add TODOs

* nnlc make lat jerk adjustable rather than on/off toggle

* update lat jerk factor live + bugfix to reset lat accel friction factor after lat jerk has been zero for one frame

* bugfix to prevent crash if `use_lateral_jerk` is enabled after starting car

* assign local variable

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

CHANGELOGS.md

@@ -14,6 +14,9 @@ sunnypilot - 0.9.8.0 (2024-xx-xx)
   * Provides a more responsive and tailored driving experience compared to predefined settings
 * UPDATED: Driving Personality: Updated mode names
   * Aggressive, Moderate, Standard, Relaxed
+* NEW❗: Hyundai CAN: Enable Cruise Main by Default
+  * Set CRUISE MAIN to ON by default when the car starts, without engaging MADS
+  * This feature only applies when "openpilot Longitudinal Control (Alpha)" is enabled under the "Toggles" menu
 * NEW❗: Toyota - Enhanced Blind Spot Monitor (BSM) thanks to arne182, rav4kumar, and eFiniLan!
   * Enables Blind Spot Monitor (BSM) signals parsing in sunnypilot using the factory Blind Spot Monitor (BSM)
   * sunnypilot will use debugging CAN messages to receive unfiltered BSM signals, allowing detection of more objects
@@ -28,6 +31,9 @@ sunnypilot - 0.9.8.0 (2024-xx-xx)
 * UPDATED: Driving Model Selector v5
   * NEW❗: Driving Model additions
     * Notre Dame (July 01, 2024) - NDv3
+* NEW❗: Lateral Jerk with Torque Lateral Control (Alpha) thanks to twilsonco!
+  * Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities
+  * Designed to mimic NNLC behavior without training models or data collection
 * UPDATED: Toyota: Continued support for Smart DSU (SDSU) and Radar CAN Filter
   * In response to the official deprecation of support for Smart DSU (SDSU) and Radar CAN Filter in the upstream ([commaai/openpilot#32777](https://github.com/commaai/openpilot/pull/32777)), sunnypilot will continue maintaining software support for Smart DSU (SDSU) and Radar CAN Filter
 * UPDATED: Continued support for Mapbox navigation
@@ -37,6 +43,9 @@ sunnypilot - 0.9.8.0 (2024-xx-xx)
   * Auto Unlock by Shift to P: All doors are automatically unlocked when shifting the shift lever to P
 * FIXED: Driving Personality:
   * Maniac mode now correctly enforced when selected
+* FIXED: Experimental Model Distance Button Hold
+  * Experimental Model toggle with distance button hold no longer changes Personality
+  * Personality setting remains consistent when switching between Chill and Experimental Mode
 * UI Updates
   * Display Metrics Below Chevron
     * NEW❗: Time to Lead Car

cereal/car.capnp

@@ -137,6 +137,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     speedLimitPreActive @139;
     speedLimitConfirmed @140;
     torqueNNLoad @141;
+    hyundaiRadarTracksAvailable @142;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;
@@ -250,7 +251,7 @@ struct CarState {
   struct CustomStockLong {
     cruiseButton @0 :Int16;
     finalSpeedKph @1 :Float32;
-    vCruiseKphPrev @2 :Float32;
+    vCruiseKphPrevDEPRECATED @2 :Float32;
     targetSpeed @3 :Float32;
     vSetDis @4 :Float32;
     speedDiff @5 :Float32;

common/params.cc

@@ -261,9 +261,13 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"HandsOnWheelMonitoring", PERSISTENT | BACKUP},
     {"HasAcceptedTermsSP", PERSISTENT},
     {"HideVEgoUi", PERSISTENT | BACKUP},
+    {"HyundaiCruiseMainDefault", PERSISTENT | BACKUP},
     {"HkgSmoothStop", PERSISTENT | BACKUP},
     {"HotspotOnBoot", PERSISTENT},
     {"HotspotOnBootConfirmed", PERSISTENT},
+    {"HyundaiRadarTracksAvailable", PERSISTENT},
+    {"HyundaiRadarTracksAvailableCache", PERSISTENT},
+    {"HyundaiRadarTracksAvailablePersistent", PERSISTENT},
     {"LastCarModel", PERSISTENT | BACKUP},
     {"LastSpeedLimitSignTap", PERSISTENT},
     {"LastSunnylinkPingTime", CLEAR_ON_MANAGER_START},
@@ -316,6 +320,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"TermsVersionSunnypilot", PERSISTENT},
     {"TorqueDeadzoneDeg", PERSISTENT | BACKUP},
     {"TorqueFriction", PERSISTENT | BACKUP},
+    {"TorqueLateralJerk", PERSISTENT | BACKUP},
     {"TorqueMaxLatAccel", PERSISTENT | BACKUP},
     {"TorquedOverride", PERSISTENT | BACKUP},
     {"ToyotaAutoLockBySpeed", PERSISTENT | BACKUP},

selfdrive/car/__init__.py

@@ -218,7 +218,7 @@ def create_gas_interceptor_command(packer, gas_amount, idx):
     values["GAS_COMMAND"] = gas_amount * 255.
     values["GAS_COMMAND2"] = gas_amount * 255.
 
-  dat = packer.make_can_msg("GAS_COMMAND", 0, values)[2]
+  dat = packer.make_can_msg("GAS_COMMAND", 0, values)[1]
 
   checksum = crc8_pedal(dat[:-1])
   values["CHECKSUM_PEDAL"] = checksum

selfdrive/car/chrysler/interface.py

@@ -98,10 +98,9 @@ class CarInterface(CarInterfaceBase):
       *create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}),
     ]
 
-    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
+    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret)
 
-    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
-                                                            self.CS.button_events, c.vCruise,
+    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, c.vCruise, self.CS.accEnabled,
                                                             enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.resumeCruise) if not self.CP.pcmCruiseSpeed else
                                                                            (ButtonType.accelCruise, ButtonType.decelCruise),
                                                             resume_button=(ButtonType.resumeCruise,) if not self.CP.pcmCruiseSpeed else
@@ -114,16 +113,16 @@ class CarInterface(CarInterfaceBase):
         if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
           self.CS.madsEnabled = not self.CS.madsEnabled
           self.CS.lkas_disabled = not self.CS.lkas_disabled
-        self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
+        self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled)
     else:
       self.CS.madsEnabled = False
-    self.CS.madsEnabled = self.get_sp_started_mads(ret, self.CS)
+    self.CS.madsEnabled = self.get_sp_started_mads(ret, self.CS.madsEnabled)
 
     if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed:
       if any(b.type == ButtonType.cancel for b in self.CS.button_events):
-        self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+        self.get_sp_cancel_cruise_state()
     if self.get_sp_pedal_disengage(ret):
-      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+      self.get_sp_cancel_cruise_state()
       ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
 
     if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
@@ -136,7 +135,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
+    ret = self.get_sp_common_state(ret)
 
     ret.buttonEvents = [
       *self.CS.button_events,
@@ -146,7 +145,7 @@ class CarInterface(CarInterfaceBase):
     # events
     events = self.create_common_events(ret, c, extra_gears=[car.CarState.GearShifter.low], pcm_enable=False)
 
-    events, ret = self.create_sp_events(self.CS, ret, events)
+    events, ret = self.create_sp_events(ret, events)
 
     # Low speed steer alert hysteresis logic
     if self.CP.carFingerprint in RAM_DT:
@@ -162,9 +161,7 @@ class CarInterface(CarInterfaceBase):
     if self.low_speed_alert:
       events.add(car.CarEvent.EventName.belowSteerSpeed)
 
-    ret.customStockLong = self.CS.update_custom_stock_long(self.CC.cruise_button, self.CC.final_speed_kph,
-                                                           self.CC.target_speed, self.CC.v_set_dis,
-                                                           self.CC.speed_diff, self.CC.button_type)
+    ret.customStockLong = self.update_custom_stock_long()
 
     ret.events = events.to_msg()
 

selfdrive/car/ford/interface.py

@@ -79,10 +79,9 @@ class CarInterface(CarInterfaceBase):
       *create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}),
     ]
 
-    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
+    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret)
 
-    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
-                                                            self.CS.button_events, c.vCruise)
+    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, c.vCruise, self.CS.accEnabled)
 
     if ret.cruiseState.available:
       if self.enable_mads:
@@ -90,15 +89,15 @@ class CarInterface(CarInterfaceBase):
           self.CS.madsEnabled = True
         if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
           self.CS.madsEnabled = not self.CS.madsEnabled
-        self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
+        self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled)
     else:
       self.CS.madsEnabled = False
 
     if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0):
       if any(b.type == ButtonType.cancel for b in self.CS.button_events):
-        self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+        self.get_sp_cancel_cruise_state()
     if self.get_sp_pedal_disengage(ret):
-      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+      self.get_sp_cancel_cruise_state()
       ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
 
     if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
@@ -106,7 +105,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
+    ret = self.get_sp_common_state(ret)
 
     ret.buttonEvents = [
       *self.CS.button_events,
@@ -115,7 +114,7 @@ class CarInterface(CarInterfaceBase):
 
     events = self.create_common_events(ret, c, extra_gears=[GearShifter.manumatic], pcm_enable=False)
 
-    events, ret = self.create_sp_events(self.CS, ret, events)
+    events, ret = self.create_sp_events(ret, events)
 
     if not self.CS.vehicle_sensors_valid:
       events.add(car.CarEvent.EventName.vehicleSensorsInvalid)

selfdrive/car/gm/interface.py

@@ -204,8 +204,6 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
 
-    distance_button = 0
-
     # Don't add event if transitioning from INIT, unless it's to an actual button
     if self.CS.cruise_buttons != CruiseButtons.UNPRESS or self.CS.prev_cruise_buttons != CruiseButtons.INIT:
       self.CS.button_events = [
@@ -214,21 +212,19 @@ class CarInterface(CarInterfaceBase):
         *create_button_events(self.CS.distance_button, self.CS.prev_distance_button,
                               {1: ButtonType.gapAdjustCruise})
       ]
-      distance_button = self.CS.distance_button
 
     self.CS.button_events = [
       *self.CS.button_events,
       *create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}),
     ]
 
-    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
+    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret)
 
     if not self.CP.pcmCruise:
       if any(b.type == ButtonType.accelCruise and b.pressed for b in self.CS.button_events):
         self.CS.accEnabled = True
 
-    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
-                                                            self.CS.button_events, c.vCruise)
+    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, c.vCruise, self.CS.accEnabled)
 
     if ret.cruiseState.available:
       if self.enable_mads:
@@ -236,15 +232,15 @@ class CarInterface(CarInterfaceBase):
           self.CS.madsEnabled = True
         if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
           self.CS.madsEnabled = not self.CS.madsEnabled
-        self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
+        self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled)
     else:
       self.CS.madsEnabled = False
 
     if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0):
       if any(b.type == ButtonType.cancel for b in self.CS.button_events):
-        self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+        self.get_sp_cancel_cruise_state()
     if self.get_sp_pedal_disengage(ret):
-      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+      self.get_sp_cancel_cruise_state()
       ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
 
     if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
@@ -252,7 +248,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(distance_button))
+    ret = self.get_sp_common_state(ret)
 
     ret.buttonEvents = [
       *self.CS.button_events,
@@ -267,7 +263,7 @@ class CarInterface(CarInterfaceBase):
     #  if any(b.type == ButtonType.accelCruise and b.pressed for b in ret.buttonEvents):
     #    events.add(EventName.buttonEnable)
 
-    events, ret = self.create_sp_events(self.CS, ret, events, enable_pressed=self.CS.accEnabled,
+    events, ret = self.create_sp_events(ret, events, enable_pressed=self.CS.accEnabled,
                                         enable_buttons=(ButtonType.decelCruise,))
 
     # Enabling at a standstill with brake is allowed

selfdrive/car/honda/interface.py

@@ -267,10 +267,9 @@ class CarInterface(CarInterfaceBase):
       *create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, SETTINGS_BUTTONS_DICT),
     ]
 
-    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
+    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret)
 
-    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
-                                                            self.CS.button_events, c.vCruise)
+    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, c.vCruise, self.CS.accEnabled)
 
     if ret.cruiseState.available:
       if self.enable_mads:
@@ -278,7 +277,7 @@ class CarInterface(CarInterfaceBase):
           self.CS.madsEnabled = True
         if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
           self.CS.madsEnabled = not self.CS.madsEnabled
-        self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
+        self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled)
     else:
       self.CS.madsEnabled = False
 
@@ -286,9 +285,9 @@ class CarInterface(CarInterfaceBase):
 
     if not self.CP.pcmCruise or min_enable_speed_pcm or not self.CP.pcmCruiseSpeed:
       if any(b.type == ButtonType.cancel for b in self.CS.button_events):
-        self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+        self.get_sp_cancel_cruise_state()
     if self.get_sp_pedal_disengage(ret):
-      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+      self.get_sp_cancel_cruise_state()
       ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads or min_enable_speed_pcm \
                                                         else False if self.CP.pcmCruise \
                                                         else self.CS.accEnabled
@@ -301,7 +300,7 @@ class CarInterface(CarInterfaceBase):
       elif not ret.cruiseState.enabled:
         self.CS.accEnabled = False
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=(self.CS.cruise_setting == 3))
+    ret = self.get_sp_common_state(ret)
 
     ret.buttonEvents = [
       *self.CS.button_events,
@@ -313,7 +312,7 @@ class CarInterface(CarInterfaceBase):
     if self.CP.pcmCruise and ret.vEgo < self.CP.minEnableSpeed and not self.CS.madsEnabled:
       events.add(EventName.belowEngageSpeed)
 
-    events, ret = self.create_sp_events(self.CS, ret, events)
+    events, ret = self.create_sp_events(ret, events)
 
     #if self.CP.pcmCruise:
     #  # we engage when pcm is active (rising edge)
@@ -330,9 +329,7 @@ class CarInterface(CarInterfaceBase):
     if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001:
       events.add(EventName.manualRestart)
 
-    ret.customStockLong = self.CS.update_custom_stock_long(self.CC.cruise_button, self.CC.final_speed_kph,
-                                                           self.CC.target_speed, self.CC.v_set_dis,
-                                                           self.CC.speed_diff, self.CC.button_type)
+    ret.customStockLong = self.update_custom_stock_long()
 
     ret.events = events.to_msg()
 

selfdrive/car/hyundai/interface.py

@@ -1,6 +1,8 @@
+import cereal.messaging as messaging
 from cereal import car
 from panda import Panda
 from openpilot.common.params import Params
+from openpilot.selfdrive.car.sunnypilot.fingerprinting import can_fingerprint, get_one_can
 from openpilot.selfdrive.car.hyundai.enable_radar_tracks import enable_radar_tracks
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, HyundaiFlagsSP, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
@@ -109,6 +111,7 @@ class CarInterface(CarInterfaceBase):
 
     if DBC[ret.carFingerprint]["radar"] is None:
       if ret.spFlags & (HyundaiFlagsSP.SP_ENHANCED_SCC | HyundaiFlagsSP.SP_CAMERA_SCC_LEAD):
+        ret.radarTimeStep = 0.02
         ret.radarUnavailable = False
 
     # *** feature detection ***
@@ -125,7 +128,8 @@ class CarInterface(CarInterfaceBase):
 
       if ret.flags & HyundaiFlags.MANDO_RADAR and ret.radarUnavailable:
         ret.spFlags |= HyundaiFlagsSP.SP_RADAR_TRACKS.value
-        ret.radarUnavailable = False
+        if Params().get_bool("HyundaiRadarTracksAvailable"):
+          ret.radarUnavailable = False
 
     # *** panda safety config ***
     if candidate in CANFD_CAR:
@@ -201,7 +205,23 @@ class CarInterface(CarInterfaceBase):
     if CP.spFlags & HyundaiFlagsSP.SP_RADAR_TRACKS:
       enable_radar_tracks(logcan, sendcan, bus=0, addr=0x7d0, config_data_id=b'\x01\x42')
 
+      params = Params()
+      rt_avail = params.get_bool("HyundaiRadarTracksAvailable")
+      rt_avail_persist = params.get_bool("HyundaiRadarTracksAvailablePersistent")
+      params.put_bool_nonblocking("HyundaiRadarTracksAvailableCache", rt_avail)
+      if not rt_avail_persist:
+        messaging.drain_sock_raw(logcan)
+        fingerprint = can_fingerprint(lambda: get_one_can(logcan))
+        radar_unavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[CP.carFingerprint]["radar"] is None
+        params.put_bool_nonblocking("HyundaiRadarTracksAvailable", not radar_unavailable)
+        params.put_bool_nonblocking("HyundaiRadarTracksAvailablePersistent", True)
+
   def _update(self, c):
+    if not self.CS.control_initialized and not self.CP.pcmCruise:
+      can_cruise_main_default = self.CP.spFlags & HyundaiFlagsSP.SP_CAN_LFA_BTN and not self.CP.flags & HyundaiFlags.CANFD and \
+                                self.CS.params_list.hyundai_cruise_main_default
+      self.CS.mainEnabled = True if can_cruise_main_default or self.CP.carFingerprint in CANFD_CAR else False
+
     ret = self.CS.update(self.cp, self.cp_cam)
 
     self.CS.button_events = [
@@ -210,10 +230,9 @@ class CarInterface(CarInterfaceBase):
       *create_button_events(self.CS.main_buttons[-1], self.CS.prev_main_buttons, {1: ButtonType.altButton3}),
     ]
 
-    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
+    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret)
 
-    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
-                                                            self.CS.button_events, c.vCruise)
+    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, c.vCruise, self.CS.accEnabled)
 
     if ret.cruiseState.available:
       if not self.CP.pcmCruiseSpeed:
@@ -221,12 +240,12 @@ class CarInterface(CarInterfaceBase):
           self.CS.accEnabled = True
 
     if self.enable_mads:
-      if not self.CS.prev_mads_enabled and self.CS.mads_enabled and \
-        any(b.type == ButtonType.altButton3 for b in self.CS.button_events):
+      if not self.CS.prev_mads_enabled and self.CS.mads_enabled and (self.CP.pcmCruise or
+        (any(b.type == ButtonType.altButton3 for b in self.CS.button_events) and not self.CP.pcmCruise)):
         self.CS.madsEnabled = True
       if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
         self.CS.madsEnabled = not self.CS.madsEnabled
-      self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
+      self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled)
 
     if not ret.cruiseState.available and self.CS.out.cruiseState.available:
       self.CS.madsEnabled = False
@@ -234,15 +253,15 @@ class CarInterface(CarInterfaceBase):
     if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed:
       if not self.CP.pcmCruise:
         if any(b.type == ButtonType.cancel for b in self.CS.button_events):
-          self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+          self.get_sp_cancel_cruise_state()
       if not self.CP.pcmCruiseSpeed:
         if not ret.cruiseState.enabled:
-          self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+          self.get_sp_cancel_cruise_state()
     if self.get_sp_pedal_disengage(ret):
-      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+      self.get_sp_cancel_cruise_state()
       ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=(self.CS.cruise_buttons[-1] == 3))
+    ret = self.get_sp_common_state(ret)
 
     ret.buttonEvents = [
       *self.CS.button_events,
@@ -256,7 +275,7 @@ class CarInterface(CarInterfaceBase):
     events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.manumatic],
                                        pcm_enable=False, allow_enable=allow_enable)
 
-    events, ret = self.create_sp_events(self.CS, ret, events, main_enabled=True, allow_enable=allow_enable)
+    events, ret = self.create_sp_events(ret, events, main_enabled=True, allow_enable=allow_enable)
 
     # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
     if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
@@ -266,9 +285,10 @@ class CarInterface(CarInterfaceBase):
     if self.low_speed_alert and self.CS.madsEnabled:
       events.add(car.CarEvent.EventName.belowSteerSpeed)
 
-    ret.customStockLong = self.CS.update_custom_stock_long(self.CC.cruise_button, self.CC.final_speed_kph,
-                                                           self.CC.target_speed, self.CC.v_set_dis,
-                                                           self.CC.speed_diff, self.CC.button_type)
+    if self.CS.params_list.hyundai_radar_tracks_available and not self.CS.params_list.hyundai_radar_tracks_available_cache:
+      events.add(car.CarEvent.EventName.hyundaiRadarTracksAvailable)
+
+    ret.customStockLong = self.update_custom_stock_long()
 
     ret.events = events.to_msg()
 

selfdrive/car/interfaces.py

@@ -244,8 +244,6 @@ class CarInterfaceBase(ABC):
     self.cruise_cancelled_btn = True
     self.prev_acc_mads_combo = False
     self.mads_event_lock = True
-    self.gap_button_counter = 0
-    self.experimental_mode_hold = False
     self.last_mads_init = 0.
     self.madsEnabledInit = False
     self.madsEnabledInitPrev = False
@@ -550,20 +548,20 @@ class CarInterfaceBase(ABC):
   def sp_v_cruise_initialized(v_cruise):
     return v_cruise != V_CRUISE_UNSET
 
-  def get_acc_mads(self, cruiseState_enabled, acc_enabled, mads_enabled):
+  def get_acc_mads(self, cs_out, mads_enabled):
     if self.CS.params_list.acc_mads_combo:
-      if not self.prev_acc_mads_combo and (cruiseState_enabled or acc_enabled):
+      if not self.prev_acc_mads_combo and (cs_out.cruiseState.enabled or self.CS.accEnabled):
         mads_enabled = True
-      self.prev_acc_mads_combo = (cruiseState_enabled or acc_enabled)
+      self.prev_acc_mads_combo = (cs_out.cruiseState.enabled or self.CS.accEnabled)
 
     return mads_enabled
 
-  def get_sp_v_cruise_non_pcm_state(self, cs_out, acc_enabled, button_events, vCruise,
+  def get_sp_v_cruise_non_pcm_state(self, cs_out, vCruise, acc_enabled,
                                     enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise),
                                     resume_button=(ButtonType.accelCruise, ButtonType.resumeCruise)):
 
     if cs_out.cruiseState.available:
-      for b in button_events:
+      for b in self.CS.button_events:
         if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed:
           if b.type in enable_buttons and not b.pressed:
             acc_enabled = True
@@ -578,9 +576,9 @@ class CarInterfaceBase(ABC):
 
     return acc_enabled
 
-  def get_sp_cancel_cruise_state(self, mads_enabled, acc_enabled=False):
-    mads_enabled = False if not self.enable_mads or self.disengage_on_accelerator else mads_enabled
-    return mads_enabled, acc_enabled
+  def get_sp_cancel_cruise_state(self):
+    self.CS.madsEnabled = False if not self.enable_mads or self.disengage_on_accelerator else self.CS.madsEnabled
+    self.CS.accEnabled = False
 
   def get_sp_pedal_disengage(self, cs_out):
     accel_pedal = cs_out.gasPressed and not self.CS.out.gasPressed and self.disengage_on_accelerator
@@ -588,24 +586,22 @@ class CarInterfaceBase(ABC):
     regen = cs_out.regenBraking and (not self.CS.out.regenBraking or not cs_out.standstill)
     return accel_pedal or brake or regen
 
-  def get_sp_cruise_main_state(self, cs_out, CS):
-    if not CS.control_initialized:
-      mads_enabled = False
+  def get_sp_cruise_main_state(self, cs_out):
+    if not self.CS.control_initialized:
+      return False
     elif not self.CS.params_list.mads_main_toggle:
-      mads_enabled = False
+      return False
     else:
-      mads_enabled = cs_out.cruiseState.available
+      return cs_out.cruiseState.available
 
-    return mads_enabled
-
-  def get_sp_started_mads(self, cs_out, CS):
-    if not cs_out.cruiseState.available and CS.out.cruiseState.available:
+  def get_sp_started_mads(self, cs_out, mads_enabled):
+    if not cs_out.cruiseState.available and self.CS.out.cruiseState.available:
       self.madsEnabledInit = False
       self.madsEnabledInitPrev = False
       return False
     if not self.CS.params_list.mads_main_toggle or self.prev_acc_mads_combo:
-      return CS.madsEnabled
-    if not self.madsEnabledInit and CS.madsEnabled:
+      return mads_enabled
+    if not self.madsEnabledInit and self.CS.madsEnabled:
       self.madsEnabledInit = True
       self.last_mads_init = time.monotonic()
     if cs_out.gearShifter not in FORWARD_GEARS:
@@ -616,19 +612,16 @@ class CarInterfaceBase(ABC):
       self.madsEnabledInitPrev = True
       return cs_out.cruiseState.available
     else:
-      return CS.madsEnabled
+      return mads_enabled
 
-  def get_sp_common_state(self, cs_out, CS, gear_allowed=True, gap_button=False):
-    cs_out.cruiseState.enabled = CS.accEnabled if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed else cs_out.cruiseState.enabled
+  def get_sp_common_state(self, cs_out, gear_allowed=True):
+    cs_out.cruiseState.enabled = self.CS.accEnabled if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed else cs_out.cruiseState.enabled
 
     if not self.enable_mads:
-      if cs_out.cruiseState.enabled and not CS.out.cruiseState.enabled:
-        CS.madsEnabled = True
-      elif not cs_out.cruiseState.enabled and CS.out.cruiseState.enabled:
-        CS.madsEnabled = False
-
-    if self.CP.openpilotLongitudinalControl:
-      self.toggle_exp_mode(gap_button)
+      if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
+        self.CS.madsEnabled = True
+      elif not cs_out.cruiseState.enabled and self.CS.out.cruiseState.enabled:
+        self.CS.madsEnabled = False
 
     lane_change_speed_min = get_min_lateral_speed(self.CS.params_list.pause_lateral_speed, self.CS.params_list.is_metric)
 
@@ -640,37 +633,24 @@ class CarInterfaceBase(ABC):
 
     cs_out.latActive = gear_allowed
 
-    if not CS.control_initialized:
-      CS.control_initialized = True
+    if not self.CS.control_initialized:
+      self.CS.control_initialized = True
 
     # Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
     if (cs_out.gasPressed and not self.CS.out.gasPressed and self.disengage_on_accelerator) or \
       (cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill)) or \
       (cs_out.regenBraking and (not self.CS.out.regenBraking or not cs_out.standstill)):
-      if CS.madsEnabled:
-        CS.disengageByBrake = True
+      if self.CS.madsEnabled:
+        self.CS.disengageByBrake = True
 
-    cs_out.madsEnabled = CS.madsEnabled
-    cs_out.accEnabled = CS.accEnabled
-    cs_out.disengageByBrake = CS.disengageByBrake
+    cs_out.madsEnabled = self.CS.madsEnabled
+    cs_out.accEnabled = self.CS.accEnabled
+    cs_out.disengageByBrake = self.CS.disengageByBrake
     cs_out.brakeLightsDEPRECATED |= cs_out.brakePressed or cs_out.brakeHoldActive or cs_out.parkingBrake or cs_out.regenBraking
 
-    return cs_out, CS
+    return cs_out
 
-  # TODO: SP: use upstream's buttonEvents counter checks from controlsd
-  def toggle_exp_mode(self, gap_pressed):
-    if gap_pressed:
-      if not self.experimental_mode_hold:
-        self.gap_button_counter += 1
-        if self.gap_button_counter > 50:
-          self.gap_button_counter = 0
-          self.experimental_mode_hold = True
-          self.param_s.put_bool_nonblocking("ExperimentalMode", not self.CS.params_list.experimental_mode)
-    else:
-      self.gap_button_counter = 0
-      self.experimental_mode_hold = False
-
-  def create_sp_events(self, CS, cs_out, events, main_enabled=False, allow_enable=True, enable_pressed=False,
+  def create_sp_events(self, cs_out, events, main_enabled=False, allow_enable=True, enable_pressed=False,
                        enable_from_brake=False, enable_pressed_long=False,
                        enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
 
@@ -678,7 +658,7 @@ class CarInterfaceBase(ABC):
       if cs_out.disengageByBrake and cs_out.madsEnabled:
         enable_pressed = True
         enable_from_brake = True
-      CS.disengageByBrake = False
+      self.CS.disengageByBrake = False
       cs_out.disengageByBrake = False
 
     for b in cs_out.buttonEvents:
@@ -707,11 +687,11 @@ class CarInterfaceBase(ABC):
     if self.CP.pcmCruise:
       # do disable on button down
       if main_enabled:
-        if any(CS.main_buttons) and not cs_out.cruiseState.enabled:
+        if any(self.CS.main_buttons) and not cs_out.cruiseState.enabled:
           if not cs_out.madsEnabled:
             events.add(EventName.buttonCancel)
       # do enable on both accel and decel buttons
-      if cs_out.cruiseState.enabled and not CS.out.cruiseState.enabled and allow_enable:
+      if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled and allow_enable:
         enable_pressed = True
         enable_pressed_long = True
       elif not cs_out.cruiseState.enabled:
@@ -731,6 +711,16 @@ class CarInterfaceBase(ABC):
 
     return events, cs_out
 
+  def update_custom_stock_long(self):
+    customStockLong = car.CarState.CustomStockLong.new_message()
+    customStockLong.cruiseButton = 0 if self.CC.cruise_button is None else int(self.CC.cruise_button)
+    customStockLong.finalSpeedKph = float(self.CC.final_speed_kph)
+    customStockLong.targetSpeed = float(self.CC.target_speed)
+    customStockLong.vSetDis = float(self.CC.v_set_dis)
+    customStockLong.speedDiff = float(self.CC.speed_diff)
+    customStockLong.buttonType = int(self.CC.button_type)
+    return customStockLong
+
 class RadarInterfaceBase(ABC):
   def __init__(self, CP):
     self.CP = CP
@@ -834,16 +824,6 @@ class CarStateBase(ABC):
 
     return bool(left_blinker_stalk or self.left_blinker_cnt > 0), bool(right_blinker_stalk or self.right_blinker_cnt > 0)
 
-  def update_custom_stock_long(self, cruise_button, final_speed_kph, target_speed, v_set_dis, speed_diff, button_type):
-    customStockLong = car.CarState.CustomStockLong.new_message()
-    customStockLong.cruiseButton = 0 if cruise_button is None else cruise_button
-    customStockLong.finalSpeedKph = final_speed_kph
-    customStockLong.targetSpeed = target_speed
-    customStockLong.vSetDis = v_set_dis
-    customStockLong.speedDiff = speed_diff
-    customStockLong.buttonType = button_type
-    return customStockLong
-
   @staticmethod
   def parse_gear_shifter(gear: str | None) -> car.CarState.GearShifter:
     if gear is None:
@@ -876,6 +856,13 @@ class CarControllerBase(ABC):
     self.CP = CP
     self.frame = 0
 
+    self.cruise_button = 0
+    self.final_speed_kph = 0.0
+    self.target_speed = 0.0
+    self.v_set_dis = 0.0
+    self.speed_diff = 0.0
+    self.button_type = 0
+
   @abstractmethod
   def update(self, CC: car.CarControl.Actuators, CS: car.CarState, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]:
     pass

selfdrive/car/mazda/interface.py

@@ -45,10 +45,9 @@ class CarInterface(CarInterfaceBase):
       *create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}),
     ]
 
-    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
+    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret)
 
-    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
-                                                            self.CS.button_events, c.vCruise)
+    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, c.vCruise, self.CS.accEnabled)
 
     if ret.cruiseState.available:
       if self.enable_mads:
@@ -56,15 +55,15 @@ class CarInterface(CarInterfaceBase):
           self.CS.madsEnabled = True
         if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
           self.CS.madsEnabled = not self.CS.madsEnabled
-        self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
+        self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled)
     else:
       self.CS.madsEnabled = False
 
     if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed:
       if any(b.type == ButtonType.cancel for b in self.CS.button_events):
-        self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+        self.get_sp_cancel_cruise_state()
     if self.get_sp_pedal_disengage(ret):
-      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+      self.get_sp_cancel_cruise_state()
       ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
 
     if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
@@ -72,7 +71,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
+    ret = self.get_sp_common_state(ret)
 
     ret.buttonEvents = [
       *self.CS.button_events,
@@ -83,16 +82,14 @@ class CarInterface(CarInterfaceBase):
     events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.brake],
                                        pcm_enable=False)
 
-    events, ret = self.create_sp_events(self.CS, ret, events)
+    events, ret = self.create_sp_events(ret, events)
 
     #if self.CS.lkas_disabled:
     #  events.add(EventName.lkasDisabled)
     if self.CS.low_speed_alert:
       events.add(EventName.belowSteerSpeed)
 
-    ret.customStockLong = self.CS.update_custom_stock_long(self.CC.cruise_button, self.CC.final_speed_kph,
-                                                           self.CC.target_speed, self.CC.v_set_dis,
-                                                           self.CC.speed_diff, self.CC.button_type)
+    ret.customStockLong = self.update_custom_stock_long()
 
     ret.events = events.to_msg()
 

selfdrive/car/nissan/interface.py

@@ -35,22 +35,22 @@ class CarInterface(CarInterfaceBase):
 
     self.CS.button_events = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
-    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
+    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret)
 
     if ret.cruiseState.available:
       if self.enable_mads:
         if not self.CS.prev_mads_enabled and self.CS.mads_enabled:
           self.CS.madsEnabled = True
-        self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
+        self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled)
     else:
       self.CS.madsEnabled = False
 
     if (not ret.cruiseState.enabled and self.CS.out.cruiseState.enabled) or \
        self.get_sp_pedal_disengage(ret):
-      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+      self.get_sp_cancel_cruise_state()
       ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
+    ret = self.get_sp_common_state(ret)
 
     ret.buttonEvents = [
       *self.CS.button_events,
@@ -61,7 +61,7 @@ class CarInterface(CarInterfaceBase):
     events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.brake],
                                        pcm_enable=False)
 
-    events, ret = self.create_sp_events(self.CS, ret, events)
+    events, ret = self.create_sp_events(ret, events)
 
     if self.CS.lkas_enabled:
       events.add(car.CarEvent.EventName.invalidLkasSetting)

selfdrive/car/param_manager.py

@@ -9,8 +9,11 @@ class ParamManager:
       "acc_mads_combo": False,
       "below_speed_pause": False,
       "experimental_mode": False,
+      "hyundai_radar_tracks_available": False,
+      "hyundai_radar_tracks_available_cache": False,
       "is_metric": False,
       "last_speed_limit_sign_tap": False,
+      "hyundai_cruise_main_default": False,
       "mads_main_toggle": False,
       "pause_lateral_speed": 0,
       "reverse_acc_change": False,
@@ -35,8 +38,11 @@ class ParamManager:
       "acc_mads_combo": params.get_bool("AccMadsCombo"),
       "below_speed_pause": params.get_bool("BelowSpeedPause"),
       "experimental_mode": params.get_bool("ExperimentalMode"),
+      "hyundai_radar_tracks_available": params.get_bool("HyundaiRadarTracksAvailable"),
+      "hyundai_radar_tracks_available_cache": params.get_bool("HyundaiRadarTracksAvailableCache"),
       "is_metric": params.get_bool("IsMetric"),
       "last_speed_limit_sign_tap": params.get_bool("LastSpeedLimitSignTap"),
+      "hyundai_cruise_main_default": params.get_bool("HyundaiCruiseMainDefault"),
       "mads_main_toggle": params.get_bool("MadsCruiseMain"),
       "pause_lateral_speed": int(params.get("PauseLateralSpeed", encoding="utf8")),
       "reverse_acc_change": params.get_bool("ReverseAccChange"),

selfdrive/car/subaru/interface.py

@@ -117,7 +117,7 @@ class CarInterface(CarInterfaceBase):
 
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
 
-    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
+    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret)
 
     if ret.cruiseState.available:
       if self.enable_mads:
@@ -128,7 +128,7 @@ class CarInterface(CarInterfaceBase):
             self.CS.madsEnabled = not self.CS.madsEnabled
           elif self.CS.prev_lkas_enabled != self.CS.lkas_enabled and self.CS.prev_lkas_enabled == 2 and self.CS.lkas_enabled != 1:
             self.CS.madsEnabled = not self.CS.madsEnabled
-        self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
+        self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled)
     else:
       self.CS.madsEnabled = False
 
@@ -137,10 +137,10 @@ class CarInterface(CarInterfaceBase):
         if not self.enable_mads:
           self.CS.madsEnabled = False
     if self.get_sp_pedal_disengage(ret):
-      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+      self.get_sp_cancel_cruise_state()
       ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS)
+    ret = self.get_sp_common_state(ret)
 
     ret.buttonEvents = [
       *self.CS.button_events,
@@ -150,7 +150,7 @@ class CarInterface(CarInterfaceBase):
 
     events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low], pcm_enable=False)
 
-    events, ret = self.create_sp_events(self.CS, ret, events)
+    events, ret = self.create_sp_events(ret, events)
 
     ret.events = events.to_msg()
 

selfdrive/car/sunnypilot/fingerprinting.py

@@ -0,0 +1,37 @@
+from collections.abc import Callable
+
+import cereal.messaging as messaging
+from openpilot.selfdrive.car import gen_empty_fingerprint
+
+FRAME_FINGERPRINT = 25  # 0.25s
+
+
+def get_one_can(logcan):
+  while True:
+    can = messaging.recv_one_retry(logcan)
+    if len(can.can) > 0:
+      return can
+
+
+def can_fingerprint(next_can: Callable) -> tuple[str | None, dict[int, dict]]:
+  finger = gen_empty_fingerprint()
+  frame = 0
+  done = False
+
+  while not done:
+    a = next_can()
+
+    for can in a.can:
+      # The fingerprint dict is generated for all buses, this way the car interface
+      # can use it to detect a (valid) multipanda setup and initialize accordingly
+      if can.src < 128:
+        if can.src not in finger:
+          finger[can.src] = {}
+        finger[can.src][can.address] = len(can.dat)
+
+    # bail if we've been waiting for more than 2s
+    done = frame > 100
+
+    frame += 1
+
+  return finger

selfdrive/car/toyota/interface.py

@@ -208,13 +208,10 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
-    distance_button = 0
-
     if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER):
       self.CS.button_events = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
-      distance_button = self.CS.distance_button
 
-    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
+    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret)
 
     if ret.cruiseState.available:
       if self.enable_mads:
@@ -229,16 +226,16 @@ class CarInterface(CarInterfaceBase):
             if (not self.CS.prev_lkas_enabled and self.CS.lkas_enabled) or \
               (self.CS.prev_lkas_enabled == 1 and not self.CS.lkas_enabled):
               self.CS.madsEnabled = not self.CS.madsEnabled
-        self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
+        self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled)
     else:
       self.CS.madsEnabled = False
 
     if self.get_sp_pedal_disengage(ret):
-      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+      self.get_sp_cancel_cruise_state()
       if not self.CP.pcmCruise:
         ret.cruiseState.enabled = self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(distance_button))
+    ret = self.get_sp_common_state(ret)
 
     ret.buttonEvents = [
       *self.CS.button_events,
@@ -250,7 +247,7 @@ class CarInterface(CarInterfaceBase):
     events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.brake],
                                        pcm_enable=False)
 
-    events, ret = self.create_sp_events(self.CS, ret, events)
+    events, ret = self.create_sp_events(ret, events)
 
     # Lane Tracing Assist control is unavailable (EPS_STATUS->LTA_STATE=0) until
     # the more accurate angle sensor signal is initialized

selfdrive/car/volkswagen/interface.py

@@ -114,26 +114,25 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
 
-    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
+    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret)
 
-    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
-                                                            self.CS.button_events, c.vCruise,
+    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, c.vCruise, self.CS.accEnabled,
                                                             enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
 
     if ret.cruiseState.available:
       if self.enable_mads:
         if not self.CS.prev_mads_enabled and self.CS.mads_enabled:
           self.CS.madsEnabled = True
-        self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
+        self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled)
     else:
       self.CS.madsEnabled = False
-    self.CS.madsEnabled = self.get_sp_started_mads(ret, self.CS)
+    self.CS.madsEnabled = self.get_sp_started_mads(ret, self.CS.madsEnabled)
 
     if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed:
       if any(b.type == ButtonType.cancel for b in self.CS.button_events):
-        self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+        self.get_sp_cancel_cruise_state()
     if self.get_sp_pedal_disengage(ret):
-      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+      self.get_sp_cancel_cruise_state()
       ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
 
     if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
@@ -141,8 +140,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS,
-                                            gap_button=any(b.type == ButtonType.gapAdjustCruise and b.pressed for b in self.CS.button_events))
+    ret = self.get_sp_common_state(ret)
 
     ret.buttonEvents = [
       *self.CS.button_events,
@@ -153,7 +151,7 @@ class CarInterface(CarInterfaceBase):
                                        pcm_enable=False,
                                        enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
 
-    events, ret = self.create_sp_events(self.CS, ret, events,
+    events, ret = self.create_sp_events(ret, events,
                                         enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
 
     # Low speed steer alert hysteresis logic
@@ -173,9 +171,7 @@ class CarInterface(CarInterfaceBase):
     if self.CC.eps_timer_soft_disable_alert:
       events.add(EventName.steerTimeLimit)
 
-    ret.customStockLong = self.CS.update_custom_stock_long(self.CC.cruise_button, self.CC.final_speed_kph,
-                                                           self.CC.target_speed, self.CC.v_set_dis,
-                                                           self.CC.speed_diff, self.CC.button_type)
+    ret.customStockLong = self.update_custom_stock_long()
 
     ret.events = events.to_msg()
 

selfdrive/controls/controlsd.py

@@ -20,7 +20,7 @@ from openpilot.common.swaglog import cloudlog
 
 from openpilot.selfdrive.car.car_helpers import get_car_interface, get_startup_event
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
-from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature, get_lag_adjusted_curvature
+from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature, get_lag_adjusted_curvature, CRUISE_LONG_PRESS
 from openpilot.selfdrive.controls.lib.events import Events, ET
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
@@ -179,6 +179,7 @@ class Controls:
     self.mads_disengage_lateral_on_brake = self.params.get_bool("DisengageLateralOnBrake")
     self.mads_ndlob = self.enable_mads and not self.mads_disengage_lateral_on_brake
     self.process_not_running = False
+    self.experimental_mode_update = False
 
     self.custom_model_metadata = CustomModelMetadata(params=self.params, init_only=True)
     self.model_use_lateral_planner = self.custom_model_metadata.valid and \
@@ -717,11 +718,21 @@ class Controls:
         cloudlog.error(f"actuators.{p} not finite {actuators.to_dict()}")
         setattr(actuators, p, 0.0)
 
+    # toggle experimental mode once on distance button hold
+    if self.CP.openpilotLongitudinalControl:
+      if self.v_cruise_helper.button_timers[ButtonType.gapAdjustCruise] == CRUISE_LONG_PRESS and \
+            not self.experimental_mode_update:
+        self.experimental_mode = not self.experimental_mode
+        self.params.put_bool_nonblocking("ExperimentalMode", self.experimental_mode)
+        self.experimental_mode_update = True
+
     # decrement personality on distance button press
     if self.CP.openpilotLongitudinalControl:
       if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
-        self.personality = (self.personality - 1) % 3
-        self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
+        if not self.experimental_mode_update:
+          self.personality = (self.personality - 1) % 3
+          self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
+        self.experimental_mode_update = False
 
     return CC, lac_log
 

selfdrive/controls/lib/drive_helpers.py

@@ -75,7 +75,7 @@ class VCruiseHelper:
     self.v_cruise_kph = V_CRUISE_UNSET
     self.v_cruise_cluster_kph = V_CRUISE_UNSET
     self.v_cruise_kph_last = 0
-    self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0}
+    self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0, ButtonType.gapAdjustCruise: 0}
     self.button_change_states = {btn: {"standstill": False, "enabled": False} for btn in self.button_timers}
 
     self.is_metric_prev = None
@@ -101,10 +101,10 @@ class VCruiseHelper:
         self._update_v_cruise_non_pcm(CS, enabled, is_metric, reverse_acc)
         self._update_v_cruise_slc(long_plan_sp)
         self.v_cruise_cluster_kph = self.v_cruise_kph
-        self.update_button_timers(CS, enabled)
       else:
         self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
         self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
+      self.update_button_timers(CS, enabled)
     else:
       self.v_cruise_kph = V_CRUISE_UNSET
       self.v_cruise_cluster_kph = V_CRUISE_UNSET
@@ -137,7 +137,7 @@ class VCruiseHelper:
           long_press = True
           break
 
-    if button_type is None:
+    if button_type is None or button_type == ButtonType.gapAdjustCruise:
       return
 
     resume_button = ButtonType.accelCruise

selfdrive/controls/lib/events.py

@@ -1141,6 +1141,9 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.PERMANENT: torque_nn_load_alert,
   },
 
+  EventName.hyundaiRadarTracksAvailable: {
+    ET.PERMANENT: NormalPermanentAlert("Radar tracks available. Restart the car to initialize")
+  }
 }
 
 

selfdrive/controls/lib/latcontrol_torque.py

@@ -83,30 +83,35 @@ class LatControlTorque(LatControl):
     self.torqued_override = self.param_s.get_bool("TorquedOverride")
     self._frame = 0
 
-    self.use_lateral_jerk = False  # TODO: make this a parameter in the UI
+    self.use_lateral_jerk = self.param_s.get_bool("TorqueLateralJerk")
 
     # Twilsonco's Lateral Neural Network Feedforward
     self.use_nn = CI.has_lateral_torque_nn
 
-    if self.use_nn or self.use_lateral_jerk:
-      # Instantaneous lateral jerk changes very rapidly, making it not useful on its own,
-      # however, we can "look ahead" to the future planned lateral jerk in order to guage
-      # whether the current desired lateral jerk will persist into the future, i.e.
-      # whether it's "deliberate" or not. This lets us simply ignore short-lived jerk.
-      # Note that LAT_PLAN_MIN_IDX is defined above and is used in order to prevent
-      # using a "future" value that is actually planned to occur before the "current" desired
-      # value, which is offset by the steerActuatorDelay.
-      self.friction_look_ahead_v = [1.4, 2.0] # how many seconds in the future to look ahead in [0, ~2.1] in 0.1 increments
-      self.friction_look_ahead_bp = [9.0, 30.0] # corresponding speeds in m/s in [0, ~40] in 1.0 increments
+    # These are only used if use_nn or use_lateral_jerk is True,
+    # but they're defined here since use_lateral_jerk can be toggled while onroad
 
+    # Instantaneous lateral jerk changes very rapidly, making it not useful on its own,
+    # however, we can "look ahead" to the future planned lateral jerk in order to guage
+    # whether the current desired lateral jerk will persist into the future, i.e.
+    # whether it's "deliberate" or not. This lets us simply ignore short-lived jerk.
+    # Note that LAT_PLAN_MIN_IDX is defined above and is used in order to prevent
+    # using a "future" value that is actually planned to occur before the "current" desired
+    # value, which is offset by the steerActuatorDelay.
+    self.friction_look_ahead_v = [1.4, 2.0]  # how many seconds in the future to look ahead in [0, ~2.1] in 0.1 increments
+    self.friction_look_ahead_bp = [9.0, 30.0]  # corresponding speeds in m/s in [0, ~40] in 1.0 increments
+    # precompute time differences between ModelConstants.T_IDXS
+    self.t_diffs = np.diff(ModelConstants.T_IDXS)
+    self.desired_lat_jerk_time = CP.steerActuatorDelay + 0.3
+
+    if self.use_nn or self.use_lateral_jerk:
       # Scaling the lateral acceleration "friction response" could be helpful for some.
       # Increase for a stronger response, decrease for a weaker response.
-      self.lat_jerk_friction_factor = 0.4
-      self.lat_accel_friction_factor = 0.7 # in [0, 3], in 0.05 increments. 3 is arbitrary safety limit
-
-      # precompute time differences between ModelConstants.T_IDXS
-      self.t_diffs = np.diff(ModelConstants.T_IDXS)
-      self.desired_lat_jerk_time = CP.steerActuatorDelay + 0.3
+      nnff_lateral_jerk_factor = 1.0  # TODO-SP: replace with ---> float(self.param_s.get("NNFFLateralJerkFactor", encoding="utf8"))
+      nnff_lateral_jerk_factor = max(0.0, min(1.0, nnff_lateral_jerk_factor))
+      self.lat_jerk_friction_factor = 0.4 * nnff_lateral_jerk_factor
+      # Increasing lat accel friction factor to account for any decrease of the lat jerk friction factor from default
+      self.lat_accel_friction_factor = 0.7 + (0.3 * (1.0 - nnff_lateral_jerk_factor))  # in [0, 3], in 0.05 increments. 3 is arbitrary safety limit
     if self.use_nn:
       self.pitch = FirstOrderFilter(0.0, 0.5, 0.01)
       # NN model takes current v_ego, lateral_accel, lat accel/jerk error, roll, and past/future/planned data
@@ -140,6 +145,14 @@ class LatControlTorque(LatControl):
     if self._frame % 250 == 0:
       self._frame = 0
       self.torqued_override = self.param_s.get_bool("TorquedOverride")
+      self.use_lateral_jerk = self.param_s.get_bool("TorqueLateralJerk")
+      if self.use_nn or self.use_lateral_jerk:
+        nnff_lateral_jerk_factor = 1.0  # TODO-SP: replace with ---> float(self.param_s.get("NNFFLateralJerkFactor", encoding="utf8"))
+        nnff_lateral_jerk_factor = max(0.0, min(1.0, nnff_lateral_jerk_factor))
+        self.lat_jerk_friction_factor = 0.4 * nnff_lateral_jerk_factor
+        # Increasing lat accel friction factor to account for any decrease of the lat jerk friction factor from default
+        self.lat_accel_friction_factor = 0.7 + (0.3 * (1.0 - nnff_lateral_jerk_factor))  # in [0, 3], in 0.05 increments. 3 is arbitrary safety limit
+
       if not self.torqued_override:
         return
 
@@ -200,12 +213,15 @@ class LatControlTorque(LatControl):
         if self.use_steering_angle or lookahead_lateral_jerk == 0.0:
           lookahead_lateral_jerk = 0.0
           actual_lateral_jerk = 0.0
-          self.lat_accel_friction_factor = 1.0
         lateral_jerk_setpoint = self.lat_jerk_friction_factor * lookahead_lateral_jerk
         lateral_jerk_measurement = self.lat_jerk_friction_factor * actual_lateral_jerk
 
+      lat_accel_friction_factor = 1.0 if self.use_steering_angle or lookahead_lateral_jerk == 0.0 else \
+                                  self.lat_accel_friction_factor
+
       if self.use_nn and model_good:
         # update past data
+        pitch = 0
         roll = params.roll
         if len(llk.calibratedOrientationNED.value) > 1:
           pitch = self.pitch.update(llk.calibratedOrientationNED.value[1])
@@ -231,11 +247,18 @@ class LatControlTorque(LatControl):
                                  + past_rolls + future_rolls
         torque_from_setpoint = self.torque_from_nn(nnff_setpoint_input)
         torque_from_measurement = self.torque_from_nn(nnff_measurement_input)
+
         pid_log.error = torque_from_setpoint - torque_from_measurement
+        error_blend_factor = interp(abs(desired_lateral_accel), [1.0, 2.0], [0.0, 1.0])
+        if error_blend_factor > 0.0:  # blend in stronger error response when in high lat accel
+          nnff_error_input = [CS.vEgo, setpoint - measurement, lateral_jerk_setpoint - lateral_jerk_measurement, 0.0]
+          torque_from_error = self.torque_from_nn(nnff_error_input)
+          if sign(pid_log.error) == sign(torque_from_error) and abs(pid_log.error) < abs(torque_from_error):
+            pid_log.error = pid_log.error * (1.0 - error_blend_factor) + torque_from_error * error_blend_factor
 
         # compute feedforward (same as nn setpoint output)
         error = setpoint - measurement
-        friction_input = self.lat_accel_friction_factor * error + self.lat_jerk_friction_factor * lookahead_lateral_jerk
+        friction_input = lat_accel_friction_factor * error + self.lat_jerk_friction_factor * lookahead_lateral_jerk
         nn_input = [CS.vEgo, desired_lateral_accel, friction_input, roll] \
                    + past_lateral_accels_desired + future_planned_lateral_accels \
                    + past_rolls + future_rolls
@@ -256,7 +279,7 @@ class LatControlTorque(LatControl):
         pid_log.error = torque_from_setpoint - torque_from_measurement
         error = desired_lateral_accel - actual_lateral_accel
         if self.use_lateral_jerk:
-          friction_input = self.lat_accel_friction_factor * error + self.lat_jerk_friction_factor * lookahead_lateral_jerk
+          friction_input = lat_accel_friction_factor * error + self.lat_jerk_friction_factor * lookahead_lateral_jerk
         else:
           friction_input = error
         ff = self.torque_from_lateral_accel(LatControlInputs(gravity_adjusted_lateral_accel, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,

selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_settings.cc

@@ -97,6 +97,12 @@ SunnypilotPanel::SunnypilotPanel(QWidget *parent) : QFrame(parent) {
       tr("Enable this to enforce sunnypilot to steer with Torque lateral control."),
       "../assets/offroad/icon_blank.png",
     },
+    {
+      "TorqueLateralJerk",
+      tr("Lateral Jerk with Torque Lateral Control (Alpha)"),
+      tr("Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection."),
+      "../assets/offroad/icon_blank.png",
+    },
     {
       "LiveTorque",
       tr("Enable Self-Tune"),
@@ -345,6 +351,17 @@ SunnypilotPanel::SunnypilotPanel(QWidget *parent) : QFrame(parent) {
     }
   });
 
+  connect(toggles["EnforceTorqueLateral"], &ToggleControlSP::toggleFlipped, [=](bool state) {
+    if (state) {
+      toggles["NNFF"]->setEnabled(false);
+      params.putBool("NNFF", false);
+      toggles["NNFF"]->refresh();
+    } else {
+      toggles["NNFF"]->setEnabled(true);
+      toggles["NNFF"]->refresh();
+    }
+  });
+
   // trigger updateToggles() when toggleFlipped
   for (const auto& updateToggleName : updateTogglesNames) {
     if (toggles.find(updateToggleName) != toggles.end()) {
@@ -577,7 +594,7 @@ void SunnypilotPanel::updateToggles() {
   }
 
   // toggle names to update when EnforceTorqueLateral is flipped
-  std::vector<std::string> torqueLateralGroup{"CustomTorqueLateral", "LiveTorque", "LiveTorqueRelaxed", "TorquedOverride"};
+  std::vector<std::string> torqueLateralGroup{"CustomTorqueLateral", "TorqueLateralJerk", "LiveTorque", "LiveTorqueRelaxed", "TorquedOverride"};
   for (const auto& torqueLateralToggle : torqueLateralGroup) {
     if (toggles.find(torqueLateralToggle) != toggles.end()) {
       if (nnff_toggle->isToggled()) {

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_settings.cc

@@ -109,6 +109,16 @@ SPVehiclesTogglesPanel::SPVehiclesTogglesPanel(VehiclePanel *parent) : ListWidge
   hkgSmoothStop->setConfirmation(true, false);
   addItem(hkgSmoothStop);
 
+  hyundaiCruiseMainDefault = new ParamControlSP(
+    "HyundaiCruiseMainDefault",
+    tr("HKG CAN: Enable Cruise Main by Default"),
+    QString("<b>%1</b><br><br>%2")
+    .arg(tr("WARNING: This feature only applies when \"openpilot Longitudinal Control (Alpha)\" is enabled under \"Toggles\""))
+    .arg(tr("Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.")),
+    "../assets/offroad/icon_blank.png");
+  hyundaiCruiseMainDefault->setConfirmation(true, false);
+  addItem(hyundaiCruiseMainDefault);
+
   // Subaru
   addItem(new LabelControlSP(tr("Subaru")));
   auto subaruManualParkingBrakeSng = new ParamControlSP(
@@ -194,6 +204,7 @@ SPVehiclesTogglesPanel::SPVehiclesTogglesPanel(VehiclePanel *parent) : ListWidge
   connect(uiStateSP(), &UIStateSP::offroadTransition, [=](bool offroad) {
     is_onroad = !offroad;
     hkgSmoothStop->setEnabled(offroad);
+    hyundaiCruiseMainDefault->setEnabled(offroad);
     toyotaTss2LongTune->setEnabled(offroad);
     toyotaEnhancedBsm->setEnabled(offroad);
     toyotaSngHack->setEnabled(offroad);
@@ -223,6 +234,17 @@ void SPVehiclesTogglesPanel::updateToggles() {
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
     cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
 
+    // Hyundai/Kia/Genesis
+    {
+      if (CP.getCarName() == "hyundai") {
+        if ((CP.getSpFlags() & 2) and !(CP.getFlags() & 8192)) {
+          hyundaiCruiseMainDefault->setEnabled(true);
+        } else {
+          hyundaiCruiseMainDefault->setEnabled(false);
+        }
+      }
+    }
+
     // Toyota: Enhanced Blind Spot Monitor
     {
       if (CP.getCarName() == "toyota") {

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_settings.h

@@ -67,6 +67,7 @@ private:
   Params params;
   bool is_onroad = false;
 
+  ParamControlSP *hyundaiCruiseMainDefault;
   ParamControlSP *stockLongToyota;
   ParamControlSP *toyotaEnhancedBsm;
 

selfdrive/ui/translations/main_ar.ts

@@ -1583,6 +1583,18 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main by Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: This feature only applies when &quot;openpilot Longitudinal Control (Alpha)&quot; is enabled under &quot;Toggles&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2689,6 +2701,14 @@ Reboot Required.</source>
         <source>Default is Laneless. In Auto mode, sunnnypilot dynamically chooses between Laneline or Laneless model based on lane recognition confidence level on road and certain conditions.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>TermsPage</name>

selfdrive/ui/translations/main_de.ts

@@ -1565,6 +1565,18 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main by Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: This feature only applies when &quot;openpilot Longitudinal Control (Alpha)&quot; is enabled under &quot;Toggles&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2673,6 +2685,14 @@ Reboot Required.</source>
         <source>Default is Laneless. In Auto mode, sunnnypilot dynamically chooses between Laneline or Laneless model based on lane recognition confidence level on road and certain conditions.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>TermsPage</name>

selfdrive/ui/translations/main_es.ts

@@ -1563,6 +1563,18 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main by Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: This feature only applies when &quot;openpilot Longitudinal Control (Alpha)&quot; is enabled under &quot;Toggles&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2669,6 +2681,14 @@ Reboot Required.</source>
         <source>Default is Laneless. In Auto mode, sunnnypilot dynamically chooses between Laneline or Laneless model based on lane recognition confidence level on road and certain conditions.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>TermsPage</name>

selfdrive/ui/translations/main_fr.ts

@@ -1567,6 +1567,18 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main by Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: This feature only applies when &quot;openpilot Longitudinal Control (Alpha)&quot; is enabled under &quot;Toggles&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2673,6 +2685,14 @@ Reboot Required.</source>
         <source>Default is Laneless. In Auto mode, sunnnypilot dynamically chooses between Laneline or Laneless model based on lane recognition confidence level on road and certain conditions.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>TermsPage</name>

selfdrive/ui/translations/main_ja.ts

@@ -1561,6 +1561,18 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main by Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: This feature only applies when &quot;openpilot Longitudinal Control (Alpha)&quot; is enabled under &quot;Toggles&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2667,6 +2679,14 @@ Reboot Required.</source>
         <source>Default is Laneless. In Auto mode, sunnnypilot dynamically chooses between Laneline or Laneless model based on lane recognition confidence level on road and certain conditions.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>TermsPage</name>

selfdrive/ui/translations/main_ko.ts

@@ -1563,6 +1563,18 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main by Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: This feature only applies when &quot;openpilot Longitudinal Control (Alpha)&quot; is enabled under &quot;Toggles&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2669,6 +2681,14 @@ Reboot Required.</source>
         <source>Default is Laneless. In Auto mode, sunnnypilot dynamically chooses between Laneline or Laneless model based on lane recognition confidence level on road and certain conditions.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>TermsPage</name>

selfdrive/ui/translations/main_pt-BR.ts

@@ -1567,6 +1567,18 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main by Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: This feature only applies when &quot;openpilot Longitudinal Control (Alpha)&quot; is enabled under &quot;Toggles&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2673,6 +2685,14 @@ Reboot Required.</source>
         <source>Default is Laneless. In Auto mode, sunnnypilot dynamically chooses between Laneline or Laneless model based on lane recognition confidence level on road and certain conditions.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>TermsPage</name>

selfdrive/ui/translations/main_th.ts

@@ -1563,6 +1563,18 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main by Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: This feature only applies when &quot;openpilot Longitudinal Control (Alpha)&quot; is enabled under &quot;Toggles&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2669,6 +2681,14 @@ Reboot Required.</source>
         <source>Default is Laneless. In Auto mode, sunnnypilot dynamically chooses between Laneline or Laneless model based on lane recognition confidence level on road and certain conditions.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>TermsPage</name>

selfdrive/ui/translations/main_tr.ts

@@ -1561,6 +1561,18 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main by Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: This feature only applies when &quot;openpilot Longitudinal Control (Alpha)&quot; is enabled under &quot;Toggles&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2667,6 +2679,14 @@ Reboot Required.</source>
         <source>Default is Laneless. In Auto mode, sunnnypilot dynamically chooses between Laneline or Laneless model based on lane recognition confidence level on road and certain conditions.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>TermsPage</name>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -1563,6 +1563,18 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main by Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: This feature only applies when &quot;openpilot Longitudinal Control (Alpha)&quot; is enabled under &quot;Toggles&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2669,6 +2681,14 @@ Reboot Required.</source>
         <source>Default is Laneless. In Auto mode, sunnnypilot dynamically chooses between Laneline or Laneless model based on lane recognition confidence level on road and certain conditions.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>TermsPage</name>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -1563,6 +1563,18 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main by Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: This feature only applies when &quot;openpilot Longitudinal Control (Alpha)&quot; is enabled under &quot;Toggles&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2669,6 +2681,14 @@ Reboot Required.</source>
         <source>Default is Laneless. In Auto mode, sunnnypilot dynamically chooses between Laneline or Laneless model based on lane recognition confidence level on road and certain conditions.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>TermsPage</name>

system/manager/manager.py

@@ -72,6 +72,7 @@ def manager_init() -> None:
     ("HandsOnWheelMonitoring", "0"),
     ("HasAcceptedTermsSP", "0"),
     ("HideVEgoUi", "0"),
+    ("HyundaiCruiseMainDefault", "0"),
     ("LastSpeedLimitSignTap", "0"),
     ("LkasToggle", "0"),
     ("MadsIconToggle", "1"),
@@ -98,6 +99,7 @@ def manager_init() -> None:
     ("StockLongToyota", "0"),
     ("TorqueDeadzoneDeg", "0"),
     ("TorqueFriction", "1"),
+    ("TorqueLateralJerk", "0"),
     ("TorqueMaxLatAccel", "250"),
     ("ToyotaAutoLockBySpeed", "0"),
     ("ToyotaAutoUnlockByShifter", "0"),