Add hyundai legacy safety mode (#1693)

old-commit-hash: 437b974505

panda

@@ -1 +1 @@
-Subproject commit 74c607f79acd2baace27265f763480af75496dac
+Subproject commit d0442fd1e45589880c12b27c8a744cd1f540f540

selfdrive/car/hyundai/interface.py

@@ -135,6 +135,10 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
 
+    # these cars require a special panda safety mode due to missing counters and checksums in the messages
+    if candidate in [CAR.HYUNDAI_GENESIS]:
+      ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy
+
     ret.centerToFront = ret.wheelbase * 0.4
 
     # TODO: get actual value, for now starting with reasonable value for