minimize standstill duration display for mici

Faster takeoffs after leads and green lights.

README.md

@@ -1,7 +1,7 @@
 # StarPilot
 
 [![Ask DeepWiki](https://deepwiki.com/badge.svg)](https://deepwiki.com/firestar5683/StarPilot)
-[![Discord](https://img.shields.io/discord/1137853399715549214?label=Discord)](https://firestar.link/discord)
+[![Discord](https://img.shields.io/discord/1387432184121393333?label=Discord)](https://firestar.link/discord)
 [![Last Updated](https://img.shields.io/github/last-commit/firestar5683/StarPilot/StarPilot)](https://github.com/firestar5683/StarPilot)
 [![Wiki](https://img.shields.io/badge/Wiki-StarPilot-blue?logo=wiki)](https://wiki.firestar.link)
 
@@ -15,11 +15,11 @@ Openpilot provides
 * Lane Change Assist
 * Driver Monitoring *without wheel nags*
 
-StarPilot adds support for many GM vehicles along with improved tuning,
-especially for radar-less (camera only) vehicles.
+StarPilot was formerly a GM targeted fork,
+but [has expanded to offer Quality-Of-Life improvements for all](#features)!
 
-StarPilot is built off of [StarPilot](https://github.com/FrogAi/StarPilot)
-and supports the major features StarPilot offers.
+StarPilot is built off of [FrogPilot](https://github.com/FrogAi/FrogPilot)
+and supports the major features FrogPilot offers.
 
 StarPilot has a vibrant, welcoming community [discord](https://firestar.link/discord).
 Stop by to chat or ask questions!
@@ -32,9 +32,9 @@ installation guides, and software configuration.
 ## Features
 
 * Full support for Comma C3, C3X, and C4
-  * C4 is currently in release testing. Join our fleet of C4 testers!
 * Model switcher with all of comma's tinygrad driving models
 * Special longitudinal planner tuning for VoACC (visual only, radar-less) vehicles
+* Custom-tuned torque controllers for an expanding list of cars.
 * Galaxy: StarPilot's portal to configure your comma device using your phone from anywhere.
 Download models, change settings, update software, visualize live model outputs for tuning.
 * Always On Lateral (full time steering assist)*
@@ -49,8 +49,9 @@ Download models, change settings, update software, visualize live model outputs
 * ZSS support*
 * High quality dashcam recordings*
 * Enhanced tuning for CEM (dynamic experimental mode switching)
+* And more!
 
-\* [Inherited from StarPilot](https://github.com/FrogAi/StarPilot#openpilot-vs-starpilot)
+\* [Inherited from FrogPilot](https://github.com/FrogAi/FrogPilot#openpilot-vs-frogpilot)
 
 ## GM-only Features
 

common/params_keys.h

@@ -11,7 +11,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"AlwaysAllowUploads", {PERSISTENT, BOOL, "0"}},
     {"AlwaysOnDM", {PERSISTENT, BOOL}},
     {"ApiCache_Device", {PERSISTENT, STRING}},
-    {"ApiCache_FirehoseStats", {PERSISTENT, JSON}},
     {"AssistNowToken", {PERSISTENT, STRING}},
     {"AthenadPid", {PERSISTENT, INT}},
     {"AthenadUploadQueue", {PERSISTENT, JSON}},
@@ -68,7 +67,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"IsMetric", {PERSISTENT, BOOL}},
     {"IsOffroad", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsOnroad", {PERSISTENT, BOOL}},
+    {"IsRHD", {PERSISTENT, BOOL}},
     {"IsRhdDetected", {PERSISTENT, BOOL}},
+    {"IsRHDOverride", {PERSISTENT, BOOL}},
     {"IsReleaseBranch", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsTakingSnapshot", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsTestedBranch", {CLEAR_ON_MANAGER_START, BOOL}},
@@ -221,6 +222,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CustomPersonalities", {PERSISTENT, BOOL, "0", "0", 2}},
     {"CancelButtonControl", {PERSISTENT, INT, "1", "0", 2}},
     {"CancelButtonControlsMigrated", {PERSISTENT, BOOL, "0", "0"}},
+    {"AOLLKASMigratedToButtonControl", {PERSISTENT, BOOL, "0", "0"}},
     {"TrafficPersonalityProfile", {PERSISTENT, BOOL, "1", "1", 2}},
     {"AggressivePersonalityProfile", {PERSISTENT, BOOL, "1", "1", 2}},
     {"StandardPersonalityProfile", {PERSISTENT, BOOL, "1", "1", 2}},
@@ -366,6 +368,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LongitudinalTune", {PERSISTENT, BOOL, "1", "0", 0}},
     {"LoudBlindspotAlert", {PERSISTENT, BOOL, "0", "0", 0}},
     {"LowVoltageShutdown", {PERSISTENT, FLOAT, "11.8", "11.8", 3}},
+    {"MainCruiseButtonControl", {PERSISTENT, INT, "9", "9", 2}},
     {"ManualUpdateInitiated", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
     {"AMapKey1", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
     {"AMapKey2", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
@@ -381,7 +384,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"MapSpeedLimit", {CLEAR_ON_MANAGER_START, FLOAT, "0.0", "0.0"}},
     {"NavDesiresAllowed", {PERSISTENT, BOOL, "1", "0", 2}},
     {"NavLongitudinalAllowed", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"NavDestination", {PERSISTENT, STRING, "", ""}},
+    {"NavDestination", {PERSISTENT | CLEAR_ON_MANAGER_START, STRING, "", ""}},
+    {"NavInstructionCollapsed", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0", "0"}},
     {"NavInstructionState", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON, "{}", "{}"}},
     {"NextMapSpeedLimit", {CLEAR_ON_MANAGER_START, JSON, "{}", "{}"}},
     {"VisionSpeedLimit", {CLEAR_ON_MANAGER_START, FLOAT, "0.0", "0.0"}},
@@ -443,6 +447,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"QOLLateral", {PERSISTENT, BOOL, "1", "0", 1}},
     {"QOLLongitudinal", {PERSISTENT, BOOL, "1", "0", 1}},
     {"QOLVisuals", {PERSISTENT, BOOL, "1", "0", 0}},
+    {"RadarTakeoffs", {PERSISTENT, BOOL, "1", "0", 2}},
     {"RadarTracksUI", {PERSISTENT, BOOL, "0", "0", 3}},
     {"RainbowPath", {PERSISTENT, BOOL, "0", "0", 1}},
     {"RandomEvents", {PERSISTENT, BOOL, "0", "0", 1}},

common/tests/test_params.py

@@ -133,8 +133,8 @@ class TestParams:
 
   def test_params_get_type(self):
     # json
-    self.params.put("ApiCache_FirehoseStats", {"a": 0})
-    assert self.params.get("ApiCache_FirehoseStats") == {"a": 0}
+    self.params.put("ApiCache_DriveStats", {"a": 0})
+    assert self.params.get("ApiCache_DriveStats") == {"a": 0}
 
     # int
     self.params.put("BootCount", 1441)

opendbc_repo/opendbc/car/gm/cancel_logic.py

@@ -0,0 +1,8 @@
+from opendbc.car.gm.values import AccState, CAR
+
+
+def get_stock_cc_active_for_cancel(CP, CS):
+  stock_cc_active = CS.out.cruiseState.enabled or CS.pcm_acc_status != AccState.OFF
+  if CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL:
+    return CS.out.cruiseState.enabled
+  return stock_cc_active

opendbc_repo/opendbc/car/gm/fingerprints.py

@@ -213,10 +213,12 @@ FINGERPRINTS.update({
   CAR.CHEVROLET_SUBURBAN: FINGERPRINTS[CAR.CHEVROLET_SUBURBAN_CC],
   CAR.GMC_YUKON_CC: FINGERPRINTS[CAR.GMC_YUKON],
   CAR.CADILLAC_XT6: FINGERPRINTS[CAR.CHEVROLET_TRAVERSE],
+  CAR.CADILLAC_XT5: FINGERPRINTS[CAR.CHEVROLET_TRAVERSE],
   CAR.CHEVROLET_BLAZER: FINGERPRINTS[CAR.CHEVROLET_TRAVERSE],
   CAR.CHEVROLET_MALIBU_SDGM: FINGERPRINTS[CAR.CHEVROLET_MALIBU_CC],
   CAR.BUICK_BABYENCLAVE: FINGERPRINTS[CAR.CHEVROLET_TRAVERSE],
   CAR.CHEVROLET_SILVERADO_CC: FINGERPRINTS[CAR.CHEVROLET_SILVERADO],
+  CAR.BUICK_LACROSSE_ASCM: FINGERPRINTS[CAR.BUICK_LACROSSE],
 })
 
 FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {

opendbc_repo/opendbc/car/gm/interface.py

@@ -410,8 +410,8 @@ class CarInterface(CarInterfaceBase):
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    elif candidate == CAR.BUICK_LACROSSE:
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+    elif candidate in (CAR.BUICK_LACROSSE, CAR.BUICK_LACROSSE_ASCM):
+      CarInterfaceBase.configure_torque_tune(CAR.BUICK_LACROSSE, ret.lateralTuning)
 
     elif candidate == CAR.CADILLAC_ESCALADE:
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm
@@ -609,6 +609,12 @@ class CarInterface(CarInterfaceBase):
       ret.startAccel = 1.15
       ret.vEgoStarting = max(ret.vEgoStarting, 0.35)
 
+    if ret.openpilotLongitudinalControl and candidate in (CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_SILVERADO_CC) and not ret.enableGasInterceptorDEPRECATED:
+      ret.longitudinalTuning.kpBP = [0.0, 5.0, 15.0, 35.0]
+      ret.longitudinalTuning.kpV = [0.02, 0.03, 0.028, 0.022]
+      ret.longitudinalTuning.kiBP = [0.0, 5.0, 15.0, 35.0]
+      ret.longitudinalTuning.kiV = [0.28, 0.26, 0.20, 0.16]
+
     elif candidate in CC_ONLY_CAR and not ret.enableGasInterceptorDEPRECATED:
       ret.flags |= GMFlags.CC_LONG.value
       ret.alphaLongitudinalAvailable = False
@@ -659,7 +665,6 @@ class CarInterface(CarInterfaceBase):
 
     volt_stock_auto_hold_safety = (
       gm_auto_hold and
-      not ret.openpilotLongitudinalControl and
       candidate in {
         CAR.CHEVROLET_VOLT,
         CAR.CHEVROLET_VOLT_2019,
@@ -668,8 +673,10 @@ class CarInterface(CarInterfaceBase):
       }
     )
     if volt_stock_auto_hold_safety:
-      # Reuse the paddle-scheduler safety bit as a stock-Volt auto-hold marker on
-      # non-pedal paths. The scheduler logic remains inactive without pedal-long.
+      # Reuse the paddle-scheduler safety bit as a Volt auto-hold marker on
+      # non-pedal paths. Hold can run while OP longitudinal is configured but
+      # not currently active, so the bit must be present regardless of the
+      # current long-control mode.
       ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED.value
 
     use_panda_3d1_sched = (

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

@@ -0,0 +1,387 @@
+import sys
+import types
+from types import SimpleNamespace
+
+fake_interfaces = types.ModuleType("opendbc.car.interfaces")
+
+
+class _FakeCarControllerBase:
+  def __init__(self, dbc_names=None, CP=None):
+    self.CP = CP
+
+
+fake_interfaces.CarControllerBase = _FakeCarControllerBase
+sys.modules.setdefault("opendbc.car.interfaces", fake_interfaces)
+
+fake_params = types.ModuleType("openpilot.common.params")
+
+
+class _FakeParams:
+  pass
+
+
+class _FakeUnknownKeyName(Exception):
+  pass
+
+
+fake_params.Params = _FakeParams
+fake_params.UnknownKeyName = _FakeUnknownKeyName
+sys.modules.setdefault("openpilot.common.params", fake_params)
+
+fake_testing_grounds = types.ModuleType("openpilot.starpilot.common.testing_grounds")
+fake_testing_grounds.testing_ground = SimpleNamespace(use_1=False)
+sys.modules.setdefault("openpilot.starpilot.common.testing_grounds", fake_testing_grounds)
+
+from opendbc.car.gm.carcontroller import (
+  CarController,
+  estimate_auto_hold_brake,
+  get_adas_keepalive_step,
+  get_lka_steering_cmd_counter,
+  get_testing_ground_1_brake_switch_bias,
+  get_stock_cc_active_for_cancel,
+  should_activate_auto_hold,
+  should_send_stock_long_cancel,
+  should_spoof_dash_speed,
+  should_spoof_ecm_cruise_status,
+  supports_volt_auto_hold,
+  use_interceptor_sng_launch,
+)
+from opendbc.car.gm.values import AccState, CAR, GMFlags
+from opendbc.car.structs import CarParams
+
+
+def _cs(enabled, pcm_acc_status):
+  return SimpleNamespace(
+    out=SimpleNamespace(cruiseState=SimpleNamespace(enabled=enabled), accFaulted=False),
+    pcm_acc_status=pcm_acc_status,
+  )
+
+
+def _sng_cs(v_ego, standstill, cruise_standstill):
+  return SimpleNamespace(
+    out=SimpleNamespace(
+      vEgo=v_ego,
+      standstill=standstill,
+      cruiseState=SimpleNamespace(standstill=cruise_standstill),
+    ),
+  )
+
+
+def _controller(car_fingerprint=CAR.CHEVROLET_BOLT_CC_2018_2021):
+  controller = CarController.__new__(CarController)
+  controller.CP = SimpleNamespace(carFingerprint=car_fingerprint)
+  controller.planner_regen_hold = False
+  controller.regen_paddle_pressed = False
+  controller.regen_paddle_timer = 0
+  controller.regen_press_counter = 0
+  controller.regen_release_counter = 0
+  controller.regen_min_on_frames = 0
+  controller.regen_min_off_frames = 0
+  controller.pedal_active_last = False
+  controller.pedal_steady = 0.0
+  controller.aego = 0.0
+  controller.maneuver_paddle_mode = "auto"
+  return controller
+
+
+def test_gen1_bolt_pedal_cancel_uses_pcm_acc_status():
+  CP = SimpleNamespace(carFingerprint=CAR.CHEVROLET_BOLT_CC_2018_2021)
+
+  assert get_stock_cc_active_for_cancel(CP, _cs(False, AccState.ACTIVE))
+
+
+def test_gen2_bolt_acc_pedal_cancel_uses_enabled_only():
+  CP = SimpleNamespace(carFingerprint=CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL)
+
+  assert not get_stock_cc_active_for_cancel(CP, _cs(False, AccState.ACTIVE))
+
+
+def test_stock_cancel_is_suppressed_when_acc_is_faulted():
+  CP = SimpleNamespace(carFingerprint=CAR.CHEVROLET_VOLT_CAMERA)
+  cs = _cs(True, AccState.FAULTED)
+  cs.out.accFaulted = True
+
+  assert not get_stock_cc_active_for_cancel(CP, cs)
+  assert not should_send_stock_long_cancel(11, cs)
+
+
+def test_stock_cancel_requires_delay_and_no_acc_fault():
+  cs = _cs(True, AccState.ACTIVE)
+
+  assert not should_send_stock_long_cancel(10, cs)
+  assert should_send_stock_long_cancel(11, cs)
+
+
+def test_gen1_bolt_pedal_ecm_cruise_spoof_is_not_gated_by_dash_speed_toggle():
+  CP = SimpleNamespace(
+    carFingerprint=CAR.CHEVROLET_BOLT_CC_2018_2021,
+    enableGasInterceptorDEPRECATED=True,
+    flags=GMFlags.PEDAL_LONG.value,
+    openpilotLongitudinalControl=True,
+  )
+
+  assert not should_spoof_dash_speed(CP, SimpleNamespace(disable_openpilot_long=True, gm_pedal_longitudinal=True))
+  assert should_spoof_ecm_cruise_status(CP)
+
+
+def test_gateway_keepalive_uses_gateway_cadence():
+  cp = SimpleNamespace(networkLocation=CarParams.NetworkLocation.gateway, flags=0)
+
+  assert get_adas_keepalive_step(cp, is_kaofui_car=True) == 100
+  assert get_adas_keepalive_step(cp, is_kaofui_car=False) == 200
+
+
+def test_removed_camera_keepalive_uses_camera_cadence():
+  cp = SimpleNamespace(networkLocation=CarParams.NetworkLocation.fwdCamera, flags=GMFlags.NO_CAMERA.value)
+
+  assert get_adas_keepalive_step(cp, is_kaofui_car=True) == 100
+
+
+def test_live_camera_path_does_not_send_pt_keepalive():
+  cp = SimpleNamespace(networkLocation=CarParams.NetworkLocation.fwdCamera, flags=0)
+
+  assert get_adas_keepalive_step(cp, is_kaofui_car=True) is None
+
+
+def test_volt_auto_hold_requires_toggle_supported_non_cc_only_volt_and_stock_safety():
+  stock_safety = [SimpleNamespace(safetyParam=0x8000)]
+  no_safety = [SimpleNamespace(safetyParam=0)]
+
+  assert supports_volt_auto_hold(
+    SimpleNamespace(
+      carFingerprint=CAR.CHEVROLET_VOLT_CAMERA,
+      openpilotLongitudinalControl=True,
+      networkLocation=CarParams.NetworkLocation.fwdCamera,
+      safetyConfigs=no_safety,
+    ),
+    True,
+  )
+  assert not supports_volt_auto_hold(
+    SimpleNamespace(
+      carFingerprint=CAR.CHEVROLET_VOLT_CC,
+      openpilotLongitudinalControl=True,
+      networkLocation=CarParams.NetworkLocation.fwdCamera,
+      safetyConfigs=no_safety,
+    ),
+    True,
+  )
+  assert supports_volt_auto_hold(
+    SimpleNamespace(
+      carFingerprint=CAR.CHEVROLET_VOLT,
+      openpilotLongitudinalControl=False,
+      networkLocation=CarParams.NetworkLocation.gateway,
+      safetyConfigs=stock_safety,
+    ),
+    True,
+  )
+  assert supports_volt_auto_hold(
+    SimpleNamespace(
+      carFingerprint=CAR.CHEVROLET_VOLT_2019,
+      openpilotLongitudinalControl=False,
+      networkLocation=CarParams.NetworkLocation.fwdCamera,
+      safetyConfigs=stock_safety,
+    ),
+    True,
+  )
+  assert not supports_volt_auto_hold(
+    SimpleNamespace(
+      carFingerprint=CAR.CHEVROLET_VOLT_2019,
+      openpilotLongitudinalControl=False,
+      networkLocation=CarParams.NetworkLocation.fwdCamera,
+      safetyConfigs=no_safety,
+    ),
+    True,
+  )
+  assert not supports_volt_auto_hold(
+    SimpleNamespace(
+      carFingerprint=CAR.CHEVROLET_VOLT_CAMERA,
+      openpilotLongitudinalControl=True,
+      networkLocation=CarParams.NetworkLocation.fwdCamera,
+      safetyConfigs=no_safety,
+    ),
+    False,
+  )
+
+
+def test_auto_hold_brake_estimate_uses_driver_or_op_brake_and_clamps():
+  assert estimate_auto_hold_brake(0.0, 20.0) == 80
+  assert estimate_auto_hold_brake(20.0, 40.0) == 110
+  assert estimate_auto_hold_brake(20.0, 160.0) == 160
+  assert estimate_auto_hold_brake(100.0, 400.0) == 240
+
+
+def test_auto_hold_activation_allows_direct_entry_from_stopped_brake_press():
+  assert should_activate_auto_hold(
+    True,
+    False,
+    False,
+    True,
+    True,
+    False,
+    False,
+    0.01,
+  )
+
+
+def test_auto_hold_activation_stays_latched_after_brake_release():
+  assert should_activate_auto_hold(
+    True,
+    False,
+    True,
+    False,
+    True,
+    False,
+    False,
+    0.0,
+  )
+
+
+def test_auto_hold_activation_blocks_when_long_is_active_or_motion_is_above_threshold():
+  assert not should_activate_auto_hold(
+    True,
+    True,
+    False,
+    True,
+    True,
+    True,
+    False,
+    0.0,
+  )
+  assert not should_activate_auto_hold(
+    True,
+    True,
+    False,
+    False,
+    False,
+    False,
+    0.03,
+  )
+
+
+def test_auto_hold_activation_allows_standstill_even_if_speed_filter_is_slightly_above_threshold():
+  assert should_activate_auto_hold(
+    True,
+    True,
+    False,
+    False,
+    True,
+    False,
+    False,
+    0.05,
+  )
+
+
+def test_calc_pedal_command_small_accel_deadband_keeps_creep_target_stable():
+  pos_controller = _controller()
+  neg_controller = _controller()
+
+  pos_pedal, pos_regen = pos_controller.calc_pedal_command(0.02, True, 0.3)
+  neg_pedal, neg_regen = neg_controller.calc_pedal_command(-0.02, True, 0.3)
+
+  assert not pos_regen
+  assert not neg_regen
+  assert pos_pedal == neg_pedal
+
+
+def test_calc_pedal_command_creep_switch_does_not_snap_to_target():
+  controller = _controller()
+  controller.pedal_active_last = True
+  controller.pedal_steady = 0.18
+  controller.regen_press_counter = 20
+
+  pedal_gas, press_regen = controller.calc_pedal_command(-1.0, True, 0.5)
+
+  assert press_regen
+  assert pedal_gas > 0.15
+
+
+def test_calc_pedal_command_softens_small_positive_follow_ramp_at_road_speed():
+  controller = _controller()
+  controller.pedal_active_last = True
+  controller.pedal_steady = 0.18
+
+  pedal_gas, press_regen = controller.calc_pedal_command(0.2, True, 18.0)
+
+  assert not press_regen
+  assert pedal_gas - 0.18 < 0.026
+
+
+def test_calc_pedal_command_keeps_strong_positive_requests_responsive():
+  controller = _controller()
+  controller.pedal_active_last = True
+  controller.pedal_steady = 0.18
+
+  pedal_gas, press_regen = controller.calc_pedal_command(1.4, True, 18.0)
+
+  assert not press_regen
+  assert pedal_gas - 0.18 > 0.04
+
+
+def test_use_interceptor_sng_launch_requires_actual_near_stop():
+  CP = SimpleNamespace(vEgoStarting=0.25)
+
+  assert use_interceptor_sng_launch(CP, _sng_cs(0.0, True, True))
+  assert use_interceptor_sng_launch(CP, _sng_cs(0.2, False, True))
+  assert not use_interceptor_sng_launch(CP, _sng_cs(1.2, False, True))
+  assert not use_interceptor_sng_launch(CP, _sng_cs(0.0, True, False))
+
+
+def test_use_interceptor_sng_launch_extends_for_maneuver_mode():
+  CP = SimpleNamespace(vEgoStarting=0.25)
+
+  assert use_interceptor_sng_launch(CP, _sng_cs(1.2, False, True), maneuver_mode=True)
+  assert not use_interceptor_sng_launch(CP, _sng_cs(2.2, False, True), maneuver_mode=True)
+
+
+def test_testing_ground_1_brake_switch_bias_is_softened_but_still_speed_scaled():
+  assert get_testing_ground_1_brake_switch_bias(0.0) == 40
+  assert get_testing_ground_1_brake_switch_bias(6.0) == 85
+  assert get_testing_ground_1_brake_switch_bias(15.0) == 130
+  assert get_testing_ground_1_brake_switch_bias(30.0) == 170
+
+
+def test_lka_counter_uses_returned_loopback_counter():
+  cs = SimpleNamespace(
+    loopback_lka_steering_cmd_updated=True,
+    loopback_lka_steering_cmd_counter=2,
+    loopback_lka_steering_cmd_ts_nanos=1,
+    pt_lka_steering_cmd_counter=0,
+  )
+
+  assert get_lka_steering_cmd_counter(0, cs) == 3
+
+
+def test_lka_counter_keeps_advancing_without_loopback_updates():
+  cs = SimpleNamespace(
+    loopback_lka_steering_cmd_updated=False,
+    loopback_lka_steering_cmd_counter=0,
+    loopback_lka_steering_cmd_ts_nanos=1,
+    pt_lka_steering_cmd_counter=0,
+  )
+
+  next_counter = 1
+  sent = []
+  for _ in range(6):
+    idx = get_lka_steering_cmd_counter(next_counter, cs)
+    sent.append(idx)
+    next_counter = (idx + 1) % 4
+
+  assert sent == [1, 2, 3, 0, 1, 2]
+
+
+def test_lka_counter_only_seeds_from_pt_counter_once_without_loopback():
+  cs = SimpleNamespace(
+    loopback_lka_steering_cmd_updated=False,
+    loopback_lka_steering_cmd_counter=0,
+    loopback_lka_steering_cmd_ts_nanos=0,
+    pt_lka_steering_cmd_counter=0,
+  )
+
+  next_counter = -1
+  sent = []
+  for _ in range(6):
+    idx = get_lka_steering_cmd_counter(next_counter, cs)
+    sent.append(idx)
+    next_counter = (idx + 1) % 4
+
+  assert sent == [1, 2, 3, 0, 1, 2]

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

@@ -117,6 +117,21 @@ class TestGMInterface:
     assert car_params.flags & GMFlags.NO_CAMERA.value
     assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_NO_CAMERA.value
 
+  def test_silverado_alpha_long_uses_trimmed_longitudinal_tune(self):
+    CarInterface = interfaces[CAR.CHEVROLET_SILVERADO]
+    fingerprint = _empty_fingerprint()
+    fingerprint[0] = FINGERPRINTS[CAR.CHEVROLET_SILVERADO][0].copy()
+
+    car_params = CarInterface.get_params(CAR.CHEVROLET_SILVERADO, fingerprint, [], alpha_long=True, is_release=False,
+                                         docs=False, starpilot_toggles=_test_starpilot_toggles())
+
+    assert car_params.openpilotLongitudinalControl
+    assert not car_params.enableGasInterceptorDEPRECATED
+    assert list(car_params.longitudinalTuning.kpBP) == pytest.approx([0.0, 5.0, 15.0, 35.0])
+    assert list(car_params.longitudinalTuning.kpV) == pytest.approx([0.02, 0.03, 0.028, 0.022])
+    assert list(car_params.longitudinalTuning.kiBP) == pytest.approx([0.0, 5.0, 15.0, 35.0])
+    assert list(car_params.longitudinalTuning.kiV) == pytest.approx([0.28, 0.26, 0.20, 0.16])
+
   def test_volt_gateway_without_accel_pos_uses_brake_pedal_message(self):
     CarInterface = interfaces[CAR.CHEVROLET_VOLT]
     fingerprint = _empty_fingerprint()
@@ -132,6 +147,22 @@ class TestGMInterface:
     assert "ECMAcceleratorPos" not in pt_parser.vl
     assert "EBCMBrakePedalPosition" in pt_parser.vl
 
+  def test_volt_auto_hold_sets_stock_hold_safety_bit_with_op_long_enabled(self):
+    CarInterface = interfaces[CAR.CHEVROLET_VOLT_ASCM]
+    fingerprint = _empty_fingerprint()
+    fingerprint[0][0x2FF] = 8
+
+    params = Params()
+    try:
+      params.put_bool("GMAutoHold", True)
+      car_params = CarInterface.get_params(CAR.CHEVROLET_VOLT_ASCM, fingerprint, [], alpha_long=True, 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
+
   @parameterized.expand(VOLT_CARS)
   def test_volt_bsm_is_enabled_without_fingerprint_match(self, car_model):
     CarInterface = interfaces[car_model]

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

@@ -0,0 +1,52 @@
+from opendbc.can import CANPacker
+from opendbc.car.gm import gmcan
+from opendbc.car.gm.values import CAR, DBC
+
+
+class TestGMCan:
+  def setup_method(self):
+    self.packer = CANPacker(DBC[CAR.CHEVROLET_BOLT_ACC_2022_2023]["pt"])
+
+  def test_gas_regen_command_matches_starpilot_bolt_acc(self):
+    addr, dat, bus = gmcan.create_gas_regen_command(self.packer, 0, 5000, 1, True, False)
+
+    assert addr == 0x2CB
+    assert bus == 0
+    assert dat.hex() == "41429c4000bd63bf"
+
+  def test_gas_regen_command_preserves_always_one3_layout(self):
+    _, dat, _ = gmcan.create_gas_regen_command(self.packer, 0, 0, 1, True, False, include_always_one3=True)
+
+    assert dat.hex() == "4142800000bd7fff"
+
+  def test_gas_regen_command_encodes_high_bit_above_8191(self):
+    _, dat, _ = gmcan.create_gas_regen_command(self.packer, 0, 8848, 1, True, False)
+    decoded = ((dat[1] & 0x1) << 13) | (dat[2] << 5) | ((dat[3] & 0xF8) >> 3)
+
+    assert dat[1] & 0x1
+    assert decoded == 8848
+
+
+  def test_gas_regen_command_matches_starpilot_volt_2019(self):
+    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_2019]["pt"])
+    addr, dat, bus = gmcan.create_gas_regen_command(packer, 0, 5000, 1, True, False, include_always_one3=True, use_volt_layout=True)
+
+    assert addr == 0x2CB
+    assert bus == 0
+    assert dat.hex() == "41429c4000bd63bf"
+
+  def test_gas_regen_command_matches_starpilot_volt_ascm(self):
+    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_ASCM]["pt"])
+    addr, dat, bus = gmcan.create_gas_regen_command(packer, 0, 5000, 1, True, False, include_always_one3=True, use_volt_layout=True)
+
+    assert addr == 0x2CB
+    assert bus == 0
+    assert dat.hex() == "41429c4000bd63bf"
+
+  def test_gas_regen_command_matches_opgm_plain_volt_layout(self):
+    packer = CANPacker("gm_global_a_powertrain_generated")
+    addr, dat, bus = gmcan.create_gas_regen_command(packer, 0, 5000, 1, True, False, use_generated_layout=True)
+
+    assert addr == 0x2CB
+    assert bus == 0
+    assert dat.hex() == "41435c7000bca38f"

opendbc_repo/opendbc/car/gm/values.py

@@ -279,6 +279,10 @@ class CAR(Platforms):
     [GMCarDocs("Buick LaCrosse 2017-19", "Driver Confidence Package 2")],
     GMCarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4),
   )
+  BUICK_LACROSSE_ASCM = GMPlatformConfig(
+    [GMCarDocs("Buick LaCrosse 2017-19 ASCM Harness")],
+    BUICK_LACROSSE.specs,
+  )
   BUICK_REGAL = GMASCMPlatformConfig(
     [GMCarDocs("Buick Regal Essence 2018")],
     GMCarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4),
@@ -572,7 +576,7 @@ CC_REGEN_PADDLE_CAR = {
 CAMERA_ACC_CAR.update(CC_ONLY_CAR)
 
 # ASCM-INT paths are only enabled when SASCM (0x2FF) is detected at runtime
-ASCM_INT = {CAR.CHEVROLET_VOLT_ASCM, CAR.GMC_ACADIA_ASCM, CAR.CHEVROLET_MALIBU_ASCM, CAR.CADILLAC_ESCALADE_ASCM}
+ASCM_INT = {CAR.CHEVROLET_VOLT_ASCM, CAR.GMC_ACADIA_ASCM, CAR.CHEVROLET_MALIBU_ASCM, CAR.CADILLAC_ESCALADE_ASCM, CAR.BUICK_LACROSSE_ASCM}
 
 STEER_THRESHOLD = 1.0
 

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -2,7 +2,8 @@ from dataclasses import dataclass
 
 import numpy as np
 from opendbc.can import CANPacker
-from opendbc.car import Bus, DT_CTRL, make_tester_present_msg, structs
+from opendbc.car import Bus, DT_CTRL, make_tester_present_msg, rate_limit, structs
+from opendbc.car.common.filter_simple import FirstOrderFilter
 from opendbc.car.lateral import apply_driver_steer_torque_limits, apply_steer_angle_limits_vm, common_fault_avoidance
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.hyundai import hyundaicanfd, hyundaican
@@ -61,6 +62,7 @@ REDNECK_BUTTON_COPIES = 2
 REDNECK_BUTTON_COPIES_TIME = 7
 REDNECK_BUTTON_COPIES_TIME_IMPERIAL = [REDNECK_BUTTON_COPIES_TIME + 3, 70]
 REDNECK_BUTTON_COPIES_TIME_METRIC = [REDNECK_BUTTON_COPIES_TIME, 40]
+ANGLE_SAFETY_BASELINE_MODEL = str(CAR.KIA_SPORTAGE_HEV_2026)
 
 
 @dataclass
@@ -195,6 +197,28 @@ def update_genesis_g90_longitudinal_tuning(state: GenesisG90LongitudinalTuningSt
   return state
 
 
+def get_baseline_safety_cp():
+  from opendbc.car.hyundai.interface import CarInterface
+  return CarInterface.get_non_essential_params(ANGLE_SAFETY_BASELINE_MODEL)
+
+
+def compute_torque_reduction_gain(steering_torque, v_ego, lat_active, last_gain):
+  if lat_active:
+    ceiling = np.interp(v_ego, [0.5, 1.5], [1.0, 0.85])
+    shelf = np.interp(v_ego, [2.0, 11.0], [0.45, 0.6])
+    floor = np.interp(v_ego, [2.0, 22.0], [0.1, 0.3])
+    bp1 = np.interp(v_ego, [2.0, 11.0], [75.0, 125.0])
+    bp2 = np.interp(v_ego, [2.0, 11.0], [125.0, 150.0])
+    bp3 = np.interp(v_ego, [2.0, 11.0], [175.0, 275.0])
+    bp4 = np.interp(v_ego, [2.0, 22.0], [400.0, 700.0])
+    target = np.interp(abs(steering_torque), [bp1, bp2, bp3, bp4], [ceiling, shelf, shelf, floor])
+  else:
+    target = 0.0
+
+  gain = rate_limit(target, last_gain, -0.014, 0.004)
+  return round(gain / 0.004) * 0.004
+
+
 def process_hud_alert(enabled, fingerprint, hud_control):
   sys_warning = (hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw))
 
@@ -227,6 +251,8 @@ class CarController(CarControllerBase):
     self.packer = CANPacker(dbc_names[Bus.pt])
     self.angle_limit_counter = 0
     self.VM = VehicleModel(CP)
+    self.BASELINE_VM = VehicleModel(get_baseline_safety_cp()) if CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING else self.VM
+    self.angle_filter = FirstOrderFilter(0.0, 0.2, DT_CTRL)
 
     self.accel_last = 0
     self.apply_torque_last = 0
@@ -297,6 +323,7 @@ class CarController(CarControllerBase):
     copies_xp = REDNECK_BUTTON_COPIES_TIME_METRIC if CS.is_metric else REDNECK_BUTTON_COPIES_TIME_IMPERIAL
     copies = int(np.interp(REDNECK_BUTTON_COPIES_TIME, copies_xp, [1, REDNECK_BUTTON_COPIES]))
     can_sends = [hyundaican.create_clu11(self.packer, self.frame, CS.clu11, send_button, self.CP)] * copies
+    CS.redneck_last_sent_button = getattr(CS, "redneck_send_button", 0)
 
     if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15:
       self.last_button_frame = self.frame
@@ -318,6 +345,7 @@ class CarController(CarControllerBase):
       hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, (CS.buttons_counter + button_counter_offset) % 0xF, send_button)
       for _ in range(20)
     ]
+    CS.redneck_last_sent_button = getattr(CS, "redneck_send_button", 0)
     self.last_button_frame = self.frame
     return can_sends
 
@@ -326,32 +354,41 @@ class CarController(CarControllerBase):
     hud_control = CC.hudControl
     lka_icon, lfa_icon = self._update_dash_icon_state(CC)
 
-    self.params = CarControllerParams(self.CP, CS.out.vEgoRaw)
+    if not self.CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
+      self.params = CarControllerParams(self.CP, CS.out.vEgoRaw)
     apply_angle = CS.out.steeringAngleDeg
 
     if self.CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
+      v_ego_raw = CS.out.vEgoRaw
       desired_angle = float(np.clip(actuators.steeringAngleDeg,
                                     -self.params.ANGLE_LIMITS.STEER_ANGLE_MAX,
                                     self.params.ANGLE_LIMITS.STEER_ANGLE_MAX))
-      apply_angle = apply_steer_angle_limits_vm(desired_angle, self.apply_angle_last, CS.out.vEgoRaw,
+
+      self.angle_filter.update_alpha(float(np.interp(CS.out.vEgo, [5.0, 10.0, 20.0], [0.2, 0.1, 0.0])))
+      desired_angle = self.angle_filter.update(desired_angle)
+
+      apply_angle = apply_steer_angle_limits_vm(desired_angle, self.apply_angle_last, v_ego_raw,
                                                 CS.out.steeringAngleDeg, CC.latActive, self.params, self.VM)
 
-      if CS.out.steeringPressed and abs(CS.out.steeringTorque) > self.params.STEER_THRESHOLD:
-        apply_torque = self.params.ANGLE_MIN_TORQUE_REDUCTION_GAIN
-      elif CC.latActive and CS.out.vEgoRaw < 0.3:
-        apply_torque = self.params.ANGLE_ACTIVE_TORQUE_REDUCTION_GAIN
-      else:
-        apply_torque = self.params.ANGLE_MAX_TORQUE_REDUCTION_GAIN if CC.latActive else 0.0
+      if str(self.CP.carFingerprint) != ANGLE_SAFETY_BASELINE_MODEL:
+        apply_angle = apply_steer_angle_limits_vm(apply_angle or desired_angle, self.apply_angle_last, v_ego_raw,
+                                                  CS.out.steeringAngleDeg, CC.latActive, self.params, self.BASELINE_VM)
 
-      apply_steer_req = CC.latActive and apply_torque > 0.0
+      apply_torque = compute_torque_reduction_gain(CS.out.steeringTorque, v_ego_raw, CC.latActive, self.apply_torque_last)
+      apply_steer_req = CC.latActive and apply_torque != 0.0
       torque_fault = False
 
       if apply_angle is None:
-        apply_torque = 0.0
+        apply_torque = 0
         apply_angle = CS.out.steeringAngleDeg
         apply_steer_req = False
 
       self.apply_angle_last = apply_angle
+      if not CC.latActive:
+        self.apply_angle_last = float(np.clip(CS.out.steeringAngleDeg,
+                                              -self.params.ANGLE_LIMITS.STEER_ANGLE_MAX,
+                                              self.params.ANGLE_LIMITS.STEER_ANGLE_MAX))
+        self.angle_filter.x = self.apply_angle_last
     else:
       # steering torque
       new_torque = int(round(actuators.torque * self.params.STEER_MAX))
@@ -376,6 +413,7 @@ class CarController(CarControllerBase):
     accel = accel_cmd
     stopping = actuators.longControlState == LongCtrlState.stopping
     set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH)
+    CS.redneck_last_sent_button = 0
 
     can_sends = []
 

opendbc_repo/opendbc/car/hyundai/carstate.py

@@ -8,7 +8,7 @@ from opendbc.car import Bus, create_button_events, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.hyundai.hyundaicanfd import CanBus
 from opendbc.car.hyundai.values import HyundaiFlags, HyundaiStarPilotFlags, HyundaiStarPilotSafetyFlags, CAR, DBC, Buttons, CarControllerParams, \
-                                       hyundai_cancel_button_enables_cruise
+                                       hyundai_cancel_button_enables_cruise, ALT_BUS_LDA_BUTTON_CARS, ALT_BUS_LDA_BUTTON_SWL_STAT_CARS
 from opendbc.car.interfaces import CarStateBase
 
 ButtonType = structs.CarState.ButtonEvent.Type
@@ -25,6 +25,7 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu
 IONIQ_6_BLINDSPOT_RIGHT_MASK = 0x08
 IONIQ_6_BLINDSPOT_LEFT_MASK = 0x10
 CANFD_CAMERA_LEAD_MIN_DISTANCE = 0.1
+ALT_BUS_LDA_BUTTON_BURST_DEBOUNCE_NS = int(1.3e9)
 
 
 def get_non_scc_cruise_signals(CP) -> tuple[str, str, str, str, str, str]:
@@ -74,6 +75,8 @@ class CarState(CarStateBase):
     self.cruise_buttons: deque = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
     self.main_buttons: deque = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
     self.lda_button = 0
+    self.lda_button_raw = 0
+    self.lda_button_last_raw_rise_ts_nanos = 0
     self.left_paddle = 0
     self.mode_button = 0
     self.custom_button = 0
@@ -171,9 +174,44 @@ class CarState(CarStateBase):
 
     return False
 
+  def create_alt_bus_lda_button_events(self, cp_source: CANParser) -> list[structs.CarState.ButtonEvent]:
+    if self.CP.carFingerprint in ALT_BUS_LDA_BUTTON_SWL_STAT_CARS:
+      raw_lda_button = int(cp_source.vl["CLU13"]["CF_Clu_SWL_Stat"] == 4)
+      raw_lda_button_ts_nanos = cp_source.ts_nanos["CLU13"]["CF_Clu_SWL_Stat"]
+    else:
+      raw_lda_button = int(cp_source.vl["CLU13"]["CF_Clu_LdwsLkasSW"])
+      raw_lda_button_ts_nanos = cp_source.ts_nanos["CLU13"]["CF_Clu_LdwsLkasSW"]
+    button_events: list[structs.CarState.ButtonEvent] = []
+
+    # Some alt-bus LKAS button layouts pulse several times per physical press burst.
+    # Collapse each burst into a single synthetic press/release pair.
+    if raw_lda_button and not self.lda_button_raw:
+      if self.lda_button_last_raw_rise_ts_nanos == 0 or \
+          raw_lda_button_ts_nanos - self.lda_button_last_raw_rise_ts_nanos > ALT_BUS_LDA_BUTTON_BURST_DEBOUNCE_NS:
+        button_events = [
+          structs.CarState.ButtonEvent(pressed=True, type=ButtonType.lkas),
+          structs.CarState.ButtonEvent(pressed=False, type=ButtonType.lkas),
+        ]
+      self.lda_button_last_raw_rise_ts_nanos = raw_lda_button_ts_nanos
+
+    self.lda_button_raw = raw_lda_button
+    return button_events
+
+  def create_lkas_button_events(self, cp: CANParser, prev_lda_button: int) -> list[structs.CarState.ButtonEvent]:
+    # Some classic HKG platforms publish the LKAS button on the cluster bus instead of BCM_PO_11.
+    if cp.ts_nanos["CLU13"]["CF_Clu_LdwsLkasSW"] > 0:
+      self.lda_button = int(cp.vl["CLU13"]["CF_Clu_LdwsLkasSW"])
+    elif cp.ts_nanos["BCM_PO_11"]["LDA_BTN"] > 0:
+      self.lda_button = int(cp.vl["BCM_PO_11"]["LDA_BTN"])
+    else:
+      self.lda_button = 0
+
+    return create_button_events(self.lda_button, prev_lda_button, {1: ButtonType.lkas})
+
   def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
     cp = can_parsers[Bus.pt]
     cp_cam = can_parsers[Bus.cam]
+    cp_alt = can_parsers.get(Bus.alt)
 
     if self.CP.flags & HyundaiFlags.CANFD:
       return self.update_canfd(can_parsers)
@@ -307,14 +345,17 @@ class CarState(CarStateBase):
     prev_cruise_buttons = self.cruise_buttons[-1]
     prev_main_buttons = self.main_buttons[-1]
     prev_lda_button = self.lda_button
+    lkas_button_events = []
     self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
     self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
-    if self.FPCP.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON:
-      self.lda_button = cp.vl["BCM_PO_11"]["LDA_BTN"]
+    if self.CP.carFingerprint in ALT_BUS_LDA_BUTTON_CARS and cp_alt is not None and cp_alt.ts_nanos["CLU13"]["CF_Clu_LdwsLkasSW"] > 0:
+      lkas_button_events = self.create_alt_bus_lda_button_events(cp_alt)
+    else:
+      lkas_button_events = self.create_lkas_button_events(cp, prev_lda_button)
 
     ret.buttonEvents = [*self.create_cruise_button_events(self.cruise_buttons[-1], prev_cruise_buttons),
                         *create_button_events(self.main_buttons[-1], prev_main_buttons, {1: ButtonType.mainCruise}),
-                        *create_button_events(self.lda_button, prev_lda_button, {1: ButtonType.lkas})]
+                        *lkas_button_events]
 
     ret.blockPcmEnable = not self.recent_button_interaction()
 
@@ -525,11 +566,17 @@ class CarState(CarStateBase):
     if CP.flags & HyundaiFlags.CANFD:
       return self.get_can_parsers_canfd(CP)
 
-    msgs = []
+    msgs = [
+      ("BCM_PO_11", 0),
+      ("CLU13", 0),
+    ]
     if CP.flags & HyundaiFlags.NON_SCC and not (CP.flags & HyundaiFlags.NON_SCC_NO_FCA):
       msgs.append(("FCA11", 0))  # Non-SCC trims can stop publishing FCA11; don't let it poison canValid
 
-    return {
+    parsers = {
       Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], msgs, 0),
       Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 2),
     }
+    if CP.carFingerprint in ALT_BUS_LDA_BUTTON_CARS:
+      parsers[Bus.alt] = CANParser(DBC[CP.carFingerprint][Bus.pt], [("CLU13", 0)], 1)
+    return parsers

opendbc_repo/opendbc/car/hyundai/fingerprints.py

@@ -1536,12 +1536,18 @@ FW_VERSIONS = {
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00OS  MDPS C 1.00 1.05 56310J9030\x00 4OSDC105',
       b'\xf1\x00OS  MDPS C 1.00 1.04 56310J9030\x00 4OSDC104',
+      b'\xf1\x00OS  MDPS C 1.00 1.05 56310/J9500 4OSDC105',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9200 g30',
+      b'\xf1\x00OS9 LKAS AT AUS RHD 1.00 1.00 95740-J9200 g30',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00OS__ FCA --CUP      1.00 1.00 95655-J9100         ',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x006T6J0_C2\x00\x006T6K1051\x00\x00TOS4N20NS2\x00\x00\x00\x00',
+      b'\xf1\x006U2V0_C2\x00\x006U2V1051\x00\x00DOS4T16AS2\x00\x00\x00\x00',
     ],
   },
   CAR.KIA_FORTE_2019_NON_SCC: {

opendbc_repo/opendbc/car/hyundai/interface.py

@@ -24,6 +24,7 @@ ENABLE_BUTTONS = (ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.can
 
 # Track when ECU disable happened - used to permanently suppress CAN errors from disabled ECU
 ECU_DISABLE_TIMESTAMP = 0.0
+KONA_NON_SCC_FCA_RADAR_ADDR = 0x602
 
 
 def apply_platform_longitudinal_params(ret: structs.CarParams) -> None:
@@ -45,6 +46,18 @@ def apply_ecu_disable_failure_fallback(CP: structs.CarParams, params) -> None:
   CP.pcmCruise = True
 
 
+def detect_kona_non_scc_radar_fca(candidate, fingerprint, car_fw) -> bool:
+  if candidate != CAR.HYUNDAI_KONA_NON_SCC:
+    return False
+
+  if any(fw.ecu == Ecu.fwdRadar for fw in car_fw):
+    return True
+
+  # Some non-SCC Kona trims have FCA radar tracks without SCC. Use PT FCA11
+  # status on those cars; camera-bus FCA11 is not continuously published.
+  return KONA_NON_SCC_FCA_RADAR_ADDR in fingerprint[1]
+
+
 class CarInterface(CarInterfaceBase):
   CarState = CarState
   CarController = CarController
@@ -136,6 +149,8 @@ class CarInterface(CarInterfaceBase):
       # These cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
       if 0x38d in fingerprint[CAN.ECAN] or 0x38d in fingerprint[CAN.CAM]:
         ret.flags |= HyundaiFlags.USE_FCA.value
+      if detect_kona_non_scc_radar_fca(candidate, fingerprint, car_fw):
+        ret.flags |= HyundaiFlags.NON_SCC_RADAR_FCA.value
 
       if ret.flags & HyundaiFlags.LEGACY:
         # these cars require a special panda safety mode due to missing counters and checksums in the messages

opendbc_repo/opendbc/car/hyundai/radar_interface.py

@@ -2,14 +2,19 @@ import math
 from dataclasses import dataclass
 
 from opendbc.can import CANParser
+from opendbc.can.dbc import DBC as DBCReader
+from opendbc.can.parser import get_raw_value
 from opendbc.car import Bus, structs
 from opendbc.car.interfaces import RadarInterfaceBase
-from opendbc.car.hyundai.values import CAR, DBC, HYUNDAI_MANDO_FRONT_RADAR_DBC, HYUNDAI_MRR30_RADAR_DBC, \
-                                       HYUNDAI_MRR35_RADAR_DBC
+from opendbc.car.hyundai.values import CAR, DBC, HYUNDAI_MANDO_FRONT_RADAR_DBC, HYUNDAI_MRREVO14F_RADAR_DBC, \
+                                       HYUNDAI_MRR30_RADAR_DBC, HYUNDAI_MRR35_RADAR_DBC
 from openpilot.common.swaglog import cloudlog
 
 RADAR_START_ADDR = 0x500
 RADAR_MSG_COUNT = 32
+G90_RADAR_MSG_COUNT = 64
+MRREVO14F_RADAR_START_ADDR = 0x602
+MRREVO14F_RADAR_MSG_COUNT = 16
 MRR30_RADAR_START_ADDR = 0x210
 MRR30_RADAR_MSG_COUNT = 16
 MRR35_RADAR_START_ADDR = 0x3A5
@@ -23,11 +28,17 @@ class RadarTrackConfig:
   radar_type: str
   bus: int = 1
   frequency: int = 50
+  parser_msg_count: int | None = None
+
+  @property
+  def can_parser_msg_count(self) -> int:
+    return self.parser_msg_count if self.parser_msg_count is not None else self.msg_count
 
 
 RADAR_TRACK_CONFIGS = {
   HYUNDAI_MANDO_FRONT_RADAR_DBC: RadarTrackConfig(RADAR_START_ADDR, RADAR_MSG_COUNT, "mando"),
-  HYUNDAI_MRR30_RADAR_DBC: RadarTrackConfig(MRR30_RADAR_START_ADDR, MRR30_RADAR_MSG_COUNT, "mrr30"),
+  HYUNDAI_MRREVO14F_RADAR_DBC: RadarTrackConfig(MRREVO14F_RADAR_START_ADDR, MRREVO14F_RADAR_MSG_COUNT, "mrrevo14f"),
+  HYUNDAI_MRR30_RADAR_DBC: RadarTrackConfig(MRR30_RADAR_START_ADDR, MRR30_RADAR_MSG_COUNT, "mrr30", bus=0),
   HYUNDAI_MRR35_RADAR_DBC: RadarTrackConfig(MRR35_RADAR_START_ADDR, MRR35_RADAR_MSG_COUNT, "mrr35", bus=0, frequency=20),
 }
 
@@ -36,6 +47,8 @@ RADAR_TRACK_CONFIGS = {
 
 def get_radar_track_config(car_fingerprint) -> RadarTrackConfig | None:
   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)
   return RADAR_TRACK_CONFIGS.get(radar_dbc)
 
 
@@ -43,7 +56,8 @@ def get_radar_can_parser(CP, radar_config):
   if radar_config is None:
     return None
 
-  messages = [(f"RADAR_TRACK_{addr:x}", radar_config.frequency) for addr in range(radar_config.start_addr, radar_config.start_addr + radar_config.msg_count)]
+  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)]
   return CANParser(DBC[CP.carFingerprint][Bus.radar], messages, radar_config.bus)
 
 
@@ -52,8 +66,15 @@ class RadarInterface(RadarInterfaceBase):
     super().__init__(CP)
     self.radar_config = get_radar_track_config(CP.carFingerprint)
     self.updated_messages = set()
-    self.trigger_msg = (self.radar_config.start_addr + self.radar_config.msg_count - 1) if self.radar_config is not None else RADAR_START_ADDR
+    self.trigger_msg = (self.radar_config.start_addr + self.radar_config.can_parser_msg_count - 1
+                        if self.radar_config is not None else RADAR_START_ADDR)
     self.track_id = 0
+    self.g90_extended_mando = (CP.carFingerprint == CAR.GENESIS_G90 and self.radar_config is not None and
+                               self.radar_config.msg_count > self.radar_config.can_parser_msg_count)
+    self.g90_mando_signals = []
+    if self.g90_extended_mando:
+      radar_dbc = DBCReader(DBC[CP.carFingerprint][Bus.radar])
+      self.g90_mando_signals = list(radar_dbc.addr_to_msg[RADAR_START_ADDR].sigs.values())
 
     self.radar_off_can = CP.radarUnavailable
     # Probe whether radar tracks still exist on the Ioniq 6 while OP long is active,
@@ -70,7 +91,7 @@ class RadarInterface(RadarInterfaceBase):
     if self.radar_config is not None:
       self.track_addrs = [(addr, f"RADAR_TRACK_{addr:x}")
                           for addr in range(self.radar_config.start_addr,
-                                            self.radar_config.start_addr + self.radar_config.msg_count)]
+                                            self.radar_config.start_addr + self.radar_config.can_parser_msg_count)]
 
   def update(self, can_strings):
     if self.ioniq_6_radar_probe and self.rcp is not None and not self.ioniq_6_radar_probe_logged:
@@ -93,6 +114,8 @@ class RadarInterface(RadarInterfaceBase):
 
     vls = self.rcp.update(can_strings)
     self.updated_messages.update(vls)
+    if self.g90_extended_mando:
+      self._update_g90_extended_mando_tracks(can_strings)
 
     if self.trigger_msg not in self.updated_messages:
       return None
@@ -102,6 +125,46 @@ class RadarInterface(RadarInterfaceBase):
 
     return rr
 
+  def _decode_g90_mando_values(self, dat: bytes):
+    vals = {}
+    for sig in self.g90_mando_signals:
+      raw = get_raw_value(dat, sig)
+      if sig.is_signed:
+        raw -= ((raw >> (sig.size - 1)) & 1) * (1 << sig.size)
+      vals[sig.name] = raw * sig.factor + sig.offset
+    return vals
+
+  def _update_g90_extended_mando_tracks(self, can_strings):
+    if self.radar_config is None:
+      return
+
+    start_addr = self.radar_config.start_addr + self.radar_config.can_parser_msg_count
+    end_addr = self.radar_config.start_addr + self.radar_config.msg_count
+
+    for _, frames in can_strings:
+      for address, dat, src in frames:
+        if src != self.radar_config.bus or not (start_addr <= address < end_addr) or len(dat) < 8:
+          continue
+
+        self.updated_messages.add(address)
+        msg = self._decode_g90_mando_values(dat)
+        valid = msg["STATE"] in (3, 4)
+        if valid:
+          if address not in self.pts:
+            self.pts[address] = structs.RadarData.RadarPoint()
+            self.pts[address].trackId = self.track_id
+            self.track_id += 1
+
+          azimuth = math.radians(msg["AZIMUTH"])
+          self.pts[address].measured = True
+          self.pts[address].dRel = math.cos(azimuth) * msg["LONG_DIST"]
+          self.pts[address].yRel = 0.5 * -math.sin(azimuth) * msg["LONG_DIST"]
+          self.pts[address].vRel = msg["REL_SPEED"]
+          self.pts[address].aRel = msg["REL_ACCEL"]
+          self.pts[address].yvRel = float("nan")
+        elif address in self.pts:
+          del self.pts[address]
+
   def _update(self, updated_messages):
     ret = structs.RadarData()
     if self.rcp is None:
@@ -140,6 +203,27 @@ class RadarInterface(RadarInterfaceBase):
             del self.pts[track_key]
         continue
 
+      if radar_type == "mrrevo14f":
+        for i in ("1", "2"):
+          track_key = addr * 2 + int(i) - 1
+          valid = msg[f"{i}_DISTANCE"] != 255.75
+          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}_DISTANCE"]
+            pt.yRel = msg[f"{i}_LATERAL"]
+            pt.vRel = msg[f"{i}_SPEED"]
+            pt.aRel = float("nan")
+            pt.yvRel = float("nan")
+          elif track_key in self.pts:
+            del self.pts[track_key]
+        continue
+
       if radar_type == "mrr35":
         # Most of the 32 channels are empty each frame. Only allocate a point
         # when the channel is valid; drop it otherwise. Avoids the per-frame

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

@@ -14,7 +14,8 @@ from opendbc.car.hyundai.carstate import CarState, decode_canfd_camera_lead, dec
 from opendbc.car.hyundai.interface import CarInterface
 from opendbc.car.hyundai import hyundaican, hyundaicanfd
 from opendbc.car.hyundai.hyundaicanfd import CanBus
-from opendbc.car.hyundai.radar_interface import MRR30_RADAR_START_ADDR, MRR35_RADAR_START_ADDR, RADAR_START_ADDR, get_radar_track_config
+from opendbc.car.hyundai.radar_interface import MRREVO14F_RADAR_START_ADDR, MRR30_RADAR_START_ADDR, MRR35_RADAR_START_ADDR, \
+                                             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, \
                                          HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, LEGACY_SAFETY_MODE_CAR, CANFD_FUZZY_WHITELIST, \
                                          UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \
@@ -120,7 +121,22 @@ class TestHyundaiFingerprint:
         assert bool(CP.flags & HyundaiFlags.CANFD_LKA_STEERING) == lka_steering
 
     # radar available
-    for candidate in (CAR.HYUNDAI_SONATA, CAR.GENESIS_G90):
+    for candidate in (
+      CAR.HYUNDAI_IONIQ,
+      CAR.HYUNDAI_IONIQ_EV_LTD,
+      CAR.HYUNDAI_SANTA_FE,
+      CAR.HYUNDAI_SANTA_FE_2022,
+      CAR.HYUNDAI_SANTA_FE_HEV_2022,
+      CAR.HYUNDAI_SANTA_FE_PHEV_2022,
+      CAR.HYUNDAI_SONATA,
+      CAR.HYUNDAI_SONATA_HYBRID,
+      CAR.KIA_K5_HEV_2020,
+      CAR.KIA_NIRO_EV,
+      CAR.KIA_NIRO_PHEV,
+      CAR.KIA_NIRO_PHEV_2022,
+      CAR.GENESIS_G70_2020,
+      CAR.GENESIS_G90,
+    ):
       assert get_radar_track_config(candidate).start_addr == RADAR_START_ADDR
       for radar in (True, False):
         fingerprint = gen_empty_fingerprint()
@@ -129,16 +145,24 @@ class TestHyundaiFingerprint:
         CP = CarInterface.get_params(candidate, fingerprint, [], False, False, False, None)
         assert CP.radarUnavailable != radar
 
+    assert get_radar_track_config(CAR.HYUNDAI_SONATA_HYBRID).msg_count == 32
+    assert get_radar_track_config(CAR.GENESIS_G90).msg_count == 64
+    assert get_radar_track_config(CAR.GENESIS_G90).can_parser_msg_count == 32
+
     fingerprint = gen_empty_fingerprint()
     fingerprint[1][RADAR_START_ADDR] = 8
-    CP = CarInterface.get_params(CAR.GENESIS_G90, fingerprint, [], True, False, False, None)
-    assert CP.openpilotLongitudinalControl
-    assert not CP.radarUnavailable
+    for candidate in (CAR.HYUNDAI_SONATA, CAR.HYUNDAI_SONATA_HYBRID, CAR.GENESIS_G90):
+      CP = CarInterface.get_params(candidate, fingerprint, [], True, False, False, None)
+      assert CP.openpilotLongitudinalControl
+      assert not CP.radarUnavailable
 
     for candidate, radar_addr in (
+      (CAR.HYUNDAI_KONA_EV_2022, MRREVO14F_RADAR_START_ADDR),
       (CAR.HYUNDAI_IONIQ_5, MRR30_RADAR_START_ADDR),
       (CAR.HYUNDAI_IONIQ_5_N, MRR30_RADAR_START_ADDR),
+      (CAR.KIA_EV6, MRR30_RADAR_START_ADDR),
       (CAR.KIA_EV6_2025, MRR30_RADAR_START_ADDR),
+      (CAR.GENESIS_GV60_EV_1ST_GEN, MRR30_RADAR_START_ADDR),
       (CAR.HYUNDAI_KONA_EV_2ND_GEN, MRR35_RADAR_START_ADDR),
       (CAR.HYUNDAI_IONIQ_6, MRR35_RADAR_START_ADDR),
       (CAR.HYUNDAI_IONIQ_9, MRR35_RADAR_START_ADDR),
@@ -152,6 +176,8 @@ class TestHyundaiFingerprint:
         CP = CarInterface.get_params(candidate, fingerprint, [], False, False, False, None)
         assert CP.radarUnavailable != radar
 
+    assert get_radar_track_config(CAR.HYUNDAI_KONA_EV_2022).bus == 1
+    assert get_radar_track_config(CAR.HYUNDAI_IONIQ_5).bus == 0
     assert get_radar_track_config(CAR.HYUNDAI_IONIQ_6).start_addr == MRR35_RADAR_START_ADDR
     fingerprint = gen_empty_fingerprint()
     fingerprint[1][MRR35_RADAR_START_ADDR] = 24
@@ -245,6 +271,14 @@ class TestHyundaiFingerprint:
     sonata = CarInterface.get_params(CAR.HYUNDAI_SONATA, fingerprint, [], False, False, False, None)
     assert sonata.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON
 
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[0][0x50C] = 8
+    forte_non_scc = CarInterface.get_params(CAR.KIA_FORTE_2021_NON_SCC, fingerprint, [], False, False, False, None)
+    assert forte_non_scc.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON
+
+    g90 = CarInterface.get_params(CAR.GENESIS_G90, gen_empty_fingerprint(), [], False, False, False, None)
+    assert g90.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON
+
     sonata_without_lda = CarInterface.get_params(CAR.HYUNDAI_SONATA, gen_empty_fingerprint(), [], False, False, False, None)
     assert not (sonata_without_lda.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON)
 
@@ -255,6 +289,21 @@ class TestHyundaiFingerprint:
     elantra_hev = CarInterface.get_params(CAR.HYUNDAI_ELANTRA_HEV_2022_NON_SCC, gen_empty_fingerprint(), [], True, False, False, None)
     assert elantra_hev.flags & HyundaiFlags.HYBRID
 
+    kona = CarInterface.get_params(CAR.HYUNDAI_KONA_NON_SCC, gen_empty_fingerprint(), [], True, False, False, None)
+    assert not (kona.flags & HyundaiFlags.NON_SCC_RADAR_FCA)
+    assert kona.radarUnavailable
+
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[0][0x38d] = 8
+    fingerprint[1][MRREVO14F_RADAR_START_ADDR] = 8
+    kona_radar_fca = CarInterface.get_params(CAR.HYUNDAI_KONA_NON_SCC, fingerprint, [], True, False, False, None)
+    assert kona_radar_fca.flags & HyundaiFlags.NON_SCC_RADAR_FCA
+    assert not kona_radar_fca.radarUnavailable
+
+    car_fw = [CarParams.CarFw(ecu=Ecu.fwdRadar, fwVersion=b"", address=0x7d0, brand="hyundai")]
+    kona_radar_fw = CarInterface.get_params(CAR.HYUNDAI_KONA_NON_SCC, gen_empty_fingerprint(), car_fw, True, False, False, None)
+    assert kona_radar_fw.flags & HyundaiFlags.NON_SCC_RADAR_FCA
+
     forte_2019 = CarInterface.get_params(CAR.KIA_FORTE_2019_NON_SCC, gen_empty_fingerprint(), [], True, False, False, None)
     assert forte_2019.flags & HyundaiFlags.NON_SCC_NO_FCA
     assert not (forte_2019.flags & HyundaiFlags.NON_SCC_RADAR_FCA)
@@ -310,6 +359,46 @@ class TestHyundaiFingerprint:
     assert canfd_alt_buttons_cp.flags & HyundaiFlags.CANFD_ALT_BUTTONS
     assert not canfd_alt_buttons_fpcp.redneckCruiseAvailable
 
+  def test_hyundai_full_long_keeps_redneck_cruise_disabled(self, monkeypatch):
+    class FakeParams:
+      def __init__(self, *args, **kwargs):
+        pass
+
+      @staticmethod
+      def get_bool(key):
+        return key == "RedneckCruise"
+
+    toggles = get_test_toggles()
+    monkeypatch.setattr("opendbc.car.interfaces.Params", FakeParams)
+
+    for candidate in (CAR.HYUNDAI_SONATA, CAR.KIA_FORTE):
+      CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], True, False, False, toggles)
+      FPCP = CarInterface.get_starpilot_params(candidate, gen_empty_fingerprint(), [], CP, toggles)
+
+      assert CP.openpilotLongitudinalControl
+      assert not FPCP.redneckCruiseAvailable
+      assert FPCP.pcmCruiseSpeed
+
+  def test_hyundai_scc_stock_long_keeps_redneck_cruise_disabled(self, monkeypatch):
+    class FakeParams:
+      def __init__(self, *args, **kwargs):
+        pass
+
+      @staticmethod
+      def get_bool(key):
+        return key == "RedneckCruise"
+
+    toggles = get_test_toggles()
+    monkeypatch.setattr("opendbc.car.interfaces.Params", FakeParams)
+
+    for candidate in (CAR.HYUNDAI_SONATA, CAR.KIA_FORTE, CAR.HYUNDAI_IONIQ_6):
+      CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], False, False, False, toggles)
+      FPCP = CarInterface.get_starpilot_params(candidate, gen_empty_fingerprint(), [], CP, toggles)
+
+      assert not CP.openpilotLongitudinalControl
+      assert not FPCP.redneckCruiseAvailable
+      assert FPCP.pcmCruiseSpeed
+
   def test_palisade_2023_pause_resume_button_maps_to_enable(self):
     toggles = get_test_toggles()
     CP = CarInterface.get_params(CAR.HYUNDAI_PALISADE_2023, gen_empty_fingerprint(), [], True, False, False, toggles)
@@ -413,6 +502,24 @@ class TestHyundaiFingerprint:
   def test_kona_ev_non_scc_has_no_dedicated_fw_coverage(self):
     assert CAR.HYUNDAI_KONA_EV_NON_SCC not in FW_VERSIONS
 
+  def test_kona_non_scc_fca_radar_fw_is_optional(self):
+    fw_versions = FW_VERSIONS[CAR.HYUNDAI_KONA_NON_SCC]
+    car_fw = [
+      CarParams.CarFw(
+        ecu=ecu,
+        fwVersion=versions[0],
+        address=address,
+        subAddress=0 if sub_address is None else sub_address,
+        brand="hyundai",
+      )
+      for (ecu, address, sub_address), versions in fw_versions.items()
+      if ecu != Ecu.fwdRadar
+    ]
+
+    exact, matches = match_fw_to_car(car_fw, "", allow_exact=True, allow_fuzzy=False, log=False)
+    assert exact
+    assert CAR.HYUNDAI_KONA_NON_SCC in matches
+
   def test_kia_forte_2019_non_scc_does_not_require_fca11_or_scc12(self):
     toggles = get_test_toggles()
     CP = CarInterface.get_params(CAR.KIA_FORTE_2019_NON_SCC, gen_empty_fingerprint(), [], True, False, False, toggles)
@@ -530,6 +637,78 @@ class TestHyundaiFingerprint:
     ret = update(0, 3)
     assert any(be.type == ButtonType.altButton2 and not be.pressed for be in ret.buttonEvents)
 
+  def test_forte_non_scc_clu13_lkas_button_event(self):
+    toggles = get_test_toggles()
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[0][0x50C] = 8
+    CP = CarInterface.get_params(CAR.KIA_FORTE_2021_NON_SCC, fingerprint, [], False, False, False, toggles)
+    FPCP = CarInterface.get_starpilot_params(CAR.KIA_FORTE_2021_NON_SCC, fingerprint, [], CP, toggles)
+
+    car_state = CarState(CP, FPCP)
+    can_parsers = car_state.get_can_parsers(CP)
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+
+    def update(lkas_button: int, frame: int):
+      msg = packer.make_can_msg("CLU13", 0, {
+        "CF_Clu_LdwsLkasSW": lkas_button,
+      })
+      can_parsers[Bus.pt].update([(frame, [msg])])
+      return car_state.update(can_parsers, toggles)[0]
+
+    update(0, 1)
+    ret = update(1, 2)
+    assert any(be.type == ButtonType.lkas and be.pressed for be in ret.buttonEvents)
+
+    ret = update(0, 3)
+    assert any(be.type == ButtonType.lkas and not be.pressed for be in ret.buttonEvents)
+
+  def test_sonata_hybrid_uses_alt_bus_lkas_parser(self):
+    toggles = get_test_toggles()
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[0][0x391] = 8
+    fingerprint[1][0x50C] = 8
+    CP = CarInterface.get_params(CAR.HYUNDAI_SONATA_HYBRID, fingerprint, [], False, False, False, toggles)
+    FPCP = CarInterface.get_starpilot_params(CAR.HYUNDAI_SONATA_HYBRID, fingerprint, [], CP, toggles)
+
+    car_state = CarState(CP, FPCP)
+    can_parsers = car_state.get_can_parsers(CP)
+
+    assert Bus.alt in can_parsers
+
+  def test_sonata_hybrid_alt_bus_clu13_lkas_button_event(self):
+    toggles = get_test_toggles()
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[0][0x391] = 8
+    fingerprint[1][0x50C] = 8
+    CP = CarInterface.get_params(CAR.HYUNDAI_SONATA_HYBRID, fingerprint, [], False, False, False, toggles)
+    FPCP = CarInterface.get_starpilot_params(CAR.HYUNDAI_SONATA_HYBRID, fingerprint, [], CP, toggles)
+
+    car_state = CarState(CP, FPCP)
+    can_parsers = car_state.get_can_parsers(CP)
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+
+    def update(lkas_button: int, frame: int):
+      msg = packer.make_can_msg("CLU13", 1, {
+        "CF_Clu_SWL_Stat": lkas_button,
+      })
+      can_parsers[Bus.alt].update([(frame, [msg])])
+      return car_state.update(can_parsers, toggles)[0]
+
+    update(0, 1)
+    ret = update(4, 2)
+    assert any(be.type == ButtonType.lkas and be.pressed for be in ret.buttonEvents)
+    assert any(be.type == ButtonType.lkas and not be.pressed for be in ret.buttonEvents)
+
+  def test_genesis_g90_does_not_use_alt_bus_lkas_parser(self):
+    toggles = get_test_toggles()
+    CP = CarInterface.get_params(CAR.GENESIS_G90, gen_empty_fingerprint(), [], False, False, False, toggles)
+    FPCP = CarInterface.get_starpilot_params(CAR.GENESIS_G90, gen_empty_fingerprint(), [], CP, toggles)
+
+    car_state = CarState(CP, FPCP)
+    can_parsers = car_state.get_can_parsers(CP)
+
+    assert Bus.alt not in can_parsers
+
   def test_ioniq_6_longitudinal_params_match_canfd_tune(self):
     toggles = get_test_toggles()
     CP = CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, gen_empty_fingerprint(), [], True, False, False, toggles)
@@ -988,11 +1167,11 @@ class TestHyundaiFingerprint:
     assert parser.vl["FCA12"]["FCA_DrvSetState"] == 2
     assert parser.vl["FCA12"]["FCA_USM"] == 2
 
-  def test_sportage_angle_steering_uses_lfa_and_adas_cmd_with_send_lfa(self):
+  def test_angle_steering_uses_lfa_and_adas_cmd_with_send_lfa(self):
     fingerprint = gen_empty_fingerprint()
     cam_can = CanBus(None, fingerprint).CAM
     fingerprint[cam_can][0xCB] = 24
-    CP = CarInterface.get_params(CAR.KIA_SPORTAGE_HEV_2026, fingerprint, [], False, False, False, None)
+    CP = CarInterface.get_params(CAR.HYUNDAI_SANTA_FE_HEV_5TH_GEN, fingerprint, [], False, False, False, None)
 
     assert CP.flags & HyundaiFlags.SEND_LFA
     assert CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING
@@ -1295,34 +1474,6 @@ class TestHyundaiFingerprint:
     ]
     assert hyundaicanfd.create_ioniq_6_cluster_lane_change_messages(can_bus, 5, "none") == []
 
-  def test_sportage_angle_jerk_override_is_scoped(self):
-    sportage = CarParams.new_message()
-    sportage.carFingerprint = CAR.KIA_SPORTAGE_HEV_2026
-    sportage.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CANFD_ANGLE_STEERING)
-
-    comparison_angle = CarParams.new_message()
-    comparison_angle.carFingerprint = CAR.KIA_EV6
-    comparison_angle.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CANFD_ANGLE_STEERING)
-
-    ioniq6 = CarParams.new_message()
-    ioniq6.carFingerprint = CAR.HYUNDAI_IONIQ_6
-    ioniq6.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CANFD_LKA_STEERING | HyundaiFlags.CANFD_LKA_STEERING_ALT)
-
-    sportage_params = CarControllerParams(sportage)
-    sportage_low_speed_params = CarControllerParams(sportage, vEgoRaw=5.0)
-    sportage_high_speed_params = CarControllerParams(sportage, vEgoRaw=20.0)
-    comparison_params = CarControllerParams(comparison_angle)
-    ioniq6_params = CarControllerParams(ioniq6)
-
-    assert sportage_params.ANGLE_LIMITS.MAX_LATERAL_JERK < comparison_params.ANGLE_LIMITS.MAX_LATERAL_JERK
-    assert sportage_high_speed_params.ANGLE_LIMITS.MAX_LATERAL_JERK == sportage_params.ANGLE_LIMITS.MAX_LATERAL_JERK
-    assert sportage_low_speed_params.ANGLE_LIMITS.MAX_LATERAL_JERK > sportage_high_speed_params.ANGLE_LIMITS.MAX_LATERAL_JERK
-    assert sportage_low_speed_params.ANGLE_LIMITS.MAX_LATERAL_JERK < comparison_params.ANGLE_LIMITS.MAX_LATERAL_JERK
-    assert sportage_params.ANGLE_LIMITS.STEER_ANGLE_MAX > comparison_params.ANGLE_LIMITS.STEER_ANGLE_MAX
-    assert sportage_params.ANGLE_LIMITS.MAX_LATERAL_ACCEL > comparison_params.ANGLE_LIMITS.MAX_LATERAL_ACCEL
-    assert sportage_params.ANGLE_LIMITS.MAX_ANGLE_RATE > comparison_params.ANGLE_LIMITS.MAX_ANGLE_RATE
-    assert comparison_params.ANGLE_LIMITS.MAX_LATERAL_JERK == ioniq6_params.ANGLE_LIMITS.MAX_LATERAL_JERK
-
   def test_ioniq_5_canfd_aux_messages_are_optional(self):
     toggles = get_test_toggles()
     fingerprint = gen_empty_fingerprint()

opendbc_repo/opendbc/car/hyundai/values.py

@@ -1,9 +1,9 @@
 import re
-from dataclasses import dataclass, field, replace
+from dataclasses import dataclass, field
 from enum import IntFlag
 
 from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, uds
-from opendbc.car.lateral import AngleSteeringLimits, ISO_LATERAL_ACCEL, ISO_LATERAL_JERK
+from opendbc.car.lateral import AngleSteeringLimits, ISO_LATERAL_ACCEL
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.structs import CarParams
 from opendbc.car.docs_definitions import CarHarness, CarDocs, CarParts, SupportType
@@ -11,14 +11,8 @@ from opendbc.car.fw_query_definitions import FwQueryConfig, Request, p16
 
 Ecu = CarParams.Ecu
 AVERAGE_ROAD_ROLL = 0.06  # conservative roll margin used by Hyundai CAN-FD angle steering safety
-SPORTAGE_HEV_2026_MAX_LATERAL_ACCEL = 3.6
-SPORTAGE_HEV_2026_BASE_LATERAL_JERK = 3.25
-SPORTAGE_HEV_2026_LOW_SPEED_JERK_BOOST = 0.55
-SPORTAGE_HEV_2026_LOW_SPEED_JERK_SPEED = 11.0
-SPORTAGE_HEV_2026_LOW_SPEED_JERK_WIDTH = 5.0
-SPORTAGE_HEV_2026_MAX_ANGLE_RATE = 6.5
-SPORTAGE_HEV_2026_STEER_ANGLE_MAX = 220.0
 HYUNDAI_MANDO_FRONT_RADAR_DBC = "hyundai_kia_mando_front_radar_generated"
+HYUNDAI_MRREVO14F_RADAR_DBC = "hyundai_mrrevo14f_radar_generated"
 HYUNDAI_MRR30_RADAR_DBC = "hyundai_mrr30_radar_generated"
 HYUNDAI_MRR35_RADAR_DBC = "hyundai_mrr35_radar_generated"
 
@@ -27,16 +21,13 @@ class CarControllerParams:
   ACCEL_MIN = -3.5 # m/s
   ACCEL_MAX = 3.5 # m/s
   ANGLE_LIMITS: AngleSteeringLimits = AngleSteeringLimits(
-    180,
+    360,
     ([], []),
     ([], []),
     MAX_LATERAL_ACCEL=ISO_LATERAL_ACCEL + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL),
-    MAX_LATERAL_JERK=ISO_LATERAL_JERK + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL),
+    MAX_LATERAL_JERK=3.0 + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL),
     MAX_ANGLE_RATE=5,
   )
-  ANGLE_MAX_TORQUE_REDUCTION_GAIN = 1.0
-  ANGLE_MIN_TORQUE_REDUCTION_GAIN = 0.6
-  ANGLE_ACTIVE_TORQUE_REDUCTION_GAIN = 0.6
 
   def __init__(self, CP, vEgoRaw=100.):
     self.ANGLE_LIMITS = self.ANGLE_LIMITS
@@ -63,21 +54,6 @@ class CarControllerParams:
     if CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
       self.STEER_THRESHOLD = 175
 
-      # The Sportage angle port still needs more authority in real turns than the
-      # fully calmed branch-wide ceiling allows, but the old low-speed jerk boost
-      # made the 3-20 degree band angry and ping-pongy as the car slowed down.
-      # Split the difference:
-      # - keep a calmer low-speed boost that fades out earlier
-      # - give the car a little more true turn headroom through accel/rate limits
-      if CP.carFingerprint == CAR.KIA_SPORTAGE_HEV_2026:
-        sportage_low_speed_weight = min(max((SPORTAGE_HEV_2026_LOW_SPEED_JERK_SPEED - vEgoRaw) / SPORTAGE_HEV_2026_LOW_SPEED_JERK_WIDTH, 0.0), 1.0)
-        sportage_lateral_jerk = SPORTAGE_HEV_2026_BASE_LATERAL_JERK + (SPORTAGE_HEV_2026_LOW_SPEED_JERK_BOOST * sportage_low_speed_weight)
-        self.ANGLE_LIMITS = replace(self.ANGLE_LIMITS,
-                                    STEER_ANGLE_MAX=SPORTAGE_HEV_2026_STEER_ANGLE_MAX,
-                                    MAX_LATERAL_ACCEL=SPORTAGE_HEV_2026_MAX_LATERAL_ACCEL + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL),
-                                    MAX_LATERAL_JERK=sportage_lateral_jerk + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL),
-                                    MAX_ANGLE_RATE=SPORTAGE_HEV_2026_MAX_ANGLE_RATE)
-
     # To determine the limit for your car, find the maximum value that the stock LKAS will request.
     # If the max stock LKAS request is <384, add your car to this list.
     elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.HYUNDAI_ELANTRA, CAR.HYUNDAI_ELANTRA_GT_I30, CAR.HYUNDAI_IONIQ,
@@ -224,9 +200,12 @@ class HyundaiNonSccCarDocs(CarDocs):
 @dataclass
 class HyundaiPlatformConfig(PlatformConfig):
   dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: "hyundai_kia_generic"})
+  radar_dbc: str | None = None
 
   def init(self):
-    if self.flags & HyundaiFlags.MANDO_RADAR:
+    if self.radar_dbc is not None:
+      self.dbc_dict = {Bus.pt: "hyundai_kia_generic", Bus.radar: self.radar_dbc}
+    elif self.flags & HyundaiFlags.MANDO_RADAR:
       self.dbc_dict = {Bus.pt: "hyundai_kia_generic", Bus.radar: HYUNDAI_MANDO_FRONT_RADAR_DBC}
 
     if self.flags & HyundaiFlags.MIN_STEER_32_MPH:
@@ -250,8 +229,12 @@ class HyundaiCanFDPlatformConfig(PlatformConfig):
 @dataclass
 class HyundaiNonSccPlatformConfig(PlatformConfig):
   dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: "hyundai_kia_generic"})
+  radar_dbc: str | None = None
 
   def init(self):
+    if self.radar_dbc is not None:
+      self.dbc_dict = {Bus.pt: "hyundai_kia_generic", Bus.radar: self.radar_dbc}
+
     self.flags |= HyundaiFlags.NON_SCC
 
     if self.flags & HyundaiFlags.MIN_STEER_32_MPH:
@@ -313,7 +296,7 @@ class CAR(Platforms):
   HYUNDAI_IONIQ = HyundaiPlatformConfig(
     [HyundaiCarDocs("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c]))],
     CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
-    flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH,
+    flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH | HyundaiFlags.MANDO_RADAR,
   )
   HYUNDAI_IONIQ_HEV_2022 = HyundaiPlatformConfig(
     [HyundaiCarDocs("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h]))],
@@ -369,6 +352,7 @@ class CAR(Platforms):
     [HyundaiCarDocs("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o]))],
     CarSpecs(mass=1743, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV | HyundaiFlags.ALT_LIMITS,
+    radar_dbc=HYUNDAI_MRREVO14F_RADAR_DBC,
   )
   HYUNDAI_KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
     [
@@ -400,17 +384,17 @@ class CAR(Platforms):
     [HyundaiCarDocs("Hyundai Santa Fe 2021-23", "All", video="https://youtu.be/VnHzSTygTS4",
                     car_parts=CarParts.common([CarHarness.hyundai_l]))],
     HYUNDAI_SANTA_FE.specs,
-    flags=HyundaiFlags.CHECKSUM_CRC8,
+    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
   )
   HYUNDAI_SANTA_FE_HEV_2022 = HyundaiPlatformConfig(
     [HyundaiCarDocs("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))],
     HYUNDAI_SANTA_FE.specs,
-    flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
+    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
   )
   HYUNDAI_SANTA_FE_PHEV_2022 = HyundaiPlatformConfig(
     [HyundaiCarDocs("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))],
     HYUNDAI_SANTA_FE.specs,
-    flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
+    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
   )
   HYUNDAI_SANTA_FE_HEV_5TH_GEN = HyundaiCanFDPlatformConfig(
     [
@@ -749,6 +733,7 @@ class CAR(Platforms):
     ],
     CarSpecs(mass=2055, wheelbase=2.9, steerRatio=16, tireStiffnessFactor=0.65),
     flags=HyundaiFlags.EV,
+    radar_dbc=HYUNDAI_MRR30_RADAR_DBC,
   )
   KIA_EV6_2025 = HyundaiCanFDPlatformConfig(
     [
@@ -783,6 +768,7 @@ class CAR(Platforms):
     ],
     CarSpecs(mass=2205, wheelbase=2.9, steerRatio=17.6),
     flags=HyundaiFlags.EV,
+    radar_dbc=HYUNDAI_MRR30_RADAR_DBC,
   )
   GENESIS_G70 = HyundaiPlatformConfig(
     [HyundaiCarDocs("Genesis G70 2018", "All", car_parts=CarParts.common([CarHarness.hyundai_f]))],
@@ -875,6 +861,7 @@ class CAR(Platforms):
     [HyundaiNonSccCarDocs("Hyundai Kona Non-SCC 2019", car_parts=CarParts.common([CarHarness.hyundai_b]))],
     HYUNDAI_KONA.specs,
     flags=HyundaiFlags.ALT_LIMITS,
+    radar_dbc=HYUNDAI_MRREVO14F_RADAR_DBC,
   )
   HYUNDAI_KONA_EV_NON_SCC = HyundaiNonSccPlatformConfig(
     [HyundaiNonSccCarDocs("Hyundai Kona Electric Non-SCC 2019", car_parts=CarParts.common([CarHarness.hyundai_g]))],
@@ -920,6 +907,22 @@ CANCEL_BUTTON_ENABLE_CARS = frozenset({
 })
 
 
+# These classic HKG platforms publish the LKAS button on CLU13 over the alt bus.
+# Keep G90 excluded until its alt-bus path is route-proven without the recent
+# engage/disengage regression.
+ALT_BUS_LDA_BUTTON_CARS = frozenset({
+  CAR.HYUNDAI_SONATA,
+  CAR.HYUNDAI_SONATA_HYBRID,
+})
+
+# On these Sonata layouts the alt-bus LKAS button pulses through the CLU13
+# steering-wheel-status field instead of the dedicated LKAS bit.
+ALT_BUS_LDA_BUTTON_SWL_STAT_CARS = frozenset({
+  CAR.HYUNDAI_SONATA,
+  CAR.HYUNDAI_SONATA_HYBRID,
+})
+
+
 def hyundai_cancel_button_enables_cruise(car_fingerprint) -> bool:
   return car_fingerprint in CANCEL_BUTTON_ENABLE_CARS
 
@@ -1081,6 +1084,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
     Ecu.abs: [CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA, CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_ELANTRA_2021,
               CAR.HYUNDAI_SANTA_FE, CAR.HYUNDAI_KONA_EV_2022, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_CUSTIN_1ST_GEN, CAR.KIA_SORENTO,
               CAR.KIA_CEED, CAR.KIA_SELTOS],
+    Ecu.fwdRadar: [CAR.HYUNDAI_KONA_NON_SCC],
   },
   extra_ecus=[
     (Ecu.adas, 0x730, None),              # ADAS Driving ECU on platforms with LKA steering
@@ -1110,8 +1114,17 @@ CANFD_RADAR_SCC_CAR = CAR.with_flags(HyundaiFlags.RADAR_SCC)  # TODO: merge with
 # CAN-FD cars with ADAS ECUs that work with the communication-control path.
 CANFD_SECURITYACCESS_CAR = {CAR.HYUNDAI_IONIQ_5, CAR.HYUNDAI_IONIQ_6, CAR.HYUNDAI_KONA_EV_2ND_GEN}
 CANFD_UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.CANFD_NO_RADAR_DISABLE) - CANFD_SECURITYACCESS_CAR  # TODO: merge with UNSUPPORTED_LONGITUDINAL_CAR
-CANFD_RADAR_LIVE_LONGITUDINAL_CAR = {CAR.HYUNDAI_IONIQ_5, CAR.HYUNDAI_IONIQ_6}
-RADAR_LIVE_LONGITUDINAL_CAR = CANFD_RADAR_LIVE_LONGITUDINAL_CAR | {CAR.GENESIS_G90}
+CANFD_RADAR_LIVE_LONGITUDINAL_CAR = {CAR.HYUNDAI_IONIQ_5, CAR.HYUNDAI_IONIQ_6, CAR.KIA_EV6, CAR.GENESIS_GV60_EV_1ST_GEN}
+RADAR_LIVE_LONGITUDINAL_CAR = CANFD_RADAR_LIVE_LONGITUDINAL_CAR | {
+  CAR.HYUNDAI_IONIQ,
+  CAR.HYUNDAI_KONA_EV_2022,
+  CAR.HYUNDAI_SANTA_FE_2022,
+  CAR.HYUNDAI_SANTA_FE_HEV_2022,
+  CAR.HYUNDAI_SANTA_FE_PHEV_2022,
+  CAR.HYUNDAI_SONATA,
+  CAR.HYUNDAI_SONATA_HYBRID,
+  CAR.GENESIS_G90,
+}
 
 CAMERA_SCC_CAR = CAR.with_flags(HyundaiFlags.CAMERA_SCC)
 

opendbc_repo/opendbc/car/interfaces.py

@@ -20,7 +20,7 @@ from opendbc.car.common.simple_kalman import KF1D, get_kalman_gain
 from opendbc.car.gm.values import CAR as GM
 from opendbc.car.honda.values import CAR as HONDA, HONDA_BOSCH, HondaFlags, HondaSafetyFlags, HondaStarPilotFlags
 from opendbc.car.hyundai.hyundaicanfd import CanBus
-from opendbc.car.hyundai.values import CAR as HYUNDAI, CANFD_CAR, HyundaiFlags, HyundaiStarPilotFlags, HyundaiStarPilotSafetyFlags
+from opendbc.car.hyundai.values import CAR as HYUNDAI, CANFD_CAR, HyundaiFlags, HyundaiStarPilotFlags, HyundaiStarPilotSafetyFlags, ALT_BUS_LDA_BUTTON_CARS
 from opendbc.car.mock.values import CAR as MOCK
 from opendbc.car.toyota.values import CAR as TOYOTA, NO_DSU_CAR, TSS2_CAR, UNSUPPORTED_DSU_CAR, ToyotaStarPilotFlags, ToyotaSafetyFlags
 from opendbc.car.values import PLATFORMS
@@ -199,6 +199,7 @@ class CarInterfaceBase(ABC):
   def get_starpilot_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[structs.CarParams.CarFw], CP: structs.CarParams, starpilot_toggles: SimpleNamespace):
     fp_ret = custom.StarPilotCarParams.new_message()
     fp_ret.pcmCruiseSpeed = True
+    params = Params(return_defaults=True)
 
     platform = PLATFORMS[candidate]
 
@@ -228,14 +229,22 @@ class CarInterfaceBase(ABC):
           if 0x1FA in fingerprint[CAN.ECAN]:
             fp_ret.flags |= HyundaiStarPilotFlags.SPEED_LIMIT_AVAILABLE.value
 
-        fp_ret.redneckCruiseAvailable = not bool(CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS)
-        if fp_ret.redneckCruiseAvailable and Params(return_defaults=True).get_bool("RedneckCruise") and \
+        fp_ret.redneckCruiseAvailable = bool(CP.flags & HyundaiFlags.NON_SCC) and not bool(CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS)
+        if fp_ret.redneckCruiseAvailable and params.get_bool("RedneckCruise") and \
             not CP.openpilotLongitudinalControl:
           fp_ret.pcmCruiseSpeed = False
 
-        if 0x391 in fingerprint[0] or CP.flags & HyundaiFlags.CAN_CANFD_BLENDED:
+        hyundai_has_lda_button = (
+          0x391 in fingerprint[0] or
+          0x50C in fingerprint[0] or
+          candidate in ALT_BUS_LDA_BUTTON_CARS or
+          bool(CP.flags & HyundaiFlags.CAN_CANFD_BLENDED)
+        )
+        if hyundai_has_lda_button:
           fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON.value
-        if starpilot_toggles.always_on_lateral_lkas:
+
+        # LKASButtonControl == 9 means BUTTON_FUNCTIONS["AOL_TOGGLE"] in starpilot_variables.
+        if params.get_bool("AlwaysOnLateral") and params.get_int("LKASButtonControl") == 9:
           fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
       elif platform in TOYOTA:
         fp_ret.canUsePedal = not CP.autoResumeSng

opendbc_repo/opendbc/car/torque_data/substitute.toml

@@ -65,6 +65,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HONDA_E" = "HONDA_CIVIC_BOSCH"
 
 "BUICK_LACROSSE" = "CHEVROLET_VOLT"
+"BUICK_LACROSSE_ASCM" = "CHEVROLET_VOLT"
 "BUICK_REGAL" = "CHEVROLET_VOLT"
 "CADILLAC_ESCALADE_ASCM" = "CADILLAC_ESCALADE"
 "CADILLAC_ESCALADE_ESV" = "CHEVROLET_VOLT"

opendbc_repo/opendbc/car/toyota/carcontroller.py

@@ -25,7 +25,7 @@ ACCEL_WINDUP_LIMIT = 4.0 * DT_CTRL * 3  # m/s^2 / frame
 ACCEL_WINDDOWN_LIMIT = -4.0 * DT_CTRL * 3  # m/s^2 / frame
 ACCEL_PID_UNWIND = 0.03 * DT_CTRL * 3  # m/s^2 / frame
 PRIUS_INTEGRAL_MISMATCH_UNWIND = 8.0
-PRIUS_POSITIVE_FEEDFORWARD_SCALE = 0.5
+PRIUS_POSITIVE_FEEDFORWARD_SCALE = 0.7
 
 MAX_PITCH_COMPENSATION = 1.5  # m/s^2
 TOYOTA_COAST_BRAKE_MIN_SPEED = 15.0  # m/s
@@ -142,6 +142,25 @@ def limit_interceptor_stopping_accel(pcm_accel_cmd: float, target_accel: float,
   return max(pcm_accel_cmd, max(stop_floor, planner_floor))
 
 
+def limit_prius_stopping_accel(pcm_accel_cmd: float, target_accel: float, stopping: bool, v_ego: float, lead_visible: bool) -> float:
+  if not stopping or pcm_accel_cmd >= 0.0 or v_ego >= 1.5:
+    return pcm_accel_cmd
+
+  # Prius can hold onto a stale full negative stop command at standstill even after the
+  # planner has already softened. Keep enough brake to hold the stop, but let the command
+  # unwind toward the live planner target so launches are not delayed and stop transitions
+  # are less abrupt.
+  if target_accel <= -1.8:
+    return pcm_accel_cmd
+
+  stop_floor = float(np.interp(v_ego,
+                               [0.0, 0.2, 0.5, 0.9, 1.5],
+                               [-0.96, -1.00, -1.08, -1.18, -1.35] if lead_visible else [-0.84, -0.88, -0.96, -1.08, -1.24]))
+  target_buffer = float(np.interp(v_ego, [0.0, 0.5, 1.5], [0.06, 0.10, 0.16]))
+  planner_floor = float(target_accel) - target_buffer
+  return max(pcm_accel_cmd, max(stop_floor, planner_floor))
+
+
 class CarController(CarControllerBase):
   def __init__(self, dbc_names, CP):
     super().__init__(dbc_names, CP)
@@ -410,6 +429,8 @@ class CarController(CarControllerBase):
         if self.CP.enableGasInterceptorDEPRECATED:
           pcm_accel_cmd = limit_interceptor_pcm_accel(pcm_accel_cmd, actuators.accel, stopping, CS.out.vEgo)
           pcm_accel_cmd = limit_interceptor_stopping_accel(pcm_accel_cmd, actuators.accel, stopping, CS.out.vEgo, bool(hud_control.leadVisible))
+        elif self.CP.carFingerprint == CAR.TOYOTA_PRIUS:
+          pcm_accel_cmd = limit_prius_stopping_accel(pcm_accel_cmd, actuators.accel, stopping, CS.out.vEgo, lead)
 
         pcm_accel_cmd = float(np.clip(pcm_accel_cmd, self.params.ACCEL_MIN, self.params.ACCEL_MAX))
 

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

@@ -7,7 +7,8 @@ from opendbc.can import CANPacker, CANParser
 from opendbc.car.structs import CarParams
 from opendbc.car.fw_versions import build_fw_dict
 from opendbc.car.toyota import toyotacan
-from opendbc.car.toyota.carcontroller import CarController, limit_interceptor_pcm_accel, limit_interceptor_stopping_accel, update_permit_braking
+from opendbc.car.toyota.carcontroller import CarController, limit_interceptor_pcm_accel, limit_interceptor_stopping_accel, \
+                                             limit_prius_stopping_accel, update_permit_braking
 from opendbc.car.toyota.carstate import calculate_interceptor_gas_pressed
 from opendbc.car.toyota.fingerprints import FW_VERSIONS
 from opendbc.car.toyota.interface import CarInterface
@@ -252,6 +253,14 @@ class TestToyotaCarController:
     assert update_permit_braking(False, 0.10, True, True, 25.0, False) is True
     assert update_permit_braking(False, 0.10, False, False, 25.0, False) is True
 
+  def test_prius_stopping_accel_unwinds_stale_stop_hold(self):
+    limited = limit_prius_stopping_accel(-3.28, -0.05, True, 0.0, True)
+    assert -1.5 < limited < 0.0
+
+  def test_prius_stopping_accel_keeps_hard_stop_commands(self):
+    limited = limit_prius_stopping_accel(-3.28, -2.0, True, 0.0, True)
+    assert limited == -3.28
+
   def test_sng_hack_clears_existing_standstill_latch(self):
     controller = self._make_controller(standstill_req=True, last_standstill=True)
 

opendbc_repo/opendbc/dbc/generator/chrysler/.gitignore

@@ -1 +0,0 @@
-_*generated.dbc

opendbc_repo/opendbc/dbc/generator/chrysler/_stellantis_common_ram_dt_generated.dbc

@@ -0,0 +1,189 @@
+CM_ "Generated from _stellantis_common.dbc"
+
+BO_ 35 STEERING: 8 XXX
+ SG_ STEERING_ANGLE : 5|14@0+ (0.5,-2048) [-2048|2047] "deg" XXX
+ SG_ STEERING_RATE : 21|14@0+ (0.5,-2048) [-2048|2047] "deg/s" XXX
+ SG_ STEERING_ANGLE_HP : 48|4@1+ (0.1,-0.4) [-0.4|0.4] "deg" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 37 ECM_1: 8 XXX
+ SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ ENGINE_TORQUE : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ EXPECTED_ENGINE_TORQUE : 36|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 181 ECM_TRQ: 8 XXX
+ SG_ ENGINE_TORQ_MAX : 4|13@0+ (.25,-500) [-500|1547.5] "NM" XXX
+ SG_ ENGINE_TORQ_MIN : 20|13@0+ (.25,-500) [-500|1547.5] "NM" XXX
+
+BO_ 121 ESP_8: 8 XXX
+ SG_ BRK_PRESSURE : 3|12@0+ (1,0) [0|1] "" XXX
+ SG_ Vehicle_Stopped : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_PEDAL : 19|12@0+ (1,0) [0|1] "" XXX
+ SG_ Vehicle_Speed : 39|16@0+ (0.0078125,0) [0|511.984375] "km/h" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 123 ECM_2: 7 XXX
+ SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_ENABLE : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ TCM_TORQUE_REQ_ENABLE : 7|1@1+ (1,0) [0|0] "" XXX
+ SG_ Accelerator_Position : 16|8@1+ (0.4,0) [0|100] "%" XXX
+ SG_ CRUISE_OVERRIDE : 31|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 47|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 131 ESP_1: 8 XXX
+ SG_ Brake_State : 0|2@1+ (1,0) [0|0] "" XXX
+ SG_ Brake_Pedal_State : 2|2@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Engaged : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_Enabled : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ Vehicle_Speed : 33|10@0+ (0.5,0) [0|511] "km/h" XXX
+ SG_ ACC_OFF_REQ : 39|2@0+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PRESSED_ACC : 6|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 113 ESP_2: 8 ESC
+ SG_ ESC_TORQUE_REQ : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_MAX : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_MIN : 7|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_TORQUE_REQ : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ TCS_ACTIVE : 21|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_TORQUE_REQ_MAX : 22|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_BRK_PREP : 40|1@1+ (1,0) [0|0] "" XXX
+ SG_ DISABLE_FUEL_SHUTOFF : 47|1@1+ (1,0) [0|0] "" XXX
+ SG_ DAS_REQ_ACTIVE : 48|3@1+ (1,0) [0|0] "" XXX
+ SG_ COLLISION_BRK_PREP : 51|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 139 ESP_6: 8 XXX
+ SG_ WHEEL_SPEED_FL : 5|14@0+ (0.5,0) [0|8191] "rpm" XXX
+ SG_ WHEEL_SPEED_FR : 21|14@0+ (0.5,0) [0|8191] "rpm" XXX
+ SG_ WHEEL_SPEED_RL : 37|14@0+ (0.5,0) [0|8191] "rpm" XXX
+ SG_ WHEEL_MOVING_1 : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ WHEEL_SPEED_RR : 53|14@0+ (0.5,0) [0|8191] "rpm" XXX
+ SG_ WHEEL_MOVING_2 : 54|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 147 Transmission_Status: 8 XXX
+ SG_ Gear_State : 2|3@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 464 ORC_1: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 13|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 153 DAS_3: 8 XXX
+ SG_ ENGINE_TORQUE_REQUEST : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ ENGINE_TORQUE_REQUEST_MAX : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_STANDSTILL : 5|1@0+ (1,0) [0|1] ""  XXX
+ SG_ ACC_GO : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_DECEL : 19|12@0+ (0.004885,-16) [-16|4] "m/s2" XXX
+ SG_ ACC_AVAILABLE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_ACTIVE : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ DISABLE_FUEL_SHUTOFF : 23|1@1+ (1,0) [0|0] "" XXX
+ SG_ GR_MAX_REQ : 32|4@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_DECEL_REQ : 36|3@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_FAULTED : 46|2@1+ (1,0) [0|0] "" XXX
+ SG_ COLLISION_BRK_PREP : 48|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_BRK_PREP : 49|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 232 DAS_4: 8 XXX
+ SG_ ACC_SET_SPEED_KPH : 15|8@0+ (1,0) [0|3] "km/h" XXX
+ SG_ ACC_SET_SPEED_MPH : 23|8@0+ (1,0) [0|3] "mph" XXX
+ SG_ ACC_DISTANCE_CONFIG_1 : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ ACC_STATE : 38|3@0+ (1,0) [0|7] "" XXX
+ SG_ FCW_OFF : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ FCW_ERROR : 27|2@0+ (1,0) [0|3] "" XXX
+ SG_ FCW_BRAKE_ENABLED : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ FCW_BRAKE_DISABLED : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_FAULTED : 50|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 49 EPS_2: 8 XXX
+ SG_ LKAS_STATE : 23|4@0+ (1,0) [0|15] "" XXX
+ SG_ COLUMN_TORQUE : 2|11@0+ (1,-1024) [-1024|1023] "" XXX
+ SG_ TORQUE_OVERLAY_STATUS : 6|4@0+ (1,0) [0|15] "" XXX
+ SG_ EPS_TORQUE_MOTOR_RAW : 19|12@0+ (1,-2048) [-2048|2047] "" XXX
+ SG_ EPS_TORQUE_MOTOR : 34|11@0+ (1,-1024) [-1024|1023] "" XXX
+ SG_ LKAS_TEMPORARY_FAULT : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 157 ECM_5: 8 XXX
+ SG_ Accelerator_Position : 0|8@1+ (0.4,0) [0|100] "%" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 177 CRUISE_BUTTONS: 3 XXX
+ SG_ ACC_Cancel : 0|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Distance_Dec : 1|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Accel : 2|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Decel : 3|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Resume : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ Cruise_OnOff : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_OnOff : 7|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Distance_Inc : 8|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 163 DAS_5: 8 XXX
+ SG_ FCW_STATE : 2|1@1+ (1,0) [0|0] ""  XXX
+ SG_ FCW_DISTANCE : 3|2@1+ (1,0) [0|0] ""  XXX
+ SG_ ACCFCW_MESSAGE : 12|4@1+ (1,0) [0|0] ""  XXX
+ SG_ SET_SPEED_KPH : 24|8@1+ (1,0) [0|250] "km/h"  XXX
+ SG_ WHEEL_TORQUE_REQUEST : 38|15@0+ (1,-7767) [-7767|24999] "Nm"  XXX
+ SG_ WHEEL_TORQUE_REQUEST_ACTIVE : 39|1@1+ (1,0) [0|0] ""  XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 213 EPB_1: 3 XXX
+ SG_ PARKING_BRAKE_STATUS : 11|3@0+ (1,0) [0|7] "" XXX
+ SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 250 DAS_6: 8 XXX
+ SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_ALERTS : 27|4@0+ (1,0) [0|1] "" XXX
+ SG_ CAR_MODEL : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ AUTO_HIGH_BEAM_ON : 47|1@1+ (1,0) [0|0] "" XXX
+ SG_ LKAS_DISABLED : 56|1@1+ (1,0) [0|0] "" XXX
+
+BO_ 720 BSM_1: 6 XXX
+ SG_ RIGHT_STATUS : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_STATUS : 2|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 792 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 0|2@1+ (1,0) [0|3] "" XXX
+ SG_ HIGH_BEAM_PRESSED : 2|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 657 BCM_1: 8 XXX
+ SG_ DOOR_OPEN_FL : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_TRUNK : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_BRAKE_SWITCH : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ TURN_LIGHT_LEFT : 31|1@0+ (1,0) [0|1] "" XXX
+ SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX
+
+VAL_ 131 ACC_OFF_REQ 2 "PERMANENT" 1 "TEMPORARY" 0 "NONE"
+VAL_ 147 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ;
+VAL_ 213 PARKING_BRAKE_STATUS 3 "RELEASING" 2 "APPLYING" 1 "APPLIED" 0 "OFF" ;
+
+CM_ SG_ 258 STEERING_ANGLE_HP "Steering angle high precision";
+CM_ SG_ 264 ENGINE_TORQUE "Effective engine torque";
+CM_ SG_ 264 EXPECTED_ENGINE_TORQUE "Expected Engine Torque based on target engine speed";
+CM_ SG_ 678 LKAS_ICON_COLOR "3 is yellow, 2 is green, 1 is white, 0 is null";
+CM_ SG_ 678 LKAS_LANE_LINES "0x01 transparent lines, 0x02 left white, 0x03 right white, 0x04 left yellow with car on top, 0x05 left yellow with car on top, 0x06 both white, 0x07 left yellow, 0x08 left yellow right white, 0x09 right yellow, 0x0a right yellow left white, 0x0b left yellow with car on top right white, 0x0c right yellow with car on top left white, (0x00, 0x0d, 0x0e, 0x0f) null";
+CM_ SG_ 678 LKAS_ALERTS "(0x01, 0x02) lane sense off, (0x03, 0x04, 0x06) place hands on steering wheel, 0x07 lane departure detected + place hands on steering wheel, (0x08, 0x09) lane sense unavailable + clean front windshield, 0x0b lane sense and auto high beam unavailable + clean front windshield, 0x0c lane sense unavailable + service required, (0x00, 0x05, 0x0a, 0x0d, 0x0e, 0x0f) null";

opendbc_repo/opendbc/dbc/generator/chrysler/_stellantis_common_ram_hd_generated.dbc

@@ -0,0 +1,189 @@
+CM_ "Generated from _stellantis_common.dbc"
+
+BO_ 258 STEERING: 8 XXX
+ SG_ STEERING_ANGLE : 5|14@0+ (0.5,-2048) [-2048|2047] "deg" XXX
+ SG_ STEERING_RATE : 21|14@0+ (0.5,-2048) [-2048|2047] "deg/s" XXX
+ SG_ STEERING_ANGLE_HP : 48|4@1+ (0.1,-0.4) [-0.4|0.4] "deg" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 264 ECM_1: 8 XXX
+ SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ ENGINE_TORQUE : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ EXPECTED_ENGINE_TORQUE : 36|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 280 ECM_TRQ: 8 XXX
+ SG_ ENGINE_TORQ_MAX : 4|13@0+ (.25,-500) [-500|1547.5] "NM" XXX
+ SG_ ENGINE_TORQ_MIN : 20|13@0+ (.25,-500) [-500|1547.5] "NM" XXX
+
+BO_ 284 ESP_8: 8 XXX
+ SG_ BRK_PRESSURE : 3|12@0+ (1,0) [0|1] "" XXX
+ SG_ Vehicle_Stopped : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_PEDAL : 19|12@0+ (1,0) [0|1] "" XXX
+ SG_ Vehicle_Speed : 39|16@0+ (0.0078125,0) [0|511.984375] "km/h" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 288 ECM_2: 7 XXX
+ SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_ENABLE : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ TCM_TORQUE_REQ_ENABLE : 7|1@1+ (1,0) [0|0] "" XXX
+ SG_ Accelerator_Position : 16|8@1+ (0.4,0) [0|100] "%" XXX
+ SG_ CRUISE_OVERRIDE : 31|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 47|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 320 ESP_1: 8 XXX
+ SG_ Brake_State : 0|2@1+ (1,0) [0|0] "" XXX
+ SG_ Brake_Pedal_State : 2|2@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Engaged : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_Enabled : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ Vehicle_Speed : 33|10@0+ (0.5,0) [0|511] "km/h" XXX
+ SG_ ACC_OFF_REQ : 39|2@0+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PRESSED_ACC : 6|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 268 ESP_2: 8 ESC
+ SG_ ESC_TORQUE_REQ : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_MAX : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_MIN : 7|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_TORQUE_REQ : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ TCS_ACTIVE : 21|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_TORQUE_REQ_MAX : 22|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_BRK_PREP : 40|1@1+ (1,0) [0|0] "" XXX
+ SG_ DISABLE_FUEL_SHUTOFF : 47|1@1+ (1,0) [0|0] "" XXX
+ SG_ DAS_REQ_ACTIVE : 48|3@1+ (1,0) [0|0] "" XXX
+ SG_ COLLISION_BRK_PREP : 51|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 344 ESP_6: 8 XXX
+ SG_ WHEEL_SPEED_FL : 5|14@0+ (0.5,0) [0|8191] "rpm" XXX
+ SG_ WHEEL_SPEED_FR : 21|14@0+ (0.5,0) [0|8191] "rpm" XXX
+ SG_ WHEEL_SPEED_RL : 37|14@0+ (0.5,0) [0|8191] "rpm" XXX
+ SG_ WHEEL_MOVING_1 : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ WHEEL_SPEED_RR : 53|14@0+ (0.5,0) [0|8191] "rpm" XXX
+ SG_ WHEEL_MOVING_2 : 54|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 368 Transmission_Status: 8 XXX
+ SG_ Gear_State : 2|3@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 464 ORC_1: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 13|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 500 DAS_3: 8 XXX
+ SG_ ENGINE_TORQUE_REQUEST : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ ENGINE_TORQUE_REQUEST_MAX : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_STANDSTILL : 5|1@0+ (1,0) [0|1] ""  XXX
+ SG_ ACC_GO : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_DECEL : 19|12@0+ (0.004885,-16) [-16|4] "m/s2" XXX
+ SG_ ACC_AVAILABLE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_ACTIVE : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ DISABLE_FUEL_SHUTOFF : 23|1@1+ (1,0) [0|0] "" XXX
+ SG_ GR_MAX_REQ : 32|4@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_DECEL_REQ : 36|3@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_FAULTED : 46|2@1+ (1,0) [0|0] "" XXX
+ SG_ COLLISION_BRK_PREP : 48|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_BRK_PREP : 49|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 501 DAS_4: 8 XXX
+ SG_ ACC_SET_SPEED_KPH : 15|8@0+ (1,0) [0|3] "km/h" XXX
+ SG_ ACC_SET_SPEED_MPH : 23|8@0+ (1,0) [0|3] "mph" XXX
+ SG_ ACC_DISTANCE_CONFIG_1 : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ ACC_STATE : 38|3@0+ (1,0) [0|7] "" XXX
+ SG_ FCW_OFF : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ FCW_ERROR : 27|2@0+ (1,0) [0|3] "" XXX
+ SG_ FCW_BRAKE_ENABLED : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ FCW_BRAKE_DISABLED : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_FAULTED : 50|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 544 EPS_2: 8 XXX
+ SG_ LKAS_STATE : 23|4@0+ (1,0) [0|15] "" XXX
+ SG_ COLUMN_TORQUE : 2|11@0+ (1,-1024) [-1024|1023] "" XXX
+ SG_ TORQUE_OVERLAY_STATUS : 6|4@0+ (1,0) [0|15] "" XXX
+ SG_ EPS_TORQUE_MOTOR_RAW : 19|12@0+ (1,-2048) [-2048|2047] "" XXX
+ SG_ EPS_TORQUE_MOTOR : 34|11@0+ (1,-1024) [-1024|1023] "" XXX
+ SG_ LKAS_TEMPORARY_FAULT : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 559 ECM_5: 8 XXX
+ SG_ Accelerator_Position : 0|8@1+ (0.4,0) [0|100] "%" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 570 CRUISE_BUTTONS: 3 XXX
+ SG_ ACC_Cancel : 0|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Distance_Dec : 1|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Accel : 2|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Decel : 3|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Resume : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ Cruise_OnOff : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_OnOff : 7|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Distance_Inc : 8|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 625 DAS_5: 8 XXX
+ SG_ FCW_STATE : 2|1@1+ (1,0) [0|0] ""  XXX
+ SG_ FCW_DISTANCE : 3|2@1+ (1,0) [0|0] ""  XXX
+ SG_ ACCFCW_MESSAGE : 12|4@1+ (1,0) [0|0] ""  XXX
+ SG_ SET_SPEED_KPH : 24|8@1+ (1,0) [0|250] "km/h"  XXX
+ SG_ WHEEL_TORQUE_REQUEST : 38|15@0+ (1,-7767) [-7767|24999] "Nm"  XXX
+ SG_ WHEEL_TORQUE_REQUEST_ACTIVE : 39|1@1+ (1,0) [0|0] ""  XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 669 EPB_1: 3 XXX
+ SG_ PARKING_BRAKE_STATUS : 11|3@0+ (1,0) [0|7] "" XXX
+ SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 629 DAS_6: 8 XXX
+ SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_ALERTS : 27|4@0+ (1,0) [0|1] "" XXX
+ SG_ CAR_MODEL : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ AUTO_HIGH_BEAM_ON : 47|1@1+ (1,0) [0|0] "" XXX
+ SG_ LKAS_DISABLED : 56|1@1+ (1,0) [0|0] "" XXX
+
+BO_ 720 BSM_1: 6 XXX
+ SG_ RIGHT_STATUS : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_STATUS : 2|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 792 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 0|2@1+ (1,0) [0|3] "" XXX
+ SG_ HIGH_BEAM_PRESSED : 2|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 820 BCM_1: 8 XXX
+ SG_ DOOR_OPEN_FL : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_TRUNK : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_BRAKE_SWITCH : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ TURN_LIGHT_LEFT : 31|1@0+ (1,0) [0|1] "" XXX
+ SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX
+
+VAL_ 320 ACC_OFF_REQ 2 "PERMANENT" 1 "TEMPORARY" 0 "NONE"
+VAL_ 368 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ;
+VAL_ 669 PARKING_BRAKE_STATUS 3 "RELEASING" 2 "APPLYING" 1 "APPLIED" 0 "OFF" ;
+
+CM_ SG_ 258 STEERING_ANGLE_HP "Steering angle high precision";
+CM_ SG_ 264 ENGINE_TORQUE "Effective engine torque";
+CM_ SG_ 264 EXPECTED_ENGINE_TORQUE "Expected Engine Torque based on target engine speed";
+CM_ SG_ 678 LKAS_ICON_COLOR "3 is yellow, 2 is green, 1 is white, 0 is null";
+CM_ SG_ 678 LKAS_LANE_LINES "0x01 transparent lines, 0x02 left white, 0x03 right white, 0x04 left yellow with car on top, 0x05 left yellow with car on top, 0x06 both white, 0x07 left yellow, 0x08 left yellow right white, 0x09 right yellow, 0x0a right yellow left white, 0x0b left yellow with car on top right white, 0x0c right yellow with car on top left white, (0x00, 0x0d, 0x0e, 0x0f) null";
+CM_ SG_ 678 LKAS_ALERTS "(0x01, 0x02) lane sense off, (0x03, 0x04, 0x06) place hands on steering wheel, 0x07 lane departure detected + place hands on steering wheel, (0x08, 0x09) lane sense unavailable + clean front windshield, 0x0b lane sense and auto high beam unavailable + clean front windshield, 0x0c lane sense unavailable + service required, (0x00, 0x05, 0x0a, 0x0d, 0x0e, 0x0f) null";

opendbc_repo/opendbc/dbc/generator/hyundai/.gitignore

@@ -1,2 +0,0 @@
-hyundai_kia_mando_front_radar.dbc
-hyundai_kia_mando_corner_radar.dbc

opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_kia_mando_corner_radar.dbc

@@ -0,0 +1,371 @@
+
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX
+
+BO_ 256 RADAR_POINTS_METADATA_0x100: 64 RADAR
+ SG_ SIGNAL_1 : 0|32@1+ (1,0) [0|255] "" XXX
+ SG_ SIGNAL_2 : 32|32@1+ (1,0) [0|65535] "" XXX
+ SG_ SIGNAL_3 : 64|4@1+ (1,0) [0|15] "" XXX
+ SG_ SIGNAL_4 : 68|4@1+ (1,0) [0|15] "" XXX
+ SG_ RADAR_POINT_COUNT : 72|8@1+ (1,0) [0|255] "" XXX
+ SG_ SIGNAL_6 : 80|7@1+ (0.015625,0) [0|3] "" XXX
+ SG_ SIGNAL_7 : 87|1@1+ (1,0) [0|1] "" XXX
+ SG_ SIGNAL_8 : 88|3@1+ (1,0) [0|7] "" XXX
+ SG_ SIGNAL_9 : 91|5@1+ (0.0625,0) [0|31] "" XXX
+ SG_ SIGNAL_10 : 96|8@1+ (1,0) [0|255] "" XXX
+ SG_ SIGNAL_11 : 104|7@1+ (0.015625,0) [0|127] "" XXX
+ SG_ SIGNAL_12 : 111|2@1+ (1,0) [0|65535] "" XXX
+ SG_ SIGNAL_13 : 113|7@1+ (0.015625,0) [0|127] "" XXX
+ SG_ SIGNAL_14 : 120|7@1+ (0.015625,0) [0|127] "" XXX
+ SG_ SIGNAL_15 : 127|3@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_16 : 130|2@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_17 : 133|2@0+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_18 : 134|1@0+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_19 : 135|3@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_20 : 138|8@1+ (1,0) [0|63] "" XXX
+ SG_ SIGNAL_21 : 146|2@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_22 : 148|1@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_23 : 149|4@1+ (1,0) [0|7] "" XXX
+ SG_ SIGNAL_24 : 153|1@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_25 : 154|2@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_26 : 157|2@0+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_27 : 158|7@1+ (0.125,0) [0|3] "" XXX
+ SG_ SIGNAL_28 : 165|7@1+ (0.015625,0) [0|31] "" XXX
+ SG_ SIGNAL_29 : 172|7@1+ (0.125,0) [0|3] "" XXX
+ SG_ SIGNAL_30 : 179|7@1+ (0.015625,0) [0|1] "" XXX
+ SG_ SIGNAL_31 : 186|4@1+ (1,0) [0|7] "" XXX
+ SG_ SIGNAL_32 : 190|14@1+ (0.015625,0) [0|15] "" XXX
+ SG_ SIGNAL_33 : 204|11@1+ (0.03125,0) [0|8191] "" XXX
+ SG_ SIGNAL_34 : 215|2@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_35 : 217|7@1+ (1,0) [0|127] "" XXX
+ SG_ SIGNAL_36 : 224|6@1+ (1,0) [0|63] "" XXX
+ SG_ SIGNAL_37 : 230|6@1+ (0.2,0) [0|31] "" XXX
+ SG_ SIGNAL_38 : 236|6@1+ (0.2,0) [0|7] "" XXX
+ SG_ SIGNAL_39 : 242|8@1+ (1,-90) [0|255] "" XXX
+ SG_ SIGNAL_40 : 250|6@1+ (1,0) [0|63] "" XXX
+ SG_ SIGNAL_41 : 256|8@1+ (0.25,0) [0|255] "" XXX
+ SG_ SIGNAL_42 : 264|3@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_43 : 267|12@1+ (0.01,0) [0|31] "" XXX
+ SG_ SIGNAL_44 : 279|32@1+ (1,0) [0|63] "" XXX
+ SG_ SIGNAL_45 : 311|1@1+ (1,0) [0|1] "" XXX
+ SG_ SIGNAL_46 : 312|2@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_47 : 314|32@1+ (1,0) [0|255] "" XXX
+ SG_ SIGNAL_48 : 346|6@1+ (1,0) [0|63] "" XXX
+ SG_ SIGNAL_49 : 352|7@1+ (0.25,0) [0|127] "" XXX
+ SG_ SIGNAL_50 : 359|6@1+ (0.03125,0) [0|31] "" XXX
+ SG_ SIGNAL_51 : 365|10@1+ (0.125,0) [0|3] "" XXX
+ SG_ SIGNAL_52 : 375|10@1+ (0.125,0) [0|63] "" XXX
+ SG_ SIGNAL_53 : 385|7@1+ (1,0) [0|127] "" XXX
+ SG_ SIGNAL_54 : 392|7@1+ (1,0) [0|127] "" XXX
+ SG_ SIGNAL_55 : 399|8@1+ (0.00390625,0) [0|31] "" XXX
+ SG_ SIGNAL_56 : 407|10@1+ (0.125,0) [0|63] "" XXX
+ SG_ SIGNAL_57 : 417|1@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_58 : 418|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 512 RADAR_POINTS_METADATA_0x200: 64 RADAR
+ SG_ SIGNAL_1 : 0|32@1+ (1,0) [0|255] "" XXX
+ SG_ SIGNAL_2 : 32|32@1+ (1,0) [0|65535] "" XXX
+ SG_ SIGNAL_3 : 64|4@1+ (1,0) [0|15] "" XXX
+ SG_ SIGNAL_4 : 68|4@1+ (1,0) [0|15] "" XXX
+ SG_ RADAR_POINT_COUNT : 72|8@1+ (1,0) [0|255] "" XXX
+ SG_ SIGNAL_6 : 80|7@1+ (0.015625,0) [0|3] "" XXX
+ SG_ SIGNAL_7 : 87|1@1+ (1,0) [0|1] "" XXX
+ SG_ SIGNAL_8 : 88|3@1+ (1,0) [0|7] "" XXX
+ SG_ SIGNAL_9 : 91|5@1+ (0.0625,0) [0|31] "" XXX
+ SG_ SIGNAL_10 : 96|8@1+ (1,0) [0|255] "" XXX
+ SG_ SIGNAL_11 : 104|7@1+ (0.015625,0) [0|127] "" XXX
+ SG_ SIGNAL_12 : 111|2@1+ (1,0) [0|65535] "" XXX
+ SG_ SIGNAL_13 : 113|7@1+ (0.015625,0) [0|127] "" XXX
+ SG_ SIGNAL_14 : 120|7@1+ (0.015625,0) [0|127] "" XXX
+ SG_ SIGNAL_15 : 127|3@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_16 : 130|2@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_17 : 133|2@0+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_18 : 134|1@0+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_19 : 135|3@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_20 : 138|8@1+ (1,0) [0|63] "" XXX
+ SG_ SIGNAL_21 : 146|2@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_22 : 148|1@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_23 : 149|4@1+ (1,0) [0|7] "" XXX
+ SG_ SIGNAL_24 : 153|1@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_25 : 154|2@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_26 : 157|2@0+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_27 : 158|7@1+ (0.125,0) [0|3] "" XXX
+ SG_ SIGNAL_28 : 165|7@1+ (0.015625,0) [0|31] "" XXX
+ SG_ SIGNAL_29 : 172|7@1+ (0.125,0) [0|3] "" XXX
+ SG_ SIGNAL_30 : 179|7@1+ (0.015625,0) [0|1] "" XXX
+ SG_ SIGNAL_31 : 186|4@1+ (1,0) [0|7] "" XXX
+ SG_ SIGNAL_32 : 190|14@1+ (0.015625,0) [0|15] "" XXX
+ SG_ SIGNAL_33 : 204|11@1+ (0.03125,0) [0|8191] "" XXX
+ SG_ SIGNAL_34 : 215|2@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_35 : 217|7@1+ (1,0) [0|127] "" XXX
+ SG_ SIGNAL_36 : 224|6@1+ (1,0) [0|63] "" XXX
+ SG_ SIGNAL_37 : 230|6@1+ (0.2,0) [0|31] "" XXX
+ SG_ SIGNAL_38 : 236|6@1+ (0.2,0) [0|7] "" XXX
+ SG_ SIGNAL_39 : 242|8@1+ (1,-90) [0|255] "" XXX
+ SG_ SIGNAL_40 : 250|6@1+ (1,0) [0|63] "" XXX
+ SG_ SIGNAL_41 : 256|8@1+ (0.25,0) [0|255] "" XXX
+ SG_ SIGNAL_42 : 264|3@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_43 : 267|12@1+ (0.01,0) [0|31] "" XXX
+ SG_ SIGNAL_44 : 279|32@1+ (1,0) [0|63] "" XXX
+ SG_ SIGNAL_45 : 311|1@1+ (1,0) [0|1] "" XXX
+ SG_ SIGNAL_46 : 312|2@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_47 : 314|32@1+ (1,0) [0|255] "" XXX
+ SG_ SIGNAL_48 : 346|6@1+ (1,0) [0|63] "" XXX
+ SG_ SIGNAL_49 : 352|7@1+ (0.25,0) [0|127] "" XXX
+ SG_ SIGNAL_50 : 359|6@1+ (0.03125,0) [0|31] "" XXX
+ SG_ SIGNAL_51 : 365|10@1+ (0.125,0) [0|3] "" XXX
+ SG_ SIGNAL_52 : 375|10@1+ (0.125,0) [0|63] "" XXX
+ SG_ SIGNAL_53 : 385|7@1+ (1,0) [0|127] "" XXX
+ SG_ SIGNAL_54 : 392|7@1+ (1,0) [0|127] "" XXX
+ SG_ SIGNAL_55 : 399|8@1+ (0.00390625,0) [0|31] "" XXX
+ SG_ SIGNAL_56 : 407|10@1+ (0.125,0) [0|63] "" XXX
+ SG_ SIGNAL_57 : 417|1@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_58 : 418|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 257 RADAR_POINTS_0x101: 64 RADAR
+ SG_ MESSAGE_ID : 0|5@1+ (1,0) [0|31] "" XXX
+ SG_ LAYOUT_ID : 5|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_1_DISTANCE : 7|14@1+ (0.015625,0) [0|255.984375] "" XXX
+ SG_ POINT_1_SIGNAL_2 : 21|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_1_SIGNAL_3 : 23|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_1_REL_VELOCITY : 31|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
+ SG_ POINT_1_SIGNAL_5 : 44|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_1_SIGNAL_6 : 46|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_1_AZIMUTH : 48|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
+ SG_ POINT_1_SIGNAL_8 : 60|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_1_SIGNAL_9 : 62|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_1_SIGNAL_10 : 63|7@1+ (1,0) [0|127] "" XXX
+ SG_ POINT_1_SIGNAL_11 : 70|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_1_SIGNAL_12 : 71|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_1_SIGNAL_13 : 77|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_1_SIGNAL_14 : 79|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_1_SIGNAL_15 : 87|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_1_SIGNAL_16 : 88|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_1_SIGNAL_17 : 90|3@1+ (1,0) [0|7] "" XXX
+ SG_ POINT_1_SIGNAL_18 : 93|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_1_SIGNAL_19 : 99|8@1+ (1,0) [0|255] "" XXX
+ SG_ POINT_1_SIGNAL_20 : 107|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_2_DISTANCE : 108|14@1+ (0.015625,0) [0|255.984375] "" XXX
+ SG_ POINT_2_SIGNAL_2 : 122|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_2_SIGNAL_3 : 124|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_2_REL_VELOCITY : 132|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
+ SG_ POINT_2_SIGNAL_5 : 145|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_2_SIGNAL_6 : 147|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_2_AZIMUTH : 149|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
+ SG_ POINT_2_SIGNAL_8 : 161|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_2_SIGNAL_9 : 163|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_2_SIGNAL_10 : 164|7@1+ (1,0) [0|127] "" XXX
+ SG_ POINT_2_SIGNAL_11 : 171|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_2_SIGNAL_12 : 172|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_2_SIGNAL_13 : 178|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_2_SIGNAL_14 : 180|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_2_SIGNAL_15 : 188|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_2_SIGNAL_16 : 189|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_2_SIGNAL_17 : 191|3@1+ (1,0) [0|7] "" XXX
+ SG_ POINT_2_SIGNAL_18 : 194|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_2_SIGNAL_19 : 200|8@1+ (1,0) [0|255] "" XXX
+ SG_ POINT_2_SIGNAL_20 : 208|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_3_DISTANCE : 209|14@1+ (0.015625,0) [0|255.984375] "" XXX
+ SG_ POINT_3_SIGNAL_2 : 223|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_3_SIGNAL_3 : 225|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_3_REL_VELOCITY : 233|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
+ SG_ POINT_3_SIGNAL_5 : 246|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_3_SIGNAL_6 : 248|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_3_AZIMUTH : 250|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
+ SG_ POINT_3_SIGNAL_8 : 262|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_3_SIGNAL_9 : 264|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_3_SIGNAL_10 : 265|7@1+ (1,0) [0|127] "" XXX
+ SG_ POINT_3_SIGNAL_11 : 272|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_3_SIGNAL_12 : 273|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_3_SIGNAL_13 : 279|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_3_SIGNAL_14 : 281|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_3_SIGNAL_15 : 289|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_3_SIGNAL_16 : 290|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_3_SIGNAL_17 : 292|3@1+ (1,0) [0|7] "" XXX
+ SG_ POINT_3_SIGNAL_18 : 295|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_3_SIGNAL_19 : 301|8@1+ (1,0) [0|255] "" XXX
+ SG_ POINT_3_SIGNAL_20 : 309|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_4_DISTANCE : 310|14@1+ (0.015625,0) [0|255.984375] "" XXX
+ SG_ POINT_4_SIGNAL_2 : 324|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_4_SIGNAL_3 : 326|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_4_REL_VELOCITY : 334|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
+ SG_ POINT_4_SIGNAL_5 : 347|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_4_SIGNAL_6 : 349|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_4_AZIMUTH : 351|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
+ SG_ POINT_4_SIGNAL_8 : 363|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_4_SIGNAL_9 : 365|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_4_SIGNAL_10 : 366|7@1+ (1,0) [0|127] "" XXX
+ SG_ POINT_4_SIGNAL_11 : 373|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_4_SIGNAL_12 : 374|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_4_SIGNAL_13 : 380|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_4_SIGNAL_14 : 382|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_4_SIGNAL_15 : 390|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_4_SIGNAL_16 : 391|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_4_SIGNAL_17 : 393|3@1+ (1,0) [0|7] "" XXX
+ SG_ POINT_4_SIGNAL_18 : 396|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_4_SIGNAL_19 : 402|8@1+ (1,0) [0|255] "" XXX
+ SG_ POINT_4_SIGNAL_20 : 410|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_5_DISTANCE : 411|14@1+ (0.015625,0) [0|255.984375] "" XXX
+ SG_ POINT_5_SIGNAL_2 : 425|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_5_SIGNAL_3 : 427|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_5_REL_VELOCITY : 435|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
+ SG_ POINT_5_SIGNAL_5 : 448|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_5_SIGNAL_6 : 450|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_5_AZIMUTH : 452|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
+ SG_ POINT_5_SIGNAL_8 : 464|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_5_SIGNAL_9 : 466|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_5_SIGNAL_10 : 467|7@1+ (1,0) [0|127] "" XXX
+ SG_ POINT_5_SIGNAL_11 : 474|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_5_SIGNAL_12 : 475|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_5_SIGNAL_13 : 481|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_5_SIGNAL_14 : 483|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_5_SIGNAL_15 : 491|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_5_SIGNAL_16 : 492|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_5_SIGNAL_17 : 494|3@1+ (1,0) [0|7] "" XXX
+ SG_ POINT_5_SIGNAL_18 : 497|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_5_SIGNAL_19 : 503|8@1+ (1,0) [0|255] "" XXX
+ SG_ POINT_5_SIGNAL_20 : 511|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 513 RADAR_POINTS_0x201: 64 RADAR
+ SG_ MESSAGE_ID : 0|5@1+ (1,0) [0|31] "" XXX
+ SG_ LAYOUT_ID : 5|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_1_DISTANCE : 7|14@1+ (0.015625,0) [0|255.984375] "" XXX
+ SG_ POINT_1_SIGNAL_2 : 21|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_1_SIGNAL_3 : 23|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_1_REL_VELOCITY : 31|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
+ SG_ POINT_1_SIGNAL_5 : 44|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_1_SIGNAL_6 : 46|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_1_AZIMUTH : 48|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
+ SG_ POINT_1_SIGNAL_8 : 60|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_1_SIGNAL_9 : 62|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_1_SIGNAL_10 : 63|7@1+ (1,0) [0|127] "" XXX
+ SG_ POINT_1_SIGNAL_11 : 70|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_1_SIGNAL_12 : 71|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_1_SIGNAL_13 : 77|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_1_SIGNAL_14 : 79|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_1_SIGNAL_15 : 87|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_1_SIGNAL_16 : 88|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_1_SIGNAL_17 : 90|3@1+ (1,0) [0|7] "" XXX
+ SG_ POINT_1_SIGNAL_18 : 93|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_1_SIGNAL_19 : 99|8@1+ (1,0) [0|255] "" XXX
+ SG_ POINT_1_SIGNAL_20 : 107|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_2_DISTANCE : 108|14@1+ (0.015625,0) [0|255.984375] "" XXX
+ SG_ POINT_2_SIGNAL_2 : 122|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_2_SIGNAL_3 : 124|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_2_REL_VELOCITY : 132|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
+ SG_ POINT_2_SIGNAL_5 : 145|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_2_SIGNAL_6 : 147|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_2_AZIMUTH : 149|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
+ SG_ POINT_2_SIGNAL_8 : 161|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_2_SIGNAL_9 : 163|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_2_SIGNAL_10 : 164|7@1+ (1,0) [0|127] "" XXX
+ SG_ POINT_2_SIGNAL_11 : 171|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_2_SIGNAL_12 : 172|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_2_SIGNAL_13 : 178|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_2_SIGNAL_14 : 180|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_2_SIGNAL_15 : 188|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_2_SIGNAL_16 : 189|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_2_SIGNAL_17 : 191|3@1+ (1,0) [0|7] "" XXX
+ SG_ POINT_2_SIGNAL_18 : 194|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_2_SIGNAL_19 : 200|8@1+ (1,0) [0|255] "" XXX
+ SG_ POINT_2_SIGNAL_20 : 208|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_3_DISTANCE : 209|14@1+ (0.015625,0) [0|255.984375] "" XXX
+ SG_ POINT_3_SIGNAL_2 : 223|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_3_SIGNAL_3 : 225|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_3_REL_VELOCITY : 233|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
+ SG_ POINT_3_SIGNAL_5 : 246|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_3_SIGNAL_6 : 248|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_3_AZIMUTH : 250|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
+ SG_ POINT_3_SIGNAL_8 : 262|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_3_SIGNAL_9 : 264|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_3_SIGNAL_10 : 265|7@1+ (1,0) [0|127] "" XXX
+ SG_ POINT_3_SIGNAL_11 : 272|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_3_SIGNAL_12 : 273|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_3_SIGNAL_13 : 279|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_3_SIGNAL_14 : 281|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_3_SIGNAL_15 : 289|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_3_SIGNAL_16 : 290|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_3_SIGNAL_17 : 292|3@1+ (1,0) [0|7] "" XXX
+ SG_ POINT_3_SIGNAL_18 : 295|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_3_SIGNAL_19 : 301|8@1+ (1,0) [0|255] "" XXX
+ SG_ POINT_3_SIGNAL_20 : 309|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_4_DISTANCE : 310|14@1+ (0.015625,0) [0|255.984375] "" XXX
+ SG_ POINT_4_SIGNAL_2 : 324|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_4_SIGNAL_3 : 326|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_4_REL_VELOCITY : 334|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
+ SG_ POINT_4_SIGNAL_5 : 347|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_4_SIGNAL_6 : 349|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_4_AZIMUTH : 351|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
+ SG_ POINT_4_SIGNAL_8 : 363|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_4_SIGNAL_9 : 365|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_4_SIGNAL_10 : 366|7@1+ (1,0) [0|127] "" XXX
+ SG_ POINT_4_SIGNAL_11 : 373|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_4_SIGNAL_12 : 374|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_4_SIGNAL_13 : 380|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_4_SIGNAL_14 : 382|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_4_SIGNAL_15 : 390|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_4_SIGNAL_16 : 391|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_4_SIGNAL_17 : 393|3@1+ (1,0) [0|7] "" XXX
+ SG_ POINT_4_SIGNAL_18 : 396|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_4_SIGNAL_19 : 402|8@1+ (1,0) [0|255] "" XXX
+ SG_ POINT_4_SIGNAL_20 : 410|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_5_DISTANCE : 411|14@1+ (0.015625,0) [0|255.984375] "" XXX
+ SG_ POINT_5_SIGNAL_2 : 425|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_5_SIGNAL_3 : 427|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_5_REL_VELOCITY : 435|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
+ SG_ POINT_5_SIGNAL_5 : 448|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_5_SIGNAL_6 : 450|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_5_AZIMUTH : 452|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
+ SG_ POINT_5_SIGNAL_8 : 464|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_5_SIGNAL_9 : 466|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_5_SIGNAL_10 : 467|7@1+ (1,0) [0|127] "" XXX
+ SG_ POINT_5_SIGNAL_11 : 474|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_5_SIGNAL_12 : 475|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_5_SIGNAL_13 : 481|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_5_SIGNAL_14 : 483|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_5_SIGNAL_15 : 491|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_5_SIGNAL_16 : 492|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_5_SIGNAL_17 : 494|3@1+ (1,0) [0|7] "" XXX
+ SG_ POINT_5_SIGNAL_18 : 497|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_5_SIGNAL_19 : 503|8@1+ (1,0) [0|255] "" XXX
+ SG_ POINT_5_SIGNAL_20 : 511|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 260 RADAR_POINTS_CHECKSUM_0x104: 3 RADAR
+ SG_ CRC16 : 0|16@1+ (1,0) [0|65535] "" XXX
+
+BO_ 516 RADAR_POINTS_CHECKSUM_0x204: 3 RADAR
+ SG_ CRC16 : 0|16@1+ (1,0) [0|65535] "" XXX

opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_kia_mando_front_radar.dbc

@@ -0,0 +1,422 @@
+
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX
+    
+BO_ 1280 RADAR_TRACK_500: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1281 RADAR_TRACK_501: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1282 RADAR_TRACK_502: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1283 RADAR_TRACK_503: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1284 RADAR_TRACK_504: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1285 RADAR_TRACK_505: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1286 RADAR_TRACK_506: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1287 RADAR_TRACK_507: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1288 RADAR_TRACK_508: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1289 RADAR_TRACK_509: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1290 RADAR_TRACK_50a: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1291 RADAR_TRACK_50b: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1292 RADAR_TRACK_50c: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1293 RADAR_TRACK_50d: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1294 RADAR_TRACK_50e: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1295 RADAR_TRACK_50f: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1296 RADAR_TRACK_510: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1297 RADAR_TRACK_511: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1298 RADAR_TRACK_512: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1299 RADAR_TRACK_513: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1300 RADAR_TRACK_514: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1301 RADAR_TRACK_515: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1302 RADAR_TRACK_516: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1303 RADAR_TRACK_517: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1304 RADAR_TRACK_518: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1305 RADAR_TRACK_519: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1306 RADAR_TRACK_51a: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1307 RADAR_TRACK_51b: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1308 RADAR_TRACK_51c: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1309 RADAR_TRACK_51d: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1310 RADAR_TRACK_51e: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1311 RADAR_TRACK_51f: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    

opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_mrr30_radar.dbc

@@ -0,0 +1,421 @@
+
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX
+
+BO_ 528 RADAR_TRACK_210: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 529 RADAR_TRACK_211: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 530 RADAR_TRACK_212: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 531 RADAR_TRACK_213: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 532 RADAR_TRACK_214: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 533 RADAR_TRACK_215: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 534 RADAR_TRACK_216: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 535 RADAR_TRACK_217: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 536 RADAR_TRACK_218: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 537 RADAR_TRACK_219: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 538 RADAR_TRACK_21a: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 539 RADAR_TRACK_21b: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 540 RADAR_TRACK_21c: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 541 RADAR_TRACK_21d: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 542 RADAR_TRACK_21e: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 543 RADAR_TRACK_21f: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX

opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_mrr35_radar.dbc

@@ -0,0 +1,997 @@
+
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX
+
+BO_ 933 RADAR_TRACK_3a5: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 934 RADAR_TRACK_3a6: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 935 RADAR_TRACK_3a7: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 936 RADAR_TRACK_3a8: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 937 RADAR_TRACK_3a9: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 938 RADAR_TRACK_3aa: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 939 RADAR_TRACK_3ab: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 940 RADAR_TRACK_3ac: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 941 RADAR_TRACK_3ad: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 942 RADAR_TRACK_3ae: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 943 RADAR_TRACK_3af: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 944 RADAR_TRACK_3b0: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 945 RADAR_TRACK_3b1: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 946 RADAR_TRACK_3b2: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 947 RADAR_TRACK_3b3: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 948 RADAR_TRACK_3b4: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 949 RADAR_TRACK_3b5: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 950 RADAR_TRACK_3b6: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 951 RADAR_TRACK_3b7: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 952 RADAR_TRACK_3b8: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 953 RADAR_TRACK_3b9: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 954 RADAR_TRACK_3ba: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 955 RADAR_TRACK_3bb: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 956 RADAR_TRACK_3bc: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 957 RADAR_TRACK_3bd: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 958 RADAR_TRACK_3be: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 959 RADAR_TRACK_3bf: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 960 RADAR_TRACK_3c0: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 961 RADAR_TRACK_3c1: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 962 RADAR_TRACK_3c2: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 963 RADAR_TRACK_3c3: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 964 RADAR_TRACK_3c4: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX

opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_mrrevo14f_radar.dbc

@@ -0,0 +1,251 @@
+
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX
+
+BO_ 1537 RADAR_LEAD: 8 RADAR
+ SG_ DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ ID : 31|9@1+ (1,0) [0|511] "" XXX
+ SG_ SOMETHING_1 : 42|8@1+ (1,-128) [-128|127] "" XXX
+ SG_ SOMETHING_2 : 50|6@1+ (1,-32) [-32|31] "" XXX
+ SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1538 RADAR_TRACK_602: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1539 RADAR_TRACK_603: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1540 RADAR_TRACK_604: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1541 RADAR_TRACK_605: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1542 RADAR_TRACK_606: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1543 RADAR_TRACK_607: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1544 RADAR_TRACK_608: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1545 RADAR_TRACK_609: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1546 RADAR_TRACK_60a: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1547 RADAR_TRACK_60b: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1548 RADAR_TRACK_60c: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1549 RADAR_TRACK_60d: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1550 RADAR_TRACK_60e: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1551 RADAR_TRACK_60f: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1552 RADAR_TRACK_610: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1553 RADAR_TRACK_611: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1554 RADAR_ALT_612: 8 RADAR
+ SG_ DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ ID : 31|9@1+ (1,0) [0|511] "" XXX
+ SG_ SOMETHING_1 : 42|8@1+ (1,-128) [-128|127] "" XXX
+ SG_ SOMETHING_2 : 50|6@1+ (1,-32) [-32|31] "" XXX
+ SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1555 RADAR_ALT_613: 8 RADAR
+ SG_ DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ ID : 31|9@1+ (1,0) [0|511] "" XXX
+ SG_ SOMETHING_1 : 42|8@1+ (1,-128) [-128|127] "" XXX
+ SG_ SOMETHING_2 : 50|6@1+ (1,-32) [-32|31] "" XXX
+ SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1556 RADAR_ALT_614: 8 RADAR
+ SG_ DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ ID : 31|9@1+ (1,0) [0|511] "" XXX
+ SG_ SOMETHING_1 : 42|8@1+ (1,-128) [-128|127] "" XXX
+ SG_ SOMETHING_2 : 50|6@1+ (1,-32) [-32|31] "" XXX
+ SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1557 RADAR_ALT_615: 8 RADAR
+ SG_ DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ ID : 31|9@1+ (1,0) [0|511] "" XXX
+ SG_ SOMETHING_1 : 42|8@1+ (1,-128) [-128|127] "" XXX
+ SG_ SOMETHING_2 : 50|6@1+ (1,-32) [-32|31] "" XXX
+ SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1558 RADAR_ALT_616: 8 RADAR
+ SG_ DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ ID : 31|9@1+ (1,0) [0|511] "" XXX
+ SG_ SOMETHING_1 : 42|8@1+ (1,-128) [-128|127] "" XXX
+ SG_ SOMETHING_2 : 50|6@1+ (1,-32) [-32|31] "" XXX
+ SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1559 RADAR_ALT_617: 8 RADAR
+ SG_ DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ ID : 31|9@1+ (1,0) [0|511] "" XXX
+ SG_ SOMETHING_1 : 42|8@1+ (1,-128) [-128|127] "" XXX
+ SG_ SOMETHING_2 : 50|6@1+ (1,-32) [-32|31] "" XXX
+ SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|4@0+ (1,0) [0|15] "" XXX

opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_mrrevo14f_radar.py

@@ -0,0 +1,80 @@
+#!/usr/bin/env python3
+import os
+
+if __name__ == "__main__":
+  dbc_name = os.path.basename(__file__).replace(".py", ".dbc")
+  hyundai_path = os.path.dirname(os.path.realpath(__file__))
+  with open(os.path.join(hyundai_path, dbc_name), "w", encoding="utf-8") as f:
+    f.write("""
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX
+
+BO_ 1537 RADAR_LEAD: 8 RADAR
+ SG_ DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ ID : 31|9@1+ (1,0) [0|511] "" XXX
+ SG_ SOMETHING_1 : 42|8@1+ (1,-128) [-128|127] "" XXX
+ SG_ SOMETHING_2 : 50|6@1+ (1,-32) [-32|31] "" XXX
+ SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|4@0+ (1,0) [0|15] "" XXX
+""")
+
+    for a in range(0x602, 0x602 + 16):
+      f.write(f"""
+BO_ {a} RADAR_TRACK_{a:x}: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+""")
+
+    for a in range(0x612, 0x612 + 6):
+      f.write(f"""
+BO_ {a} RADAR_ALT_{a:x}: 8 RADAR
+ SG_ DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ ID : 31|9@1+ (1,0) [0|511] "" XXX
+ SG_ SOMETHING_1 : 42|8@1+ (1,-128) [-128|127] "" XXX
+ SG_ SOMETHING_2 : 50|6@1+ (1,-32) [-32|31] "" XXX
+ SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|4@0+ (1,0) [0|15] "" XXX
+""")

opendbc_repo/opendbc/dbc/generator/rivian/.gitignore

@@ -1 +0,0 @@
-rivian_mando_front_radar.dbc

opendbc_repo/opendbc/dbc/generator/rivian/rivian_mando_front_radar.dbc

@@ -0,0 +1,358 @@
+
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX
+    
+BO_ 1280 RADAR_TRACK_500: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1281 RADAR_TRACK_501: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1282 RADAR_TRACK_502: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1283 RADAR_TRACK_503: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1284 RADAR_TRACK_504: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1285 RADAR_TRACK_505: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1286 RADAR_TRACK_506: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1287 RADAR_TRACK_507: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1288 RADAR_TRACK_508: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1289 RADAR_TRACK_509: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1290 RADAR_TRACK_50a: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1291 RADAR_TRACK_50b: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1292 RADAR_TRACK_50c: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1293 RADAR_TRACK_50d: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1294 RADAR_TRACK_50e: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1295 RADAR_TRACK_50f: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1296 RADAR_TRACK_510: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1297 RADAR_TRACK_511: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1298 RADAR_TRACK_512: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1299 RADAR_TRACK_513: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1300 RADAR_TRACK_514: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1301 RADAR_TRACK_515: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1302 RADAR_TRACK_516: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1303 RADAR_TRACK_517: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1304 RADAR_TRACK_518: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1305 RADAR_TRACK_519: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1306 RADAR_TRACK_51a: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1307 RADAR_TRACK_51b: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1308 RADAR_TRACK_51c: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1309 RADAR_TRACK_51d: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1310 RADAR_TRACK_51e: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1311 RADAR_TRACK_51f: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    

opendbc_repo/opendbc/dbc/generator/tesla/.gitignore

@@ -1 +0,0 @@
-*.dbc

opendbc_repo/opendbc/dbc/hyundai_mrrevo14f_radar_generated.dbc

@@ -0,0 +1,254 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
+
+CM_ "hyundai_mrrevo14f_radar.dbc starts here";
+
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX
+
+BO_ 1537 RADAR_LEAD: 8 RADAR
+ SG_ DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ ID : 31|9@1+ (1,0) [0|511] "" XXX
+ SG_ SOMETHING_1 : 42|8@1+ (1,-128) [-128|127] "" XXX
+ SG_ SOMETHING_2 : 50|6@1+ (1,-32) [-32|31] "" XXX
+ SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1538 RADAR_TRACK_602: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1539 RADAR_TRACK_603: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1540 RADAR_TRACK_604: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1541 RADAR_TRACK_605: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1542 RADAR_TRACK_606: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1543 RADAR_TRACK_607: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1544 RADAR_TRACK_608: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1545 RADAR_TRACK_609: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1546 RADAR_TRACK_60a: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1547 RADAR_TRACK_60b: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1548 RADAR_TRACK_60c: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1549 RADAR_TRACK_60d: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1550 RADAR_TRACK_60e: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1551 RADAR_TRACK_60f: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1552 RADAR_TRACK_610: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1553 RADAR_TRACK_611: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1554 RADAR_ALT_612: 8 RADAR
+ SG_ DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ ID : 31|9@1+ (1,0) [0|511] "" XXX
+ SG_ SOMETHING_1 : 42|8@1+ (1,-128) [-128|127] "" XXX
+ SG_ SOMETHING_2 : 50|6@1+ (1,-32) [-32|31] "" XXX
+ SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1555 RADAR_ALT_613: 8 RADAR
+ SG_ DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ ID : 31|9@1+ (1,0) [0|511] "" XXX
+ SG_ SOMETHING_1 : 42|8@1+ (1,-128) [-128|127] "" XXX
+ SG_ SOMETHING_2 : 50|6@1+ (1,-32) [-32|31] "" XXX
+ SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1556 RADAR_ALT_614: 8 RADAR
+ SG_ DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ ID : 31|9@1+ (1,0) [0|511] "" XXX
+ SG_ SOMETHING_1 : 42|8@1+ (1,-128) [-128|127] "" XXX
+ SG_ SOMETHING_2 : 50|6@1+ (1,-32) [-32|31] "" XXX
+ SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1557 RADAR_ALT_615: 8 RADAR
+ SG_ DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ ID : 31|9@1+ (1,0) [0|511] "" XXX
+ SG_ SOMETHING_1 : 42|8@1+ (1,-128) [-128|127] "" XXX
+ SG_ SOMETHING_2 : 50|6@1+ (1,-32) [-32|31] "" XXX
+ SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1558 RADAR_ALT_616: 8 RADAR
+ SG_ DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ ID : 31|9@1+ (1,0) [0|511] "" XXX
+ SG_ SOMETHING_1 : 42|8@1+ (1,-128) [-128|127] "" XXX
+ SG_ SOMETHING_2 : 50|6@1+ (1,-32) [-32|31] "" XXX
+ SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1559 RADAR_ALT_617: 8 RADAR
+ SG_ DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ ID : 31|9@1+ (1,0) [0|511] "" XXX
+ SG_ SOMETHING_1 : 42|8@1+ (1,-128) [-128|127] "" XXX
+ SG_ SOMETHING_2 : 50|6@1+ (1,-32) [-32|31] "" XXX
+ SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|4@0+ (1,0) [0|15] "" XXX

opendbc_repo/opendbc/safety/modes/hyundai.h

@@ -56,7 +56,9 @@ const LongitudinalLimits HYUNDAI_LONG_LIMITS = {
   {.msg = {{0x91,  0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
 
 #define HYUNDAI_LDA_BUTTON_ADDR_CHECK \
-  {.msg = {{0x391, 0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
+  {.msg = {{0x391, 0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \
+           {0x50C, 0, 8, 50U,  .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \
+           {0x50C, 1, 8, 50U,  .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}}}, \
 
 #define HYUNDAI_NON_SCC_HEV_ADDR_CHECK \
   {.msg = {{0x595U, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
@@ -226,6 +228,10 @@ static void hyundai_rx_hook(const CANPacket_t *msg) {
     if (msg->addr == 0x391U) {
       hyundai_lkas_button_check(GET_BIT(msg, 4U));
     }
+
+    if ((msg->addr == 0x50CU) && ((msg->bus == 0U) || (msg->bus == 1U))) {
+      hyundai_lkas_button_check(GET_BIT(msg, 56U));
+    }
   }
 
   hyundai_common_reset_acc_main_on_mismatches();

opendbc_repo/opendbc/safety/modes/hyundai_canfd.h

@@ -190,7 +190,7 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *msg) {
     .has_steer_req_tolerance = true,
   };
   const AngleSteeringLimits HYUNDAI_CANFD_ANGLE_STEERING_LIMITS = {
-    .max_angle = 1800,
+    .max_angle = 3600,
     .angle_deg_to_can = 10,
     .frequency = 100U,
   };
@@ -230,9 +230,16 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *msg) {
       int desired_angle = (msg->data[11] << 6U) | (msg->data[10] >> 2U);
       desired_angle = to_signed(desired_angle, 14);
 
+      // ADAS_ACIAnglTqRedcGainVal: bit 96, 8 bits, unsigned. Raw 0-250 valid, 251-255 reserved.
+      const uint8_t gain_raw = msg->data[12];
+      bool gain_violation = gain_raw > 250U;
+      if (!steer_angle_req && (gain_raw != 0U)) {
+        gain_violation = true;
+      }
+
       if (steer_angle_cmd_checks_vm(desired_angle, steer_angle_req,
                                     HYUNDAI_CANFD_ANGLE_STEERING_LIMITS,
-                                    HYUNDAI_CANFD_ANGLE_STEERING_PARAMS)) {
+                                    HYUNDAI_CANFD_ANGLE_STEERING_PARAMS) || gain_violation) {
         tx = false;
       }
     } else {

opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py

@@ -174,7 +174,7 @@ class TestHyundaiCanfdAngleSteering(HyundaiButtonBase, common.CarSafetyTest):
   BUTTONS_TX_BUS = 2
   LATERAL_FREQUENCY = 100
   STANDSTILL_THRESHOLD = 12
-  STEER_ANGLE_MAX = 180
+  STEER_ANGLE_MAX = 360
   DEG_TO_CAN = 10
   GAS_MSG = ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL")
   SAFETY_PARAM = HyundaiSafetyFlags.CANFD_ANGLE_STEERING | HyundaiSafetyFlags.CAMERA_SCC | HyundaiSafetyFlags.HYBRID_GAS
@@ -248,7 +248,7 @@ class TestHyundaiCanfdAngleSteering(HyundaiButtonBase, common.CarSafetyTest):
     checksum = sig_checksum.calc_checksum(addr, sig_checksum, dat)
     _set_value(dat, sig_checksum, checksum)
 
-  def _angle_cmd_msg(self, angle, enabled, increment_timer=True):
+  def _angle_cmd_msg(self, angle, enabled, increment_timer=True, gain_raw=250):
     if increment_timer:
       self.safety.set_timer(self.angle_cmd_cnt * int(1e6 / self.LATERAL_FREQUENCY))
       self.angle_cmd_cnt += 1
@@ -272,7 +272,7 @@ class TestHyundaiCanfdAngleSteering(HyundaiButtonBase, common.CarSafetyTest):
     dat[9] = (dat[9] & ~0x30) | (((2 if enabled else 1) & 0x3) << 4)
     dat[10] = (dat[10] & 0x03) | ((desired_angle & 0x3F) << 2)
     dat[11] = (desired_angle >> 6) & 0xFF
-    dat[12] = 250 if enabled else 0
+    dat[12] = gain_raw if enabled or gain_raw != 250 else 0
     self._update_checksum(addr, dat)
     return libsafety_py.make_CANPacket(addr, 0, bytes(dat))
 
@@ -335,6 +335,19 @@ class TestHyundaiCanfdAngleSteering(HyundaiButtonBase, common.CarSafetyTest):
     self.assertFalse(self._tx(self._angle_cmd_msg(0, True, increment_timer=False)))
     self.assertTrue(self._tx(self._angle_cmd_msg(0, True, increment_timer=False)))
 
+  def test_angle_torque_reduction_gain_limits(self):
+    if self.__class__.__name__ != "TestHyundaiCanfdAngleSteering":
+      return
+
+    self.safety.set_controls_allowed(True)
+    self._reset_speed_measurement(1)
+    self._set_prev_desired_angle(0)
+    self.assertTrue(self._tx(self._angle_cmd_msg(0, True, gain_raw=250)))
+    self._set_prev_desired_angle(0)
+    self.assertFalse(self._tx(self._angle_cmd_msg(0, True, gain_raw=251)))
+    self._set_prev_desired_angle(0)
+    self.assertFalse(self._tx(self._angle_cmd_msg(0, False, gain_raw=1)))
+
 
 class TestHyundaiCanfdAngleSteeringLfaAlt(TestHyundaiCanfdAngleSteering):
 

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-f06c82b2-DEBUG";
+const uint8_t gitversion[19] = "DEV-e5cc7460-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-f06c82b2-DEBUG
+DEV-e5cc7460-DEBUG

scripts/diagnose_slc_mapd.py

@@ -28,6 +28,7 @@ import time
 from dataclasses import dataclass
 from datetime import datetime, timedelta, timezone
 from pathlib import Path
+import types
 from typing import Any, Optional
 from urllib.parse import parse_qs, urlparse
 
@@ -35,6 +36,16 @@ import requests
 
 # ── StarPilot / openpilot imports ──────────────────────────────────────────
 
+sys.path.insert(0, str(Path(__file__).resolve().parent.parent))
+
+# smbus2 is a hardware I2C library only present on comma's tici device.
+# On PC it's never installed, and SMBus is never called (the TICI flag is
+# False). Stub it so the eager import chain in openpilot.system.hardware
+# succeeds without installing tici-only platform dependencies.
+_smbus2 = types.ModuleType('smbus2')
+_smbus2.SMBus = None
+sys.modules['smbus2'] = _smbus2
+
 from openpilot.common.constants import CV
 from openpilot.tools.lib.auth import login as oauth_login
 from openpilot.tools.lib.auth_config import get_token, set_token
@@ -126,6 +137,16 @@ class ScsSample:
     decel_pressed: bool
 
 
+@dataclass
+class LeadSample:
+    """One radarState lead-vehicle event from the log."""
+
+    log_mono_time: int
+    has_lead: bool
+    d_rel: float   # metres ahead
+    v_lead: float  # m/s absolute speed of lead
+
+
 @dataclass
 class GpsSample:
     """One gpsLocationExternal event from the log."""
@@ -240,6 +261,12 @@ def parse_args(argv: list[str] | None = None) -> argparse.Namespace:
         formatter_class=argparse.RawDescriptionHelpFormatter,
         epilog=JWT_HELP,
     )
+    p.add_argument(
+        "route_pos",
+        nargs="?",
+        default=None,
+        help="Route name (positional format alternative)."
+    )
     p.add_argument(
         "--route",
         default=None,
@@ -257,7 +284,10 @@ def parse_args(argv: list[str] | None = None) -> argparse.Namespace:
         default=False,
         help="Display speeds in km/h (default: mph).",
     )
-    return p.parse_args(argv)
+    args = p.parse_args(argv)
+    if args.route_pos:
+        args.route = args.route_pos
+    return args
 
 
 def resolve_route_identifier(raw: str) -> str:
@@ -297,6 +327,8 @@ def resolve_route_identifier(raw: str) -> str:
             "Expected: dongle_id|log_id  (16 hex chars | identifier)"
         )
     dongle, log_id, suffix = m.group(1), m.group(2), m.group(3) or ""
+    if suffix:
+        suffix = re.sub(r"^/(\d+)/(\d+)$", r"/\1:\2", suffix)
     return f"{dongle}/{log_id}{suffix}"
 
 
@@ -354,18 +386,19 @@ def parse_route_logs(
     list[CarSample],
     list[GpsSample],
     list[ScsSample],
+    list[LeadSample],
     list[int],
 ]:
     """Use LogReader to parse qlog and extract all speed-related messages.
 
-    Returns (mapd_events, splan_events, car_events, gps_events, scs_events, segments).
+    Returns (mapd_events, splan_events, car_events, gps_events, scs_events, lead_events, segments).
     """
     mapd_events: list[MapdSample] = []
     splan_events: list[SplanSample] = []
     car_events: list[CarSample] = []
     gps_events: list[GpsSample] = []
     scs_events: list[ScsSample] = []
-    segments_found: set[int] = set()
+    lead_events: list[LeadSample] = []
     segments_found: set[int] = set()
     seg_of_msg: dict[int, int] = {}
 
@@ -448,6 +481,17 @@ def parse_route_logs(
                     decel_pressed=bool(s.decelPressed),
                 )
             )
+        elif which == "radarState":
+            r = msg.radarState
+            lead = r.leadOne
+            lead_events.append(
+                LeadSample(
+                    log_mono_time=t,
+                    has_lead=bool(lead.status),
+                    d_rel=float(lead.dRel or 0),
+                    v_lead=float(lead.vLead or 0),
+                )
+            )
 
     if not all_msgs:
         print("Warning: no messages found in route logs.", file=sys.stderr)
@@ -472,7 +516,7 @@ def parse_route_logs(
 
     segments = sorted(segments_found) if segments_found else [0]
 
-    return mapd_events, splan_events, car_events, gps_events, scs_events, segments
+    return mapd_events, splan_events, car_events, gps_events, scs_events, lead_events, segments
 
 
 # ============================================================================
@@ -874,9 +918,10 @@ def detect_changes(
     osm_ways: dict[int, OsmWay],
     gps_timeline: list[tuple[float, float, float]],
     base_time_ns: int,
+    lead_events: list[LeadSample] | None = None,
 ) -> list[ChangeRow]:
     """Walk starpilotPlan events to detect every SLC state transition,
-    correlating with mapd, carState, and starpilotCarState for full context.
+    correlating with mapd, carState, starpilotCarState, and radarState for full context.
 
     Produces a timeline of SLC decisions: limits, overrides, prompts, lookaheads.
     """
@@ -888,6 +933,9 @@ def detect_changes(
     mapd_sorted = (
         sorted(mapd_events, key=lambda e: e.log_mono_time) if mapd_events else []
     )
+    lead_sorted = (
+        sorted(lead_events, key=lambda e: e.log_mono_time) if lead_events else []
+    )
 
     prev_slc = -1.0
     prev_source_key = ""
@@ -910,6 +958,7 @@ def detect_changes(
         m = _nearest(mapd_sorted, t_ns)
         c = _nearest(car_events, t_ns)
         s = _nearest(scs_events, t_ns)
+        lv = _nearest(lead_sorted, t_ns) if lead_sorted else None
 
         mapd_sl = m.speed_limit if m else 0
         mapd_next = m.next_speed_limit if m else 0
@@ -920,6 +969,9 @@ def detect_changes(
         gas = bool(c.gas_pressed) if c else False
         accel = bool(s.accel_pressed) if s else False
         decel = bool(s.decel_pressed) if s else False
+        has_lead = bool(lv.has_lead) if lv else False
+        lead_d_rel = lv.d_rel if lv and lv.has_lead else 0.0
+        lead_v = lv.v_lead if lv and lv.has_lead else 0.0
 
         lat, lon = gps_at_time(t_ns, gps_timeline) if gps_timeline else (0, 0)
         osm_sl, osm_name = (
@@ -1001,11 +1053,17 @@ def detect_changes(
             detail = f"gas pressed: {v_ego * KPH_TO_MPH * MS_TO_KPH:.0f} > {slc * KPH_TO_MPH * MS_TO_KPH:.0f}"
             if accel:
                 detail += " (accel)"
+            if has_lead:
+                detail += f" [lead {lead_d_rel:.0f}m ahead]"
+
+        elif ov_end and not limit_changed and has_lead and not gas:
+            event_type = "OVERRIDE CLEAR"
+            detail = f"ACC decel behind lead ({lead_d_rel:.0f}m, {lead_v * KPH_TO_MPH * MS_TO_KPH:.0f} mph) — not driver brake"
 
         elif ov_end and not limit_changed:
             if ov_phase:
                 event_type = "OVERRIDE CLEAR"
-                detail = "override ended"
+                detail = "override ended" + (f" [lead {lead_d_rel:.0f}m, {lead_v * KPH_TO_MPH * MS_TO_KPH:.0f} mph]" if has_lead else "")
 
         elif active_ov and ov_phase != "active":
             event_type = "OVERRIDE ACTIVE"
@@ -1014,6 +1072,8 @@ def detect_changes(
         elif stale_ov and ov_phase != "stale":
             event_type = "STALE OVERRIDE"
             detail = f"overridden > {slc * KPH_TO_MPH * MS_TO_KPH:.0f}, v_ego={v_ego * KPH_TO_MPH * MS_TO_KPH:.0f}"
+            if has_lead:
+                detail += f" [ACC: lead {lead_d_rel:.0f}m, {lead_v * KPH_TO_MPH * MS_TO_KPH:.0f} mph]"
 
         elif source_changed:
             event_type = "SOURCE"
@@ -1091,14 +1151,14 @@ def fmt_speed(mps: float, use_mph: bool, width: int = 5) -> str:
 
 
 def print_header(
-    route_name: str, mapd_n: int, splan_n: int, gps_n: int, scs_n: int
+    route_name: str, mapd_n: int, splan_n: int, gps_n: int, scs_n: int, lead_n: int = 0
 ) -> None:
     sep = "=" * 82
     print(f"\n{sep}")
     print(f"  SLC / mapd Diagnostic Timeline")
     print(f"  Route: {route_name}")
     print(
-        f"  Events: mapdOut={mapd_n} | starpilotPlan={splan_n} | starpilotCarState={scs_n} | GPS={gps_n}"
+        f"  Events: mapdOut={mapd_n} | starpilotPlan={splan_n} | starpilotCarState={scs_n} | GPS={gps_n} | radarState={lead_n}"
     )
     print(f"{sep}")
 
@@ -1197,7 +1257,7 @@ def main(argv: list[str] | None = None) -> int:
         print(f"\nProcessing route: {canonical}", file=sys.stderr)
 
         # ── Parse qlog ──────────────────────────────────────────────────
-        mapd_ev, splan_ev, car_ev, gps_ev, scs_ev, segments = parse_route_logs(
+        mapd_ev, splan_ev, car_ev, gps_ev, scs_ev, lead_ev, segments = parse_route_logs(
             canonical
         )
 
@@ -1226,11 +1286,12 @@ def main(argv: list[str] | None = None) -> int:
 
         # ── Detect changes ──────────────────────────────────────────
         rows = detect_changes(
-            mapd_ev, splan_ev, car_ev, scs_ev, osm_ways, gps_timeline, base_time
+            mapd_ev, splan_ev, car_ev, scs_ev, osm_ways, gps_timeline, base_time,
+            lead_events=lead_ev,
         )
 
         # ── Output ─────────────────────────────────────────────────
-        print_header(canonical, len(mapd_ev), len(splan_ev), len(gps_ev), len(scs_ev))
+        print_header(canonical, len(mapd_ev), len(splan_ev), len(gps_ev), len(scs_ev), len(lead_ev))
         print_table(rows, not args.kmh)
 
         stale = sum(1 for r in rows if r.stale)

selfdrive/car/car_specific.py

@@ -47,6 +47,7 @@ GM_STANDSTILL_BRAKE_CAMERA_CARS = {
   GM_CAR.CHEVROLET_VOLT_CC,
   GM_CAR.CHEVROLET_MALIBU,
   GM_CAR.CHEVROLET_MALIBU_ASCM,
+  GM_CAR.BUICK_LACROSSE_ASCM,
   GM_CAR.CHEVROLET_MALIBU_SDGM,
   GM_CAR.CHEVROLET_MALIBU_CC,
   GM_CAR.CHEVROLET_MALIBU_HYBRID_CC,

selfdrive/car/card.py

@@ -22,7 +22,7 @@ from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.common.constants import CV
 from openpilot.selfdrive.car.cruise import VCruiseHelper, IMPERIAL_INCREMENT, V_CRUISE_MAX, V_CRUISE_MIN
-from openpilot.selfdrive.car.redneck_cruise import RedneckCruise
+from openpilot.selfdrive.car.redneck_cruise import RedneckCruise, SEND_BUTTON_DECREASE, SEND_BUTTON_INCREASE, select_redneck_target_speed
 from openpilot.selfdrive.car.car_specific import MockCarState
 
 from openpilot.starpilot.common.starpilot_variables import get_starpilot_toggles, update_starpilot_toggles
@@ -30,6 +30,8 @@ from openpilot.starpilot.controls.starpilot_card import StarPilotCard
 
 REPLAY = "REPLAY" in os.environ
 OPENPILOT_LEAD_MIN_DISTANCE = 0.1
+REDNECK_DECREASE_LOOKAHEAD_POINTS = 10
+REDNECK_AUTO_BUTTON_FILTER_FRAMES = int(0.3 / DT_CTRL)
 
 EventName = log.OnroadEvent.EventName
 
@@ -73,6 +75,14 @@ class Car:
 
   FPCP: custom.StarPilotCarParams
 
+  class _ButtonEventFilteredCarState:
+    def __init__(self, car_state: car.CarState, button_events):
+      self._car_state = car_state
+      self.buttonEvents = button_events
+
+    def __getattr__(self, name: str):
+      return getattr(self._car_state, name)
+
   def __init__(self, CI=None, RI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
     self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents', 'radarState', 'longitudinalPlan'])
@@ -165,8 +175,12 @@ class Car:
     self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
 
     self.mock_carstate = MockCarState()
-    self.v_cruise_helper = VCruiseHelper(self.CP)
-    self.redneck_cruise = RedneckCruise(self.CP, self.FPCP) if self.CP.brand == "hyundai" else None
+    self.v_cruise_helper = VCruiseHelper(self.CP, self.FPCP)
+    self.redneck_cruise = RedneckCruise(self.CP, self.FPCP) if self.CP.brand == "hyundai" and self.FPCP.redneckCruiseAvailable and not self.FPCP.pcmCruiseSpeed else None
+    self.redneck_button_event_filter_frames = {
+      int(ButtonType.accelCruise): 0,
+      int(ButtonType.decelCruise): 0,
+    }
 
     self.is_metric = self.params.get_bool("IsMetric")
     self.safe_mode = self.params.get_bool("SafeMode")
@@ -215,6 +229,9 @@ class Car:
 
     self.sm.update(0)
 
+    self._advance_redneck_button_feedback_filter()
+    filtered_CS = self._get_button_event_filtered_state(CS)
+
     can_rcv_valid = len(can_strs) > 0
 
     # Check for CAN timeout
@@ -230,7 +247,7 @@ class Car:
     )
     if not preap_software_cruise:
       self.v_cruise_helper.update_v_cruise(
-        CS,
+        filtered_CS,
         self.sm['carControl'].enabled,
         self.is_metric,
         self.sm['starpilotPlan'].speedLimitChanged,
@@ -266,9 +283,9 @@ class Car:
     CS.vCruise = float(self.v_cruise_helper.v_cruise_kph)
     CS.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph)
 
-    if any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents):
+    if any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in filtered_CS.buttonEvents):
       self.resume_prev_button = True
-    elif any(be.type in (ButtonType.decelCruise, ButtonType.setCruise) for be in CS.buttonEvents):
+    elif any(be.type in (ButtonType.decelCruise, ButtonType.setCruise) for be in filtered_CS.buttonEvents):
       self.resume_prev_button = False
 
     FPCS = self.starpilot_card.update(CS, FPCS, self.sm, self.starpilot_toggles)
@@ -345,6 +362,7 @@ class Car:
       self._update_redneck_cruise(CS, CC)
       self._update_openpilot_lead_state(CC)
       self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos, self.starpilot_toggles)
+      self._record_redneck_button_feedback_filter()
       self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
 
       self.CC_prev = CC
@@ -373,19 +391,82 @@ class Car:
     if self.redneck_cruise is None:
       return
 
-    send_button, v_target = self.redneck_cruise.run(CS, CC, self._get_redneck_target_speed(), self.is_metric)
+    filtered_CS = self._get_button_event_filtered_state(CS)
+    v_target_ms, lead_present = self._get_redneck_target_speed(CS)
+    send_button, v_target = self.redneck_cruise.run(filtered_CS, CC, v_target_ms, self.is_metric, lead_present=lead_present)
     self.CI.CS.redneck_send_button = send_button
     self.CI.CS.redneck_v_target = v_target
 
-  def _get_redneck_target_speed(self) -> float:
-    if self.sm.seen['longitudinalPlan'] and self.sm.valid['longitudinalPlan']:
-      speeds = self.sm['longitudinalPlan'].speeds
-      if len(speeds) > 0:
-        target_speed = float(speeds[0])
-        if math.isfinite(target_speed):
-          return target_speed
+  def _get_redneck_target_speed(self, CS: car.CarState) -> tuple[float, bool]:
+    starpilot_target_speed = 0.0
+    allow_plan_decrease = False
+    lead_present = False
+    lookahead_points = REDNECK_DECREASE_LOOKAHEAD_POINTS
+    if self.sm.seen['starpilotPlan'] and self.sm.valid['starpilotPlan']:
+      starpilot_target_speed = float(self.sm['starpilotPlan'].vCruise)
 
-    return float(self.sm['starpilotPlan'].vCruise)
+    plan_speeds = []
+    if self.sm.seen['longitudinalPlan'] and self.sm.valid['longitudinalPlan']:
+      longitudinal_plan = self.sm['longitudinalPlan']
+      plan_speeds = [float(speed) for speed in longitudinal_plan.speeds if math.isfinite(float(speed))]
+      lead_present = bool(longitudinal_plan.hasLead)
+      allow_plan_decrease = bool(lead_present or longitudinal_plan.shouldStop or
+                                 str(longitudinal_plan.longitudinalPlanSource) != "cruise")
+      if lead_present and len(plan_speeds) > 0:
+        lookahead_points = len(plan_speeds)
+
+    return select_redneck_target_speed(
+      float(getattr(CS, "vCruise", 0.0)),
+      float(CS.cruiseState.speedCluster),
+      starpilot_target_speed,
+      plan_speeds,
+      lookahead_points,
+      allow_plan_decrease=allow_plan_decrease,
+      lead_present=lead_present,
+    ), lead_present
+
+  def _advance_redneck_button_feedback_filter(self) -> None:
+    if self.redneck_cruise is None:
+      return
+
+    for button_type in self.redneck_button_event_filter_frames:
+      self.redneck_button_event_filter_frames[button_type] = max(0, self.redneck_button_event_filter_frames[button_type] - 1)
+
+  def _get_filtered_redneck_button_events(self, CS: car.CarState):
+    if self.redneck_cruise is None or len(CS.buttonEvents) == 0:
+      return CS.buttonEvents
+
+    if not any(self.redneck_button_event_filter_frames.values()):
+      return CS.buttonEvents
+
+    filtered_button_events = []
+    filtered_any = False
+    for event in CS.buttonEvents:
+      button_type = event.type.raw if hasattr(event.type, "raw") else int(event.type)
+      if self.redneck_button_event_filter_frames.get(button_type, 0) > 0:
+        filtered_any = True
+        continue
+      filtered_button_events.append(event)
+
+    return filtered_button_events if filtered_any else CS.buttonEvents
+
+  def _get_button_event_filtered_state(self, CS: car.CarState):
+    filtered_button_events = self._get_filtered_redneck_button_events(CS)
+    if filtered_button_events is CS.buttonEvents:
+      return CS
+    return self._ButtonEventFilteredCarState(CS, filtered_button_events)
+
+  def _record_redneck_button_feedback_filter(self) -> None:
+    if self.redneck_cruise is None:
+      return
+
+    sent_button = int(getattr(self.CI.CS, "redneck_last_sent_button", 0) or 0)
+    if sent_button == SEND_BUTTON_INCREASE:
+      self.redneck_button_event_filter_frames[int(ButtonType.accelCruise)] = REDNECK_AUTO_BUTTON_FILTER_FRAMES
+    elif sent_button == SEND_BUTTON_DECREASE:
+      self.redneck_button_event_filter_frames[int(ButtonType.decelCruise)] = REDNECK_AUTO_BUTTON_FILTER_FRAMES
+
+    self.CI.CS.redneck_last_sent_button = 0
 
   def step(self):
     CS, RD, FPCS = self.state_update()

selfdrive/car/cruise.py

@@ -32,7 +32,7 @@ CRUISE_INTERVAL_SIGN = {
 
 
 class VCruiseHelper:
-  def __init__(self, CP):
+  def __init__(self, CP, FPCP=None):
     self.CP = CP
     self.v_cruise_kph = V_CRUISE_UNSET
     self.v_cruise_cluster_kph = V_CRUISE_UNSET
@@ -41,6 +41,9 @@ class VCruiseHelper:
     self.button_change_states = {btn: {"standstill": False, "enabled": False} for btn in self.button_timers}
 
     self.gm_cc_only = self.CP.carFingerprint in CC_ONLY_CAR and self.CP.flags & GMFlags.CC_LONG.value
+    self.redneck_non_pcm = bool(FPCP is not None and
+                                getattr(FPCP, "redneckCruiseAvailable", False) and
+                                not getattr(FPCP, "pcmCruiseSpeed", True))
 
   def _get_short_press_delta(self, is_metric, starpilot_toggles: SimpleNamespace) -> float:
     base_delta = 1. if is_metric else IMPERIAL_INCREMENT
@@ -50,6 +53,15 @@ class VCruiseHelper:
   def _get_cruise_delta_interval(interval: float | None) -> float:
     return interval if isinstance(interval, (int, float)) and interval > 0 else 1.0
 
+  def _get_cruise_delta_intervals(self, starpilot_toggles: SimpleNamespace) -> tuple[float, float]:
+    short_interval = self._get_cruise_delta_interval(getattr(starpilot_toggles, "cruise_increase", None))
+    long_interval = self._get_cruise_delta_interval(getattr(starpilot_toggles, "cruise_increase_long", None))
+
+    if getattr(starpilot_toggles, "reverse_cruise_increase", False):
+      return long_interval, short_interval
+
+    return short_interval, long_interval
+
   @property
   def v_cruise_initialized(self):
     return self.v_cruise_kph != V_CRUISE_UNSET
@@ -58,7 +70,7 @@ class VCruiseHelper:
     self.v_cruise_kph_last = self.v_cruise_kph
 
     if CS.cruiseState.available:
-      if self.gm_cc_only or not self.CP.pcmCruise:
+      if self.gm_cc_only or self.redneck_non_pcm or not self.CP.pcmCruise:
         # if stock cruise is completely disabled, then we can use our own set speed logic
         self._update_v_cruise_non_pcm(CS, enabled, is_metric, speed_limit_changed, starpilot_toggles)
         self.v_cruise_cluster_kph = self.v_cruise_kph
@@ -116,8 +128,8 @@ class VCruiseHelper:
     if not self.button_change_states[button_type]["enabled"]:
       return
 
-    delta_interval = starpilot_toggles.cruise_increase_long if long_press else starpilot_toggles.cruise_increase
-    v_cruise_delta_interval = self._get_cruise_delta_interval(delta_interval)
+    short_interval, long_interval = self._get_cruise_delta_intervals(starpilot_toggles)
+    v_cruise_delta_interval = long_interval if long_press else short_interval
     v_cruise_delta = v_cruise_delta * v_cruise_delta_interval
     if v_cruise_delta_interval % 5 == 0 and self.v_cruise_kph % v_cruise_delta != 0:  # partial interval
       self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta
@@ -145,19 +157,22 @@ class VCruiseHelper:
   def initialize_v_cruise(self, CS, experimental_mode: bool, resume_prev_button: bool,
                           starpilot_toggles: SimpleNamespace, desired_speed_limit: float = 0.0) -> None:
     # initializing is handled by the PCM
-    if self.CP.pcmCruise and not self.gm_cc_only:
+    if self.CP.pcmCruise and not (self.gm_cc_only or self.redneck_non_pcm):
       return
 
     engage_floor_kph = max(V_CRUISE_MIN, 7.0 * CV.MPH_TO_KPH)
+    resume_pressed = any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents)
+    remembered_resume = resume_prev_button and (self.gm_cc_only or self.redneck_non_pcm)
 
-    if (any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents)
-      and self.v_cruise_initialized or (self.gm_cc_only and resume_prev_button)):
+    if self.v_cruise_initialized and (resume_pressed or remembered_resume):
       self.v_cruise_kph = self.v_cruise_kph_last
     elif desired_speed_limit > 0 and getattr(starpilot_toggles, "set_speed_limit", False):
       # Respect the exact SLC limit+offset on engage instead of snapping upward to
       # the custom cruise-button interval.
       initialized_speed_limit_kph = round(desired_speed_limit * CV.MS_TO_KPH, 1)
       self.v_cruise_kph = float(np.clip(initialized_speed_limit_kph, V_CRUISE_MIN, V_CRUISE_MAX))
+    elif self.redneck_non_pcm and CS.cruiseState.speedCluster > 0:
+      self.v_cruise_kph = float(np.clip(CS.cruiseState.speedCluster * CV.MS_TO_KPH, V_CRUISE_MIN, V_CRUISE_MAX))
     else:
       self.v_cruise_kph = int(round(np.clip(CS.vEgo * CV.MS_TO_KPH, engage_floor_kph, V_CRUISE_MAX)))
 

selfdrive/car/cruise_state.py

@@ -0,0 +1,22 @@
+from opendbc.car import structs
+
+
+def hyundai_openpilot_longitudinal_acc_req_feedback(CP: structs.CarParams) -> bool:
+  return CP.brand == 'hyundai' and CP.openpilotLongitudinalControl and not CP.pcmCruise
+
+
+def should_cancel_stock_cruise(CP: structs.CarParams, cruise_enabled: bool, controls_enabled: bool) -> bool:
+  if not cruise_enabled:
+    return False
+  if not controls_enabled:
+    return True
+  return not CP.pcmCruise and not hyundai_openpilot_longitudinal_acc_req_feedback(CP)
+
+
+def should_flag_cruise_mismatch(CP: structs.CarParams, cruise_enabled: bool, controls_enabled: bool,
+                                effective_pcm_cruise: bool) -> bool:
+  if not cruise_enabled:
+    return False
+  if not controls_enabled:
+    return True
+  return not effective_pcm_cruise and not hyundai_openpilot_longitudinal_acc_req_feedback(CP)

selfdrive/car/redneck_cruise.py

@@ -10,7 +10,11 @@ SEND_BUTTON_INCREASE = 1
 SEND_BUTTON_DECREASE = 2
 
 HYST_GAP = 0.0
-INACTIVE_TIMER = 0.4
+INCREASE_INACTIVE_TIMER = 0.4
+DECREASE_INACTIVE_TIMER = 0.1
+LEAD_INCREASE_INACTIVE_TIMER = 0.1
+LEAD_RECOVERY_LOOKAHEAD_POINTS = 4
+LEAD_COAST_BUFFER_MS = 1.0 * CV.MPH_TO_MS
 
 CRUISE_BUTTON_TIMERS = {
   int(ButtonType.decelCruise): 0,
@@ -22,6 +26,32 @@ CRUISE_BUTTON_TIMERS = {
 }
 
 
+def select_redneck_target_speed(v_cruise_kph: float, speed_cluster_ms: float,
+                                starpilot_target_speed_ms: float, plan_speeds_ms: list[float],
+                                lookahead_points: int, allow_plan_decrease: bool = True,
+                                lead_present: bool = False) -> float:
+  target_speed_ms = float(speed_cluster_ms)
+  if v_cruise_kph > 0:
+    target_speed_ms = float(v_cruise_kph) * CV.KPH_TO_MS
+  elif starpilot_target_speed_ms > 0:
+    target_speed_ms = float(starpilot_target_speed_ms)
+
+  if allow_plan_decrease and len(plan_speeds_ms) > 0:
+    if lead_present and plan_speeds_ms[0] > speed_cluster_ms:
+      recovery_lookahead_points = min(len(plan_speeds_ms), LEAD_RECOVERY_LOOKAHEAD_POINTS)
+      recovery_target_speed_ms = max(speed_cluster_ms, min(plan_speeds_ms[:recovery_lookahead_points]))
+      return min(target_speed_ms, recovery_target_speed_ms)
+
+    decrease_target_speed_ms = min(plan_speeds_ms[:lookahead_points])
+    if lead_present and decrease_target_speed_ms < speed_cluster_ms:
+      decrease_target_speed_ms = max(0.0, decrease_target_speed_ms - LEAD_COAST_BUFFER_MS)
+
+    if decrease_target_speed_ms < target_speed_ms:
+      return decrease_target_speed_ms
+
+  return target_speed_ms
+
+
 def get_minimum_set_speed(is_metric: bool) -> int:
   return 30 if is_metric else 20
 
@@ -80,43 +110,70 @@ class RedneckCruise:
     button_pressed = any(timer > 0 for timer in self.cruise_button_timers.values())
     self.is_ready = CC.enabled and not CC.cruiseControl.override and not CC.cruiseControl.cancel and not CC.cruiseControl.resume and not button_pressed
 
-  def _update_state_machine(self) -> int:
-    self.pre_active_timer = max(0, self.pre_active_timer - 1)
+  def _desired_state(self) -> str:
+    if self.v_target > self.v_cruise_cluster:
+      return "increasing"
+    if self.v_target < self.v_cruise_cluster and self.v_cruise_cluster > self.v_cruise_min:
+      return "decreasing"
+    return "holding"
 
-    if self.state != "inactive":
-      if not self.is_ready:
-        self.state = "inactive"
-      elif self.state == "preActive":
+  @staticmethod
+  def _get_pre_active_frames(state: str, lead_present: bool) -> int:
+    if state == "decreasing":
+      timer = DECREASE_INACTIVE_TIMER
+    elif lead_present:
+      timer = LEAD_INCREASE_INACTIVE_TIMER
+    else:
+      timer = INCREASE_INACTIVE_TIMER
+    return int(timer / DT_CTRL)
+
+  def _arm_pre_active(self, desired_state: str, lead_present: bool) -> None:
+    if desired_state == "holding":
+      self.state = "holding"
+      self.pre_active_timer = 0
+      return
+
+    self.state = "preActive"
+    self.pre_active_timer = self._get_pre_active_frames(desired_state, lead_present)
+
+  def _update_state_machine(self, lead_present: bool) -> int:
+    desired_state = self._desired_state()
+
+    if not self.is_ready:
+      self.state = "inactive"
+      self.pre_active_timer = 0
+    elif self.state == "inactive":
+      if not self.is_ready_prev:
+        self._arm_pre_active(desired_state, lead_present)
+    elif self.state == "preActive":
+      if desired_state == "holding":
+        self.state = "holding"
+        self.pre_active_timer = 0
+      else:
+        desired_frames = self._get_pre_active_frames(desired_state, lead_present)
+        self.pre_active_timer = max(0, min(self.pre_active_timer, desired_frames) - 1)
         if self.pre_active_timer <= 0:
-          if self.v_target == self.v_cruise_cluster:
-            self.state = "holding"
-          elif self.v_target > self.v_cruise_cluster:
-            self.state = "increasing"
-          elif self.v_target < self.v_cruise_cluster and self.v_cruise_cluster > self.v_cruise_min:
-            self.state = "decreasing"
-      elif self.state == "holding":
-        if self.v_target != self.v_cruise_cluster:
-          self.state = "preActive"
-      elif self.state == "increasing":
-        if self.v_target <= self.v_cruise_cluster:
-          self.state = "holding"
-      elif self.state == "decreasing":
-        if self.v_target >= self.v_cruise_cluster or self.v_cruise_cluster <= self.v_cruise_min:
-          self.state = "holding"
-    elif self.is_ready and not self.is_ready_prev:
-      self.pre_active_timer = int(INACTIVE_TIMER / DT_CTRL)
-      self.state = "preActive"
+          self.state = desired_state
+    elif self.state == "holding":
+      if desired_state != "holding":
+        self._arm_pre_active(desired_state, lead_present)
+    elif self.state != desired_state:
+      if desired_state == "holding":
+        self.state = "holding"
+      else:
+        self._arm_pre_active(desired_state, lead_present)
 
     return self._send_button_for_state(self.state)
 
-  def run(self, CS: car.CarState, CC: car.CarControl, v_target_ms: float, is_metric: bool) -> tuple[int, int]:
+  def run(self, CS: car.CarState, CC: car.CarControl, v_target_ms: float, is_metric: bool,
+          lead_present: bool = False) -> tuple[int, int]:
     if self.FPCP.pcmCruiseSpeed or not self.FPCP.redneckCruiseAvailable:
       self._reset()
       return SEND_BUTTON_NONE, 0
 
     self._update_calculations(CS, v_target_ms, is_metric)
     self._update_readiness(CS, CC)
-    send_button = self._update_state_machine()
+    send_button = self._update_state_machine(lead_present)
 
     self.is_ready_prev = self.is_ready
     return send_button, self.v_target

selfdrive/car/tests/test_car_specific.py

@@ -0,0 +1,41 @@
+from cereal import car
+
+from openpilot.selfdrive.car.cruise_state import should_cancel_stock_cruise, should_flag_cruise_mismatch
+
+
+def make_cp(brand="hyundai", op_long=True, pcm_cruise=False):
+  cp = car.CarParams.new_message()
+  cp.brand = brand
+  cp.openpilotLongitudinalControl = op_long
+  cp.pcmCruise = pcm_cruise
+  return cp
+
+
+def test_hyundai_openpilot_long_does_not_cancel_active_acc_req_feedback():
+  cp = make_cp()
+
+  assert not should_cancel_stock_cruise(cp, cruise_enabled=True, controls_enabled=True)
+  assert not should_flag_cruise_mismatch(cp, cruise_enabled=True, controls_enabled=True, effective_pcm_cruise=False)
+
+
+def test_hyundai_openpilot_long_still_flags_cruise_when_controls_disabled():
+  cp = make_cp()
+
+  assert should_cancel_stock_cruise(cp, cruise_enabled=True, controls_enabled=False)
+  assert should_flag_cruise_mismatch(cp, cruise_enabled=True, controls_enabled=False, effective_pcm_cruise=False)
+
+
+def test_non_hyundai_openpilot_long_behavior_is_unchanged():
+  cp = make_cp(brand="toyota")
+
+  assert should_cancel_stock_cruise(cp, cruise_enabled=True, controls_enabled=True)
+  assert should_flag_cruise_mismatch(cp, cruise_enabled=True, controls_enabled=True, effective_pcm_cruise=False)
+
+
+def test_pcm_cruise_behavior_is_unchanged():
+  cp = make_cp(op_long=False, pcm_cruise=True)
+
+  assert not should_cancel_stock_cruise(cp, cruise_enabled=True, controls_enabled=True)
+  assert should_cancel_stock_cruise(cp, cruise_enabled=True, controls_enabled=False)
+  assert not should_flag_cruise_mismatch(cp, cruise_enabled=True, controls_enabled=True, effective_pcm_cruise=True)
+  assert should_flag_cruise_mismatch(cp, cruise_enabled=True, controls_enabled=False, effective_pcm_cruise=True)

selfdrive/car/tests/test_cruise_speed.py

@@ -55,6 +55,7 @@ class TestVCruiseHelper:
       cruise_increase=1,
       cruise_increase_long=5,
       is_metric=False,
+      reverse_cruise_increase=False,
       set_speed_limit=False,
     )
     self.reset_cruise_speed_state()
@@ -304,3 +305,99 @@ class TestVCruiseHelper:
     )
 
     assert self.v_cruise_helper.v_cruise_kph == pytest.approx(initial_v_cruise_kph + IMPERIAL_INCREMENT)
+
+
+class TestVCruiseHelperRedneck:
+  def setup_method(self):
+    self.CP = car.CarParams(pcmCruise=True)
+    self.FPCP = SimpleNamespace(pcmCruiseSpeed=False, redneckCruiseAvailable=True)
+    self.v_cruise_helper = VCruiseHelper(self.CP, self.FPCP)
+    self.starpilot_toggles = SimpleNamespace(
+      cruise_increase=1,
+      cruise_increase_long=5,
+      is_metric=False,
+      reverse_cruise_increase=False,
+      set_speed_limit=False,
+    )
+
+  def test_initialize_v_cruise_uses_cluster_speed(self):
+    cs = car.CarState(
+      vEgo=55 * CV.MPH_TO_MS,
+      cruiseState={"speedCluster": 62 * CV.MPH_TO_MS},
+    )
+    self.v_cruise_helper.initialize_v_cruise(cs, experimental_mode=False, resume_prev_button=False,
+                                             starpilot_toggles=self.starpilot_toggles)
+    assert self.v_cruise_helper.v_cruise_kph == pytest.approx(62 * CV.MPH_TO_KPH)
+    assert self.v_cruise_helper.v_cruise_cluster_kph == pytest.approx(62 * CV.MPH_TO_KPH)
+
+  def test_update_v_cruise_does_not_follow_stock_pcm_speed(self):
+    cs = car.CarState(
+      vEgo=55 * CV.MPH_TO_MS,
+      cruiseState={"speedCluster": 62 * CV.MPH_TO_MS},
+    )
+    self.v_cruise_helper.initialize_v_cruise(cs, experimental_mode=False, resume_prev_button=False,
+                                             starpilot_toggles=self.starpilot_toggles)
+
+    update_cs = car.CarState(
+      cruiseState={"available": True, "speed": 50 * CV.MPH_TO_MS, "speedCluster": 50 * CV.MPH_TO_MS},
+    )
+    self.v_cruise_helper.update_v_cruise(update_cs, enabled=True, is_metric=False,
+                                         speed_limit_changed=False, starpilot_toggles=self.starpilot_toggles)
+
+    assert self.v_cruise_helper.v_cruise_kph == pytest.approx(62 * CV.MPH_TO_KPH)
+    assert self.v_cruise_helper.v_cruise_cluster_kph == pytest.approx(62 * CV.MPH_TO_KPH)
+
+  def test_resume_keeps_previous_internal_max_speed(self):
+    engage_cs = car.CarState(
+      vEgo=75 * CV.MPH_TO_MS,
+      cruiseState={"speedCluster": 75 * CV.MPH_TO_MS},
+    )
+    self.v_cruise_helper.initialize_v_cruise(engage_cs, experimental_mode=False, resume_prev_button=False,
+                                             starpilot_toggles=self.starpilot_toggles)
+
+    disabled_cs = car.CarState(
+      cruiseState={"available": True, "speedCluster": 38 * CV.MPH_TO_MS},
+    )
+    self.v_cruise_helper.update_v_cruise(disabled_cs, enabled=False, is_metric=False,
+                                         speed_limit_changed=False, starpilot_toggles=self.starpilot_toggles)
+
+    resume_cs = car.CarState(
+      vEgo=38 * CV.MPH_TO_MS,
+      cruiseState={"speedCluster": 38 * CV.MPH_TO_MS},
+    )
+    self.v_cruise_helper.initialize_v_cruise(resume_cs, experimental_mode=False, resume_prev_button=True,
+                                             starpilot_toggles=self.starpilot_toggles)
+
+    assert self.v_cruise_helper.v_cruise_kph == pytest.approx(75 * CV.MPH_TO_KPH)
+    assert self.v_cruise_helper.v_cruise_cluster_kph == pytest.approx(75 * CV.MPH_TO_KPH)
+
+  def test_reverse_cruise_increase_swaps_short_and_long_press_intervals(self):
+    self.enable(55 * CV.MPH_TO_MS, experimental_mode=False)
+    initial_v_cruise_kph = self.v_cruise_helper.v_cruise_kph
+    self.starpilot_toggles.cruise_increase = 1
+    self.starpilot_toggles.cruise_increase_long = 5
+    self.starpilot_toggles.reverse_cruise_increase = True
+
+    pressed_cs = car.CarState(cruiseState={"available": True})
+    pressed_cs.buttonEvents = [ButtonEvent(type=ButtonType.accelCruise, pressed=True)]
+    self.v_cruise_helper.update_v_cruise(
+      pressed_cs,
+      enabled=True,
+      is_metric=False,
+      speed_limit_changed=False,
+      starpilot_toggles=self.starpilot_toggles,
+    )
+
+    released_cs = car.CarState(cruiseState={"available": True})
+    released_cs.buttonEvents = [ButtonEvent(type=ButtonType.accelCruise, pressed=False)]
+    self.v_cruise_helper.update_v_cruise(
+      released_cs,
+      enabled=True,
+      is_metric=False,
+      speed_limit_changed=False,
+      starpilot_toggles=self.starpilot_toggles,
+    )
+
+    reversed_interval = 5 * IMPERIAL_INCREMENT
+    expected_kph = math.ceil(initial_v_cruise_kph / reversed_interval) * reversed_interval
+    assert self.v_cruise_helper.v_cruise_kph == pytest.approx(expected_kph)

selfdrive/car/tests/test_redneck_cruise.py

@@ -5,11 +5,14 @@ from cereal import car
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.redneck_cruise import (
-  INACTIVE_TIMER,
+  DECREASE_INACTIVE_TIMER,
+  INCREASE_INACTIVE_TIMER,
+  LEAD_INCREASE_INACTIVE_TIMER,
   RedneckCruise,
   SEND_BUTTON_DECREASE,
   SEND_BUTTON_INCREASE,
   SEND_BUTTON_NONE,
+  select_redneck_target_speed,
 )
 
 
@@ -39,8 +42,9 @@ class TestRedneckCruise(unittest.TestCase):
   def _button_event(button_type, pressed):
     return SimpleNamespace(type=button_type, pressed=pressed)
 
-  def _run_until_active(self, target_mph, speed_cluster_mph=20.0, button_events=None, override=False, cancel=False, resume=False):
-    frames = int(INACTIVE_TIMER / DT_CTRL) + 2
+  def _run_until_active(self, target_mph, speed_cluster_mph=20.0, button_events=None,
+                        override=False, cancel=False, resume=False, lead_present=False):
+    frames = int(max(INCREASE_INACTIVE_TIMER, DECREASE_INACTIVE_TIMER) / DT_CTRL) + 2
     send_button = SEND_BUTTON_NONE
     v_target = 0
     for _ in range(frames):
@@ -49,10 +53,25 @@ class TestRedneckCruise(unittest.TestCase):
         self._new_control(override=override, cancel=cancel, resume=resume),
         target_mph * CV.MPH_TO_MS,
         is_metric=False,
+        lead_present=lead_present,
       )
       button_events = None
     return send_button, v_target
 
+  def _frames_until_button(self, target_mph, speed_cluster_mph, lead_present=False):
+    frames = int(INCREASE_INACTIVE_TIMER / DT_CTRL) + 4
+    for frame in range(frames):
+      send_button, _ = self.redneck.run(
+        self._new_state(speed_cluster_mph=speed_cluster_mph),
+        self._new_control(),
+        target_mph * CV.MPH_TO_MS,
+        is_metric=False,
+        lead_present=lead_present,
+      )
+      if send_button != SEND_BUTTON_NONE:
+        return frame
+    return None
+
   def test_increases_cluster_speed_toward_target(self):
     send_button, v_target = self._run_until_active(target_mph=25.0, speed_cluster_mph=20.0)
     self.assertEqual(SEND_BUTTON_INCREASE, send_button)
@@ -63,6 +82,25 @@ class TestRedneckCruise(unittest.TestCase):
     self.assertEqual(SEND_BUTTON_DECREASE, send_button)
     self.assertEqual(20, v_target)
 
+  def test_decrease_activates_faster_than_increase(self):
+    decrease_frame = self._frames_until_button(target_mph=20.0, speed_cluster_mph=25.0)
+    self.redneck = RedneckCruise(self.CP, self.FPCP)
+    increase_frame = self._frames_until_button(target_mph=25.0, speed_cluster_mph=20.0)
+
+    self.assertIsNotNone(decrease_frame)
+    self.assertIsNotNone(increase_frame)
+    self.assertLess(decrease_frame, increase_frame)
+
+  def test_lead_increase_activates_faster_than_free_cruise_increase(self):
+    free_cruise_frame = self._frames_until_button(target_mph=25.0, speed_cluster_mph=20.0, lead_present=False)
+    self.redneck = RedneckCruise(self.CP, self.FPCP)
+    lead_frame = self._frames_until_button(target_mph=25.0, speed_cluster_mph=20.0, lead_present=True)
+
+    self.assertIsNotNone(free_cruise_frame)
+    self.assertIsNotNone(lead_frame)
+    self.assertLess(lead_frame, free_cruise_frame)
+    self.assertLessEqual(lead_frame, int(LEAD_INCREASE_INACTIVE_TIMER / DT_CTRL))
+
   def test_suppresses_output_during_manual_cruise_button_use(self):
     button_event = self._button_event(ButtonType.accelCruise, True)
     send_button, _ = self._run_until_active(target_mph=25.0, speed_cluster_mph=20.0, button_events=[button_event])
@@ -85,6 +123,77 @@ class TestRedneckCruise(unittest.TestCase):
     self.assertEqual(SEND_BUTTON_NONE, send_button)
     self.assertEqual(0, v_target)
 
+  def test_target_speed_returns_internal_max_when_plan_only_wants_to_speed_back_up(self):
+    target_speed = select_redneck_target_speed(
+      120.0,
+      77.0 * CV.MPH_TO_MS,
+      0.0,
+      [78.3 * CV.MPH_TO_MS, 78.2 * CV.MPH_TO_MS, 78.1 * CV.MPH_TO_MS],
+      10,
+    )
+    self.assertAlmostEqual(120.0 * CV.KPH_TO_MS, target_speed)
+
+  def test_target_speed_ignores_plan_drift_during_free_cruise(self):
+    target_speed = select_redneck_target_speed(
+      104.4,
+      63.0 * CV.MPH_TO_MS,
+      0.0,
+      [62.55 * CV.MPH_TO_MS, 62.44 * CV.MPH_TO_MS, 62.36 * CV.MPH_TO_MS],
+      10,
+      allow_plan_decrease=False,
+    )
+    self.assertAlmostEqual(104.4 * CV.KPH_TO_MS, target_speed)
+
+  def test_target_speed_returns_plan_minimum_when_slowing_down(self):
+    target_speed = select_redneck_target_speed(
+      120.0,
+      75.0 * CV.MPH_TO_MS,
+      0.0,
+      [74.0 * CV.MPH_TO_MS, 72.0 * CV.MPH_TO_MS, 71.0 * CV.MPH_TO_MS],
+      10,
+      allow_plan_decrease=True,
+    )
+    self.assertAlmostEqual(71.0 * CV.MPH_TO_MS, target_speed)
+
+  def test_target_speed_uses_longer_horizon_and_buffer_for_lead_slowdown(self):
+    target_speed = select_redneck_target_speed(
+      120.0,
+      75.0 * CV.MPH_TO_MS,
+      0.0,
+      [74.9 * CV.MPH_TO_MS, 74.6 * CV.MPH_TO_MS, 74.2 * CV.MPH_TO_MS, 73.8 * CV.MPH_TO_MS,
+       73.4 * CV.MPH_TO_MS, 73.0 * CV.MPH_TO_MS, 72.6 * CV.MPH_TO_MS, 72.2 * CV.MPH_TO_MS,
+       71.8 * CV.MPH_TO_MS, 71.4 * CV.MPH_TO_MS, 71.0 * CV.MPH_TO_MS],
+      11,
+      allow_plan_decrease=True,
+      lead_present=True,
+    )
+    self.assertLess(target_speed, 71.4 * CV.MPH_TO_MS)
+
+  def test_target_speed_uses_near_term_recovery_for_lead_speedup(self):
+    target_speed = select_redneck_target_speed(
+      120.0,
+      55.0 * CV.MPH_TO_MS,
+      0.0,
+      [57.15 * CV.MPH_TO_MS, 56.9 * CV.MPH_TO_MS, 56.4 * CV.MPH_TO_MS, 55.8 * CV.MPH_TO_MS,
+       54.88 * CV.MPH_TO_MS, 52.0 * CV.MPH_TO_MS, 50.15 * CV.MPH_TO_MS],
+      10,
+      allow_plan_decrease=True,
+      lead_present=True,
+    )
+    self.assertAlmostEqual(55.8 * CV.MPH_TO_MS, target_speed)
+
+  def test_target_speed_stays_on_lead_target_when_cluster_drops_below_it(self):
+    target_speed = select_redneck_target_speed(
+      76.9,
+      32.9 * CV.MPH_TO_MS,
+      47.8 * CV.MPH_TO_MS,
+      [37.3 * CV.MPH_TO_MS, 37.2 * CV.MPH_TO_MS, 37.1 * CV.MPH_TO_MS],
+      10,
+      allow_plan_decrease=True,
+      lead_present=True,
+    )
+    self.assertAlmostEqual(37.1 * CV.MPH_TO_MS, target_speed)
+
 
 if __name__ == "__main__":
   unittest.main()

selfdrive/controls/controlsd.py

@@ -23,6 +23,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import (
   get_bolt_2017_steer_ratio_scale,
 )
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
+from openpilot.selfdrive.car.cruise_state import should_cancel_stock_cruise
 from openpilot.selfdrive.modeld.modeld import LAT_SMOOTH_SECONDS
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 
@@ -46,6 +47,30 @@ def get_gm_hud_set_speed(set_speed_ms: float, starpilot_toggles) -> float:
   return spoofed_speed
 
 
+def get_torque_control_params(CP, torque_params, starpilot_toggles, use_live_params: bool) -> tuple[float, float, float]:
+  torque_tune = CP.lateralTuning.torque
+  lat_accel_factor = torque_tune.latAccelFactor
+  lat_accel_offset = torque_tune.latAccelOffset
+  friction = torque_tune.friction
+
+  use_custom_lat_accel = getattr(starpilot_toggles, "use_custom_latAccelFactor", False)
+  use_custom_friction = getattr(starpilot_toggles, "use_custom_friction", False)
+
+  if use_live_params:
+    if not use_custom_lat_accel:
+      lat_accel_factor = torque_params.latAccelFactorFiltered
+      lat_accel_offset = torque_params.latAccelOffsetFiltered
+    if not use_custom_friction:
+      friction = torque_params.frictionCoefficientFiltered
+
+  if use_custom_lat_accel:
+    lat_accel_factor = starpilot_toggles.latAccelFactor
+  if use_custom_friction:
+    friction = starpilot_toggles.friction
+
+  return lat_accel_factor, lat_accel_offset, friction
+
+
 class Controls:
   def __init__(self) -> None:
     self.params = Params()
@@ -82,6 +107,8 @@ class Controls:
     self.sm = self.sm.extend(['liveDelay', 'starpilotCarState', 'starpilotPlan'])
 
     self.starpilot_toggles = get_starpilot_toggles()
+    self.ecu_disable_failed = False
+    self.ecu_disable_failed_checked = not self.CP.openpilotLongitudinalControl
 
     if self.CP.lateralTuning.which() == "torque" and (self.starpilot_toggles.nnff or self.starpilot_toggles.nnff_lite):
       self.LaC = LatControlNNFF(self.CP, self.CI, DT_CTRL)
@@ -102,6 +129,16 @@ class Controls:
 
     self.starpilot_toggles = get_starpilot_toggles(self.sm)
 
+  def update_ecu_disable_failed(self):
+    if self.ecu_disable_failed_checked:
+      return
+
+    # ControlsReady is set after CarInterface.init(), where Hyundai ECU disable
+    # writes EcuDisableFailed. Once init has completed, the value is stable.
+    if self.params.get_bool("ControlsReady"):
+      self.ecu_disable_failed = self.params.get_bool("EcuDisableFailed")
+      self.ecu_disable_failed_checked = True
+
   def state_control(self):
     CS = self.sm['carState']
 
@@ -121,9 +158,15 @@ class Controls:
     # Update Torque Params
     if self.CP.lateralTuning.which() == 'torque':
       torque_params = self.sm['liveTorqueParameters']
-      if self.sm.all_checks(['liveTorqueParameters']) and (torque_params.useParams or self.starpilot_toggles.force_auto_tune):
-        self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
-                                           torque_params.frictionCoefficientFiltered)
+      force_auto_tune = getattr(self.starpilot_toggles, "force_auto_tune", False)
+      use_live_params = self.sm.all_checks(['liveTorqueParameters']) and (torque_params.useParams or force_auto_tune)
+      use_custom_torque_params = (
+        getattr(self.starpilot_toggles, "use_custom_latAccelFactor", False) or
+        getattr(self.starpilot_toggles, "use_custom_friction", False)
+      )
+      if use_live_params or use_custom_torque_params:
+        lat_accel_factor, lat_accel_offset, friction = get_torque_control_params(self.CP, torque_params, self.starpilot_toggles, use_live_params)
+        self.LaC.update_live_torque_params(lat_accel_factor, lat_accel_offset, friction)
 
     long_plan = self.sm['longitudinalPlan']
     model_v2 = self.sm['modelV2']
@@ -140,8 +183,8 @@ class Controls:
                                       self.sm['starpilotPlan'].lateralCheck)
     # EcuDisableFailed is set when car started in READY mode (ECU disable was rejected)
     # Disable longitudinal so stock ACC works instead
-    ecu_disable_failed = self.params.get_bool("EcuDisableFailed")
-    CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and not self.sm['starpilotCarState'].pauseLongitudinal and self.CP.openpilotLongitudinalControl and not ecu_disable_failed
+    self.update_ecu_disable_failed()
+    CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and not self.sm['starpilotCarState'].pauseLongitudinal and self.CP.openpilotLongitudinalControl and not self.ecu_disable_failed
 
     actuators = CC.actuators
     actuators.longControlState = self.LoC.long_control_state
@@ -233,7 +276,7 @@ class Controls:
       CC.enabled,
       self.sm['starpilotCarState'].alwaysOnLateralEnabled,
     )
-    cancel_requested = CS.cruiseState.enabled and (not CC.enabled or not self.CP.pcmCruise)
+    cancel_requested = should_cancel_stock_cruise(self.CP, CS.cruiseState.enabled, CC.enabled)
     CC.cruiseControl.cancel = cancel_requested and not pacifica_hybrid_aol
 
     legacy_resume_hack = False

selfdrive/controls/lib/desire_helper.py

@@ -14,6 +14,8 @@ LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
 LANE_CHANGE_TIME_MAX = 10.
 NAV_TURN_DISTANCE_SPEED_BREAKPOINTS = [0.0, 5.0, 10.0]
 NAV_TURN_DISTANCE_BREAKPOINTS = [20.0, 25.0, 30.0]
+NAV_KEEP_DISTANCE_SPEED_BREAKPOINTS = [0.0, 15.0, 30.0]
+NAV_KEEP_DISTANCE_BREAKPOINTS = [25.0, 90.0, 160.0]
 
 DESIRES = {
   LaneChangeDirection.none: {
@@ -116,17 +118,39 @@ class DesireHelper:
 
     return distance <= float(np.interp(carstate.vEgo, NAV_TURN_DISTANCE_SPEED_BREAKPOINTS, NAV_TURN_DISTANCE_BREAKPOINTS))
 
+  @staticmethod
+  def _nav_keep_is_imminent(carstate, maneuver_distance):
+    try:
+      distance = float(maneuver_distance)
+    except (TypeError, ValueError):
+      return False
+
+    return distance <= float(np.interp(carstate.vEgo, NAV_KEEP_DISTANCE_SPEED_BREAKPOINTS, NAV_KEEP_DISTANCE_BREAKPOINTS))
+
+  @staticmethod
+  def _nav_effective_modifier(nav_instruction_state, carstate, maneuver_distance):
+    modifier = str(nav_instruction_state.get("maneuverModifier", ""))
+    maneuver_type = str(nav_instruction_state.get("maneuverType", ""))
+    active_lane_direction = str(nav_instruction_state.get("activeLaneDirection", ""))
+
+    if modifier in ("left", "right") and maneuver_type in ("off ramp", "fork") and DesireHelper._nav_keep_is_imminent(carstate, maneuver_distance):
+      if active_lane_direction in ("slightLeft", "left"):
+        return "slightLeft"
+      if active_lane_direction in ("slightRight", "right"):
+        return "slightRight"
+
+    return modifier
+
   def _navigation_desire(self, carstate, lateral_active, starpilotPlan, starpilot_toggles):
     self._update_nav_params()
     if not self.nav_desires_allowed or not lateral_active or not bool(self._nav_instruction_state.get("valid", False)):
       return log.Desire.none
 
-    modifier = str(self._nav_instruction_state.get("maneuverModifier", ""))
+    maneuver_distance = self._nav_instruction_state.get("maneuverDistance", 0.0)
+    modifier = self._nav_effective_modifier(self._nav_instruction_state, carstate, maneuver_distance)
     if modifier == "":
       return log.Desire.none
 
-    maneuver_distance = self._nav_instruction_state.get("maneuverDistance", 0.0)
-
     if modifier == "slightLeft":
       lane_change_direction = LaneChangeDirection.left
       desired_lane_width = starpilotPlan.laneWidthLeft

selfdrive/controls/lib/latcontrol_torque.py

@@ -6,6 +6,7 @@ from cereal import log
 from opendbc.car.gm.values import CAR as GM_CAR
 from opendbc.car.honda.values import CAR as HONDA_CAR, HondaFlags
 from opendbc.car.hyundai.values import CAR as HYUNDAI_CAR
+from opendbc.car.toyota.values import CAR as TOYOTA_CAR
 from opendbc.car.lateral import get_friction
 from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY, CV
 from openpilot.common.filter_simple import FirstOrderFilter
@@ -113,6 +114,10 @@ VOLT_STANDARD_CARS = (
 GENESIS_G90_CARS = (
   HYUNDAI_CAR.GENESIS_G90,
 )
+PALISADE_CARS = (
+  HYUNDAI_CAR.HYUNDAI_PALISADE,
+  HYUNDAI_CAR.HYUNDAI_PALISADE_2023,
+)
 IONIQ_5_CARS = (
   HYUNDAI_CAR.HYUNDAI_IONIQ_5,
 )
@@ -126,6 +131,9 @@ IONIQ_6_CARS = (
 SONATA_HYBRID_CARS = (
   HYUNDAI_CAR.HYUNDAI_SONATA_HYBRID,
 )
+SONATA_CARS = (
+  HYUNDAI_CAR.HYUNDAI_SONATA,
+)
 ELANTRA_NON_SCC_CARS = (
   HYUNDAI_CAR.HYUNDAI_ELANTRA_2022_NON_SCC,
   HYUNDAI_CAR.HYUNDAI_ELANTRA_HEV_2022_NON_SCC,
@@ -136,6 +144,9 @@ KIA_EV6_CARS = (
 KIA_FORTE_CARS = (
   HYUNDAI_CAR.KIA_FORTE,
 )
+PRIUS_CARS = (
+  TOYOTA_CAR.TOYOTA_PRIUS,
+)
 
 BOLT_2017_LATERAL_TESTING_GROUND_ID = testing_ground.id_3
 BOLT_2017_STEER_RATIO_TEST_SCALE = 1.045
@@ -268,6 +279,29 @@ SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_LAT_WIDTH = 0.02
 SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_SPEED_MAX = 7.5
 SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_SPEED_WIDTH = 1.0
 
+SONATA_FF_REDUCTION_LEFT = 0.04
+SONATA_FF_REDUCTION_RIGHT = 0.26
+SONATA_FF_ONSET = 0.18
+SONATA_FF_ONSET_WIDTH = 0.08
+SONATA_FF_CUTOFF = 1.40
+SONATA_FF_CUTOFF_WIDTH = 0.42
+SONATA_TRANSITION_SPEED = 8.5
+SONATA_PHASE_SCALE = 0.12
+SONATA_TURN_IN_BOOST_LEFT = 0.18
+SONATA_TURN_IN_BOOST_RIGHT = 0.00
+SONATA_UNWIND_TAPER_LEFT = 0.28
+SONATA_UNWIND_TAPER_RIGHT = 0.00
+SONATA_CENTER_TAPER_MAX = 0.04
+SONATA_CENTER_TAPER_LAT = 0.15
+SONATA_CENTER_TAPER_LAT_WIDTH = 0.025
+SONATA_CENTER_TAPER_SPEED = 22.0
+SONATA_CENTER_TAPER_SPEED_WIDTH = 2.5
+SONATA_LOW_SPEED_CENTER_TAPER_MAX = 0.08
+SONATA_LOW_SPEED_CENTER_TAPER_LAT = 0.10
+SONATA_LOW_SPEED_CENTER_TAPER_LAT_WIDTH = 0.02
+SONATA_LOW_SPEED_CENTER_TAPER_SPEED_MAX = 7.0
+SONATA_LOW_SPEED_CENTER_TAPER_SPEED_WIDTH = 1.0
+
 ELANTRA_NON_SCC_FF_ADJUST_LEFT = 0.02
 ELANTRA_NON_SCC_FF_ADJUST_RIGHT = -0.02
 ELANTRA_NON_SCC_FF_ONSET = 0.14
@@ -294,12 +328,43 @@ KIA_FORTE_TURN_IN_BOOST_LEFT = 0.10
 KIA_FORTE_TURN_IN_BOOST_RIGHT = 0.00
 KIA_FORTE_UNWIND_TAPER_LEFT = 0.26
 KIA_FORTE_UNWIND_TAPER_RIGHT = 0.04
+KIA_FORTE_CRAWL_TURN_IN_FF_BOOST_LEFT = 0.10
+KIA_FORTE_CRAWL_TURN_IN_FF_BOOST_RIGHT = 0.14
+KIA_FORTE_CRAWL_TURN_IN_FF_SPEED = 4.5
+KIA_FORTE_CRAWL_TURN_IN_FF_SPEED_WIDTH = 0.8
+KIA_FORTE_CRAWL_TURN_IN_FF_LAT = 0.10
+KIA_FORTE_CRAWL_TURN_IN_FF_LAT_WIDTH = 0.05
 KIA_FORTE_CENTER_TAPER_MAX = 0.14
 KIA_FORTE_CENTER_TAPER_LAT = 0.16
 KIA_FORTE_CENTER_TAPER_LAT_WIDTH = 0.03
 KIA_FORTE_CENTER_TAPER_SPEED = 24.0
 KIA_FORTE_CENTER_TAPER_SPEED_WIDTH = 2.5
 
+PALISADE_BASE_LAT_ACCEL_FACTOR_MULT = 0.98
+PALISADE_FF_GAIN_LEFT = 0.14
+PALISADE_FF_GAIN_RIGHT = 0.12
+PALISADE_FF_ONSET = 0.08
+PALISADE_FF_ONSET_WIDTH = 0.04
+PALISADE_FF_CUTOFF = 1.25
+PALISADE_FF_CUTOFF_WIDTH = 0.36
+PALISADE_TRANSITION_SPEED = 9.0
+PALISADE_PHASE_SCALE = 0.11
+PALISADE_TURN_IN_BOOST_LEFT = 0.34
+PALISADE_TURN_IN_BOOST_RIGHT = 0.24
+PALISADE_UNWIND_TAPER_LEFT = 0.18
+PALISADE_UNWIND_TAPER_RIGHT = 0.30
+PALISADE_FRICTION_MULT = 1.02
+PALISADE_FRICTION_LAT_RISE = 0.20
+PALISADE_FRICTION_JERK_RISE = 0.24
+PALISADE_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.18
+PALISADE_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.14
+PALISADE_UNWIND_THRESHOLD_INCREASE_LEFT = 0.14
+PALISADE_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.22
+PALISADE_TURN_IN_FRICTION_BOOST_LEFT = 0.08
+PALISADE_TURN_IN_FRICTION_BOOST_RIGHT = 0.06
+PALISADE_UNWIND_FRICTION_REDUCTION_LEFT = 0.12
+PALISADE_UNWIND_FRICTION_REDUCTION_RIGHT = 0.20
+
 GENESIS_G90_LATERAL_TESTING_GROUND_ID = testing_ground.id_4
 GENESIS_G90_FF_GAIN_LEFT = 0.32
 GENESIS_G90_FF_GAIN_RIGHT = 0.16
@@ -330,26 +395,26 @@ IONIQ_5_FF_ONSET = 0.10
 IONIQ_5_FF_ONSET_WIDTH = 0.05
 IONIQ_5_FF_CUTOFF = 1.20
 IONIQ_5_FF_CUTOFF_WIDTH = 0.30
-IONIQ_5_TRANSITION_SPEED = 11.0
+IONIQ_5_TRANSITION_SPEED = 12.5
 IONIQ_5_PHASE_SCALE = 0.10
-IONIQ_5_FF_REDUCTION_LEFT = 0.14
-IONIQ_5_FF_REDUCTION_RIGHT = 0.18
-IONIQ_5_TURN_IN_BOOST_LEFT = 0.04
-IONIQ_5_TURN_IN_BOOST_RIGHT = 0.00
-IONIQ_5_UNWIND_TAPER_LEFT = 0.52
-IONIQ_5_UNWIND_TAPER_RIGHT = 0.82
-IONIQ_5_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.05
-IONIQ_5_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.00
-IONIQ_5_UNWIND_THRESHOLD_INCREASE_LEFT = 0.24
+IONIQ_5_FF_REDUCTION_LEFT = 0.12
+IONIQ_5_FF_REDUCTION_RIGHT = 0.22
+IONIQ_5_TURN_IN_BOOST_LEFT = 0.14
+IONIQ_5_TURN_IN_BOOST_RIGHT = 0.06
+IONIQ_5_UNWIND_TAPER_LEFT = 0.76
+IONIQ_5_UNWIND_TAPER_RIGHT = 0.86
+IONIQ_5_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.08
+IONIQ_5_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.05
+IONIQ_5_UNWIND_THRESHOLD_INCREASE_LEFT = 0.36
 IONIQ_5_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.38
-IONIQ_5_TURN_IN_FRICTION_BOOST_LEFT = 0.02
-IONIQ_5_TURN_IN_FRICTION_BOOST_RIGHT = 0.00
-IONIQ_5_UNWIND_FRICTION_REDUCTION_LEFT = 0.22
-IONIQ_5_UNWIND_FRICTION_REDUCTION_RIGHT = 0.32
-IONIQ_5_CENTER_TAPER_MAX = 0.08
-IONIQ_5_CENTER_TAPER_LAT = 0.16
+IONIQ_5_TURN_IN_FRICTION_BOOST_LEFT = 0.04
+IONIQ_5_TURN_IN_FRICTION_BOOST_RIGHT = 0.03
+IONIQ_5_UNWIND_FRICTION_REDUCTION_LEFT = 0.34
+IONIQ_5_UNWIND_FRICTION_REDUCTION_RIGHT = 0.34
+IONIQ_5_CENTER_TAPER_MAX = 0.14
+IONIQ_5_CENTER_TAPER_LAT = 0.12
 IONIQ_5_CENTER_TAPER_LAT_WIDTH = 0.03
-IONIQ_5_CENTER_TAPER_SPEED = 20.0
+IONIQ_5_CENTER_TAPER_SPEED = 16.0
 IONIQ_5_CENTER_TAPER_SPEED_WIDTH = 2.5
 
 IONIQ_EV_OLD_BASE_LAT_ACCEL_FACTOR_MULT = 1.16
@@ -425,11 +490,17 @@ IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_LEFT = 0.10
 IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_RIGHT = 0.04
 IONIQ_6_DIRECTIONAL_TAPER_JERK_ONSET = 0.60
 IONIQ_6_DIRECTIONAL_TAPER_JERK_WIDTH = 0.14
-IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF = 0.62
-IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_SPEED = 17.0
-IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_SPEED_WIDTH = 2.0
-IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_LAT = 0.45
-IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_LAT_WIDTH = 0.14
+IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF = 0.98
+IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_SPEED = 11.2
+IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_SPEED_WIDTH = 1.5
+IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_LAT = 0.10
+IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_LAT_WIDTH = 0.06
+IONIQ_6_CRAWL_TURN_IN_FF_BOOST_LEFT = 0.12
+IONIQ_6_CRAWL_TURN_IN_FF_BOOST_RIGHT = 0.16
+IONIQ_6_CRAWL_TURN_IN_FF_SPEED = 4.5
+IONIQ_6_CRAWL_TURN_IN_FF_SPEED_WIDTH = 0.8
+IONIQ_6_CRAWL_TURN_IN_FF_LAT = 0.10
+IONIQ_6_CRAWL_TURN_IN_FF_LAT_WIDTH = 0.05
 IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_START = 0.82
 IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_WIDTH = 0.12
 IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_LEFT = 0.10
@@ -443,29 +514,29 @@ IONIQ_6_OUTPUT_DIRECTIONAL_TAPER_BLEND = 0.97
 
 KIA_EV6_LATERAL_TESTING_GROUND_ID = testing_ground.id_6
 KIA_EV6_LATERAL_TESTING_GROUND_VARIANT = "C"
-KIA_EV6_FF_GAIN_LEFT = 0.07
-KIA_EV6_FF_GAIN_RIGHT = 0.075
+KIA_EV6_FF_GAIN_LEFT = 0.06
+KIA_EV6_FF_GAIN_RIGHT = 0.07
 KIA_EV6_FF_ONSET = 0.08
 KIA_EV6_FF_ONSET_WIDTH = 0.04
 KIA_EV6_FF_CUTOFF = 0.60
 KIA_EV6_FF_CUTOFF_WIDTH = 0.14
 KIA_EV6_TRANSITION_SPEED = 11.0
 KIA_EV6_PHASE_SCALE = 0.09
-KIA_EV6_TURN_IN_BOOST_LEFT = 0.14
-KIA_EV6_TURN_IN_BOOST_RIGHT = 0.16
-KIA_EV6_UNWIND_TAPER_LEFT = 0.40
-KIA_EV6_UNWIND_TAPER_RIGHT = 0.36
+KIA_EV6_TURN_IN_BOOST_LEFT = 0.18
+KIA_EV6_TURN_IN_BOOST_RIGHT = 0.12
+KIA_EV6_UNWIND_TAPER_LEFT = 0.48
+KIA_EV6_UNWIND_TAPER_RIGHT = 0.46
 KIA_EV6_FRICTION_MULT = 1.01
 KIA_EV6_FRICTION_LAT_RISE = 0.18
 KIA_EV6_FRICTION_JERK_RISE = 0.22
 KIA_EV6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.10
 KIA_EV6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.14
-KIA_EV6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.22
-KIA_EV6_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.18
-KIA_EV6_TURN_IN_FRICTION_BOOST_LEFT = 0.03
+KIA_EV6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.28
+KIA_EV6_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.24
+KIA_EV6_TURN_IN_FRICTION_BOOST_LEFT = 0.04
 KIA_EV6_TURN_IN_FRICTION_BOOST_RIGHT = 0.05
-KIA_EV6_UNWIND_FRICTION_REDUCTION_LEFT = 0.22
-KIA_EV6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.16
+KIA_EV6_UNWIND_FRICTION_REDUCTION_LEFT = 0.28
+KIA_EV6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.22
 KIA_EV6_CENTER_TAPER_MAX = 0.08
 KIA_EV6_CENTER_TAPER_LAT = 0.16
 KIA_EV6_CENTER_TAPER_LAT_WIDTH = 0.035
@@ -496,6 +567,28 @@ VOLT_PLEXY_TURN_IN_FRICTION_BOOST_LEFT = 0.08
 VOLT_PLEXY_TURN_IN_FRICTION_BOOST_RIGHT = 0.06
 VOLT_PLEXY_UNWIND_FRICTION_REDUCTION_LEFT = 0.16
 VOLT_PLEXY_UNWIND_FRICTION_REDUCTION_RIGHT = 0.40
+PRIUS_TRANSITION_SPEED = 10.0
+PRIUS_PHASE_SCALE = 0.09
+PRIUS_FF_GAIN_LEFT = 0.10
+PRIUS_FF_GAIN_RIGHT = 0.14
+PRIUS_FF_ONSET = 0.16
+PRIUS_FF_ONSET_WIDTH = 0.08
+PRIUS_FF_CUTOFF = 1.25
+PRIUS_FF_CUTOFF_WIDTH = 0.30
+PRIUS_FRICTION_LAT_RISE = 0.18
+PRIUS_FRICTION_JERK_RISE = 0.22
+PRIUS_TURN_IN_BOOST_LEFT = 0.48
+PRIUS_TURN_IN_BOOST_RIGHT = 0.62
+PRIUS_UNWIND_TAPER_LEFT = 0.44
+PRIUS_UNWIND_TAPER_RIGHT = 0.72
+PRIUS_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.18
+PRIUS_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.24
+PRIUS_UNWIND_THRESHOLD_INCREASE_LEFT = 0.28
+PRIUS_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.44
+PRIUS_TURN_IN_FRICTION_BOOST_LEFT = 0.08
+PRIUS_TURN_IN_FRICTION_BOOST_RIGHT = 0.12
+PRIUS_UNWIND_FRICTION_REDUCTION_LEFT = 0.14
+PRIUS_UNWIND_FRICTION_REDUCTION_RIGHT = 0.24
 
 
 def _sigmoid(x: float) -> float:
@@ -512,6 +605,74 @@ def get_friction_threshold(v_ego: float) -> float:
   return float(np.interp(v_ego, [1 * CV.MPH_TO_MS, 20 * CV.MPH_TO_MS, 75 * CV.MPH_TO_MS], [0.16, 0.19, 0.27]))
 
 
+def _prius_sigmoid(x: float) -> float:
+  return _sigmoid(x)
+
+
+def _prius_low_speed_factor(v_ego: float) -> float:
+  return 1.0 / (1.0 + (max(v_ego, 0.0) / PRIUS_TRANSITION_SPEED) ** 2)
+
+
+def _prius_transition_phase(desired_lateral_accel: float, desired_lateral_jerk: float) -> float:
+  return math.tanh((desired_lateral_accel * desired_lateral_jerk) / PRIUS_PHASE_SCALE)
+
+
+def _prius_side_value(desired_lateral_accel: float, left_value: float, right_value: float) -> float:
+  return left_value if desired_lateral_accel >= 0.0 else right_value
+
+
+def _prius_transition_envelope(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float:
+  lat_factor = 1.0 - math.exp(-abs(desired_lateral_accel) / PRIUS_FRICTION_LAT_RISE)
+  jerk_factor = 1.0 - math.exp(-abs(desired_lateral_jerk) / PRIUS_FRICTION_JERK_RISE)
+  return _prius_low_speed_factor(v_ego) * lat_factor * jerk_factor
+
+
+def get_prius_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float:
+  if desired_lateral_accel == 0.0:
+    return 1.0
+
+  gain = _prius_side_value(desired_lateral_accel, PRIUS_FF_GAIN_LEFT, PRIUS_FF_GAIN_RIGHT)
+  abs_lateral_accel = abs(desired_lateral_accel)
+  onset = _prius_sigmoid((abs_lateral_accel - PRIUS_FF_ONSET) / PRIUS_FF_ONSET_WIDTH)
+  cutoff = _prius_sigmoid((PRIUS_FF_CUTOFF - abs_lateral_accel) / PRIUS_FF_CUTOFF_WIDTH)
+  extra_scale = gain * onset * cutoff
+  phase = _prius_transition_phase(desired_lateral_accel, desired_lateral_jerk)
+  turn_in_weight = max(phase, 0.0)
+  unwind_weight = max(-phase, 0.0)
+  low_speed_factor = _prius_low_speed_factor(v_ego)
+  turn_in_boost = 1.0 + (_prius_side_value(desired_lateral_accel, PRIUS_TURN_IN_BOOST_LEFT, PRIUS_TURN_IN_BOOST_RIGHT) *
+                          turn_in_weight * (0.35 + 0.65 * low_speed_factor))
+  unwind_taper = 1.0 - (_prius_side_value(desired_lateral_accel, PRIUS_UNWIND_TAPER_LEFT, PRIUS_UNWIND_TAPER_RIGHT) *
+                         unwind_weight * (0.35 + 0.65 * low_speed_factor))
+  return 1.0 + (extra_scale * turn_in_boost * max(unwind_taper, 0.0))
+
+
+def get_prius_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float:
+  base_threshold = get_friction_threshold(v_ego)
+  transition_envelope = _prius_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk)
+  phase = _prius_transition_phase(desired_lateral_accel, desired_lateral_jerk)
+  turn_in_weight = max(phase, 0.0)
+  unwind_weight = max(-phase, 0.0)
+  threshold_scale = 1.0 - (_prius_side_value(desired_lateral_accel, PRIUS_TURN_IN_THRESHOLD_REDUCTION_LEFT, PRIUS_TURN_IN_THRESHOLD_REDUCTION_RIGHT) *
+                           transition_envelope * turn_in_weight)
+  threshold_scale += (_prius_side_value(desired_lateral_accel, PRIUS_UNWIND_THRESHOLD_INCREASE_LEFT, PRIUS_UNWIND_THRESHOLD_INCREASE_RIGHT) *
+                      transition_envelope * unwind_weight)
+  return base_threshold * min(max(threshold_scale, 0.86), 1.16)
+
+
+def get_prius_friction_scale(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float:
+  transition_envelope = _prius_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk)
+  phase = _prius_transition_phase(desired_lateral_accel, desired_lateral_jerk)
+  turn_in_weight = max(phase, 0.0)
+  unwind_weight = max(-phase, 0.0)
+  friction_scale = 1.0
+  friction_scale += (_prius_side_value(desired_lateral_accel, PRIUS_TURN_IN_FRICTION_BOOST_LEFT, PRIUS_TURN_IN_FRICTION_BOOST_RIGHT) *
+                     transition_envelope * turn_in_weight)
+  friction_scale -= (_prius_side_value(desired_lateral_accel, PRIUS_UNWIND_FRICTION_REDUCTION_LEFT, PRIUS_UNWIND_FRICTION_REDUCTION_RIGHT) *
+                     transition_envelope * unwind_weight)
+  return min(max(friction_scale, 0.90), 1.14)
+
+
 def civic_bosch_modified_lateral_testing_ground_active() -> bool:
   return testing_ground.use("8", "B")
 
@@ -993,6 +1154,53 @@ def get_sonata_hybrid_center_taper_scale(desired_lateral_accel: float, v_ego: fl
   return 1.0 - reduction
 
 
+def _sonata_sigmoid(x: float) -> float:
+  return _sigmoid(x)
+
+
+def _sonata_low_speed_factor(v_ego: float) -> float:
+  return 1.0 / (1.0 + (max(v_ego, 0.0) / SONATA_TRANSITION_SPEED) ** 2)
+
+
+def _sonata_transition_phase(desired_lateral_accel: float, desired_lateral_jerk: float) -> float:
+  return math.tanh((desired_lateral_accel * desired_lateral_jerk) / SONATA_PHASE_SCALE)
+
+
+def _sonata_side_value(desired_lateral_accel: float, left_value: float, right_value: float) -> float:
+  return left_value if desired_lateral_accel >= 0.0 else right_value
+
+
+def get_sonata_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float:
+  if desired_lateral_accel == 0.0:
+    return 1.0
+
+  abs_lateral_accel = abs(desired_lateral_accel)
+  onset = _sonata_sigmoid((abs_lateral_accel - SONATA_FF_ONSET) / SONATA_FF_ONSET_WIDTH)
+  cutoff = _sonata_sigmoid((SONATA_FF_CUTOFF - abs_lateral_accel) / SONATA_FF_CUTOFF_WIDTH)
+  base_reduction = _sonata_side_value(desired_lateral_accel, SONATA_FF_REDUCTION_LEFT, SONATA_FF_REDUCTION_RIGHT) * onset * cutoff
+  phase = _sonata_transition_phase(desired_lateral_accel, desired_lateral_jerk)
+  turn_in_weight = max(phase, 0.0)
+  unwind_weight = max(-phase, 0.0)
+  low_speed_factor = _sonata_low_speed_factor(v_ego)
+  turn_in_boost = 1.0 + (_sonata_side_value(desired_lateral_accel, SONATA_TURN_IN_BOOST_LEFT, SONATA_TURN_IN_BOOST_RIGHT) *
+                         turn_in_weight * low_speed_factor)
+  unwind_taper = 1.0 - (_sonata_side_value(desired_lateral_accel, SONATA_UNWIND_TAPER_LEFT, SONATA_UNWIND_TAPER_RIGHT) *
+                        unwind_weight * (0.35 + 0.65 * low_speed_factor))
+  return (1.0 - base_reduction) * turn_in_boost * max(unwind_taper, 0.0)
+
+
+def get_sonata_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float:
+  speed_weight = _sonata_sigmoid((v_ego - SONATA_CENTER_TAPER_SPEED) / SONATA_CENTER_TAPER_SPEED_WIDTH)
+  center_weight = _sonata_sigmoid((SONATA_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / SONATA_CENTER_TAPER_LAT_WIDTH)
+  reduction = SONATA_CENTER_TAPER_MAX * speed_weight * center_weight
+  low_speed_weight = _sonata_sigmoid((SONATA_LOW_SPEED_CENTER_TAPER_SPEED_MAX - v_ego) /
+                                     SONATA_LOW_SPEED_CENTER_TAPER_SPEED_WIDTH)
+  low_speed_center_weight = _sonata_sigmoid((SONATA_LOW_SPEED_CENTER_TAPER_LAT - abs(desired_lateral_accel)) /
+                                            SONATA_LOW_SPEED_CENTER_TAPER_LAT_WIDTH)
+  reduction += SONATA_LOW_SPEED_CENTER_TAPER_MAX * low_speed_weight * low_speed_center_weight
+  return 1.0 - reduction
+
+
 def _elantra_non_scc_sigmoid(x: float) -> float:
   return _sigmoid(x)
 
@@ -1067,7 +1275,15 @@ def get_kia_forte_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: f
                          turn_in_weight * (0.35 + 0.65 * low_speed_factor))
   unwind_taper = 1.0 - (_kia_forte_side_value(desired_lateral_accel, KIA_FORTE_UNWIND_TAPER_LEFT, KIA_FORTE_UNWIND_TAPER_RIGHT) *
                         unwind_weight * (0.35 + 0.65 * low_speed_factor))
-  return (1.0 - base_reduction) * turn_in_boost * max(unwind_taper, 0.0)
+  crawl_turn_in_scale = 0.0
+  if desired_lateral_accel * desired_lateral_jerk > 0.0:
+    crawl_speed_weight = _kia_forte_sigmoid((KIA_FORTE_CRAWL_TURN_IN_FF_SPEED - max(v_ego, 0.0)) /
+                                            KIA_FORTE_CRAWL_TURN_IN_FF_SPEED_WIDTH)
+    crawl_lat_weight = _kia_forte_sigmoid((abs_lateral_accel - KIA_FORTE_CRAWL_TURN_IN_FF_LAT) /
+                                          KIA_FORTE_CRAWL_TURN_IN_FF_LAT_WIDTH)
+    crawl_turn_in_scale = _kia_forte_side_value(desired_lateral_accel, KIA_FORTE_CRAWL_TURN_IN_FF_BOOST_LEFT,
+                                                KIA_FORTE_CRAWL_TURN_IN_FF_BOOST_RIGHT) * crawl_speed_weight * crawl_lat_weight
+  return ((1.0 - base_reduction) * turn_in_boost * max(unwind_taper, 0.0)) + crawl_turn_in_scale
 
 
 def get_kia_forte_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float:
@@ -1077,6 +1293,74 @@ def get_kia_forte_center_taper_scale(desired_lateral_accel: float, v_ego: float)
   return 1.0 - reduction
 
 
+def _palisade_sigmoid(x: float) -> float:
+  return _sigmoid(x)
+
+
+def _palisade_low_speed_factor(v_ego: float) -> float:
+  return 1.0 / (1.0 + (max(v_ego, 0.0) / PALISADE_TRANSITION_SPEED) ** 2)
+
+
+def _palisade_transition_phase(desired_lateral_accel: float, desired_lateral_jerk: float) -> float:
+  return math.tanh((desired_lateral_accel * desired_lateral_jerk) / PALISADE_PHASE_SCALE)
+
+
+def _palisade_side_value(desired_lateral_accel: float, left_value: float, right_value: float) -> float:
+  return left_value if desired_lateral_accel >= 0.0 else right_value
+
+
+def _palisade_transition_envelope(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float:
+  lat_factor = 1.0 - math.exp(-abs(desired_lateral_accel) / PALISADE_FRICTION_LAT_RISE)
+  jerk_factor = 1.0 - math.exp(-abs(desired_lateral_jerk) / PALISADE_FRICTION_JERK_RISE)
+  return _palisade_low_speed_factor(v_ego) * lat_factor * jerk_factor
+
+
+def get_palisade_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float:
+  if desired_lateral_accel == 0.0:
+    return 1.0
+
+  gain = _palisade_side_value(desired_lateral_accel, PALISADE_FF_GAIN_LEFT, PALISADE_FF_GAIN_RIGHT)
+  abs_lateral_accel = abs(desired_lateral_accel)
+  onset = _palisade_sigmoid((abs_lateral_accel - PALISADE_FF_ONSET) / PALISADE_FF_ONSET_WIDTH)
+  cutoff = _palisade_sigmoid((PALISADE_FF_CUTOFF - abs_lateral_accel) / PALISADE_FF_CUTOFF_WIDTH)
+  extra_scale = gain * onset * cutoff
+  phase = _palisade_transition_phase(desired_lateral_accel, desired_lateral_jerk)
+  turn_in_weight = max(phase, 0.0)
+  unwind_weight = max(-phase, 0.0)
+  low_speed_factor = _palisade_low_speed_factor(v_ego)
+  turn_in_boost = 1.0 + (_palisade_side_value(desired_lateral_accel, PALISADE_TURN_IN_BOOST_LEFT, PALISADE_TURN_IN_BOOST_RIGHT) *
+                          turn_in_weight * (0.35 + 0.65 * low_speed_factor))
+  unwind_taper = 1.0 - (_palisade_side_value(desired_lateral_accel, PALISADE_UNWIND_TAPER_LEFT, PALISADE_UNWIND_TAPER_RIGHT) *
+                         unwind_weight * (0.35 + 0.65 * low_speed_factor))
+  return 1.0 + (extra_scale * turn_in_boost * max(unwind_taper, 0.0))
+
+
+def get_palisade_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float:
+  base_threshold = get_friction_threshold(v_ego)
+  transition_envelope = _palisade_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk)
+  phase = _palisade_transition_phase(desired_lateral_accel, desired_lateral_jerk)
+  turn_in_weight = max(phase, 0.0)
+  unwind_weight = max(-phase, 0.0)
+  threshold_scale = 1.0 - (_palisade_side_value(desired_lateral_accel, PALISADE_TURN_IN_THRESHOLD_REDUCTION_LEFT, PALISADE_TURN_IN_THRESHOLD_REDUCTION_RIGHT) *
+                           transition_envelope * turn_in_weight)
+  threshold_scale += (_palisade_side_value(desired_lateral_accel, PALISADE_UNWIND_THRESHOLD_INCREASE_LEFT, PALISADE_UNWIND_THRESHOLD_INCREASE_RIGHT) *
+                      transition_envelope * unwind_weight)
+  return base_threshold * min(max(threshold_scale, 0.84), 1.14)
+
+
+def get_palisade_friction_scale(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float:
+  transition_envelope = _palisade_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk)
+  phase = _palisade_transition_phase(desired_lateral_accel, desired_lateral_jerk)
+  turn_in_weight = max(phase, 0.0)
+  unwind_weight = max(-phase, 0.0)
+  friction_scale = PALISADE_FRICTION_MULT
+  friction_scale += (_palisade_side_value(desired_lateral_accel, PALISADE_TURN_IN_FRICTION_BOOST_LEFT, PALISADE_TURN_IN_FRICTION_BOOST_RIGHT) *
+                     transition_envelope * turn_in_weight)
+  friction_scale -= (_palisade_side_value(desired_lateral_accel, PALISADE_UNWIND_FRICTION_REDUCTION_LEFT, PALISADE_UNWIND_FRICTION_REDUCTION_RIGHT) *
+                     transition_envelope * unwind_weight)
+  return min(max(friction_scale, 0.92), 1.12)
+
+
 def genesis_g90_lateral_testing_ground_active() -> bool:
   return testing_ground.use(GENESIS_G90_LATERAL_TESTING_GROUND_ID)
 
@@ -1309,7 +1593,15 @@ def get_ioniq_6_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: flo
                           turn_in_weight * low_speed_factor)
   unwind_taper = 1.0 - (_ioniq_6_side_value(desired_lateral_accel, IONIQ_6_UNWIND_TAPER_LEFT, IONIQ_6_UNWIND_TAPER_RIGHT) *
                          unwind_weight * (0.30 + 0.70 * low_speed_factor))
-  return (1.0 + (extra_scale * turn_in_boost * max(unwind_taper, 0.0))) * get_ioniq_6_directional_taper_scale(desired_lateral_accel, desired_lateral_jerk, v_ego)
+  crawl_turn_in_scale = 0.0
+  if desired_lateral_accel * desired_lateral_jerk > 0.0:
+    crawl_speed_weight = _ioniq_6_sigmoid((IONIQ_6_CRAWL_TURN_IN_FF_SPEED - max(v_ego, 0.0)) /
+                                          IONIQ_6_CRAWL_TURN_IN_FF_SPEED_WIDTH)
+    crawl_lat_weight = _ioniq_6_sigmoid((abs_lateral_accel - IONIQ_6_CRAWL_TURN_IN_FF_LAT) /
+                                        IONIQ_6_CRAWL_TURN_IN_FF_LAT_WIDTH)
+    crawl_turn_in_scale = _ioniq_6_side_value(desired_lateral_accel, IONIQ_6_CRAWL_TURN_IN_FF_BOOST_LEFT,
+                                              IONIQ_6_CRAWL_TURN_IN_FF_BOOST_RIGHT) * crawl_speed_weight * crawl_lat_weight
+  return (1.0 + crawl_turn_in_scale + (extra_scale * turn_in_boost * max(unwind_taper, 0.0))) * get_ioniq_6_directional_taper_scale(desired_lateral_accel, desired_lateral_jerk, v_ego)
 
 
 def get_ioniq_6_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float:
@@ -1577,9 +1869,12 @@ class LatControlTorque(LatControl):
     self.is_bolt_2017 = CP.carFingerprint in BOLT_2017_CARS
     self.is_volt_standard = CP.carFingerprint in VOLT_STANDARD_CARS
     self.is_genesis_g90 = CP.carFingerprint in GENESIS_G90_CARS
+    self.is_palisade = CP.carFingerprint in PALISADE_CARS
+    self.is_prius = CP.carFingerprint in PRIUS_CARS
     self.is_ioniq_5 = CP.carFingerprint in IONIQ_5_CARS
     self.is_ioniq_ev_old = CP.carFingerprint in IONIQ_EV_OLD_CARS
     self.is_ioniq_6 = CP.carFingerprint in IONIQ_6_CARS
+    self.is_sonata = CP.carFingerprint in SONATA_CARS
     self.is_sonata_hybrid = CP.carFingerprint in SONATA_HYBRID_CARS
     self.is_elantra_non_scc = CP.carFingerprint in ELANTRA_NON_SCC_CARS
     self.is_kia_forte = CP.carFingerprint in KIA_FORTE_CARS
@@ -1593,6 +1888,8 @@ class LatControlTorque(LatControl):
     self.torque_ff_scale_neg = 1.0
     self.torque_deadzone_boost = float(getattr(self.torque_params, "kfDEPRECATED", 0.0))
     self.torque_ki_mult = 1.0
+    if self.is_palisade:
+      self.torque_params.latAccelFactor *= PALISADE_BASE_LAT_ACCEL_FACTOR_MULT
     if self.is_ioniq_5:
       self.torque_params.latAccelFactor *= IONIQ_5_BASE_LAT_ACCEL_FACTOR_MULT
     if self.is_ioniq_ev_old:
@@ -1620,6 +1917,8 @@ class LatControlTorque(LatControl):
         self.pid._k_i = [self.pid._k_i[0], [k * self.torque_ki_mult for k in self.pid._k_i[1]]]
 
   def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
+    if self.is_palisade:
+      latAccelFactor *= PALISADE_BASE_LAT_ACCEL_FACTOR_MULT
     if self.is_ioniq_5:
       latAccelFactor *= IONIQ_5_BASE_LAT_ACCEL_FACTOR_MULT
     if self.is_ioniq_ev_old:
@@ -1703,9 +2002,12 @@ class LatControlTorque(LatControl):
       bolt_2018_2021_tuned_path_active = self.is_bolt_2018_2021
       volt_standard_test_active = self.is_volt_standard and volt_standard_lateral_testing_ground_active()
       genesis_g90_test_active = self.is_genesis_g90 and genesis_g90_lateral_testing_ground_active()
+      palisade_active = self.is_palisade
+      prius_active = self.is_prius
       ioniq_5_active = self.is_ioniq_5
       ioniq_ev_old_active = self.is_ioniq_ev_old
       ioniq_6_active = self.is_ioniq_6
+      sonata_active = self.is_sonata
       sonata_hybrid_active = self.is_sonata_hybrid
       elantra_non_scc_active = self.is_elantra_non_scc
       kia_forte_active = self.is_kia_forte
@@ -1715,6 +2017,7 @@ class LatControlTorque(LatControl):
       volt_standard_center_taper = get_volt_standard_center_taper_scale(setpoint, CS.vEgo) if volt_standard_test_active else 1.0
       ioniq_ev_old_center_taper = get_ioniq_ev_old_center_taper_scale(setpoint, CS.vEgo) if ioniq_ev_old_active else 1.0
       ioniq_6_center_taper = get_ioniq_6_center_taper_scale(setpoint, CS.vEgo) if ioniq_6_active else 1.0
+      sonata_center_taper = get_sonata_center_taper_scale(setpoint, CS.vEgo) if sonata_active else 1.0
       sonata_hybrid_center_taper = get_sonata_hybrid_center_taper_scale(setpoint, CS.vEgo) if sonata_hybrid_active else 1.0
       kia_forte_center_taper = get_kia_forte_center_taper_scale(setpoint, CS.vEgo) if kia_forte_active else 1.0
       kia_ev6_center_taper = get_kia_ev6_center_taper_scale(setpoint, CS.vEgo) if kia_ev6_test_active else 1.0
@@ -1739,6 +2042,14 @@ class LatControlTorque(LatControl):
         ff *= get_genesis_g90_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
         friction_threshold = get_genesis_g90_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
         friction_scale = get_genesis_g90_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
+      elif palisade_active:
+        ff *= get_palisade_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
+        friction_threshold = get_palisade_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
+        friction_scale = get_palisade_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
+      elif prius_active:
+        ff *= get_prius_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
+        friction_threshold = get_prius_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
+        friction_scale = get_prius_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
       elif ioniq_5_active:
         ff *= get_ioniq_5_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * ioniq_5_center_taper
         friction_threshold = get_ioniq_5_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
@@ -1752,6 +2063,8 @@ class LatControlTorque(LatControl):
         friction_threshold = get_ioniq_6_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk) / max(ioniq_6_center_taper, 1e-3)
         friction_scale = get_ioniq_6_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
         friction_scale = 1.0 + ((friction_scale - 1.0) * ioniq_6_center_taper)
+      elif sonata_active:
+        ff *= get_sonata_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * sonata_center_taper
       elif sonata_hybrid_active:
         ff *= get_sonata_hybrid_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * sonata_hybrid_center_taper
       elif elantra_non_scc_active:

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -79,6 +79,13 @@ FAR_RADAR_LEAD_ACCEL_TAPER_FULL_GAP_EXCESS = 25.0
 FAR_RADAR_LEAD_ACCEL_TAPER_FULL_GAP_GAIN = 0.9
 RADARLESS_MATCHED_FOLLOW_CRUISE_HYSTERESIS_MIN = 2.5
 RADARLESS_MATCHED_FOLLOW_CRUISE_HYSTERESIS_GAIN = 0.10
+NEAR_DUPLICATE_LEAD_SOURCE_MIN_SPEED = 20.0
+NEAR_DUPLICATE_LEAD_SOURCE_MIN_MODEL_PROB = 0.9
+NEAR_DUPLICATE_LEAD_SOURCE_MAX_LEAD_BRAKE = 0.35
+NEAR_DUPLICATE_LEAD_SOURCE_MAX_DREL_DIFF = 1.5
+NEAR_DUPLICATE_LEAD_SOURCE_MAX_VREL_DIFF = 0.35
+NEAR_DUPLICATE_LEAD_SOURCE_HYSTERESIS_MIN = 0.75
+NEAR_DUPLICATE_LEAD_SOURCE_HYSTERESIS_MAX = 1.5
 
 # Function to get parameter value based on current speed
 def get_speed_based_param(speed_mph, param_array):
@@ -492,9 +499,9 @@ class LongitudinalMpc:
 
     # Adjust filter time constants for complex scenes
     if abs(filter_time_factor - getattr(self, 'prev_filter_time_factor', 1.0)) > 0.05:
+      new_filter_time = self.current_filter_time * filter_time_factor
       current_a = self.lead_a_filter.x if hasattr(self.lead_a_filter, 'x') else 0.0
       current_v = self.lead_v_filter.x if hasattr(self.lead_v_filter, 'x') else 0.0
-      new_filter_time = self.current_filter_time * filter_time_factor
       self.lead_a_filter = FirstOrderFilter(current_a, new_filter_time, self.dt)
       self.lead_v_filter = FirstOrderFilter(current_v, new_filter_time, self.dt)
       self.prev_filter_time_factor = filter_time_factor
@@ -583,6 +590,43 @@ class LongitudinalMpc:
     return max(RADARLESS_MATCHED_FOLLOW_CRUISE_HYSTERESIS_MIN,
                RADARLESS_MATCHED_FOLLOW_CRUISE_HYSTERESIS_GAIN * float(v_ego))
 
+  @staticmethod
+  def leads_are_near_duplicates(lead_one, lead_two, v_ego):
+    if lead_one is None or lead_two is None or not lead_one.status or not lead_two.status:
+      return False
+    if float(v_ego) < NEAR_DUPLICATE_LEAD_SOURCE_MIN_SPEED:
+      return False
+    if bool(getattr(lead_one, "radar", False)) or bool(getattr(lead_two, "radar", False)):
+      return False
+    if float(getattr(lead_one, "modelProb", 0.0)) < NEAR_DUPLICATE_LEAD_SOURCE_MIN_MODEL_PROB:
+      return False
+    if float(getattr(lead_two, "modelProb", 0.0)) < NEAR_DUPLICATE_LEAD_SOURCE_MIN_MODEL_PROB:
+      return False
+    if max(0.0, -float(getattr(lead_one, "aLeadK", 0.0))) > NEAR_DUPLICATE_LEAD_SOURCE_MAX_LEAD_BRAKE:
+      return False
+    if max(0.0, -float(getattr(lead_two, "aLeadK", 0.0))) > NEAR_DUPLICATE_LEAD_SOURCE_MAX_LEAD_BRAKE:
+      return False
+
+    return (
+      abs(float(lead_one.dRel) - float(lead_two.dRel)) <= NEAR_DUPLICATE_LEAD_SOURCE_MAX_DREL_DIFF and
+      abs(float(lead_one.vRel) - float(lead_two.vRel)) <= NEAR_DUPLICATE_LEAD_SOURCE_MAX_VREL_DIFF
+    )
+
+  def get_near_duplicate_lead_source_hysteresis(self, prev_source, lead_one, lead_two, v_ego):
+    if prev_source not in ("lead0", "lead1"):
+      return 0.0, 0.0
+    if not self.leads_are_near_duplicates(lead_one, lead_two, v_ego):
+      return 0.0, 0.0
+
+    hysteresis = float(np.interp(
+      float(v_ego),
+      [NEAR_DUPLICATE_LEAD_SOURCE_MIN_SPEED, 35.0],
+      [NEAR_DUPLICATE_LEAD_SOURCE_HYSTERESIS_MIN, NEAR_DUPLICATE_LEAD_SOURCE_HYSTERESIS_MAX],
+    ))
+    if prev_source == "lead0":
+      return 0.0, hysteresis
+    return hysteresis, 0.0
+
   def set_accel_limits(self, min_a, max_a):
     # TODO this sets a max accel limit, but the minimum limit is only for cruise decel
     # needs refactor
@@ -590,12 +634,12 @@ class LongitudinalMpc:
     self.max_a = max_a
 
   def update(self, radarstate, v_cruise, x, v, a, j, danger_factor, t_follow,
-             personality=log.LongitudinalPersonality.standard, tracking_lead=True):
+             personality=log.LongitudinalPersonality.standard, tracking_lead=True,
+             optional_far_lead_comfort=True):
     v_ego = self.x0[1]
     lead_one = radarstate.leadOne
     lead_two = radarstate.leadTwo
     self.status = tracking_lead and (lead_one.status or lead_two.status)
-
     lead_xv_0 = self.process_lead(lead_one, tracking_lead, t_follow=t_follow)
     lead_xv_1 = self.process_lead(lead_two, tracking_lead, t_follow=t_follow)
 
@@ -622,14 +666,19 @@ class LongitudinalMpc:
                                  v_upper)
       cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow)
       prev_source = self.source
-      if prev_source == 'lead0':
-        cruise_obstacle += self.get_radarless_matched_follow_cruise_hysteresis(lead_one, v_ego, t_follow)
-      elif prev_source == 'lead1':
-        cruise_obstacle += self.get_radarless_matched_follow_cruise_hysteresis(lead_two, v_ego, t_follow)
-      if tracking_lead and lead_one.status:
+      if optional_far_lead_comfort:
+        if prev_source == 'lead0':
+          cruise_obstacle += self.get_radarless_matched_follow_cruise_hysteresis(lead_one, v_ego, t_follow)
+        elif prev_source == 'lead1':
+          cruise_obstacle += self.get_radarless_matched_follow_cruise_hysteresis(lead_two, v_ego, t_follow)
+      if optional_far_lead_comfort and tracking_lead and lead_one.status:
         desired_gap = desired_follow_distance(v_ego, lead_one.vLead, t_follow)
         closing_speed = max(0.0, v_ego - lead_one.vLead)
         cruise_obstacle += get_tracked_lead_catchup_bias(v_ego, lead_one.dRel, desired_gap, closing_speed, v_cruise=v_cruise)
+      if optional_far_lead_comfort:
+        lead_0_bias, lead_1_bias = self.get_near_duplicate_lead_source_hysteresis(prev_source, lead_one, lead_two, v_ego)
+        lead_0_obstacle = lead_0_obstacle + lead_0_bias
+        lead_1_obstacle = lead_1_obstacle + lead_1_bias
       x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle])
       self.source = SOURCES[np.argmin(x_obstacles[0])]
 

selfdrive/controls/lib/longitudinal_planner.py

@@ -12,6 +12,7 @@ from openpilot.starpilot.common.model_versions import is_tinygrad_model_version
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance
+from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import should_trigger_planner_fcw
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import STOP_DISTANCE
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
 from openpilot.selfdrive.controls.lib.lead_behavior import is_radarless_matched_follow_window
@@ -34,16 +35,24 @@ RAW_LEAD_SAFETY_TTC = 7.0
 RAW_LEAD_SAFETY_DISTANCE = 40.0
 STANDSTILL_LEAD_NUDGE_ACCEL = 0.05
 STANDSTILL_LEAD_NUDGE_MIN_SPEED = 0.0
-STANDSTILL_LEAD_DEPART_MIN_ACCEL = 0.20
+STANDSTILL_LEAD_DEPART_MIN_ACCEL = 0.35
 STANDSTILL_LEAD_DEPART_MAX_EGO_SPEED = 1.5
 STANDSTILL_LEAD_DEPART_MIN_LEAD_SPEED = 0.6
-STANDSTILL_LEAD_DEPART_MIN_GAP_MARGIN = 1.5
+STANDSTILL_LEAD_DEPART_MIN_GAP_MARGIN = 0.8
 STANDSTILL_LEAD_DEPART_MIN_MODEL_ACCEL = 0.08
 LEAD_DEPART_CONFIDENT_MIN_GAP = 3.75
 LEAD_DEPART_CONFIDENT_MAX_GAP = 5.25
-LEAD_DEPART_CONFIDENT_MIN_LEAD_SPEED = 0.5
-LEAD_DEPART_CONFIDENT_MIN_LEAD_DELTA = 0.45
-LEAD_DEPART_CONFIDENT_MIN_LEAD_ACCEL = 0.35
+LEAD_DEPART_CONFIDENT_MIN_LEAD_SPEED = 0.3
+LEAD_DEPART_CONFIDENT_MIN_LEAD_DELTA = 0.25
+LEAD_DEPART_CONFIDENT_MIN_LEAD_ACCEL = 0.2
+RADAR_DEPART_CONFLICT_MAX_EGO_SPEED = 1.6
+RADAR_DEPART_CONFLICT_MIN_RADAR_LATERAL = 1.5
+RADAR_DEPART_CONFLICT_MAX_RADAR_DISTANCE = 18.0
+RADAR_DEPART_CONFLICT_MIN_MODEL_PROB = 0.95
+RADAR_DEPART_CONFLICT_MAX_MODEL_DISTANCE = 18.0
+RADAR_DEPART_CONFLICT_MAX_MODEL_LATERAL = 0.9
+RADAR_DEPART_CONFLICT_MAX_MODEL_LEAD_SPEED = 2.0
+RADAR_DEPART_CONFLICT_MAX_DISTANCE_MISMATCH = 4.0
 LEAD_DEPART_ACCEL_HOLD_TIME = 1.2
 LEAD_DEPART_ACCEL_HOLD_MAX_EGO_SPEED = 1.5
 LEAD_DEPART_ACCEL_HOLD_MIN_LEAD_SPEED = 0.6
@@ -185,6 +194,17 @@ LOW_SPEED_FOLLOW_TRANSITION_PREV_ACCEL_MIN = 0.18
 LOW_SPEED_FOLLOW_TRANSITION_TARGET_BRAKE_MIN = -0.18
 LOW_SPEED_FOLLOW_TRANSITION_MAX_BRAKE = 0.14
 LOW_SPEED_FOLLOW_TRANSITION_MIN_BRAKE = 0.08
+CRUISE_TRACKED_LEAD_ACCEL_CAP_MIN_SPEED = 10.0
+CRUISE_TRACKED_LEAD_ACCEL_CAP_MAX_SPEED = 20.0
+CRUISE_TRACKED_LEAD_ACCEL_CAP_MIN_MODEL_PROB = 0.85
+CRUISE_TRACKED_LEAD_ACCEL_CAP_MAX_LEAD_BRAKE = 0.25
+CRUISE_TRACKED_LEAD_ACCEL_CAP_MAX_PULLAWAY_SPEED = 1.0
+CRUISE_TRACKED_LEAD_ACCEL_CAP_MAX_GAP_BUFFER_MIN = 12.0
+CRUISE_TRACKED_LEAD_ACCEL_CAP_MAX_GAP_BUFFER_GAIN = 0.9
+CRUISE_TRACKED_LEAD_ACCEL_CAP_MAX_LATERAL_OFFSET = 1.15
+CRUISE_TRACKED_LEAD_ACCEL_CAP_UNRESOLVED_MIN_CLOSING_SPEED = 1.5
+CRUISE_TRACKED_LEAD_ACCEL_CAP_UNRESOLVED_MAX_LEAD_DELTA = 0.25
+CRUISE_TRACKED_LEAD_ACCEL_CAP_MAX_ACCEL = 0.18
 
 # Uncertainty-based filter disable thresholds
 UNCERT_SLOPE_TRIG = 0.12  # per second
@@ -224,6 +244,44 @@ FAR_LEAD_COMFORT_BRAKE_CAP_FULL_HEADWAY_MARGIN = 1.00
 FAR_LEAD_COMFORT_BRAKE_CAP_MIN_DECEL = 0.05
 FAR_LEAD_COMFORT_BRAKE_CAP_MAX_DECEL = 0.18
 FAR_LEAD_COMFORT_BRAKE_CAP_FULL_RELAX_DECEL = 0.05
+MATCHED_FOLLOW_TRANSITION_MIN_SPEED = 20.0
+MATCHED_FOLLOW_TRANSITION_MIN_HEADWAY_MARGIN = 0.25
+MATCHED_FOLLOW_TRANSITION_FULL_HEADWAY_MARGIN = 0.75
+MATCHED_FOLLOW_TRANSITION_MIN_MODEL_PROB = 0.9
+MATCHED_FOLLOW_TRANSITION_MAX_LEAD_BRAKE = 0.18
+MATCHED_FOLLOW_TRANSITION_MAX_CLOSING_SPEED = 1.75
+MATCHED_FOLLOW_TRANSITION_MIN_TTC = 12.0
+MATCHED_FOLLOW_TRANSITION_MIN_POSITIVE_STEP = 0.08
+MATCHED_FOLLOW_TRANSITION_MAX_POSITIVE_STEP = 0.18
+MATCHED_FOLLOW_TRANSITION_MIN_NEGATIVE_STEP = 0.08
+MATCHED_FOLLOW_TRANSITION_MAX_NEGATIVE_STEP = 0.16
+MATCHED_FOLLOW_TRANSITION_SIGN_CROSS_STEP = 0.10
+LOW_SPEED_MATCHED_FOLLOW_TRANSITION_MIN_SPEED = 10.0
+LOW_SPEED_MATCHED_FOLLOW_TRANSITION_MAX_SPEED = MATCHED_FOLLOW_TRANSITION_MIN_SPEED
+LOW_SPEED_MATCHED_FOLLOW_TRANSITION_MIN_HEADWAY_MARGIN = 0.45
+LOW_SPEED_MATCHED_FOLLOW_TRANSITION_FULL_HEADWAY_MARGIN = 1.00
+LOW_SPEED_MATCHED_FOLLOW_TRANSITION_MIN_MODEL_PROB = 0.98
+LOW_SPEED_MATCHED_FOLLOW_TRANSITION_MAX_LEAD_BRAKE = 0.08
+LOW_SPEED_MATCHED_FOLLOW_TRANSITION_MAX_CLOSING_SPEED = 1.25
+LOW_SPEED_MATCHED_FOLLOW_TRANSITION_MIN_TTC = 18.0
+LOW_SPEED_MATCHED_FOLLOW_TRANSITION_MIN_POSITIVE_STEP = 0.06
+LOW_SPEED_MATCHED_FOLLOW_TRANSITION_MAX_POSITIVE_STEP = 0.10
+LOW_SPEED_MATCHED_FOLLOW_TRANSITION_MIN_NEGATIVE_STEP = 0.05
+LOW_SPEED_MATCHED_FOLLOW_TRANSITION_MAX_NEGATIVE_STEP = 0.08
+LOW_SPEED_MATCHED_FOLLOW_TRANSITION_SIGN_CROSS_STEP = 0.06
+LOW_SPEED_MATCHED_FOLLOW_TRANSITION_MIN_TARGET = -0.12
+LOW_SPEED_MATCHED_FOLLOW_TRANSITION_MIN_DELTA_A = 0.12
+NEAR_DUPLICATE_LEAD_TRANSITION_MIN_SPEED = 20.0
+NEAR_DUPLICATE_LEAD_TRANSITION_MIN_MODEL_PROB = 0.95
+NEAR_DUPLICATE_LEAD_TRANSITION_MAX_LEAD_BRAKE = 0.35
+NEAR_DUPLICATE_LEAD_TRANSITION_MAX_CLOSING_SPEED = 3.5
+NEAR_DUPLICATE_LEAD_TRANSITION_MIN_TTC = 8.0
+NEAR_DUPLICATE_LEAD_TRANSITION_MIN_HEADWAY_BELOW_TARGET = 0.45
+NEAR_DUPLICATE_LEAD_TRANSITION_MAX_HEADWAY_ABOVE_TARGET = 0.85
+NEAR_DUPLICATE_LEAD_TRANSITION_MIN_DELTA_A = 0.35
+NEAR_DUPLICATE_LEAD_TRANSITION_POSITIVE_STEP = 0.22
+NEAR_DUPLICATE_LEAD_TRANSITION_NEGATIVE_STEP = 0.32
+NEAR_DUPLICATE_LEAD_TRANSITION_SIGN_CROSS_STEP = 0.18
 TRACKED_VISION_MODEL_FLOOR_MIN_SPEED = 10.0
 TRACKED_VISION_MODEL_FLOOR_MIN_MODEL_PROB = 0.95
 TRACKED_VISION_MODEL_FLOOR_MIN_MODEL_DECEL = 0.80
@@ -295,6 +353,14 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
   return [a_target[0], min(a_target[1], a_x_allowed)]
 
 
+def should_publish_planner_fcw(crash_cnt: int, car_state, radar_state) -> bool:
+  return (
+    crash_cnt > 2 and
+    not car_state.standstill and
+    should_trigger_planner_fcw(radar_state.leadOne, float(car_state.vEgo))
+  )
+
+
 def get_vehicle_min_accel(CP, v_ego):
   # Planner-side physical decel capability estimate for GM pedal-long paths.
   if getattr(CP, "carName", "") == "gm" and getattr(CP, "enableGasInterceptorDEPRECATED", False):
@@ -913,11 +979,8 @@ class LongitudinalPlanner:
       return False
 
     lead_radar = bool(getattr(lead, "radar", False))
-    if lead_radar:
-      return False
-
-    lead_prob = float(getattr(lead, "modelProb", 0.0))
-    if lead_prob < LEAD_DEPART_ACCEL_HOLD_MIN_MODEL_PROB:
+    lead_prob = float(getattr(lead, "modelProb", 1.0 if lead_radar else 0.0))
+    if not lead_radar and lead_prob < LEAD_DEPART_ACCEL_HOLD_MIN_MODEL_PROB:
       return False
 
     lead_speed = max(float(lead.vLead), 0.0)
@@ -931,6 +994,63 @@ class LongitudinalPlanner:
       lead_accel >= LEAD_DEPART_CONFIDENT_MIN_LEAD_ACCEL
     )
 
+  @staticmethod
+  def get_centered_model_lead(model_data):
+    try:
+      leads = model_data.leadsV3
+    except Exception:
+      return None
+
+    best_candidate = None
+    for i in range(3):
+      try:
+        lead = leads[i]
+        prob = float(lead.prob)
+        x = float(lead.x[0])
+        y = float(lead.y[0])
+        v = float(lead.v[0])
+      except Exception:
+        continue
+
+      if (
+        prob < RADAR_DEPART_CONFLICT_MIN_MODEL_PROB or
+        x <= 0.0 or
+        x > RADAR_DEPART_CONFLICT_MAX_MODEL_DISTANCE or
+        abs(y) > RADAR_DEPART_CONFLICT_MAX_MODEL_LATERAL or
+        max(v, 0.0) > RADAR_DEPART_CONFLICT_MAX_MODEL_LEAD_SPEED
+      ):
+        continue
+
+      if best_candidate is None or x < best_candidate[0]:
+        best_candidate = (x, y, v, prob)
+
+    return best_candidate
+
+  def has_offcenter_radar_depart_conflict(self, sm):
+    if float(getattr(sm["carState"], "vEgo", 0.0)) > RADAR_DEPART_CONFLICT_MAX_EGO_SPEED:
+      return False
+
+    centered_model_lead = self.get_centered_model_lead(sm["modelV2"])
+    if centered_model_lead is None:
+      return False
+
+    centered_model_dist = float(centered_model_lead[0])
+    for lead in (self.lead_one, self.lead_two):
+      if not lead.status or not bool(getattr(lead, "radar", False)):
+        continue
+
+      lead_dist = float(getattr(lead, "dRel", 0.0))
+      if lead_dist <= 0.0 or lead_dist > RADAR_DEPART_CONFLICT_MAX_RADAR_DISTANCE:
+        continue
+      if abs(float(getattr(lead, "yRel", 0.0))) < RADAR_DEPART_CONFLICT_MIN_RADAR_LATERAL:
+        continue
+      if abs(lead_dist - centered_model_dist) > RADAR_DEPART_CONFLICT_MAX_DISTANCE_MISMATCH:
+        continue
+
+      return True
+
+    return False
+
   def get_lead_depart_accel_floor(self, lead, v_ego, model_desired_accel):
     if lead is None or not lead.status:
       return None
@@ -1045,6 +1165,61 @@ class LongitudinalPlanner:
     ))
     return -cap_decel
 
+  def get_cruise_tracking_lead_accel_cap(self, lead, v_ego, t_follow, current_source, tracking_lead_active):
+    if lead is None or not lead.status or current_source != "cruise":
+      return None
+    if not (CRUISE_TRACKED_LEAD_ACCEL_CAP_MIN_SPEED <= float(v_ego) <= CRUISE_TRACKED_LEAD_ACCEL_CAP_MAX_SPEED):
+      return None
+
+    lead_prob = float(getattr(lead, "modelProb", 1.0 if bool(getattr(lead, "radar", False)) else 0.0))
+    if not bool(getattr(lead, "radar", False)) and lead_prob < CRUISE_TRACKED_LEAD_ACCEL_CAP_MIN_MODEL_PROB:
+      return None
+
+    lead_brake = max(0.0, -float(getattr(lead, "aLeadK", 0.0)))
+    if lead_brake > CRUISE_TRACKED_LEAD_ACCEL_CAP_MAX_LEAD_BRAKE:
+      return None
+
+    if abs(float(getattr(lead, "yRel", 0.0))) > CRUISE_TRACKED_LEAD_ACCEL_CAP_MAX_LATERAL_OFFSET:
+      return None
+
+    lead_delta = float(lead.vLead) - float(v_ego)
+    if lead_delta > CRUISE_TRACKED_LEAD_ACCEL_CAP_MAX_PULLAWAY_SPEED:
+      return None
+
+    closing_speed = max(float(v_ego) - float(lead.vLead), 0.0)
+    raw_close_lead = self.raw_close_lead_needs_control(lead, v_ego)
+    unresolved_slow_lead = (
+      closing_speed >= CRUISE_TRACKED_LEAD_ACCEL_CAP_UNRESOLVED_MIN_CLOSING_SPEED and
+      lead_delta <= CRUISE_TRACKED_LEAD_ACCEL_CAP_UNRESOLVED_MAX_LEAD_DELTA
+    )
+    if not tracking_lead_active and not raw_close_lead and not unresolved_slow_lead:
+      return None
+
+    desired_gap = float(desired_follow_distance(v_ego, lead.vLead, t_follow))
+    gap_error = float(lead.dRel) - desired_gap
+    gap_buffer = max(CRUISE_TRACKED_LEAD_ACCEL_CAP_MAX_GAP_BUFFER_MIN,
+                     CRUISE_TRACKED_LEAD_ACCEL_CAP_MAX_GAP_BUFFER_GAIN * float(v_ego))
+    if gap_error > gap_buffer:
+      return None
+
+    base_cap = float(np.interp(
+      lead_delta,
+      [-1.5, -0.5, 0.0, 0.5, CRUISE_TRACKED_LEAD_ACCEL_CAP_MAX_PULLAWAY_SPEED],
+      [0.0, 0.04, 0.08, 0.12, 0.16],
+    ))
+
+    if raw_close_lead:
+      base_cap = min(base_cap, float(np.interp(closing_speed, [0.5, 1.5, 3.5], [0.10, 0.05, 0.0])))
+    else:
+      base_cap = min(base_cap, float(np.interp(closing_speed, [0.0, 1.0, 2.0], [0.18, 0.12, 0.06])))
+
+    if gap_error <= 0.0:
+      return max(0.0, base_cap)
+
+    gap_factor = float(np.clip(gap_error / max(gap_buffer, 0.1), 0.0, 1.0))
+    cap = min(CRUISE_TRACKED_LEAD_ACCEL_CAP_MAX_ACCEL, base_cap + 0.06 * gap_factor)
+    return max(0.0, cap)
+
   def lead_is_matched_follow_window(self, lead, v_ego, base_t_follow):
     if lead is None or not lead.status or v_ego < STEADY_FOLLOW_SMOOTHING_MIN_SPEED:
       return False
@@ -1086,17 +1261,15 @@ class LongitudinalPlanner:
       return self.lead_two
     return None
 
-  def get_follow_control_lead(self, lead_control_active, v_ego, t_follow):
-    matched_follow_lead = self.get_matched_follow_control_lead(v_ego, t_follow)
-    if matched_follow_lead is not None:
-      return matched_follow_lead
+  def get_follow_control_lead(self, lead_control_active, v_ego, t_follow, *, allow_optional_far_lead_logic=True):
+    if allow_optional_far_lead_logic:
+      matched_follow_lead = self.get_matched_follow_control_lead(v_ego, t_follow)
+      if matched_follow_lead is not None:
+        return matched_follow_lead
 
     if not lead_control_active:
       return None
 
-    if self.mpc.source == 'lead1' and self.lead_is_matched_follow_window(self.lead_two, v_ego, t_follow):
-      return self.lead_two
-
     if self.lead_one.status:
       return self.lead_one
     if self.lead_two.status:
@@ -1188,6 +1361,150 @@ class LongitudinalPlanner:
     ))
     return -max(0.0, cap_decel - relax_decel)
 
+  def get_matched_follow_transition_target(self, lead, v_ego, base_t_follow, prev_output_a_target, output_a_target,
+                                           current_source, tracking_lead_active):
+    if lead is None or not lead.status:
+      return None
+    low_speed_extension_active = (
+      bool(tracking_lead_active) and
+      current_source == "cruise" and
+      LOW_SPEED_MATCHED_FOLLOW_TRANSITION_MIN_SPEED <= float(v_ego) < LOW_SPEED_MATCHED_FOLLOW_TRANSITION_MAX_SPEED
+    )
+    if float(v_ego) < MATCHED_FOLLOW_TRANSITION_MIN_SPEED and not low_speed_extension_active:
+      return None
+
+    lead_prob = float(getattr(lead, "modelProb", 0.0))
+    min_model_prob = LOW_SPEED_MATCHED_FOLLOW_TRANSITION_MIN_MODEL_PROB if low_speed_extension_active else MATCHED_FOLLOW_TRANSITION_MIN_MODEL_PROB
+    if lead_prob < min_model_prob:
+      return None
+
+    lead_brake = max(0.0, -float(getattr(lead, "aLeadK", 0.0)))
+    max_lead_brake = LOW_SPEED_MATCHED_FOLLOW_TRANSITION_MAX_LEAD_BRAKE if low_speed_extension_active else MATCHED_FOLLOW_TRANSITION_MAX_LEAD_BRAKE
+    if lead_brake > max_lead_brake:
+      return None
+
+    relative_speed = float(v_ego) - float(lead.vLead)
+    if not (STEADY_FOLLOW_BRAKE_CAP_MIN_REL_SPEED <= relative_speed <= STEADY_FOLLOW_SMOOTHING_MAX_CLOSING_SPEED):
+      return None
+
+    closing_speed = max(0.0, relative_speed)
+    max_closing_speed = LOW_SPEED_MATCHED_FOLLOW_TRANSITION_MAX_CLOSING_SPEED if low_speed_extension_active else MATCHED_FOLLOW_TRANSITION_MAX_CLOSING_SPEED
+    if closing_speed > max_closing_speed:
+      return None
+
+    ttc = float(lead.dRel) / max(closing_speed, 0.1) if closing_speed > 0.1 else float("inf")
+    min_ttc = LOW_SPEED_MATCHED_FOLLOW_TRANSITION_MIN_TTC if low_speed_extension_active else MATCHED_FOLLOW_TRANSITION_MIN_TTC
+    if ttc < min_ttc:
+      return None
+
+    actual_headway = float(lead.dRel) / max(float(v_ego), 1e-3)
+    headway_margin = actual_headway - float(base_t_follow)
+    min_headway_margin = LOW_SPEED_MATCHED_FOLLOW_TRANSITION_MIN_HEADWAY_MARGIN if low_speed_extension_active else MATCHED_FOLLOW_TRANSITION_MIN_HEADWAY_MARGIN
+    full_headway_margin = LOW_SPEED_MATCHED_FOLLOW_TRANSITION_FULL_HEADWAY_MARGIN if low_speed_extension_active else MATCHED_FOLLOW_TRANSITION_FULL_HEADWAY_MARGIN
+    if headway_margin < min_headway_margin:
+      return None
+    if actual_headway > float(base_t_follow) + STEADY_FOLLOW_BRAKE_CAP_MAX_HEADWAY_ABOVE_TARGET:
+      return None
+
+    target_delta = float(output_a_target) - float(prev_output_a_target)
+    if low_speed_extension_active:
+      if float(prev_output_a_target) < LOW_SPEED_MATCHED_FOLLOW_TRANSITION_MIN_TARGET:
+        return None
+      if float(output_a_target) < LOW_SPEED_MATCHED_FOLLOW_TRANSITION_MIN_TARGET:
+        return None
+      if abs(target_delta) < LOW_SPEED_MATCHED_FOLLOW_TRANSITION_MIN_DELTA_A:
+        return None
+    elif abs(target_delta) < 1e-3:
+      return None
+
+    headway_factor = float(np.clip(
+      (headway_margin - min_headway_margin) /
+      max(full_headway_margin - min_headway_margin, 1e-3),
+      0.0,
+      1.0,
+    ))
+
+    min_positive_step = LOW_SPEED_MATCHED_FOLLOW_TRANSITION_MIN_POSITIVE_STEP if low_speed_extension_active else MATCHED_FOLLOW_TRANSITION_MIN_POSITIVE_STEP
+    max_positive_step = LOW_SPEED_MATCHED_FOLLOW_TRANSITION_MAX_POSITIVE_STEP if low_speed_extension_active else MATCHED_FOLLOW_TRANSITION_MAX_POSITIVE_STEP
+    positive_step = float(np.interp(
+      max(float(lead.vLead) - float(v_ego), 0.0),
+      [0.0, 1.0],
+      [min_positive_step, max_positive_step],
+    ))
+    min_negative_step = LOW_SPEED_MATCHED_FOLLOW_TRANSITION_MIN_NEGATIVE_STEP if low_speed_extension_active else MATCHED_FOLLOW_TRANSITION_MIN_NEGATIVE_STEP
+    max_negative_step = LOW_SPEED_MATCHED_FOLLOW_TRANSITION_MAX_NEGATIVE_STEP if low_speed_extension_active else MATCHED_FOLLOW_TRANSITION_MAX_NEGATIVE_STEP
+    negative_step = float(np.interp(
+      closing_speed,
+      [0.0, max_closing_speed],
+      [min_negative_step, max_negative_step],
+    ))
+
+    # The more space we still have, the less abrupt the comfort path should be.
+    positive_step = float(np.interp(headway_factor, [0.0, 1.0], [positive_step, min_positive_step]))
+    negative_step = float(np.interp(headway_factor, [0.0, 1.0], [negative_step, min_negative_step]))
+
+    if float(prev_output_a_target) * float(output_a_target) < 0.0:
+      sign_cross_step = LOW_SPEED_MATCHED_FOLLOW_TRANSITION_SIGN_CROSS_STEP if low_speed_extension_active else MATCHED_FOLLOW_TRANSITION_SIGN_CROSS_STEP
+      positive_step = min(positive_step, sign_cross_step)
+      negative_step = min(negative_step, sign_cross_step)
+
+    lower = float(prev_output_a_target) - negative_step
+    upper = float(prev_output_a_target) + positive_step
+    smoothed_target = float(np.clip(output_a_target, lower, upper))
+    return smoothed_target if abs(smoothed_target - float(output_a_target)) > 1e-6 else None
+
+  def get_near_duplicate_lead_transition_target(self, lead, v_ego, base_t_follow,
+                                                prev_output_a_target, output_a_target,
+                                                current_source, tracking_lead_active):
+    if lead is None or not lead.status:
+      return None
+    if current_source not in ("lead0", "lead1") and not tracking_lead_active:
+      return None
+    if not (self.lead_one.status and self.lead_two.status):
+      return None
+    if not self.mpc.leads_are_near_duplicates(self.lead_one, self.lead_two, v_ego):
+      return None
+    if float(v_ego) < NEAR_DUPLICATE_LEAD_TRANSITION_MIN_SPEED:
+      return None
+
+    lead_prob = float(getattr(lead, "modelProb", 0.0))
+    if bool(getattr(lead, "radar", False)) or lead_prob < NEAR_DUPLICATE_LEAD_TRANSITION_MIN_MODEL_PROB:
+      return None
+
+    lead_brake = max(0.0, -float(getattr(lead, "aLeadK", 0.0)))
+    if lead_brake > NEAR_DUPLICATE_LEAD_TRANSITION_MAX_LEAD_BRAKE:
+      return None
+
+    relative_speed = float(v_ego) - float(lead.vLead)
+    closing_speed = max(0.0, relative_speed)
+    if closing_speed > NEAR_DUPLICATE_LEAD_TRANSITION_MAX_CLOSING_SPEED:
+      return None
+
+    ttc = float(lead.dRel) / max(closing_speed, 0.1) if closing_speed > 0.1 else float("inf")
+    if ttc < NEAR_DUPLICATE_LEAD_TRANSITION_MIN_TTC:
+      return None
+
+    actual_headway = float(lead.dRel) / max(float(v_ego), 1e-3)
+    if actual_headway < max(0.0, float(base_t_follow) - NEAR_DUPLICATE_LEAD_TRANSITION_MIN_HEADWAY_BELOW_TARGET):
+      return None
+    if actual_headway > float(base_t_follow) + NEAR_DUPLICATE_LEAD_TRANSITION_MAX_HEADWAY_ABOVE_TARGET:
+      return None
+
+    target_delta = float(output_a_target) - float(prev_output_a_target)
+    if abs(target_delta) < NEAR_DUPLICATE_LEAD_TRANSITION_MIN_DELTA_A:
+      return None
+
+    positive_step = NEAR_DUPLICATE_LEAD_TRANSITION_POSITIVE_STEP
+    negative_step = NEAR_DUPLICATE_LEAD_TRANSITION_NEGATIVE_STEP
+    if float(prev_output_a_target) * float(output_a_target) < 0.0:
+      positive_step = min(positive_step, NEAR_DUPLICATE_LEAD_TRANSITION_SIGN_CROSS_STEP)
+      negative_step = min(negative_step, NEAR_DUPLICATE_LEAD_TRANSITION_SIGN_CROSS_STEP)
+
+    lower = float(prev_output_a_target) - negative_step
+    upper = float(prev_output_a_target) + positive_step
+    smoothed_target = float(np.clip(output_a_target, lower, upper))
+    return smoothed_target if abs(smoothed_target - float(output_a_target)) > 1e-6 else None
+
   def get_tracked_vision_model_brake_floor(self, lead, v_ego, accel_min, t_follow, model_desired):
     if lead is None or not lead.status or bool(getattr(lead, "radar", False)):
       return None
@@ -1560,9 +1877,11 @@ class LongitudinalPlanner:
     dec_mpc_mode = self.get_mpc_mode()
     if not self.mlsim:
       self.mpc.mode = dec_mpc_mode
+    optional_far_lead_comfort = getattr(starpilot_toggles, "coast_up_to_leads", True)
     self.mpc.update(sm['radarState'], v_cruise, x, v, a, j,
                     sm['starpilotPlan'].dangerFactor, effective_t_follow,
-                    personality=personality, tracking_lead=lead_control_active)
+                    personality=personality, tracking_lead=lead_control_active,
+                    optional_far_lead_comfort=optional_far_lead_comfort)
 
     self.a_desired_trajectory_full = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)
     self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
@@ -1570,7 +1889,7 @@ class LongitudinalPlanner:
     self.j_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC[:-1], self.mpc.j_solution)
 
     # TODO counter is only needed because radar is glitchy, remove once radar is gone
-    self.fcw = self.mpc.crash_cnt > 2 and not sm['carState'].standstill
+    self.fcw = should_publish_planner_fcw(self.mpc.crash_cnt, sm['carState'], sm['radarState'])
     if self.fcw:
       cloudlog.info("FCW triggered")
 
@@ -1715,7 +2034,8 @@ class LongitudinalPlanner:
 
     standstill_nudge_gap = max(float(getattr(starpilot_toggles, "stop_distance", STOP_DISTANCE)), STOP_DISTANCE) - 0.5
     moving_leads = [lead for lead in (self.lead_one, self.lead_two)
-                    if lead.status and lead.vLead > STANDSTILL_LEAD_NUDGE_MIN_SPEED and lead.dRel >= standstill_nudge_gap]
+                    if lead.status and
+                    lead.vLead > STANDSTILL_LEAD_NUDGE_MIN_SPEED and lead.dRel >= standstill_nudge_gap]
     confident_depart_ready = any(self.is_confident_lead_depart(lead, float(sm['carState'].vEgo))
                                  for lead in (self.lead_one, self.lead_two))
     lead_depart_ready = any(
@@ -1724,14 +2044,17 @@ class LongitudinalPlanner:
       lead.dRel >= standstill_nudge_gap + STANDSTILL_LEAD_DEPART_MIN_GAP_MARGIN
       for lead in (self.lead_one, self.lead_two)
     )
+    depart_safety_veto = (not bool(getattr(starpilot_toggles, "radar_takeoffs", False))
+                          and self.has_offcenter_radar_depart_conflict(sm))
 
-    if lead_control_active and sm['carState'].standstill and moving_leads:
+    if lead_control_active and sm['carState'].standstill and moving_leads and not depart_safety_veto:
       output_a_target = max(output_a_target, STANDSTILL_LEAD_NUDGE_ACCEL)
 
     if (
       lead_control_active and
       sm['carState'].standstill and
       (confident_depart_ready or lead_depart_ready) and
+      not depart_safety_veto and
       not bool(getattr(sm['starpilotPlan'], 'forcingStop', False)) and
       not bool(getattr(sm['starpilotPlan'], 'redLight', False)) and
       (confident_depart_ready or model_desired_accel >= STANDSTILL_LEAD_DEPART_MIN_MODEL_ACCEL)
@@ -1740,14 +2063,14 @@ class LongitudinalPlanner:
       output_should_stop = False
       output_a_target = max(output_a_target, STANDSTILL_LEAD_DEPART_MIN_ACCEL)
 
-    if lead_control_active and lead_depart_ready and not output_should_stop and float(sm['carState'].vEgo) <= STANDSTILL_LEAD_DEPART_MAX_EGO_SPEED:
+    if lead_control_active and lead_depart_ready and not depart_safety_veto and not output_should_stop and float(sm['carState'].vEgo) <= STANDSTILL_LEAD_DEPART_MAX_EGO_SPEED:
       output_a_target = max(output_a_target, STANDSTILL_LEAD_DEPART_MIN_ACCEL)
 
-    if output_should_stop or bool(getattr(sm['starpilotPlan'], 'forcingStop', False)) or bool(getattr(sm['starpilotPlan'], 'redLight', False)):
+    if depart_safety_veto or output_should_stop or bool(getattr(sm['starpilotPlan'], 'forcingStop', False)) or bool(getattr(sm['starpilotPlan'], 'redLight', False)):
       self.lead_depart_accel_hold_until = 0.0
 
     lead_depart_accel_floor = None
-    if lead_control_active and not output_should_stop:
+    if lead_control_active and not output_should_stop and not depart_safety_veto:
       lead_depart_accel_floors = [
         floor for floor in (
           self.get_lead_depart_accel_floor(self.lead_one, scene_v_ego, model_desired_accel),
@@ -1831,7 +2154,12 @@ class LongitudinalPlanner:
     if vision_brake_cap_active:
       output_accel_min = min(output_accel_min, vision_cap_accel_min)
 
-    follow_control_lead = self.get_follow_control_lead(lead_control_active, scene_v_ego, effective_t_follow)
+    follow_control_lead = self.get_follow_control_lead(
+      lead_control_active,
+      scene_v_ego,
+      effective_t_follow,
+      allow_optional_far_lead_logic=optional_far_lead_comfort,
+    )
     if follow_control_lead is not None and not panic_bypass:
       if not output_should_stop and not vision_low_speed_stop_active:
         tracked_vision_model_brake_floor = self.get_tracked_vision_model_brake_floor(
@@ -1845,10 +2173,11 @@ class LongitudinalPlanner:
           self.a_desired = min(self.a_desired, tracked_vision_model_brake_floor)
           output_a_target = min(output_a_target, tracked_vision_model_brake_floor)
 
-      matched_follow_brake_cap = self.get_matched_follow_brake_cap(follow_control_lead, scene_v_ego, effective_t_follow)
-      if matched_follow_brake_cap is not None:
-        self.a_desired = max(self.a_desired, matched_follow_brake_cap)
-        output_a_target = max(output_a_target, matched_follow_brake_cap)
+      if optional_far_lead_comfort:
+        matched_follow_brake_cap = self.get_matched_follow_brake_cap(follow_control_lead, scene_v_ego, effective_t_follow)
+        if matched_follow_brake_cap is not None:
+          self.a_desired = max(self.a_desired, matched_follow_brake_cap)
+          output_a_target = max(output_a_target, matched_follow_brake_cap)
 
       if not close_lead_caps and not output_should_stop and not vision_low_speed_stop_active:
         low_speed_transition_brake_cap = self.get_low_speed_follow_transition_brake_cap(
@@ -1863,7 +2192,7 @@ class LongitudinalPlanner:
           output_a_target = max(output_a_target, low_speed_transition_brake_cap)
 
     comfort_lead = self.lead_two if self.mpc.source == 'lead1' and self.lead_two.status else self.lead_one
-    if comfort_lead is not None and not panic_bypass:
+    if optional_far_lead_comfort and comfort_lead is not None and not panic_bypass:
       far_lead_brake_cap = self.get_far_lead_brake_cap(comfort_lead, scene_v_ego, effective_t_follow)
       if far_lead_brake_cap is not None:
         self.a_desired = max(self.a_desired, far_lead_brake_cap)
@@ -1880,6 +2209,52 @@ class LongitudinalPlanner:
         self.a_desired = max(self.a_desired, tracked_vision_model_brake_cap)
         output_a_target = max(output_a_target, tracked_vision_model_brake_cap)
 
+    if optional_far_lead_comfort and follow_control_lead is not None and not panic_bypass and not output_should_stop and not vision_low_speed_stop_active:
+      matched_follow_transition_target = self.get_matched_follow_transition_target(
+        follow_control_lead,
+        scene_v_ego,
+        effective_t_follow,
+        prev_output_a_target,
+        output_a_target,
+        self.mpc.source,
+        bool(getattr(sm["starpilotPlan"], "trackingLead", False)),
+      )
+      if matched_follow_transition_target is not None:
+        if matched_follow_transition_target < output_a_target:
+          self.a_desired = min(self.a_desired, matched_follow_transition_target)
+        else:
+          self.a_desired = max(self.a_desired, matched_follow_transition_target)
+        output_a_target = matched_follow_transition_target
+
+    if optional_far_lead_comfort and comfort_lead is not None and not panic_bypass and not output_should_stop and not vision_low_speed_stop_active:
+      near_duplicate_transition_target = self.get_near_duplicate_lead_transition_target(
+        comfort_lead,
+        scene_v_ego,
+        effective_t_follow,
+        prev_output_a_target,
+        output_a_target,
+        self.mpc.source,
+        bool(getattr(sm["starpilotPlan"], "trackingLead", False)),
+      )
+      if near_duplicate_transition_target is not None:
+        if near_duplicate_transition_target < output_a_target:
+          self.a_desired = min(self.a_desired, near_duplicate_transition_target)
+        else:
+          self.a_desired = max(self.a_desired, near_duplicate_transition_target)
+        output_a_target = near_duplicate_transition_target
+
+    if follow_control_lead is not None and not panic_bypass and not output_should_stop and not vision_low_speed_stop_active:
+      cruise_tracking_lead_accel_cap = self.get_cruise_tracking_lead_accel_cap(
+        follow_control_lead,
+        scene_v_ego,
+        effective_t_follow,
+        self.mpc.source,
+        tracking_lead,
+      )
+      if cruise_tracking_lead_accel_cap is not None:
+        self.a_desired = min(self.a_desired, cruise_tracking_lead_accel_cap)
+        output_a_target = min(output_a_target, cruise_tracking_lead_accel_cap)
+
     output_accel_max = no_throttle_output_max if not self.allow_throttle else accel_limits_turns[1]
     output_a_target = float(np.clip(output_a_target, output_accel_min, output_accel_max))
 
@@ -1899,6 +2274,12 @@ class LongitudinalPlanner:
       self.a_desired = min(self.a_desired, close_release_hold_cap)
       output_a_target = min(output_a_target, close_release_hold_cap)
 
+    if depart_safety_veto:
+      self.a_desired = min(self.a_desired, 0.0)
+      output_a_target = min(output_a_target, 0.0)
+      if sm['carState'].standstill:
+        output_should_stop = True
+
     if lead_depart_accel_hold_active:
       output_a_target = max(output_a_target, lead_depart_accel_floor)
 

selfdrive/controls/radard.py

@@ -27,6 +27,8 @@ V_EGO_STATIONARY = 4.   # no stationary object flag below this speed
 
 RADAR_TO_CENTER = 2.7   # (deprecated) RADAR is ~ 2.7m ahead from center of car
 RADAR_TO_CAMERA = 1.52  # RADAR is ~ 1.5m ahead from center of mesh frame
+G90_RADAR_LOW_SPEED_MAX_DIST = 12.0
+G90_RADAR_LOW_SPEED_MAX_Y = 0.6
 
 
 class KalmanParams:
@@ -127,7 +129,21 @@ def laplacian_pdf(x: float, mu: float, b: float):
   return math.exp(-abs(x-mu)/b)
 
 
-def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, model_data: capnp._DynamicStructReader, tracks: dict[int, Track], starpilot_toggles: SimpleNamespace):
+def g90_radar_lead_lateral_sane(track: Track) -> bool:
+  # The G90 extended radar channels can report close side ghosts in tight turns.
+  # Keep the gate tight at close range, then widen gradually with distance.
+  max_y = min(6.0, 1.5 + 0.08 * max(track.dRel, 0.0))
+  return abs(track.yRel) <= max_y
+
+
+def g90_low_speed_radar_lead_sane(track: Track, v_ego: float) -> bool:
+  return (track.cnt >= 3 and v_ego < 3.0 and
+          0.75 < track.dRel < G90_RADAR_LOW_SPEED_MAX_DIST and
+          abs(track.yRel) < G90_RADAR_LOW_SPEED_MAX_Y)
+
+
+def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, model_data: capnp._DynamicStructReader, tracks: dict[int, Track],
+                          starpilot_toggles: SimpleNamespace, g90_radar_filter: bool = False):
   if model_data.meta.laneChangeState == LaneChangeState.laneChangeStarting and getattr(starpilot_toggles, "human_lane_changes", False):
     direction = model_data.meta.laneChangeDirection
     if direction == LaneChangeDirection.left:
@@ -135,6 +151,9 @@ def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, model_
     elif direction == LaneChangeDirection.right:
       tracks = {k: v for k, v in tracks.items() if v.yRel < 0}
 
+  if g90_radar_filter:
+    tracks = {k: v for k, v in tracks.items() if g90_radar_lead_lateral_sane(v)}
+
   if not tracks:
     return None
 
@@ -180,12 +199,12 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
 def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capnp._DynamicStructReader,
              model_v_ego: float, model_data: capnp._DynamicStructReader, standstill: bool,
              starpilot_plan: capnp._DynamicStructReader, starpilot_toggles: SimpleNamespace,
-             low_speed_override: bool = True) -> dict[str, Any]:
+             low_speed_override: bool = True, g90_radar_filter: bool = False) -> dict[str, Any]:
   lead_detection_probability = float(getattr(starpilot_toggles, "lead_detection_probability", 0.35))
 
   # Determine leads, this is where the essential logic happens
   if len(tracks) > 0 and ready and lead_msg.prob > lead_detection_probability:
-    track = match_vision_to_track(v_ego, lead_msg, model_data, tracks, starpilot_toggles)
+    track = match_vision_to_track(v_ego, lead_msg, model_data, tracks, starpilot_toggles, g90_radar_filter)
   else:
     track = None
 
@@ -196,7 +215,10 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
     lead_dict = get_RadarState_from_vision(lead_msg, v_ego, model_v_ego)
 
   if low_speed_override:
-    low_speed_tracks = [c for c in tracks.values() if c.potential_low_speed_lead(v_ego)]
+    if g90_radar_filter:
+      low_speed_tracks = [c for c in tracks.values() if g90_low_speed_radar_lead_sane(c, v_ego)]
+    else:
+      low_speed_tracks = [c for c in tracks.values() if c.potential_low_speed_lead(v_ego)]
     if len(low_speed_tracks) > 0:
       closest_track = min(low_speed_tracks, key=lambda c: c.dRel)
 
@@ -225,11 +247,12 @@ def get_adjacent_lead(tracks: dict[int, Track], standstill: bool, model_data: ca
 
 
 class RadarD:
-  def __init__(self, radar_ts: float = DT_MDL, delay: float = 0.0):
+  def __init__(self, radar_ts: float = DT_MDL, delay: float = 0.0, g90_radar_filter: bool = False):
     self.current_time = 0.0
 
     self.tracks: dict[int, Track] = {}
     self.kalman_params = KalmanParams(radar_ts)
+    self.g90_radar_filter = g90_radar_filter
 
     self.v_ego = 0.0
     self.v_ego_hist = deque([0.0], maxlen=int(round(delay / DT_MDL)) + 1)
@@ -286,9 +309,11 @@ class RadarD:
     leads_v3 = sm['modelV2'].leadsV3
     if len(leads_v3) > 1:
       self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, sm['modelV2'],
-                                          sm['carState'].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)
       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)
+                                          sm['carState'].standstill, sm['starpilotPlan'], self.starpilot_toggles, low_speed_override=False,
+                                          g90_radar_filter=self.g90_radar_filter)
 
     if self.ready and (self.starpilot_toggles.adjacent_lead_tracking or self.starpilot_toggles.human_lane_changes):
       self.starpilot_radar_state.leadLeft = get_adjacent_lead(self.tracks, sm['carState'].standstill, sm['modelV2'], left=True)
@@ -328,7 +353,8 @@ def main() -> None:
   if not 0.01 < radar_ts < 0.2:
     radar_ts = DT_MDL
 
-  RD = RadarD(radar_ts=radar_ts, delay=CP.radarDelay)
+  g90_radar_filter = CP.brand == "hyundai" and CP.carFingerprint == "GENESIS_G90"
+  RD = RadarD(radar_ts=radar_ts, delay=CP.radarDelay, g90_radar_filter=g90_radar_filter)
 
   sm = sm.extend(['starpilotPlan'])
   pm = pm.extend(['starpilotRadarState'])

selfdrive/controls/tests/test_latcontrol.py

@@ -40,6 +40,12 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import (
   get_genesis_g90_friction_scale,
   get_genesis_g90_friction_threshold,
   get_elantra_non_scc_ff_scale,
+  get_palisade_ff_scale,
+  get_palisade_friction_scale,
+  get_palisade_friction_threshold,
+  get_prius_ff_scale,
+  get_prius_friction_scale,
+  get_prius_friction_threshold,
   get_ioniq_5_ff_scale,
   get_ioniq_5_friction_scale,
   get_ioniq_5_friction_threshold,
@@ -58,6 +64,8 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import (
   get_kia_ev6_ff_scale,
   get_kia_ev6_friction_scale,
   get_kia_ev6_friction_threshold,
+  get_sonata_center_taper_scale,
+  get_sonata_ff_scale,
   get_sonata_hybrid_center_taper_scale,
   get_sonata_hybrid_ff_scale,
   get_volt_standard_center_taper_scale,
@@ -240,6 +248,26 @@ class TestLatControl:
     assert get_sonata_hybrid_center_taper_scale(0.0, 3.0) < get_sonata_hybrid_center_taper_scale(0.0, 10.0)
     assert get_sonata_hybrid_center_taper_scale(0.0, 30.0) < get_sonata_hybrid_center_taper_scale(0.20, 30.0) <= 1.0
 
+  def test_sonata_ff_scale_curve(self):
+    assert get_sonata_ff_scale(0.0, 0.0, 20.0) == 1.0
+    steady_left = get_sonata_ff_scale(0.45, 0.0, 8.0)
+    steady_right = get_sonata_ff_scale(-0.45, 0.0, 8.0)
+    turn_in_left = get_sonata_ff_scale(0.45, 0.8, 8.0)
+    turn_in_right = get_sonata_ff_scale(-0.45, -0.8, 8.0)
+    unwind_left = get_sonata_ff_scale(0.45, -0.8, 8.0)
+    unwind_right = get_sonata_ff_scale(-0.45, 0.8, 8.0)
+    assert steady_left < 1.0
+    assert steady_right < steady_left
+    assert turn_in_left > steady_left
+    assert turn_in_right == pytest.approx(steady_right)
+    assert unwind_left < steady_left
+    assert unwind_right == pytest.approx(steady_right)
+
+  def test_sonata_center_taper_curve(self):
+    assert get_sonata_center_taper_scale(0.0, 30.0) < get_sonata_center_taper_scale(0.0, 15.0)
+    assert get_sonata_center_taper_scale(0.0, 3.0) < get_sonata_center_taper_scale(0.0, 10.0)
+    assert get_sonata_center_taper_scale(0.0, 30.0) < get_sonata_center_taper_scale(0.20, 30.0) <= 1.0
+
   def test_elantra_non_scc_ff_scale_curve(self):
     assert get_elantra_non_scc_ff_scale(0.0, 0.0, 20.0) == 1.0
     steady_left = get_elantra_non_scc_ff_scale(0.45, 0.0, 8.0)
@@ -268,10 +296,13 @@ class TestLatControl:
     assert steady_left < 1.0
     assert steady_right < steady_left
     assert turn_in_left > steady_left
-    assert turn_in_right == pytest.approx(steady_right)
+    assert turn_in_right > steady_right
     assert unwind_left < steady_left
     assert unwind_right < steady_right
     assert unwind_right > unwind_left
+    assert get_kia_forte_ff_scale(0.30, 0.60, 3.0) > get_kia_forte_ff_scale(0.30, 0.60, 6.0)
+    assert get_kia_forte_ff_scale(0.30, 0.60, 6.0) > get_kia_forte_ff_scale(0.30, 0.60, 12.0)
+    assert get_kia_forte_ff_scale(0.30, -0.60, 3.0) < get_kia_forte_ff_scale(0.30, 0.60, 3.0)
 
   def test_kia_forte_center_taper_curve(self):
     assert get_kia_forte_center_taper_scale(0.0, 30.0) < get_kia_forte_center_taper_scale(0.0, 15.0)
@@ -305,6 +336,74 @@ class TestLatControl:
     assert left_turn_in > right_turn_in > base
     assert base > left_unwind > right_unwind
 
+  def test_palisade_ff_scale_curve(self):
+    assert get_palisade_ff_scale(0.0, 0.0, 20.0) == 1.0
+    steady_left = get_palisade_ff_scale(0.6, 0.0, 8.0)
+    steady_right = get_palisade_ff_scale(-0.6, 0.0, 8.0)
+    turn_in_left = get_palisade_ff_scale(0.6, 0.8, 8.0)
+    turn_in_right = get_palisade_ff_scale(-0.6, -0.8, 8.0)
+    unwind_left = get_palisade_ff_scale(0.6, -0.8, 8.0)
+    unwind_right = get_palisade_ff_scale(-0.6, 0.8, 8.0)
+    assert steady_left > 1.0
+    assert steady_right > 1.0
+    assert turn_in_left > steady_left
+    assert turn_in_right > steady_right
+    assert unwind_left < steady_left
+    assert unwind_right < steady_right
+    assert unwind_right < unwind_left
+
+  def test_palisade_friction_threshold_curve(self):
+    base = get_friction_threshold(6.0)
+    left_turn_in = get_palisade_friction_threshold(6.0, 0.7, 0.8)
+    right_turn_in = get_palisade_friction_threshold(6.0, -0.7, -0.8)
+    left_unwind = get_palisade_friction_threshold(6.0, 0.7, -0.8)
+    right_unwind = get_palisade_friction_threshold(6.0, -0.7, 0.8)
+    assert left_turn_in < right_turn_in < base < left_unwind < right_unwind
+
+  def test_palisade_friction_scale_curve(self):
+    base = get_palisade_friction_scale(25.0, 0.7, 0.8)
+    left_turn_in = get_palisade_friction_scale(6.0, 0.7, 0.8)
+    right_turn_in = get_palisade_friction_scale(6.0, -0.7, -0.8)
+    left_unwind = get_palisade_friction_scale(6.0, 0.7, -0.8)
+    right_unwind = get_palisade_friction_scale(6.0, -0.7, 0.8)
+    assert left_turn_in > right_turn_in > base
+    assert base > left_unwind > right_unwind
+
+  def test_prius_ff_scale_curve(self):
+    assert get_prius_ff_scale(0.0, 0.0, 20.0) == 1.0
+    steady_left = get_prius_ff_scale(0.7, 0.0, 8.0)
+    steady_right = get_prius_ff_scale(-0.7, 0.0, 8.0)
+    turn_in_left = get_prius_ff_scale(0.7, 0.8, 8.0)
+    turn_in_right = get_prius_ff_scale(-0.7, -0.8, 8.0)
+    unwind_left = get_prius_ff_scale(0.7, -0.8, 8.0)
+    unwind_right = get_prius_ff_scale(-0.7, 0.8, 8.0)
+    assert steady_left > 1.0
+    assert steady_right > steady_left
+    assert turn_in_left > steady_left
+    assert turn_in_right > steady_right
+    assert unwind_left < steady_left
+    assert unwind_right < steady_right
+    assert unwind_right < unwind_left
+
+  def test_prius_friction_curves(self):
+    base_threshold = get_friction_threshold(12.0)
+    left_turn_in_threshold = get_prius_friction_threshold(6.0, 0.7, 0.8)
+    right_turn_in_threshold = get_prius_friction_threshold(6.0, -0.7, -0.8)
+    left_unwind_threshold = get_prius_friction_threshold(6.0, 0.7, -0.8)
+    right_unwind_threshold = get_prius_friction_threshold(6.0, -0.7, 0.8)
+    assert left_turn_in_threshold < base_threshold
+    assert right_turn_in_threshold < left_turn_in_threshold
+    assert left_unwind_threshold > base_threshold
+    assert right_unwind_threshold >= left_unwind_threshold
+
+    base_scale = get_prius_friction_scale(25.0, 0.7, 0.8)
+    left_turn_in_scale = get_prius_friction_scale(6.0, 0.7, 0.8)
+    right_turn_in_scale = get_prius_friction_scale(6.0, -0.7, -0.8)
+    left_unwind_scale = get_prius_friction_scale(6.0, 0.7, -0.8)
+    right_unwind_scale = get_prius_friction_scale(6.0, -0.7, 0.8)
+    assert right_turn_in_scale > left_turn_in_scale > base_scale
+    assert base_scale > left_unwind_scale > right_unwind_scale
+
   def test_ioniq_5_ff_scale_curve(self):
     assert get_ioniq_5_ff_scale(0.0, 0.0, 20.0) == 1.0
     steady_left = get_ioniq_5_ff_scale(0.7, 0.0, 12.0)
@@ -316,7 +415,7 @@ class TestLatControl:
     assert steady_left < 1.0
     assert steady_right < steady_left
     assert turn_in_left > steady_left
-    assert turn_in_right >= steady_right
+    assert turn_in_right > steady_right
     assert unwind_left < steady_left
     assert unwind_right < unwind_left
 
@@ -327,7 +426,7 @@ class TestLatControl:
     unwind_left_threshold = get_ioniq_5_friction_threshold(12.0, 0.7, -0.8)
     unwind_right_threshold = get_ioniq_5_friction_threshold(12.0, -0.7, 0.8)
     assert turn_in_left_threshold < base
-    assert turn_in_right_threshold == pytest.approx(base)
+    assert turn_in_left_threshold < turn_in_right_threshold < base
     assert unwind_left_threshold > base
     assert unwind_right_threshold > unwind_left_threshold
 
@@ -335,10 +434,9 @@ class TestLatControl:
     turn_in_right_scale = get_ioniq_5_friction_scale(12.0, -0.7, -0.8)
     unwind_left_scale = get_ioniq_5_friction_scale(12.0, 0.7, -0.8)
     unwind_right_scale = get_ioniq_5_friction_scale(12.0, -0.7, 0.8)
-    assert turn_in_left_scale > 1.0
-    assert turn_in_right_scale == pytest.approx(1.0)
+    assert turn_in_left_scale > turn_in_right_scale > 1.0
     assert unwind_left_scale < 1.0
-    assert unwind_right_scale < unwind_left_scale
+    assert unwind_right_scale <= unwind_left_scale
 
   def test_ioniq_5_center_taper_curve(self):
     assert get_ioniq_5_center_taper_scale(0.0, 25.0) < get_ioniq_5_center_taper_scale(0.0, 10.0)
@@ -362,6 +460,9 @@ class TestLatControl:
     assert get_ioniq_6_ff_scale(-0.4, -0.7, 8.0) >= get_ioniq_6_ff_scale(-0.4, 0.0, 8.0) >= get_ioniq_6_ff_scale(-0.4, 0.7, 8.0)
     assert get_ioniq_6_ff_scale(-1.2, 0.0, 20.0) < get_ioniq_6_ff_scale(1.2, 0.0, 20.0) < 1.0
     assert get_ioniq_6_ff_scale(-1.2, 0.7, 20.0) <= get_ioniq_6_ff_scale(-1.2, 0.0, 20.0)
+    assert get_ioniq_6_ff_scale(0.30, 0.60, 3.0) > get_ioniq_6_ff_scale(0.30, 0.60, 6.0)
+    assert get_ioniq_6_ff_scale(0.30, 0.60, 6.0) > get_ioniq_6_ff_scale(0.30, 0.60, 12.0)
+    assert get_ioniq_6_ff_scale(0.30, -0.60, 3.0) < get_ioniq_6_ff_scale(0.30, 0.60, 3.0)
 
   def test_ioniq_6_directional_taper_curve(self):
     assert get_ioniq_6_directional_taper_scale(0.0, 0.0) == 1.0
@@ -376,6 +477,14 @@ class TestLatControl:
     assert get_ioniq_6_directional_taper_scale(-1.2, -0.40, 8.0) > get_ioniq_6_directional_taper_scale(-1.2, -0.40, 25.0)
     assert get_ioniq_6_directional_taper_scale(1.2, 0.40, 8.0) > get_ioniq_6_directional_taper_scale(1.2, 0.40, 25.0)
     assert get_ioniq_6_directional_taper_scale(-1.2, 0.7, 8.0) == pytest.approx(get_ioniq_6_directional_taper_scale(-1.2, 0.7, 25.0), abs=0.02)
+    assert get_ioniq_6_directional_taper_scale(-0.18, -0.40, 3.0) > get_ioniq_6_directional_taper_scale(-0.18, -0.40, 9.0)
+    assert get_ioniq_6_directional_taper_scale(-0.18, -0.40, 9.0) > get_ioniq_6_directional_taper_scale(-0.18, -0.40, 20.0)
+    assert get_ioniq_6_directional_taper_scale(-0.50, -0.40, 3.0) > get_ioniq_6_directional_taper_scale(-0.50, -0.40, 6.0)
+    assert get_ioniq_6_directional_taper_scale(-0.50, -0.40, 6.0) > get_ioniq_6_directional_taper_scale(-0.50, -0.40, 9.0)
+    assert get_ioniq_6_directional_taper_scale(-0.50, -0.40, 9.0) > get_ioniq_6_directional_taper_scale(-0.50, -0.40, 20.0)
+    assert get_ioniq_6_directional_taper_scale(-0.70, -0.70, 6.0) > get_ioniq_6_directional_taper_scale(-0.70, -0.70, 12.0)
+    assert get_ioniq_6_directional_taper_scale(-0.70, -0.70, 12.0) > get_ioniq_6_directional_taper_scale(-0.70, -0.70, 20.0)
+    assert get_ioniq_6_directional_taper_scale(0.30, 0.60, 5.0) > get_ioniq_6_directional_taper_scale(0.30, 0.60, 12.0)
 
   def test_ioniq_6_output_taper_curve(self):
     assert get_ioniq_6_output_taper_scale(0.0, 0.0, 25.0) < get_ioniq_6_output_taper_scale(0.0, 0.0, 8.0) <= 1.0
@@ -426,7 +535,7 @@ class TestLatControl:
     right_turn_in = get_kia_ev6_friction_threshold(6.0, -0.5, -0.8)
     left_unwind = get_kia_ev6_friction_threshold(6.0, 0.5, -0.8)
     right_unwind = get_kia_ev6_friction_threshold(6.0, -0.5, 0.8)
-    assert right_turn_in < left_turn_in < base < right_unwind < left_unwind
+    assert right_turn_in < left_turn_in < base < right_unwind <= left_unwind
 
   def test_kia_ev6_friction_scale_curve(self):
     base = get_kia_ev6_friction_scale(25.0, 0.5, 0.8)
@@ -491,6 +600,26 @@ class TestLatControl:
 
     assert lac_log.active
 
+  def test_palisade_default_update_path(self):
+    controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(HYUNDAI.HYUNDAI_PALISADE_2023)
+    CarInterface = interfaces[HYUNDAI.HYUNDAI_PALISADE_2023]
+    CP = CarInterface.get_non_essential_params(HYUNDAI.HYUNDAI_PALISADE_2023)
+
+    _, _, lac_log = controller.update(True, CS, VM, params, False, 0.0025, False, 0.2, None, None, starpilot_toggles)
+
+    assert lac_log.active
+    assert controller.torque_params.latAccelFactor == pytest.approx(CP.lateralTuning.torque.latAccelFactor * 0.98)
+
+  def test_sonata_default_update_path(self):
+    controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(HYUNDAI.HYUNDAI_SONATA)
+    CarInterface = interfaces[HYUNDAI.HYUNDAI_SONATA]
+    CP = CarInterface.get_non_essential_params(HYUNDAI.HYUNDAI_SONATA)
+
+    _, _, lac_log = controller.update(True, CS, VM, params, False, 0.0025, False, 0.2, None, None, starpilot_toggles)
+
+    assert lac_log.active
+    assert controller.torque_params.latAccelFactor == pytest.approx(CP.lateralTuning.torque.latAccelFactor)
+
   def test_ioniq_5_default_update_path(self):
     controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(HYUNDAI.HYUNDAI_IONIQ_5)
     CarInterface = interfaces[HYUNDAI.HYUNDAI_IONIQ_5]

selfdrive/controls/tests/test_leads.py

@@ -1,10 +1,27 @@
+from types import SimpleNamespace
+
 import cereal.messaging as messaging
 
 from opendbc.car.toyota.values import CAR as TOYOTA
 from openpilot.selfdrive.test.process_replay import replay_process_with_name
+from openpilot.selfdrive.controls.radard import g90_low_speed_radar_lead_sane, g90_radar_lead_lateral_sane
 
 
 class TestLeads:
+  def test_g90_radar_filters_side_tracks(self):
+    side_track = SimpleNamespace(dRel=13.0, yRel=-10.38, cnt=10)
+    centered_track = SimpleNamespace(dRel=10.8, yRel=-0.21, cnt=5)
+    close_side_ghost = SimpleNamespace(dRel=2.2, yRel=2.41, cnt=10)
+    close_centered_track = SimpleNamespace(dRel=2.2, yRel=1.2, cnt=10)
+    far_low_speed_track = SimpleNamespace(dRel=15.5, yRel=0.58, cnt=5)
+
+    assert not g90_radar_lead_lateral_sane(side_track)
+    assert g90_radar_lead_lateral_sane(centered_track)
+    assert not g90_radar_lead_lateral_sane(close_side_ghost)
+    assert g90_radar_lead_lateral_sane(close_centered_track)
+    assert g90_low_speed_radar_lead_sane(centered_track, 2.0)
+    assert not g90_low_speed_radar_lead_sane(far_low_speed_track, 3.5)
+
   def test_radar_fault(self):
     # if there's no radar-related can traffic, radard should either not respond or respond with an error
     # this is tightly coupled with underlying car radar_interface implementation, but it's a good sanity check

selfdrive/controls/tests/test_longitudinal_planner.py

@@ -11,13 +11,13 @@ from opendbc.car.honda.values import CAR
 import openpilot.selfdrive.controls.lib.longitudinal_planner as longitudinal_planner_module
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
-from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner, get_coast_accel, get_vehicle_min_accel
+from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner, get_coast_accel, get_vehicle_min_accel, should_publish_planner_fcw
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import soften_far_radar_lead_accel, should_trigger_planner_fcw
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
 
 
 def make_lead(*, status: bool, d_rel: float = 200.0, v_lead: float = 0.0, a_lead: float = 0.0,
-              radar: bool = False, model_prob: float = 0.0):
+              radar: bool = False, model_prob: float = 0.0, y_rel: float = 0.0):
   lead = log.RadarState.LeadData.new_message()
   lead.status = status
   lead.dRel = d_rel
@@ -26,6 +26,7 @@ def make_lead(*, status: bool, d_rel: float = 200.0, v_lead: float = 0.0, a_lead
   lead.aLeadK = a_lead
   lead.vRel = 0.0
   lead.aRel = 0.0
+  lead.yRel = y_rel
   lead.modelProb = model_prob
   lead.radar = radar
   return lead
@@ -33,6 +34,7 @@ def make_lead(*, status: bool, d_rel: float = 200.0, v_lead: float = 0.0, a_lead
 
 def make_model(v_ego: float, desired_accel: float, gas_press_prob: float = 1.0, brake_press_prob: float = 0.0):
   model = log.ModelDataV2.new_message()
+  model.init('leadsV3', 3)
   t_idxs = ModelConstants.T_IDXS
 
   model.position.x = [float(v_ego * t) for t in t_idxs]
@@ -57,6 +59,15 @@ def make_model(v_ego: float, desired_accel: float, gas_press_prob: float = 1.0,
   return model
 
 
+def set_model_lead(model, idx: int, *, prob: float, x0: float, y0: float, v0: float, a0: float = 0.0):
+  lead = model.leadsV3[idx]
+  lead.prob = float(prob)
+  lead.x = [float(x0)]
+  lead.y = [float(y0)]
+  lead.v = [float(v0)]
+  lead.a = [float(a0)]
+
+
 def make_sm(v_ego: float, desired_accel: float, min_accel: float, *, experimental_mode: bool = True,
             tracking_lead: bool = False, lead_one=None, lead_two=None,
             gas_press_prob: float = 1.0, brake_press_prob: float = 0.0, disable_throttle: bool = False):
@@ -100,7 +111,7 @@ def make_sm(v_ego: float, desired_accel: float, min_accel: float, *, experimenta
   }
 
 
-def make_toggles(model_version: str = "v11"):
+def make_toggles(model_version: str = "v11", radar_takeoffs: bool = False):
   return SimpleNamespace(
     taco_tune=False,
     classic_model=False,
@@ -108,6 +119,7 @@ def make_toggles(model_version: str = "v11"):
     model_version=model_version,
     stop_distance=6.0,
     vEgoStopping=0.5,
+    radar_takeoffs=radar_takeoffs,
   )
 
 
@@ -225,6 +237,22 @@ def test_planner_fcw_keeps_real_low_speed_closing_alerts():
   )
 
 
+def test_publish_planner_fcw_suppresses_crawl_speed_false_positive():
+  car_state = SimpleNamespace(vEgo=0.29, standstill=False)
+  radar_state = SimpleNamespace(
+    leadOne=make_lead(status=True, d_rel=7.55, v_lead=0.033, a_lead=0.0, radar=False, model_prob=0.99),
+  )
+  assert not should_publish_planner_fcw(3, car_state, radar_state)
+
+
+def test_publish_planner_fcw_keeps_real_current_close_closing_alert():
+  car_state = SimpleNamespace(vEgo=1.6, standstill=False)
+  radar_state = SimpleNamespace(
+    leadOne=make_lead(status=True, d_rel=1.8, v_lead=0.0, a_lead=0.0, radar=False, model_prob=0.99),
+  )
+  assert should_publish_planner_fcw(3, car_state, radar_state)
+
+
 def test_vision_lead_approach_cap_brakes_before_hard_cap():
   v_ego = 21.535
   CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
@@ -1216,6 +1244,126 @@ def test_standstill_moving_lead_depart_accel_hold_cancels_if_lead_brakes(model_v
   assert planner.output_a_target < 0.1
 
 
+@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
+def test_standstill_radar_depart_kept_when_radar_lead_is_centered(model_version):
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=0.0)
+
+  sm = make_sm(
+    0.0,
+    desired_accel=0.45,
+    min_accel=-0.5,
+    experimental_mode=False,
+    tracking_lead=False,
+    lead_one=make_lead(status=True, d_rel=11.2, v_lead=0.63, a_lead=0.36, radar=True, model_prob=0.998, y_rel=0.2),
+  )
+  sm["carState"].standstill = True
+  sm["controlsState"].longControlState = LongCtrlState.stopping
+  sm["starpilotPlan"].vCruise = 10.0
+  sm["modelV2"].action.shouldStop = False
+  set_model_lead(sm["modelV2"], 0, prob=0.999, x0=12.2, y0=0.03, v0=0.4)
+
+  planner.update(sm, make_toggles(model_version))
+
+  assert planner.output_a_target >= longitudinal_planner_module.STANDSTILL_LEAD_DEPART_MIN_ACCEL
+
+
+@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
+def test_standstill_radar_depart_blocks_offcenter_radar_conflict(model_version):
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=0.0)
+
+  sm = make_sm(
+    0.0,
+    desired_accel=0.45,
+    min_accel=-0.5,
+    experimental_mode=False,
+    tracking_lead=False,
+    lead_one=make_lead(status=True, d_rel=11.2, v_lead=0.63, a_lead=0.36, radar=True, model_prob=0.998, y_rel=2.3),
+  )
+  sm["carState"].standstill = True
+  sm["controlsState"].longControlState = LongCtrlState.stopping
+  sm["starpilotPlan"].vCruise = 10.0
+  sm["modelV2"].action.shouldStop = False
+  set_model_lead(sm["modelV2"], 0, prob=0.999, x0=12.2, y0=0.03, v0=0.4)
+
+  planner.update(sm, make_toggles(model_version))
+
+  assert planner.output_a_target < longitudinal_planner_module.STANDSTILL_LEAD_DEPART_MIN_ACCEL
+
+
+@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
+def test_low_speed_radar_depart_hold_blocks_offcenter_radar_conflict(model_version):
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=1.25)
+
+  sm = make_sm(
+    1.25,
+    desired_accel=0.20,
+    min_accel=-0.5,
+    experimental_mode=False,
+    tracking_lead=False,
+    lead_one=make_lead(status=True, d_rel=9.95, v_lead=0.43, a_lead=0.44, radar=True, model_prob=0.999, y_rel=2.2),
+  )
+  sm["carState"].standstill = False
+  sm["controlsState"].longControlState = LongCtrlState.pid
+  sm["starpilotPlan"].vCruise = 10.0
+  sm["modelV2"].action.shouldStop = False
+  set_model_lead(sm["modelV2"], 0, prob=0.999, x0=11.4, y0=0.0, v0=0.2)
+
+  planner.update(sm, make_toggles(model_version))
+
+  assert planner.output_a_target < longitudinal_planner_module.STANDSTILL_LEAD_DEPART_MIN_ACCEL
+
+
+@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
+def test_standstill_radar_takeoffs_toggle_bypasses_offcenter_veto(model_version):
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=0.0)
+
+  sm = make_sm(
+    0.0,
+    desired_accel=0.45,
+    min_accel=-0.5,
+    experimental_mode=False,
+    tracking_lead=False,
+    lead_one=make_lead(status=True, d_rel=11.2, v_lead=0.63, a_lead=0.36, radar=True, model_prob=0.998, y_rel=2.3),
+  )
+  sm["carState"].standstill = True
+  sm["controlsState"].longControlState = LongCtrlState.stopping
+  sm["starpilotPlan"].vCruise = 10.0
+  sm["modelV2"].action.shouldStop = False
+  set_model_lead(sm["modelV2"], 0, prob=0.999, x0=12.2, y0=0.03, v0=0.4)
+
+  planner.update(sm, make_toggles(model_version, radar_takeoffs=True))
+
+  assert planner.output_a_target >= longitudinal_planner_module.STANDSTILL_LEAD_DEPART_MIN_ACCEL
+
+
+@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
+def test_low_speed_radar_takeoffs_toggle_bypasses_offcenter_veto(model_version):
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=1.25)
+
+  sm = make_sm(
+    1.25,
+    desired_accel=0.20,
+    min_accel=-0.5,
+    experimental_mode=False,
+    tracking_lead=False,
+    lead_one=make_lead(status=True, d_rel=9.95, v_lead=0.43, a_lead=0.44, radar=True, model_prob=0.999, y_rel=2.2),
+  )
+  sm["carState"].standstill = False
+  sm["controlsState"].longControlState = LongCtrlState.pid
+  sm["starpilotPlan"].vCruise = 10.0
+  sm["modelV2"].action.shouldStop = False
+  set_model_lead(sm["modelV2"], 0, prob=0.999, x0=11.4, y0=0.0, v0=0.2)
+
+  planner.update(sm, make_toggles(model_version, radar_takeoffs=True))
+
+  assert planner.output_a_target >= 0.0
+
+
 @pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
 def test_acc_mode_damps_far_radar_mild_lead_brake_more_than_close_brake(model_version):
   far_v_ego = 29.26
@@ -1702,6 +1850,19 @@ def test_follow_control_lead_prefers_active_lead1_for_matched_follow():
   assert follow_lead is planner.lead_two
 
 
+def test_follow_control_lead_disables_optional_matched_follow_override():
+  v_ego = 23.3
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=v_ego)
+  planner.lead_one = make_lead(status=True, d_rel=80.0, v_lead=20.0, radar=False, model_prob=0.6)
+  planner.lead_two = make_lead(status=True, d_rel=49.9, v_lead=21.9, radar=False, model_prob=0.98)
+  planner.mpc.source = "lead1"
+
+  follow_lead = planner.get_follow_control_lead(True, v_ego, 1.45, allow_optional_far_lead_logic=False)
+
+  assert follow_lead is planner.lead_one
+
+
 def test_follow_control_lead_keeps_matched_follow_lead_without_tracking_latch():
   v_ego = 27.5
   CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
@@ -1713,6 +1874,17 @@ def test_follow_control_lead_keeps_matched_follow_lead_without_tracking_latch():
   assert follow_lead is planner.lead_one
 
 
+def test_follow_control_lead_requires_real_lead_control_when_optional_logic_disabled():
+  v_ego = 27.5
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=v_ego)
+  planner.lead_one = make_lead(status=True, d_rel=61.99, v_lead=27.63, radar=False, model_prob=0.99)
+
+  follow_lead = planner.get_follow_control_lead(False, v_ego, 1.45, allow_optional_far_lead_logic=False)
+
+  assert follow_lead is None
+
+
 def test_far_lead_soft_brake_cap_limits_high_confidence_distant_vision_lead():
   v_ego = 32.37
   CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
@@ -1724,3 +1896,254 @@ def test_far_lead_soft_brake_cap_limits_high_confidence_distant_vision_lead():
   assert cap is not None
   assert cap > -0.2
   assert cap < -0.05
+
+
+def test_matched_follow_transition_target_damps_large_comfort_sign_flip():
+  v_ego = 20.3
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=v_ego)
+  lead = make_lead(status=True, d_rel=45.6, v_lead=19.19, a_lead=0.0, radar=False, model_prob=0.99)
+
+  smoothed = planner.get_matched_follow_transition_target(
+    lead,
+    v_ego,
+    1.45,
+    prev_output_a_target=0.12,
+    output_a_target=-0.40,
+    current_source="cruise",
+    tracking_lead_active=True,
+  )
+
+  assert smoothed is not None
+  assert smoothed > -0.05
+  assert smoothed < 0.12
+
+
+def test_matched_follow_transition_target_skips_urgent_closure():
+  v_ego = 31.5
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=v_ego)
+  lead = make_lead(status=True, d_rel=35.0, v_lead=28.0, a_lead=0.0, radar=False, model_prob=0.99)
+
+  smoothed = planner.get_matched_follow_transition_target(
+    lead,
+    v_ego,
+    1.45,
+    prev_output_a_target=0.10,
+    output_a_target=-0.60,
+    current_source="cruise",
+    tracking_lead_active=True,
+  )
+
+  assert smoothed is None
+
+
+def test_matched_follow_transition_target_damps_low_speed_tracking_cruise_throttle_jitter():
+  v_ego = 14.5
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=v_ego)
+  lead = make_lead(status=True, d_rel=31.1, v_lead=14.5, a_lead=0.0, radar=False, model_prob=0.999)
+
+  smoothed = planner.get_matched_follow_transition_target(
+    lead,
+    v_ego,
+    1.45,
+    prev_output_a_target=0.08,
+    output_a_target=0.46,
+    current_source="cruise",
+    tracking_lead_active=True,
+  )
+
+  assert smoothed is not None
+  assert smoothed == pytest.approx(0.14, abs=1e-6)
+
+
+def test_matched_follow_transition_target_skips_low_speed_without_tracking():
+  v_ego = 14.5
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=v_ego)
+  lead = make_lead(status=True, d_rel=31.1, v_lead=14.5, a_lead=0.0, radar=False, model_prob=0.999)
+
+  smoothed = planner.get_matched_follow_transition_target(
+    lead,
+    v_ego,
+    1.45,
+    prev_output_a_target=0.08,
+    output_a_target=0.46,
+    current_source="cruise",
+    tracking_lead_active=False,
+  )
+
+  assert smoothed is None
+
+
+def test_matched_follow_transition_target_skips_low_speed_real_braking():
+  v_ego = 14.5
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=v_ego)
+  lead = make_lead(status=True, d_rel=29.0, v_lead=13.6, a_lead=0.0, radar=False, model_prob=0.999)
+
+  smoothed = planner.get_matched_follow_transition_target(
+    lead,
+    v_ego,
+    1.45,
+    prev_output_a_target=0.08,
+    output_a_target=-0.30,
+    current_source="cruise",
+    tracking_lead_active=True,
+  )
+
+  assert smoothed is None
+
+
+def test_cruise_tracking_lead_accel_cap_limits_mid_speed_follow_nibble():
+  v_ego = 16.2
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=v_ego)
+  lead = make_lead(status=True, d_rel=33.4, v_lead=16.0, a_lead=0.0, radar=False, model_prob=0.99, y_rel=0.12)
+
+  cap = planner.get_cruise_tracking_lead_accel_cap(
+    lead,
+    v_ego,
+    1.45,
+    current_source="cruise",
+    tracking_lead_active=True,
+  )
+
+  assert cap is not None
+  assert 0.05 <= cap <= 0.10
+
+
+def test_cruise_tracking_lead_accel_cap_blocks_unresolved_raw_close_lead_burst():
+  v_ego = 17.6
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=v_ego)
+  lead = make_lead(status=True, d_rel=41.9, v_lead=14.2, a_lead=0.0, radar=True, model_prob=0.99, y_rel=-0.97)
+
+  cap = planner.get_cruise_tracking_lead_accel_cap(
+    lead,
+    v_ego,
+    1.45,
+    current_source="cruise",
+    tracking_lead_active=False,
+  )
+
+  assert cap is not None
+  assert 0.0 <= cap <= 0.05
+
+
+def test_cruise_tracking_lead_accel_cap_skips_when_lead_clearly_pulls_away():
+  v_ego = 14.5
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=v_ego)
+  lead = make_lead(status=True, d_rel=35.0, v_lead=16.0, a_lead=0.0, radar=False, model_prob=0.99, y_rel=0.1)
+
+  cap = planner.get_cruise_tracking_lead_accel_cap(
+    lead,
+    v_ego,
+    1.45,
+    current_source="cruise",
+    tracking_lead_active=True,
+  )
+
+  assert cap is None
+
+
+def test_near_duplicate_lead_source_hysteresis_prefers_previous_source():
+  v_ego = 27.0
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=v_ego)
+  lead_one = make_lead(status=True, d_rel=46.2, v_lead=25.5, a_lead=-0.05, radar=False, model_prob=0.99)
+  lead_two = make_lead(status=True, d_rel=46.8, v_lead=25.55, a_lead=-0.03, radar=False, model_prob=0.99)
+
+  lead_0_bias, lead_1_bias = planner.mpc.get_near_duplicate_lead_source_hysteresis("lead0", lead_one, lead_two, v_ego)
+
+  assert lead_0_bias == 0.0
+  assert lead_1_bias > 0.0
+
+
+def test_near_duplicate_lead_source_hysteresis_skips_distinct_leads():
+  v_ego = 27.0
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=v_ego)
+  lead_one = make_lead(status=True, d_rel=41.0, v_lead=23.8, a_lead=0.0, radar=False, model_prob=0.99)
+  lead_two = make_lead(status=True, d_rel=48.0, v_lead=25.4, a_lead=0.0, radar=False, model_prob=0.99)
+
+  lead_0_bias, lead_1_bias = planner.mpc.get_near_duplicate_lead_source_hysteresis("lead0", lead_one, lead_two, v_ego)
+
+  assert lead_0_bias == 0.0
+  assert lead_1_bias == 0.0
+
+
+def test_near_duplicate_lead_transition_target_damps_same_source_sign_flip():
+  v_ego = 25.0
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=v_ego)
+  lead_one = make_lead(status=True, d_rel=44.6, v_lead=24.05, a_lead=-0.03, radar=False, model_prob=0.99)
+  lead_two = make_lead(status=True, d_rel=45.1, v_lead=24.0, a_lead=-0.04, radar=False, model_prob=0.99)
+  lead_one.vRel = -0.95
+  lead_two.vRel = -1.00
+  planner.lead_one = lead_one
+  planner.lead_two = lead_two
+
+  smoothed = planner.get_near_duplicate_lead_transition_target(
+    lead_two,
+    v_ego,
+    1.45,
+    prev_output_a_target=-1.10,
+    output_a_target=0.13,
+    current_source="lead1",
+    tracking_lead_active=True,
+  )
+
+  assert smoothed is not None
+  assert smoothed == pytest.approx(-0.92, abs=1e-6)
+
+
+def test_near_duplicate_lead_transition_target_damps_tracking_cruise_sign_flip():
+  v_ego = 25.0
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=v_ego)
+  lead_one = make_lead(status=True, d_rel=44.6, v_lead=24.05, a_lead=-0.03, radar=False, model_prob=0.99)
+  lead_two = make_lead(status=True, d_rel=45.1, v_lead=24.0, a_lead=-0.04, radar=False, model_prob=0.99)
+  lead_one.vRel = -0.95
+  lead_two.vRel = -1.00
+  planner.lead_one = lead_one
+  planner.lead_two = lead_two
+
+  smoothed = planner.get_near_duplicate_lead_transition_target(
+    lead_two,
+    v_ego,
+    1.45,
+    prev_output_a_target=-1.10,
+    output_a_target=0.13,
+    current_source="cruise",
+    tracking_lead_active=True,
+  )
+
+  assert smoothed is not None
+  assert smoothed == pytest.approx(-0.92, abs=1e-6)
+
+
+def test_near_duplicate_lead_transition_target_skips_plain_cruise_without_tracking():
+  v_ego = 25.0
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=v_ego)
+  lead_one = make_lead(status=True, d_rel=44.6, v_lead=24.05, a_lead=-0.03, radar=False, model_prob=0.99)
+  lead_two = make_lead(status=True, d_rel=45.1, v_lead=24.0, a_lead=-0.04, radar=False, model_prob=0.99)
+  lead_one.vRel = -0.95
+  lead_two.vRel = -1.00
+  planner.lead_one = lead_one
+  planner.lead_two = lead_two
+
+  smoothed = planner.get_near_duplicate_lead_transition_target(
+    lead_two,
+    v_ego,
+    1.45,
+    prev_output_a_target=-1.10,
+    output_a_target=0.13,
+    current_source="cruise",
+    tracking_lead_active=False,
+  )
+
+  assert smoothed is None

selfdrive/controls/tests/test_navigation_desires.py

@@ -93,6 +93,52 @@ def test_nav_desires_turn_right_waits_until_turn_is_close():
   assert helper.desire == log.Desire.none
 
 
+def test_nav_desires_off_ramp_lane_guidance_becomes_keep_right():
+  helper = DesireHelper()
+  helper.nav_desires_allowed = True
+  helper._update_nav_params = lambda: None
+  helper._nav_instruction_state = {
+    "valid": True,
+    "maneuverType": "off ramp",
+    "maneuverModifier": "right",
+    "activeLaneDirection": "slightRight",
+    "maneuverDistance": 120.0,
+  }
+
+  helper.update(
+    make_car_state(vEgo=22.5),
+    True,
+    0.0,
+    make_plan(laneWidthRight=4.2),
+    make_toggles(nudgeless=True),
+  )
+
+  assert helper.desire == log.Desire.keepRight
+
+
+def test_nav_desires_off_ramp_lane_guidance_waits_until_split_is_close():
+  helper = DesireHelper()
+  helper.nav_desires_allowed = True
+  helper._update_nav_params = lambda: None
+  helper._nav_instruction_state = {
+    "valid": True,
+    "maneuverType": "off ramp",
+    "maneuverModifier": "right",
+    "activeLaneDirection": "slightRight",
+    "maneuverDistance": 300.0,
+  }
+
+  helper.update(
+    make_car_state(vEgo=22.5),
+    True,
+    0.0,
+    make_plan(laneWidthRight=4.2),
+    make_toggles(nudgeless=True),
+  )
+
+  assert helper.desire == log.Desire.none
+
+
 def test_nav_desires_do_not_override_lane_change_state_machine():
   helper = DesireHelper()
   helper.nav_desires_allowed = True

selfdrive/controls/tests/test_speed_limit_controller.py

@@ -114,11 +114,129 @@ def test_new_source_limit_clears_override_until_gas_release():
 
     assert controller.overridden_speed == pytest.approx(mph(65))
     assert controller.override_slc
+
+    # --- Dropout / Fallback Test Condition ---
+    controller.starpilot_toggles = make_toggles(slc_fallback_set_speed=True)
+    # No limit available → falls back to v_cruise (75 mph) with source "None".
+    # Override persists because target_to_use resolves to last_valid_limit (45 mph) which is
+    # below overridden_speed (65 mph) — the sticky override_slc chain stays True.
+    controller.update_limits(0.0, datetime.now(timezone.utc), False, mph(75), mph(65), sm)
+    controller.update_override(mph(75), 0.0, mph(65), 0.0, sm)
+
+    assert controller.target == pytest.approx(mph(75))
+    assert controller.source == "None"
+    assert controller.overridden_speed == pytest.approx(mph(65))
+    assert controller.override_slc
+
+    # Recovery to a confirmed limit (55 mph) clears the override: this is a genuinely new
+    # speed zone (55 != last_valid 45), so clear_override_for_source_limit fires correctly.
+    controller.update_limits(mph(55), datetime.now(timezone.utc), False, mph(75), mph(65), sm)
+    controller.update_override(mph(75), 0.0, mph(65), 0.0, sm)
+
+    assert controller.target == pytest.approx(mph(55))
+    assert controller.source == "Dashboard"
+    assert controller.overridden_speed == 0
+    assert not controller.override_slc
+
+      # --- Override Clipping Check (set-speed fallback) ---
+      # Separate controller: active override, then fallback to v_cruise that is BELOW the override.
+      # overridden_speed clips to v_cruise (override_slc stays True via sticky chain, but
+      # np.clip clamps overridden_speed to the new target+offset).
+    clip_controller = make_controller(slc_fallback_set_speed=True)
+    try:
+      clip_controller.source = "Dashboard"
+      clip_controller.target = mph(55)
+      clip_controller.previous_source = "Dashboard"
+      clip_controller.previous_target = mph(55)
+      clip_controller.last_valid_limit = mph(55)
+      clip_controller.override_slc = True
+      clip_controller.overridden_speed = mph(65)
+
+      sm_no_gas = make_sm(gas_pressed=False)
+      # v_cruise = 30 mph (below last_valid 55), so target_to_use returns mph(30).
+      # override_slc sticky: overridden_speed=65 > 30+0=30 > 0 — still True from chain.
+      # np.clip(65, 30, 30) = 30, so overridden_speed clips to mph(30).
+      clip_controller.update_limits(0.0, datetime.now(timezone.utc), False, mph(30), mph(30), sm_no_gas)
+      clip_controller.update_override(mph(30), 0.0, mph(30), 0.0, sm_no_gas)
+
+      assert clip_controller.target == pytest.approx(mph(30))
+      # Clipped to v_cruise — not locked at mph(55) or mph(65)
+      assert clip_controller.overridden_speed == pytest.approx(mph(30))
+      assert clip_controller.override_slc
+    finally:
+      clip_controller.shutdown()
+
+    # --- Lost Speed Limit (no fallback) clears target to 0 ---
+    # When all limit sources drop to 0 with no fallback, target becomes 0
+    # and override_slc is False (target_to_use=0, chain evaluates False).
+    lost_controller = make_controller(slc_fallback_set_speed=False, slc_fallback_previous_speed_limit=False)
+    try:
+      lost_controller.source = "Dashboard"
+      lost_controller.target = mph(45)
+      lost_controller.previous_source = "Dashboard"
+      lost_controller.previous_target = mph(45)
+
+      sm_on = make_sm(gas_pressed=False)
+      lost_controller.update_limits(0.0, datetime.now(timezone.utc), False, mph(75), mph(65), sm_on)
+      lost_controller.update_override(mph(75), 0.0, mph(65), 0.0, sm_on)
+
+      assert lost_controller.target == 0
+      assert lost_controller.overridden_speed == 0
+      assert not lost_controller.override_slc
+    finally:
+      lost_controller.shutdown()
   finally:
     controller.shutdown()
 
 
 def test_unconfirmed_lower_limit_keeps_existing_override():
+  # First, verify startup behavior where target is 0 and priority limit is detected
+  startup_controller = make_controller(
+    speed_limit_priority1="Dashboard",
+    slc_fallback_previous_speed_limit=True,
+  )
+  try:
+    startup_controller.previous_target = mph(55)
+    startup_controller.previous_source = "Dashboard"
+    startup_controller.target = 0
+
+    sm = make_sm(gas_pressed=False)
+    startup_controller.update_limits(mph(45), datetime.now(timezone.utc), False, mph(75), mph(65), sm)
+
+    assert startup_controller.target == pytest.approx(mph(45))
+    assert startup_controller.source == "Dashboard"
+  finally:
+    startup_controller.shutdown()
+
+  # Verify Bug 3: Fallback transitions should bypass confirmation checks
+  fallback_confirm_controller = make_controller(
+    slc_fallback_set_speed=True,
+    speed_limit_confirmation_higher=True
+  )
+  try:
+    fallback_confirm_controller.source = "Dashboard"
+    fallback_confirm_controller.target = mph(35)
+    fallback_confirm_controller.previous_target = mph(35)
+
+    sm = make_sm(gas_pressed=False)
+    fallback_confirm_controller.update_limits(0.0, datetime.now(timezone.utc), False, mph(60), mph(35), sm)
+
+    assert fallback_confirm_controller.target == pytest.approx(mph(60))
+    assert fallback_confirm_controller.source == "None"
+    assert fallback_confirm_controller.unconfirmed_speed_limit == 0
+  finally:
+    fallback_confirm_controller.shutdown()
+
+  # Verify Bug 1: Boundaries are correctly mapped and not falling back to 0
+  boundary_controller = make_controller()
+  boundary_controller.starpilot_toggles.speed_limit_offset1 = 1.0
+  boundary_controller.starpilot_toggles.speed_limit_offset2 = 2.0
+
+  # Exact boundary speed: 11.2 m/s is the *start* of band 2 (25–34 mph range).
+  # With low <= target < high: 11.2 <= 11.2 < 15.2 → True → maps to offset2 (not 0).
+  offset = boundary_controller.get_offset(11.2)
+  assert offset != 0.0
+
   controller = make_controller(speed_limit_confirmation_lower=True)
   try:
     controller.source = "Dashboard"

selfdrive/locationd/models/generated/car.cpp

@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
  *                                                                            *
  *                         This file is part of 'ekf'                         *
  ******************************************************************************/
-void err_fun(double *nom_x, double *delta_x, double *out_4387195160971747702) {
-   out_4387195160971747702[0] = delta_x[0] + nom_x[0];
-   out_4387195160971747702[1] = delta_x[1] + nom_x[1];
-   out_4387195160971747702[2] = delta_x[2] + nom_x[2];
-   out_4387195160971747702[3] = delta_x[3] + nom_x[3];
-   out_4387195160971747702[4] = delta_x[4] + nom_x[4];
-   out_4387195160971747702[5] = delta_x[5] + nom_x[5];
-   out_4387195160971747702[6] = delta_x[6] + nom_x[6];
-   out_4387195160971747702[7] = delta_x[7] + nom_x[7];
-   out_4387195160971747702[8] = delta_x[8] + nom_x[8];
+void err_fun(double *nom_x, double *delta_x, double *out_2765937094321424100) {
+   out_2765937094321424100[0] = delta_x[0] + nom_x[0];
+   out_2765937094321424100[1] = delta_x[1] + nom_x[1];
+   out_2765937094321424100[2] = delta_x[2] + nom_x[2];
+   out_2765937094321424100[3] = delta_x[3] + nom_x[3];
+   out_2765937094321424100[4] = delta_x[4] + nom_x[4];
+   out_2765937094321424100[5] = delta_x[5] + nom_x[5];
+   out_2765937094321424100[6] = delta_x[6] + nom_x[6];
+   out_2765937094321424100[7] = delta_x[7] + nom_x[7];
+   out_2765937094321424100[8] = delta_x[8] + nom_x[8];
 }
-void inv_err_fun(double *nom_x, double *true_x, double *out_7707264064834051115) {
-   out_7707264064834051115[0] = -nom_x[0] + true_x[0];
-   out_7707264064834051115[1] = -nom_x[1] + true_x[1];
-   out_7707264064834051115[2] = -nom_x[2] + true_x[2];
-   out_7707264064834051115[3] = -nom_x[3] + true_x[3];
-   out_7707264064834051115[4] = -nom_x[4] + true_x[4];
-   out_7707264064834051115[5] = -nom_x[5] + true_x[5];
-   out_7707264064834051115[6] = -nom_x[6] + true_x[6];
-   out_7707264064834051115[7] = -nom_x[7] + true_x[7];
-   out_7707264064834051115[8] = -nom_x[8] + true_x[8];
+void inv_err_fun(double *nom_x, double *true_x, double *out_1382255689110899984) {
+   out_1382255689110899984[0] = -nom_x[0] + true_x[0];
+   out_1382255689110899984[1] = -nom_x[1] + true_x[1];
+   out_1382255689110899984[2] = -nom_x[2] + true_x[2];
+   out_1382255689110899984[3] = -nom_x[3] + true_x[3];
+   out_1382255689110899984[4] = -nom_x[4] + true_x[4];
+   out_1382255689110899984[5] = -nom_x[5] + true_x[5];
+   out_1382255689110899984[6] = -nom_x[6] + true_x[6];
+   out_1382255689110899984[7] = -nom_x[7] + true_x[7];
+   out_1382255689110899984[8] = -nom_x[8] + true_x[8];
 }
-void H_mod_fun(double *state, double *out_7178605602671138983) {
-   out_7178605602671138983[0] = 1.0;
-   out_7178605602671138983[1] = 0.0;
-   out_7178605602671138983[2] = 0.0;
-   out_7178605602671138983[3] = 0.0;
-   out_7178605602671138983[4] = 0.0;
-   out_7178605602671138983[5] = 0.0;
-   out_7178605602671138983[6] = 0.0;
-   out_7178605602671138983[7] = 0.0;
-   out_7178605602671138983[8] = 0.0;
-   out_7178605602671138983[9] = 0.0;
-   out_7178605602671138983[10] = 1.0;
-   out_7178605602671138983[11] = 0.0;
-   out_7178605602671138983[12] = 0.0;
-   out_7178605602671138983[13] = 0.0;
-   out_7178605602671138983[14] = 0.0;
-   out_7178605602671138983[15] = 0.0;
-   out_7178605602671138983[16] = 0.0;
-   out_7178605602671138983[17] = 0.0;
-   out_7178605602671138983[18] = 0.0;
-   out_7178605602671138983[19] = 0.0;
-   out_7178605602671138983[20] = 1.0;
-   out_7178605602671138983[21] = 0.0;
-   out_7178605602671138983[22] = 0.0;
-   out_7178605602671138983[23] = 0.0;
-   out_7178605602671138983[24] = 0.0;
-   out_7178605602671138983[25] = 0.0;
-   out_7178605602671138983[26] = 0.0;
-   out_7178605602671138983[27] = 0.0;
-   out_7178605602671138983[28] = 0.0;
-   out_7178605602671138983[29] = 0.0;
-   out_7178605602671138983[30] = 1.0;
-   out_7178605602671138983[31] = 0.0;
-   out_7178605602671138983[32] = 0.0;
-   out_7178605602671138983[33] = 0.0;
-   out_7178605602671138983[34] = 0.0;
-   out_7178605602671138983[35] = 0.0;
-   out_7178605602671138983[36] = 0.0;
-   out_7178605602671138983[37] = 0.0;
-   out_7178605602671138983[38] = 0.0;
-   out_7178605602671138983[39] = 0.0;
-   out_7178605602671138983[40] = 1.0;
-   out_7178605602671138983[41] = 0.0;
-   out_7178605602671138983[42] = 0.0;
-   out_7178605602671138983[43] = 0.0;
-   out_7178605602671138983[44] = 0.0;
-   out_7178605602671138983[45] = 0.0;
-   out_7178605602671138983[46] = 0.0;
-   out_7178605602671138983[47] = 0.0;
-   out_7178605602671138983[48] = 0.0;
-   out_7178605602671138983[49] = 0.0;
-   out_7178605602671138983[50] = 1.0;
-   out_7178605602671138983[51] = 0.0;
-   out_7178605602671138983[52] = 0.0;
-   out_7178605602671138983[53] = 0.0;
-   out_7178605602671138983[54] = 0.0;
-   out_7178605602671138983[55] = 0.0;
-   out_7178605602671138983[56] = 0.0;
-   out_7178605602671138983[57] = 0.0;
-   out_7178605602671138983[58] = 0.0;
-   out_7178605602671138983[59] = 0.0;
-   out_7178605602671138983[60] = 1.0;
-   out_7178605602671138983[61] = 0.0;
-   out_7178605602671138983[62] = 0.0;
-   out_7178605602671138983[63] = 0.0;
-   out_7178605602671138983[64] = 0.0;
-   out_7178605602671138983[65] = 0.0;
-   out_7178605602671138983[66] = 0.0;
-   out_7178605602671138983[67] = 0.0;
-   out_7178605602671138983[68] = 0.0;
-   out_7178605602671138983[69] = 0.0;
-   out_7178605602671138983[70] = 1.0;
-   out_7178605602671138983[71] = 0.0;
-   out_7178605602671138983[72] = 0.0;
-   out_7178605602671138983[73] = 0.0;
-   out_7178605602671138983[74] = 0.0;
-   out_7178605602671138983[75] = 0.0;
-   out_7178605602671138983[76] = 0.0;
-   out_7178605602671138983[77] = 0.0;
-   out_7178605602671138983[78] = 0.0;
-   out_7178605602671138983[79] = 0.0;
-   out_7178605602671138983[80] = 1.0;
+void H_mod_fun(double *state, double *out_6175643942212596402) {
+   out_6175643942212596402[0] = 1.0;
+   out_6175643942212596402[1] = 0.0;
+   out_6175643942212596402[2] = 0.0;
+   out_6175643942212596402[3] = 0.0;
+   out_6175643942212596402[4] = 0.0;
+   out_6175643942212596402[5] = 0.0;
+   out_6175643942212596402[6] = 0.0;
+   out_6175643942212596402[7] = 0.0;
+   out_6175643942212596402[8] = 0.0;
+   out_6175643942212596402[9] = 0.0;
+   out_6175643942212596402[10] = 1.0;
+   out_6175643942212596402[11] = 0.0;
+   out_6175643942212596402[12] = 0.0;
+   out_6175643942212596402[13] = 0.0;
+   out_6175643942212596402[14] = 0.0;
+   out_6175643942212596402[15] = 0.0;
+   out_6175643942212596402[16] = 0.0;
+   out_6175643942212596402[17] = 0.0;
+   out_6175643942212596402[18] = 0.0;
+   out_6175643942212596402[19] = 0.0;
+   out_6175643942212596402[20] = 1.0;
+   out_6175643942212596402[21] = 0.0;
+   out_6175643942212596402[22] = 0.0;
+   out_6175643942212596402[23] = 0.0;
+   out_6175643942212596402[24] = 0.0;
+   out_6175643942212596402[25] = 0.0;
+   out_6175643942212596402[26] = 0.0;
+   out_6175643942212596402[27] = 0.0;
+   out_6175643942212596402[28] = 0.0;
+   out_6175643942212596402[29] = 0.0;
+   out_6175643942212596402[30] = 1.0;
+   out_6175643942212596402[31] = 0.0;
+   out_6175643942212596402[32] = 0.0;
+   out_6175643942212596402[33] = 0.0;
+   out_6175643942212596402[34] = 0.0;
+   out_6175643942212596402[35] = 0.0;
+   out_6175643942212596402[36] = 0.0;
+   out_6175643942212596402[37] = 0.0;
+   out_6175643942212596402[38] = 0.0;
+   out_6175643942212596402[39] = 0.0;
+   out_6175643942212596402[40] = 1.0;
+   out_6175643942212596402[41] = 0.0;
+   out_6175643942212596402[42] = 0.0;
+   out_6175643942212596402[43] = 0.0;
+   out_6175643942212596402[44] = 0.0;
+   out_6175643942212596402[45] = 0.0;
+   out_6175643942212596402[46] = 0.0;
+   out_6175643942212596402[47] = 0.0;
+   out_6175643942212596402[48] = 0.0;
+   out_6175643942212596402[49] = 0.0;
+   out_6175643942212596402[50] = 1.0;
+   out_6175643942212596402[51] = 0.0;
+   out_6175643942212596402[52] = 0.0;
+   out_6175643942212596402[53] = 0.0;
+   out_6175643942212596402[54] = 0.0;
+   out_6175643942212596402[55] = 0.0;
+   out_6175643942212596402[56] = 0.0;
+   out_6175643942212596402[57] = 0.0;
+   out_6175643942212596402[58] = 0.0;
+   out_6175643942212596402[59] = 0.0;
+   out_6175643942212596402[60] = 1.0;
+   out_6175643942212596402[61] = 0.0;
+   out_6175643942212596402[62] = 0.0;
+   out_6175643942212596402[63] = 0.0;
+   out_6175643942212596402[64] = 0.0;
+   out_6175643942212596402[65] = 0.0;
+   out_6175643942212596402[66] = 0.0;
+   out_6175643942212596402[67] = 0.0;
+   out_6175643942212596402[68] = 0.0;
+   out_6175643942212596402[69] = 0.0;
+   out_6175643942212596402[70] = 1.0;
+   out_6175643942212596402[71] = 0.0;
+   out_6175643942212596402[72] = 0.0;
+   out_6175643942212596402[73] = 0.0;
+   out_6175643942212596402[74] = 0.0;
+   out_6175643942212596402[75] = 0.0;
+   out_6175643942212596402[76] = 0.0;
+   out_6175643942212596402[77] = 0.0;
+   out_6175643942212596402[78] = 0.0;
+   out_6175643942212596402[79] = 0.0;
+   out_6175643942212596402[80] = 1.0;
 }
-void f_fun(double *state, double dt, double *out_2416599425795193412) {
-   out_2416599425795193412[0] = state[0];
-   out_2416599425795193412[1] = state[1];
-   out_2416599425795193412[2] = state[2];
-   out_2416599425795193412[3] = state[3];
-   out_2416599425795193412[4] = state[4];
-   out_2416599425795193412[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
-   out_2416599425795193412[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
-   out_2416599425795193412[7] = state[7];
-   out_2416599425795193412[8] = state[8];
+void f_fun(double *state, double dt, double *out_2437881867604815540) {
+   out_2437881867604815540[0] = state[0];
+   out_2437881867604815540[1] = state[1];
+   out_2437881867604815540[2] = state[2];
+   out_2437881867604815540[3] = state[3];
+   out_2437881867604815540[4] = state[4];
+   out_2437881867604815540[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
+   out_2437881867604815540[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
+   out_2437881867604815540[7] = state[7];
+   out_2437881867604815540[8] = state[8];
 }
-void F_fun(double *state, double dt, double *out_6761986232654706930) {
-   out_6761986232654706930[0] = 1;
-   out_6761986232654706930[1] = 0;
-   out_6761986232654706930[2] = 0;
-   out_6761986232654706930[3] = 0;
-   out_6761986232654706930[4] = 0;
-   out_6761986232654706930[5] = 0;
-   out_6761986232654706930[6] = 0;
-   out_6761986232654706930[7] = 0;
-   out_6761986232654706930[8] = 0;
-   out_6761986232654706930[9] = 0;
-   out_6761986232654706930[10] = 1;
-   out_6761986232654706930[11] = 0;
-   out_6761986232654706930[12] = 0;
-   out_6761986232654706930[13] = 0;
-   out_6761986232654706930[14] = 0;
-   out_6761986232654706930[15] = 0;
-   out_6761986232654706930[16] = 0;
-   out_6761986232654706930[17] = 0;
-   out_6761986232654706930[18] = 0;
-   out_6761986232654706930[19] = 0;
-   out_6761986232654706930[20] = 1;
-   out_6761986232654706930[21] = 0;
-   out_6761986232654706930[22] = 0;
-   out_6761986232654706930[23] = 0;
-   out_6761986232654706930[24] = 0;
-   out_6761986232654706930[25] = 0;
-   out_6761986232654706930[26] = 0;
-   out_6761986232654706930[27] = 0;
-   out_6761986232654706930[28] = 0;
-   out_6761986232654706930[29] = 0;
-   out_6761986232654706930[30] = 1;
-   out_6761986232654706930[31] = 0;
-   out_6761986232654706930[32] = 0;
-   out_6761986232654706930[33] = 0;
-   out_6761986232654706930[34] = 0;
-   out_6761986232654706930[35] = 0;
-   out_6761986232654706930[36] = 0;
-   out_6761986232654706930[37] = 0;
-   out_6761986232654706930[38] = 0;
-   out_6761986232654706930[39] = 0;
-   out_6761986232654706930[40] = 1;
-   out_6761986232654706930[41] = 0;
-   out_6761986232654706930[42] = 0;
-   out_6761986232654706930[43] = 0;
-   out_6761986232654706930[44] = 0;
-   out_6761986232654706930[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
-   out_6761986232654706930[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
-   out_6761986232654706930[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_6761986232654706930[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_6761986232654706930[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
-   out_6761986232654706930[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
-   out_6761986232654706930[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
-   out_6761986232654706930[52] = dt*stiffness_front*state[0]/(mass*state[1]);
-   out_6761986232654706930[53] = -9.8100000000000005*dt;
-   out_6761986232654706930[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
-   out_6761986232654706930[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
-   out_6761986232654706930[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_6761986232654706930[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_6761986232654706930[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
-   out_6761986232654706930[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
-   out_6761986232654706930[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
-   out_6761986232654706930[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_6761986232654706930[62] = 0;
-   out_6761986232654706930[63] = 0;
-   out_6761986232654706930[64] = 0;
-   out_6761986232654706930[65] = 0;
-   out_6761986232654706930[66] = 0;
-   out_6761986232654706930[67] = 0;
-   out_6761986232654706930[68] = 0;
-   out_6761986232654706930[69] = 0;
-   out_6761986232654706930[70] = 1;
-   out_6761986232654706930[71] = 0;
-   out_6761986232654706930[72] = 0;
-   out_6761986232654706930[73] = 0;
-   out_6761986232654706930[74] = 0;
-   out_6761986232654706930[75] = 0;
-   out_6761986232654706930[76] = 0;
-   out_6761986232654706930[77] = 0;
-   out_6761986232654706930[78] = 0;
-   out_6761986232654706930[79] = 0;
-   out_6761986232654706930[80] = 1;
+void F_fun(double *state, double dt, double *out_3645925778664752399) {
+   out_3645925778664752399[0] = 1;
+   out_3645925778664752399[1] = 0;
+   out_3645925778664752399[2] = 0;
+   out_3645925778664752399[3] = 0;
+   out_3645925778664752399[4] = 0;
+   out_3645925778664752399[5] = 0;
+   out_3645925778664752399[6] = 0;
+   out_3645925778664752399[7] = 0;
+   out_3645925778664752399[8] = 0;
+   out_3645925778664752399[9] = 0;
+   out_3645925778664752399[10] = 1;
+   out_3645925778664752399[11] = 0;
+   out_3645925778664752399[12] = 0;
+   out_3645925778664752399[13] = 0;
+   out_3645925778664752399[14] = 0;
+   out_3645925778664752399[15] = 0;
+   out_3645925778664752399[16] = 0;
+   out_3645925778664752399[17] = 0;
+   out_3645925778664752399[18] = 0;
+   out_3645925778664752399[19] = 0;
+   out_3645925778664752399[20] = 1;
+   out_3645925778664752399[21] = 0;
+   out_3645925778664752399[22] = 0;
+   out_3645925778664752399[23] = 0;
+   out_3645925778664752399[24] = 0;
+   out_3645925778664752399[25] = 0;
+   out_3645925778664752399[26] = 0;
+   out_3645925778664752399[27] = 0;
+   out_3645925778664752399[28] = 0;
+   out_3645925778664752399[29] = 0;
+   out_3645925778664752399[30] = 1;
+   out_3645925778664752399[31] = 0;
+   out_3645925778664752399[32] = 0;
+   out_3645925778664752399[33] = 0;
+   out_3645925778664752399[34] = 0;
+   out_3645925778664752399[35] = 0;
+   out_3645925778664752399[36] = 0;
+   out_3645925778664752399[37] = 0;
+   out_3645925778664752399[38] = 0;
+   out_3645925778664752399[39] = 0;
+   out_3645925778664752399[40] = 1;
+   out_3645925778664752399[41] = 0;
+   out_3645925778664752399[42] = 0;
+   out_3645925778664752399[43] = 0;
+   out_3645925778664752399[44] = 0;
+   out_3645925778664752399[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
+   out_3645925778664752399[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
+   out_3645925778664752399[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_3645925778664752399[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_3645925778664752399[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
+   out_3645925778664752399[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
+   out_3645925778664752399[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
+   out_3645925778664752399[52] = dt*stiffness_front*state[0]/(mass*state[1]);
+   out_3645925778664752399[53] = -9.8100000000000005*dt;
+   out_3645925778664752399[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
+   out_3645925778664752399[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
+   out_3645925778664752399[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_3645925778664752399[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_3645925778664752399[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
+   out_3645925778664752399[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
+   out_3645925778664752399[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
+   out_3645925778664752399[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_3645925778664752399[62] = 0;
+   out_3645925778664752399[63] = 0;
+   out_3645925778664752399[64] = 0;
+   out_3645925778664752399[65] = 0;
+   out_3645925778664752399[66] = 0;
+   out_3645925778664752399[67] = 0;
+   out_3645925778664752399[68] = 0;
+   out_3645925778664752399[69] = 0;
+   out_3645925778664752399[70] = 1;
+   out_3645925778664752399[71] = 0;
+   out_3645925778664752399[72] = 0;
+   out_3645925778664752399[73] = 0;
+   out_3645925778664752399[74] = 0;
+   out_3645925778664752399[75] = 0;
+   out_3645925778664752399[76] = 0;
+   out_3645925778664752399[77] = 0;
+   out_3645925778664752399[78] = 0;
+   out_3645925778664752399[79] = 0;
+   out_3645925778664752399[80] = 1;
 }
-void h_25(double *state, double *unused, double *out_319074315832850169) {
-   out_319074315832850169[0] = state[6];
+void h_25(double *state, double *unused, double *out_1347552076965832871) {
+   out_1347552076965832871[0] = state[6];
 }
-void H_25(double *state, double *unused, double *out_3655624952681647306) {
-   out_3655624952681647306[0] = 0;
-   out_3655624952681647306[1] = 0;
-   out_3655624952681647306[2] = 0;
-   out_3655624952681647306[3] = 0;
-   out_3655624952681647306[4] = 0;
-   out_3655624952681647306[5] = 0;
-   out_3655624952681647306[6] = 1;
-   out_3655624952681647306[7] = 0;
-   out_3655624952681647306[8] = 0;
+void H_25(double *state, double *unused, double *out_6035190491488835800) {
+   out_6035190491488835800[0] = 0;
+   out_6035190491488835800[1] = 0;
+   out_6035190491488835800[2] = 0;
+   out_6035190491488835800[3] = 0;
+   out_6035190491488835800[4] = 0;
+   out_6035190491488835800[5] = 0;
+   out_6035190491488835800[6] = 1;
+   out_6035190491488835800[7] = 0;
+   out_6035190491488835800[8] = 0;
 }
-void h_24(double *state, double *unused, double *out_5734853090591072423) {
-   out_5734853090591072423[0] = state[4];
-   out_5734853090591072423[1] = state[5];
+void h_24(double *state, double *unused, double *out_7176999251413506765) {
+   out_7176999251413506765[0] = state[4];
+   out_7176999251413506765[1] = state[5];
 }
-void H_24(double *state, double *unused, double *out_1429917168702778744) {
-   out_1429917168702778744[0] = 0;
-   out_1429917168702778744[1] = 0;
-   out_1429917168702778744[2] = 0;
-   out_1429917168702778744[3] = 0;
-   out_1429917168702778744[4] = 1;
-   out_1429917168702778744[5] = 0;
-   out_1429917168702778744[6] = 0;
-   out_1429917168702778744[7] = 0;
-   out_1429917168702778744[8] = 0;
-   out_1429917168702778744[9] = 0;
-   out_1429917168702778744[10] = 0;
-   out_1429917168702778744[11] = 0;
-   out_1429917168702778744[12] = 0;
-   out_1429917168702778744[13] = 0;
-   out_1429917168702778744[14] = 1;
-   out_1429917168702778744[15] = 0;
-   out_1429917168702778744[16] = 0;
-   out_1429917168702778744[17] = 0;
+void H_24(double *state, double *unused, double *out_6210520902369554390) {
+   out_6210520902369554390[0] = 0;
+   out_6210520902369554390[1] = 0;
+   out_6210520902369554390[2] = 0;
+   out_6210520902369554390[3] = 0;
+   out_6210520902369554390[4] = 1;
+   out_6210520902369554390[5] = 0;
+   out_6210520902369554390[6] = 0;
+   out_6210520902369554390[7] = 0;
+   out_6210520902369554390[8] = 0;
+   out_6210520902369554390[9] = 0;
+   out_6210520902369554390[10] = 0;
+   out_6210520902369554390[11] = 0;
+   out_6210520902369554390[12] = 0;
+   out_6210520902369554390[13] = 0;
+   out_6210520902369554390[14] = 1;
+   out_6210520902369554390[15] = 0;
+   out_6210520902369554390[16] = 0;
+   out_6210520902369554390[17] = 0;
 }
-void h_30(double *state, double *unused, double *out_8212013810717373528) {
-   out_8212013810717373528[0] = state[4];
+void h_30(double *state, double *unused, double *out_2798183469594716038) {
+   out_2798183469594716038[0] = state[4];
 }
-void H_30(double *state, double *unused, double *out_3784963899824887376) {
-   out_3784963899824887376[0] = 0;
-   out_3784963899824887376[1] = 0;
-   out_3784963899824887376[2] = 0;
-   out_3784963899824887376[3] = 0;
-   out_3784963899824887376[4] = 1;
-   out_3784963899824887376[5] = 0;
-   out_3784963899824887376[6] = 0;
-   out_3784963899824887376[7] = 0;
-   out_3784963899824887376[8] = 0;
+void H_30(double *state, double *unused, double *out_881499850002780955) {
+   out_881499850002780955[0] = 0;
+   out_881499850002780955[1] = 0;
+   out_881499850002780955[2] = 0;
+   out_881499850002780955[3] = 0;
+   out_881499850002780955[4] = 1;
+   out_881499850002780955[5] = 0;
+   out_881499850002780955[6] = 0;
+   out_881499850002780955[7] = 0;
+   out_881499850002780955[8] = 0;
 }
-void h_26(double *state, double *unused, double *out_5233056995331332443) {
-   out_5233056995331332443[0] = state[7];
+void h_26(double *state, double *unused, double *out_7428563492211452550) {
+   out_7428563492211452550[0] = state[7];
 }
-void H_26(double *state, double *unused, double *out_2998770888571335402) {
-   out_2998770888571335402[0] = 0;
-   out_2998770888571335402[1] = 0;
-   out_2998770888571335402[2] = 0;
-   out_2998770888571335402[3] = 0;
-   out_2998770888571335402[4] = 0;
-   out_2998770888571335402[5] = 0;
-   out_2998770888571335402[6] = 0;
-   out_2998770888571335402[7] = 1;
-   out_2998770888571335402[8] = 0;
+void H_26(double *state, double *unused, double *out_8670050263346659592) {
+   out_8670050263346659592[0] = 0;
+   out_8670050263346659592[1] = 0;
+   out_8670050263346659592[2] = 0;
+   out_8670050263346659592[3] = 0;
+   out_8670050263346659592[4] = 0;
+   out_8670050263346659592[5] = 0;
+   out_8670050263346659592[6] = 0;
+   out_8670050263346659592[7] = 1;
+   out_8670050263346659592[8] = 0;
 }
-void h_27(double *state, double *unused, double *out_3355860367277182854) {
-   out_3355860367277182854[0] = state[3];
+void h_27(double *state, double *unused, double *out_3654121190695012774) {
+   out_3654121190695012774[0] = state[3];
 }
-void H_27(double *state, double *unused, double *out_5959727211625312287) {
-   out_5959727211625312287[0] = 0;
-   out_5959727211625312287[1] = 0;
-   out_5959727211625312287[2] = 0;
-   out_5959727211625312287[3] = 1;
-   out_5959727211625312287[4] = 0;
-   out_5959727211625312287[5] = 0;
-   out_5959727211625312287[6] = 0;
-   out_5959727211625312287[7] = 0;
-   out_5959727211625312287[8] = 0;
+void H_27(double *state, double *unused, double *out_8339292750432500781) {
+   out_8339292750432500781[0] = 0;
+   out_8339292750432500781[1] = 0;
+   out_8339292750432500781[2] = 0;
+   out_8339292750432500781[3] = 1;
+   out_8339292750432500781[4] = 0;
+   out_8339292750432500781[5] = 0;
+   out_8339292750432500781[6] = 0;
+   out_8339292750432500781[7] = 0;
+   out_8339292750432500781[8] = 0;
 }
-void h_29(double *state, double *unused, double *out_7630324942183480437) {
-   out_7630324942183480437[0] = state[1];
+void h_29(double *state, double *unused, double *out_2203489798066129607) {
+   out_2203489798066129607[0] = state[1];
 }
-void H_29(double *state, double *unused, double *out_3274732555510495192) {
-   out_3274732555510495192[0] = 0;
-   out_3274732555510495192[1] = 1;
-   out_3274732555510495192[2] = 0;
-   out_3274732555510495192[3] = 0;
-   out_3274732555510495192[4] = 0;
-   out_3274732555510495192[5] = 0;
-   out_3274732555510495192[6] = 0;
-   out_3274732555510495192[7] = 0;
-   out_3274732555510495192[8] = 0;
+void H_29(double *state, double *unused, double *out_5654298094317683686) {
+   out_5654298094317683686[0] = 0;
+   out_5654298094317683686[1] = 1;
+   out_5654298094317683686[2] = 0;
+   out_5654298094317683686[3] = 0;
+   out_5654298094317683686[4] = 0;
+   out_5654298094317683686[5] = 0;
+   out_5654298094317683686[6] = 0;
+   out_5654298094317683686[7] = 0;
+   out_5654298094317683686[8] = 0;
 }
-void h_28(double *state, double *unused, double *out_4299370220178845289) {
-   out_4299370220178845289[0] = state[0];
+void h_28(double *state, double *unused, double *out_3781022243733688039) {
+   out_3781022243733688039[0] = state[0];
 }
-void H_28(double *state, double *unused, double *out_1311102283945168941) {
-   out_1311102283945168941[0] = 1;
-   out_1311102283945168941[1] = 0;
-   out_1311102283945168941[2] = 0;
-   out_1311102283945168941[3] = 0;
-   out_1311102283945168941[4] = 0;
-   out_1311102283945168941[5] = 0;
-   out_1311102283945168941[6] = 0;
-   out_1311102283945168941[7] = 0;
-   out_1311102283945168941[8] = 0;
+void H_28(double *state, double *unused, double *out_3690667822752357435) {
+   out_3690667822752357435[0] = 1;
+   out_3690667822752357435[1] = 0;
+   out_3690667822752357435[2] = 0;
+   out_3690667822752357435[3] = 0;
+   out_3690667822752357435[4] = 0;
+   out_3690667822752357435[5] = 0;
+   out_3690667822752357435[6] = 0;
+   out_3690667822752357435[7] = 0;
+   out_3690667822752357435[8] = 0;
 }
-void h_31(double *state, double *unused, double *out_594268378117356058) {
-   out_594268378117356058[0] = state[8];
+void h_31(double *state, double *unused, double *out_5423283149384518065) {
+   out_5423283149384518065[0] = state[8];
 }
-void H_31(double *state, double *unused, double *out_3624978990804686878) {
-   out_3624978990804686878[0] = 0;
-   out_3624978990804686878[1] = 0;
-   out_3624978990804686878[2] = 0;
-   out_3624978990804686878[3] = 0;
-   out_3624978990804686878[4] = 0;
-   out_3624978990804686878[5] = 0;
-   out_3624978990804686878[6] = 0;
-   out_3624978990804686878[7] = 0;
-   out_3624978990804686878[8] = 1;
+void H_31(double *state, double *unused, double *out_6004544529611875372) {
+   out_6004544529611875372[0] = 0;
+   out_6004544529611875372[1] = 0;
+   out_6004544529611875372[2] = 0;
+   out_6004544529611875372[3] = 0;
+   out_6004544529611875372[4] = 0;
+   out_6004544529611875372[5] = 0;
+   out_6004544529611875372[6] = 0;
+   out_6004544529611875372[7] = 0;
+   out_6004544529611875372[8] = 1;
 }
 #include <eigen3/Eigen/Dense>
 #include <iostream>
@@ -518,68 +518,68 @@ void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
   update<1, 3, 0>(in_x, in_P, h_31, H_31, NULL, in_z, in_R, in_ea, MAHA_THRESH_31);
 }
-void car_err_fun(double *nom_x, double *delta_x, double *out_4387195160971747702) {
-  err_fun(nom_x, delta_x, out_4387195160971747702);
+void car_err_fun(double *nom_x, double *delta_x, double *out_2765937094321424100) {
+  err_fun(nom_x, delta_x, out_2765937094321424100);
 }
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_7707264064834051115) {
-  inv_err_fun(nom_x, true_x, out_7707264064834051115);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_1382255689110899984) {
+  inv_err_fun(nom_x, true_x, out_1382255689110899984);
 }
-void car_H_mod_fun(double *state, double *out_7178605602671138983) {
-  H_mod_fun(state, out_7178605602671138983);
+void car_H_mod_fun(double *state, double *out_6175643942212596402) {
+  H_mod_fun(state, out_6175643942212596402);
 }
-void car_f_fun(double *state, double dt, double *out_2416599425795193412) {
-  f_fun(state,  dt, out_2416599425795193412);
+void car_f_fun(double *state, double dt, double *out_2437881867604815540) {
+  f_fun(state,  dt, out_2437881867604815540);
 }
-void car_F_fun(double *state, double dt, double *out_6761986232654706930) {
-  F_fun(state,  dt, out_6761986232654706930);
+void car_F_fun(double *state, double dt, double *out_3645925778664752399) {
+  F_fun(state,  dt, out_3645925778664752399);
 }
-void car_h_25(double *state, double *unused, double *out_319074315832850169) {
-  h_25(state, unused, out_319074315832850169);
+void car_h_25(double *state, double *unused, double *out_1347552076965832871) {
+  h_25(state, unused, out_1347552076965832871);
 }
-void car_H_25(double *state, double *unused, double *out_3655624952681647306) {
-  H_25(state, unused, out_3655624952681647306);
+void car_H_25(double *state, double *unused, double *out_6035190491488835800) {
+  H_25(state, unused, out_6035190491488835800);
 }
-void car_h_24(double *state, double *unused, double *out_5734853090591072423) {
-  h_24(state, unused, out_5734853090591072423);
+void car_h_24(double *state, double *unused, double *out_7176999251413506765) {
+  h_24(state, unused, out_7176999251413506765);
 }
-void car_H_24(double *state, double *unused, double *out_1429917168702778744) {
-  H_24(state, unused, out_1429917168702778744);
+void car_H_24(double *state, double *unused, double *out_6210520902369554390) {
+  H_24(state, unused, out_6210520902369554390);
 }
-void car_h_30(double *state, double *unused, double *out_8212013810717373528) {
-  h_30(state, unused, out_8212013810717373528);
+void car_h_30(double *state, double *unused, double *out_2798183469594716038) {
+  h_30(state, unused, out_2798183469594716038);
 }
-void car_H_30(double *state, double *unused, double *out_3784963899824887376) {
-  H_30(state, unused, out_3784963899824887376);
+void car_H_30(double *state, double *unused, double *out_881499850002780955) {
+  H_30(state, unused, out_881499850002780955);
 }
-void car_h_26(double *state, double *unused, double *out_5233056995331332443) {
-  h_26(state, unused, out_5233056995331332443);
+void car_h_26(double *state, double *unused, double *out_7428563492211452550) {
+  h_26(state, unused, out_7428563492211452550);
 }
-void car_H_26(double *state, double *unused, double *out_2998770888571335402) {
-  H_26(state, unused, out_2998770888571335402);
+void car_H_26(double *state, double *unused, double *out_8670050263346659592) {
+  H_26(state, unused, out_8670050263346659592);
 }
-void car_h_27(double *state, double *unused, double *out_3355860367277182854) {
-  h_27(state, unused, out_3355860367277182854);
+void car_h_27(double *state, double *unused, double *out_3654121190695012774) {
+  h_27(state, unused, out_3654121190695012774);
 }
-void car_H_27(double *state, double *unused, double *out_5959727211625312287) {
-  H_27(state, unused, out_5959727211625312287);
+void car_H_27(double *state, double *unused, double *out_8339292750432500781) {
+  H_27(state, unused, out_8339292750432500781);
 }
-void car_h_29(double *state, double *unused, double *out_7630324942183480437) {
-  h_29(state, unused, out_7630324942183480437);
+void car_h_29(double *state, double *unused, double *out_2203489798066129607) {
+  h_29(state, unused, out_2203489798066129607);
 }
-void car_H_29(double *state, double *unused, double *out_3274732555510495192) {
-  H_29(state, unused, out_3274732555510495192);
+void car_H_29(double *state, double *unused, double *out_5654298094317683686) {
+  H_29(state, unused, out_5654298094317683686);
 }
-void car_h_28(double *state, double *unused, double *out_4299370220178845289) {
-  h_28(state, unused, out_4299370220178845289);
+void car_h_28(double *state, double *unused, double *out_3781022243733688039) {
+  h_28(state, unused, out_3781022243733688039);
 }
-void car_H_28(double *state, double *unused, double *out_1311102283945168941) {
-  H_28(state, unused, out_1311102283945168941);
+void car_H_28(double *state, double *unused, double *out_3690667822752357435) {
+  H_28(state, unused, out_3690667822752357435);
 }
-void car_h_31(double *state, double *unused, double *out_594268378117356058) {
-  h_31(state, unused, out_594268378117356058);
+void car_h_31(double *state, double *unused, double *out_5423283149384518065) {
+  h_31(state, unused, out_5423283149384518065);
 }
-void car_H_31(double *state, double *unused, double *out_3624978990804686878) {
-  H_31(state, unused, out_3624978990804686878);
+void car_H_31(double *state, double *unused, double *out_6004544529611875372) {
+  H_31(state, unused, out_6004544529611875372);
 }
 void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
   predict(in_x, in_P, in_Q, dt);

selfdrive/locationd/models/generated/car.h

@@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
-void car_err_fun(double *nom_x, double *delta_x, double *out_4387195160971747702);
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_7707264064834051115);
-void car_H_mod_fun(double *state, double *out_7178605602671138983);
-void car_f_fun(double *state, double dt, double *out_2416599425795193412);
-void car_F_fun(double *state, double dt, double *out_6761986232654706930);
-void car_h_25(double *state, double *unused, double *out_319074315832850169);
-void car_H_25(double *state, double *unused, double *out_3655624952681647306);
-void car_h_24(double *state, double *unused, double *out_5734853090591072423);
-void car_H_24(double *state, double *unused, double *out_1429917168702778744);
-void car_h_30(double *state, double *unused, double *out_8212013810717373528);
-void car_H_30(double *state, double *unused, double *out_3784963899824887376);
-void car_h_26(double *state, double *unused, double *out_5233056995331332443);
-void car_H_26(double *state, double *unused, double *out_2998770888571335402);
-void car_h_27(double *state, double *unused, double *out_3355860367277182854);
-void car_H_27(double *state, double *unused, double *out_5959727211625312287);
-void car_h_29(double *state, double *unused, double *out_7630324942183480437);
-void car_H_29(double *state, double *unused, double *out_3274732555510495192);
-void car_h_28(double *state, double *unused, double *out_4299370220178845289);
-void car_H_28(double *state, double *unused, double *out_1311102283945168941);
-void car_h_31(double *state, double *unused, double *out_594268378117356058);
-void car_H_31(double *state, double *unused, double *out_3624978990804686878);
+void car_err_fun(double *nom_x, double *delta_x, double *out_2765937094321424100);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_1382255689110899984);
+void car_H_mod_fun(double *state, double *out_6175643942212596402);
+void car_f_fun(double *state, double dt, double *out_2437881867604815540);
+void car_F_fun(double *state, double dt, double *out_3645925778664752399);
+void car_h_25(double *state, double *unused, double *out_1347552076965832871);
+void car_H_25(double *state, double *unused, double *out_6035190491488835800);
+void car_h_24(double *state, double *unused, double *out_7176999251413506765);
+void car_H_24(double *state, double *unused, double *out_6210520902369554390);
+void car_h_30(double *state, double *unused, double *out_2798183469594716038);
+void car_H_30(double *state, double *unused, double *out_881499850002780955);
+void car_h_26(double *state, double *unused, double *out_7428563492211452550);
+void car_H_26(double *state, double *unused, double *out_8670050263346659592);
+void car_h_27(double *state, double *unused, double *out_3654121190695012774);
+void car_H_27(double *state, double *unused, double *out_8339292750432500781);
+void car_h_29(double *state, double *unused, double *out_2203489798066129607);
+void car_H_29(double *state, double *unused, double *out_5654298094317683686);
+void car_h_28(double *state, double *unused, double *out_3781022243733688039);
+void car_H_28(double *state, double *unused, double *out_3690667822752357435);
+void car_h_31(double *state, double *unused, double *out_5423283149384518065);
+void car_H_31(double *state, double *unused, double *out_6004544529611875372);
 void car_predict(double *in_x, double *in_P, double *in_Q, double dt);
 void car_set_mass(double x);
 void car_set_rotational_inertia(double x);

selfdrive/locationd/models/generated/pose.h

@@ -5,18 +5,18 @@ void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
-void pose_err_fun(double *nom_x, double *delta_x, double *out_8207359146711228947);
-void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8369219426901598353);
-void pose_H_mod_fun(double *state, double *out_7202306802530511060);
-void pose_f_fun(double *state, double dt, double *out_4961001892384611064);
-void pose_F_fun(double *state, double dt, double *out_4383751150204030030);
-void pose_h_4(double *state, double *unused, double *out_878843833946471253);
-void pose_H_4(double *state, double *unused, double *out_7970215192388091303);
-void pose_h_10(double *state, double *unused, double *out_1191517594273352576);
-void pose_H_10(double *state, double *unused, double *out_7914634342859917414);
-void pose_h_13(double *state, double *unused, double *out_5300060524255047032);
-void pose_H_13(double *state, double *unused, double *out_7264255055989127512);
-void pose_h_14(double *state, double *unused, double *out_3965460404426586337);
-void pose_H_14(double *state, double *unused, double *out_6513288024981975784);
+void pose_err_fun(double *nom_x, double *delta_x, double *out_2822233615381903085);
+void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3556797172859207138);
+void pose_H_mod_fun(double *state, double *out_4158952900173024917);
+void pose_f_fun(double *state, double dt, double *out_4480310224533440205);
+void pose_F_fun(double *state, double dt, double *out_2252133042369597057);
+void pose_h_4(double *state, double *unused, double *out_1225931617160521679);
+void pose_H_4(double *state, double *unused, double *out_3404791898118312310);
+void pose_h_10(double *state, double *unused, double *out_8314558572170779017);
+void pose_H_10(double *state, double *unused, double *out_3543553484029179274);
+void pose_h_13(double *state, double *unused, double *out_7492025966781743409);
+void pose_H_13(double *state, double *unused, double *out_4205839310198388619);
+void pose_h_14(double *state, double *unused, double *out_8444019918627598165);
+void pose_H_14(double *state, double *unused, double *out_6487580330413684606);
 void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }

selfdrive/modeld/compile_modeld.py

@@ -4,114 +4,106 @@ import atexit
 import os
 import pickle
 import time
-from collections import defaultdict, namedtuple
 from functools import partial
+from collections import namedtuple
 
 import numpy as np
 
-
 def _patch_tinygrad_fetch_fw():
   import hashlib
   import pathlib
-
   import zstandard
   from tinygrad import helpers
-
-  original_fetch_fw = getattr(helpers, "fetch_fw", None)
-  if original_fetch_fw is None:
+  _orig = getattr(helpers, "fetch_fw", None)
+  if _orig is None:
     return
-
   def fetch_fw(path, name, sha256):
-    firmware_path = pathlib.Path(f"/lib/firmware/{path}/{name}.zst")
-    if firmware_path.is_file():
-      blob = zstandard.ZstdDecompressor().stream_reader(firmware_path.read_bytes()).read()
+    p = pathlib.Path(f"/lib/firmware/{path}/{name}.zst")
+    if p.is_file():
+      blob = zstandard.ZstdDecompressor().stream_reader(p.read_bytes()).read()
       if hashlib.sha256(blob).hexdigest() == sha256:
         return blob
-    return original_fetch_fw(path, name, sha256)
-
+    return _orig(path, name, sha256)
   helpers.fetch_fw = fetch_fw
-
-
 _patch_tinygrad_fetch_fw()
 
+from tinygrad.tensor import Tensor
+from tinygrad.helpers import Context
 from tinygrad.device import Device
 from tinygrad.engine.jit import TinyJit
-from tinygrad.helpers import Context
-from tinygrad.tensor import Tensor
 
 
-NV12Frame = namedtuple("NV12Frame", ["width", "height", "stride", "y_height", "uv_height", "size"])
-WARP_INPUTS = ["img_q", "big_img_q", "tfm", "big_tfm"]
-POLICY_INPUTS = ["feat_q", "desire_q", "desire", "traffic_convention", "action_t"]
+NV12Frame = namedtuple("NV12Frame", ['width', 'height', 'stride', 'y_height', 'uv_height', 'size'])
+WARP_INPUTS = ['img_q', 'big_img_q', 'tfm', 'big_tfm']
+POLICY_INPUTS = ['feat_q', 'desire_q', 'desire', 'traffic_convention', 'action_t']
 
-WARP_DEV = os.getenv("WARP_DEV")
+UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
+UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
+
+WARP_DEV = os.getenv('WARP_DEV')
 
 
 def make_random_images(keys, shape, device=None):
-  return {key: Tensor.randint(shape, low=0, high=256, dtype="uint8", device=device).realize() for key in keys}
+  return {k: Tensor.randint(shape, low=0, high=256, dtype='uint8', device=device).realize() for k in keys}
 
 
-class _BlobTensorInputs(dict):
-  _backing_arrays: dict[str, np.ndarray]
+def make_random_blob_images(keys, size, device=None):
+  keepalive: list[np.ndarray] = []
+
+  def _make_random_blob_images():
+    nonlocal keepalive
+    keepalive = []
+    tensors = {}
+    for key in keys:
+      frame_np = (32 * np.random.randn(size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8)
+      keepalive.append(frame_np)
+      # Match runtime's Tensor.from_blob camera input ABI so TinyJit captures the same view shape.
+      tensors[key] = Tensor.from_blob(frame_np.ctypes.data, (size,), dtype='uint8', device=device).realize()
+    return tensors
+
+  return _make_random_blob_images
 
 
-def make_random_blob_images(keys, shape, device=None):
-  blob_shape = shape if isinstance(shape, tuple) else (shape,)
-  backing_arrays = {
-    key: np.random.randint(0, 256, size=blob_shape, dtype=np.uint8)
-    for key in keys
-  }
-  inputs = _BlobTensorInputs({
-    key: Tensor.from_blob(array.ctypes.data, array.shape, dtype="uint8", device=device).realize()
-    for key, array in backing_arrays.items()
-  })
-  # Keep the numpy storage alive for the duration of the JIT capture/replay call.
-  inputs._backing_arrays = backing_arrays
-  return inputs
+def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad, border_fill_val=None):
+  w_dst, h_dst = dst_shape
+  h_src, w_src = src_shape
 
+  x = Tensor.arange(w_dst, device=WARP_DEV).reshape(1, w_dst).expand(h_dst, w_dst).reshape(-1)
+  y = Tensor.arange(h_dst, device=WARP_DEV).reshape(h_dst, 1).expand(h_dst, w_dst).reshape(-1)
 
-def warp_perspective_tinygrad(src_flat, matrix_inverse, dst_shape, src_shape, stride_pad, border_fill_val=None):
-  width_dst, height_dst = dst_shape
-  height_src, width_src = src_shape
-
-  x = Tensor.arange(width_dst, device=WARP_DEV).reshape(1, width_dst).expand(height_dst, width_dst).reshape(-1)
-  y = Tensor.arange(height_dst, device=WARP_DEV).reshape(height_dst, 1).expand(height_dst, width_dst).reshape(-1)
-
-  # Inline 3x3 matmul as elementwise to avoid reduce ops and enable fusion with gather.
-  src_x = matrix_inverse[0, 0] * x + matrix_inverse[0, 1] * y + matrix_inverse[0, 2]
-  src_y = matrix_inverse[1, 0] * x + matrix_inverse[1, 1] * y + matrix_inverse[1, 2]
-  src_w = matrix_inverse[2, 0] * x + matrix_inverse[2, 1] * y + matrix_inverse[2, 2]
+  # inline 3x3 matmul as elementwise to avoid reduce op (enables fusion with gather)
+  src_x = M_inv[0, 0] * x + M_inv[0, 1] * y + M_inv[0, 2]
+  src_y = M_inv[1, 0] * x + M_inv[1, 1] * y + M_inv[1, 2]
+  src_w = M_inv[2, 0] * x + M_inv[2, 1] * y + M_inv[2, 2]
 
   src_x = src_x / src_w
   src_y = src_y / src_w
 
   x_round = Tensor.round(src_x)
   y_round = Tensor.round(src_y)
-  x_nn_clipped = x_round.clip(0, width_src - 1).cast("int")
-  y_nn_clipped = y_round.clip(0, height_src - 1).cast("int")
-  idx = y_nn_clipped * (width_src + stride_pad) + x_nn_clipped
+  x_nn_clipped = x_round.clip(0, w_src - 1).cast('int')
+  y_nn_clipped = y_round.clip(0, h_src - 1).cast('int')
+  idx = y_nn_clipped * (w_src + stride_pad) + x_nn_clipped
   sampled = src_flat[idx]
 
   if border_fill_val is None:
     return sampled
 
-  in_bounds = ((x_round >= 0) & (x_round <= width_src - 1) &
-               (y_round >= 0) & (y_round <= height_src - 1)).cast(sampled.dtype)
+  in_bounds = ((x_round >= 0) & (x_round <= w_src - 1) &
+               (y_round >= 0) & (y_round <= h_src - 1)).cast(sampled.dtype)
   return sampled * in_bounds + Tensor(border_fill_val, dtype=sampled.dtype) * (1 - in_bounds)
 
 
 def frames_to_tensor(frames):
-  height = (frames.shape[0] * 2) // 3
-  width = frames.shape[1]
-  return Tensor.cat(
-    frames[0:height:2, 0::2],
-    frames[1:height:2, 0::2],
-    frames[0:height:2, 1::2],
-    frames[1:height:2, 1::2],
-    frames[height:height + height // 4].reshape((height // 2, width // 2)),
-    frames[height + height // 4:height + height // 2].reshape((height // 2, width // 2)),
-    dim=0,
-  ).reshape((6, height // 2, width // 2))
+  H = (frames.shape[0] * 2) // 3
+  W = frames.shape[1]
+  in_img1 = Tensor.cat(frames[0:H:2, 0::2],
+                       frames[1:H:2, 0::2],
+                       frames[0:H:2, 1::2],
+                       frames[1:H:2, 1::2],
+                       frames[H:H+H//4].reshape((H//2, W//2)),
+                       frames[H+H//4:H+H//2].reshape((H//2, W//2)), dim=0).reshape((6, H//2, W//2))
+  return in_img1
 
 
 def make_frame_prepare(nv12: NV12Frame, model_w, model_h):
@@ -119,81 +111,65 @@ def make_frame_prepare(nv12: NV12Frame, model_w, model_h):
   uv_offset = stride * y_height
   stride_pad = stride - cam_w
 
-  def frame_prepare_tinygrad(input_frame, matrix_inverse):
-    # UV_SCALE @ M_inv @ UV_SCALE_INV simplifies to elementwise scaling.
-    matrix_inverse_uv = matrix_inverse * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]], device=WARP_DEV)
-    # Deinterleave NV12 UV plane (UVUV... -> separate U, V).
+  def frame_prepare_tinygrad(input_frame, M_inv):
+    # UV_SCALE @ M_inv @ UV_SCALE_INV simplifies to elementwise scaling
+    M_inv_uv = M_inv * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]], device=WARP_DEV)
+    # deinterleave NV12 UV plane (UVUV... -> separate U, V)
     uv = input_frame[uv_offset:uv_offset + uv_height * stride].reshape(uv_height, stride)
     with Context(SPLIT_REDUCEOP=0):
-      y = warp_perspective_tinygrad(
-        input_frame[:cam_h * stride],
-        matrix_inverse,
-        (model_w, model_h),
-        (cam_h, cam_w),
-        stride_pad,
-      ).realize()
-      u = warp_perspective_tinygrad(
-        uv[:cam_h // 2, :cam_w:2].flatten(),
-        matrix_inverse_uv,
-        (model_w // 2, model_h // 2),
-        (cam_h // 2, cam_w // 2),
-        0,
-      ).realize()
-      v = warp_perspective_tinygrad(
-        uv[:cam_h // 2, 1:cam_w:2].flatten(),
-        matrix_inverse_uv,
-        (model_w // 2, model_h // 2),
-        (cam_h // 2, cam_w // 2),
-        0,
-      ).realize()
+      y = warp_perspective_tinygrad(input_frame[:cam_h*stride],
+                                    M_inv, (model_w, model_h),
+                                    (cam_h, cam_w), stride_pad).realize()
+      u = warp_perspective_tinygrad(uv[:cam_h//2, :cam_w:2].flatten(),
+                                    M_inv_uv, (model_w//2, model_h//2),
+                                    (cam_h//2, cam_w//2), 0).realize()
+      v = warp_perspective_tinygrad(uv[:cam_h//2, 1:cam_w:2].flatten(),
+                                    M_inv_uv, (model_w//2, model_h//2),
+                                    (cam_h//2, cam_w//2), 0).realize()
     yuv = y.cat(u).cat(v).reshape((model_h * 3 // 2, model_w))
-    return frames_to_tensor(yuv)
-
+    tensor = frames_to_tensor(yuv)
+    return tensor
   return frame_prepare_tinygrad
 
 
-def make_tensor_inputs(vision_input_shapes, policy_input_shapes, frame_skip, device):
-  img = vision_input_shapes["img"]
+def make_warp_input_queues(vision_input_shapes, frame_skip, device):
+  img = vision_input_shapes['img']  # (1, 12, 128, 256)
   n_frames = img[1] // 6
   img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img[2], img[3])
 
-  features_buffer = policy_input_shapes["features_buffer"]
-  desire_pulse = policy_input_shapes["desire_pulse"]
-
-  return {
-    "img_q": Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-    "big_img_q": Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-    "feat_q": Tensor(
-      np.zeros((frame_skip * (features_buffer[1] - 1) + 1, features_buffer[0], features_buffer[2]), dtype=np.float32),
-      device=device,
-    ).contiguous().realize(),
-    "desire_q": Tensor(
-      np.zeros((frame_skip * desire_pulse[1], desire_pulse[0], desire_pulse[2]), dtype=np.float32),
-      device=device,
-    ).contiguous().realize(),
-  }
-
-
-def make_npy_inputs(policy_input_shapes):
-  desire_pulse = policy_input_shapes["desire_pulse"]
-  traffic_convention = policy_input_shapes["traffic_convention"]
-
   npy = {
-    "desire": np.zeros(desire_pulse[2], dtype=np.float32),
-    "traffic_convention": np.zeros(traffic_convention, dtype=np.float32),
-    "tfm": np.zeros((3, 3), dtype=np.float32),
-    "big_tfm": np.zeros((3, 3), dtype=np.float32),
+    'tfm': np.zeros((3, 3), dtype=np.float32),
+    'big_tfm': np.zeros((3, 3), dtype=np.float32),
   }
-  if "action_t" in policy_input_shapes:
-    npy["action_t"] = np.zeros(policy_input_shapes["action_t"], dtype=np.float32)
-  npy_tensors = {key: Tensor(value, device="NPY").realize() for key, value in npy.items()}
-  return npy, npy_tensors
+  input_queues = {
+    'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+    'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+    **{k: Tensor(v, device='NPY').realize() for k, v in npy.items()},
+  }
+  return input_queues, npy
 
 
 def make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device):
-  tensor_inputs = make_tensor_inputs(vision_input_shapes, policy_input_shapes, frame_skip, device)
-  npy, npy_tensors = make_npy_inputs(policy_input_shapes)
-  return {**tensor_inputs, **npy_tensors}, npy
+  input_queues, npy = make_warp_input_queues(vision_input_shapes, frame_skip, device)
+
+  fb = policy_input_shapes['features_buffer']  # (1, 25, 512)
+  dp = policy_input_shapes['desire_pulse']  # (1, 25, 8)
+  tc = policy_input_shapes['traffic_convention']  # (1, 2)
+  #TODO action_t is hardcoded to match tc for future compatibility
+  at = tc
+
+  policy_npy = {
+    'desire': np.zeros(dp[2], dtype=np.float32),
+    'traffic_convention': np.zeros(tc, dtype=np.float32),
+    'action_t': np.zeros(at, dtype=np.float32),
+  }
+  npy.update(policy_npy)
+  input_queues.update({
+    'feat_q': Tensor(np.zeros((frame_skip * (fb[1] - 1) + 1, fb[0], fb[2]), dtype=np.float32), device=device).contiguous().realize(),
+    'desire_q': Tensor(np.zeros((frame_skip * dp[1], dp[0], dp[2]), dtype=np.float32), device=device).contiguous().realize(),
+    **{k: Tensor(v, device='NPY').realize() for k, v in policy_npy.items()},
+  })
+  return input_queues, npy
 
 
 def shift_and_sample(buf, new_val, sample_fn):
@@ -223,44 +199,39 @@ def make_warp(nv12, model_w, model_h, frame_skip):
     img = shift_and_sample(img_q, warped_frame, sample_skip_fn)
     big_img = shift_and_sample(big_img_q, warped_big_frame, sample_skip_fn)
     return img, big_img
-
   return warp_enqueue
 
 
-def make_run_policy(vision_runner, off_policy_runner, on_policy_runner, vision_features_slice, frame_skip):
+def make_run_policy(model_runners, model_metadata, frame_skip):
   sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
   sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
+  vision_features_slice = model_metadata['vision']['output_slices']['hidden_state']
 
   def run_policy(img, big_img, feat_q, desire_q, desire, traffic_convention, action_t):
     desire = desire.to(Device.DEFAULT)
     traffic_convention = traffic_convention.to(Device.DEFAULT)
     action_t = action_t.to(Device.DEFAULT)
     Tensor.realize(desire, traffic_convention, action_t)
-
     desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
-    vision_out = next(iter(vision_runner({"img": img, "big_img": big_img}).values())).cast("float32")
+    vision_out = next(iter(model_runners['vision']({'img': img, 'big_img': big_img}).values())).cast('float32')
 
     new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
     feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
 
     inputs = {
-      "features_buffer": feat_buf,
-      "desire_pulse": desire_buf,
-      "traffic_convention": traffic_convention,
-      "action_t": action_t,
+      'features_buffer': feat_buf,
+      'desire_pulse': desire_buf,
+      'traffic_convention': traffic_convention,
+      'action_t': action_t,
     }
-    on_policy_out = next(iter(on_policy_runner(inputs).values())).cast("float32")
-    off_policy_out = next(iter(off_policy_runner(inputs).values())).cast("float32")
+    on_policy_out = next(iter(model_runners['on_policy'](inputs).values())).cast('float32')
+    off_policy_out = next(iter(model_runners['off_policy'](inputs).values())).cast('float32')
     return vision_out, on_policy_out, off_policy_out
-
   return run_policy
 
 
-def compile_jit(jit, make_random_inputs, input_keys, frame_skip, vision_metadata, policy_metadata):
-  vision_input_shapes = vision_metadata["input_shapes"]
-  policy_input_shapes = policy_metadata["input_shapes"]
-
-  seed = 42
+def compile_jit(jit, make_random_inputs, input_keys, make_queues):
+  SEED = 42
   validation_rtol = 5e-3 if Device.DEFAULT == "QCOM" else 0.0
   validation_atol = 5e-3 if Device.DEFAULT == "QCOM" else 0.0
 
@@ -271,118 +242,104 @@ def compile_jit(jit, make_random_inputs, input_keys, frame_skip, vision_metadata
       return np.allclose(lhs, rhs, rtol=validation_rtol, atol=validation_atol, equal_nan=True)
     return np.array_equal(lhs, rhs)
 
-  def random_inputs_run(fn, current_seed, test_val=None, test_buffers=None, expect_match=True):
-    input_queues, npy = make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, Device.DEFAULT)
-    np.random.seed(current_seed)
-    Tensor.manual_seed(current_seed)
+  def random_inputs_run(fn, seed, test_val=None, test_buffers=None, expect_match=True):
+    input_queues, npy = make_queues(Device.DEFAULT)
+    np.random.seed(seed)
+    Tensor.manual_seed(seed)
 
     testing = test_val is not None or test_buffers is not None
     n_runs = 1 if testing else 3
 
-    for idx in range(n_runs):
-      for value in npy.values():
-        value[:] = np.random.randn(*value.shape).astype(value.dtype)
+    for i in range(n_runs):
+      for v in npy.values():
+        v[:] = np.random.randn(*v.shape).astype(v.dtype)
       Device.default.synchronize()
       random_inputs = make_random_inputs()
-      start = time.perf_counter()
-      outs = fn(**{key: input_queues[key] for key in input_keys}, **random_inputs)
-      mid = time.perf_counter()
+      st = time.perf_counter()
+      outs = fn(**{k: input_queues[k] for k in input_keys}, **random_inputs)
+      mt = time.perf_counter()
       Device.default.synchronize()
-      end = time.perf_counter()
-      print(f"  [{idx + 1}/{n_runs}] enqueue {(mid - start) * 1e3:6.2f} ms -- total {(end - start) * 1e3:6.2f} ms")
+      et = time.perf_counter()
+      print(f"  [{i+1}/{n_runs}] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
 
-      if idx == 0:
-        val = [np.copy(value.numpy()) for value in outs]
-        buffers = [np.copy(value.numpy().copy()) for value in input_queues.values()]
+      if i == 0:
+        val = [np.copy(v.numpy()) for v in outs]
+        buffers = [np.copy(v.numpy().copy()) for v in input_queues.values()]
 
     if Device.DEFAULT != "QCOM":
       if test_val is not None:
-        match = all(arrays_match(lhs, rhs) for lhs, rhs in zip(val, test_val, strict=True))
-        assert match == expect_match, f"outputs {'differ from' if expect_match else 'match'} baseline (seed={current_seed})"
+        match = all(arrays_match(a, b) for a, b in zip(val, test_val, strict=True))
+        assert match == expect_match, f"outputs {'differ from' if expect_match else 'match'} baseline (seed={seed})"
       if test_buffers is not None:
-        match = all(arrays_match(lhs, rhs) for lhs, rhs in zip(buffers, test_buffers, strict=True))
-        assert match == expect_match, f"buffers {'differ from' if expect_match else 'match'} baseline (seed={current_seed})"
+        match = all(arrays_match(a, b) for a, b in zip(buffers, test_buffers, strict=True))
+        assert match == expect_match, f"buffers {'differ from' if expect_match else 'match'} baseline (seed={seed})"
     return val, buffers
 
-  print("capture + replay")
-  test_val, test_buffers = random_inputs_run(jit, seed)
-  print("pickle round trip")
+  print('capture + replay')
+  test_val, test_buffers = random_inputs_run(jit, SEED)
+  print('pickle round trip')
   jit = pickle.loads(pickle.dumps(jit))
-  random_inputs_run(jit, seed, test_val, test_buffers, expect_match=True)
-  random_inputs_run(jit, seed + 1, test_val, test_buffers, expect_match=False)
+  random_inputs_run(jit, SEED, test_val, test_buffers, expect_match=True)
+  random_inputs_run(jit, SEED+1, test_val, test_buffers, expect_match=False)
   return jit
 
 
-def _parse_size(size):
-  width, height = size.lower().split("x")
-  return int(width), int(height)
+def _parse_size(s):
+  w, h = s.lower().split('x')
+  return int(w), int(h)
 
 
 def read_file_chunked_to_shm(path):
   from openpilot.common.file_chunker import read_file_chunked
   from openpilot.system.hardware.hw import Paths
-
   shm_path = os.path.join(Paths.shm_path(), os.path.basename(path))
   atexit.register(lambda: os.path.exists(shm_path) and os.remove(shm_path))
-  with open(shm_path, "wb") as f:
+  with open(shm_path, 'wb') as f:
     f.write(read_file_chunked(path))
   return shm_path
 
 
 if __name__ == "__main__":
   from tinygrad.nn.onnx import OnnxRunner
-  from openpilot.selfdrive.modeld.get_model_metadata import make_metadata_dict
   from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+  from openpilot.selfdrive.modeld.get_model_metadata import make_metadata_dict
+  p = argparse.ArgumentParser()
+  p.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
+  p.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True,
+                 help='camera resolutions WxH (one or more)')
+  p.add_argument('--vision-onnx', required=True)
+  p.add_argument('--off-policy-onnx', required=True)
+  p.add_argument('--on-policy-onnx', required=True)
+  p.add_argument('--output', required=True)
+  p.add_argument('--frame-skip', type=int, required=True)
+  args = p.parse_args()
 
-  parser = argparse.ArgumentParser()
-  parser.add_argument("--model-size", type=_parse_size, required=True, help="model input WxH")
-  parser.add_argument("--camera-resolutions", type=_parse_size, nargs="+", required=True, help="camera resolutions WxH (one or more)")
-  parser.add_argument("--vision-onnx", required=True)
-  parser.add_argument("--off-policy-onnx", required=True)
-  parser.add_argument("--on-policy-onnx", required=True)
-  parser.add_argument("--output", required=True)
-  parser.add_argument("--frame-skip", type=int, required=True)
-  args = parser.parse_args()
-
-  out = defaultdict(dict)
-  vision_path = read_file_chunked_to_shm(args.vision_onnx)
-  off_policy_path = read_file_chunked_to_shm(args.off_policy_onnx)
-  on_policy_path = read_file_chunked_to_shm(args.on_policy_onnx)
+  model_paths = {
+    'vision': read_file_chunked_to_shm(args.vision_onnx),
+    'off_policy': read_file_chunked_to_shm(args.off_policy_onnx),
+    'on_policy': read_file_chunked_to_shm(args.on_policy_onnx),
+  }
   model_w, model_h = args.model_size
 
-  vision_runner = OnnxRunner(vision_path)
-  off_policy_runner = OnnxRunner(off_policy_path)
-  on_policy_runner = OnnxRunner(on_policy_path)
-  vision_metadata = make_metadata_dict(vision_path)
-  off_policy_metadata = make_metadata_dict(off_policy_path)
-  on_policy_metadata = make_metadata_dict(on_policy_path)
-  assert off_policy_metadata["input_shapes"] == on_policy_metadata["input_shapes"]
+  model_runners = {name: OnnxRunner(path) for name, path in model_paths.items()}
+  out = {'metadata': {name: make_metadata_dict(path) for name, path in model_paths.items()}}
 
-  run_policy_jit = TinyJit(
-    make_run_policy(
-      vision_runner,
-      off_policy_runner,
-      on_policy_runner,
-      vision_metadata["output_slices"]["hidden_state"],
-      args.frame_skip,
-    ),
-    prune=True,
-  )
+  assert out['metadata']['off_policy']['input_shapes'] == out['metadata']['on_policy']['input_shapes']
 
-  out["metadata"]["vision"] = vision_metadata
-  out["metadata"]["off_policy"] = off_policy_metadata
-  out["metadata"]["on_policy"] = on_policy_metadata
-  out["tensor_inputs"] = make_tensor_inputs(vision_metadata["input_shapes"], on_policy_metadata["input_shapes"], args.frame_skip, Device.DEFAULT)
+  run_policy_jit = TinyJit(make_run_policy(model_runners, out['metadata'], args.frame_skip), prune=True)
 
-  make_random_model_inputs = partial(make_random_images, keys=["img", "big_img"], shape=vision_metadata["input_shapes"]["img"])
-  out["run_policy"] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS, args.frame_skip, vision_metadata, on_policy_metadata)
+  make_policy_queues = partial(make_input_queues, out['metadata']['vision']['input_shapes'],
+                               out['metadata']['on_policy']['input_shapes'], args.frame_skip)
+  make_random_model_inputs = partial(make_random_images, keys=['img', 'big_img'], shape=out['metadata']['vision']['input_shapes']['img'])
+  out['run_policy'] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS,
+                                  make_policy_queues)
 
   for cam_w, cam_h in args.camera_resolutions:
     nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
-    # Capture warp against blob-backed frames so the JIT ABI matches runtime VisionBuf inputs.
-    make_random_warp_inputs = partial(make_random_blob_images, keys=["frame", "big_frame"], shape=nv12.size, device=WARP_DEV)
+    make_random_warp_inputs = make_random_blob_images(keys=['frame', 'big_frame'], size=nv12.size, device=WARP_DEV)
     warp_enqueue = TinyJit(make_warp(nv12, model_w, model_h, args.frame_skip), prune=True)
-    out[(cam_w, cam_h)] = compile_jit(warp_enqueue, make_random_warp_inputs, WARP_INPUTS, args.frame_skip, vision_metadata, on_policy_metadata)
+    make_warp_queues = partial(make_warp_input_queues, out['metadata']['vision']['input_shapes'], args.frame_skip)
+    out[(cam_w,cam_h)] = compile_jit(warp_enqueue, make_random_warp_inputs, WARP_INPUTS, make_warp_queues)
 
   with open(args.output, "wb") as f:
     pickle.dump(out, f)