAN;
-      tx &= !steer_angle_cmd_checks(desired_angle, steer_control_enabled, VOLVO_C1_ANGLE_STEERING_LIMITS);
-      tx &= (direction == 0U) || (direction == 3U);
-      tx &= (msg->data[0] == 0xE3U) && (msg->data[1] == 0xB4U) && (msg->data[2] == 0x08U);
-      tx &= (msg->data[3] == 0x80U) && ((msg->data[4] & 0xC0U) == 0x80U) && ((msg->data[7] & 0xFCU) == 0x94U);
-      tx &= msg->data[6] == volvo_c1_fsm_checksum(msg);
-    }
-
-    if (msg->addr == VOLVO_C1_PSCM_1) {
-      const int relayed_angle = volvo_c1_pscm_angle(msg);
-      const int measured_max = angle_meas.max + VOLVO_C1_RELAY_ANGLE_TOLERANCE;
-      const int measured_min = angle_meas.min - VOLVO_C1_RELAY_ANGLE_TOLERANCE;
-      tx &= !safety_max_limit_check(relayed_angle, measured_max, measured_min);
-    }
-
-    // Only ACC cancel (byte 7 bit 4) may be synthesized.
-    if (msg->addr == VOLVO_C1_BUTTONS) {
-      tx &= ((msg->data[7] & 0xEFU) == 0U) && (msg->data[6] == 0U);
-    }
-    return tx;
-  }
-
   // LCA_5 carries the actual angle command used by the controller. The stock
   // LCA frame also contains an angle-shaped field, but the imported controller
   // deliberately leaves that field at the observed vehicle value.
@@ -356,22 +255,6 @@ static bool volvo_tx_hook(const CANPacket_t *msg) {
 
 static safety_config volvo_init(uint16_t param) {
   bool spa = GET_FLAG(param, VOLVO_FLAG_SPA);
-  volvo_c1 = GET_FLAG(param, VOLVO_FLAG_C1);
-
-  if (volvo_c1) {
-    static const CanMsg VOLVO_C1_TX_MSGS[] = {
-      {VOLVO_C1_FSM_1, VOLVO_MAIN_BUS, 8, .check_relay = true},
-      {VOLVO_C1_PSCM_1, VOLVO_PARTY_BUS, 8, .check_relay = true},
-      {VOLVO_C1_BUTTONS, VOLVO_MAIN_BUS, 8, .check_relay = false},
-    };
-    static RxCheck volvo_c1_rx_checks[] = {
-      {.msg = {{VOLVO_C1_PSCM_1, VOLVO_MAIN_BUS, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
-      {.msg = {{VOLVO_C1_FSM_0, VOLVO_PARTY_BUS, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
-      {.msg = {{VOLVO_C1_PEDAL_AND_BRAKE, VOLVO_MAIN_BUS, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
-      {.msg = {{VOLVO_C1_SPEED, VOLVO_MAIN_BUS, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
-    };
-    return BUILD_SAFETY_CFG(volvo_c1_rx_checks, VOLVO_C1_TX_MSGS);
-  }
 
   // Set PT bus addresses based on platform
   volvo_ecm_1_addr = spa ? VOLVO_SPA_ECM_1 : VOLVO_CMA_ECM_1;

opendbc_repo/opendbc/safety/tests/test_toyota.py

@@ -97,55 +97,29 @@ class TestToyotaSafetyBase(common.CarSafetyTest, common.LongitudinalAccelSafetyT
           msg = libsafety_py.make_CANPacket(0x283, 0, bytes(dat))
           self.assertEqual(not bad and not stock_longitudinal, self._tx(msg))
 
-  def test_auto_hold_acc_control_is_narrowly_allowed_only_at_standstill(self):
+  def test_auto_brake_hold_aeb_replacement_only_at_standstill(self):
-    if (not self.LONGITUDINAL or
+    self.safety.set_alternative_experience(ALTERNATIVE_EXPERIENCE.ALLOW_AEB)
-        self.safety.get_current_safety_param() & (ToyotaSafetyFlags.STOCK_LONGITUDINAL.value | ToyotaSafetyFlags.SECOC.value)):
+    hold_msg = libsafety_py.make_CANPacket(0x344, 0, b"\xfd\x80\x00\x00\x00\x00\x00\xcc")
-      raise unittest.SkipTest("Toyota Auto Hold requires non-SecOC openpilot longitudinal control")
-
-    self.safety.set_alternative_experience(ALTERNATIVE_EXPERIENCE.TOYOTA_AUTO_HOLD)
-    hold_msg = self.packer.make_can_msg_safety("ACC_CONTROL", 0, {
-      "ACCEL_CMD": -1.0,
-      "PERMIT_BRAKING": 1,
-      "RELEASE_STANDSTILL": 0,
-      "CANCEL_REQ": 0,
-    })
 
     self._rx(self._speed_msg(0))
     self._rx(self._toggle_aol(True))
     self._rx(self._user_gas_msg(False))
-    self.safety.set_controls_allowed(False)
     self.assertTrue(self._tx(hold_msg))
-
+    self.assertEqual(-1, self.safety.safety_fwd_hook(2, 0x344))
-    self.assertFalse(self._tx(self.packer.make_can_msg_safety("ACC_CONTROL", 0, {
-      "ACCEL_CMD": -1.1,
-      "PERMIT_BRAKING": 1,
-      "RELEASE_STANDSTILL": 0,
-    })))
 
     self._rx(self._speed_msg(1.0))
     self.assertFalse(self._tx(hold_msg))
+    self.assertEqual(0, self.safety.safety_fwd_hook(2, 0x344))
 
     self._rx(self._speed_msg(0))
     self._rx(self._user_gas_msg(True))
     self.assertFalse(self._tx(hold_msg))
+    self.assertEqual(0, self.safety.safety_fwd_hook(2, 0x344))
 
     self._rx(self._user_gas_msg(False))
     self._rx(self._toggle_aol(False))
     self.assertFalse(self._tx(hold_msg))
-
+    self.assertEqual(0, self.safety.safety_fwd_hook(2, 0x344))
-  def test_auto_hold_acc_control_is_blocked_without_toyota_hold_toggle(self):
-    hold_msg = self.packer.make_can_msg_safety("ACC_CONTROL", 0, {
-      "ACCEL_CMD": -1.0,
-      "PERMIT_BRAKING": 1,
-      "RELEASE_STANDSTILL": 0,
-      "CANCEL_REQ": 0,
-    })
-    self._rx(self._speed_msg(0))
-    self._rx(self._toggle_aol(True))
-    self._rx(self._user_gas_msg(False))
-    self.safety.set_controls_allowed(False)
-    self.safety.set_alternative_experience(0)
-    self.assertFalse(self._tx(hold_msg))
 
   # Only allow LTA msgs with no actuation
   def test_lta_steer_cmd(self):

opendbc_repo/opendbc/safety/tests/test_volvo.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 """
-Safety tests for Volvo C1/CMA/SPA.
+Safety tests for Volvo CMA/SPA.
 
 The safety mode lives at ``opendbc/safety/modes/volvo.h`` and is parameterized
 by ``safetyParam``:
@@ -8,13 +8,14 @@ by ``safetyParam``:
   - ``safetyParam == 0``       → CMA platform (Volvo XC40 Recharge)
   - ``safetyParam == VOLVO_FLAG_SPA`` → SPA platform (Volvo S60 Recharge,
     Polestar 2)
-  - ``safetyParam == VOLVO_FLAG_C1``  → C1 platform (Volvo V40)
 
-CMA and SPA share LCA/PSCM/etc. addresses on the main and party buses but use
+The two platforms share LCA/PSCM/etc. addresses on the main and party buses
-different PT-bus addresses and signal scales. C1 uses the V40's legacy CAN
+but use *different* PT-bus addresses and signal scales for ECM_1 and
-layout and its own safety allowlist. The tests exercise all three through the
+BUS1_CRUISE_CONTROL. Vehicle speed is read from main-bus SPEED on both, so it
-generic ``CarSafetyTest`` harness so divergence between ``carstate.py`` and
+is not platform-dependent. This test file exercises both platforms through the
-``volvo.h`` is caught before running in a car.
+same generic ``CarSafetyTest`` harness so that any future divergence between
+``carstate.py`` and ``volvo.h`` — e.g. a threshold drifting out of sync — is
+caught on a laptop instead of in the car.
 
 Companion to: ``opendbc/car/volvo/carstate.py`` (must agree on thresholds).
 """
@@ -24,16 +25,13 @@ import re
 import unittest
 
 from opendbc.car.volvo.interface import SAFETY_VOLVO
-from opendbc.car.volvo.values import VolvoSafetyFlags
-from opendbc.car.volvo.volvocan import create_c1_checksum, create_c1_steering_control
 from opendbc.safety.tests.libsafety import libsafety_py
 import opendbc.safety.tests.common as common
 from opendbc.safety.tests.common import CANPackerSafety
 
 
-# Must match the flags in opendbc/safety/modes/volvo.h
+# Must match VOLVO_FLAG_SPA in opendbc/safety/modes/volvo.h
-VOLVO_FLAG_SPA = VolvoSafetyFlags.SPA.value
+VOLVO_FLAG_SPA = 1
-VOLVO_FLAG_C1 = VolvoSafetyFlags.C1.value
 
 # Must match VOLVO_SPEED_TO_MS in volvo.h and SPEED_TO_MS in carstate.py
 VOLVO_SPEED_TO_MS = 0.003977
@@ -334,124 +332,5 @@ class TestVolvoSPA(TestVolvoSafetyBase):
       "BUS1_CRUISE_CONTROL", VOLVO_PT_BUS, values)
 
 
-class TestVolvoC1(common.CarSafetyTest, common.AngleSteeringSafetyTest):
-  TX_MSGS = [[0xD0, VOLVO_MAIN_BUS], [0x125, VOLVO_PARTY_BUS], [0x10, VOLVO_MAIN_BUS]]
-  RELAY_MALFUNCTION_ADDRS = {
-    VOLVO_MAIN_BUS: (0xD0,),
-    VOLVO_PARTY_BUS: (0x125,),
-  }
-  FWD_BLACKLISTED_ADDRS = {
-    VOLVO_MAIN_BUS: [0x125],
-    VOLVO_PARTY_BUS: [0xD0],
-  }
-  STANDSTILL_THRESHOLD = 0.1
-  GAS_PRESSED_THRESHOLD = 5.0
-
-  STEER_ANGLE_MAX = 359.9
-  STEER_ANGLE_TEST_MAX = 350.0
-  DEG_TO_CAN = 1 / 0.04395
-  ANGLE_RATE_BP = [7.0, 17.0, 36.0]
-  ANGLE_RATE_UP = [2.0, 0.25, 0.1]
-  ANGLE_RATE_DOWN = [2.0, 0.25, 0.1]
-
-  def setUp(self):
-    self.packer = CANPackerSafety("volvo_v40_2017_pt")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(SAFETY_VOLVO, VOLVO_FLAG_C1)
-    self.safety.init_tests()
-
-  def _angle_cmd_msg(self, angle: float, enabled: bool, increment_timer: bool = True):
-    values = {
-      "SET_X_E3": 0xE3,
-      "SET_X_B4": 0xB4,
-      "SET_X_08": 0x08,
-      "LKAAngleReq": angle,
-      "LKASteerDirection": 3 if enabled else 0,
-      "TrqLim": 0,
-      "SET_X_25": 0x25,
-      "SET_X_02": 0x02,
-    }
-
-    def fix_checksum(msg):
-      address, data, bus = msg
-      data = bytearray(data)
-      data[6] = create_c1_checksum(data)
-      return address, data, bus
-
-    return self.packer.make_can_msg_safety("FSM1", VOLVO_MAIN_BUS, values, fix_checksum)
-
-  def _angle_meas_msg(self, angle: float):
-    return self.packer.make_can_msg_safety(
-      "PSCM1", VOLVO_MAIN_BUS, {"SteeringAngleServo": angle})
-
-  def _speed_msg(self, speed):
-    return self.packer.make_can_msg_safety(
-      "VehicleSpeed1", VOLVO_MAIN_BUS, {"VehicleSpeed": speed * 3.6})
-
-  def _speed_msg_2(self, speed):
-    return None
-
-  def _user_brake_msg(self, brake):
-    return self.packer.make_can_msg_safety(
-      "PedalandBrake", VOLVO_MAIN_BUS, {"BrakePedalActive2": bool(brake)})
-
-  def _user_gas_msg(self, gas):
-    return self.packer.make_can_msg_safety(
-      "PedalandBrake", VOLVO_MAIN_BUS, {"AccPedal": gas})
-
-  def _pcm_status_msg(self, enable):
-    return self.packer.make_can_msg_safety(
-      "FSM0", VOLVO_PARTY_BUS, {"ACCStatusActive": bool(enable)})
-
-  def test_cancel_button_only(self):
-    allowed = self.packer.make_can_msg_safety(
-      "CCButtons", VOLVO_MAIN_BUS, {"ACCStopBtn": 1})
-    self.assertTrue(self._tx(allowed))
-
-    for signal in ("ACCOnOffBtn", "ACCSetBtn", "ACCResumeBtn", "ACCMinusBtn",
-                   "TimeGapIncreaseBtn", "TimeGapDecreaseBtn"):
-      msg = self.packer.make_can_msg_safety("CCButtons", VOLVO_MAIN_BUS, {signal: 1})
-      self.assertFalse(self._tx(msg), signal)
-
-  def test_pscm_relay_cannot_invent_angle(self):
-    for _ in range(common.MAX_SAMPLE_VALS):
-      self._rx(self._angle_meas_msg(10))
-    valid = self.packer.make_can_msg_safety(
-      "PSCM1", VOLVO_PARTY_BUS, {"SteeringAngleServo": 10})
-    invalid = self.packer.make_can_msg_safety(
-      "PSCM1", VOLVO_PARTY_BUS, {"SteeringAngleServo": 20})
-    self.assertTrue(self._tx(valid))
-    self.assertFalse(self._tx(invalid))
-
-  def test_pscm_relay_preserves_full_lock_angle(self):
-    for angle in (-720, 500):
-      for _ in range(common.MAX_SAMPLE_VALS):
-        self._rx(self._angle_meas_msg(angle))
-      relayed = self.packer.make_can_msg_safety(
-        "PSCM1", VOLVO_PARTY_BUS, {"SteeringAngleServo": angle})
-      self.assertTrue(self._tx(relayed), angle)
-
-  def test_steering_static_fields_and_checksum(self):
-    self.safety.set_controls_allowed(True)
-    self._reset_angle_measurement(0)
-    self._reset_speed_measurement(10)
-    self._set_prev_desired_angle(0)
-    valid = self._angle_cmd_msg(0, True)
-    self.assertTrue(self._tx(valid))
-
-    for byte_index in (0, 1, 2, 3, 4, 6, 7):
-      invalid = self._angle_cmd_msg(0, True)
-      invalid[0].data[byte_index] ^= 0x4 if byte_index in (4, 7) else 0x1
-      self.assertFalse(self._tx(invalid), byte_index)
-
-  def test_controller_steering_message_is_allowed(self):
-    self.safety.set_controls_allowed(True)
-    self._reset_angle_measurement(0)
-    self._reset_speed_measurement(10)
-    self._set_prev_desired_angle(0)
-    address, data, bus = create_c1_steering_control(self.packer, 0, True)
-    self.assertTrue(self._tx(libsafety_py.make_CANPacket(address, bus, data)))
-
-
 if __name__ == "__main__":
   unittest.main()

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-eedd73e5-DEBUG";
+const uint8_t gitversion[19] = "DEV-c03d06b4-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-eedd73e5-DEBUG
+DEV-c03d06b4-DEBUG

selfdrive/controls/controlsd.py

@@ -652,6 +652,9 @@ class Controls:
       elif CC.latActive and CS.steeringPressed and CS.steeringTorque * blinker_dir < 0.0 and \
            self.curvature * blinker_dir > CURVATURE_HOLD_CONFIRM_MIN and \
            self.turn_blinker_swept < CURVATURE_HOLD_CONFIRM_SWEPT:
+        # an active driver push into the signaled turn BEFORE the turn is made is fresh
+        # turn intent: re-arm the cycle even after a prior handoff. A long blinker-on
+        # approach can latch done on a trivial micro-handoff and lock out
         # nudge-to-commit ten seconds later at the real turn (0000087f seg 1: +418 haul
         # unassisted). The swept gate keeps a light same-direction touch during the
         # EXIT unwind from re-latching a large hold against the model's recentering

selfdrive/controls/lib/latcontrol_torque.py

@@ -632,9 +632,6 @@ class LatControlTorque(LatControl):
         output_torque *= get_kia_ev6_center_output_scale(setpoint, CS.vEgo)
       elif kia_carnival_active:
         output_torque *= kia_carnival_center_taper
-        output_torque *= get_kia_carnival_unwind_output_scale(
-          setpoint, measurement, desired_lateral_jerk, CS.vEgo,
-        )
         output_torque *= get_kia_carnival_highway_transition_output_scale(setpoint, desired_lateral_jerk, CS.vEgo)
       elif palisade_active:
         output_torque *= get_palisade_center_output_scale(setpoint, CS.vEgo)

selfdrive/controls/lib/latcontrol_vehicle_tunes.py

@@ -314,7 +314,7 @@ GENESIS_G70_LOW_SPEED_OUTPUT_LIMIT_LAT = 0.14
 GENESIS_G70_LOW_SPEED_OUTPUT_LIMIT_LAT_WIDTH = 0.05
 GENESIS_G70_LOW_SPEED_OUTPUT_LIMIT_SPEED = 6.0
 GENESIS_G70_LOW_SPEED_OUTPUT_LIMIT_SPEED_WIDTH = 1.5
-GENESIS_G70_CURVE_UNWIND_OUTPUT_REDUCTION_MAX = 0.10
+GENESIS_G70_CURVE_UNWIND_OUTPUT_REDUCTION_MAX = 0.08
 GENESIS_G70_CURVE_UNWIND_SPEED = 18.0
 GENESIS_G70_CURVE_UNWIND_SPEED_WIDTH = 3.0
 GENESIS_G70_CURVE_UNWIND_LAT = 0.25
@@ -629,15 +629,6 @@ KIA_CARNIVAL_UNWIND_FF_OVERSHOOT = 0.08
 KIA_CARNIVAL_UNWIND_FF_OVERSHOOT_WIDTH = 0.06
 KIA_CARNIVAL_UNWIND_FF_JERK = 0.45
 KIA_CARNIVAL_UNWIND_FF_JERK_WIDTH = 0.20
-KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_MAX = 0.28
-KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_SPEED = 8.0
-KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_SPEED_WIDTH = 2.0
-KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_SPEED_CUTOFF = 16.0
-KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_SPEED_CUTOFF_WIDTH = 2.5
-KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_OVERSHOOT = 0.25
-KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_OVERSHOOT_WIDTH = 0.15
-KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_JERK = 0.45
-KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_JERK_WIDTH = 0.20
 
 TUCSON_4TH_GEN_CENTER_TAPER_MAX = 0.44
 TUCSON_4TH_GEN_CENTER_TAPER_LAT = 0.28
@@ -2863,27 +2854,6 @@ def get_kia_carnival_unwind_ff_scale(setpoint: float, measured_lateral_accel: fl
   return 1.0 - (KIA_CARNIVAL_UNWIND_FF_REDUCTION_MAX * speed_weight * overshoot_weight * jerk_weight)
 
 
-def get_kia_carnival_unwind_output_scale(setpoint: float, measured_lateral_accel: float,
-                                         desired_lateral_jerk: float, v_ego: float) -> float:
-  if (setpoint * desired_lateral_jerk >= 0.0 or
-      setpoint * measured_lateral_accel <= 0.0):
-    return 1.0
-
-  overshoot = max(abs(measured_lateral_accel) - abs(setpoint), 0.0)
-  if overshoot <= 0.0:
-    return 1.0
-
-  speed_weight = (_sigmoid((v_ego - KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_SPEED) /
-                           KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_SPEED_WIDTH) *
-                  _sigmoid((KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_SPEED_CUTOFF - v_ego) /
-                           KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_SPEED_CUTOFF_WIDTH))
-  overshoot_weight = _sigmoid((overshoot - KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_OVERSHOOT) /
-                              KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_OVERSHOOT_WIDTH)
-  jerk_weight = _sigmoid((abs(desired_lateral_jerk) - KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_JERK) /
-                         KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_JERK_WIDTH)
-  return 1.0 - (KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_MAX * speed_weight * overshoot_weight * jerk_weight)
-
-
 def _tucson_4th_gen_center_weights(desired_lateral_accel: float, v_ego: float) -> tuple[float, float]:
   speed_weight = _sigmoid((TUCSON_4TH_GEN_CENTER_TAPER_SPEED_MAX - v_ego) / TUCSON_4TH_GEN_CENTER_TAPER_SPEED_WIDTH)
   center_weight = _sigmoid((TUCSON_4TH_GEN_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / TUCSON_4TH_GEN_CENTER_TAPER_LAT_WIDTH)
@@ -3156,6 +3126,8 @@ def get_genesis_gv70_unwind_ff_scale(setpoint: float, measured_lateral_accel: fl
     return 1.0
 
   overshoot = max(abs(measured_lateral_accel) - abs(setpoint), 0.0)
+  if overshoot <= 0.0:
+    return 1.0
   overshoot_weight = _sigmoid((overshoot - GENESIS_GV70_UNWIND_FF_OVERSHOOT) /
                               GENESIS_GV70_UNWIND_FF_OVERSHOOT_WIDTH)
   jerk_weight = _sigmoid((abs(desired_lateral_jerk) - GENESIS_GV70_UNWIND_FF_JERK) /

selfdrive/controls/radard.py

@@ -38,10 +38,6 @@ HONDA_BOSCH_A_CHALLENGER_STALE_CYCLES = 2
 HONDA_BOSCH_A_GROSS_DISTANCE_STALE_CYCLES = 3
 HONDA_BOSCH_A_GROSS_DISTANCE_M = 25.0
 
-POST_STANDSTILL_RADAR_LEAD_PERSISTENCE_FRAMES = 3
-POST_STANDSTILL_RADAR_LEAD_URGENT_TTC = 1.5
-POST_STANDSTILL_RADAR_LEAD_URGENT_DISTANCE = 1.5
-
 
 def is_bosch_a_radar_car(CP) -> bool:
   return CP.brand == "honda" and CP.carFingerprint in HONDA_BOSCH_A and not CP.radarUnavailable
@@ -246,17 +242,10 @@ def g90_low_speed_radar_lead_sane(track: Track, v_ego: float) -> bool:
 
 
 def honda_bosch_a_low_speed_radar_lead_sane(track: Track, v_ego: float) -> bool:
+  """Require a few real Bosch sweeps before a radar-only low-speed takeover."""
   return track.cnt >= HONDA_BOSCH_A_LOW_SPEED_MIN_COUNT and track.potential_low_speed_lead(v_ego)
 
 
-def post_standstill_radar_lead_is_urgent(lead: dict[str, Any]) -> bool:
-  d_rel = float(lead.get("dRel", math.inf))
-  v_rel = float(lead.get("vRel", 0.0))
-  closing_speed = max(-v_rel, 0.0)
-  ttc = d_rel / closing_speed if closing_speed > 0.1 else math.inf
-  return d_rel <= POST_STANDSTILL_RADAR_LEAD_URGENT_DISTANCE or ttc <= POST_STANDSTILL_RADAR_LEAD_URGENT_TTC
-
-
 def track_matches_vision(track: Track, lead: capnp._DynamicStructReader, v_ego: float, *,
                          dist_scale: float, dist_floor: float, vel_limit: float,
                          y_std_scale: float, y_floor: float) -> bool:
@@ -465,11 +454,6 @@ class RadarD:
     self.preferred_stale_track_ids = [-1, -1]
     self.preferred_challenger_stale_counts = [0, 0]
     self.preferred_gross_distance_stale_counts = [0, 0]
-    self._was_standstill = False
-    self._standstill_had_lead = False
-    self._post_standstill_gate_active = False
-    self._post_standstill_candidate_id = -1
-    self._post_standstill_candidate_frames = 0
 
     self.v_ego = 0.0
     self.v_ego_hist = deque([0.0], maxlen=int(round(delay / DT_MDL)) + 1)
@@ -541,57 +525,9 @@ class RadarD:
       self.prev_lead_track_ids[lead_index] = -1
       self._reset_preferred_stale_evidence(lead_index)
 
-  def _prepare_post_standstill_gate(self, standstill: bool) -> None:
-    if standstill:
-      self._post_standstill_gate_active = False
-      self._post_standstill_candidate_id = -1
-      self._post_standstill_candidate_frames = 0
-    elif self._was_standstill and not self._standstill_had_lead:
-      self._post_standstill_gate_active = True
-      self._post_standstill_candidate_id = -1
-      self._post_standstill_candidate_frames = 0
-
-  def _filter_post_standstill_lead(self, lead: dict[str, Any]) -> dict[str, Any]:
-    if not self._post_standstill_gate_active:
-      return lead
-
-    model_lead = float(lead.get("modelProb", 0.0)) > float(
-      getattr(self.starpilot_toggles, "lead_detection_probability", 0.35))
-    radar_only = bool(lead.get("status", False) and lead.get("radar", False) and not model_lead)
-    if not radar_only:
-      if lead.get("status", False):
-        self._post_standstill_gate_active = False
-      self._post_standstill_candidate_id = -1
-      self._post_standstill_candidate_frames = 0
-      return lead
-
-    track_id = int(lead.get("radarTrackId", -1))
-    if track_id == self._post_standstill_candidate_id:
-      self._post_standstill_candidate_frames += 1
-    else:
-      self._post_standstill_candidate_id = track_id
-      self._post_standstill_candidate_frames = 1
-
-    persistent = self._post_standstill_candidate_frames >= POST_STANDSTILL_RADAR_LEAD_PERSISTENCE_FRAMES
-    if persistent or post_standstill_radar_lead_is_urgent(lead):
-      self._post_standstill_gate_active = False
-      return lead
-
-    return {"status": False}
-
-  def _remember_post_standstill_state(self, standstill: bool, lead_status: bool) -> None:
-    if standstill:
-      self._was_standstill = True
-      self._standstill_had_lead |= lead_status
-    else:
-      self._was_standstill = False
-      self._standstill_had_lead = False
-
   def update(self, sm: messaging.SubMaster, rr: car.RadarData):
     self.ready = sm.seen['modelV2']
     self.current_time = 1e-9 * max(sm.logMonoTime.values())
-    standstill = bool(sm['carState'].standstill)
-    self._prepare_post_standstill_gate(standstill)
 
     if sm.recv_frame['carState'] != self.last_v_ego_frame:
       self.v_ego = sm['carState'].vEgo
@@ -649,12 +585,11 @@ class RadarD:
 
         self._update_honda_bosch_a_preferred_staleness(i, leads_v3[i], self.lead_prob_filters[i].x)
 
-      lead_one = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, sm['modelV2'],
+      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, sm['modelV2'],
-                          standstill, sm['starpilotPlan'], self.starpilot_toggles, low_speed_override=True,
+                                          sm['carState'].standstill, sm['starpilotPlan'], self.starpilot_toggles, low_speed_override=True,
-                          g90_radar_filter=self.g90_radar_filter, lead_prob=self.lead_prob_filters[0].x,
+                                          g90_radar_filter=self.g90_radar_filter, lead_prob=self.lead_prob_filters[0].x,
-                          preferred_track_id=self.prev_lead_track_ids[0],
+                                          preferred_track_id=self.prev_lead_track_ids[0],
-                          honda_bosch_a_radar=self.honda_bosch_a_radar)
+                                          honda_bosch_a_radar=self.honda_bosch_a_radar)
-      self.radar_state.leadOne = self._filter_post_standstill_lead(lead_one)
       self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, sm['modelV2'],
                                           sm['carState'].standstill, sm['starpilotPlan'], self.starpilot_toggles, low_speed_override=False,
                                           g90_radar_filter=self.g90_radar_filter, lead_prob=self.lead_prob_filters[1].x,
@@ -681,8 +616,6 @@ class RadarD:
     if self.ready:
       self.starpilot_radar_state.adjacentStopped = get_adjacent_stopped(self.tracks, sm['modelV2'])
 
-    self._remember_post_standstill_state(standstill, bool(self.radar_state.leadOne.status))
-
     self.starpilot_toggles = get_starpilot_toggles(sm)
 
   def publish(self, pm: messaging.PubMaster):

selfdrive/controls/tests/test_latcontrol.py

@@ -161,7 +161,6 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import (
   get_kia_carnival_friction_threshold,
   get_kia_carnival_highway_transition_output_scale,
   get_kia_carnival_unwind_ff_scale,
-  get_kia_carnival_unwind_output_scale,
   get_kia_stinger_2022_center_taper_scale,
   get_kia_stinger_2022_friction_threshold,
   get_tucson_4th_gen_center_taper_scale,
@@ -743,17 +742,6 @@ class TestLatControl:
     low_speed_exit = get_kia_carnival_unwind_ff_scale(0.31, 0.43, -0.88, 11.0)
     assert low_speed_exit < 0.90
 
-  def test_kia_carnival_unwind_output_scale_is_bounded_and_phase_gated(self):
-    steady_turn = get_kia_carnival_unwind_output_scale(0.80, 0.90, 0.60, 11.0)
-    clean_unwind = get_kia_carnival_unwind_output_scale(0.20, 0.20, -1.5, 11.0)
-    overshooting_unwind = get_kia_carnival_unwind_output_scale(0.20, 0.90, -1.5, 11.0)
-    high_speed_overshoot = get_kia_carnival_unwind_output_scale(0.20, 0.90, -1.5, 25.0)
-
-    assert steady_turn == pytest.approx(1.0)
-    assert clean_unwind == pytest.approx(1.0)
-    assert 0.70 < overshooting_unwind < 1.0
-    assert high_speed_overshoot > overshooting_unwind
-
   def test_genesis_g90_ff_scale_curve(self):
     assert get_genesis_g90_ff_scale(0.0, 0.0, 20.0) == 1.0
     assert get_genesis_g90_ff_scale(0.5, 0.0, 20.0) > get_genesis_g90_ff_scale(-0.5, 0.0, 20.0)
@@ -783,13 +771,9 @@ class TestLatControl:
     assert base > left_unwind > right_unwind
 
   def test_genesis_gv70_unwind_ff_scale(self):
-    steady_unwind = get_genesis_gv70_unwind_ff_scale(-0.3, -0.3, 0.8, 15.0)
+    assert get_genesis_gv70_unwind_ff_scale(-0.3, -0.3, 0.8, 15.0) == 1.0
-    assert steady_unwind < 1.0
     assert get_genesis_gv70_unwind_ff_scale(-0.3, 0.1, 0.8, 15.0) == 1.0
-    assert get_genesis_gv70_unwind_ff_scale(-0.3, -0.3, -0.8, 15.0) == 1.0
 
-    early_unwind = get_genesis_gv70_unwind_ff_scale(-0.7, -0.6, 0.8, 15.0)
-    assert early_unwind < 1.0
     reduced = get_genesis_gv70_unwind_ff_scale(-0.2, -1.0, 1.0, 20.0)
     assert 0.6 < reduced < 1.0
     assert get_genesis_gv70_unwind_ff_scale(-0.2, -1.0, -1.0, 20.0) == 1.0
@@ -983,7 +967,7 @@ class TestLatControl:
       get_genesis_g70_high_speed_transition_scale(0.0, 0.8, 65.0 * 0.44704)
     assert get_genesis_g70_high_speed_transition_scale(0.0, 0.8, 20.0 * 0.44704) > \
       get_genesis_g70_high_speed_transition_scale(0.0, 0.8, 65.0 * 0.44704)
-    assert 0.88 < get_genesis_g70_curve_unwind_output_scale(0.7, -0.5, 25.0) < 1.0
+    assert 0.90 < get_genesis_g70_curve_unwind_output_scale(0.7, -0.5, 25.0) < 1.0
     assert get_genesis_g70_curve_unwind_output_scale(0.7, 0.5, 25.0) == 1.0
     assert get_genesis_g70_angle_output_scale(55.0, 1.0) > get_genesis_g70_angle_output_scale(85.0, 1.0)
     assert get_genesis_g70_angle_output_scale(85.0, -1.0) == pytest.approx(1.0)

selfdrive/controls/tests/test_leads.py

@@ -12,8 +12,6 @@ from openpilot.selfdrive.controls.radard import (
   DT_MDL,
   HONDA_BOSCH_A_RADAR_TS,
   RadarD,
-  POST_STANDSTILL_RADAR_LEAD_PERSISTENCE_FRAMES,
-  post_standstill_radar_lead_is_urgent,
   g90_low_speed_radar_lead_sane,
   g90_radar_lead_lateral_sane,
   has_slow_radar_tracks,
@@ -108,64 +106,6 @@ class TestLeads:
     assert not has_slow_radar_tracks(normal_radar)
     assert not has_slow_radar_tracks(unavailable_radar)
 
-  @staticmethod
-  def make_radar_only_lead(track_id: int, d_rel: float = 8.0, v_rel: float = 0.0):
-    return {
-      "status": True,
-      "radar": True,
-      "modelProb": 0.0,
-      "radarTrackId": track_id,
-      "dRel": d_rel,
-      "vRel": v_rel,
-    }
-
-  def test_post_standstill_radar_lead_requires_same_track_persistence(self):
-    radar = RadarD()
-    radar._post_standstill_gate_active = True
-    lead = self.make_radar_only_lead(42)
-
-    assert not radar._filter_post_standstill_lead(lead)["status"]
-    assert not radar._filter_post_standstill_lead(lead)["status"]
-    assert radar._filter_post_standstill_lead(lead)["status"]
-    assert radar._post_standstill_candidate_frames == POST_STANDSTILL_RADAR_LEAD_PERSISTENCE_FRAMES
-
-  def test_post_standstill_radar_lead_resets_for_new_track(self):
-    radar = RadarD()
-    radar._post_standstill_gate_active = True
-
-    assert not radar._filter_post_standstill_lead(self.make_radar_only_lead(42))["status"]
-    assert not radar._filter_post_standstill_lead(self.make_radar_only_lead(43))["status"]
-    assert radar._post_standstill_candidate_frames == 1
-
-  def test_post_standstill_gate_only_arms_after_no_lead_stop(self):
-    radar = RadarD()
-    radar._remember_post_standstill_state(standstill=True, lead_status=False)
-    radar._prepare_post_standstill_gate(standstill=False)
-    assert radar._post_standstill_gate_active
-
-    radar = RadarD()
-    radar._remember_post_standstill_state(standstill=True, lead_status=True)
-    radar._prepare_post_standstill_gate(standstill=False)
-    assert not radar._post_standstill_gate_active
-
-  def test_post_standstill_model_lead_bypasses_gate(self):
-    radar = RadarD()
-    radar._post_standstill_gate_active = True
-    lead = self.make_radar_only_lead(42)
-    lead["modelProb"] = 0.9
-
-    assert radar._filter_post_standstill_lead(lead)["status"]
-    assert not radar._post_standstill_gate_active
-
-  def test_post_standstill_urgent_radar_lead_bypasses_gate(self):
-    radar = RadarD()
-    radar._post_standstill_gate_active = True
-    lead = self.make_radar_only_lead(42, d_rel=3.0, v_rel=-2.1)
-
-    assert post_standstill_radar_lead_is_urgent(lead)
-    assert radar._filter_post_standstill_lead(lead)["status"]
-    assert not radar._post_standstill_gate_active
-
   @pytest.mark.skipif(platform.system() == "Darwin", reason="SocketEventHandle requires eventfd")
   def test_radar_fault(self):
     # if there's no radar-related can traffic, radard should either not respond or respond with an error

selfdrive/ui/tests/test_device_screen_settings.py

@@ -1,147 +0,0 @@
-from types import SimpleNamespace
-
-from openpilot.selfdrive.ui import ui_state as ui_state_module
-
-
-class FakeParams:
-  def __init__(self, **values):
-    self.values = values
-
-  def get_bool(self, key, **_kwargs):
-    return bool(self.values.get(key, False))
-
-  def get_int(self, key, **_kwargs):
-    return int(self.values.get(key, 0))
-
-
-class PassthroughFilter:
-  def update(self, value):
-    return value
-
-
-def make_device(monkeypatch, **overrides):
-  values = {
-    "ScreenManagement": True,
-    "ScreenBrightness": 35,
-    "ScreenBrightnessOnroad": 45,
-    "ScreenTimeout": 30,
-    "ScreenTimeoutOnroad": 10,
-    "StandbyMode": False,
-  }
-  values.update(overrides)
-  state = SimpleNamespace(
-    ui_params=FakeParams(**values),
-    status=ui_state_module.UIStatus.DISENGAGED,
-    started=False,
-    ignition=False,
-    light_sensor=-1.0,
-    sm={},
-  )
-  monkeypatch.setattr(ui_state_module, "ui_state", state)
-  monkeypatch.setattr(ui_state_module.gui_app, "big_ui", lambda: False)
-  monkeypatch.setattr(ui_state_module.gui_app, "_mouse_events", [])
-  device = ui_state_module.Device()
-  device._brightness_filter = PassthroughFilter()
-  return device, state
-
-
-def test_manual_brightness_applies_to_current_device_state(monkeypatch):
-  device, state = make_device(monkeypatch)
-
-  assert device._calculate_brightness() == 35
-
-  state.started = True
-  assert device._calculate_brightness() == 45
-
-
-def test_auto_brightness_preserves_existing_behavior(monkeypatch):
-  device, state = make_device(monkeypatch, ScreenBrightness=101, ScreenBrightnessOnroad=101)
-
-  assert device._calculate_brightness() == ui_state_module.BACKLIGHT_OFFROAD
-
-  state.started = True
-  state.light_sensor = -1.0
-  assert device._calculate_brightness() == ui_state_module.BACKLIGHT_OFFROAD
-
-
-def test_screen_management_off_ignores_custom_values(monkeypatch):
-  device, state = make_device(monkeypatch, ScreenManagement=False, ScreenBrightness=10, ScreenBrightnessOnroad=20,
-                              StandbyMode=True)
-
-  assert device._calculate_brightness() == ui_state_module.BACKLIGHT_OFFROAD
-
-  state.started = True
-  device._interaction_time = 0
-  assert device._calculate_brightness() == ui_state_module.BACKLIGHT_OFFROAD
-  assert device.interactive_timeout == 30
-
-
-def test_screen_settings_refresh_after_external_param_change(monkeypatch):
-  now = 100.0
-  monkeypatch.setattr(ui_state_module.time, "monotonic", lambda: now)
-  device, state = make_device(monkeypatch)
-  state.started = True
-  state.ignition = True
-  device._ignition = True
-  device._interaction_time = now + 10
-
-  state.ui_params.values["ScreenBrightnessOnroad"] = 72
-  state.ui_params.values["ScreenTimeoutOnroad"] = 25
-  now += device.SCREEN_SETTINGS_REFRESH_INTERVAL
-  device._refresh_screen_settings()
-
-  assert device._calculate_brightness() == 72
-  assert device.interactive_timeout == 25
-  assert device._interaction_time == now + 25
-
-
-def test_standby_blanks_after_timeout_and_touch_wakes(monkeypatch):
-  now = 100.0
-  monkeypatch.setattr(ui_state_module.time, "monotonic", lambda: now)
-  device, state = make_device(monkeypatch, StandbyMode=True)
-  state.started = True
-  state.ignition = True
-  device._ignition = True
-  device._interaction_time = now - 1
-
-  assert device._calculate_brightness() == 0
-
-  monkeypatch.setattr(ui_state_module.gui_app, "_mouse_events", [SimpleNamespace(left_down=True)])
-  device._update_wakefulness()
-
-  assert device._interaction_time == now + 10
-  assert device._calculate_brightness() == 45
-
-
-def test_hide_ui_blanks_after_timeout_and_touch_wakes(monkeypatch):
-  now = 100.0
-  monkeypatch.setattr(ui_state_module.time, "monotonic", lambda: now)
-  device, state = make_device(monkeypatch, ScreenBrightnessOnroad=0)
-  state.started = True
-  state.ignition = True
-  device._ignition = True
-  device._interaction_time = now - 1
-
-  assert device._calculate_brightness() == 0
-
-  monkeypatch.setattr(ui_state_module.gui_app, "_mouse_events", [SimpleNamespace(left_down=True)])
-  device._update_wakefulness()
-
-  assert device._interaction_time == now + 10
-  assert device._calculate_brightness() == 5
-
-
-def test_standby_wakes_for_visible_alert(monkeypatch):
-  now = 100.0
-  monkeypatch.setattr(ui_state_module.time, "monotonic", lambda: now)
-  device, state = make_device(monkeypatch, StandbyMode=True)
-  state.started = True
-  state.ignition = True
-  device._ignition = True
-  device._interaction_time = now - 1
-  device._visible_onroad_alert = lambda: True
-
-  device._update_wakefulness()
-
-  assert device._interaction_time == now + 10
-  assert device._calculate_brightness() == 45

selfdrive/ui/ui_state.py

@@ -297,8 +297,6 @@ class UIState:
 
 
 class Device:
-  SCREEN_SETTINGS_REFRESH_INTERVAL = 1.0
-
   def __init__(self):
     self._ignition = False
     self._interaction_time: float = -1
@@ -308,16 +306,6 @@ class Device:
     self._awake: bool = True
     self._params = ui_state.ui_params
 
-    self._screen_settings_refresh_time: float = 0.0
-    self._screen_management = False
-    self._screen_brightness = 101
-    self._screen_brightness_onroad = 101
-    self._screen_timeout = 30
-    self._screen_timeout_onroad = 30
-    self._standby_mode = False
-    self._last_status = ui_state.status
-    self._refresh_screen_settings(force=True)
-
     self._offroad_brightness: int = BACKLIGHT_OFFROAD
     self._last_brightness: int = 0
     self._brightness_filter = FirstOrderFilter(BACKLIGHT_OFFROAD, 10.00, 1 / gui_app.target_fps)
@@ -337,8 +325,8 @@ class Device:
     if self._override_interactive_timeout is not None:
       return self._override_interactive_timeout
 
-    timeout_onroad = self._screen_timeout_onroad
+    timeout_onroad = self._params.get_int("ScreenTimeoutOnroad", return_default=True)
-    timeout_offroad = self._screen_timeout
+    timeout_offroad = self._params.get_int("ScreenTimeout", return_default=True)
 
     if timeout_onroad <= 0:
       timeout_onroad = 10 if gui_app.big_ui() else 5
@@ -357,54 +345,12 @@ class Device:
     self._interactive_timeout_callbacks.append(callback)
 
   def update(self):
-    self._refresh_screen_settings()
-
     # do initial reset
     if self._interaction_time <= 0:
       self._reset_interactive_timeout()
 
-    self._update_wakefulness()
     self._update_brightness()
-
+    self._update_wakefulness()
-  def _refresh_screen_settings(self, force: bool = False) -> None:
-    now = time.monotonic()
-    if not force and now - self._screen_settings_refresh_time < self.SCREEN_SETTINGS_REFRESH_INTERVAL:
-      return
-
-    previous = (
-      self._screen_management,
-      self._screen_brightness,
-      self._screen_brightness_onroad,
-      self._screen_timeout,
-      self._screen_timeout_onroad,
-      self._standby_mode,
-    )
-
-    self._screen_management = self._params.get_bool("ScreenManagement")
-    if self._screen_management:
-      self._screen_brightness = min(max(self._params.get_int("ScreenBrightness", return_default=True), 0), 101)
-      self._screen_brightness_onroad = min(max(self._params.get_int("ScreenBrightnessOnroad", return_default=True), 0), 101)
-      self._screen_timeout = self._params.get_int("ScreenTimeout", return_default=True)
-      self._screen_timeout_onroad = self._params.get_int("ScreenTimeoutOnroad", return_default=True)
-      self._standby_mode = self._params.get_bool("StandbyMode")
-    else:
-      self._screen_brightness = 101
-      self._screen_brightness_onroad = 101
-      self._screen_timeout = 30
-      self._screen_timeout_onroad = 30
-      self._standby_mode = False
-
-    self._screen_settings_refresh_time = now
-    current = (
-      self._screen_management,
-      self._screen_brightness,
-      self._screen_brightness_onroad,
-      self._screen_timeout,
-      self._screen_timeout_onroad,
-      self._standby_mode,
-    )
-    if previous != current and self._interaction_time > 0:
-      self._reset_interactive_timeout()
 
   def set_offroad_brightness(self, brightness: int | None):
     if brightness is None:
@@ -412,15 +358,6 @@ class Device:
     self._offroad_brightness = min(max(brightness, 0), 100)
 
   def _update_brightness(self):
-    brightness = self._calculate_brightness()
-
-    if brightness != self._last_brightness:
-      if self._brightness_thread is None or not self._brightness_thread.is_alive():
-        self._brightness_thread = threading.Thread(target=HARDWARE.set_screen_brightness, args=(brightness,))
-        self._brightness_thread.start()
-        self._last_brightness = brightness
-
-  def _calculate_brightness(self) -> int:
     clipped_brightness = self._offroad_brightness
 
     if ui_state.started and ui_state.light_sensor >= 0:
@@ -437,26 +374,19 @@ class Device:
     brightness = round(self._brightness_filter.update(clipped_brightness))
     if not self._awake:
       brightness = 0
-    elif ui_state.started and self._standby_mode and time.monotonic() > self._interaction_time:
-      brightness = 0
-    elif ui_state.started and self._screen_brightness_onroad != 101:
-      brightness = max(5, self._screen_brightness_onroad) if time.monotonic() <= self._interaction_time else self._screen_brightness_onroad
-    elif not ui_state.started and self._screen_brightness != 101:
-      brightness = self._screen_brightness
 
-    return brightness
+    if brightness != self._last_brightness:
+      if self._brightness_thread is None or not self._brightness_thread.is_alive():
+        self._brightness_thread = threading.Thread(target=HARDWARE.set_screen_brightness, args=(brightness,))
+        self._brightness_thread.start()
+        self._last_brightness = brightness
 
   def _update_wakefulness(self):
     # Handle interactive timeout
-    ignition_state_changed = ui_state.ignition != self._ignition
+    ignition_just_turned_off = not ui_state.ignition and self._ignition
     self._ignition = ui_state.ignition
 
-    status_changed = ui_state.status != self._last_status and ui_state.status != UIStatus.OVERRIDE
+    if ignition_just_turned_off or any(ev.left_down for ev in gui_app.mouse_events):
-    self._last_status = ui_state.status
-    wake_for_onroad_event = (ui_state.started and self._standby_mode and self._screen_brightness_onroad != 0 and
-                             (status_changed or self._visible_onroad_alert()))
-
-    if ignition_state_changed or any(ev.left_down for ev in gui_app.mouse_events) or wake_for_onroad_event:
       self._reset_interactive_timeout()
 
     interaction_timeout = time.monotonic() > self._interaction_time
@@ -467,27 +397,6 @@ class Device:
 
     self._set_awake(ui_state.ignition or not interaction_timeout or PC)
 
-  @staticmethod
-  def _visible_onroad_alert() -> bool:
-    if not ui_state.started:
-      return False
-
-    sm = ui_state.sm
-    try:
-      selfdrive_state = sm["selfdriveState"]
-      if selfdrive_state.alertSize != log.SelfdriveState.AlertSize.none:
-        return True
-      if selfdrive_state.alertStatus != log.SelfdriveState.AlertStatus.normal:
-        return True
-    except Exception:
-      pass
-
-    try:
-      starpilot_state = sm["starpilotSelfdriveState"]
-      return getattr(starpilot_state.alertSize, "raw", 0) != 0
-    except Exception:
-      return False
-
   def _set_awake(self, on: bool):
     if on != self._awake:
       self._awake = on

starpilot/car/ford/lateral.py

@@ -37,14 +37,6 @@ CURVATURE_LOOKAHEAD_MAX = 0.40
 FORD_CURVATURE_LOOKAHEAD = {
   CAR.FORD_EXPLORER_MK6: 0.20,
 }
-FORD_CONSERVATIVE_PREVIEW_CARS = frozenset({
-  CAR.FORD_MUSTANG_MACH_E_MK1,
-})
-FORD_MANUAL_TURN_LATCH_CARS = frozenset({
-  CAR.FORD_MUSTANG_MACH_E_MK1,
-})
-MANUAL_TURN_ENTRY_ANGLE_DEG = 12.0
-MANUAL_TURN_RECOVERY_SECONDS = 0.25
 
 
 @dataclass(frozen=True)
@@ -109,8 +101,6 @@ class FordLateralController:
     self.curvature_lane_change_factor = 0.85
 
     self.human_turn = HumanTurnDetector()
-    self.manual_turn_latched = False
-    self.manual_turn_recovery_timer = 0.0
     self.curvature_samples = deque(maxlen=max(2, round(0.3 / STEER_DT)))
     self.curvature_last = 0.0
     self._frame = 0
@@ -161,13 +151,8 @@ class FordLateralController:
   def _current_curvature(CS) -> float:
     return -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1)
 
-  def _blend_and_scale(self, desired: float, predicted: float, v_ego: float, current: float = 0.0) -> tuple[float, int]:
+  def _blend_and_scale(self, desired: float, predicted: float, v_ego: float) -> tuple[float, int]:
     blend = float(np.interp(abs(desired), [0.0, 0.001], [self.curvature_blend_low, self.curvature_blend_high]))
-    if self.CP.carFingerprint in FORD_CONSERVATIVE_PREVIEW_CARS:
-      if desired * predicted <= 0.0:
-        blend = 0.0
-      elif current * predicted > 0.0 and abs(current) > abs(desired) and abs(predicted) > abs(desired):
-        blend *= abs(desired) / abs(predicted)
     requested = predicted * blend + desired * (1.0 - blend)
     lane_change, direction = self._lane_change()
     precision = 1
@@ -181,62 +166,26 @@ class FordLateralController:
   def _manual_turn(self, CC, CS) -> bool:
     if not CC.latActive:
       self.human_turn.reset()
-      self.manual_turn_latched = False
-      self.manual_turn_recovery_timer = 0.0
       return False
-    detected = self.human_turn.update(
+    return self.human_turn.update(
       self.human_turn_enabled, CS.out.steeringPressed, CS.out.steeringAngleDeg)
-    if self.CP.carFingerprint not in FORD_MANUAL_TURN_LATCH_CARS:
-      return detected
-
-    if not self.human_turn_enabled:
-      self.manual_turn_latched = False
-      self.manual_turn_recovery_timer = 0.0
-      return False
-
-    blinker_direction = float(CS.out.rightBlinker) - float(CS.out.leftBlinker)
-    driver_turning_with_signal = (
-      CS.out.steeringPressed and abs(CS.out.steeringAngleDeg) >= MANUAL_TURN_ENTRY_ANGLE_DEG and
-      blinker_direction != 0.0 and not self._lane_change()[0] and
-      CS.out.steeringTorque * blinker_direction < 0.0
-    )
-    if detected or driver_turning_with_signal:
-      self.manual_turn_latched = True
-
-    if not self.manual_turn_latched:
-      self.manual_turn_recovery_timer = 0.0
-      return False
-
-    if CS.out.steeringPressed or blinker_direction != 0.0:
-      self.manual_turn_recovery_timer = 0.0
-    else:
-      self.manual_turn_recovery_timer += STEER_DT
-      if self.manual_turn_recovery_timer + 1e-9 >= MANUAL_TURN_RECOVERY_SECONDS:
-        self.manual_turn_latched = False
-        self.manual_turn_recovery_timer = 0.0
-
-    return self.manual_turn_latched
 
   def update(self, CC, CS, actuators) -> FordLateralResult:
     current = self._current_curvature(CS)
     if not CC.latActive:
       self.human_turn.reset()
-      self.manual_turn_latched = False
-      self.manual_turn_recovery_timer = 0.0
       self.curvature_samples.clear()
       self.curvature_last = 0.0
       return FordLateralResult()
 
-    manual_turn = self._manual_turn(CC, CS)
+    if self._manual_turn(CC, CS) or CS.out.vEgoRaw < 0.1:
-    if manual_turn or CS.out.vEgoRaw < 0.1:
       self.curvature_samples.clear()
       self.curvature_last = 0.0
-      return FordLateralResult(active=not (
+      return FordLateralResult(active=True)
-        manual_turn and self.CP.carFingerprint in FORD_MANUAL_TURN_LATCH_CARS))
 
     v_ego = float(CS.out.vEgoRaw)
     predicted = self._predicted_curvature(v_ego, self._curvature_lookahead())
-    requested, precision = self._blend_and_scale(float(actuators.curvature), predicted, v_ego, current)
+    requested, precision = self._blend_and_scale(float(actuators.curvature), predicted, v_ego)
 
     if v_ego > 9.0:
       requested = float(np.clip(requested, current - CarControllerParams.CURVATURE_ERROR,

starpilot/car/ford/tests/test_lateral.py

@@ -32,16 +32,12 @@ def controller(monkeypatch):
   return controller
 
 
-def car_state(speed=15.0, curvature=0.0, steering_pressed=False, steering_angle=0.0,
+def car_state(speed=15.0, curvature=0.0, steering_pressed=False, steering_angle=0.0):
-              steering_torque=0.0, left_blinker=False, right_blinker=False):
   return SimpleNamespace(out=SimpleNamespace(
     vEgoRaw=speed,
     yawRate=-curvature * speed,
     steeringPressed=steering_pressed,
     steeringAngleDeg=steering_angle,
-    steeringTorque=steering_torque,
-    leftBlinker=left_blinker,
-    rightBlinker=right_blinker,
   ))
 
 
@@ -118,36 +114,6 @@ def test_curvature_strategy_uses_learned_lookahead(controller, monkeypatch):
   assert lookaheads == [pytest.approx(0.38)]
 
 
-def test_mach_e_preview_does_not_override_opposite_current_path(controller):
-  controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1
-
-  requested, _ = controller._blend_and_scale(-0.0001, 0.002, 20.0)
-
-  assert requested == pytest.approx(-0.0001)
-
-
-def test_mach_e_preview_is_reduced_when_ahead_of_current_path(controller):
-  controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1
-
-  requested, _ = controller._blend_and_scale(0.0005, 0.002, 20.0, current=0.0015)
-
-  assert requested == pytest.approx(0.00065)
-
-
-def test_mach_e_preview_remains_available_on_curve_entry(controller):
-  controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1
-
-  requested, _ = controller._blend_and_scale(0.0005, 0.002, 20.0, current=0.0002)
-
-  assert requested == pytest.approx(0.0011)
-
-
-def test_non_mach_e_preview_blend_is_unchanged(controller):
-  requested, _ = controller._blend_and_scale(-0.0001, 0.002, 20.0, current=0.0015)
-
-  assert requested == pytest.approx(0.00074)
-
-
 def test_lane_change_accepts_capnp_enum_wrappers(controller):
   controller.model = SimpleNamespace(meta=SimpleNamespace(
     laneChangeState=SimpleNamespace(raw=2),
@@ -180,87 +146,3 @@ def test_curvature_manual_turn_keeps_session_active_with_neutral_command(control
 
   assert result.active
   assert result.curvature == 0.0
-
-
-def test_mach_e_signaled_manual_turn_yields_until_inputs_settle(controller):
-  controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1
-  controller.human_turn_enabled = True
-  CC = SimpleNamespace(latActive=True)
-  actuators = SimpleNamespace(curvature=0.006)
-
-  result = controller.update(CC, car_state(
-    steering_pressed=True, steering_angle=-15.0, steering_torque=-2.0,
-    right_blinker=True), actuators)
-  assert not result.active
-  assert result.curvature == 0.0
-
-  result = controller.update(CC, car_state(
-    steering_pressed=True, steering_angle=5.0, steering_torque=2.0,
-    right_blinker=True), actuators)
-  assert not result.active
-
-  for _ in range(4):
-    result = controller.update(CC, car_state(), actuators)
-    assert not result.active
-
-  result = controller.update(CC, car_state(), actuators)
-  assert result.active
-  assert result.curvature > 0.0
-
-
-def test_mach_e_opposite_blinker_correction_does_not_start_manual_turn(controller):
-  controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1
-
-  result = controller.update(
-    SimpleNamespace(latActive=True),
-    car_state(steering_pressed=True, steering_angle=-15.0, steering_torque=2.0,
-              right_blinker=True),
-    SimpleNamespace(curvature=0.001),
-  )
-
-  assert result.active
-
-
-def test_mach_e_lane_change_nudge_does_not_start_manual_turn(controller):
-  controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1
-  controller.model = SimpleNamespace(
-    orientationRate=SimpleNamespace(z=[0.0] * 33),
-    meta=SimpleNamespace(
-      laneChangeState=SimpleNamespace(raw=2),
-      laneChangeDirection=SimpleNamespace(raw=2),
-    ),
-  )
-
-  result = controller.update(
-    SimpleNamespace(latActive=True),
-    car_state(steering_pressed=True, steering_angle=-15.0, steering_torque=-2.0,
-              right_blinker=True),
-    SimpleNamespace(curvature=0.001),
-  )
-
-  assert result.active
-
-
-def test_mach_e_small_blinker_nudge_does_not_start_manual_turn(controller):
-  controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1
-
-  result = controller.update(
-    SimpleNamespace(latActive=True),
-    car_state(steering_pressed=True, steering_angle=-5.0, steering_torque=-2.0,
-              right_blinker=True),
-    SimpleNamespace(curvature=0.001),
-  )
-
-  assert result.active
-
-
-def test_mach_e_manual_turn_latch_resets_with_lateral_control(controller):
-  controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1
-  actuators = SimpleNamespace(curvature=0.001)
-  turning = car_state(
-    steering_pressed=True, steering_angle=-15.0, steering_torque=-2.0,
-    right_blinker=True)
-
-  assert not controller.update(SimpleNamespace(latActive=True), turning, actuators).active
-  assert not controller.update(SimpleNamespace(latActive=False), turning, actuators).active
-  assert controller.update(SimpleNamespace(latActive=True), car_state(), actuators).active

starpilot/common/starpilot_variables.py

@@ -16,7 +16,7 @@ from cereal import car, custom, log
 from opendbc.car import gen_empty_fingerprint
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.chrysler.values import JEEPS as CHRYSLER_JEEPS
-from opendbc.car.gm.values import CAR as GM_CAR, EV_CAR as GM_EV_CAR, GM_AUTO_HOLD_CARS, GMFlags
+from opendbc.car.gm.values import CAR as GM_CAR, EV_CAR as GM_EV_CAR, GMFlags
 from opendbc.car.hyundai.values import CAR as HYUNDAI_CAR, EV_CAR as HYUNDAI_EV_CAR, HyundaiFlags, HyundaiStarPilotSafetyFlags
 from opendbc.car.interfaces import TORQUE_SUBSTITUTE_PATH, CarInterfaceBase, GearShifter
 from opendbc.car.mock.values import CAR as MOCK
@@ -1406,7 +1406,7 @@ class StarPilotVariables:
 
     screen_management = self.get_value("ScreenManagement")
     toggle.screen_brightness = max(self.get_value("ScreenBrightness", cast=float, condition=screen_management), 1)
-    toggle.screen_brightness_onroad = self.get_value("ScreenBrightnessOnroad", cast=float, condition=(screen_management and not toggle.force_onroad), min=0)
+    toggle.screen_brightness_onroad = self.get_value("ScreenBrightnessOnroad", cast=float, condition=(screen_management and not toggle.force_onroad), min=1)
     toggle.screen_recorder = self.get_value("ScreenRecorder", condition=screen_management) or toggle.debug_mode
     toggle.screen_timeout = self.get_value("ScreenTimeout", cast=float, condition=screen_management)
     toggle.screen_timeout_onroad = self.get_value("ScreenTimeoutOnroad", cast=float, condition=screen_management)
@@ -1600,9 +1600,9 @@ class StarPilotVariables:
     )
     toggle.remote_start_boots_comma = self.get_value("RemoteStartBootsComma", condition=toggle.car_make == "gm")
 
-    gm_auto_hold_supported = toggle.car_model in GM_AUTO_HOLD_CARS
+    gm_auto_hold_supported = toggle.car_model in LEGACY_VOLT_STOCK_ACC_CARS
     toggle.gm_auto_hold = self.get_value("GMAutoHold", condition=gm_auto_hold_supported)
-    toggle.volt_one_pedal_mode = self.get_value("VoltOnePedalMode", condition=toggle.car_model in LEGACY_VOLT_STOCK_ACC_CARS)
+    toggle.volt_one_pedal_mode = self.get_value("VoltOnePedalMode", condition=gm_auto_hold_supported)
 
     toggle.volt_sng = self.get_value("VoltSNG", condition=toggle.car_model in LEGACY_VOLT_STOCK_ACC_CARS)
 

starpilot/system/the_galaxy/assets/components/tools/device_settings.js

@@ -34,7 +34,7 @@ const VEHICLE_SETTING_MAKES = {
   RemoteStartBootsComma: GM_MAKES,
   HKGRemoteStartBootsComma: HKG_MAKES,
   VoltSNG: ["Chevrolet", "Holden"],
-  GMAutoHold: ["Buick", "Chevrolet", "Holden"],
+  GMAutoHold: ["Chevrolet", "Holden"],
   VoltOnePedalMode: ["Chevrolet", "Holden"],
   RemapCancelToDistance: ["Chevrolet", "Holden"],
   JeepBrakeHold: ["Jeep"],
@@ -490,7 +490,7 @@ function numericBounds(param) {
     return { min: 1, max: 101, step: 1 }
   }
   if (param.key === "ScreenBrightnessOnroad") {
-    return { min: 0, max: 101, step: 1 }
+    return { min: 1, max: 101, step: 1 }
   }
 
   if (param.key === "LaneCenterOffset") {

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/assets/mobile/js/params.js

@@ -62,7 +62,7 @@ const VEHICLE_SETTING_MAKES = {
   RemoteStartBootsComma: ["Buick", "Cadillac", "Chevrolet", "GMC", "Holden"],
   HKGRemoteStartBootsComma: ["Genesis", "Hyundai", "Kia"],
   VoltSNG: ["Chevrolet", "Holden"],
-  GMAutoHold: ["Buick", "Chevrolet", "Holden"],
+  GMAutoHold: ["Chevrolet", "Holden"],
   VoltOnePedalMode: ["Chevrolet", "Holden"],
   RemapCancelToDistance: ["Chevrolet", "Holden"],
   JeepBrakeHold: ["Jeep"],
@@ -140,12 +140,9 @@ export function numericBounds(param, values = {}) {
     const n = Number(value)
     return Number.isFinite(n) ? n : null
   }
-  if (param.key === "ScreenBrightness") {
+  if (param.key === "ScreenBrightness" || param.key === "ScreenBrightnessOnroad") {
     return { min: 1, max: 101, step: 1 }
   }
-  if (param.key === "ScreenBrightnessOnroad") {
-    return { min: 0, max: 101, step: 1 }
-  }
   if (param.key === "LaneCenterOffset") {
     return { min: -0.3, max: 0.3, step: 0.01 }
   }