Apply commaai#1285

sunnypilot · Sep 25, 2024 · a99debe · a99debe
1 parent f9058a3
commit a99debe
Showing 1 changed file with 11 additions and 3 deletions.
diff --git a/opendbc/car/hyundai/interface.py b/opendbc/car/hyundai/interface.py
@@ -25,9 +25,17 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
     # FIXME: the Optima Hybrid 2017 uses a different SCC12 checksum
     ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, }
 
-    _CAN_CAM = CanBus(None, False, fingerprint).CAM
-    hda2 = Ecu.adas in [fw.ecu for fw in car_fw] or \
-           0x50 in fingerprint[_CAN_CAM] or 0x110 in fingerprint[_CAN_CAM]
+    # Check if the ADAS Driving ECU is present in the firmware response.
+    # If not found, check the CAM CAN bus fingerprint for known HDA2 steering messages (0x50 or 0x110),
+    # that indicate an HDA2 car even without a direct ADAS Driving ECU response.
+    if Ecu.adas in [fw.ecu for fw in car_fw]:
+      hda2 = True
+    else:
+      # Some HDA2 cars do not respond ADAS Driving ECU if the known HDA2 steering messages are present.
+      # The hda2 flag to initialize CanBus is not critical here since we only care about CAM bus steering messages.
+      cam_can = CanBus(None, False, fingerprint).CAM
+      hda2 = 0x50 in fingerprint[cam_can] or 0x110 in fingerprint[cam_can]
+
     CAN = CanBus(None, hda2, fingerprint)
 
     if candidate in CANFD_CAR: