squeak squeak

OP Long: Left stick horizontal steer
	            Right stick vertical gas/brake

AOL:  Left stick horizontal steer

Controller profiles added:
Google Stadia Controller added
Xbox Controller has its own profile
Dual Sense has its own profile

joystick_probe.py tool allows people to discover their own controllers.

cereal/custom.capnp

@@ -220,6 +220,7 @@ struct StarPilotPlan @0xf98d843bfd7004a3 {
   disableThrottle @35 :Bool;
   trackingLead @36 :Bool;
   stopSignConfirmed @37 :Bool;
+  pulseGlideCoasting @38 :Bool;  # developer-only P&G phase for on-road status UI
 }
 
 struct StarPilotRadarState @0xb86e6369214c01c8 {

cereal/log.capnp

@@ -2757,6 +2757,7 @@ struct Event {
     userBookmark @93 :UserBookmark;
     bookmarkButton @148 :UserBookmark;
     audioFeedback @149 :AudioFeedback;
+    visionSpeedLimitBookmark @153 :UserBookmark;
 
     lateralManeuverPlan @150 :LateralManeuverPlan;
     # *********** debug ***********

cereal/services.h

@@ -69,6 +69,7 @@ static std::map<std::string, service> services = {
   { "rawAudioData", {"rawAudioData", false, 20.000000, -1, 256000}},
   { "bookmarkButton", {"bookmarkButton", true, 0.000000, 1, 256000}},
   { "audioFeedback", {"audioFeedback", true, 0.000000, 1, 256000}},
+  { "visionSpeedLimitBookmark", {"visionSpeedLimitBookmark", false, 0.000000, 1, 256000}},
   { "roadEncodeData", {"roadEncodeData", false, 20.000000, -1, 10485760}},
   { "driverEncodeData", {"driverEncodeData", false, 20.000000, -1, 10485760}},
   { "wideRoadEncodeData", {"wideRoadEncodeData", false, 20.000000, -1, 10485760}},

cereal/services.py

@@ -86,6 +86,7 @@ _services: dict[str, tuple] = {
   "rawAudioData": (False, 20.),
   "bookmarkButton": (True, 0., 1),
   "audioFeedback": (True, 0., 1),
+  "visionSpeedLimitBookmark": (False, 0., 1),
   "roadEncodeData": (False, 20., None, QueueSize.BIG),
   "driverEncodeData": (False, 20., None, QueueSize.BIG),
   "wideRoadEncodeData": (False, 20., None, QueueSize.BIG),

common/params_keys.h

@@ -66,6 +66,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"HondaLateralPidKiScale", {PERSISTENT, FLOAT, "1.0", "1.0", 3}},
     {"HondaLateralPidKpScale", {PERSISTENT, FLOAT, "1.0", "1.0", 3}},
     {"HondaWindFactorParams", {PERSISTENT, FLOAT}},
+    {"HomeScreenName", {PERSISTENT, STRING, "StarPilot", "StarPilot", 3}},
     {"InstallDate", {PERSISTENT, TIME}},
     {"IsDriverViewEnabled", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsEngaged", {PERSISTENT, BOOL}},

launch_env.sh

@@ -21,7 +21,7 @@ fi
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="19.6.1"
+  export AGNOS_VERSION="19.6.2"
 fi
 
 if [ -z "$AGNOS_ACCEPTED_VERSIONS" ]; then

opendbc_repo/opendbc/car/ford/interface.py

@@ -54,10 +54,10 @@ class CarInterface(CarInterfaceBase):
       cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
     ret.safetyConfigs = cfgs
 
-    ret.alphaLongitudinalAvailable = ret.radarUnavailable
-    if alpha_long or not ret.radarUnavailable:
+    ret.alphaLongitudinalAvailable = True
+    ret.openpilotLongitudinalControl = bool(alpha_long)
+    if ret.openpilotLongitudinalControl:
       ret.safetyConfigs[-1].safetyParam |= FordSafetyFlags.LONG_CONTROL.value
-      ret.openpilotLongitudinalControl = True
 
     if ret.flags & FordFlags.CANFD:
       ret.safetyConfigs[-1].safetyParam |= FordSafetyFlags.CANFD.value

opendbc_repo/opendbc/car/ford/tests/test_ford.py

@@ -4,9 +4,11 @@ from collections.abc import Iterable
 from hypothesis import settings, given, strategies as st
 from parameterized import parameterized
 
+from opendbc.car import gen_empty_fingerprint
 from opendbc.car.structs import CarParams
 from opendbc.car.fw_versions import build_fw_dict
-from opendbc.car.ford.values import CAR, FW_QUERY_CONFIG, FW_PATTERN, get_platform_codes, match_vin_to_car
+from opendbc.car.ford.interface import CarInterface
+from opendbc.car.ford.values import CAR, FW_QUERY_CONFIG, FW_PATTERN, FordSafetyFlags, get_platform_codes, match_vin_to_car
 from opendbc.car.ford.fingerprints import FW_VERSIONS
 
 Ecu = CarParams.Ecu
@@ -154,3 +156,19 @@ class TestFordFW:
     live_fw[(0x760, None)] = {b"M1MC-2D053-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"}
     candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw})
     assert len(candidates) == 0, "Should not match new model year hint"
+
+
+def test_mach_e_longitudinal_toggle_controls_stock_acc_selection():
+  stock = CarInterface.get_params(
+    CAR.FORD_MUSTANG_MACH_E_MK1, gen_empty_fingerprint(), [], False, False, False, None)
+  enhanced = CarInterface.get_params(
+    CAR.FORD_MUSTANG_MACH_E_MK1, gen_empty_fingerprint(), [], True, False, False, None)
+
+  assert stock.alphaLongitudinalAvailable
+  assert not stock.openpilotLongitudinalControl
+  assert stock.pcmCruise
+  assert not (stock.safetyConfigs[-1].safetyParam & FordSafetyFlags.LONG_CONTROL)
+
+  assert enhanced.alphaLongitudinalAvailable
+  assert enhanced.openpilotLongitudinalControl
+  assert enhanced.safetyConfigs[-1].safetyParam & FordSafetyFlags.LONG_CONTROL

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -9,10 +9,12 @@ from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.hyundai import hyundaicanfd, hyundaican
 from opendbc.car.hyundai.hyundaicanfd import CanBus
 from opendbc.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CAR, CANFD_ANGLE_LONGITUDINAL_CAR, \
-                                        CANFD_RADAR_LIVE_LONGITUDINAL_CAR, kia_ev6_gt_line_longitudinal_tuning
+                                        CANFD_RADAR_LIVE_LONGITUDINAL_CAR, kia_ev6_gt_line_longitudinal_tuning, \
+                                        KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.common.params import Params
+from openpilot.starpilot.common.testing_grounds import testing_ground
 
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
 LongCtrlState = structs.CarControl.Actuators.LongControlState
@@ -79,7 +81,10 @@ BLINDSPOT_WARNING_SOUND_SAMPLES = 36
 
 def egmp_dynamic_longitudinal_tuning(CP) -> bool:
   return CP.carFingerprint in (CAR.HYUNDAI_IONIQ_6, CAR.KIA_EV9, CAR.HYUNDAI_IONIQ_5_PE) or \
-    kia_ev6_gt_line_longitudinal_tuning(CP.carFingerprint, getattr(CP, "carVin", ""))
+    kia_ev6_gt_line_longitudinal_tuning(
+      CP.carFingerprint, getattr(CP, "carVin", ""),
+      testing_ground.use(KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID),
+    )
 
 
 def get_canfd_scc_decel_step(CP) -> float:
@@ -87,7 +92,10 @@ def get_canfd_scc_decel_step(CP) -> float:
 
 
 def should_reset_ev6_gt_line_longitudinal_tuning(CP, long_control_state: LongCtrlState) -> bool:
-  return kia_ev6_gt_line_longitudinal_tuning(CP.carFingerprint, getattr(CP, "carVin", "")) and \
+  return kia_ev6_gt_line_longitudinal_tuning(
+    CP.carFingerprint, getattr(CP, "carVin", ""),
+    testing_ground.use(KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID),
+  ) and \
     long_control_state == LongCtrlState.off
 
 
@@ -631,7 +639,10 @@ class CarController(CarControllerBase):
 
     use_egmp_dynamic_long_tuning = egmp_dynamic_longitudinal_tuning(self.CP) and self.long_active_ecu and \
                                    actuators.longControlState in (LongCtrlState.starting, LongCtrlState.pid, LongCtrlState.stopping)
-    is_ev6_gt_line = kia_ev6_gt_line_longitudinal_tuning(self.CP.carFingerprint, getattr(self.CP, "carVin", ""))
+    is_ev6_gt_line = kia_ev6_gt_line_longitudinal_tuning(
+      self.CP.carFingerprint, getattr(self.CP, "carVin", ""),
+      testing_ground.use(KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID),
+    )
     is_ccnc_angle_long = self.CP.carFingerprint in CANFD_ANGLE_LONGITUDINAL_CAR
     if is_ccnc_angle_long and (self._ev9_long_tuning.stop_request or not CC.enabled or CC.cruiseControl.override):
       self._ioniq_6_long_tuning = reset_egmp_longitudinal_tuning(self._ioniq_6_long_tuning)

opendbc_repo/opendbc/car/hyundai/interface.py

@@ -12,13 +12,15 @@ from opendbc.car.hyundai.values import HyundaiFlags, CAR, CarControllerParams, \
                                                    CAN_CANFD_BLENDED_HDA2_LONGITUDINAL_CAR, \
                                                    HyundaiStarPilotSafetyFlags, \
                                                    hyundai_cancel_button_enables_cruise, \
-                                                   kia_ev6_gt_line_longitudinal_tuning
+                                                   kia_ev6_gt_line_longitudinal_tuning, \
+                                                   KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID
 from opendbc.car.hyundai.radar_interface import get_radar_track_config, radar_tracks_available
 from opendbc.car.interfaces import CarInterfaceBase, ACCEL_MIN
 from opendbc.car.disable_ecu import disable_ecu, ecu_log
 from opendbc.car.hyundai.carcontroller import CarController
 from opendbc.car.hyundai.carstate import CarState
 from opendbc.car.hyundai.radar_interface import RadarInterface
+from openpilot.starpilot.common.testing_grounds import testing_ground
 
 ButtonType = structs.CarState.ButtonEvent.Type
 Ecu = structs.CarParams.Ecu
@@ -106,7 +108,8 @@ class CarInterface(CarInterfaceBase):
 
   @staticmethod
   def apply_post_fingerprint_params(CP: structs.CarParams, candidate, fingerprint, car_fw) -> None:
-    if kia_ev6_gt_line_longitudinal_tuning(CP.carFingerprint, CP.carVin):
+    gt_line_testing_ground = testing_ground.use(KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID)
+    if kia_ev6_gt_line_longitudinal_tuning(CP.carFingerprint, CP.carVin, gt_line_testing_ground):
       apply_kia_ev6_gt_line_longitudinal_params(CP)
 
   @staticmethod

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

@@ -1043,6 +1043,24 @@ class TestHyundaiFingerprint:
     assert reset_state.accel_last == pytest.approx(0.0)
     assert reset_state.long_control_state_last == LongCtrlState.off
 
+  def test_kia_ev6_gt_line_testing_ground_longitudinal_params(self, monkeypatch):
+    toggles = get_test_toggles()
+    CP = CarInterface.get_params(CAR.KIA_EV6, gen_empty_fingerprint(), [], True, False, False, toggles)
+    CP.carVin = "00000000000000000"
+
+    monkeypatch.setattr(
+      "opendbc.car.hyundai.interface.testing_ground",
+      SimpleNamespace(use=lambda slot_id: slot_id == "5"),
+    )
+    CarInterface.apply_post_fingerprint_params(CP, CAR.KIA_EV6, gen_empty_fingerprint(), [])
+
+    assert CP.startAccel == pytest.approx(1.4)
+    assert CP.vEgoStarting == pytest.approx(0.5)
+    assert CP.longitudinalActuatorDelay == pytest.approx(0.35)
+
+    assert kia_ev6_gt_line_longitudinal_tuning(CP.carFingerprint, CP.carVin, testing_ground_active=True)
+    assert not kia_ev6_gt_line_longitudinal_tuning(CAR.KIA_EV6_2025, CP.carVin, testing_ground_active=True)
+
   def test_kia_ev6_non_gt_line_keeps_family_longitudinal_params(self):
     toggles = get_test_toggles()
     CP = CarInterface.get_params(CAR.KIA_EV6, gen_empty_fingerprint(), [], True, False, False, toggles)

opendbc_repo/opendbc/car/hyundai/values.py

@@ -111,6 +111,7 @@ class HyundaiSafetyFlags(IntFlag):
 
 
 class HyundaiStarPilotSafetyFlags(IntFlag):
+  AOL_MAIN_LKAS_SYNC = 32
   HAS_LDA_BUTTON = 1024
   AOL_LKAS_ON_ENGAGE = 2048
 
@@ -974,6 +975,7 @@ CAN_CANFD_BLENDED_HDA2_LONGITUDINAL_CAR = frozenset({
 KIA_EV6_GT_LINE_LONG_TUNING_VDS_PREFIXES = frozenset({
   "C4DLC",
 })
+KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID = "5"
 
 
 ALT_BUS_LDA_BUTTON_CARS = frozenset()
@@ -984,9 +986,9 @@ def hyundai_cancel_button_enables_cruise(car_fingerprint) -> bool:
   return car_fingerprint in CANCEL_BUTTON_ENABLE_CARS
 
 
-def kia_ev6_gt_line_longitudinal_tuning(car_fingerprint, vin: str) -> bool:
-  return car_fingerprint == CAR.KIA_EV6 and isinstance(vin, str) and \
-    len(vin) == 17 and vin[3:8] in KIA_EV6_GT_LINE_LONG_TUNING_VDS_PREFIXES
+def kia_ev6_gt_line_longitudinal_tuning(car_fingerprint, vin: str, testing_ground_active: bool = False) -> bool:
+  vin_match = isinstance(vin, str) and len(vin) == 17 and vin[3:8] in KIA_EV6_GT_LINE_LONG_TUNING_VDS_PREFIXES
+  return car_fingerprint == CAR.KIA_EV6 and (vin_match or testing_ground_active)
 
 
 def get_platform_codes(fw_versions: list[bytes]) -> set[tuple[bytes, bytes | None]]:

opendbc_repo/opendbc/car/interfaces.py

@@ -261,6 +261,10 @@ class CarInterfaceBase(ABC):
         if params.get_bool("AlwaysOnLateral") and params.get_int("LKASButtonControl") == 9:
           fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
 
+        if candidate == HYUNDAI.HYUNDAI_SONATA_HYBRID and getattr(starpilot_toggles, "always_on_lateral_lkas", False) and \
+            getattr(starpilot_toggles, "main_cruise_aol_toggle", False):
+          fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_MAIN_LKAS_SYNC.value
+
       elif platform in TOYOTA:
         fp_ret.canUsePedal = not CP.autoResumeSng
         fp_ret.canUseSDSU = candidate not in UNSUPPORTED_DSU_CAR and candidate not in TSS2_CAR

opendbc_repo/opendbc/car/nissan/interface.py

@@ -16,13 +16,12 @@ LEAF_ADAS_COMMAND_BUS = 1
 LEAF_ADAS_COMMAND_ADDRS = frozenset((0x1C3, 0x2B0))
 LEAF_2025_SV_PLUS_CAMERA_FW = b'6WK2CDB\x04\x18\x00\x00\x00\x00\x00R=1\x18\x99\x10\x00\x00\x00\x80'
 
-# This Leaf camera uses KWP2000 rather than UDS for session management.
-LEAF_KWP_DATA_MONITOR_REQUEST = b"\x10\xF0"
-LEAF_KWP_DATA_MONITOR_RESPONSE = b"\x50\xF0"
-LEAF_KWP_DISABLE_NORMAL_TX = b"\x28\x01"
+LEAF_KWP_EXTENDED_REQUEST = b"\x10\xC0"
+LEAF_KWP_EXTENDED_RESPONSE = b"\x50\xC0"
+LEAF_KWP_DISABLE_NORMAL_TX_NO_RESPONSE = b"\x28\x02"
 
 LEAF_KWP_TAKEOVER_SESSIONS = (
-  (LEAF_KWP_DATA_MONITOR_REQUEST, LEAF_KWP_DATA_MONITOR_RESPONSE),
+  (LEAF_KWP_EXTENDED_REQUEST, LEAF_KWP_EXTENDED_RESPONSE),
 )
 
 
@@ -161,7 +160,7 @@ class CarInterface(CarInterfaceBase):
     for diag_request, diag_response in LEAF_KWP_TAKEOVER_SESSIONS:
       ecu_log(f"Nissan Leaf ADAS takeover using KWP session {diag_request.hex()}")
       ecu_disabled = disable_ecu(can_recv, can_send, bus=LEAF_ADAS_ECU_BUS, addr=LEAF_ADAS_ECU_ADDR,
-                                 com_cont_req=LEAF_KWP_DISABLE_NORMAL_TX, require_response=True, retry=1,
+                                 com_cont_req=LEAF_KWP_DISABLE_NORMAL_TX_NO_RESPONSE, require_response=False, retry=1,
                                  diag_request=diag_request, diag_response=diag_response, response_offset=NISSAN_RX_OFFSET)
       if ecu_disabled:
         break

opendbc_repo/opendbc/car/nissan/tests/test_nissan.py

@@ -148,17 +148,17 @@ def test_leaf_ecu_disable_is_strict_and_falls_back(monkeypatch, ecu_disabled):
   assert calls[0]["addr"] == 0x707
   assert calls[0]["bus"] == 0
   assert calls[0]["response_offset"] == 0x20
-  assert calls[0]["require_response"] is True
-  assert calls[0]["diag_request"] == b"\x10\xf0"
-  assert calls[0]["diag_response"] == b"\x50\xf0"
-  assert calls[0]["com_cont_req"] == b"\x28\x01"
+  assert calls[0]["require_response"] is False
+  assert calls[0]["diag_request"] == b"\x10\xc0"
+  assert calls[0]["diag_response"] == b"\x50\xc0"
+  assert calls[0]["com_cont_req"] == b"\x28\x02"
   assert calls[0]["retry"] == 1
   assert CP.openpilotLongitudinalControl is ecu_disabled
   assert CP.pcmCruise is not ecu_disabled
   assert bool(CP.safetyConfigs[-1].safetyParam & NissanSafetyFlags.LONG_CONTROL) is ecu_disabled
 
 
-def test_leaf_kwp_data_monitor_session_can_confirm_ecu_disable(monkeypatch):
+def test_leaf_kwp_no_response_disable_can_confirm_ecu_silence(monkeypatch):
   CP = CarInterface.get_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, True, False, False, None)
 
   monkeypatch.setattr("opendbc.car.nissan.interface.disable_ecu", lambda *args, **kwargs: True)

opendbc_repo/opendbc/car/subaru/carcontroller.py

@@ -22,14 +22,14 @@ _LEGACY_2025_REENGAGE_MAX_STEER_RATE = 2.0
 _LEGACY_2025_REENGAGE_MAX_ANGLE_DELTA = 1.0
 _LEGACY_2025_RECLAIM_FRAMES = 36
 _LEGACY_2025_RECLAIM_EXPONENT = 2.5
-_ASCENT_OVERRIDE_HOLD_FRAMES = 10
-_ASCENT_REENGAGE_SETTLE_FRAMES = 8
-_ASCENT_REENGAGE_MAX_STEER_RATE = 2.0
-_ASCENT_REENGAGE_MAX_ANGLE_DELTA = 1.0
-_ASCENT_RECLAIM_FRAMES = 36
-_ASCENT_RECLAIM_EXPONENT = 2.5
-_ASCENT_MADS_MIN_SPEED = 0.44704
-_ASCENT_MADS_MAX_STEER_ANGLE = 120.0
+_ANGLE_OVERRIDE_HOLD_FRAMES = 10
+_ANGLE_REENGAGE_SETTLE_FRAMES = 8
+_ANGLE_REENGAGE_MAX_STEER_RATE = 2.0
+_ANGLE_REENGAGE_MAX_ANGLE_DELTA = 1.0
+_ANGLE_RECLAIM_FRAMES = 36
+_ANGLE_RECLAIM_EXPONENT = 2.5
+_ANGLE_MADS_MIN_SPEED = 0.44704
+_ANGLE_MADS_MAX_STEER_ANGLE = 120.0
 
 
 def get_safety_CP():
@@ -50,13 +50,13 @@ class CarController(CarControllerBase):
     self.legacy_2025_reengage_reference_angle = 0.0
     self.legacy_2025_reclaim_frames = 0
     self.legacy_2025_reclaim_start_angle = 0.0
-    self.ascent_lkas_active = False
-    self.ascent_handoff_active = False
-    self.ascent_override_hold_frames = 0
-    self.ascent_reengage_settle_frames = 0
-    self.ascent_reengage_reference_angle = 0.0
-    self.ascent_reclaim_frames = 0
-    self.ascent_reclaim_start_angle = 0.0
+    self.angle_lkas_active = False
+    self.angle_handoff_active = False
+    self.angle_override_hold_frames = 0
+    self.angle_reengage_settle_frames = 0
+    self.angle_reengage_reference_angle = 0.0
+    self.angle_reclaim_frames = 0
+    self.angle_reclaim_start_angle = 0.0
 
     self.cruise_button_prev = 0
     self.steer_rate_counter = 0
@@ -137,67 +137,67 @@ class CarController(CarControllerBase):
     self.legacy_2025_reclaim_frames -= 1
     return target_angle
 
-  def _reset_ascent_handoff(self):
-    self.ascent_handoff_active = False
-    self.ascent_override_hold_frames = 0
-    self.ascent_reengage_settle_frames = 0
-    self.ascent_reengage_reference_angle = 0.0
-    self.ascent_reclaim_frames = 0
-    self.ascent_reclaim_start_angle = 0.0
+  def _reset_angle_handoff(self):
+    self.angle_handoff_active = False
+    self.angle_override_hold_frames = 0
+    self.angle_reengage_settle_frames = 0
+    self.angle_reengage_reference_angle = 0.0
+    self.angle_reclaim_frames = 0
+    self.angle_reclaim_start_angle = 0.0
 
-  def _ascent_manual_handoff(self, CS, lat_active):
+  def _angle_manual_handoff(self, CS, lat_active):
     if not lat_active:
-      self._reset_ascent_handoff()
+      self._reset_angle_handoff()
       return False
 
     if CS.out.steeringPressed:
-      self.ascent_handoff_active = True
-      self.ascent_override_hold_frames = _ASCENT_OVERRIDE_HOLD_FRAMES
-      self.ascent_reengage_settle_frames = 0
-      self.ascent_reengage_reference_angle = CS.out.steeringAngleDeg
-      self.ascent_reclaim_frames = 0
+      self.angle_handoff_active = True
+      self.angle_override_hold_frames = _ANGLE_OVERRIDE_HOLD_FRAMES
+      self.angle_reengage_settle_frames = 0
+      self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
+      self.angle_reclaim_frames = 0
       return True
 
-    if not self.ascent_handoff_active and not self.ascent_lkas_active and \
-       abs(CS.out.steeringRateDeg) > _ASCENT_REENGAGE_MAX_STEER_RATE:
-      self.ascent_handoff_active = True
-      self.ascent_reengage_reference_angle = CS.out.steeringAngleDeg
+    if not self.angle_handoff_active and not self.angle_lkas_active and \
+       abs(CS.out.steeringRateDeg) > _ANGLE_REENGAGE_MAX_STEER_RATE:
+      self.angle_handoff_active = True
+      self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
 
-    if not self.ascent_handoff_active:
+    if not self.angle_handoff_active:
       return False
 
-    if self.ascent_override_hold_frames > 0:
-      self.ascent_override_hold_frames -= 1
-      if self.ascent_override_hold_frames == 0:
-        self.ascent_reengage_reference_angle = CS.out.steeringAngleDeg
+    if self.angle_override_hold_frames > 0:
+      self.angle_override_hold_frames -= 1
+      if self.angle_override_hold_frames == 0:
+        self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
       return True
 
-    wheel_stable = abs(CS.out.steeringRateDeg) <= _ASCENT_REENGAGE_MAX_STEER_RATE and \
-      abs(CS.out.steeringAngleDeg - self.ascent_reengage_reference_angle) <= _ASCENT_REENGAGE_MAX_ANGLE_DELTA
+    wheel_stable = abs(CS.out.steeringRateDeg) <= _ANGLE_REENGAGE_MAX_STEER_RATE and \
+      abs(CS.out.steeringAngleDeg - self.angle_reengage_reference_angle) <= _ANGLE_REENGAGE_MAX_ANGLE_DELTA
     if wheel_stable:
-      self.ascent_reengage_settle_frames += 1
+      self.angle_reengage_settle_frames += 1
     else:
-      self.ascent_reengage_settle_frames = 0
-      self.ascent_reengage_reference_angle = CS.out.steeringAngleDeg
+      self.angle_reengage_settle_frames = 0
+      self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
 
-    if self.ascent_reengage_settle_frames < _ASCENT_REENGAGE_SETTLE_FRAMES:
+    if self.angle_reengage_settle_frames < _ANGLE_REENGAGE_SETTLE_FRAMES:
       return True
 
-    self.ascent_handoff_active = False
-    self.ascent_reengage_settle_frames = 0
-    self.ascent_reclaim_frames = _ASCENT_RECLAIM_FRAMES
-    self.ascent_reclaim_start_angle = CS.out.steeringAngleDeg
+    self.angle_handoff_active = False
+    self.angle_reengage_settle_frames = 0
+    self.angle_reclaim_frames = _ANGLE_RECLAIM_FRAMES
+    self.angle_reclaim_start_angle = CS.out.steeringAngleDeg
     return True
 
-  def _ascent_reclaim_target(self, target_angle):
-    if self.ascent_reclaim_frames <= 0:
+  def _angle_reclaim_target(self, target_angle):
+    if self.angle_reclaim_frames <= 0:
       return target_angle
 
-    progress = (_ASCENT_RECLAIM_FRAMES - self.ascent_reclaim_frames + 1) / _ASCENT_RECLAIM_FRAMES
-    eased_progress = progress ** _ASCENT_RECLAIM_EXPONENT
-    target_angle = self.ascent_reclaim_start_angle + eased_progress * \
-      (target_angle - self.ascent_reclaim_start_angle)
-    self.ascent_reclaim_frames -= 1
+    progress = (_ANGLE_RECLAIM_FRAMES - self.angle_reclaim_frames + 1) / _ANGLE_RECLAIM_FRAMES
+    eased_progress = progress ** _ANGLE_RECLAIM_EXPONENT
+    target_angle = self.angle_reclaim_start_angle + eased_progress * \
+      (target_angle - self.angle_reclaim_start_angle)
+    self.angle_reclaim_frames -= 1
     return target_angle
 
   def lateral_angle(self, CC, CS):
@@ -224,30 +224,41 @@ class CarController(CarControllerBase):
       self.legacy_2025_lkas_active = lkas_active
       return subarucan.create_steering_control_angle(self.packer, apply_steer, lkas_active, self.angle_bus)
 
-    if self.CP.carFingerprint == CAR.SUBARU_ASCENT_2023:
+    if self.CP.carFingerprint in (CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023):
       mads_only = CC.latActive and not CC.enabled
-      mads_only_ok = CS.out.vEgoRaw > _ASCENT_MADS_MIN_SPEED and \
-        abs(CS.out.steeringAngleDeg) < _ASCENT_MADS_MAX_STEER_ANGLE
+      mads_only_ok = CS.out.vEgoRaw > _ANGLE_MADS_MIN_SPEED and \
+        abs(CS.out.steeringAngleDeg) < _ANGLE_MADS_MAX_STEER_ANGLE
       lkas_available = CC.latActive and (not mads_only or mads_only_ok) and \
         CS.out.gearShifter == structs.CarState.GearShifter.drive and not CS.out.standstill
 
-      manual_handoff = self._ascent_manual_handoff(CS, lkas_available)
+      manual_handoff = self._angle_manual_handoff(CS, lkas_available)
       lkas_active = lkas_available and not manual_handoff
 
-      if lkas_active and not self.ascent_lkas_active:
+      if lkas_active and not self.angle_lkas_active:
         self.apply_steer_last = CS.out.steeringAngleDeg
 
-      steer_target = self._ascent_reclaim_target(CC.actuators.steeringAngleDeg) if lkas_active else CC.actuators.steeringAngleDeg
-      apply_steer = apply_std_steer_angle_limits(
-        steer_target,
-        self.apply_steer_last,
-        CS.out.vEgoRaw,
-        CS.out.steeringAngleDeg,
-        lkas_active,
-        self.p.FIXED_ANGLE_LIMITS,
-      )
+      steer_target = self._angle_reclaim_target(CC.actuators.steeringAngleDeg) if lkas_active else CC.actuators.steeringAngleDeg
+      if self.CP.carFingerprint == CAR.SUBARU_ASCENT_2023:
+        apply_steer = apply_std_steer_angle_limits(
+          steer_target,
+          self.apply_steer_last,
+          CS.out.vEgoRaw,
+          CS.out.steeringAngleDeg,
+          lkas_active,
+          self.p.FIXED_ANGLE_LIMITS,
+        )
+      else:
+        apply_steer = apply_steer_angle_limits_vm(
+          steer_target,
+          self.apply_steer_last,
+          CS.out.vEgoRaw,
+          CS.out.steeringAngleDeg,
+          lkas_active,
+          self.p,
+          self.VM,
+        )
       self.apply_steer_last = apply_steer
-      self.ascent_lkas_active = lkas_active
+      self.angle_lkas_active = lkas_active
       return subarucan.create_steering_control_angle(self.packer, apply_steer, lkas_active, self.angle_bus)
 
     abs_torque = abs(CS.out.steeringTorque)

opendbc_repo/opendbc/car/subaru/interface.py

@@ -51,6 +51,8 @@ class CarInterface(CarInterfaceBase):
 
     if ret.flags & SubaruFlags.LKAS_ANGLE:
       ret.steerControlType = structs.CarParams.SteerControlType.angle
+      if candidate == CAR.SUBARU_OUTBACK_2023:
+        ret.lateralSmoothSeconds = 0.4
 
     elif candidate in (CAR.SUBARU_ASCENT, CAR.SUBARU_ASCENT_2023):
       ret.steerActuatorDelay = 0.3  # end-to-end angle controller

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

@@ -202,6 +202,7 @@ def test_outback_2023_uses_d_platform_bus_layout():
   assert parsers[Bus.main].bus == CanBus.main
   assert controller.angle_bus == CanBus.main
   assert controller.status_bus == CanBus.main
+  assert CP.lateralSmoothSeconds == pytest.approx(0.4)
 
 
 def test_legacy_2025_uses_gen2_angle_bus_layout():
@@ -458,8 +459,9 @@ def test_ascent_angle_controller_uses_fixed_angle_rate_limits():
   assert CS.out.steeringAngleDeg < parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] < -25.0
 
 
-def test_ascent_angle_controller_yields_until_manual_steering_settles():
-  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
+@pytest.mark.parametrize("platform", (CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023))
+def test_angle_controller_yields_until_manual_steering_settles(platform):
+  CP = CarInterface.get_non_essential_params(platform)
   controller = CarController({}, CP)
   CC = SimpleNamespace(enabled=True, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=-10.0))
   CS = SimpleNamespace(out=SimpleNamespace(

opendbc_repo/opendbc/safety/modes/ford.h

@@ -437,6 +437,11 @@ static safety_config ford_init(uint16_t param) {
     {FORD_LateralMotionControl2, 0, 8, .check_relay = true},
   };
 
+  static const CanMsg FORD_STOCK_TX_MSGS[] = {
+    FORD_COMMON_TX_MSGS
+    {FORD_LateralMotionControl, 0, 8, .check_relay = true},
+  };
+
   static const CanMsg FORD_LONG_TX_MSGS[] = {
     FORD_COMMON_TX_MSGS
     {FORD_ACCDATA, 0, 8, .check_relay = true},
@@ -459,15 +464,13 @@ static safety_config ford_init(uint16_t param) {
   ford_longitudinal = GET_FLAG(param, FORD_PARAM_LONGITUDINAL);
 #endif
 
-  // Longitudinal is the default for CAN, and optional for CAN FD w/ ALLOW_DEBUG
-  ford_longitudinal = !ford_canfd || ford_longitudinal;
-
   safety_config ret;
   if (ford_canfd) {
     ret = ford_longitudinal ? BUILD_SAFETY_CFG(ford_rx_checks, FORD_CANFD_LONG_TX_MSGS) : \
                               BUILD_SAFETY_CFG(ford_rx_checks, FORD_CANFD_STOCK_TX_MSGS);
   } else {
-    ret = BUILD_SAFETY_CFG(ford_rx_checks, FORD_LONG_TX_MSGS);
+    ret = ford_longitudinal ? BUILD_SAFETY_CFG(ford_rx_checks, FORD_LONG_TX_MSGS) : \
+                              BUILD_SAFETY_CFG(ford_rx_checks, FORD_STOCK_TX_MSGS);
   }
   return ret;
 }

opendbc_repo/opendbc/safety/modes/hyundai.h

@@ -90,6 +90,7 @@ static const CanMsg HYUNDAI_LONG_REFRESH_TX_MSGS[] = {
 
 static bool hyundai_legacy = false;
 static bool hyundai_can_canfd_blended_hda2 = false;
+static bool hyundai_acc_main_on_rx_prev = false;
 
 #define HYUNDAI_CAN_CANFD_BLENDED_HDA2_COMMON_RX_CHECKS()                                                                                                      \
   {.msg = {{0x260, 1, 8, 100U, .max_counter = 3U, .ignore_quality_flag = true},                                                                                \
@@ -193,7 +194,12 @@ static void hyundai_rx_hook(const CANPacket_t *msg) {
   if (msg->addr == 0x420U) {
     if (msg->bus == scc_bus) {
       if (!hyundai_longitudinal) {
-        acc_main_on = GET_BIT(msg, hyundai_can_canfd_blended ? 27U : 0U);
+        const bool acc_main_on_rx = GET_BIT(msg, hyundai_can_canfd_blended ? 27U : 0U);
+        if (hyundai_aol_main_lkas_sync && (acc_main_on_rx != hyundai_acc_main_on_rx_prev)) {
+          lkas_on = false;
+        }
+        acc_main_on = acc_main_on_rx;
+        hyundai_acc_main_on_rx_prev = acc_main_on_rx;
       }
     }
   }
@@ -442,6 +448,8 @@ static safety_config hyundai_init(uint16_t param) {
   hyundai_common_init(param);
   hyundai_legacy = false;
   hyundai_can_canfd_blended_hda2 = hyundai_can_canfd_blended && hyundai_canfd_lka_steering;
+  hyundai_aol_main_lkas_sync = GET_FLAG(param, 32U);
+  hyundai_acc_main_on_rx_prev = false;
 
   if (hyundai_can_canfd_blended) {
     gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut);

opendbc_repo/opendbc/safety/modes/hyundai_common.h

@@ -60,6 +60,9 @@ bool hyundai_cancel_button_enable = false;
 extern bool hyundai_can_refresh_msgs;
 bool hyundai_can_refresh_msgs = false;
 
+extern bool hyundai_aol_main_lkas_sync;
+bool hyundai_aol_main_lkas_sync = false;
+
 static uint8_t hyundai_last_button_interaction;  // button messages since the user pressed an enable button
 static bool acc_main_on_prev;
 static bool acc_main_on_tx;
@@ -95,6 +98,7 @@ void hyundai_common_init(uint16_t param) {
   hyundai_non_scc = GET_FLAG(param, HYUNDAI_PARAM_NON_SCC);
   hyundai_cancel_button_enable = GET_FLAG(param, HYUNDAI_PARAM_CANCEL_BTN_ENABLE);
   hyundai_can_refresh_msgs = GET_FLAG(param, HYUNDAI_PARAM_CAN_REFRESH_MSGS);
+  hyundai_aol_main_lkas_sync = false;
 
   hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES;
   acc_main_on_prev = false;
@@ -160,7 +164,9 @@ void hyundai_common_cruise_buttons_check(const int cruise_button, const bool mai
   }
 
   if (main_button && !main_button_prev) {
-    acc_main_on = !acc_main_on;
+    if (!hyundai_aol_main_lkas_sync) {
+      acc_main_on = !acc_main_on;
+    }
   }
   main_button_prev = main_button;
 }

opendbc_repo/opendbc/safety/tests/test_ford.py

@@ -61,6 +61,7 @@ class Buttons:
 
 
 # Ford safety has four different configurations tested here:
+#  * CAN with stock longitudinal
 #  * CAN with openpilot longitudinal
 #  * CAN FD with stock longitudinal
 #  * CAN FD with openpilot longitudinal
@@ -443,6 +444,30 @@ class TestFordCANFDStockSafety(TestFordSafetyBase):
     self.assertFalse(self._tx(self._lat_ctl_msg(True, 0.0, 0.01, 0.0, 0.0)))
 
 
+class TestFordStockSafety(TestFordSafetyBase):
+  STEER_MESSAGE = MSG_LateralMotionControl
+
+  TX_MSGS = [
+    [MSG_Steering_Data_FD1, 0], [MSG_Steering_Data_FD1, 2], [MSG_ACCDATA_3, 0], [MSG_Lane_Assist_Data1, 0],
+    [MSG_LateralMotionControl, 0], [MSG_IPMA_Data, 0],
+  ]
+  RELAY_MALFUNCTION_ADDRS = {0: (MSG_ACCDATA_3, MSG_Lane_Assist_Data1, MSG_LateralMotionControl,
+                                 MSG_IPMA_Data)}
+
+  FWD_BLACKLISTED_ADDRS = {2: [MSG_ACCDATA_3, MSG_Lane_Assist_Data1, MSG_LateralMotionControl,
+                               MSG_IPMA_Data]}
+
+  def setUp(self):
+    self.packer = CANPackerSafety("ford_lincoln_base_pt")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.ford, 0)
+    self.safety.init_tests()
+
+  def test_max_lateral_acceleration(self):
+    # CAN does not limit curvature from lateral acceleration
+    pass
+
+
 class TestFordLongitudinalSafetyBase(TestFordSafetyBase):
   MAX_ACCEL = 2.0  # accel is used for brakes, but openpilot can set positive values
   MIN_ACCEL = -3.5
@@ -509,8 +534,7 @@ class TestFordLongitudinalSafety(TestFordLongitudinalSafetyBase):
   def setUp(self):
     self.packer = CANPackerSafety("ford_lincoln_base_pt")
     self.safety = libsafety_py.libsafety
-    # Make sure we enforce long safety even without long flag for CAN
-    self.safety.set_safety_hooks(CarParams.SafetyModel.ford, 0)
+    self.safety.set_safety_hooks(CarParams.SafetyModel.ford, FordSafetyFlags.LONG_CONTROL)
     self.safety.init_tests()
 
   def test_max_lateral_acceleration(self):
@@ -524,7 +548,7 @@ class TestFordLKASteeringSafety(TestFordLongitudinalSafety):
   def setUp(self):
     self.packer = CANPackerSafety("ford_lincoln_base_pt")
     self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.ford, FordSafetyFlags.LKA_STEERING)
+    self.safety.set_safety_hooks(CarParams.SafetyModel.ford, FordSafetyFlags.LONG_CONTROL | FordSafetyFlags.LKA_STEERING)
     self.safety.init_tests()
 
 

opendbc_repo/opendbc/safety/tests/test_hyundai.py

@@ -4,6 +4,7 @@ import unittest
 
 from opendbc.car.hyundai.values import HyundaiSafetyFlags, HyundaiStarPilotSafetyFlags
 from opendbc.car.structs import CarParams
+from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from opendbc.safety.tests.libsafety import libsafety_py
 import opendbc.safety.tests.common as common
 from opendbc.safety.tests.common import CANPackerSafety
@@ -621,5 +622,65 @@ class TestHyundaiAolLkasOnEngageStockSafety(HyundaiAolLkasOnEngageStockBase, Tes
     self.safety.init_tests()
 
 
+class TestHyundaiAolMainLkasSyncSafety(TestHyundaiSafety):
+  def setUp(self):
+    self.packer = CANPackerSafety("hyundai_kia_generic")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(
+      CarParams.SafetyModel.hyundai,
+      HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON | HyundaiStarPilotSafetyFlags.AOL_MAIN_LKAS_SYNC,
+    )
+    self.safety.init_tests()
+
+  @staticmethod
+  def _lkas_button_msg(pressed):
+    dat = bytearray(8)
+    dat[0] = int(pressed) << 4
+    return libsafety_py.make_CANPacket(0x391, 0, bytes(dat))
+
+  def test_confirmed_main_state_rephases_lkas_button(self):
+    self.safety.set_alternative_experience(ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL)
+    self.safety.set_controls_allowed(False)
+
+    self._rx(self._lkas_button_msg(True))
+    self._rx(self._lkas_button_msg(False))
+    self.assertTrue(self.safety.get_lkas_on())
+    self.assertTrue(self.safety.get_aol_allowed())
+    self._set_prev_torque(0)
+    self.assertTrue(self._tx(self._torque_cmd_msg(self.MAX_RATE_UP)))
+
+    self._rx(self._button_msg(Buttons.NONE, main_button=True))
+    self._rx(self._button_msg(Buttons.NONE, main_button=False))
+    self.assertFalse(self.safety.get_acc_main_on())
+    self.assertTrue(self.safety.get_lkas_on())
+    self.assertTrue(self.safety.get_aol_allowed())
+
+    self._rx(self._acc_state_msg(True))
+    self.assertFalse(self.safety.get_lkas_on())
+    self.assertTrue(self.safety.get_aol_allowed())
+    self._set_prev_torque(0)
+    self.assertTrue(self._tx(self._torque_cmd_msg(self.MAX_RATE_UP)))
+
+    self._rx(self._button_msg(Buttons.NONE, main_button=True))
+    self._rx(self._button_msg(Buttons.NONE, main_button=False))
+    self.assertTrue(self.safety.get_acc_main_on())
+    self.assertTrue(self.safety.get_aol_allowed())
+
+    self._rx(self._acc_state_msg(False))
+    self.assertFalse(self.safety.get_controls_allowed())
+    self.assertFalse(self.safety.get_acc_main_on())
+    self.assertFalse(self.safety.get_lkas_on())
+    self.assertFalse(self.safety.get_aol_allowed())
+    self._set_prev_torque(0)
+    self.assertFalse(self._tx(self._torque_cmd_msg(self.MAX_RATE_UP)))
+
+    self._rx(self._lkas_button_msg(True))
+    self._rx(self._lkas_button_msg(False))
+    self.assertTrue(self.safety.get_lkas_on())
+    self.assertTrue(self.safety.get_aol_allowed())
+    self._set_prev_torque(0)
+    self.assertTrue(self._tx(self._torque_cmd_msg(self.MAX_RATE_UP)))
+
+
 if __name__ == "__main__":
   unittest.main()

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-459d7c40-DEBUG";
+const uint8_t gitversion[19] = "DEV-284dbddd-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-459d7c40-DEBUG
+DEV-284dbddd-DEBUG