Openpilot Steering below 55 km/h For Genesis 2016

All systems connected to the C-CAN are connected via joint connectors which are T junction. To achieve steering down to zero, MDPS must be tricked by modifying the speed message issued by instrument cluster to be higher than 60 km / h in case the speed is less than that. To do this, the MDPS must be isolated from C-CAN and connected to the panda in order to modify messages sent to MDPS. <a href="https://medium.com/@xx979xx/openpilot-steer-below-55-km-h-genesis-2016-6e7f7eacd351">Click Here</a>