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Add Hyundai Grandeur Diesel 2019 support #320

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Merged
FrogAi merged 3 commits into from
Oct 14, 2026
Merged

Add Hyundai Grandeur Diesel 2019 support #320

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2414467
Add Hyundai Grandeur Diesel 2019 support
atawi44 Sep 14, 2026
de96f95
Hyundai: match the Azera Diesel port to its IG siblings
FrogAi Sep 30, 2026
ccae81b
Hyundai: match the Azera Diesel port to its IG siblings - fixes
FrogAi Oct 14, 2026
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11 changes: 11 additions & 0 deletions opendbc_repo/opendbc/car/hyundai/fingerprints.py
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,17 @@
b'\xf1\x00IG MFC AT MES LHD 1.00 1.05 99211-G8100 210409',
],
},
CAR.HYUNDAI_AZERA_DIESEL_6TH_GEN: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00IG__ SCC FHCUP 1.00 1.01 96400-G8500 ',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00IG MDPS C 1.00 1.01 56310G8350\x00 4IG8C101',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00IG MFC AT KOR LHD 1.00 1.00 95740-M9200 170919',
],
},
CAR.HYUNDAI_AZERA_HEV_6TH_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00IGH MFC AT KOR LHD 1.00 1.00 99211-G8000 180903',
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3 changes: 2 additions & 1 deletion opendbc_repo/opendbc/car/hyundai/hyundaican.py
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Expand Up @@ -39,7 +39,8 @@ def create_lkas11(packer, frame, CP, apply_torque, steer_req,
CAR.HYUNDAI_ELANTRA_HEV_2021, CAR.HYUNDAI_SONATA_HYBRID, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022,
CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_IONIQ_HEV_2022, CAR.HYUNDAI_SANTA_FE_HEV_2022,
CAR.HYUNDAI_SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_CUSTIN_1ST_GEN, CAR.HYUNDAI_KONA_2022):
CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_DIESEL_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_CUSTIN_1ST_GEN,
CAR.HYUNDAI_KONA_2022):
values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
values["CF_Lkas_LdwsOpt_USM"] = 2

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5 changes: 5 additions & 0 deletions opendbc_repo/opendbc/car/hyundai/values.py
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Expand Up @@ -163,6 +163,11 @@ class CAR(Platforms):
[HyundaiCarDocs("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
CarSpecs(mass=1600, wheelbase=2.885, steerRatio=14.5),
)
HYUNDAI_AZERA_DIESEL_6TH_GEN = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Azera Diesel 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c]))],
CarSpecs(mass=1650, wheelbase=2.885, steerRatio=14.5),
flags=HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MANDO_RADAR,
)
HYUNDAI_AZERA_HEV_6TH_GEN = HyundaiPlatformConfig(
[
HyundaiCarDocs("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
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1 change: 1 addition & 0 deletions opendbc_repo/opendbc/car/torque_data/override.toml
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Expand Up @@ -72,6 +72,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"HYUNDAI_KONA_EV_2ND_GEN" = [2.5, 2.5, 0.1]
"HYUNDAI_IONIQ_6" = [2.5, 2.5, 0.005]
"HYUNDAI_AZERA_6TH_GEN" = [1.8, 1.8, 0.1]
"HYUNDAI_AZERA_DIESEL_6TH_GEN" = [1.8, 1.8, 0.1]
"HYUNDAI_AZERA_HEV_6TH_GEN" = [1.8, 1.8, 0.1]
"KIA_K8_HEV_1ST_GEN" = [2.5, 2.5, 0.1]
"HYUNDAI_CUSTIN_1ST_GEN" = [2.5, 2.5, 0.1]
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