Car bug fix: 2020 Kia Niro EV orange lanes icon and LKAS error on cluster display (#2454)

selfdrive/car/hyundai/carcontroller.py

@@ -83,7 +83,7 @@ class CarController():
         self.last_resume_frame = frame
 
     # 20 Hz LFA MFA message
-    if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ]:
+    if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV]:
       can_sends.append(create_lfa_mfa(self.packer, frame, enabled))
 
     return can_sends

selfdrive/car/hyundai/hyundaican.py

@@ -19,7 +19,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
   values["CF_Lkas_MsgCount"] = frame % 0x10
   values["CF_Lkas_Chksum"] = 0
 
-  if car_fingerprint in [CAR.SONATA, CAR.PALISADE]:
+  if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV]:
     values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
     values["CF_Lkas_LdwsOpt_USM"] = 2