Hyundai CAN Longitudinal: Lenient parsing for auto-enabled radar configs

selfdrive/car/hyundai/radar_interface.py

@@ -48,6 +48,8 @@ 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)
@@ -70,7 +72,7 @@ class RadarInterface(RadarInterfaceBase):
 
     errors = []
 
-    if not self.rcp.can_valid:
+    if not self.rcp.can_valid and not self.sp_radar_tracks:
       errors.append("canError")
     ret.errors = errors