sunnypilot v2026.11.03-4999

version: sunnypilot v2026.003.000 (feature-branch)
date: 2026-11-03T13:51:33
master commit: a86979d2b2

opendbc_repo/opendbc/car/docs_definitions.py

@@ -131,6 +131,7 @@ class CarHarness(EnumBase):
   hyundai_p = BaseCarHarness("Hyundai P connector")
   hyundai_q = BaseCarHarness("Hyundai Q connector")
   hyundai_r = BaseCarHarness("Hyundai R connector")
+  hyundai_s = BaseCarHarness("Hyundai S connector")
   custom = BaseCarHarness("Developer connector")
   obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable], has_connector=False)
   gm = BaseCarHarness("GM connector", parts=[Accessory.harness_box])

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -200,6 +200,7 @@ class CarController(CarControllerBase, EsccCarController, LeadDataCarController,
 
     lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEER_MSG
     lka_steering_long = lka_steering and self.CP.openpilotLongitudinalControl
+    ccnc_non_hda2 = self.CP.flags & HyundaiFlags.CCNC and not lka_steering
 
     # steering control
     can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_torque, self.lkas_icon))
@@ -209,9 +210,17 @@ class CarController(CarControllerBase, EsccCarController, LeadDataCarController,
       can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.lfa_block_msg,
                                                         self.CP.flags & HyundaiFlags.CANFD_LKA_STEER_MSG_ALT))
 
+    if ccnc_non_hda2 and CS.mdps:
+      can_sends.append(hyundaicanfd.create_ccnc_mdps(self.packer, self.CAN, CS.mdps))
+
     # LFA and HDA icons
     if self.frame % 5 == 0 and (not lka_steering or lka_steering_long):
-      can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, self.lfa_icon))
+      if ccnc_non_hda2:
+        can_sends.extend(hyundaicanfd.create_ccnc(self.packer, self.CAN, self.CP.openpilotLongitudinalControl, CC.enabled, CC.hudControl, CC.leftBlinker,
+                                                  CC.rightBlinker, CS.msg_161, CS.msg_162, self.lead_distance, CS.is_metric, CS.out, CS.main_cruise_enabled,
+                                                  self.lfa_icon))
+      else:
+        can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, self.lfa_icon))
 
     # blinkers
     if lka_steering and self.CP.flags & HyundaiFlags.CANFD_ENABLE_BLINKERS:
@@ -220,11 +229,12 @@ class CarController(CarControllerBase, EsccCarController, LeadDataCarController,
     if self.CP.openpilotLongitudinalControl:
       if lka_steering:
         can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
-      else:
+      elif not ccnc_non_hda2:
         can_sends.extend(hyundaicanfd.create_fca_warning_light(self.packer, self.CAN, self.frame))
       if self.frame % 2 == 0:
         can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
-                                                         set_speed_in_units, hud_control, self.lead_data, CS.main_cruise_enabled, self.tuning))
+                                                         set_speed_in_units, hud_control, self.lead_data, CS.main_cruise_enabled, self.tuning,
+                                                         CS.cruise_info if ccnc_non_hda2 else None))
         self.accel_last = accel
     else:
       # button presses

opendbc_repo/opendbc/car/hyundai/carstate.py

@@ -64,6 +64,7 @@ class CarState(CarStateBase, EsccCarStateBase, MadsCarState, CarStateExt):
     self.buttons_counter = 0
 
     self.cruise_info = {}
+    self.msg_161, self.msg_162, self.mdps = {}, {}, {}
 
     # On some cars, CLU15->CF_Clu_VehicleSpeed can oscillate faster than the dash updates. Sample at 5 Hz
     self.cluster_speed = 0
@@ -258,8 +259,12 @@ class CarState(CarStateBase, EsccCarStateBase, MadsCarState, CarStateExt):
 
     # TODO: alt signal usage may be described by cp.vl['BLINKERS']['USE_ALT_LAMP']
     left_blinker_sig, right_blinker_sig = "LEFT_LAMP", "RIGHT_LAMP"
-    if self.CP.carFingerprint == CAR.HYUNDAI_KONA_EV_2ND_GEN:
+    if self.CP.flags & HyundaiFlags.CCNC:
       left_blinker_sig, right_blinker_sig = "LEFT_LAMP_ALT", "RIGHT_LAMP_ALT"
+      if not self.CP.flags & HyundaiFlags.CANFD_LKA_STEER_MSG:
+        self.msg_161, self.msg_162 = map(copy.copy, (cp_cam.vl["CCNC_0x161"], cp_cam.vl["CCNC_0x162"]))
+        self.mdps = copy.copy(cp.vl["MDPS"]) if cp.ts_nanos["MDPS"]["COUNTER"] else {}  # never copy before the real one arrived
+        self.cruise_info = copy.copy((cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp).vl["SCC_CONTROL"])
     ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][left_blinker_sig],
                                                                       cp.vl["BLINKERS"][right_blinker_sig])
     if self.CP.flags & HyundaiFlags.HAS_BSM:

opendbc_repo/opendbc/car/hyundai/fingerprints.py

@@ -220,6 +220,16 @@ FW_VERSIONS = {
       b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.07 99211-L1000 211223',
     ],
   },
+  CAR.HYUNDAI_SONATA_2024: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.01 99211-L1800 230512',
+      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.01 99211-L1800 230512',
+      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.02 99211-L1800 250613',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DN8_ RDR -----      1.00 1.00 99110-L1800         ',
+    ],
+  },
   CAR.HYUNDAI_SONATA_LF: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00LF__ SCC F-CUP      1.00 1.00 96401-C2200         ',
@@ -573,6 +583,16 @@ FW_VERSIONS = {
       b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9300 g21',
     ],
   },
+  CAR.HYUNDAI_KONA_2ND_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00SX2 MFC  AT USA LHD 1.00 1.03 99211-BE000 230517',
+      b'\xf1\x00SX2 MFC  AT USA LHD 1.00 1.07 99211-BE000 240611',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00SX2_ RDR -----      1.00 1.02 99110-BE000         ',
+      b'\xf1\x00SX2_ RDR -----      1.00 1.02 99110-BE500         ',
+    ],
+  },
   CAR.KIA_CEED: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00CD__ SCC F-CUP      1.00 1.00 99110-J7500         ',
@@ -620,6 +640,17 @@ FW_VERSIONS = {
       b'\xf1\x00BD__ SCC H-CUP      1.00 1.02 99110-M6000         ',
     ],
   },
+  CAR.KIA_K4_2025: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00CL4 MFC  AT CAN LHD 1.00 1.02 99210-GG000 240708',
+      b'\xf1\x00CL4 MFC  AT USA LHD 1.00 1.02 99210-GG000 240708',
+      b'\xf1\x00CL4 MFC  AT USA LHD 1.00 1.04 99210-GG100 251205',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00CL4_ RDR -----      1.00 1.01 99110-GG000         ',
+      b'\xf1\x00CL4_ RDR -----      1.00 1.01 99110-GG100         ',
+    ],
+  },
   CAR.KIA_K5_2021: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00DL3_ SCC F-CUP      1.00 1.03 99110-L2100         ',
@@ -652,6 +683,14 @@ FW_VERSIONS = {
       b'\xf1\x00DL ESC \t 102"\x08\x10 58910-L3800',
     ],
   },
+  CAR.KIA_K5_2025: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DL3 MFC  AT USA LHD 1.00 1.04 99210-L2500 240117',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DL3_ RDR -----      1.00 1.01 99110-L2500         ',
+    ],
+  },
   CAR.KIA_K5_HEV_2020: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00DLhe SCC FHCUP      1.00 1.02 99110-L7000         ',
@@ -738,6 +777,7 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00SX2EMFC  AT KOR LHD 1.00 1.00 99211-BF000 230410',
+      b'\xf1\x00SX2EMFC  AT USA LHD 1.00 1.02 99211-BF000 230823',
     ],
   },
   CAR.KIA_NIRO_EV: {
@@ -998,6 +1038,18 @@ FW_VERSIONS = {
       b'\xf1\x00OSH LKAS AT KOR LHD 1.00 1.01 95740-CM000 l31',
     ],
   },
+  CAR.HYUNDAI_KONA_HEV_2ND_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00SX2HMFC  AT AUS RHD 1.00 1.00 99211-BE001 241015',
+      b'\xf1\x00SX2HMFC  AT AUS RHD 1.00 1.01 99211-BE001 250117',
+      b'\xf1\x00SX2HMFC  AT EUR LHD 1.00 1.01 99211-BE001 250117',
+      b'\xf1\x00SX2HMFC  AT EUR RHD 1.00 1.04 99211-BE000 231010',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00SX2_ RDR -----      1.00 1.02 99110-BE000         ',
+      b'\xf1\x00SX2_ RDR -----      1.00 1.02 99110-BE500         ',
+    ],
+  },
   CAR.HYUNDAI_SONATA_HYBRID: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00DNhe SCC F-CUP      1.00 1.02 99110-L5000         ',
@@ -1019,6 +1071,16 @@ FW_VERSIONS = {
       b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.07 99211-L1000 211223',
     ],
   },
+  CAR.HYUNDAI_SONATA_HEV_2024: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DN8HMFC  AT KOR LHD 1.00 1.01 99211-L1800 230512',
+      b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.01 99211-L1800 230512',
+      b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.02 99211-L1800 250613',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DN8_ RDR -----      1.00 1.00 99110-L1800         ',
+    ],
+  },
   CAR.KIA_SORENTO: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00UMP LKAS AT AUS RHD 1.00 1.00 96400-C6550 S30',
@@ -1086,6 +1148,17 @@ FW_VERSIONS = {
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.06 99211-GI010 230110',
     ],
   },
+  CAR.HYUNDAI_IONIQ_5_N: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NE1N RDR -----      1.00 1.00 99110-NI000         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NE1NMFC  AT KOR LHD 1.00 1.04 99211-NI000 231219',
+      b'\xf1\x00NE1NMFC  AT KOR LHD 1.00 1.00 99211-NI010 240712',
+      b'\xf1\x00NE1NMFC  AT USA LHD 1.00 1.04 99211-NI000 231219',
+      b'\xf1\x00NE1NMFC  AT USA LHD 1.00 1.00 99211-NI110 250404',
+    ],
+  },
   CAR.HYUNDAI_IONIQ_6: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00CE__ RDR -----      1.00 1.01 99110-KL000         ',
@@ -1124,6 +1197,38 @@ FW_VERSIONS = {
       b'\xf1\x00NX4__               1.01 1.02 99110-N9000         ',
     ],
   },
+  CAR.HYUNDAI_TUCSON_2025: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT GEN LHD 1.00 1.00 99211-N7030 C55',
+      b'\xf1\x00NX4 FR_CMR AT GEN LHD 1.00 1.00 99211-N7035 C5C',
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N7050 C5A',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NX4__               1.00 1.02 99110N7000          ',
+      b'\xf1\x00NX4__               1.00 1.03 99110N7100          ',
+    ],
+  },
+  CAR.HYUNDAI_TUCSON_HEV_2025: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N7030 C55',
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N7030 C55',
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N7035 C5C',
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N7060 C5B',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NX4__               1.00 1.02 99110N7000          ',
+      b'\xf1\x00NX4__               1.00 1.02 99110N7100          ',
+      b'\xf1\x00NX4__               1.00 1.03 99110N7100          ',
+    ],
+  },
+  CAR.HYUNDAI_TUCSON_PHEV_2025: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.00 99211-N7030 C55',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NX4__               1.00 1.02 99110N7100          ',
+    ],
+  },
   CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW000 14M',
@@ -1135,6 +1240,14 @@ FW_VERSIONS = {
       b'\xf1\x00NX4__               1.01 1.00 99110-K5000         ',
     ],
   },
+  CAR.HYUNDAI_SANTA_CRUZ_2025: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N7030 C55',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NX4__               1.00 1.00 99110K5500          ',
+    ],
+  },
   CAR.KIA_SPORTAGE_5TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00NQ5 FR_CMR AT AUS RHD 1.00 1.00 99211-P1040 663',
@@ -1209,6 +1322,16 @@ FW_VERSIONS = {
       b'\xf1\x00MQ4_ SCC FHCUP      1.00 1.08 99110-P2000         ',
     ],
   },
+  CAR.KIA_SORENTO_2024: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00MQ4 MFC  AT AUS RHD 1.01 1.04 99210-P2550 231127',
+      b'\xf1\x00MQ4 MFC  AT USA LHD 1.01 1.04 99210-R5500 231127',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00MQ4_ RDR -----      1.00 1.01 99110-P2500         ',
+      b'\xf1\x00MQ4_ RDR -----      1.00 1.01 99110-R5500         ',
+    ],
+  },
   CAR.KIA_SORENTO_HEV_4TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00MQ4HMFC  AT KOR LHD 1.00 1.04 99210-P2000 200330',

opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py

@@ -1,5 +1,6 @@
 import numpy as np
 from opendbc.car import CanBusBase
+from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.crc import CRC16_XMODEM
 from opendbc.car.hyundai.values import HyundaiFlags
 from opendbc.sunnypilot.car.hyundai.lead_data_ext import CanFdLeadData
@@ -125,8 +126,80 @@ def create_lfahda_cluster(packer, CAN, enabled, lfa_icon):
   return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
 
 
+def create_ccnc_mdps(packer, CAN, mdps):
+  # report LKA torque inactive/unavailable so the camera LFA stays in standby
+  return packer.make_can_msg("MDPS", CAN.CAM, {**mdps, "MDPS_LkaToiActvSta": 0, "MDPS_LkaToiUnblSta": 1})
+
+
+def create_ccnc(packer, CAN, openpilot_longitudinal_control, enabled, hud, left_blinker, right_blinker, msg_161, msg_162, lead_distance,
+                is_metric, out, main_cruise_enabled, lfa_icon):
+  # consider taking a break, with its chime
+  if msg_161["ALERTS_2"] == 5:
+    msg_161.update({"ALERTS_2": 0, "SOUNDS_2": 0})
+  # drive carefully
+  if msg_161["ALERTS_3"] == 17:
+    msg_161["ALERTS_3"] = 0
+  # 2 watch for surrounding vehicles, 5 use switch or pedal to accelerate
+  if msg_161["ALERTS_5"] in (2, 5):
+    msg_161["ALERTS_5"] = 0
+  # double chime while LFA icon is hidden or white
+  if msg_161["SOUNDS_4"] == 2 and msg_161["LFA_ICON"] in (0, 3):
+    msg_161["SOUNDS_4"] = 0
+
+  LANE_CHANGE_SPEED_MIN = 8.9408  # 20 mph
+  any_blinker = left_blinker or right_blinker
+
+  msg_161.update({
+    "DAW_ICON": 0,
+    "LKA_ICON": 0,
+    "LFA_ICON": 2 if lfa_icon else 0,
+    "CENTERLINE": 1 if lfa_icon else 0,
+    "LANELINE_LEFT": (0 if not lfa_icon else 1 if not hud.leftLaneVisible else 4 if hud.leftLaneDepart else 6 if any_blinker else 2),
+    "LANELINE_RIGHT": (0 if not lfa_icon else 1 if not hud.rightLaneVisible else 4 if hud.rightLaneDepart else 6 if any_blinker else 2),
+    "LCA_LEFT_ICON": (0 if not lfa_icon or out.vEgo < LANE_CHANGE_SPEED_MIN else 1 if out.leftBlindspot else 2 if any_blinker else 4),
+    "LCA_RIGHT_ICON": (0 if not lfa_icon or out.vEgo < LANE_CHANGE_SPEED_MIN else 1 if out.rightBlindspot else 2 if any_blinker else 4),
+    "LCA_LEFT_ARROW": 2 if left_blinker else 0,
+    "LCA_RIGHT_ARROW": 2 if right_blinker else 0,
+  })
+
+  if hud.leftLaneDepart or hud.rightLaneDepart:
+    msg_162["VIBRATE"] = 1
+
+  if openpilot_longitudinal_control:
+    # 1/3 adjusting to speed limit, 2/4 set speed changed, 7-10 distance 1-4
+    if msg_161["ALERTS_3"] in (1, 2, 3, 4, 7, 8, 9, 10):
+      msg_161["ALERTS_3"] = 0
+    # smart cruise conditions not met
+    if msg_161["ALERTS_5"] == 4:
+      msg_161["ALERTS_5"] = 0
+    # single chime
+    if msg_161["SOUNDS_3"] == 5:
+      msg_161["SOUNDS_3"] = 0
+
+    msg_161.update({
+      "SETSPEED": 3 if enabled else 1,
+      "SETSPEED_HUD": 0 if not main_cruise_enabled else 2 if enabled else 1,
+      "SETSPEED_SPEED": (
+        255 if not main_cruise_enabled else
+        (40 if is_metric else 25) if (s := round(out.vCruiseCluster * (1 if is_metric else CV.KPH_TO_MPH))) > (145 if is_metric else 90) else s
+      ),
+      "DISTANCE": hud.leadDistanceBars,
+      "DISTANCE_SPACING": 0 if not main_cruise_enabled else 1 if enabled else 3,
+      "DISTANCE_LEAD": 0 if not main_cruise_enabled else 2 if enabled and hud.leadVisible else 1 if hud.leadVisible else 0,
+      "DISTANCE_CAR": 0 if not main_cruise_enabled else 2 if enabled else 1,
+      "SLA_ICON": 0,
+      "NAV_ICON": 0,
+      "TARGET": 0,
+    })
+
+    msg_162["LEAD"] = (2 if enabled else 1) if main_cruise_enabled and hud.leadVisible else 0
+    msg_162["LEAD_DISTANCE"] = lead_distance
+
+  return [packer.make_can_msg(msg, CAN.ECAN, data) for msg, data in [("CCNC_0x161", msg_161), ("CCNC_0x162", msg_162)]]
+
+
 def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control,
-                       lead_data: CanFdLeadData, main_cruise_enabled, tuning):
+                       lead_data: CanFdLeadData, main_cruise_enabled, tuning, cruise_info=None):
   jerk = 5
   jn = jerk / 50
   if not enabled or gas_override:
@@ -154,6 +227,8 @@ def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_ov
     "SET_ME_TMP_64": 0x64,
     "DISTANCE_SETTING": hud_control.leadDistanceBars,
   }
+  if cruise_info:
+    values.update({s: cruise_info[s] for s in ["ACC_ObjDist", "ACC_ObjRelSpd"]})
 
   return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
 

opendbc_repo/opendbc/car/hyundai/interface.py

@@ -86,6 +86,8 @@ class CarInterface(CarInterfaceBase):
         ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_ALT_BUTTONS.value
       if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
         ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CAMERA_SCC.value
+      if ret.flags & HyundaiFlags.CCNC and not ret.flags & HyundaiFlags.CANFD_LKA_STEER_MSG:
+        ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CCNC.value
 
     else:
       # Shared configuration for non CAN-FD cars

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

@@ -22,7 +22,11 @@ NO_DATES_PLATFORMS = {
   # CAN FD
   CAR.KIA_SPORTAGE_5TH_GEN,
   CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN,
+  CAR.HYUNDAI_SANTA_CRUZ_2025,
   CAR.HYUNDAI_TUCSON_4TH_GEN,
+  CAR.HYUNDAI_TUCSON_2025,
+  CAR.HYUNDAI_TUCSON_HEV_2025,
+  CAR.HYUNDAI_TUCSON_PHEV_2025,
   # CAN
   CAR.HYUNDAI_ELANTRA,
   CAR.HYUNDAI_ELANTRA_GT_I30,

opendbc_repo/opendbc/car/hyundai/values.py

@@ -68,6 +68,7 @@ class HyundaiSafetyFlags(IntFlag):
   CANFD_LKA_STEER_MSG_ALT = 128
   FCEV_GAS = 256
   ALT_LIMITS_2 = 512
+  CCNC = 1024
 
 
 # Hyundai/Kia/Genesis SCC (Smart Cruise Control) and steering architecture:
@@ -151,6 +152,8 @@ class HyundaiFlags(IntFlag):
 
   HAS_BSM = 2 ** 27  # blind spot monitoring
 
+  CCNC = 2 ** 28
+
 
 @dataclass
 class HyundaiCarDocs(CarDocs):
@@ -287,6 +290,16 @@ class CAR(Platforms):
     CarSpecs(wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.ALT_LIMITS_2,
   )
+  HYUNDAI_KONA_2ND_GEN = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Kona (without HDA II) 2024-25", car_parts=CarParts.common([CarHarness.hyundai_l]))],
+    CarSpecs(wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.CCNC,
+  )
+  HYUNDAI_KONA_HEV_2ND_GEN = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Kona Hybrid (without HDA II) 2024-26", car_parts=CarParts.common([CarHarness.hyundai_l]))],
+    CarSpecs(wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.CCNC,
+  )
   HYUNDAI_KONA_EV = HyundaiPlatformConfig(
     [HyundaiCarDocs("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g]))],
     CarSpecs(wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
@@ -298,10 +311,13 @@ class CAR(Platforms):
     flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV | HyundaiFlags.ALT_LIMITS,
   )
   HYUNDAI_KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
-    [HyundaiCarDocs("Hyundai Kona Electric (with HDA II, Korea only) 2023", video="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
-                    car_parts=CarParts.common([CarHarness.hyundai_r]))],
+    [
+      HyundaiCarDocs("Hyundai Kona Electric (with HDA II, Korea only) 2023", video="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
+                    car_parts=CarParts.common([CarHarness.hyundai_r])),
+      HyundaiCarDocs("Hyundai Kona Electric (without HDA II) 2024", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    ],
     CarSpecs(wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
-    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
+    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE | HyundaiFlags.CCNC,
   )
   HYUNDAI_KONA_HEV = HyundaiPlatformConfig(
     [HyundaiCarDocs("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i]))],  # TODO: check packages,
@@ -341,6 +357,11 @@ class CAR(Platforms):
     CarSpecs(wheelbase=2.84, steerRatio=13.27 * 1.15, tireStiffnessFactor=0.65),  # 15% higher at the center seems reasonable
     flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
   )
+  HYUNDAI_SONATA_2024 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Sonata (without HDA II) 2024-26", car_parts=CarParts.common([CarHarness.hyundai_a]))],
+    CarSpecs(wheelbase=2.84, steerRatio=12.81),
+    flags=HyundaiFlags.CCNC,
+  )
   HYUNDAI_SONATA_LF = HyundaiPlatformConfig(
     [HyundaiCarDocs("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e]))],
     CarSpecs(wheelbase=2.804, steerRatio=13.27 * 1.15),  # 15% higher at the center seems reasonable
@@ -376,6 +397,11 @@ class CAR(Platforms):
     HYUNDAI_SONATA.specs,
     flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
   )
+  HYUNDAI_SONATA_HEV_2024 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Sonata Hybrid (without HDA II) 2024-26", car_parts=CarParts.common([CarHarness.hyundai_a]))],
+    CarSpecs(wheelbase=2.84, steerRatio=13.27),
+    flags=HyundaiFlags.CCNC,
+  )
   HYUNDAI_IONIQ_5 = HyundaiCanFDPlatformConfig(
     [
       HyundaiCarDocs("Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
@@ -385,6 +411,11 @@ class CAR(Platforms):
     CarSpecs(wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
     flags=HyundaiFlags.EV,
   )
+  HYUNDAI_IONIQ_5_N = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Ioniq 5 N (with HDA II) 2024", car_parts=CarParts.common([CarHarness.hyundai_s]))],
+    CarSpecs(wheelbase=3.00, steerRatio=14.26, tireStiffnessFactor=1.3),
+    flags=HyundaiFlags.EV | HyundaiFlags.CCNC,
+  )
   HYUNDAI_IONIQ_6 = HyundaiCanFDPlatformConfig(
     [
         HyundaiCarDocs("Hyundai Ioniq 6 (without HDA II) 2023-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
@@ -402,11 +433,31 @@ class CAR(Platforms):
     ],
     CarSpecs(wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
   )
+  HYUNDAI_TUCSON_2025 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Tucson (without HDA II) 2025-26", car_parts=CarParts.common([CarHarness.hyundai_n]))],
+    CarSpecs(wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.CCNC,
+  )
+  HYUNDAI_TUCSON_HEV_2025 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Tucson Hybrid (without HDA II) 2025-26", car_parts=CarParts.common([CarHarness.hyundai_n]))],
+    CarSpecs(wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.CCNC,
+  )
+  HYUNDAI_TUCSON_PHEV_2025 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Tucson Plug-in Hybrid (without HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_n]))],
+    CarSpecs(wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.CCNC,
+  )
   HYUNDAI_SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig(
     [HyundaiCarDocs("Hyundai Santa Cruz 2022-24", car_parts=CarParts.common([CarHarness.hyundai_n]))],
     # weight from Limited trim - the only supported trim, steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
     CarSpecs(wheelbase=3, steerRatio=14.2),
   )
+  HYUNDAI_SANTA_CRUZ_2025 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Santa Cruz (without HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_n]))],
+    CarSpecs(wheelbase=3, steerRatio=14.2),
+    flags=HyundaiFlags.CCNC,
+  )
   HYUNDAI_CUSTIN_1ST_GEN = HyundaiPlatformConfig(
     [HyundaiCarDocs("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
     CarSpecs(wheelbase=3.055, steerRatio=17),  # steerRatio: from learner
@@ -421,11 +472,24 @@ class CAR(Platforms):
     ],
     CarSpecs(wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5)
   )
+  KIA_K4_2025 = HyundaiCanFDPlatformConfig(
+    [
+      HyundaiCarDocs("Kia K4 (without HDA II) 2025-26", car_parts=CarParts.common([CarHarness.hyundai_a])),
+      HyundaiCarDocs("Kia K4 (with HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_r])),
+    ],
+    CarSpecs(wheelbase=2.72, steerRatio=13.4),
+    flags=HyundaiFlags.CCNC,
+  )
   KIA_K5_2021 = HyundaiPlatformConfig(
     [HyundaiCarDocs("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a]))],
     CarSpecs(wheelbase=2.85, steerRatio=13.27, tireStiffnessFactor=0.5),  # 2021 Kia K5 Steering Ratio (all trims)
     flags=HyundaiFlags.CHECKSUM_CRC8,
   )
+  KIA_K5_2025 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Kia K5 (without HDA II) 2025-26", car_parts=CarParts.common([CarHarness.hyundai_m]))],
+    CarSpecs(wheelbase=2.85, steerRatio=13.27),
+    flags=HyundaiFlags.CCNC,
+  )
   KIA_K5_HEV_2020 = HyundaiPlatformConfig(
     [HyundaiCarDocs("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a]))],
     KIA_K5_2021.specs,
@@ -537,6 +601,11 @@ class CAR(Platforms):
     CarSpecs(wheelbase=2.81, steerRatio=13.5),  # average of the platforms
     flags=HyundaiFlags.CANFD_RADAR_SCC,
   )
+  KIA_SORENTO_2024 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Kia Sorento (without HDA II) 2024-25", car_parts=CarParts.common([CarHarness.hyundai_a]))],
+    CarSpecs(wheelbase=2.81, steerRatio=13.5),
+    flags=HyundaiFlags.CCNC,
+  )
   KIA_SORENTO_HEV_4TH_GEN = HyundaiCanFDPlatformConfig(
     [
       HyundaiCarDocs("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),

opendbc_repo/opendbc/car/tests/routes.py

@@ -30,6 +30,9 @@ non_tested_cars = [
   SUBARU.SUBARU_FORESTER_HYBRID,
   VOLKSWAGEN.PORSCHE_MACAN_MK1,
   HONDA.ACURA_TLX_2G,
+  HYUNDAI.KIA_SORENTO_2024,
+  HYUNDAI.HYUNDAI_IONIQ_5_N,
+  HYUNDAI.HYUNDAI_TUCSON_PHEV_2025,
 
   # These had their DSUs unplugged, need new routes
   # TOYOTA.LEXUS_ES  # hybrid
@@ -173,6 +176,7 @@ routes = [
   CarTestRoute("66eaa6c3b6b2afc6/00000009--3a5199aabe", HYUNDAI.GENESIS_G80_2ND_GEN_FL),  # LKA steering
   CarTestRoute("0bbe367c98fa1538/2023-09-16--00-16-49", HYUNDAI.HYUNDAI_CUSTIN_1ST_GEN),
   CarTestRoute("f0709d2bc6ca451f/2022-10-15--08-13-54", HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN),
+  CarTestRoute("6e7904b03a4aafc2/00000010--31034184b6", HYUNDAI.HYUNDAI_SANTA_CRUZ_2025),
   CarTestRoute("4dbd55df87507948/2022-03-01--09-45-38", HYUNDAI.HYUNDAI_SANTA_FE),
   CarTestRoute("bf43d9df2b660eb0/2021-09-23--14-16-37", HYUNDAI.HYUNDAI_SANTA_FE_2022),
   CarTestRoute("37398f32561a23ad/2021-11-18--00-11-35", HYUNDAI.HYUNDAI_SANTA_FE_HEV_2022),
@@ -187,11 +191,14 @@ routes = [
   CarTestRoute("6a42c1197b2a8179/2023-09-21--10-23-44", HYUNDAI.KIA_OPTIMA_H_G4_FL),
   CarTestRoute("c75a59efa0ecd502/2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
   CarTestRoute("5b7c365c50084530/2020-04-15--16-13-24", HYUNDAI.HYUNDAI_SONATA),
+  CarTestRoute("4267ea8a353cdb36/00000262--8a427003c7", HYUNDAI.HYUNDAI_SONATA_2024, segment=34),
   CarTestRoute("b2a38c712dcf90bd/2020-05-18--18-12-48", HYUNDAI.HYUNDAI_SONATA_LF),
   CarTestRoute("c344fd2492c7a9d2/2023-12-11--09-03-23", HYUNDAI.HYUNDAI_STARIA_4TH_GEN),
   CarTestRoute("fb3fd42f0baaa2f8/2022-03-30--15-25-05", HYUNDAI.HYUNDAI_TUCSON),
   CarTestRoute("db68bbe12250812c/2022-12-05--00-54-12", HYUNDAI.HYUNDAI_TUCSON_4TH_GEN),  # 2023
   CarTestRoute("36e10531feea61a4/2022-07-25--13-37-42", HYUNDAI.HYUNDAI_TUCSON_4TH_GEN),  # hybrid
+  CarTestRoute("a01ca5d4f394c812/00000000--e98b7e4414", HYUNDAI.HYUNDAI_TUCSON_2025),
+  CarTestRoute("22f9090014364a87/00000002--4cc739c0b2", HYUNDAI.HYUNDAI_TUCSON_HEV_2025),
   CarTestRoute("5875672fc1d4bf57/2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
   CarTestRoute("1d0d000db3370fd0/2023-01-04--22-28-42", HYUNDAI.KIA_SORENTO_4TH_GEN, segment=5),
   CarTestRoute("fc19648042eb6896/2023-08-16--11-43-27", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN, segment=14),
@@ -209,6 +216,8 @@ routes = [
   CarTestRoute("ab59fe909f626921/2021-10-18--18-34-28", HYUNDAI.HYUNDAI_IONIQ_HEV_2022),
   CarTestRoute("22d955b2cd499c22/2020-08-10--19-58-21", HYUNDAI.HYUNDAI_KONA),
   CarTestRoute("0099bdb24d82951b/00000005--c38d940b04", HYUNDAI.HYUNDAI_KONA_2022),
+  CarTestRoute("32025f26789d8fab/00000022--a499e8ffa3", HYUNDAI.HYUNDAI_KONA_2ND_GEN),
+  CarTestRoute("97ca61196eb73e0d/00000052--4555329470", HYUNDAI.HYUNDAI_KONA_HEV_2ND_GEN),
   CarTestRoute("efc48acf44b1e64d/2021-05-28--21-05-04", HYUNDAI.HYUNDAI_KONA_EV),
   CarTestRoute("f90d3cd06caeb6fa/2023-09-06--17-15-47", HYUNDAI.HYUNDAI_KONA_EV),  # openpilot longitudinal enabled
   CarTestRoute("ff973b941a69366f/2022-07-28--22-01-19", HYUNDAI.HYUNDAI_KONA_EV_2022, segment=11),
@@ -222,7 +231,9 @@ routes = [
   CarTestRoute("d545129f3ca90f28/2022-10-19--09-22-54", HYUNDAI.KIA_EV6),  # LKA steering
   CarTestRoute("68d6a96e703c00c9/2022-09-10--16-09-39", HYUNDAI.KIA_EV6),  # LFA steering
   CarTestRoute("9b25e8c1484a1b67/2023-04-13--10-41-45", HYUNDAI.KIA_EV6),
+  CarTestRoute("baf39eeaba1217ca/00000002--b36e3fa031", HYUNDAI.KIA_K4_2025),
   CarTestRoute("007d5e4ad9f86d13/2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
+  CarTestRoute("c4a804b067623789/0000007c--163f831540", HYUNDAI.KIA_K5_2025),
   CarTestRoute("c58dfc9fc16590e0/2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020),
   CarTestRoute("74fbff45aa20fe9e/00000010--6f173d5799", HYUNDAI.KIA_K7_2017),
   CarTestRoute("78ad5150de133637/2023-09-13--16-15-57", HYUNDAI.KIA_K8_HEV_1ST_GEN),
@@ -241,6 +252,7 @@ routes = [
   CarTestRoute("82e9cdd3f43bf83e/2021-05-15--02-42-51", HYUNDAI.HYUNDAI_ELANTRA_2021),
   CarTestRoute("715ac05b594e9c59/2021-06-20--16-21-07", HYUNDAI.HYUNDAI_ELANTRA_HEV_2021),
   CarTestRoute("7120aa90bbc3add7/2021-08-02--07-12-31", HYUNDAI.HYUNDAI_SONATA_HYBRID),
+  CarTestRoute("bc40c72b728178f2/00000006--ee76ae8c42", HYUNDAI.HYUNDAI_SONATA_HEV_2024),
   CarTestRoute("715ac05b594e9c59/2021-10-27--23-24-56", HYUNDAI.GENESIS_G70_2020),
   CarTestRoute("6b0d44d22df18134/2023-05-06--10-36-55", HYUNDAI.GENESIS_GV80),
 

opendbc_repo/opendbc/car/torque_data/override.toml

@@ -110,6 +110,13 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "ACURA_RDX_3G_MMR" = [1.5, 1.5, 0.16]
 "ACURA_ADX" = [1.5, 1.5, 0.22]
 "HONDA_PILOT_4G_MMR" = [2.0, 2.0, 0.13]
+"HYUNDAI_KONA_2ND_GEN" = [2.5, 2.5, 0.1]
+"HYUNDAI_KONA_HEV_2ND_GEN" = [2.5, 2.5, 0.1]
+"KIA_SORENTO_2024" = [2.5, 2.5, 0.1]
+"KIA_K5_2025" = [2.5, 2.5, 0.1]
+"KIA_K4_2025" = [2.5, 2.5, 0.1]
+"HYUNDAI_SANTA_CRUZ_2025" = [2.5, 2.5, 0.1]
+"HYUNDAI_IONIQ_5_N" = [2.5, 2.5, 0.005]
 
 # Dashcam or fallback configured as ideal car
 "MOCK" = [10.0, 10, 0.0]

opendbc_repo/opendbc/car/torque_data/substitute.toml

@@ -46,6 +46,11 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "GENESIS_G90" = "GENESIS_G70"
 "GENESIS_G80" = "GENESIS_G70"
 "GENESIS_G70_2020" = "HYUNDAI_SONATA"
+"HYUNDAI_SONATA_2024" = "HYUNDAI_SONATA"
+"HYUNDAI_SONATA_HEV_2024" = "HYUNDAI_SONATA_HYBRID"
+"HYUNDAI_TUCSON_2025" = "HYUNDAI_TUCSON_4TH_GEN"
+"HYUNDAI_TUCSON_HEV_2025" = "HYUNDAI_TUCSON_4TH_GEN"
+"HYUNDAI_TUCSON_PHEV_2025" = "HYUNDAI_TUCSON_4TH_GEN"
 
 "HONDA_FREED" = "HONDA_ODYSSEY"
 "HONDA_CRV_EU" = "HONDA_CRV"

opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_canfd.dbc

@@ -951,7 +951,7 @@ CM_ SG_ 1041 COUNTER_ALT "only increments on change";
 CM_ BO_ 1043 "Lamp signals do not seem universal on cars that use LKAS_ALT, but stalk signals do.";
 CM_ SG_ 1043 COUNTER_ALT "only increments on change";
 CM_ SG_ 1043 USE_ALT_LAMP "likely 1 on cars that use alt lamp signals";
-VAL_ 53 GEAR 0 "P" 5 "D" 6 "N" 7 "R";
+VAL_ 53 GEAR 0 "P" 4 "S" 5 "D" 6 "N" 7 "R";
 VAL_ 64 GEAR 0 "P" 5 "D" 6 "N" 7 "R";
 VAL_ 69 GEAR 0 "P" 5 "D" 6 "N" 7 "R";
 VAL_ 96 TRACTION_AND_STABILITY_CONTROL 0 "On" 5 "Limited" 1 "Off";

opendbc_repo/opendbc/safety/modes/hyundai_canfd.h

@@ -136,6 +136,9 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *msg) {
   hyundai_common_reset_acc_main_on_mismatches();
 }
 
+// CCNC: the camera needs MDPS 0xEA at all times, so pass the real one until op sends its own copy
+static bool hyundai_canfd_ccnc_mdps_tx = false;
+
 static bool hyundai_canfd_tx_hook(const CANPacket_t *msg) {
   const TorqueSteeringLimits HYUNDAI_CANFD_STEERING_LIMITS = {
     .max_torque = 270,
@@ -156,6 +159,10 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *msg) {
 
   bool tx = true;
 
+  if ((msg->addr == 0xeaU) && (msg->bus == 2U)) {
+    hyundai_canfd_ccnc_mdps_tx = true;
+  }
+
   // steering
   const unsigned int steer_addr = (hyundai_canfd_lka_steer_msg && !hyundai_longitudinal) ? hyundai_canfd_get_lka_addr() : 0x12aU;
   if (msg->addr == steer_addr) {
@@ -220,9 +227,14 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *msg) {
   return tx;
 }
 
+static bool hyundai_canfd_fwd_hook(int bus_num, int addr) {
+  return (bus_num == 0) && (addr == 0xea) && hyundai_canfd_ccnc_mdps_tx;
+}
+
 static safety_config hyundai_canfd_init(uint16_t param) {
   const uint16_t HYUNDAI_PARAM_CANFD_LKA_STEER_MSG_ALT = 128;
   const uint16_t HYUNDAI_PARAM_CANFD_ALT_BUTTONS = 32;
+  const uint16_t HYUNDAI_PARAM_CCNC = 1024;
 
   static const CanMsg HYUNDAI_CANFD_LKA_STEER_MSG_TX_MSGS[] = {
     HYUNDAI_CANFD_LKA_STEER_MSG_COMMON_TX_MSGS(0, 1)
@@ -267,11 +279,21 @@ static safety_config hyundai_canfd_init(uint16_t param) {
     HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0, (longitudinal)) \
     {0x160, 0, 16, .check_relay = (longitudinal)}, /* ADRV_0x160 */ \
 
+#define HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_CCNC_TX_MSGS(longitudinal) \
+    HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(2) \
+    HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(0) \
+    HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0, (longitudinal)) \
+    {0x161, 0, 32, .check_relay = true}, /* CCNC_0x161 */ \
+    {0x162, 0, 32, .check_relay = true}, /* CCNC_0x162 */ \
+    {0xEA, 2, 24, .check_relay = true, .disable_static_blocking = true}, /* MDPS */ \
+
   hyundai_common_init(param);
+  hyundai_canfd_ccnc_mdps_tx = false;
 
   gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut);
   hyundai_canfd_alt_buttons = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ALT_BUTTONS);
   hyundai_canfd_lka_steer_msg_alt = GET_FLAG(param, HYUNDAI_PARAM_CANFD_LKA_STEER_MSG_ALT);
+  const bool hyundai_ccnc = GET_FLAG(param, HYUNDAI_PARAM_CCNC);
 
   safety_config ret;
   if (hyundai_longitudinal) {
@@ -295,6 +317,10 @@ static safety_config hyundai_canfd_init(uint16_t param) {
         HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_TX_MSGS(true)
       };
 
+      static CanMsg hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs[] = {
+        HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_CCNC_TX_MSGS(true)
+      };
+
       if (hyundai_canfd_alt_buttons) {
         SET_RX_CHECKS(hyundai_canfd_alt_buttons_long_rx_checks, ret);
       } else {
@@ -302,7 +328,11 @@ static safety_config hyundai_canfd_init(uint16_t param) {
       }
 
       if (hyundai_camera_scc) {
-        SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
+        if (hyundai_ccnc) {
+          SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs, ret);
+        } else {
+          SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
+        }
       } else {
         SET_TX_MSGS(HYUNDAI_CANFD_LFA_STEERING_LONG_TX_MSGS, ret);
       }
@@ -360,7 +390,15 @@ static safety_config hyundai_canfd_init(uint16_t param) {
         HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_TX_MSGS(false)
       };
 
-      SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
+      static CanMsg hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs[] = {
+        HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_CCNC_TX_MSGS(false)
+      };
+
+      if (hyundai_ccnc) {
+        SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs, ret);
+      } else {
+        SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
+      }
 
       if (hyundai_canfd_alt_buttons) {
         SET_RX_CHECKS(hyundai_canfd_alt_buttons_rx_checks, ret);
@@ -377,6 +415,7 @@ const safety_hooks hyundai_canfd_hooks = {
   .init = hyundai_canfd_init,
   .rx = hyundai_canfd_rx_hook,
   .tx = hyundai_canfd_tx_hook,
+  .fwd = hyundai_canfd_fwd_hook,
   .get_counter = hyundai_canfd_get_counter,
   .get_checksum = hyundai_canfd_get_checksum,
   .compute_checksum = hyundai_common_canfd_compute_checksum,

opendbc_repo/opendbc/safety/safety.h

@@ -211,6 +211,8 @@ bool safety_rx_hook(const CANPacket_t *msg) {
   // Handles gas, brake, and regen paddle
   generic_rx_checks();
 
+  mads_state_update(vehicle_moving, acc_main_on, controls_allowed, brake_pressed || regen_braking, steering_disengage);
+
   // the relay malfunction hook runs on all incoming rx messages.
   // check all applicable tx msgs for liveness on sending bus.
   // used to detect a relay malfunction or control messages from disabled ECUs like the radar
@@ -384,7 +386,6 @@ static void stock_ecu_check(bool stock_ecu_detected) {
   if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && stock_ecu_detected) {
     relay_malfunction_set();
   }
-  mads_state_update(vehicle_moving, acc_main_on, controls_allowed, brake_pressed || regen_braking, steering_disengage);
 }
 
 static void relay_malfunction_reset(void) {

opendbc_repo/opendbc/safety/tests/common.py

@@ -993,6 +993,8 @@ class SafetyTest(SafetyTestBase):
               continue
             if attr.startswith('TestHyundaiCanfd') and current_test.startswith('TestHyundaiCanfd'):
               continue
+            if attr == 'TestElm327' and current_test.startswith(('TestHyundaiCanfdLFASteeringCCNC', 'TestHyundaiCanfdLFASteeringLongCCNC')):
+              tx = list(filter(lambda m: m[0] != 0x7C4, tx))
             if {attr, current_test}.issubset({'TestHyundaiLongitudinalSafety', 'TestHyundaiLongitudinalSafetyCameraSCC', 'TestHyundaiSafetyFCEVLong'}):
               continue
             base_tests = {'TestHyundaiLongitudinalSafety', 'TestHyundaiLongitudinalSafetyCameraSCC', 'TestHyundaiSafetyFCEVLong',

opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py

@@ -18,6 +18,10 @@ ALL_GAS_EV_HYBRID_COMBOS = [
   {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "EXTRA_SAFETY_PARAM": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CAMERA_SCC},
   {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "EXTRA_SAFETY_PARAM": HyundaiSafetyFlags.HYBRID_GAS | HyundaiSafetyFlags.CAMERA_SCC},
 ]
+
+CAMERA_SCC_COMBOS = ALL_GAS_EV_HYBRID_COMBOS[3:]
+
+
 class TestHyundaiCanfdBase(HyundaiButtonBase, common.CarSafetyTest, common.DriverTorqueSteeringSafetyTest, common.SteerRequestCutSafetyTest):
 
   DBC = "hyundai_canfd_generated"
@@ -255,5 +259,46 @@ class TestHyundaiCanfdLFASteeringLongAltButtons(TestHyundaiCanfdLFASteeringLongB
   def test_acc_cancel(self):
     # Alt buttons does not use SCC_CONTROL to cancel if longitudinal
     pass
+
+
+class HyundaiCanfdCCNCTest:
+
+  @classmethod
+  def setUpClass(cls):
+    super().setUpClass()
+    if cls.__name__ in ("TestHyundaiCanfdLFASteeringCCNC", "TestHyundaiCanfdLFASteeringLongCCNC"):
+      cls.packer = None
+      raise unittest.SkipTest
+
+  @property
+  def SAFETY_PARAM(self):
+    return HyundaiSafetyFlags.CCNC | super().SAFETY_PARAM
+
+  def test_ccnc_mdps_forwarded_until_op_sends(self):
+    self.assertEqual(2, self.safety.safety_fwd_hook(0, 0xEA))
+    self.assertTrue(self._tx(self.packer.make_can_msg_safety("MDPS", 2, {})))
+    self.assertEqual(-1, self.safety.safety_fwd_hook(0, 0xEA))
+
+  def test_ccnc_tx_msgs(self):
+    for msg, bus in (("CCNC_0x161", 0), ("CCNC_0x162", 0), ("MDPS", 2)):
+      self.assertTrue(self._tx(self.packer.make_can_msg_safety(msg, bus, {})))
+
+
+@parameterized_class(CAMERA_SCC_COMBOS)
+class TestHyundaiCanfdLFASteeringCCNC(HyundaiCanfdCCNCTest, TestHyundaiCanfdLFASteeringBase):
+
+  TX_MSGS = [[0x12A, 0], [0x1E0, 0], [0x1CF, 2]]
+  RELAY_MALFUNCTION_ADDRS = {0: (0x12A, 0x1E0, 0x161, 0x162), 2: (0xEA,)}
+  FWD_BLACKLISTED_ADDRS = {2: [0x12A, 0x1E0, 0x161, 0x162]}
+
+
+@parameterized_class(CAMERA_SCC_COMBOS)
+class TestHyundaiCanfdLFASteeringLongCCNC(HyundaiCanfdCCNCTest, TestHyundaiCanfdLFASteeringLongBase):
+
+  TX_MSGS = [[0x12A, 0], [0x1E0, 0], [0x1CF, 2], [0x1A0, 0]]
+  RELAY_MALFUNCTION_ADDRS = {0: (0x12A, 0x1E0, 0x161, 0x162, 0x1A0), 2: (0xEA,)}
+  FWD_BLACKLISTED_ADDRS = {2: [0x12A, 0x1E0, 0x161, 0x162, 0x1A0]}
+
+
 if __name__ == "__main__":
   unittest.main()

opendbc_repo/opendbc/sunnypilot/car/car_list.json

@@ -1657,6 +1657,16 @@
     ],
     "package": "Highway Driving Assist"
   },
+  "Hyundai Ioniq 5 N (with HDA II) 2024": {
+    "platform": "HYUNDAI_IONIQ_5_N",
+    "make": "Hyundai",
+    "brand": "hyundai",
+    "model": "Ioniq 5 N (with HDA II)",
+    "year": [
+      "2024"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
   "Hyundai Ioniq 6 (with HDA II) 2023-24": {
     "platform": "HYUNDAI_IONIQ_6",
     "make": "Hyundai",
@@ -1766,6 +1776,17 @@
     ],
     "package": "Smart Cruise Control (SCC)"
   },
+  "Hyundai Kona (without HDA II) 2024-25": {
+    "platform": "HYUNDAI_KONA_2ND_GEN",
+    "make": "Hyundai",
+    "brand": "hyundai",
+    "model": "Kona (without HDA II)",
+    "year": [
+      "2024",
+      "2025"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
   "Hyundai Kona Electric 2018-21": {
     "platform": "HYUNDAI_KONA_EV",
     "make": "Hyundai",
@@ -1800,6 +1821,16 @@
     ],
     "package": "Smart Cruise Control (SCC)"
   },
+  "Hyundai Kona Electric (without HDA II) 2024": {
+    "platform": "HYUNDAI_KONA_EV_2ND_GEN",
+    "make": "Hyundai",
+    "brand": "hyundai",
+    "model": "Kona Electric (without HDA II)",
+    "year": [
+      "2024"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
   "Hyundai Kona Electric Non-SCC 2019": {
     "platform": "HYUNDAI_KONA_EV_NON_SCC",
     "make": "Hyundai",
@@ -1820,6 +1851,18 @@
     ],
     "package": "Smart Cruise Control (SCC)"
   },
+  "Hyundai Kona Hybrid (without HDA II) 2024-26": {
+    "platform": "HYUNDAI_KONA_HEV_2ND_GEN",
+    "make": "Hyundai",
+    "brand": "hyundai",
+    "model": "Kona Hybrid (without HDA II)",
+    "year": [
+      "2024",
+      "2025",
+      "2026"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
   "Hyundai Kona Non-SCC 2019": {
     "platform": "HYUNDAI_KONA_NON_SCC",
     "make": "Hyundai",
@@ -1864,6 +1907,16 @@
     ],
     "package": "Smart Cruise Control (SCC)"
   },
+  "Hyundai Santa Cruz (without HDA II) 2025": {
+    "platform": "HYUNDAI_SANTA_CRUZ_2025",
+    "make": "Hyundai",
+    "brand": "hyundai",
+    "model": "Santa Cruz (without HDA II)",
+    "year": [
+      "2025"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
   "Hyundai Santa Fe 2019-20": {
     "platform": "HYUNDAI_SANTA_FE",
     "make": "Hyundai",
@@ -1933,6 +1986,18 @@
     ],
     "package": "All"
   },
+  "Hyundai Sonata (without HDA II) 2024-26": {
+    "platform": "HYUNDAI_SONATA_2024",
+    "make": "Hyundai",
+    "brand": "hyundai",
+    "model": "Sonata (without HDA II)",
+    "year": [
+      "2024",
+      "2025",
+      "2026"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
   "Hyundai Sonata Hybrid 2020-23": {
     "platform": "HYUNDAI_SONATA_HYBRID",
     "make": "Hyundai",
@@ -1946,6 +2011,18 @@
     ],
     "package": "All"
   },
+  "Hyundai Sonata Hybrid (without HDA II) 2024-26": {
+    "platform": "HYUNDAI_SONATA_HEV_2024",
+    "make": "Hyundai",
+    "brand": "hyundai",
+    "model": "Sonata Hybrid (without HDA II)",
+    "year": [
+      "2024",
+      "2025",
+      "2026"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
   "Hyundai Staria 2023": {
     "platform": "HYUNDAI_STARIA_4TH_GEN",
     "make": "Hyundai",
@@ -1987,6 +2064,17 @@
     ],
     "package": "All"
   },
+  "Hyundai Tucson (without HDA II) 2025-26": {
+    "platform": "HYUNDAI_TUCSON_2025",
+    "make": "Hyundai",
+    "brand": "hyundai",
+    "model": "Tucson (without HDA II)",
+    "year": [
+      "2025",
+      "2026"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
   "Hyundai Tucson Diesel 2019": {
     "platform": "HYUNDAI_TUCSON",
     "make": "Hyundai",
@@ -2009,6 +2097,17 @@
     ],
     "package": "All"
   },
+  "Hyundai Tucson Hybrid (without HDA II) 2025-26": {
+    "platform": "HYUNDAI_TUCSON_HEV_2025",
+    "make": "Hyundai",
+    "brand": "hyundai",
+    "model": "Tucson Hybrid (without HDA II)",
+    "year": [
+      "2025",
+      "2026"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
   "Hyundai Tucson Plug-in Hybrid 2024": {
     "platform": "HYUNDAI_TUCSON_4TH_GEN",
     "make": "Hyundai",
@@ -2019,6 +2118,16 @@
     ],
     "package": "All"
   },
+  "Hyundai Tucson Plug-in Hybrid (without HDA II) 2025": {
+    "platform": "HYUNDAI_TUCSON_PHEV_2025",
+    "make": "Hyundai",
+    "brand": "hyundai",
+    "model": "Tucson Plug-in Hybrid (without HDA II)",
+    "year": [
+      "2025"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
   "Hyundai Veloster 2019-20": {
     "platform": "HYUNDAI_VELOSTER",
     "make": "Hyundai",
@@ -2187,6 +2296,27 @@
     ],
     "package": "No Smart Cruise Control (Non-SCC)"
   },
+  "Kia K4 (with HDA II) 2025": {
+    "platform": "KIA_K4_2025",
+    "make": "Kia",
+    "brand": "hyundai",
+    "model": "K4 (with HDA II)",
+    "year": [
+      "2025"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
+  "Kia K4 (without HDA II) 2025-26": {
+    "platform": "KIA_K4_2025",
+    "make": "Kia",
+    "brand": "hyundai",
+    "model": "K4 (without HDA II)",
+    "year": [
+      "2025",
+      "2026"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
   "Kia K5 2021-24": {
     "platform": "KIA_K5_2021",
     "make": "Kia",
@@ -2200,6 +2330,17 @@
     ],
     "package": "Smart Cruise Control (SCC)"
   },
+  "Kia K5 (without HDA II) 2025-26": {
+    "platform": "KIA_K5_2025",
+    "make": "Kia",
+    "brand": "hyundai",
+    "model": "K5 (without HDA II)",
+    "year": [
+      "2025",
+      "2026"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
   "Kia K5 Hybrid 2020-22": {
     "platform": "KIA_K5_HEV_2020",
     "make": "Kia",
@@ -2450,6 +2591,17 @@
     ],
     "package": "Smart Cruise Control (SCC)"
   },
+  "Kia Sorento (without HDA II) 2024-25": {
+    "platform": "KIA_SORENTO_2024",
+    "make": "Kia",
+    "brand": "hyundai",
+    "model": "Sorento (without HDA II)",
+    "year": [
+      "2024",
+      "2025"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
   "Kia Sorento Hybrid 2021-23": {
     "platform": "KIA_SORENTO_HEV_4TH_GEN",
     "make": "Kia",

openpilot/common/params_keys.h

@@ -149,7 +149,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"Version", {PERSISTENT, STRING}},
 
     // --- sunnypilot params --- //
-    {"AccelBoostSP", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"ApiCache_DriveStats", {PERSISTENT, JSON}},
     {"AutoLaneChangeBsmDelay", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"AutoLaneChangeTimer", {PERSISTENT | BACKUP, INT, "0"}},

openpilot/selfdrive/ui/sunnypilot/layouts/settings/cruise.py

@@ -57,12 +57,6 @@ class CruiseLayout(Widget):
       description=tr("Use map data to estimate the appropriate speed to drive through turns ahead."),
       param="SmartCruiseControlMap")
 
-    self.accel_boost_toggle = toggle_item_sp(
-      title=tr("Acceleration Boost"),
-      description=tr("Adds a small push on top of sunnypilot's own acceleration, stronger in Aggressive and gentler in Relaxed. " +
-                     "Eases off in curves and when sunnypilot slows or stops. Never goes past your set speed, and lead-car following still comes first."),
-      param="AccelBoostSP")
-
     self.custom_acc_toggle = toggle_item_sp(
       title=tr("Custom ACC Speed Increments"),
       description="",
@@ -92,7 +86,6 @@ class CruiseLayout(Widget):
       self.icbm_toggle,
       self.scc_v_toggle,
       self.scc_m_toggle,
-      self.accel_boost_toggle,
       self.custom_acc_toggle,
       self.custom_acc_short_increment,
       self.custom_acc_long_increment,
@@ -143,8 +136,6 @@ class CruiseLayout(Widget):
           self.icbm_toggle.set_description(new_desc)
           self.icbm_toggle.show_description(True)
 
-      self.accel_boost_toggle.action_item.set_enabled(has_long)
-
       if has_long or has_icbm:
         self.custom_acc_toggle.action_item.set_enabled(((has_long and not ui_state.CP.pcmCruise) or has_icbm) and ui_state.is_offroad())
         self.scc_v_toggle.action_item.set_enabled(True)
@@ -160,7 +151,6 @@ class CruiseLayout(Widget):
     else:
       has_icbm = has_long = False
       self.icbm_toggle.action_item.set_enabled(False)
-      self.accel_boost_toggle.action_item.set_enabled(False)
       self.icbm_toggle.set_description(tr(ONROAD_ONLY_DESCRIPTION))
 
     show_custom_acc_desc = False

openpilot/sunnypilot/common/version.h

@@ -1 +1 @@
-#define SUNNYPILOT_VERSION "2026.003.000"
+#define SUNNYPILOT_VERSION "2026.11.03-4999"

openpilot/sunnypilot/selfdrive/controls/lib/accel_boost.py

@@ -1,67 +0,0 @@
-"""
-Copyright (c) 2021-, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import numpy as np
-
-from openpilot.cereal import log
-from openpilot.common.params import Params
-from openpilot.common.realtime import DT_MDL
-from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
-
-ACCEL_BOOST_MIN_SPEED = 1.0
-ACCEL_BOOST_MAX = (0.4, 0.25, 0.1)  # aggressive, standard, relaxed, m/s^2
-ACCEL_BOOST_BUILD, ACCEL_BOOST_RELEASE = 0.2, 1.0  # m/s^3
-BRAKE_PROB = (0.1, 0.3)  # the model's brake press in 4 s: it wants to slow
-GAS_PROB = (0.6, 0.8)  # predicts a human gas press at this hypothesis at about 23%
-CURVE_LAT_ACCEL = (1.5, 2.5)
-
-
-def get_boost_max(personality=log.LongitudinalPersonality.standard):
-  if personality == log.LongitudinalPersonality.relaxed:
-    return ACCEL_BOOST_MAX[2]
-  elif personality == log.LongitudinalPersonality.standard:
-    return ACCEL_BOOST_MAX[1]
-  elif personality == log.LongitudinalPersonality.aggressive:
-    return ACCEL_BOOST_MAX[0]
-  else:
-    raise NotImplementedError("Longitudinal personality not supported")
-
-
-class AccelBoostSP:
-  def __init__(self):
-    self.params = Params()
-    self.frame = -1
-    self.enabled = False
-    self.boost = 0.0
-    self.total_boost = 0.0
-
-  def update_params(self):
-    self.frame += 1
-    if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) != 0:
-      return False
-    enabled = self.params.get_bool("AccelBoostSP")
-    if enabled == self.enabled:
-      return False
-    self.enabled = enabled
-    self.boost = self.total_boost = 0.0
-    return True
-
-  def update(self, sm, output_a_target_e2e, output_a_target_mpc, a_cruise):
-    model = sm['modelV2']
-    brake_probs = model.meta.disengagePredictions.brakePressProbs
-    gas_probs = model.meta.disengagePredictions.gasPressProbs
-    if not sm['selfdriveState'].enabled or len(brake_probs) < 2 or len(gas_probs) < 2:
-      self.boost = self.total_boost = 0.0
-      return output_a_target_e2e
-
-    want = max(float(np.interp(brake_probs[1], BRAKE_PROB, [1.0, 0.0])), float(np.interp(gas_probs[1], GAS_PROB, [0.0, 1.0])))
-    want = 0.0 if model.action.shouldStop else want
-    want *= float(np.interp(abs(model.action.desiredCurvature) * sm['carState'].vEgo ** 2, CURVE_LAT_ACCEL, [1.0, 0.0]))
-    target = want * get_boost_max(sm['selfdriveState'].personality)
-    self.boost = float(np.clip(target, self.boost - ACCEL_BOOST_RELEASE * DT_MDL, self.boost + ACCEL_BOOST_BUILD * DT_MDL))
-    speed_scale = np.interp(sm['carState'].vEgo, [ACCEL_BOOST_MIN_SPEED, 2 * ACCEL_BOOST_MIN_SPEED], [0.0, 1.0])
-    self.total_boost = self.boost * speed_scale * np.interp(output_a_target_e2e, [-0.7, -0.2, 5.0], [0.0, 1.0, 1.0], right=0.0)
-    return output_a_target_e2e + self.total_boost

openpilot/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -9,8 +9,6 @@ from openpilot.cereal import messaging, custom
 from opendbc.car import structs
 from openpilot.common.constants import CV
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX
-from openpilot.selfdrive.controls.lib.accel_boost import AccelBoost
-from openpilot.sunnypilot.selfdrive.controls.lib.accel_boost import AccelBoostSP
 from openpilot.sunnypilot.selfdrive.controls.lib.e2e_alerts_helper import E2EAlertsHelper
 from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.smart_cruise_control import SmartCruiseControl
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import SpeedLimitAssist
@@ -31,8 +29,6 @@ class LongitudinalPlannerSP:
     self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
     self.source = LongitudinalPlanSource.cruise
     self.e2e_alerts_helper = E2EAlertsHelper()
-    self.accel_boost_sp = AccelBoostSP()
-    self.openpilot_longitudinal = CP.openpilotLongitudinalControl
 
     self.output_v_target = 0.
     self.output_a_target = 0.
@@ -68,9 +64,6 @@ class LongitudinalPlannerSP:
     return self.output_v_target, self.output_a_target
 
   def update(self, sm: messaging.SubMaster) -> None:
-    if self.accel_boost_sp.update_params():
-      self.accel_boost = self.accel_boost_sp if self.accel_boost_sp.enabled and self.openpilot_longitudinal else AccelBoost()
-
     self.events_sp.clear()
     self.e2e_alerts_helper.update(sm, self.events_sp)
 

openpilot/sunnypilot/selfdrive/controls/lib/tests/test_accel_boost.py

@@ -1,81 +0,0 @@
-"""
-Copyright (c) 2021-, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from types import SimpleNamespace
-
-from openpilot.common.parameterized import parameterized
-from openpilot.common.params import Params
-from openpilot.common.realtime import DT_MDL
-from openpilot.common.test import OpenpilotTestCase
-
-from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
-from openpilot.sunnypilot.selfdrive.controls.lib.accel_boost import AccelBoostSP, ACCEL_BOOST_MAX
-
-
-def make_sm(brake_prob=0.05, gas_prob=0.3, lat_accel=0.0, v_ego=30.0, personality=0, enabled=True, should_stop=False):
-  meta = SimpleNamespace(disengagePredictions=SimpleNamespace(brakePressProbs=[0.0, brake_prob, 0.0, 0.0, 0.0, 0.0],
-                                                              gasPressProbs=[0.0, gas_prob, 0.0, 0.0, 0.0, 0.0]))
-  action = SimpleNamespace(shouldStop=should_stop, desiredCurvature=lat_accel / v_ego ** 2)
-  return {'modelV2': SimpleNamespace(meta=meta, action=action), 'carState': SimpleNamespace(vEgo=v_ego),
-          'selfdriveState': SimpleNamespace(enabled=enabled, personality=personality)}
-
-
-def settle(sm, frames=100):
-  boost = AccelBoostSP()
-  for _ in range(frames):
-    boost.update(sm, 0.0, 9.0, 9.0)
-  return boost.total_boost
-
-
-class TestAccelBoostSP(OpenpilotTestCase):
-  @parameterized.expand([(0,), (1,), (2,)])
-  def test_personality_max(self, personality):
-    assert abs(settle(make_sm(personality=personality)) - ACCEL_BOOST_MAX[personality]) < 1e-6
-
-  def test_brake_gate_closes(self):
-    assert settle(make_sm(brake_prob=0.5)) == 0.0
-
-  def test_gas_reopens(self):
-    assert abs(settle(make_sm(brake_prob=0.5, gas_prob=0.9)) - ACCEL_BOOST_MAX[0]) < 1e-6
-
-  def test_should_stop(self):
-    assert settle(make_sm(gas_prob=0.9, should_stop=True)) == 0.0
-
-  @parameterized.expand([(1.5, 1.0), (2.0, 0.5), (2.5, 0.0), (-2.0, 0.5)])
-  def test_curve_fade(self, lat_accel, scale):
-    assert abs(settle(make_sm(lat_accel=lat_accel)) - scale * ACCEL_BOOST_MAX[0]) < 1e-6
-
-  def test_low_speed(self):
-    assert settle(make_sm(v_ego=0.5)) == 0.0
-
-  def test_disabled_resets(self):
-    boost = AccelBoostSP()
-    for _ in range(100):
-      boost.update(make_sm(), 0.0, 9.0, 9.0)
-    assert boost.update(make_sm(enabled=False), 0.0, 9.0, 9.0) == 0.0
-    assert boost.boost == 0.0 and boost.total_boost == 0.0
-
-  def test_build_and_release_rates(self):
-    boost = AccelBoostSP()
-    boost.update(make_sm(), 0.0, 9.0, 9.0)
-    assert abs(boost.total_boost - 0.01) < 1e-6
-    for _ in range(100):
-      boost.update(make_sm(), 0.0, 9.0, 9.0)
-    boost.update(make_sm(brake_prob=0.5), 0.0, 9.0, 9.0)
-    assert abs(boost.total_boost - (ACCEL_BOOST_MAX[0] - 0.05)) < 1e-6
-
-  def test_param_switch(self):
-    params = Params()
-    boost = AccelBoostSP()
-    params.put_bool("AccelBoostSP", True, block=True)
-    assert boost.update_params() and boost.enabled
-    for _ in range(100):
-      boost.update(make_sm(), 0.0, 9.0, 9.0)
-    params.put_bool("AccelBoostSP", False, block=True)
-    for _ in range(int(PARAMS_UPDATE_PERIOD / DT_MDL) - 1):
-      assert not boost.update_params()
-    assert boost.update_params() and not boost.enabled
-    assert boost.boost == 0.0 and boost.total_boost == 0.0

openpilot/sunnypilot/sunnylink/settings_ui.json

@@ -620,19 +620,6 @@
                 }
               ]
             },
-            {
-              "key": "AccelBoostSP",
-              "widget": "toggle",
-              "title": "Acceleration Boost",
-              "description": "Adds a small push on top of sunnypilot's own acceleration, stronger in Aggressive and gentler in Relaxed. Eases off in curves and when sunnypilot slows or stops. Never goes past your set speed, and lead-car following still comes first.",
-              "enablement": [
-                {
-                  "type": "capability",
-                  "field": "has_longitudinal_control",
-                  "equals": true
-                }
-              ]
-            },
             {
               "key": "IntelligentCruiseButtonManagement",
               "widget": "toggle",
@@ -1362,17 +1349,7 @@
               "key": "TorqueBar",
               "widget": "toggle",
               "title": "Steering Arc",
-              "description": "Display steering arc on the driving screen when lateral control is enabled.",
-              "visibility": [
-                {
-                  "type": "not",
-                  "condition": {
-                    "type": "capability",
-                    "field": "device_type",
-                    "equals": "mici"
-                  }
-                }
-              ]
+              "description": "Display steering arc on the driving screen when lateral control is enabled."
             },
             {
               "key": "ShowTurnSignals",

openpilot/sunnypilot/sunnylink/settings_ui_src/pages/cruise.yaml

@@ -30,12 +30,6 @@ sections:
       label: Relaxed
     enablement:
     - $ref: '#/macros/longitudinal'
-  - key: AccelBoostSP
-    widget: toggle
-    title: Acceleration Boost
-    description: "Adds a small push on top of sunnypilot's own acceleration, stronger in Aggressive and gentler in Relaxed. Eases off in curves and when sunnypilot slows or stops. Never goes past your set speed, and lead-car following still comes first."
-    enablement:
-    - $ref: '#/macros/longitudinal'
   - key: IntelligentCruiseButtonManagement
     widget: toggle
     title: Intelligent Cruise Button Management (ICBM) (Alpha)

openpilot/sunnypilot/sunnylink/settings_ui_src/pages/visuals.yaml

@@ -20,8 +20,6 @@ sections:
     widget: toggle
     title: Steering Arc
     description: Display steering arc on the driving screen when lateral control is enabled.
-    visibility:
-    - $ref: '#/macros/hide_on_mici'
   - key: ShowTurnSignals
     widget: toggle
     title: Display Turn Signals