ICE carnival

launch_env.sh

@@ -5,6 +5,8 @@ export MKL_NUM_THREADS=1
 export NUMEXPR_NUM_THREADS=1
 export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
+export FINGERPRINT="KIA_CARNIVAL_4TH_GEN"
+export SKIP_FW_QUERY="1"
 
 # models get lower priority than ui
 # - ui is ~5ms

opendbc_repo/opendbc/car/hyundai/interface.py

@@ -43,9 +43,9 @@ class CarInterface(CarInterfaceBase):
 
       ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN]
 
-      # Check if the car is hybrid. Only HEV/PHEV cars have 0xFA on E-CAN.
-      if 0xFA in fingerprint[CAN.ECAN]:
-        ret.flags |= HyundaiFlags.HYBRID.value
+      for fw in car_fw:
+        if fw.ecu == "fwdCamera" and (fw.fwVersion.startswith(b'\xf1\x00KA4HMFC')):
+          ret.flags |= HyundaiFlags.HYBRID.value
 
       if lka_steering:
         # detect LKA steering
@@ -53,9 +53,6 @@ class CarInterface(CarInterfaceBase):
         if 0x110 in fingerprint[CAN.CAM]:
           ret.flags |= HyundaiFlags.CANFD_LKA_STEERING_ALT.value
       else:
-        # no LKA steering
-        if 0x1cf not in fingerprint[CAN.ECAN]:
-          ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
         if not ret.flags & HyundaiFlags.RADAR_SCC:
           ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value
 
@@ -67,6 +64,10 @@ class CarInterface(CarInterfaceBase):
         else:
           ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value
 
+      # Some HDA2 do not have 0x1cf
+      if 0x1cf not in fingerprint[CAN.ECAN]:
+        ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
+
       cfgs = [get_safety_config(structs.CarParams.SafetyModel.hyundaiCanfd), ]
       if CAN.ECAN >= 4:
         cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))

opendbc_repo/opendbc/car/hyundai/values.py

@@ -523,7 +523,6 @@ class CAR(Platforms):
       HyundaiCarDocs("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
     ],
     CarSpecs(mass=2087, wheelbase=3.09, steerRatio=14.23),
-    flags=HyundaiFlags.RADAR_SCC,
   )
 
   # Genesis