hyundai: disable steering on all steer warnings (#20657)

* hyundai: set CF_Lkas_ToiFlt for wind down

* hyundai: disable steering on all steer warnings

* Revert "hyundai: set CF_Lkas_ToiFlt for wind down"

This reverts commit 065f0a996d.

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

selfdrive/car/hyundai/carcontroller.py

@@ -49,8 +49,8 @@ class CarController():
     apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
     self.steer_rate_limited = new_steer != apply_steer
 
-    # disable if steer angle reach 90 deg, otherwise mdps fault in some models
+    # disable when temp fault is active
-    lkas_active = enabled and abs(CS.out.steeringAngleDeg) < CS.CP.maxSteeringAngleDeg
+    lkas_active = enabled and not CS.out.steerWarning
 
     # fix for Genesis hard fault at low speed
     if CS.out.vEgo < 16.7 and self.car_fingerprint == CAR.HYUNDAI_GENESIS:

selfdrive/car/hyundai/interface.py

@@ -27,14 +27,8 @@ class CarInterface(CarInterfaceBase):
     ret.steerLimitTimer = 0.4
     tire_stiffness_factor = 1.
 
-    ret.maxSteeringAngleDeg = 90.
     ret.startAccel = 1.0
 
-    eps_modified = False
-    for fw in car_fw:
-      if fw.ecu == "eps" and b"," in fw.fwVersion:
-        eps_modified = True
-
     if candidate == CAR.SANTA_FE:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
@@ -66,8 +60,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 13.75 * 1.15
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
-      if eps_modified:
-        ret.maxSteeringAngleDeg = 1000.
     elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
       ret.lateralTuning.pid.kf = 0.00006
       ret.mass = 1275. + STD_CARGO_KG

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-7ed0df84ad09e52f53311f038d7765623ba710b2
+32ee8c7581957064cc24b6c11e1ccf80295a71ae