From 1cba78d5353ae1a17a0433a424731b35bfb5088d Mon Sep 17 00:00:00 2001
From: Adeeb <8762862+adeebshihadeh@users.noreply.github.com>
Date: Fri, 12 Jun 2020 20:55:59 -0700
Subject: [PATCH] Add hyundai legacy safety mode (#1693)

old-commit-hash: 437b974505a80011352bfa636e14445cea8c87c7
---
 panda                              | 2 +-
 selfdrive/car/hyundai/interface.py | 4 ++++
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/panda b/panda
index 74c607f79a..d0442fd1e4 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 74c607f79acd2baace27265f763480af75496dac
+Subproject commit d0442fd1e45589880c12b27c8a744cd1f540f540
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index bde37e10bf..e3bbc0f71a 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/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