init

common/params_keys.h

@@ -169,6 +169,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"HyundaiRadarTracksConfirmed", PERSISTENT},
     {"HyundaiRadarTracksPersistent", PERSISTENT},
     {"HyundaiRadarTracksToggle", PERSISTENT},
+    {"HyundaiRadar", PERSISTENT},
 
     {"DynamicExperimentalControl", PERSISTENT},
 };

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc

@@ -20,6 +20,19 @@ HyundaiSettings::HyundaiSettings(QWidget *parent) : BrandSettingsInterface(paren
   QObject::connect(longitudinalTuningToggle, &ButtonParamControlSP::buttonToggled, this, &HyundaiSettings::updateSettings);
   list->addItem(longitudinalTuningToggle);
   longitudinalTuningToggle->showDescription();
+
+  std::vector<QString> radar_tuning_texts{ tr("Off"), tr("Lead Only"), tr("Full Radar") };
+  radarToggle = new ButtonParamControl(
+    "HyundaiRadar",
+    tr("Radar Tracks"),
+    "",
+    "",
+    radar_tuning_texts,
+    500
+  );
+  QObject::connect(radarToggle, &ButtonParamControlSP::buttonToggled, this, &HyundaiSettings::updateSettings);
+  list->addItem(radarToggle);
+  radarToggle->showDescription();
 }
 
 void HyundaiSettings::updateSettings() {
@@ -54,4 +67,25 @@ void HyundaiSettings::updateSettings() {
   longitudinalTuningToggle->setEnabled(!longitudinal_tuning_disabled);
   longitudinalTuningToggle->setDescription(longitudinal_tuning_description);
   longitudinalTuningToggle->showDescription();
+
+  auto radar_param = std::atoi(params.get("HyundaiRadar").c_str());
+
+  RadarOption radar_option;
+  if (radar_param == int(RadarOption::LEAD_ONLY)) {
+    radar_option = RadarOption::LEAD_ONLY;
+  } else if (radar_param == int(RadarOption::FULL_RADAR)) {
+    radar_option = RadarOption::FULL_RADAR;
+  } else {
+    radar_option = RadarOption::OFF;
+  }
+
+  bool radar_disabled = !offroad || !has_longitudinal_control;
+  QString radar_description = radarDescription(radar_option);
+  if (radar_disabled) {
+    radar_description = toggleDisableMsg(offroad, has_longitudinal_control);
+  }
+
+  radarToggle->setEnabled(!radar_disabled);
+  radarToggle->setDescription(radar_description);
+  radarToggle->showDescription();
 }

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h

@@ -20,6 +20,12 @@ enum class LongitudinalTuningOption {
   PREDICTIVE,
 };
 
+enum class RadarOption {
+  OFF,
+  LEAD_ONLY,
+  FULL_RADAR,
+};
+
 class HyundaiSettings : public BrandSettingsInterface {
   Q_OBJECT
 
@@ -30,6 +36,7 @@ public:
 private:
   bool has_longitudinal_control = false;
   ButtonParamControl *longitudinalTuningToggle = nullptr;
+  ButtonParamControl *radarToggle = nullptr;
 
   static QString toggleDisableMsg(bool _offroad, bool _has_longitudinal_control) {
     if (!_has_longitudinal_control) {
@@ -62,4 +69,24 @@ private:
              .arg(dynamic_str)
              .arg(predictive_str);
   }
+
+  static QString radarDescription(RadarOption option = RadarOption::OFF) {
+    QString off_str = tr("Off: Disables radar tracking. Vision-only vehicle detection.");
+    QString lead_only_str = tr("Lead Only: Tracks only the closest vehicle ahead.");
+    QString full_radar_str = tr("Full Radar: Tracks all nearby vehicles using radar.");
+
+    if (option == RadarOption::LEAD_ONLY) {
+      lead_only_str = "<font color='white'><b>" + lead_only_str + "</b></font>";
+    } else if (option == RadarOption::FULL_RADAR) {
+      full_radar_str = "<font color='white'><b>" + full_radar_str + "</b></font>";
+    } else {
+      off_str = "<font color='white'><b>" + off_str + "</b></font>";
+    }
+
+    return QString("%1<br><br>%2<br>%3<br>%4<br>")
+             .arg(tr("Configure how radar tracks surrounding vehicles — turn it off, track only the lead, or track all."))
+             .arg(off_str)
+             .arg(lead_only_str)
+             .arg(full_radar_str);
+  }
 };

sunnypilot/selfdrive/car/interfaces.py

@@ -11,7 +11,7 @@ from opendbc.car.car_helpers import can_fingerprint
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
 from opendbc.car.hyundai.values import HyundaiFlags, DBC as HYUNDAI_DBC
-from opendbc.sunnypilot.car.hyundai.longitudinal.helpers import LongitudinalTuningType
+from opendbc.sunnypilot.car.hyundai.longitudinal.helpers import LongitudinalTuningType, RadarType
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
@@ -77,6 +77,19 @@ def _initialize_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP,
           CP.radarUnavailable = False
 
 
+def _initialize_radar(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None) -> None:
+  if params is None:
+    params = Params()
+
+  # Hyundai Radar
+  if CP.brand == 'hyundai':
+    hyundai_radar = int(params.get("HyundaiRadar", encoding="utf8") or 0)
+    if hyundai_radar == RadarType.LEAD_ONLY:
+      CP_SP.flags |= HyundaiFlagsSP.RADAR_LEAD_ONLY.value
+    if hyundai_radar == RadarType.FULL_RADAR:
+      CP_SP.flags |= HyundaiFlagsSP.RADAR_FULL_RADAR.value
+
+
 def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
   CP = CI.CP
   CP_SP = CI.CP_SP
@@ -84,6 +97,7 @@ def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
   _initialize_custom_longitudinal_tuning(CI, CP, CP_SP, params)
   _initialize_neural_network_lateral_control(CI, CP, CP_SP, params)
   _initialize_radar_tracks(CP, CP_SP, params)
+  _initialize_radar(CI, CP, CP_SP, params)
 
 
 def _enable_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP, can_recv: CanRecvCallable,

system/manager/manager.py

@@ -46,6 +46,7 @@ def manager_init() -> None:
     ("AutoLaneChangeBsmDelay", "0"),
     ("DynamicExperimentalControl", "0"),
     ("HyundaiLongitudinalTuning", "0"),
+    ("HyundaiRadar", "0"),
     ("Mads", "1"),
     ("MadsMainCruiseAllowed", "1"),
     ("MadsSteeringMode", "0"),