Implement angle control for Hyundai Ioniq 5 PE

This update adds angle control functionality specifically for the Hyundai Ioniq 5 PE model. Changes were made across several files and variables to accommodate this additional feature. This control type provides enhanced handling and steering performance depending on the driving conditions, given its ability to adjust steering angle precisely.

Angle control stems from the angle of the steering wheel rather than torque, providing a more sophisticated steering response. In the Hyundai Ioniq 5 PE, adjustments for the input angle and torque calculations have been added, ensuring a more dynamic and responsive driving experience.

Variable additions include '`apply_angle_last`', '`lkas_max_torque`' and '`driver_applied_torque_reducer`', and a new condition was created for if the driver is manually applying some torque.

All of these changes allow for the application of correct torque when the driver is not actively steering, emulating the behavior of a stock LKAS system when engaged.

docs/CARS.md

@@ -1,6 +1,6 @@
 <!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
 
-# Support Information for 345 Known Cars
+# Support Information for 346 Known Cars
 
 |Make|Model|Package|Support Level|
 |---|---|---|:---:|
@@ -107,6 +107,7 @@
 |Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24|All|[Upstream](#upstream)|
 |Hyundai|Ioniq 5 (with HDA II) 2022-24|Highway Driving Assist II|[Upstream](#upstream)|
 |Hyundai|Ioniq 5 (without HDA II) 2022-24|Highway Driving Assist|[Upstream](#upstream)|
+|Hyundai|Ioniq 5 PE (with HDA II) 2025+|Highway Driving Assist II|[Upstream](#upstream)|
 |Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|[Upstream](#upstream)|
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Ioniq Electric 2020|All|[Upstream](#upstream)|

opendbc/car/hyundai/carcontroller.py

@@ -1,6 +1,7 @@
 import numpy as np
 from opendbc.can.packer import CANPacker
-from opendbc.car import Bus, DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg, structs
+from opendbc.car import Bus, DT_CTRL, apply_driver_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, \
+                        make_tester_present_msg, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.hyundai import hyundaicanfd, hyundaican
 from opendbc.car.hyundai.carstate import CarState
@@ -59,6 +60,9 @@ def __init__(self, dbc_names, CP, CP_SP):
     self.apply_steer_last = 0
     self.car_fingerprint = CP.carFingerprint
     self.last_button_frame = 0
+    self.apply_angle_last = 0
+    self.lkas_max_torque = 0
+    self.driver_applied_torque_reducer = 0
 
   def update(self, CC, CC_SP, CS, now_nanos):
     EsccCarController.update(self, CS)
@@ -75,8 +79,56 @@ def update(self, CC, CC_SP, CS, now_nanos):
                                                                        self.angle_limit_counter, MAX_ANGLE_FRAMES,
                                                                        MAX_ANGLE_CONSECUTIVE_FRAMES)
 
+    apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw, self.params)
+
+    # Figure out torque value.  On Stock when LKAS is active, this is variable,
+    # but 0 when LKAS is not actively steering, so because we're "tricking" ADAS
+    # into thinking LKAS is always active, we need to make sure we're applying
+    # torque when the driver is not actively steering. The default value chosen
+    # here is based on observations of the stock LKAS system when it's engaged
+    # CS.out.steeringPressed and steeringTorque are based on the
+    # STEERING_COL_TORQUE value
+    MAX_TORQUE = 240
+    # Interpolate a percent to apply to max torque based on vEgo value, which is
+    # the "best estimate of speed".  This means that under 20 (units?) we will
+    # apply less torque, and over 20 we will apply the full calculated torque.
+    ego_weight = np.interp(CS.out.vEgo, [0, 5, 10, 20], [0.2, 0.3, 0.5, 1.0])
+
+    # Track if and how long the driver has been applying torque and create a
+    # value to reduce the max torque applied. This block will cause the
+    # `driver_applied_torque_reducer` to settle to value between 30 and 150.
+    # While the driver applies torque the value will decrease to 30, and while
+    # the driver is not applying torque the value will increase to 150.
+    if abs(CS.out.steeringTorque) > 200:
+      # If the driver is applying some torque manually, reduce the value down to 30 (the min)
+      self.driver_applied_torque_reducer -= 1
+      if self.driver_applied_torque_reducer < 30:
+        self.driver_applied_torque_reducer = 30
+    else:
+      # While the driver is not applying torque, increase the value up to 150 (the max)
+      self.driver_applied_torque_reducer += 1
+      if self.driver_applied_torque_reducer > 150:
+        self.driver_applied_torque_reducer = 150
+
+    if self.driver_applied_torque_reducer < 150:
+      # If the driver has just started applying torque, the reducer value will
+      # be around 150 so we won't reduce the max torque much. As the driver
+      # continues to apply torque, the reducer value will decrease to 30, so we
+      # will reduce the max torque more to fight them less (at this level we'll
+      # be doing 1/5 of the torque)
+      self.lkas_max_torque = int(round(MAX_TORQUE * ego_weight * (self.driver_applied_torque_reducer / 150)))
+    else:
+      # A torque reducer value of 150 means the driver has not been applying
+      # torque for a while, so we will apply the full max torque value, adjusted
+      # by the ego weight (based on driving speed)
+      self.lkas_max_torque = MAX_TORQUE * ego_weight
+
     if not CC.latActive:
+      apply_angle = CS.out.steeringAngleDeg
       apply_steer = 0
+      self.lkas_max_torque = 0
+
+    self.apply_angle_last = apply_angle
 
     # Hold torque with induced temporary fault when cutting the actuation bit
     torque_fault = CC.latActive and not apply_steer_req
@@ -115,15 +167,18 @@ def update(self, CC, CC_SP, CS, now_nanos):
       hda2_long = hda2 and self.CP.openpilotLongitudinalControl
 
       # steering control
-      can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_steer, self.lkas_icon))
+      can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled,
+                                                             apply_steer_req, CS.out.steeringPressed,
+                                                             apply_steer, self.lkas_icon, apply_angle, self.lkas_max_torque))
 
       # prevent LFA from activating on HDA2 by sending "no lane lines detected" to ADAS ECU
       if self.frame % 5 == 0 and hda2:
         can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.hda2_lfa_block_msg,
                                                           self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING))
 
       # LFA and HDA icons
-      if self.frame % 5 == 0 and (not hda2 or hda2_long):
+      update_lfahda_icons = (not hda2 or hda2_long) or self.CP.flags & HyundaiFlags.ANGLE_CONTROL
+      if self.frame % 5 == 0 and update_lfahda_icons:
         can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, self.lfa_icon))
 
       # blinkers
@@ -175,6 +230,7 @@ def update(self, CC, CC_SP, CS, now_nanos):
     new_actuators = actuators.as_builder()
     new_actuators.steer = apply_steer / self.params.STEER_MAX
     new_actuators.steerOutputCan = apply_steer
+    new_actuators.steeringAngleDeg = apply_angle
     new_actuators.accel = accel
 
     self.frame += 1

opendbc/car/hyundai/carstate.py

@@ -237,13 +237,17 @@ def update_canfd(self, can_parsers) -> structs.CarState:
 
     # TODO: alt signal usage may be described by cp.vl['BLINKERS']['USE_ALT_LAMP']
     left_blinker_sig, right_blinker_sig = "LEFT_LAMP", "RIGHT_LAMP"
-    if self.CP.carFingerprint == CAR.HYUNDAI_KONA_EV_2ND_GEN:
+    if self.CP.carFingerprint in (CAR.HYUNDAI_KONA_EV_2ND_GEN, CAR.HYUNDAI_IONIQ_5_PE):
       left_blinker_sig, right_blinker_sig = "LEFT_LAMP_ALT", "RIGHT_LAMP_ALT"
     ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][left_blinker_sig],
                                                                       cp.vl["BLINKERS"][right_blinker_sig])
     if self.CP.enableBsm:
-      ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0
-      ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0
+      if self.CP.flags & HyundaiFlags.ANGLE_CONTROL:
+        ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["INDICATOR_LEFT_FOUR"] != 0
+        ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["INDICATOR_RIGHT_FOUR"] != 0
+      else:
+        ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0
+        ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0
 
     # cruise state
     # CAN FD cars enable on main button press, set available if no TCS faults preventing engagement

opendbc/car/hyundai/fingerprints.py

@@ -1018,6 +1018,16 @@
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.06 99211-GI010 230110',
     ],
   },
+  CAR.HYUNDAI_IONIQ_5_PE: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NE__ RDR -----      1.00 1.00 99110-PI000         ',
+      b'\xf1\x00NE__ RDR -----      1.00 1.01 99110-GI500         '
+    ],
+    (Ecu.fwdCamera, 0x7C4, None): [
+      b'\xf1\x00NE  MFC  AT USA LHD 1.00 1.01 99211-PI000 240905',
+      b'\xf1\x00NE  MFC  AT EUR LHD 1.00 1.03 99211-GI500 240809',
+    ],
+  },
   CAR.HYUNDAI_IONIQ_6: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00CE__ RDR -----      1.00 1.01 99110-KL000         ',
@@ -1192,5 +1202,5 @@
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00US4_ RDR -----      1.00 1.00 99110-CG000         ',
     ],
-  },
+  }
 }

opendbc/car/hyundai/hyundaicanfd.py

@@ -34,20 +34,32 @@ def CAM(self):
     return self._cam
 
 
-def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer, lkas_icon):
+def create_steering_messages(packer, CP, CAN, enabled, lat_active, steering_pressed, apply_steer, lkas_icon, apply_angle, max_torque):
 
   ret = []
 
   values = {
-    "LKA_MODE": 2,
+    "LKA_MODE": 0,
     "LKA_ICON": lkas_icon,
-    "TORQUE_REQUEST": apply_steer,
+    "TORQUE_REQUEST": 0, #apply_steer,
     "LKA_ASSIST": 0,
-    "STEER_REQ": 1 if lat_active else 0,
+    "STEER_REQ": 0,  # 1 if lat_active else 0,
     "STEER_MODE": 0,
     "HAS_LANE_SAFETY": 0,  # hide LKAS settings
-    "NEW_SIGNAL_1": 0,
+    "LKA_ACTIVE": 3 if lat_active else 0,  # this changes sometimes, 3 seems to indicate engaged
     "NEW_SIGNAL_2": 0,
+    "LKAS_ANGLE_CMD": -apply_angle,
+    "LKAS_ANGLE_ACTIVE": 2 if lat_active else 1,
+    # a torque scale value? ramps up when steering, highest seen is 234
+    # "UNKNOWN": 50 if lat_active and not steering_pressed else 0,
+    "UNKNOWN": max_torque if lat_active else 0,
+    # TODO: Commenting these out to see if the fix a regression
+    #"NEW_SIGNAL_1": 10,
+    #"NEW_SIGNAL_3": 9,
+    #"NEW_SIGNAL_4": 1,
+    #"NEW_SIGNAL_5": 1,
+    #"NEW_SIGNAL_6": 1,
+    #"NEW_SIGNAL_7": 1,
   }
 
   if CP.flags & HyundaiFlags.CANFD_HDA2:

opendbc/car/hyundai/interface.py

@@ -3,7 +3,7 @@
 from opendbc.car.hyundai.hyundaicanfd import CanBus
 from opendbc.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_RADAR_SCC_CAR, \
                                                    CANFD_UNSUPPORTED_LONGITUDINAL_CAR, \
-                                                   UNSUPPORTED_LONGITUDINAL_CAR
+                                                   UNSUPPORTED_LONGITUDINAL_CAR, ANGLE_CONTROL_CAR
 from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.disable_ecu import disable_ecu
@@ -63,8 +63,8 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
 
       if ret.flags & HyundaiFlags.CANFD_HDA2:
         ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
-        if ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
-          ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING
+      if ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
+        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING
       if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
         ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
       if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
@@ -97,7 +97,11 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
     ret.centerToFront = ret.wheelbase * 0.4
     ret.steerActuatorDelay = 0.1
     ret.steerLimitTimer = 0.4
-    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
+    if candidate in ANGLE_CONTROL_CAR:
+      ret.steerControlType = structs.CarParams.SteerControlType.angle
+    else:
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     if ret.flags & HyundaiFlags.ALT_LIMITS:
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_ALT_LIMITS

opendbc/car/hyundai/values.py

@@ -2,7 +2,7 @@
 from dataclasses import dataclass, field
 from enum import Enum, IntFlag
 
-from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, uds
+from opendbc.car import AngleRateLimit, Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, uds
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.structs import CarParams
 from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
@@ -15,6 +15,10 @@ class CarControllerParams:
   ACCEL_MIN = -3.5 # m/s
   ACCEL_MAX = 2.0 # m/s
 
+  # seen changing at 0.2 deg/frame down, 0.1 deg/frame up at 100Hz
+  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., .8, .15])
+  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., 3.5, 0.4])
+
   def __init__(self, CP):
     self.STEER_DELTA_UP = 3
     self.STEER_DELTA_DOWN = 7
@@ -97,6 +101,7 @@ class HyundaiFlags(IntFlag):
 
   MIN_STEER_32_MPH = 2 ** 23
 
+  ANGLE_CONTROL = 2 ** 24
 
 class Footnote(Enum):
   CANFD = CarFootnote(
@@ -315,6 +320,11 @@ class CAR(Platforms):
     CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
     flags=HyundaiFlags.EV,
   )
+  HYUNDAI_IONIQ_5_PE = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Ioniq 5 PE (with HDA II) 2025+", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q]))],
+    HYUNDAI_IONIQ_5.specs,
+    flags=HyundaiFlags.EV | HyundaiFlags.ANGLE_CONTROL,
+  )
   HYUNDAI_IONIQ_6 = HyundaiCanFDPlatformConfig(
     [HyundaiCarDocs("Hyundai Ioniq 6 (with HDA II) 2023-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))],
     HYUNDAI_IONIQ_5.specs,
@@ -762,4 +772,6 @@ def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str
 #       HyundaiFlags.CANFD_RADAR_SCC | HyundaiFlags.CANFD_NO_RADAR_DISABLE | )
 UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.LEGACY) | CAR.with_flags(HyundaiFlags.UNSUPPORTED_LONGITUDINAL)
 
+ANGLE_CONTROL_CAR = CAR.with_flags(HyundaiFlags.ANGLE_CONTROL)
+
 DBC = CAR.create_dbc_map()

opendbc/car/torque_data/override.toml

@@ -80,3 +80,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 # Manually checked
 "HONDA_CIVIC_2022" = [2.5, 1.2, 0.15]
 "HONDA_HRV_3G" = [2.5, 1.2, 0.2]
+
+# Hyundai/Kia/Genesis angle control
+"HYUNDAI_IONIQ_5_PE" = [nan, 3.0, nan]

opendbc/dbc/hyundai_canfd.dbc

@@ -68,6 +68,9 @@ BO_ 80 LKAS: 16 XXX
  SG_ HAS_LANE_SAFETY : 80|1@0+ (1,0) [0|1] "" XXX
  SG_ NEW_SIGNAL_3 : 111|8@0+ (1,0) [0|255] "" XXX
  SG_ FCA_SYSWARN : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_ANGLE_ACTIVE : 77|2@0+ (1,0) [0|3] "" XXX
+ SG_ LKAS_ANGLE_CMD : 82|14@1- (-0.1,0) [0|511] "" XXX
+ SG_ UNKNOWN : 96|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 81 ADRV_0x51: 32 ADRV
  SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
@@ -128,7 +131,7 @@ BO_ 272 LKAS_ALT: 32 XXX
  SG_ STEER_REQ : 52|1@1+ (1,0) [0|1] "" XXX
  SG_ TORQUE_REQUEST : 41|11@1+ (1,-1024) [0|4095] "" XXX
  SG_ LKA_ICON : 38|2@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 27|2@1+ (1,0) [0|255] "" XXX
+ SG_ LKA_ACTIVE : 27|2@1+ (1,0) [0|255] "" XXX
  SG_ LFA_BUTTON : 56|1@1+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
@@ -137,9 +140,17 @@ BO_ 272 LKAS_ALT: 32 XXX
  SG_ LKA_ASSIST : 62|1@1+ (1,0) [0|1] "" XXX
  SG_ LKA_MODE : 24|3@1+ (1,0) [0|7] "" XXX
  SG_ NEW_SIGNAL_2 : 70|2@0+ (1,0) [0|3] "" XXX
+ SG_ LKAS_ANGLE_ACTIVE : 77|2@0+ (1,0) [0|3] "" XXX
  SG_ HAS_LANE_SAFETY : 80|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_3 : 111|8@0+ (1,0) [0|255] "" XXX
+ SG_ LKAS_ANGLE_CMD : 82|14@1- (-0.1,0) [0|511] "" XXX
+ SG_ UNKNOWN : 96|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 108|5@0+ (1,0) [0|255] "" XXX
  SG_ FCA_SYSWARN : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 75|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_6 : 225|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_5 : 228|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 231|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_7 : 232|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 293 STEERING_SENSORS: 16 XXX
  SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
@@ -595,7 +606,12 @@ BO_ 442 BLINDSPOTS_REAR_CORNERS: 24 XXX
  SG_ COLLISION_AVOIDANCE_ACTIVE : 68|1@0+ (1,0) [0|1] "" XXX
  SG_ LEFT_MB : 30|1@0+ (1,0) [0|3] "" XXX
  SG_ LEFT_BLOCKED : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ MORE_LEFT_PROB : 32|1@1+ (1,0) [0|3] "" XXX
+ SG_ INDICATOR_LEFT_TWO : 30|1@0+ (1,0) [0|3] "" XXX
+ SG_ INDICATOR_RIGHT_TWO : 32|1@1+ (1,0) [0|3] "" XXX
+ SG_ INDICATOR_LEFT_THREE : 128|1@0+ (1,0) [0|1] "" XXX
+ SG_ INDICATOR_RIGHT_THREE : 130|1@0+ (1,0) [0|1] "" XXX
+ SG_ INDICATOR_LEFT_FOUR : 138|1@0+ (1,0) [0|1] "" XXX
+ SG_ INDICATOR_RIGHT_FOUR : 141|1@0+ (1,0) [0|1] "" XXX
  SG_ FL_INDICATOR : 46|6@0+ (1,0) [0|1] "" XXX
  SG_ FR_INDICATOR : 54|6@0+ (1,0) [0|63] "" XXX
  SG_ RIGHT_BLOCKED : 64|1@0+ (1,0) [0|1] "" XXX
@@ -666,6 +682,7 @@ CM_ 1043 "Lamp signals do not seem universal on cars that use LKAS_ALT, but stal
 CM_ SG_ 80 HAS_LANE_SAFETY "If 0, hides LKAS 'Lane Safety' menu from vehicle settings";
 CM_ SG_ 96 BRAKE_PRESSURE "User applied brake pedal pressure. Ramps from computer applied pressure on falling edge of cruise. Cruise cancels if !=0";
 CM_ SG_ 101 BRAKE_POSITION "User applied brake pedal position, max is ~700. Signed on some vehicles";
+CM_ SG_ 272 LKAS_ANGLE_CMD "tracks MDPS->STEERING_ANGLE when not engaged, not STEERING_SENSORS->STEERING_ANGLE";
 CM_ SG_ 373 PROBABLY_EQUIP "aeb equip?";
 CM_ SG_ 373 ACCEnable "Likely a copy of CAN's TCS13->ACCEnable";
 CM_ SG_ 373 DriverBraking "Likely derived from BRAKE->BRAKE_POSITION";
@@ -689,6 +706,7 @@ VAL_ 80 LKA_ICON 0 "hidden" 1 "grey" 2 "green" 3 "flashing green" ;
 VAL_ 80 LKA_MODE 1 "warning only" 2 "assist" 6 "off" ;
 VAL_ 96 TRACTION_AND_STABILITY_CONTROL 0 "On" 5 "Limited" 1 "Off";
 VAL_ 234 LKA_FAULT 0 "ok" 1 "lka fault" ;
+VAL_ 272 LKAS_ANGLE_ACTIVE 1 "not active" 2 "active";
 VAL_ 272 LKA_ICON 0 "hidden" 1 "grey" 2 "green" 3 "flashing green" ;
 VAL_ 272 LKA_MODE 1 "warning only" 2 "assist" 6 "off" ;
 VAL_ 298 LKA_ICON 0 "hidden" 1 "grey" 2 "green" 3 "flashing green" ;