diff --git a/docs/CARS.md b/docs/CARS.md
index ca3a22458..59b814555 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -60,8 +60,8 @@ A supported vehicle is one that just works when you install a comma three. All s
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai K|
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[](##)|[](##)|Hyundai J|
|Hyundai|i30 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai E|
-|Hyundai|Ioniq 5 (with HDA II) 2022-23|Highway Driving Assist II|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai Q|
-|Hyundai|Ioniq 5 (without HDA II) 2022-23|Highway Driving Assist|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai K|
+|Hyundai|Ioniq 5 (with HDA II) 2022-23|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai Q|
+|Hyundai|Ioniq 5 (without HDA II) 2022-23|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai K|
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai C|
|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai C|
@@ -83,13 +83,13 @@ A supported vehicle is one that just works when you install a comma three. All s
|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai A|
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[](##)|[](##)|Hyundai L|
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai L|
-|Hyundai|Tucson Hybrid 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai N|
+|Hyundai|Tucson Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai N|
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[](##)|[](##)|Hyundai E|
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|FCA|
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai E|
-|Kia|EV6 (with HDA II) 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai P|
-|Kia|EV6 (without HDA II) 2022|Highway Driving Assist|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai L|
+|Kia|EV6 (with HDA II) 2022|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai P|
+|Kia|EV6 (without HDA II) 2022|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai L|
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai G|
|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai A|
|Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai H|
@@ -105,7 +105,7 @@ A supported vehicle is one that just works when you install a comma three. All s
|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai C|
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai E|
|Kia|Sportage 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai N|
-|Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai N|
+|Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai N|
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai C|
|Kia|Stinger 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai K|
|Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai H|
diff --git a/panda b/panda
index c0632cd32..5dc5cd8e2 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit c0632cd32b78279dfbb3ce28c7a10ded8090d40f
+Subproject commit 5dc5cd8e20668dfb15d35b175fccbfd3f7b63b09
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 1ab90878b..e5fdbfd57 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -85,7 +85,7 @@ class CarController:
# *** common hyundai stuff ***
# tester present - w/ no response (keeps relevant ECU disabled)
- if self.frame % 100 == 0 and self.CP.openpilotLongitudinalControl:
+ if self.frame % 100 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and self.CP.openpilotLongitudinalControl:
addr, bus = 0x7d0, 0
if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
addr, bus = 0x730, 5
@@ -122,7 +122,8 @@ class CarController:
can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CP, CC.enabled))
if self.CP.openpilotLongitudinalControl:
- can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.frame))
+ if hda2:
+ can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.frame))
if self.frame % 2 == 0:
can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CP, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
set_speed_in_units))
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 0b5fd3bb3..8738aabd1 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -219,7 +219,7 @@ class CarInterface(CarInterfaceBase):
if candidate in CANFD_CAR:
ret.longitudinalTuning.kpV = [0.1]
ret.longitudinalTuning.kiV = [0.0]
- ret.experimentalLongitudinalAvailable = bool(ret.flags & HyundaiFlags.CANFD_HDA2)
+ ret.experimentalLongitudinalAvailable = candidate in (HYBRID_CAR | EV_CAR) and candidate not in CANFD_RADAR_SCC_CAR
else:
ret.longitudinalTuning.kpV = [0.5]
ret.longitudinalTuning.kiV = [0.0]
@@ -283,7 +283,7 @@ class CarInterface(CarInterfaceBase):
@staticmethod
def init(CP, logcan, sendcan):
- if CP.openpilotLongitudinalControl:
+ if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value):
addr, bus = 0x7d0, 0
if CP.flags & HyundaiFlags.CANFD_HDA2.value:
addr, bus = 0x730, 5