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The MDPS sets CF_Mdps_ToiUnavail while ISG has the engine stopped, which raised steerTempUnavailableSilent (beep and LKAS11 HUD warning) at every auto-stop. Lateral is inactive at standstill, so mask ToiUnavail while LVR12 CF_Lvr_IsgState reports the engine stopped, plus a 200 ms grace period on restart (the MDPS was measured clearing ToiUnavail ~60 ms after the engine restarts). ToiFlt, faults while moving and steer-at-standstill cars are unaffected. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com> Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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I'm least confident about this PR. It works on my car (tm) but not sure if anyone else with ISG has this issue on HKG.
On classic-CAN Hyundai/Kia cars with Idle Stop and Go (ISG), the steering module (MDPS) raises
CF_Mdps_ToiUnavailwhenever ISG shuts the engine off at a stop. openpilot reads that as a temporary steering fault, so every auto-stop beeps and flashes the LKAS warning on the HUD, even though lateral isn't active at standstill anyway.This masks
ToiUnavailonly while the car is stopped andLVR12 CF_Lvr_IsgStatereports the engine stopped, plus a 200 ms grace period on restart (the MDPS was measured clearing it ~60 ms after the engine restarts).ToiFlt(real faults), anything while moving, and cars that steer at standstill.LVR12/CF_Lvr_IsgState.Validation
ToiUnavail(1,459 frames total), no steer fault or alert;steerFaultTemporarystayed false.test_hyundai.py(engine stopped → masked, restart grace,ToiFltstill reported, moving still reported, steer-at-standstill car unaffected).🤖 Generated with Claude Code