Hyundai: detect LFA HDA message (#27323)

* detect lfa message

* comment

* ?

* fix

* Update ref_commit

selfdrive/car/hyundai/carcontroller.py

@@ -178,11 +178,7 @@ class CarController:
                                                         hud_control.leadVisible, set_speed_in_units, stopping, CC.cruiseControl.override))
 
       # 20 Hz LFA MFA message
-      if self.frame % 5 == 0 and self.car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021,
+      if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
-                                                          CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV, CAR.KONA_EV_2022,
-                                                          CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022,
-                                                          CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022,
-                                                          CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020):
         can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled))
 
       # 5 Hz ACC options

selfdrive/car/hyundai/interface.py

@@ -43,6 +43,10 @@ class CarInterface(CarInterfaceBase):
             ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value
         if candidate not in CANFD_RADAR_SCC_CAR:
           ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value
+    else:
+      # Send LFA message on cars with HDA
+      if 0x485 in fingerprint[2]:
+        ret.flags |= HyundaiFlags.SEND_LFA.value
 
     ret.steerActuatorDelay = 0.1  # Default delay
     ret.steerLimitTimer = 0.4

selfdrive/car/hyundai/values.py

@@ -58,10 +58,9 @@ class HyundaiFlags(IntFlag):
   CANFD_CAMERA_SCC = 8
 
   ALT_LIMITS = 16
-
   ENABLE_BLINKERS = 32
-
   CANFD_ALT_GEARS_2 = 64
+  SEND_LFA = 128
 
 
 class CAR:

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-5244c5fea84822bdbcd899a280090e47fb0581b7
+3629f9d22d0bd70cc9ac19cf2045a6cd47b21fdb