IQ.Pilot Release Commit @ 24b1ade

artifacts/iqpilot_hephaestusd_private/manifest.json

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 }

artifacts/iqpilot_hephaestusd_private/manifest.json.sig

@@ -1 +1 @@
-1J/pEtI6qoBjh397jGVMx0xaeG1QXhcxuiHCXKKiU497RGTTHNmgVpKkNngATL61HgbYa7dgj7mPwLs2u7epAQ==
+Li23uJ7UFsHmYsNYtk8ZvF7oFHZoV8tl9yuzsFSkEzPBnX5MQJwpihQtEwVC1mn1EAHwyjj7nJ/uaZww1o9wCg==

artifacts/iqpilot_hephaestusd_private/python/_iqclosure/iqpilot/system/manager/process_config.py

@@ -138,6 +138,11 @@ def egpu_enabled(started, params, CP: car.CarParams) -> bool:
   return (resolve_backend(params.get_bool("IQEmacEnabled"), egpu_selected(params), _egpu_present(params)) == "egpu"
           and _egpu_present(params))
 
+def egpu_prefetch_enabled(started, params, CP: car.CarParams) -> bool:
+  if params.get_bool("IQEgpuDisabled"):
+    return False
+  return resolve_backend(params.get_bool("IQEmacEnabled"), True, _egpu_present(params)) == "egpu"
+
 def big_model_enabled(started, params, CP: car.CarParams) -> bool:
   return params.get_bool("IQEmacEnabled") or egpu_selected(params)
 
@@ -223,7 +228,7 @@ procs += [
   PythonProcess("iqegpumodeld", "iqpilot.selfdrive.iqmodeld.iqegpumodeld",
                 and_(only_onroad, and_(is_tinygrad_model, egpu_enabled)), restart_if_crash=True),
   PythonProcess("egpu_prefetch", "iqpilot.selfdrive.iqmodeld.egpu_prefetch",
-                and_(only_offroad, and_(is_tinygrad_model, egpu_enabled)), restart_if_crash=True),
+                and_(only_offroad, and_(is_tinygrad_model, egpu_prefetch_enabled)), restart_if_crash=True),
 
   BundleProcess("backup_manager_k3", "iqpilot_hephaestusd_private", "iqpilot_private.konn3kt.backups.backup_orchestrator",
                 and_(only_offroad, hephaestus_ready_shim, not_low_power)),

artifacts/iqpilot_updater_private/manifest.json

@@ -16,22 +16,22 @@
   },
   "python/iqpilot_private/updater/_hf_maps_blob.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "f18e3a7886a2e6835c91936cc4a11b118c02576f827683cff2a8d8788c3d1628",
+    "sha256": "69b858142aeb82cf730f042f6bc354dabb19579654872eaed3f73d482a856802",
     "size": 67616
   },
   "python/iqpilot_private/updater/_iqos_pat_blob.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "9bb73ab877e3c87f415b07a780c807f6f686bf5d5c01f4f4866260d2812f0b8d",
+    "sha256": "d8d9ccc3059b6239f2be41437e97b160b96278e419d84f9c0c243a2ba3ebf94c",
     "size": 67616
   },
   "python/iqpilot_private/updater/_pat_blob.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "8e33ab06991537400b3c50d2bfe3483627b50c999d6ad0c44d27d09eacac9235",
+    "sha256": "cea69f651768732bcbbd1a7edff668876dcf6787c332e859f6f01c945d74cbe0",
     "size": 67616
   },
   "python/iqpilot_private/updater/git_remote.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "55db05006382a9212c300db2236590260b66489d904e19656f2cf03309de89bf",
+    "sha256": "384782451d53a5ca89809f05bf5c68577596dfbaca3f2f82bb0a972663897491",
     "size": 136608
   },
   "runtime": {
@@ -43,9 +43,9 @@
     }
   },
   "signatures": {
-    "python/iqpilot_private/updater/_hf_maps_blob.cpython-312-aarch64-linux-gnu.so": "8MfmjOuuJgGPd2959u6zSnbsfCGIcY8ut4vH4JW//Vqb51508zKFSZYbmsKYFSYmUYcsNrDdKlzG7cyxwi25CQ==",
+    "python/iqpilot_private/updater/_hf_maps_blob.cpython-312-aarch64-linux-gnu.so": "2hlUdv1cuGpzNrKoSx3VqRGdaVsgkkGhiHKBirfYkEwJmQJizQ966d6iZQoIzh8LEmRdhi+77iLFXQiEWApSDQ==",
-    "python/iqpilot_private/updater/_iqos_pat_blob.cpython-312-aarch64-linux-gnu.so": "7ygpLdx/E5TgYoL8OINkv4mYLVkAHlAG0Wh4ZBnXCdTi+fd1bySI+7WmQczoQMlk0VjtIqyJTus+tsRkXEjQDg==",
+    "python/iqpilot_private/updater/_iqos_pat_blob.cpython-312-aarch64-linux-gnu.so": "EHoKO6/esRwuP7oxR9a5FXiQVPjh+3CmtXS1jNQor7yOpra/LijNPHvvu423y+vlOn1KkVCbhZgaHrsB/3oJDA==",
-    "python/iqpilot_private/updater/_pat_blob.cpython-312-aarch64-linux-gnu.so": "79iU094xiuJ25sF9qXaLqTS/f9AidQhDoTlj2HVBIWt6biVmBY0MpgHOXK7lhCskykR7H/8j9zp2SsA2dToaDA==",
+    "python/iqpilot_private/updater/_pat_blob.cpython-312-aarch64-linux-gnu.so": "oqWDyKXImMpVEHwBohGW1nL7oZaNMu12aP/zMfowkjDAsHZJOM+TOicUNketIi990nJMbhApcJk3zpoM+1nGCw==",
-    "python/iqpilot_private/updater/git_remote.cpython-312-aarch64-linux-gnu.so": "rxKmOjUbaJRdo65i8bDae/zEDUXIWvOay4k+KJ3vuH1Z+jQQvRXuWjKAMtJX7a7v/zzTcg7ijY2CBfXEFZJRCQ=="
+    "python/iqpilot_private/updater/git_remote.cpython-312-aarch64-linux-gnu.so": "xp2MN37LX95Rbt3zGC/ZysyTCv8wUi6xpzbHoTLMwRfq4cDpWafItWgFiypcn5ANsAQA7weqMbihmtq6EbV3Bg=="
   }
 }

artifacts/iqpilot_updater_private/manifest.json.sig

@@ -1 +1 @@
-0OdQnuSdywA/tTTIVWGwz2gpZ5H50RoDjjWrXlgYDivBPpTU83nj3jbFtFenrzVNDouRC/PbTvEFNwcnHAe8DA==
+Q62ipKl3jmGXHvKYVnhQY7sk4ZSS7AmhXf23DY4sYqoTP7hn9WDDlQD82bMhQJdcY+Obcr9fRn1EGmGTuMUjDw==

artifacts/package_sources/iqdbc/iqdbc/car/honda/carcontroller.py

@@ -429,55 +429,38 @@ class CarController(CarControllerBase, AolCarController, GasInterceptorCarContro
             self.gas = pcm_accel / self.params.NIDEC_GAS_MAX
 
     # Render OP's lane and lead cars on the dash. On CAN FD these are radar look-alikes that only
-    # exist (and are only allowed by panda safety) when the radar is disabled; in stock ACC the real
+    # exist (and are only allowed by panda safety) when the radar is disabled. Radarless keeps the
-    # radar still owns LANE_PATH/HUD_OBJECTS
+    # camera as the dash authority (known-good), so OP does not author these there
-    if ((self.frame % 2 == 0 and self.CP.carFingerprint in HONDA_BOSCH_RADARLESS) or
+    if (CS.radar_50hz_tick and self.CP.carFingerprint in HONDA_BOSCH_CANFD and self.CP.openpilotLongitudinalControl
-        (CS.radar_50hz_tick and self.CP.carFingerprint in HONDA_BOSCH_CANFD and self.CP.openpilotLongitudinalControl
+        and not CS.stock_acc_alive):
-         and not CS.stock_acc_alive)):
       leads = dash_objects.leads_from_model(self.model, CS.out.vEgo)
       lead = leads[0]
       lead_d = lead.dRel if lead.status else 0.0
       self.rendered_lane = self.lane_renderer.update(self.model, CS.out.vEgo, lead_d)
-      # the dash freezes the lane display if LANE_PATH and HUD_OBJECTS muxes don't match
-      if self.CP.carFingerprint in HONDA_BOSCH_CANFD:
       mux = self.radar_mux
       # no LKAS_HUD_2 on CAN FD: the dash reads the lane length from the in-band terminator, so the
       # path is reshaped into the terminated-prefix form
       lane_offsets = dash_lane.canfd_lane_offsets(self.rendered_lane)
-      else:
-        mux = dash_lane.MUX_CYCLE[(self.frame // 2) % len(dash_lane.MUX_CYCLE)]
-        lane_offsets = self.rendered_lane.offsets
       lane_msg = dash_lane.create_lane_path(self.packer, self.CAN.lkas, lane_offsets, mux)
       can_sends.append(lane_msg)
 
       # CAN FD cars have no camera HUD_OBJECTS to poll (the disabled radar owned it): author OP's
       # lead in slot 0 with the other slots blank (tracks=None)
       tracks = CS.camera_object_tracker.snapshot() if CS.camera_object_tracker is not None else None
-      if self.CP.openpilotLongitudinalControl:
       hud_msg = self.dash_object_author.create(self.packer, self.CAN.lkas, lead, tracks, mux, now_nanos * 1e-9,
                                                extra_leads=leads[1:])
-      else:
-        # for stock ACC, forward the camera's objects but with our mux
-        hud_msg = dash_objects.forward_hud_object(self.packer, self.CAN.lkas, mux, tracks)
       can_sends.append(hud_msg)
 
-      # on CAN FD the camera (behind the relay) also consumes these; mirror the identical packed
+      # the camera (behind the relay) also consumes these; mirror the identical packed bytes onto the
-      # bytes onto the camera bus (packed once, so the counter/checksum stay in lockstep)
+      # camera bus (packed once, so the counter/checksum stay in lockstep)
-      if self.CP.carFingerprint in HONDA_BOSCH_CANFD:
       for addr, dat, _ in (lane_msg, hud_msg):
         can_sends.append((addr, dat, self.CAN.camera))
 
-    if self.frame % 20 == 0 and self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
+    # CAN FD: when stock LKAS is active, the touch-steering-wheel nag eventually forces an ACC
-      # COUNTER_2 trails the packer's COUNTER (frame//20 % 4) by one
+    # disengagement (a brake tap from the VSA). Disable LKAS automatically and block the driver's LKAS
-      rl = self.rendered_lane
+    # button by taking over SCM_BUTTONS on the camera bus while engaged (panda blocks the forwarded
-      can_sends.append(dash_lane.create_lkas_hud_2(self.packer, self.CAN.lkas, (self.frame // 20 - 1) % 4,
+    # stock SCM_BUTTONS while this stream flows). Radarless keeps the stock camera LKAS untouched
-                                                   rl.reach, rl.lane_cross, rl.left_line, rl.right_line))
+    if self.CP.carFingerprint in HONDA_BOSCH_CANFD and CC.enabled and self.frame % 4 == 0 and \
-
-    # Radarless + CAN FD: when stock LKAS is active, the touch-steering-wheel nag eventually forces an
-    # ACC disengagement (on CAN FD it shows up as a brake tap from the VSA). Disable LKAS automatically
-    # and block the driver's LKAS button by taking over SCM_BUTTONS on the camera bus while engaged
-    # (panda blocks the forwarded stock SCM_BUTTONS while this stream flows)
-    if self.CP.carFingerprint in (HONDA_BOSCH_RADARLESS | HONDA_BOSCH_CANFD) and CC.enabled and self.frame % 4 == 0 and \
         not pcm_cancel_cmd and not CC.cruiseControl.resume:
       if self.lkas_button_send_remaining == 0 and CS.lkas_hud["LKAS_READY"] and self.frame >= self.last_lkas_button_frame + 500:
         self.lkas_button_send_remaining = 3

artifacts/package_sources/iqdbc/iqdbc/car/honda/hondacan.py

@@ -197,18 +197,19 @@ def create_lkas_hud(packer, bus, CP, hud_control, lat_active, steering_available
 
   if CP.carFingerprint in (HONDA_BOSCH_RADARLESS | HONDA_BOSCH_CANFD):
     lkas_hud_values['LANE_LINES'] = 3
-    lkas_hud_values['LKAS_PROBLEM'] = steer_fault_permanent
+    lkas_hud_values['DASHED_LANES'] = lat_active
+
+    # car likely needs to see LKAS_PROBLEM fall within a specific time frame, so forward from camera
     if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
-      # gray lanes when disengaged
+      lkas_hud_values['LKAS_PROBLEM'] = lkas_hud['LKAS_PROBLEM']
-      lkas_hud_values['DASHED_LANES'] = 1
+
-    else:
+    if CP.carFingerprint in HONDA_BOSCH_CANFD:
+      lkas_hud_values['LKAS_PROBLEM'] = steer_fault_permanent
       # CAN FD: dashed lanes are the AOL armed indication (dashed_lanes is aol.enabled and not
       # latActive, which is not standstill-gated - so parked LKAS button presses produce cluster
       # feedback). ORed with lat_active so the engaged payload keeps SOLID and DASHED set together,
       # byte-matching the stock camera's lanes-on state
       lkas_hud_values['DASHED_LANES'] = dashed_lanes or lat_active
-
-    if CP.carFingerprint in HONDA_BOSCH_CANFD:
       # every payload change must coincide with an LKAS_STATE_CHANGE pulse (see carcontroller); keyed
       # on lat_active, not lanesVisible, so the dash LKAS indication follows AOL's lateral state
       lkas_hud_values['SOLID_LANES'] = lat_active

artifacts/package_sources/iqdbc/iqdbc/safety/modes/honda.h

@@ -323,9 +323,9 @@ static bool honda_tx_hook(const CANPacket_t *msg) {
   // FORCE CANCEL: safety check only relevant when spamming the cancel button in Bosch HW
   // ensuring that only the cancel button press is sent (VAL 2) when controls are off.
   // This avoids unintended engagements while still allowing resume spam
-  // On CAN FD and radarless, buttons are also sent to the camera (bus 2) to take over SCM_BUTTONS
+  // On CAN FD, buttons are also sent to the camera (bus 2) to take over SCM_BUTTONS while engaged, so
-  // while engaged, so the same check applies there
+  // the same check applies there (radarless already sends buttons on bus 2 via bus_buttons)
-  const bool is_buttons_bus = (msg->bus == bus_buttons) || ((honda_bosch_canfd || honda_bosch_radarless) && (msg->bus == 2U));
+  const bool is_buttons_bus = (msg->bus == bus_buttons) || (honda_bosch_canfd && (msg->bus == 2U));
   if ((msg->addr == 0x296U) && !controls_allowed && is_buttons_bus) {
     if (((msg->data[0] >> 5) & 0x7U) != 2U) {
       tx = false;
@@ -454,13 +454,10 @@ static safety_config honda_bosch_init(uint16_t param) {
                                               {0x33DA, 1, 5, .check_relay = true}, {0x33DB, 1, 8, .check_relay = true}, {0x39F, 1, 8, .check_relay = false},
                                               {0x18DAB0F1, 1, 8, .check_relay = false}};  // Bosch w/ gas and brakes
 
-  static CanMsg HONDA_RADARLESS_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0x296, 2, 4, .check_relay = false}, {0x33D, 0, 8, .check_relay = true},
+  static CanMsg HONDA_RADARLESS_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0x296, 2, 4, .check_relay = false}, {0x33D, 0, 8, .check_relay = true}};  // Bosch radarless
-                                             {0x6CD5554, 0, 8, .check_relay = true}, {0xF31AA54, 0, 8, .check_relay = true},
-                                             {0x6CD5557, 0, 8, .check_relay = true}};  // Bosch radarless (LANE_PATH/LKAS_HUD_2/HUD_OBJECTS authored in stock ACC too)
 
   static CanMsg HONDA_RADARLESS_LONG_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0x33D, 0, 8, .check_relay = true}, {0x1C8, 0, 8, .check_relay = true},
-                                                  {0x30C, 0, 8, .check_relay = true}, {0x296, 2, 4, .check_relay = false}, {0x6CD5554, 0, 8, .check_relay = true},
+                                                  {0x30C, 0, 8, .check_relay = true}};  // Bosch radarless w/ gas and brakes
-                                                  {0xF31AA54, 0, 8, .check_relay = true}, {0x6CD5557, 0, 8, .check_relay = true}};  // Bosch radarless w/ gas and brakes
 
   // 0x296 on bus 2: OP takes over SCM_BUTTONS towards the camera to auto-disable stock LKAS and to block
   // the driver's LKAS button while engaged (the physical SCM_BUTTONS is blocked from forwarding, see fwd hook)
@@ -585,7 +582,7 @@ static bool honda_bosch_fwd_hook(int bus_num, int addr) {
   // actually flowing (honda_op_buttons_fresh): the camera needs SCM_BUTTONS content beyond the buttons
   // (it raises an adaptive high beam error when the message goes missing), so a bare controls_allowed
   // gate would starve it whenever the panda allows controls but OP refuses to engage
-  if ((honda_bosch_radarless || honda_bosch_canfd) && controls_allowed && (honda_op_buttons_fresh > 0) &&
+  if (honda_bosch_canfd && controls_allowed && (honda_op_buttons_fresh > 0) &&
       (bus_num == 0) && (addr == 0x296)) {
     block_msg = true;
   }

artifacts/package_sources/iqdbc/iqdbc/safety/modes/toyota.h

@@ -39,6 +39,7 @@
 #define TOYOTA_COMMON_RX_CHECKS(lta)                                                                                                       \
   {.msg = {{ 0xaa, 0, 8, 83U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},  \
   {.msg = {{0x260, 0, 8, 50U, .ignore_counter = true, .ignore_quality_flag=!(lta)}, { 0 }, { 0 }}},                           \
+  {.msg = {{0x412, 2, 8, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true, .frequency = 1U}, { 0 }, { 0 }}},  \
 
 #define TOYOTA_RX_CHECKS(lta)                                                                                                               \
   TOYOTA_COMMON_RX_CHECKS(lta)                                                                                                              \
@@ -98,6 +99,15 @@ static int TOYOTA_GET_INTERCEPTOR(const CANPacket_t *msg) {
 }
 
 static void toyota_rx_hook(const CANPacket_t *msg) {
+  if (msg->bus == 2U) {
+    // TSS2 LKAS/LDA button is only observable via the camera's LKAS_HUD; it reads 1 or 2 while
+    // pressed and rests at 0, and without this edge AOL can never be granted lateral on Toyota.
+    if (msg->addr == 0x412U) {
+      unsigned int lda_on_message = (msg->data[3] >> 6U) & 0x3U;
+      aol_button_press = (lda_on_message != 0U) ? AOL_BUTTON_PRESSED : AOL_BUTTON_NOT_PRESSED;
+    }
+  }
+
   if (msg->bus == 0U) {
 
     // get eps motor torque (0.66 factor in dbc)

artifacts/package_sources/iqdbc/iqdbc/safety/tests/test_honda.py

@@ -609,41 +609,14 @@ class TestHondaBoschRadarlessSafetyBase(TestHondaBoschSafetyBase):
   STEER_BUS = 0
   BUTTONS_BUS = 2  # camera controls ACC, need to send buttons on bus 2
 
-  TX_MSGS = [[0xE4, 0], [0x296, 2], [0x33D, 0], [0x6CD5554, 0], [0xF31AA54, 0], [0x6CD5557, 0]]
+  TX_MSGS = [[0xE4, 0], [0x296, 2], [0x33D, 0]]
-  FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x33D, 0x6CD5554, 0xF31AA54, 0x6CD5557]}
+  FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x33D]}
-  # STEERING_CONTROL, LANE_PATH, LKAS_HUD_2, HUD_OBJECTS
+  RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x33D)}  # STEERING_CONTROL
-  RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x33D, 0x6CD5554, 0xF31AA54, 0x6CD5557)}
 
   def setUp(self):
     self.packer = CANPackerSafety("honda_bosch_radarless_generated")
     self.safety = libsafety_py.libsafety
 
-  def test_buttons_fwd(self):
-    # SCM_BUTTONS (0x296) forwards to the camera unless OP's replacement button stream is flowing
-    # (engaged + a recent OP SCM_BUTTONS tx on the camera bus). The camera needs the message content
-    # beyond the buttons, so the block fails safe back to forwarding when OP stops sending
-    self.safety.set_controls_allowed(False)
-    self.assertEqual(2, self.safety.safety_fwd_hook(0, 0x296))
-
-    # engaged but OP not sending buttons: keep forwarding
-    self.safety.set_controls_allowed(True)
-    self.assertEqual(2, self.safety.safety_fwd_hook(0, 0x296))
-
-    # OP button stream flowing: block the stock buttons
-    self.assertTrue(self._tx(self._button_msg(Btn.NONE, bus=2)))
-    self.assertEqual(-1, self.safety.safety_fwd_hook(0, 0x296))
-
-    # never blocked while disengaged
-    self.safety.set_controls_allowed(False)
-    self.assertEqual(2, self.safety.safety_fwd_hook(0, 0x296))
-    self.safety.set_controls_allowed(True)
-    self.assertEqual(-1, self.safety.safety_fwd_hook(0, 0x296))
-
-    # freshness decays after 10 stock button frames without an OP tx
-    for _ in range(10):
-      self._rx(self._button_msg(Btn.NONE, main_on=True))
-    self.assertEqual(2, self.safety.safety_fwd_hook(0, 0x296))
-
 
 class TestHondaBoschRadarlessSafety(HondaPcmEnableBase, TestHondaBoschRadarlessSafetyBase):
   """
@@ -672,9 +645,9 @@ class TestHondaBoschRadarlessLongSafety(common.LongitudinalAccelSafetyTest, Hond
   """
     Covers the Honda Bosch Radarless safety mode with longitudinal control
   """
-  TX_MSGS = [[0xE4, 0], [0x33D, 0], [0x1C8, 0], [0x30C, 0], [0x296, 2], [0x6CD5554, 0], [0xF31AA54, 0], [0x6CD5557, 0]]
+  TX_MSGS = [[0xE4, 0], [0x33D, 0], [0x1C8, 0], [0x30C, 0]]
-  FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x33D, 0x1C8, 0x30C, 0x6CD5554, 0xF31AA54, 0x6CD5557]}
+  FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x33D, 0x1C8, 0x30C]}
-  RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x1C8, 0x30C, 0x33D, 0x6CD5554, 0xF31AA54, 0x6CD5557)}
+  RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x1C8, 0x30C, 0x33D)}
 
   def setUp(self):
     super().setUp()

artifacts/package_sources/iqdbc/iqdbc/safety/tests/test_toyota.py

@@ -91,6 +91,35 @@ class TestToyotaSafetyBase(common.CarSafetyTest, common.LongitudinalAccelSafetyT
     values = {"MAIN_ON": enabled}
     return self.packer.make_can_msg_safety(msg, 0, values)
 
+  def _lkas_button_msg(self, lkas_button=False, lda_value=None):
+    values = {"LDA_ON_MESSAGE": (1 if lkas_button else 0) if lda_value is None else lda_value}
+    return self.packer.make_can_msg_safety("LKAS_HUD", 2, values)
+
+  def test_enable_control_allowed_with_aol_button(self):
+    for enable_aol in (True, False):
+      with self.subTest("enable_aol", aol_enabled=enable_aol):
+        self.safety.set_aol_params(enable_aol, False, False)
+
+        self._rx(self._lkas_button_msg(False))
+        self.assertEqual(0, self.safety.get_aol_button_press())
+        self.assertFalse(self.safety.get_controls_allowed_lat())
+
+        self._rx(self._lkas_button_msg(True))
+        self.assertEqual(1, self.safety.get_aol_button_press())
+        self.assertEqual(enable_aol, self.safety.get_controls_allowed_lat())
+
+        self._rx(self._lkas_button_msg(False))
+        self.assertEqual(0, self.safety.get_aol_button_press())
+        self.assertEqual(enable_aol, self.safety.get_controls_allowed_lat())
+
+        self.safety.set_controls_allowed_lat(False)
+        self._rx(self._lkas_button_msg(False, lda_value=2))
+        self.assertEqual(1, self.safety.get_aol_button_press())
+        self.assertEqual(enable_aol, self.safety.get_controls_allowed_lat())
+        self._rx(self._lkas_button_msg(False))
+        self.safety.set_controls_allowed_lat(False)
+        self.safety.set_aol_params(False, False, False)
+
   def test_diagnostics(self, stock_longitudinal: bool = False, ecu_disabled: bool = True):
     for should_tx, msg in ((False, b"\x6D\x02\x3E\x00\x00\x00\x00\x00"),  # fwdCamera tester present
                            (False, b"\x0F\x03\xAA\xAA\x00\x00\x00\x00"),  # non-tester present

iqpilot/iq_maps/tile_bundle_downloader.py

@@ -161,13 +161,15 @@ def _resolve_object_url(session: requests.Session, url: str, headers: dict) -> t
   probe = session.get(url, headers={**headers, "Accept-Encoding": None}, stream=True,
                       timeout=HTTP_TIMEOUT_S)
   probe.raise_for_status()
+  # A host that serves the bytes itself still needs the caller's auth on the real GET --
+  # returning {} here sends the download out anonymous and a private host answers 401.
   if int(probe.headers.get("content-length") or 0) >= 1024:
     probe.close()
-    return url, {}
+    return url, dict(headers)
   body = probe.content
   probe.close()
   if not body.startswith(LFS_POINTER_MAGIC):
-    return url, {}
+    return url, dict(headers)
 
   meta = dict(line.split(" ", 1) for line in body.decode().strip().splitlines() if " " in line)
   oid = meta["oid"].split(":", 1)[1]