SP-123: Hyundai CAN Longitudinal: Auto-enable radar tracks on platforms with Mando radar

CHANGELOGS.md

@@ -27,6 +27,8 @@ sunnypilot - 0.9.7.0 (2024-05-xx)
 * NEW❗: Forced Offroad mode
   * Force sunnypilot in the offroad state even when the car is on
   * When Forced Offroad mode is on, allows changing offroad-only settings even when the car is turned on
+* UPDATED: Hyundai CAN Longitudinal
+  * Auto-enable radar tracks on platforms with applicable Mando radar
 * UPDATED: Hyundai CAN-FD Camera-based SCC
   * NEW❗: Parse lead info for camera-based SCC platforms with longitudinal support
     * Improve lead tracking when using openpilot longitudinal

selfdrive/car/hyundai/interface.py

@@ -87,11 +87,6 @@ class CarInterface(CarInterfaceBase):
     ret.steerLimitTimer = 0.4
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    if candidate in (CAR.HYUNDAI_SANTA_FE_2022, CAR.HYUNDAI_SANTA_FE_HEV_2022, CAR.HYUNDAI_SANTA_FE_PHEV_2022):
-      if any(fw.ecu == "fwdRadar" and fw.fwVersion is not None for fw in car_fw):
-        ret.radarUnavailable = False
-        ret.spFlags |= HyundaiFlagsSP.SP_RADAR_TRACKS.value
-
     # *** longitudinal control ***
     if candidate in CANFD_CAR:
       ret.longitudinalTuning.kpV = [0.1]
@@ -129,6 +124,10 @@ class CarInterface(CarInterfaceBase):
       if 0x544 in fingerprint[0]:
         ret.spFlags |= HyundaiFlagsSP.SP_NAV_MSG.value
 
+      if ret.flags & HyundaiFlags.MANDO_RADAR and ret.radarUnavailable:
+        ret.spFlags |= HyundaiFlagsSP.SP_RADAR_TRACKS.value
+        ret.radarUnavailable = False
+
     # *** panda safety config ***
     if candidate in CANFD_CAR:
       cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd), ]

selfdrive/car/hyundai/radar_interface.py

@@ -48,8 +48,6 @@ class RadarInterface(RadarInterfaceBase):
     self.radar_off_can = CP.radarUnavailable
     self.rcp = get_radar_can_parser(CP)
 
-    self.sp_radar_tracks = CP.spFlags & HyundaiFlagsSP.SP_RADAR_TRACKS
-
   def update(self, can_strings):
     if self.radar_off_can or (self.rcp is None):
       return super().update(None)
@@ -57,7 +55,7 @@ class RadarInterface(RadarInterfaceBase):
     vls = self.rcp.update_strings(can_strings)
     self.updated_messages.update(vls)
 
-    if self.trigger_msg not in self.updated_messages and not self.sp_radar_tracks:
+    if self.trigger_msg not in self.updated_messages:
       return None
 
     rr = self._update(self.updated_messages)