Add second alt limits (will open another PR on this)

opendbc/car/hyundai/interface.py

@@ -130,6 +130,12 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
  ret.flags |= HyundaiFlags.ALT_LIMITS.value
  ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_ALT_LIMITS
 
+ # TODO: Enforce in panda safety
+ if candidate in CAR.KIA_SPORTAGE_5TH_GEN:
+ for fw in car_fw:
+ if fw.ecu == "fwdCamera" and fw.fwVersion == "" b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.01 99211-P1060 680':
+ ret.flags |= HyundaiFlags.ALT_LIMITS_2.value
+
  ret.centerToFront = ret.wheelbase * 0.4
 
  return ret

opendbc/car/hyundai/values.py

@@ -26,13 +26,18 @@ def __init__(self, CP):
  self.STEER_STEP = 1 # 100 Hz
 
  if CP.carFingerprint in CANFD_CAR:
- self.STEER_MAX = 170
  self.STEER_DRIVER_ALLOWANCE = 250
  self.STEER_DRIVER_MULTIPLIER = 2
  self.STEER_THRESHOLD = 250
  self.STEER_DELTA_UP = 2
  self.STEER_DELTA_DOWN = 3
 
+ if CP.flags & HyundaiFlags.ALT_LIMITS_2:
+ self.STEER_MAX = 170
+
+ else:
+ self.STEER_MAX = 270
+
  # To determine the limit for your car, find the maximum value that the stock LKAS will request.
  # If the max stock LKAS request is <384, add your car to this list.
  elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.HYUNDAI_ELANTRA, CAR.HYUNDAI_ELANTRA_GT_I30, CAR.HYUNDAI_IONIQ,
@@ -95,6 +100,8 @@ class HyundaiFlags(IntFlag):
 
  MIN_STEER_32_MPH = 2 ** 23
 
+ ALT_LIMITS_2 = 2 ** 24
+
 
 class Footnote(Enum):
  CANFD = CarFootnote(