The Seal's camera faults (ACC + ADAS + AEB warning lights, 'unable to
activate ADAS') because panda neutralizes its intercepted 790 LKAS
commands while the camera watches the 508 feedback for execution —
seeing its requests ignored, it disables the whole ADAS suite.
The Han avoids this by echoing the camera's request back in the 792
feedback; the Seal needs the same on its 508 STEERING_TORQUE_ANGLE:
- bydcan.create_steering_torque_angle: mirrors the Han spoof logic on
the 508 layout — when camera LKAS is active, echo its 790 torque
request into MAIN_TORQUE and its 482 angle request into TARGET_ANGLE
with Cruise_Activated=1; prepare -> LKSPrepare=1; passive -> neutral
- carcontroller: Seal sends the 508 spoof, Han keeps the 792 spoof
- carstate: capture the camera's 482 angle command for the spoof
- panda: whitelist 508 TX on bus 2 (absolute-limit check), stock 508
blocked 0->2 via check_relay — one config covers both platforms
- firmware rebuilt; spoof decode-verified (camera's exact torque+angle
echoed back); 120 safety tests + MISRA clean
NOTE: the ADAS fault latches — the car needs a full power cycle (or a
few minutes off) after flashing this build for the dash warnings to
clear.
Quintine