presence of adas ecu

selfdrive/car/hyundai/interface.py

@@ -10,6 +10,7 @@ from selfdrive.car.disable_ecu import disable_ecu
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
+Ecu = car.CarParams.Ecu
 ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)
 BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: ButtonType.decelCruise,
                 Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel}
@@ -33,8 +34,8 @@ class CarInterface(CarInterfaceBase):
     ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30}
 
     if candidate in CANFD_CAR:
-      # detect HDA2 with LKAS message
+      # detect HDA2 with ADAS Driving ECU
-      if 0x50 in fingerprint[6]:
+      if Ecu.adas in [fw.ecu for fw in car_fw]:
         ret.flags |= HyundaiFlags.CANFD_HDA2.value
       else:
         # non-HDA2