      ]
  
      if not CP.openpilotLongitudinalControl:
        checks += [
          ("SCC11", 50),
          ("SCC12", 50),
        ]
  
        if CP.carFingerprint in FEATURES["use_fca"]:
 
</s> remove 
      ("MainMode_ACC", "SCC11", 0),
      ("VSetDis", "SCC11", 0),
      ("SCCInfoDisplay", "SCC11", 0),
      ("ACC_ObjDist", "SCC11", 0),
      ("ACCMode", "SCC12", 1),
 </s> add  </s> remove       disable_radar(logcan, sendcan)
 </s> add       disable_ecu(logcan, sendcan, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03') </s> remove     if self.CP.carFingerprint in FEATURES["use_fca"]:
      ret.stockAeb = cp.vl["FCA11"]["FCA_CmdAct"] != 0
      ret.stockFcw = cp.vl["FCA11"]["CF_VSM_Warn"] == 2
    else:
      ret.stockAeb = cp.vl["SCC12"]["AEB_CmdAct"] != 0
      ret.stockFcw = cp.vl["SCC12"]["CF_VSM_Warn"] == 2
 </s> add     if not self.CP.openpilotLongitudinalControl:
      if self.CP.carFingerprint in FEATURES["use_fca"]:
        ret.stockAeb = cp.vl["FCA11"]["FCA_CmdAct"] != 0
        ret.stockFcw = cp.vl["FCA11"]["CF_VSM_Warn"] == 2
      else:
        ret.stockAeb = cp.vl["SCC12"]["AEB_CmdAct"] != 0
        ret.stockFcw = cp.vl["SCC12"]["CF_VSM_Warn"] == 2
      signals += [
        ("MainMode_ACC", "SCC11", 0),
        ("VSetDis", "SCC11", 0),
        ("SCCInfoDisplay", "SCC11", 0),
        ("ACC_ObjDist", "SCC11", 0),
        ("ACCMode", "SCC12", 1),
      ]

      ]
  
      if not CP.openpilotLongitudinalControl:
      signals += [
        ("MainMode_ACC", "SCC11", 0),
        ("VSetDis", "SCC11", 0),
        ("SCCInfoDisplay", "SCC11", 0),
        ("ACC_ObjDist", "SCC11", 0),
        ("ACCMode", "SCC12", 1),
      ]

        checks += [
          ("SCC11", 50),
          ("SCC12", 50),
        ]
  
        if CP.carFingerprint in FEATURES["use_fca"]:
keep keep add keep keep keep keep keep keep
 Hyundai longitudinal prerequisites (#22121)

* panda

* bring over changes

* dont check car model

* remove comment

* fix typo

* more stuff gated behind long

* not

* not used

* gate that too

* try honda tuning

* clip accel values

* fix up merge

* fix stopping

* add retry logic around knockout

* increase timeout

* keep flipping lead bit

* true for now

* less tuning

* update comment

* 0.1 s is fine now

* merge honda and hyundai knockout

* more lead fields

* another obj bit

* increase timeout

* fix stopping flag

* only lag compensate for braking

* no lead

* less tuning

* only do knockout if not readonly

* try controlling using jerk

* tuning

* try higher stopping rate

* set stopping flag at higher speed

* clip upper jerk when stopping

* remove comments

* tester present 1hz

* use positive start accel

* 1.0 to maybe improve low speed stuff

* no point going over 0

* bump panda

* bump panda

* revert that change

* update ref 
selfdrive/car/hyundai/carstate.py