commaai · stefpi · Apr 3, 2026 · Apr 3, 2026 · Apr 3, 2026 · Apr 3, 2026
diff --git a/.gitmodules b/.gitmodules
@@ -1,9 +1,11 @@
 [submodule "panda"]
   path = panda
   url = ../../commaai/panda.git
+  branch = body-v1-update
 [submodule "opendbc"]
   path = opendbc_repo
   url = ../../commaai/opendbc.git
+  branch = body-v1-update
 [submodule "msgq"]
   path = msgq_repo
   url = ../../commaai/msgq.git

diff --git a/common/params_keys.h b/common/params_keys.h
@@ -15,6 +15,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"AthenadPid", {PERSISTENT, INT}},
     {"AthenadUploadQueue", {PERSISTENT, JSON}},
     {"AthenadRecentlyViewedRoutes", {PERSISTENT, STRING}},
+    {"BodyFirmwareFlashing", {CLEAR_ON_MANAGER_START, BOOL}},
     {"BootCount", {PERSISTENT, INT}},
     {"CalibrationParams", {PERSISTENT, BYTES}},
     {"CameraDebugExpGain", {CLEAR_ON_MANAGER_START, STRING}},

diff --git a/opendbc_repo b/opendbc_repo
diff --git a/panda b/panda
diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
@@ -187,6 +187,12 @@ std::optional<bool> send_panda_states(PubMaster *pm, Panda *panda, bool is_onroa
     health.ignition_line_pkt = 1;
   }
 
+  static Params params;
+  if (params.getBool("BodyFirmwareFlashing")) {
+    health.ignition_line_pkt = 1;
+    health.safety_mode_pkt = (uint8_t)(cereal::CarParams::SafetyModel::BODY);
+  }
+
   bool ignition_local = ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0));
 
   // Make sure CAN buses are live: safety_setter_thread does not work if Panda CAN are silent and there is only one other CAN node
@@ -341,9 +347,9 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control)
     }
 
     if (ir_pwr != prev_ir_pwr || sm.frame % 100 == 0) {
-      int16_t ir_panda = util::map_val(ir_pwr, 0, 100, 0, MAX_IR_PANDA_VAL); 
+      int16_t ir_panda = util::map_val(ir_pwr, 0, 100, 0, MAX_IR_PANDA_VAL);
       panda->set_ir_pwr(ir_panda);
-      Hardware::set_ir_power(ir_pwr); 
+      Hardware::set_ir_power(ir_pwr);
       prev_ir_pwr = ir_pwr;
     }
   }
@@ -367,7 +373,7 @@ void pandad_run(Panda *panda) {
 
   // Main loop: receive CAN data and process states
   while (!do_exit && check_connected(panda)) {
-    can_recv(panda, &pm);
+    if (!params.getBool("BodyFirmwareFlashing")) can_recv(panda, &pm);
 
     // Process peripheral state at 20 Hz
     if (rk.frame() % 5 == 0) {
+5 −0		opendbc/car/body/interface.py
+9 −9		opendbc/car/hyundai/carcontroller.py
+2 −2		opendbc/car/hyundai/carstate.py
+4 −4		opendbc/car/hyundai/hyundaicanfd.py
+18 −17		opendbc/car/hyundai/interface.py
+1 −1		opendbc/car/hyundai/tests/test_hyundai.py
+34 −13		opendbc/car/hyundai/values.py
+24 −24		opendbc/safety/modes/hyundai_canfd.h
+4 −4		opendbc/safety/modes/hyundai_common.h
+2 −2		opendbc/safety/tests/safety_replay/helpers.py
+4 −4		opendbc/safety/tests/test_hyundai_canfd.py
+115 −0		board/body/v1/flash.py
+13 −2		python/__init__.py
+52 −0		python/can.py
+14 −0		python/constants.py