hyundai: disable unvalidated 430 corner radar tracks

opendbc_repo/opendbc/car/hyundai/interface.py

@@ -80,9 +80,9 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_lo
       if all(fingerprint[CAN.ACAN].get(addr) == 32 for addr in range(0x180, 0x185)):
         ret.extFlags |= HyundaiExtFlags.CORNER_RADAR_OBJECTS_180.value
         print("##### Corner radar objects 0x180 group detected")
-      if all(fingerprint[CAN.ACAN].get(addr) == 32 for addr in tuple(range(0x430, 0x438)) + tuple(range(0x440, 0x448))):
-        ret.extFlags |= HyundaiExtFlags.CORNER_RADAR_OBJECTS_430.value
-        print("##### Corner radar objects 0x430/0x440 group detected")
+      # 0x430/0x440 corner radar bins are visible on IONIQ 9, but their object
+      # layout is not validated enough for RadarData. Keep the frames available
+      # for offline analysis without promoting them into live corner tracks.
 
       # detect HDA2 with ADAS Driving ECU
       if hda2:

opendbc_repo/opendbc/car/hyundai/radar_interface.py

@@ -273,7 +273,10 @@ def __init__(self, CP):
     self.radar_tracks = self.params.get_int("EnableRadarTracks") >= 1
     self.corner_object_tracks = bool(CP.extFlags & HyundaiExtFlags.CORNER_RADAR_OBJECTS_235.value) and self.params.get_int("EnableCornerRadar") > 0
     self.corner_object_180_tracks = bool(CP.extFlags & HyundaiExtFlags.CORNER_RADAR_OBJECTS_180.value) and self.params.get_int("EnableCornerRadar") > 0
-    self.corner_object_430_tracks = bool(CP.extFlags & HyundaiExtFlags.CORNER_RADAR_OBJECTS_430.value) and self.params.get_int("EnableCornerRadar") > 0
+    # 0x430/0x440 bins are not promoted to RadarData until their object layout
+    # is validated. Parsing them as tracks produced false side objects and
+    # phantom braking on IONIQ 9.
+    self.corner_object_430_tracks = False
     self.updated_tracks = set()
     self.updated_scc = set()
     self.updated_corner_objects = set()

opendbc_repo/opendbc/car/hyundai/tests/test_radar.py

@@ -360,8 +360,10 @@ def update_frames(radar_interface, packets, frames=5):
       radar_data = radar_interface.update([0, packets])
     return radar_data
 
-  def test_430_promotes_supported_neighbor_bins(self, monkeypatch):
+  def test_430_bins_are_not_promoted_to_live_tracks(self, monkeypatch):
     radar_interface = self.build_interface(monkeypatch)
+    assert radar_interface.rcp_corner_objects_430 is None
+
     empty = self.message({})
     supported_bins = self.message({
       6: self.slot_word(1000),
@@ -371,13 +373,8 @@ def test_430_promotes_supported_neighbor_bins(self, monkeypatch):
     packets += [(addr, empty, 1) for addr in range(0x440, 0x448)]
 
     radar_data = self.update_frames(radar_interface, packets)
-    points = {point.trackId: point for point in radar_data.points}
 
-    assert points[300].measured
-    assert str(points[300].radarSource) == "corner430"
-    assert points[300].dRel == pytest.approx(50.1)
-    assert points[300].yRel == pytest.approx(2.0)
-    assert points[300].yvRel == 0.0
+    assert all(str(point.radarSource) != "corner430" for point in radar_data.points)
 
   def test_430_expires_noncenter_inward_yvrel(self, monkeypatch):
     radar_interface = self.build_interface(monkeypatch)
@@ -404,6 +401,5 @@ def test_430_expires_noncenter_inward_yvrel(self, monkeypatch):
     radar_data = self.update_frames(radar_interface, packets, frames=3)
     points = {point.trackId: point for point in radar_data.points}
 
-    assert points[300].measured
-    assert points[300].yRel == pytest.approx(2.0)
-    assert points[300].yvRel == 0.0
+    assert 300 not in points
+    assert all(str(point.radarSource) != "corner430" for point in points.values())