IQ.Pilot Release Commit @ 322eda2

README.md

@@ -6,7 +6,7 @@
 
 ## Running IQ.Pilot
 * A modern comma, or clone device to run this software (Comma 3, 3x, 4, Konik A1/M, Mr.One C3, C3 Lite)
-* One of [the supported cars](https://gitlvb.teallvbs.xyz/IQ.Lvbs/IQ.Pilot/src/branch/release/opendbc_repo/docs/CARS.md).
+* One of [the supported cars](https://gitlvb.teallvbs.xyz/IQ.Lvbs/IQ.Pilot/src/branch/release/iqdbc_repo/docs/CARS.md).
 * A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car
 #### Side Note: Volkswagen Group, and Tesla vehicles are currently the most compatible for use with IQ.Pilot, other manufacturers are supported at a minimum to the same level as stock openpilot, but are not a top priority while we are in beta.
 ## Installation

SConstruct

@@ -208,7 +208,7 @@ Export('common')
 env_swaglog = env.Clone()
 env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
 SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
-SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
+SConscript(['iqdbc_repo/SConscript'], exports={'env': env_swaglog})
 
 SConscript(['cereal/SConscript'])
 

artifacts/iqpilot_hephaestusd_private/manifest.json

@@ -16,23 +16,28 @@
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@@ -41,67 +46,67 @@
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@@ -111,7 +116,7 @@
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   }
 }

cereal/car.capnp

@@ -1 +1 @@
-../opendbc_repo/opendbc/car/car.capnp
+../iqdbc_repo/iqdbc/car/car.capnp

cereal/custom.capnp

@@ -319,7 +319,6 @@ struct IQOnroadEvent @0xf4621d3ee9233bc9 {
 }
 
 struct IQCarParams @0xd4189b5c8aca9f78 {
-  # Data fields first (packed into the struct data section), pointer field last.
   # Ordinals are IQ-native; all consumers access by name. Live copies self-heal
   # via CLEAR_ON_MANAGER_START on the "IQCarParams" param; the persistent cache
   # is versioned separately (see IQCarParamsPersistentV2).
@@ -329,6 +328,7 @@ struct IQCarParams @0xd4189b5c8aca9f78 {
   enableGasInterceptor @3 :Bool;
 
   iqLateralNet @4 :LateralNet;
+  longitudinalStoppingSpeedOverride @5 :Float32;  # m/s; zero keeps the upstream default
 
   struct LateralNet {
     fuzzyFingerprint @0 :Bool;

cereal/log.capnp

@@ -70,12 +70,12 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     longitudinalManeuver @30;
     steerTempUnavailableSilent @31;
     resumeRequired @32;
-    preDriverDistracted @33;
-    promptDriverDistracted @34;
-    driverDistracted @35;
-    preDriverUnresponsive @36;
-    promptDriverUnresponsive @37;
-    driverUnresponsive @38;
+    driverDistracted1 @33;
+    driverDistracted2 @34;
+    driverDistracted3 @35;
+    driverUnresponsive1 @36;
+    driverUnresponsive2 @37;
+    driverUnresponsive3 @38;
     belowSteerSpeed @39;
     lowBattery @40;
     accFaulted @41;
@@ -2183,6 +2183,7 @@ struct DriverStateV2 {
     rightBlinkProb @8 :Float32;
     sunglassesProb @9 :Float32;
     phoneProb @13 :Float32;
+    sleepProb @14 :Float32;
     notReadyProbDEPRECATED @12 :List(Float32);
     occludedProbDEPRECATED @10 :Float32;
     readyProbDEPRECATED @11 :List(Float32);
@@ -2224,7 +2225,7 @@ struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
   stdDEPRECATED @2 :Float32;
 }
 
-struct DriverMonitoringState @0xb83cda094a1da284 {
+struct DriverMonitoringStateDEPRECATED @0xb83cda094a1da284 {
   events @18 :List(OnroadEvent);
   faceDetected @1 :Bool;
   isDistracted @2 :Bool;
@@ -2250,6 +2251,81 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
   eventsDEPRECATED @0 :List(Car.OnroadEventDEPRECATED);
 }
 
+struct DriverMonitoringState {
+  lockout @0 :Bool;
+  lockoutCount @15 :Int8;
+  lockoutMinutesRemaining @11 :Int8;
+  alert3Count @12 :Int8;
+  noResponseCount @13 :Int8;
+  noResponseForceDecel @14 :Bool;
+
+  alwaysOn @3 :Bool;
+  alwaysOnLockout @4 :Bool;
+
+  alertLevel @5 :AlertLevel;
+  activePolicy @6 :MonitoringPolicy;
+  isRHD @7 :Bool;
+  rhdCalibration @8 :CalibrationState;
+
+  visionPolicyState @9 :VisionPolicyState;
+  wheeltouchPolicyState @10 :WheeltouchPolicyState;
+
+  enum AlertLevel {
+    none @0;
+    one @1;
+    two @2;
+    three @3;
+  }
+
+  enum MonitoringPolicy {
+    wheeltouch @0;
+    vision @1;
+  }
+
+  struct VisionPolicyState {
+    awarenessPercent @0 :Int8;
+    awarenessStep @1 :Float32;
+    isDistracted @2 :Bool;
+    distractedTypes @3 :DistractedTypes;
+
+    faceDetected @4 :Bool;
+    pose @5 :Pose;
+    wheeltouchFallbackPercent @6 :Int8;
+    uncertainOffroadAlertPercent @7 :Int8;
+
+    struct DistractedTypes {
+      pose @0: Bool;
+      eye @1: Bool;
+      phone @2: Bool;
+    }
+
+    struct Pose {
+      pitch @0 :Float32;
+      yaw @1 :Float32;
+      pitchCalib @2 :CalibrationState;
+      yawCalib @3 :CalibrationState;
+      calibrated @4 :Bool;
+      uncertainty @5 :Float32;
+    }
+  }
+
+  struct WheeltouchPolicyState {
+    awarenessPercent @0 :Int8;
+    awarenessStep @1 :Float32;
+    driverInteracting @2 :Bool;
+  }
+
+  struct CalibrationState {
+    calibratedPercent @0 :Int8;
+    offset @1 :Float32;
+  }
+
+  deprecated :group {
+    alertCountLockoutPercent @1 :Int8;
+    alertTimeLockoutPercent @2 :Int8;
+  }
+}
+
 struct Boot {
   wallTimeNanos @0 :UInt64;
   pstore @4 :Map(Text, Data);
@@ -2570,7 +2646,7 @@ struct Event {
     thumbnail @66: Thumbnail;
     onroadEvents @134: List(OnroadEvent);
     carParams @69: Car.CarParams;
-    driverMonitoringState @71: DriverMonitoringState;
+    driverMonitoringState @165: DriverMonitoringState;
     livePose @129 :LivePose;
     modelV2 @75 :ModelDataV2;
     drivingModelData @128 :DrivingModelData;
@@ -2693,6 +2769,7 @@ struct Event {
     wifiScanDEPRECATED @29 :List(Legacy.WifiScan);
     uiNavigationEventDEPRECATED @50 :Legacy.UiNavigationEvent;
     liveMapDataDEPRECATED @62 :LiveMapDataDEPRECATED;
+    driverMonitoringStateDEPRECATED @71 :DriverMonitoringStateDEPRECATED;
     gpsPlannerPointsDEPRECATED @40 :Legacy.GPSPlannerPoints;
     gpsPlannerPlanDEPRECATED @41 :Legacy.GPSPlannerPlan;
     applanixRawDEPRECATED @42 :Data;

common/params.cc

@@ -103,12 +103,10 @@ Params::~Params() {
   assert(queue.empty());
 }
 
-std::vector<std::string> Params::allKeys(ParamKeyFlag flag) const {
+std::vector<std::string> Params::allKeys() const {
   std::vector<std::string> ret;
   for (auto &p : keys) {
-    if (flag == ALL || (p.second.flags & flag)) {
-      ret.push_back(p.first);
-    }
+    ret.push_back(p.first);
   }
   return ret;
 }

common/params.h

@@ -18,7 +18,6 @@ enum ParamKeyFlag {
   DONT_LOG = 0x20,
   DEVELOPMENT_ONLY = 0x40,
   CLEAR_ON_IGNITION_ON = 0x80,
-  BACKUP = 0x100,
   ALL = 0xFFFFFFFF
 };
 
@@ -46,7 +45,7 @@ public:
   Params(const Params&) = delete;
   Params& operator=(const Params&) = delete;
 
-  std::vector<std::string> allKeys(ParamKeyFlag flag = ALL) const;
+  std::vector<std::string> allKeys() const;
   bool checkKey(const std::string &key);
   ParamKeyFlag getKeyFlag(const std::string &key);
   ParamKeyType getKeyType(const std::string &key);

common/params_keys.h

@@ -7,8 +7,8 @@
 
 inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"AccessToken", {CLEAR_ON_MANAGER_START | DONT_LOG, STRING}},
-    {"AdbEnabled", {PERSISTENT | BACKUP, BOOL}},
-    {"AlwaysOnDM", {PERSISTENT | BACKUP, BOOL}},
+    {"AdbEnabled", {PERSISTENT, BOOL}},
+    {"AlwaysOnDM", {PERSISTENT, BOOL}},
     {"ApiCache_Device", {PERSISTENT, STRING}},
     {"ApiCache_FirehoseStats", {PERSISTENT, JSON}},
     {"AssistNowToken", {PERSISTENT, STRING}},
@@ -31,20 +31,21 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CurrentBootlog", {PERSISTENT, STRING}},
     {"CurrentRoute", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, STRING}},
     {"DisableLogging", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
-    {"DisablePowerDown", {PERSISTENT | BACKUP, BOOL}},
-    {"DisableUpdates", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"UpdaterInstallMode", {PERSISTENT | BACKUP, STRING, "download_and_install"}},
-    {"DisengageOnAccelerator", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"DisablePowerDown", {PERSISTENT, BOOL}},
+    {"DisableUpdates", {PERSISTENT, BOOL, "0"}},
+    {"UpdaterInstallMode", {PERSISTENT, STRING, "download_and_install"}},
+    {"DisengageOnAccelerator", {PERSISTENT, BOOL, "0"}},
     {"DongleId", {PERSISTENT, STRING}},
     {"DoReboot", {CLEAR_ON_MANAGER_START, BOOL}},
     {"DevicePowerState", {CLEAR_ON_MANAGER_START, STRING}},
     {"DoShutdown", {CLEAR_ON_MANAGER_START, BOOL}},
     {"DoUninstall", {CLEAR_ON_MANAGER_START, BOOL}},
     {"DriverTooDistracted", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, BOOL}},
-    {"AlphaLongitudinalEnabled", {PERSISTENT | BACKUP, BOOL}},
-    {"ExperimentalMode", {PERSISTENT | BACKUP, BOOL}},
-    {"ExperimentalModeConfirmed", {PERSISTENT | BACKUP, BOOL}},
-    {"FastSleep", {PERSISTENT | BACKUP, BOOL}},
+    {"DriverLockoutCount", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, INT, "0"}},
+    {"AlphaLongitudinalEnabled", {PERSISTENT, BOOL}},
+    {"ExperimentalMode", {PERSISTENT, BOOL}},
+    {"ExperimentalModeConfirmed", {PERSISTENT, BOOL}},
+    {"FastSleep", {PERSISTENT, BOOL}},
     {"FirmwareQueryDone", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"ForcePowerDown", {PERSISTENT, BOOL}},
     {"GitAuthBlob", {PERSISTENT, BYTES}},
@@ -52,21 +53,21 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"GitCommit", {PERSISTENT, STRING}},
     {"GitCommitDate", {PERSISTENT, STRING}},
     {"GitDiff", {PERSISTENT, STRING}},
-    {"GithubSshKeys", {PERSISTENT | BACKUP, STRING}},
-    {"GithubUsername", {PERSISTENT | BACKUP, STRING}},
+    {"GithubSshKeys", {PERSISTENT, STRING}},
+    {"GithubUsername", {PERSISTENT, STRING}},
     {"GitRemote", {PERSISTENT, STRING}},
-    {"GsmApn", {PERSISTENT | BACKUP, STRING}},
-    {"GsmMetered", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"GsmRoaming", {PERSISTENT | BACKUP, BOOL}},
+    {"GsmApn", {PERSISTENT, STRING}},
+    {"GsmMetered", {PERSISTENT, BOOL, "1"}},
+    {"GsmRoaming", {PERSISTENT, BOOL}},
     {"HardwareSerial", {PERSISTENT, STRING}},
     {"HasAcceptedTerms", {PERSISTENT, STRING, "0"}},
     {"HephaestusdPid", {PERSISTENT, INT}},
     {"InstallDate", {PERSISTENT, TIME}},
     {"IsDriverViewEnabled", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsEngaged", {PERSISTENT, BOOL}},
-    {"IsLdwEnabled", {PERSISTENT | BACKUP, BOOL}},
+    {"IsLdwEnabled", {PERSISTENT, BOOL}},
     {"IsLiveStreaming", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"IsMetric", {PERSISTENT | BACKUP, BOOL}},
+    {"IsMetric", {PERSISTENT, BOOL}},
     {"IsOffroad", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsOnroad", {PERSISTENT, BOOL}},
     {"IsRhdDetected", {PERSISTENT, BOOL}},
@@ -77,7 +78,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"JoystickAolRequest", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, STRING}},
     {"Konn3ktSshKeys", {PERSISTENT, STRING}},
     {"Konn3ktBleTransportEnabled", {PERSISTENT, BOOL, "1"}},
-    {"LanguageSetting", {PERSISTENT | BACKUP, STRING, "en"}},
+    {"Konn3ktLibdatachannelWebRTC", {PERSISTENT, BOOL, "0"}},
+    {"LanguageSetting", {PERSISTENT, STRING, "en"}},
     {"LastAthenaPingTime", {CLEAR_ON_MANAGER_START, INT}},
     {"LastGPSPosition", {PERSISTENT, STRING}},
     {"LastManagerExitReason", {CLEAR_ON_MANAGER_START, STRING}},
@@ -88,7 +90,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LastUpdateRouteCount", {PERSISTENT, INT, "0"}},
     {"LastUpdateTime", {PERSISTENT, TIME}},
     {"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
-    {"LiveDelay", {PERSISTENT | BACKUP, BYTES}},
+    {"LiveDelay", {PERSISTENT, BYTES}},
     {"LiveParameters", {PERSISTENT, JSON}},
     {"LiveParametersV2", {PERSISTENT, BYTES}},
     {"LivestreamEncoderBitrate", {CLEAR_ON_MANAGER_START | DONT_LOG, INT}},
@@ -97,8 +99,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LocationFilterInitialState", {PERSISTENT, BYTES}},
     {"LateralManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"LongitudinalManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
-    {"LongitudinalPersonality", {PERSISTENT | BACKUP, INT, std::to_string(static_cast<int>(cereal::LongitudinalPersonality::STANDARD))}},
-    {"NetworkMetered", {PERSISTENT | BACKUP, BOOL}},
+    {"LongitudinalPersonality", {PERSISTENT, INT, std::to_string(static_cast<int>(cereal::LongitudinalPersonality::STANDARD))}},
+    {"NetworkMetered", {PERSISTENT, BOOL}},
     {"ObdMultiplexingChanged", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"ObdMultiplexingEnabled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"Offroad_CarUnrecognized", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
@@ -114,26 +116,26 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"Offroad_UnregisteredHardware", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_UpdateFailed", {CLEAR_ON_MANAGER_START, JSON}},
     {"OnroadCycleRequested", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"OpenpilotEnabledToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"OpenpilotEnabledToggle", {PERSISTENT, BOOL, "1"}},
     {"PandaHeartbeatLost", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"PandaSomResetTriggered", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"PandaSignatures", {CLEAR_ON_MANAGER_START, BYTES}},
     {"PrimeType", {PERSISTENT, INT}},
-    {"RecordAudio", {PERSISTENT | BACKUP, BOOL}},
-    {"RecordAudioFeedback", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"DashcamEnabled", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"RecordFront", {PERSISTENT | BACKUP, BOOL}},
+    {"RecordAudio", {PERSISTENT, BOOL}},
+    {"RecordAudioFeedback", {PERSISTENT, BOOL, "0"}},
+    {"DashcamEnabled", {PERSISTENT, BOOL, "1"}},
+    {"RecordFront", {PERSISTENT, BOOL}},
     {"RecordFrontLock", {PERSISTENT, BOOL}},  // for the internal fleet
-    {"SecOCKey", {PERSISTENT | DONT_LOG | BACKUP, STRING}},
+    {"SecOCKey", {PERSISTENT | DONT_LOG, STRING}},
     {"ShowDebugInfo", {PERSISTENT, BOOL}},
     {"RouteCount", {PERSISTENT, INT, "0"}},
     {"SnoozeUpdate", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
-    {"SshEnabled", {PERSISTENT | BACKUP, BOOL}},
+    {"SshEnabled", {PERSISTENT, BOOL}},
     {"TermsVersion", {PERSISTENT, STRING}},
-    {"TorqueBar", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"TorqueBar", {PERSISTENT, BOOL, "0"}},
     {"TrainingVersion", {PERSISTENT, STRING}},
     {"UbloxAvailable", {PERSISTENT, BOOL}},
-    {"UsbStorageEnabled", {PERSISTENT | BACKUP, BOOL}},
+    {"UsbStorageEnabled", {PERSISTENT, BOOL}},
     {"UpdateAvailable", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"UpdateFailedCount", {CLEAR_ON_MANAGER_START, INT}},
     {"UpdaterAvailableBranches", {PERSISTENT, STRING}},
@@ -151,132 +153,132 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
 
     // --- iqpilot params --- //
     {"ApiCache_DriveStats", {PERSISTENT, JSON}},
-    {"AutoLaneChangeBsmDelay", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"AutoLaneChangeTimer", {PERSISTENT | BACKUP, INT, "0"}},
-    {"NavExitLaneChange", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"IQBlinkerMinLateralSpeed", {PERSISTENT | BACKUP, INT, "20"}},  // MPH or km/h
-    {"IQBlinkerPauseLateral", {PERSISTENT | BACKUP, INT, "0"}},
-    {"Brightness", {PERSISTENT | BACKUP, INT, "0"}},
+    {"AutoLaneChangeBsmDelay", {PERSISTENT, BOOL, "0"}},
+    {"AutoLaneChangeTimer", {PERSISTENT, INT, "0"}},
+    {"NavExitLaneChange", {PERSISTENT, BOOL, "0"}},
+    {"IQBlinkerMinLateralSpeed", {PERSISTENT, INT, "20"}},  // MPH or km/h
+    {"IQBlinkerPauseLateral", {PERSISTENT, INT, "0"}},
+    {"Brightness", {PERSISTENT, INT, "0"}},
     {"CarList", {PERSISTENT, JSON}},
     {"IQCarParams", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES}},
     {"IQCarParamsCache", {CLEAR_ON_MANAGER_START, BYTES}},
     {"IQCarParamsPersistent", {PERSISTENT, BYTES}},
     {"IQCarParamsPersistentV2", {PERSISTENT, BYTES}},
-    {"CarPlatformBundle", {PERSISTENT | BACKUP, JSON}},
-    {"ChevronInfo", {PERSISTENT | BACKUP, INT, "4"}},
-    {"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
-    {"IQDevUIInfo", {PERSISTENT | BACKUP, INT, "0"}},
-    {"EnableEsimProvisioning", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"GreenLightAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
+    {"CarPlatformBundle", {PERSISTENT, JSON}},
+    {"ChevronInfo", {PERSISTENT, INT, "4"}},
+    {"DeviceBootMode", {PERSISTENT, INT, "0"}},
+    {"IQDevUIInfo", {PERSISTENT, INT, "0"}},
+    {"EnableEsimProvisioning", {PERSISTENT, BOOL, "1"}},
+    {"GreenLightAlert", {PERSISTENT, BOOL, "0"}},
+    {"InteractivityTimeout", {PERSISTENT, INT, "0"}},
     {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsReleaseIqBranch", {CLEAR_ON_MANAGER_START, BOOL}},
     {"LastGPSPositionIQLoc", {PERSISTENT, STRING}},
-    {"LeadDepartAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"LongIncrementsEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"LongIncrementTapStep", {PERSISTENT | BACKUP, INT, "1"}},
-    {"LongIncrementHoldStep", {PERSISTENT | BACKUP, INT, "5"}},
-    {"IQE2ESetSpeedMode", {PERSISTENT | BACKUP, INT, "0"}},
-    {"IQE2ESetSpeedUseCurrent", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"IQE2ESetSpeedMph", {PERSISTENT | BACKUP, INT, "65"}},
-    {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
-    {"NightMode", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"newLeadMpc", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"LeadDepartAlert", {PERSISTENT, BOOL, "0"}},
+    {"LongIncrementsEnabled", {PERSISTENT, BOOL, "0"}},
+    {"LongIncrementTapStep", {PERSISTENT, INT, "1"}},
+    {"LongIncrementHoldStep", {PERSISTENT, INT, "5"}},
+    {"IQE2ESetSpeedMode", {PERSISTENT, INT, "0"}},
+    {"IQE2ESetSpeedUseCurrent", {PERSISTENT, BOOL, "0"}},
+    {"IQE2ESetSpeedMph", {PERSISTENT, INT, "65"}},
+    {"MaxTimeOffroad", {PERSISTENT, INT, "1800"}},
+    {"NightMode", {PERSISTENT, BOOL, "0"}},
+    {"newLeadMpc", {PERSISTENT, BOOL, "1"}},
     {"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
     {"ForceOnroadUntil", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
     {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
     {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
-    {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "0"}},
-    {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "15"}},
-    {"OnScreenNavigation", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"OnlineOSMaps", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"OfflineOSMaps", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"OSMapsStyleMode", {PERSISTENT | BACKUP, INT, "0"}},
-    {"OSMapsHeadingUp", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"OnroadScreenOffBrightness", {PERSISTENT, INT, "0"}},
+    {"OnroadScreenOffTimer", {PERSISTENT, INT, "15"}},
+    {"OnScreenNavigation", {PERSISTENT, BOOL, "0"}},
+    {"OnlineOSMaps", {PERSISTENT, BOOL, "1"}},
+    {"OfflineOSMaps", {PERSISTENT, BOOL, "0"}},
+    {"OSMapsStyleMode", {PERSISTENT, INT, "0"}},
+    {"OSMapsHeadingUp", {PERSISTENT, BOOL, "1"}},
     {"OfflineTilesBaseUrl", {PERSISTENT, STRING}},
-    {"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"IQAlertSilence", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"RocketFuel", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"OnroadUploads", {PERSISTENT, BOOL, "1"}},
+    {"IQAlertSilence", {PERSISTENT, BOOL, "0"}},
+    {"RainbowMode", {PERSISTENT, BOOL, "0"}},
+    {"RocketFuel", {PERSISTENT, BOOL, "0"}},
+    {"ShowTurnSignals", {PERSISTENT, BOOL, "0"}},
+    {"StandstillTimer", {PERSISTENT, BOOL, "0"}},
     // AOL (Always On Lateral) params
-    {"AolEnabled", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"AolMainCruiseAllowed", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"AolSteeringMode", {PERSISTENT | BACKUP, INT, "0"}},
-    {"AolUnifiedEngagementMode", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"AolEnabled", {PERSISTENT, BOOL, "1"}},
+    {"AolMainCruiseAllowed", {PERSISTENT, BOOL, "1"}},
+    {"AolSteeringMode", {PERSISTENT, INT, "0"}},
+    {"AolUnifiedEngagementMode", {PERSISTENT, BOOL, "1"}},
 
     // Model Manager params
     {"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
     {"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
     {"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT, "-1"}},
-    {"ModelManager_Favs", {PERSISTENT | BACKUP, STRING}},
+    {"ModelManager_Favs", {PERSISTENT, STRING}},
     {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
-    {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
+    {"ModelManager_ModelsCache", {PERSISTENT, JSON}},
 
     // Neural Network Feed Forward
-    {"NeuralNetworkFeedForward", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"NeuralNetworkFeedForward", {PERSISTENT, BOOL, "0"}},
 
     // Backup Manager params
     {"BackupManager_CreateBackup", {PERSISTENT, BOOL}},
     {"BackupManager_RestoreVersion", {PERSISTENT, STRING}},
 
     // iqpilot car specific params
-    {"HyundaiLongitudinalTuning", {PERSISTENT | BACKUP, INT, "0"}},
-    {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ToyotaEnforceStockLongitudinal", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"HyundaiLongitudinalTuning", {PERSISTENT, INT, "0"}},
+    {"SubaruStopAndGo", {PERSISTENT, BOOL, "0"}},
+    {"SubaruStopAndGoManualParkingBrake", {PERSISTENT, BOOL, "0"}},
+    {"TeslaCoopSteering", {PERSISTENT, BOOL, "0"}},
+    {"ToyotaEnforceStockLongitudinal", {PERSISTENT, BOOL, "0"}},
     {"VwPqEpsPatched", {PERSISTENT, BOOL}},
-    {"ToyotaSnGHack", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"pqhca5or7Toggle", {PERSISTENT | BACKUP, BOOL}},
-    {"iqMqbAccResume", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"iqMqbSteeringLockout", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"AllowLateralWhenLongUnavailable", {PERSISTENT | BACKUP, BOOL}},
+    {"ToyotaSnGHack", {PERSISTENT, BOOL, "0"}},
+    {"pqhca5or7Toggle", {PERSISTENT, BOOL}},
+    {"iqMqbAccResume", {PERSISTENT, BOOL, "0"}},
+    {"iqMqbSteeringLockout", {PERSISTENT, BOOL, "0"}},
+    {"AllowLateralWhenLongUnavailable", {PERSISTENT, BOOL}},
 
-    {"IQDynamicMode", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"IQDynamicBlendStockRadar", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"IQDynamicConditionalCurves", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"IQDynamicConditionalSlowerLead", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"IQDynamicConditionalStoppedLead", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"IQDynamicConditionalModelStops", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"IQDynamicConditionalSLCFallback", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"IQDynamicConditionalSpeed", {PERSISTENT | BACKUP, FLOAT, "18.0"}},
-    {"IQDynamicConditionalLeadSpeed", {PERSISTENT | BACKUP, FLOAT, "24.0"}},
-    {"IQDynamicModelStopTime", {PERSISTENT | BACKUP, FLOAT, "3.0"}},
-    {"IQDynamicMinimumForceStopLength", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
-    {"IQForceStops", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"IQCustomStopDistance", {PERSISTENT | BACKUP, INT, "0"}},  // meters, -2..2; negative = stop closer, positive = stop further back; independent of IQForceStops
-    {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"IQExpandedStatus", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"IQDynamicMode", {PERSISTENT, BOOL, "0"}},
+    {"IQDynamicBlendStockRadar", {PERSISTENT, BOOL, "0"}},
+    {"IQDynamicConditionalCurves", {PERSISTENT, BOOL, "1"}},
+    {"IQDynamicConditionalSlowerLead", {PERSISTENT, BOOL, "1"}},
+    {"IQDynamicConditionalStoppedLead", {PERSISTENT, BOOL, "1"}},
+    {"IQDynamicConditionalModelStops", {PERSISTENT, BOOL, "1"}},
+    {"IQDynamicConditionalSLCFallback", {PERSISTENT, BOOL, "1"}},
+    {"IQDynamicConditionalSpeed", {PERSISTENT, FLOAT, "18.0"}},
+    {"IQDynamicConditionalLeadSpeed", {PERSISTENT, FLOAT, "24.0"}},
+    {"IQDynamicModelStopTime", {PERSISTENT, FLOAT, "3.0"}},
+    {"IQDynamicMinimumForceStopLength", {PERSISTENT, FLOAT, "0.0"}},
+    {"IQForceStops", {PERSISTENT, BOOL, "1"}},
+    {"IQCustomStopDistance", {PERSISTENT, INT, "0"}},  // meters, -2..2; negative = stop closer, positive = stop further back; independent of IQForceStops
+    {"BlindSpot", {PERSISTENT, BOOL, "0"}},
+    {"IQExpandedStatus", {PERSISTENT, BOOL, "0"}},
     {"HomePanelWidget", {PERSISTENT, STRING, "changelog"}},
 
     // iqpilot model params
-    {"CameraOffset", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
-    {"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"LagdToggleDelay", {PERSISTENT | BACKUP, FLOAT, "0.2"}},
+    {"CameraOffset", {PERSISTENT, FLOAT, "0.0"}},
+    {"LagdToggle", {PERSISTENT, BOOL, "1"}},
+    {"LagdToggleDelay", {PERSISTENT, FLOAT, "0.2"}},
     {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
-    {"LaneChangeBsd", {PERSISTENT | BACKUP, INT, "0"}},          // -1 ignore BSD, 0 default, 1 block lane change on BSD
-    {"LaneChangeContinuous", {PERSISTENT | BACKUP, BOOL, "0"}},  // 0 one-shot per blinker, 1 chain on held blinker (torque-gated)
-    {"LaneChangeDelay", {PERSISTENT | BACKUP, FLOAT, "0.0"}},    // tenths of a second; scaled by 0.1 in desire_helper
-    {"LaneChangeNeedTorque", {PERSISTENT | BACKUP, INT, "0"}},   // <0 disable blinker LC, 0 default, >0 require torque
-    {"IQLaneTurnDesire", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"IQLaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},
-    {"PlanplusControl", {PERSISTENT | BACKUP, FLOAT, "1.0"}},
+    {"LaneChangeBsd", {PERSISTENT, INT, "0"}},          // -1 ignore BSD, 0 default, 1 block lane change on BSD
+    {"LaneChangeContinuous", {PERSISTENT, BOOL, "0"}},  // 0 one-shot per blinker, 1 chain on held blinker (torque-gated)
+    {"LaneChangeDelay", {PERSISTENT, FLOAT, "0.0"}},    // tenths of a second; scaled by 0.1 in desire_helper
+    {"LaneChangeNeedTorque", {PERSISTENT, INT, "0"}},   // <0 disable blinker LC, 0 default, >0 require torque
+    {"IQLaneTurnDesire", {PERSISTENT, BOOL, "0"}},
+    {"IQLaneTurnValue", {PERSISTENT, FLOAT, "19.0"}},
+    {"PlanplusControl", {PERSISTENT, FLOAT, "1.0"}},
     {"LatSmoothSec", {PERSISTENT, INT, "13"}},
-    {"ModelSmoothingEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ModelLatSmoothSec", {PERSISTENT | BACKUP, INT, "0"}},
+    {"ModelSmoothingEnabled", {PERSISTENT, BOOL, "0"}},
+    {"ModelLatSmoothSec", {PERSISTENT, INT, "0"}},
 
     // IQ.Pilot Parameters:
-    {"ShowBSMIndicators", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ShowSteeringArc", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ShowRoadName", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ShowRealTimeAcceleration", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ShowBSMIndicators", {PERSISTENT, BOOL, "0"}},
+    {"ShowSteeringArc", {PERSISTENT, BOOL, "0"}},
+    {"ShowRoadName", {PERSISTENT, BOOL, "0"}},
+    {"ShowRealTimeAcceleration", {PERSISTENT, BOOL, "0"}},
     {"ForceSmallUI", {PERSISTENT, BOOL, "0"}},
-    {"DeveloperUI", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"OBrightness", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"OBrightnessManual", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"OBrightnessDelay", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"DeveloperUI", {PERSISTENT, BOOL, "0"}},
+    {"OBrightness", {PERSISTENT, BOOL, "0"}},
+    {"OBrightnessManual", {PERSISTENT, BOOL, "0"}},
+    {"OBrightnessDelay", {PERSISTENT, BOOL, "0"}},
     {"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
     {"MapdVersion", {PERSISTENT, STRING}},
     {"MapdSettings", {PERSISTENT, JSON}},  // pfeiferj/mapd v2 persistent settings (read/written by the mapd binary)
@@ -290,10 +292,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"AthenaNavigationRoute", {CLEAR_ON_MANAGER_START, JSON}},
     {"NavigationActive", {CLEAR_ON_MANAGER_START, BOOL, "0"}},
     {"NavigationDestination", {CLEAR_ON_MANAGER_START, JSON}},
-    {"NavigationEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"NavigationDebugFlags", {PERSISTENT | BACKUP, JSON}},
+    {"NavigationEnabled", {PERSISTENT, BOOL, "0"}},
+    {"NavigationDebugFlags", {PERSISTENT, JSON}},
     {"NavigationManeuvers", {CLEAR_ON_MANAGER_START, JSON}},
-    {"NavigationPreferences", {PERSISTENT | BACKUP, JSON}},
+    {"NavigationPreferences", {PERSISTENT, JSON}},
     {"NavigationRenderRoute", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
     {"NavigationRecalculateRoutes", {CLEAR_ON_MANAGER_START, BOOL, "0"}},
     {"NavigationRouteAlternatives", {CLEAR_ON_MANAGER_START, JSON}},
@@ -311,37 +313,37 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OsmStateNames", {PERSISTENT, JSON}},
     {"OsmWayTest", {PERSISTENT, STRING}},
     {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
-    {"RoadNameToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"IQSpeedAssistMode", {PERSISTENT | BACKUP, INT, "1"}},
-    {"IQSpeedAssistOffsetType", {PERSISTENT | BACKUP, INT, "0"}},
-    {"IQSpeedAssistPolicy", {PERSISTENT | BACKUP, INT, "3"}},
-    {"IQSpeedAssistValueOffset", {PERSISTENT | BACKUP, INT, "0"}},
-    {"SpeedLimitController", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ConstructionZoneAssist", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"VisionVehicleTracks", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"AmbientTrackDots", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"ConstructionZoneSpeed", {PERSISTENT | BACKUP, INT, "60"}},
-    {"ShowSpeedLimits", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"SLCPolicy", {PERSISTENT | BACKUP, INT, "1"}},
-    {"SLCAutoConfirm", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"SLCSetSpeedToLimit", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"speed_limit_offset1", {PERSISTENT | BACKUP, FLOAT, "0"}},
-    {"speed_limit_offset2", {PERSISTENT | BACKUP, FLOAT, "0"}},
-    {"speed_limit_offset3", {PERSISTENT | BACKUP, FLOAT, "0"}},
-    {"speed_limit_offset4", {PERSISTENT | BACKUP, FLOAT, "0"}},
-    {"speed_limit_offset5", {PERSISTENT | BACKUP, FLOAT, "0"}},
-    {"speed_limit_offset6", {PERSISTENT | BACKUP, FLOAT, "0"}},
-    {"speed_limit_offset7", {PERSISTENT | BACKUP, FLOAT, "0"}},
-    {"SpeedLimitConfirmationHigher", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"SpeedLimitConfirmationLower", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"MapSpeedLookaheadHigher", {PERSISTENT | BACKUP, FLOAT, "5.0"}},
-    {"MapSpeedLookaheadLower", {PERSISTENT | BACKUP, FLOAT, "5.0"}},
-    {"SLCFallbackExperimentalMode", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"SLCFallbackSetSpeed", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"SLCFallbackPreviousSpeedLimit", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"SLCOverrideMethod", {PERSISTENT | BACKUP, INT, "0"}},
-    {"SLCOnlineFiller", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"SLCDataCollection", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"RoadNameToggle", {PERSISTENT, BOOL, "0"}},
+    {"IQSpeedAssistMode", {PERSISTENT, INT, "1"}},
+    {"IQSpeedAssistOffsetType", {PERSISTENT, INT, "0"}},
+    {"IQSpeedAssistPolicy", {PERSISTENT, INT, "3"}},
+    {"IQSpeedAssistValueOffset", {PERSISTENT, INT, "0"}},
+    {"SpeedLimitController", {PERSISTENT, BOOL, "0"}},
+    {"ConstructionZoneAssist", {PERSISTENT, BOOL, "0"}},
+    {"VisionVehicleTracks", {PERSISTENT, BOOL, "0"}},
+    {"AmbientTrackDots", {PERSISTENT, BOOL, "1"}},
+    {"ConstructionZoneSpeed", {PERSISTENT, INT, "60"}},
+    {"ShowSpeedLimits", {PERSISTENT, BOOL, "0"}},
+    {"SLCPolicy", {PERSISTENT, INT, "1"}},
+    {"SLCAutoConfirm", {PERSISTENT, BOOL, "0"}},
+    {"SLCSetSpeedToLimit", {PERSISTENT, BOOL, "0"}},
+    {"speed_limit_offset1", {PERSISTENT, FLOAT, "0"}},
+    {"speed_limit_offset2", {PERSISTENT, FLOAT, "0"}},
+    {"speed_limit_offset3", {PERSISTENT, FLOAT, "0"}},
+    {"speed_limit_offset4", {PERSISTENT, FLOAT, "0"}},
+    {"speed_limit_offset5", {PERSISTENT, FLOAT, "0"}},
+    {"speed_limit_offset6", {PERSISTENT, FLOAT, "0"}},
+    {"speed_limit_offset7", {PERSISTENT, FLOAT, "0"}},
+    {"SpeedLimitConfirmationHigher", {PERSISTENT, BOOL, "1"}},
+    {"SpeedLimitConfirmationLower", {PERSISTENT, BOOL, "0"}},
+    {"MapSpeedLookaheadHigher", {PERSISTENT, FLOAT, "5.0"}},
+    {"MapSpeedLookaheadLower", {PERSISTENT, FLOAT, "5.0"}},
+    {"SLCFallbackExperimentalMode", {PERSISTENT, BOOL, "0"}},
+    {"SLCFallbackSetSpeed", {PERSISTENT, BOOL, "0"}},
+    {"SLCFallbackPreviousSpeedLimit", {PERSISTENT, BOOL, "1"}},
+    {"SLCOverrideMethod", {PERSISTENT, INT, "0"}},
+    {"SLCOnlineFiller", {PERSISTENT, BOOL, "0"}},
+    {"SLCDataCollection", {PERSISTENT, BOOL, "0"}},
     {"MapBoxRequests", {PERSISTENT, JSON}},
     {"OverpassRequests", {PERSISTENT, JSON}},
     {"SpeedLimits", {PERSISTENT, JSON}},
@@ -350,43 +352,37 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"UpdateSpeedLimits", {CLEAR_ON_IGNITION_ON}},
     {"UpdateSpeedLimitsStatus", {CLEAR_ON_IGNITION_ON, STRING}},
     {"SLCMapboxSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT, "0"}},
-    {"NavigateOnIQPilot", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"NavOnlineTargets", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"NavOfflineFallback", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"NavPreferOfflineSources", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"OfflineRoutingEnabled", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"OfflineRoutingOnly", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"OfflineRoutingHost", {PERSISTENT | BACKUP, STRING, "http://127.0.0.1:8002"}},
-    {"pqhca5or7Toggle", {PERSISTENT | BACKUP, BOOL}},
-    {"AllowLateralWhenLongUnavailable", {PERSISTENT | BACKUP, BOOL}},
-    {"EnableCurvatureController", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"EnableSpeedLimitControl", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"MapCurveSpeedController", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"VisionCurveSpeedController", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"SpeedCameraAlerts", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"RedLightCameraAlerts", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"FlockCameraAlerts", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"SpeedCameraSlowdown", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"SpeedCameraSafetyFactor", {PERSISTENT | BACKUP, FLOAT, "1.0"}},
+    {"NavigateOnIQPilot", {PERSISTENT, BOOL, "1"}},
+    {"NavOnlineTargets", {PERSISTENT, BOOL, "1"}},
+    {"NavOfflineFallback", {PERSISTENT, BOOL, "1"}},
+    {"NavPreferOfflineSources", {PERSISTENT, BOOL, "0"}},
+    {"OfflineRoutingEnabled", {PERSISTENT, BOOL, "1"}},
+    {"OfflineRoutingOnly", {PERSISTENT, BOOL, "0"}},
+    {"OfflineRoutingHost", {PERSISTENT, STRING, "http://127.0.0.1:8002"}},
+    {"pqhca5or7Toggle", {PERSISTENT, BOOL}},
+    {"AllowLateralWhenLongUnavailable", {PERSISTENT, BOOL}},
+    {"EnableCurvatureController", {PERSISTENT, BOOL, "0"}},
+    {"EnableSpeedLimitControl", {PERSISTENT, BOOL, "0"}},
+    {"MapCurveSpeedController", {PERSISTENT, BOOL, "0"}},
+    {"VisionCurveSpeedController", {PERSISTENT, BOOL, "0"}},
+    {"SpeedCameraAlerts", {PERSISTENT, BOOL, "0"}},
+    {"RedLightCameraAlerts", {PERSISTENT, BOOL, "0"}},
+    {"FlockCameraAlerts", {PERSISTENT, BOOL, "0"}},
+    {"SpeedCameraSlowdown", {PERSISTENT, BOOL, "0"}},
+    {"SpeedCameraSafetyFactor", {PERSISTENT, FLOAT, "1.0"}},
     {"NavCamerasData", {PERSISTENT, JSON}},
-    {"EnableLongComfortMode", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"EnableSpeedLimitPredicative", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"EnableSLPredReactToSL", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"EnableSLPredReactToCurves", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ForceRHDForBSM", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"EnableLongComfortMode", {PERSISTENT, BOOL, "0"}},
+    {"EnableSpeedLimitPredicative", {PERSISTENT, BOOL, "0"}},
+    {"EnableSLPredReactToSL", {PERSISTENT, BOOL, "0"}},
+    {"EnableSLPredReactToCurves", {PERSISTENT, BOOL, "0"}},
+    {"ForceRHDForBSM", {PERSISTENT, BOOL, "0"}},
     {"NavDestination", {PERSISTENT, STRING}},
-    {"eBrakeActive", {CLEAR_ON_MANAGER_START | BACKUP, BOOL, "0"}},
-    {"Konn3ktAllowOffroadExternalCanTx", {PERSISTENT | BACKUP, BOOL}},
-    {"Konn3ktPQFlashHeadlights", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION | CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0"}},
-    {"Konn3ktPQHighBeamSwitch", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION | CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0"}},
-    {"Konn3ktPQLeftBlinkerSwitch", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION | CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0"}},
-    {"Konn3ktPQRightBlinkerSwitch", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION | CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0"}},
-    {"Konn3ktPQGraSet", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION | CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0"}},
-    {"Konn3ktPQGraResume", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION | CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0"}},
-    {"MapboxToken", {PERSISTENT | BACKUP, STRING}},
-    {"MapboxTokenQRCode", {PERSISTENT | BACKUP, JSON}},
-    {"TomTomToken", {PERSISTENT | BACKUP, STRING}},
-    {"UIAccentColor", {PERSISTENT | BACKUP, STRING, "#00FFF5"}},
-    {"AngleLateralControl", {PERSISTENT | BACKUP, BOOL}},
-    {"ALCTorqueBlend", {PERSISTENT | BACKUP, BOOL}},
+    {"eBrakeActive", {CLEAR_ON_MANAGER_START, BOOL, "0"}},
+    {"Konn3ktAllowOffroadExternalCanTx", {PERSISTENT, BOOL}},
+    {"MapboxToken", {PERSISTENT, STRING}},
+    {"MapboxTokenQRCode", {PERSISTENT, JSON}},
+    {"TomTomToken", {PERSISTENT, STRING}},
+    {"UIAccentColor", {PERSISTENT, STRING, "#00FFF5"}},
+    {"AngleLateralControl", {PERSISTENT, BOOL}},
+    {"ALCTorqueBlend", {PERSISTENT, BOOL}},
 };

common/params_pyx.pyx

@@ -18,7 +18,6 @@ cdef extern from "common/params.h":
     CLEAR_ON_OFFROAD_TRANSITION
     DEVELOPMENT_ONLY
     CLEAR_ON_IGNITION_ON
-    BACKUP
     ALL
 
   cpdef enum ParamKeyType:
@@ -44,7 +43,7 @@ cdef extern from "common/params.h":
     optional[string] getKeyDefaultValue(string) nogil
     string getParamPath(string) nogil
     void clearAll(ParamKeyFlag)
-    vector[string] allKeys(ParamKeyFlag)
+    vector[string] allKeys()
 
 PYTHON_2_CPP = {
   (str, STRING): lambda v: v,
@@ -182,8 +181,8 @@ cdef class Params:
   def get_type(self, key):
     return self.p.getKeyType(self.check_key(key))
 
-  def all_keys(self, flag=ParamKeyFlag.ALL):
-    return self.p.allKeys(flag)
+  def all_keys(self):
+    return self.p.allKeys()
 
   def get_default_value(self, key):
     cdef string k = self.check_key(key)

iqdbc

@@ -0,0 +1 @@
+iqdbc_repo/iqdbc

iqdbc_repo/.gitignore

@@ -23,13 +23,13 @@ __pycache__/
 mull.yml
 *.profraw
 
-opendbc/can/build/
-opendbc/can/obj/
-opendbc/dbc/*_generated.dbc
+iqdbc/can/build/
+iqdbc/can/obj/
+iqdbc/dbc/*_generated.dbc
 
 cppcheck-addon-ctu-file-list
-opendbc/safety/tests/coverage-out
+iqdbc/safety/tests/coverage-out
 
 compile_commands.json
 .mull/
-/opendbc/car/volkswagen/tests/test_mqb_iq_alc_state.py
+/iqdbc/car/volkswagen/tests/test_mqb_iq_alc_state.py

iqdbc_repo/SConscript

@@ -0,0 +1,5 @@
+SConscript(['iqdbc/dbc/SConscript'])
+
+# test files
+if GetOption('extras'):
+  SConscript('iqdbc/safety/tests/libsafety/SConscript')

iqdbc_repo/conftest.py

@@ -1,7 +1,7 @@
 # pytest attempts to execute shell scripts while collecting
 collect_ignore_glob = [
-  "opendbc/safety/tests/misra/*.sh",
-  "opendbc/safety/tests/misra/cppcheck/",
+  "iqdbc/safety/tests/misra/*.sh",
+  "iqdbc/safety/tests/misra/cppcheck/",
 ]
 
 _ABSTRACT_BASES = frozenset(("CarSafetyTest", "AolSafetyTestBase", "SafetyTest", "SafetyTestBase"))

iqdbc_repo/credits/CREDITS.MD

@@ -50,7 +50,7 @@ SOFTWARE.
 
 #### Scope
 
-This licensing is limited to `opendbc_repo/opendbc/car/hyundai` and `opendbc_repo/opendbc/iqpilot/car/hyundai`.
+This licensing is limited to `iqdbc_repo/iqdbc/car/hyundai` and `iqdbc_repo/iqdbc/iqpilot/car/hyundai`.
 
 ### Hyundai / Kia / Genesis (HKG) - carrotpilot
 
@@ -80,7 +80,7 @@ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLI
 
 #### Scope
 
-This licensing is limited to `opendbc_repo/opendbc/car/hyundai` and `opendbc_repo/opendbc/iqpilot/car/hyundai`.
+This licensing is limited to `iqdbc_repo/iqdbc/car/hyundai` and `iqdbc_repo/iqdbc/iqpilot/car/hyundai`.
 
 ### Honda
 
@@ -97,4 +97,4 @@ This repository carries Honda tuning work derived from MVL's tuning effort's, th
 
 #### Scope
 
-This licensing is limited to `opendbc_repo/opendbc/car/honda` and `opendbc_repo/opendbc/iqpilot/car/honda`.
+This licensing is limited to `iqdbc_repo/iqdbc/car/honda` and `iqdbc_repo/iqdbc/iqpilot/car/honda`.

iqdbc_repo/iqdbc/__init__.py

@@ -2,5 +2,5 @@ import os
 
 DBC_PATH = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'dbc')
 
-# -I include path for e.g. "#include <opendbc/safety/safety.h>"
+# -I include path for e.g. "#include <iqdbc/safety/safety.h>"
 INCLUDE_PATH = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))

iqdbc_repo/iqdbc/can/__init__.py

@@ -0,0 +1,8 @@
+from iqdbc.can.packer import CANPacker
+from iqdbc.can.parser import CANParser, CANDefine
+
+__all__ = [
+  "CANDefine",
+  "CANParser",
+  "CANPacker",
+]

iqdbc_repo/iqdbc/can/dbc.py

@@ -4,19 +4,19 @@ from collections.abc import Callable
 from dataclasses import dataclass
 from functools import cache
 
-from opendbc import DBC_PATH
+from iqdbc import DBC_PATH
 
 # TODO: these should just be passed in along with the DBC file
-from opendbc.car.honda.hondacan import honda_checksum
-from opendbc.car.toyota.toyotacan import toyota_checksum
-from opendbc.car.subaru.subarucan import subaru_checksum
-from opendbc.car.chrysler.chryslercan import chrysler_checksum, fca_giorgio_checksum
-from opendbc.car.hyundai.hyundaicanfd import hkg_can_fd_checksum
-from opendbc.car.volkswagen.mlbcan import volkswagen_mlb_checksum
-from opendbc.car.volkswagen.mqbcan import volkswagen_mqb_meb_checksum, volkswagen_mqb_meb_gen2_checksum, xor_checksum
-from opendbc.car.tesla.teslacan import tesla_checksum
-from opendbc.car.body.bodycan import body_checksum
-from opendbc.car.psa.psacan import psa_checksum
+from iqdbc.car.honda.hondacan import honda_checksum
+from iqdbc.car.toyota.toyotacan import toyota_checksum
+from iqdbc.car.subaru.subarucan import subaru_checksum
+from iqdbc.car.chrysler.chryslercan import chrysler_checksum, fca_giorgio_checksum
+from iqdbc.car.hyundai.hyundaicanfd import hkg_can_fd_checksum
+from iqdbc.car.volkswagen.mlbcan import volkswagen_mlb_checksum
+from iqdbc.car.volkswagen.mqbcan import volkswagen_mqb_meb_checksum, volkswagen_mqb_meb_gen2_checksum, xor_checksum
+from iqdbc.car.tesla.teslacan import tesla_checksum
+from iqdbc.car.body.bodycan import body_checksum
+from iqdbc.car.psa.psacan import psa_checksum
 
 
 class SignalType:

iqdbc_repo/iqdbc/can/packer.py

@@ -1,7 +1,7 @@
 import math
 
-from opendbc.car.carlog import carlog
-from opendbc.can.dbc import DBC, Signal, SignalType
+from iqdbc.car.carlog import carlog
+from iqdbc.can.dbc import DBC, Signal, SignalType
 
 
 class CANPacker:

iqdbc_repo/iqdbc/can/parser.py

@@ -3,8 +3,8 @@ import numbers
 from collections import defaultdict, deque
 from dataclasses import dataclass, field
 
-from opendbc.car.carlog import carlog
-from opendbc.can.dbc import DBC, Signal
+from iqdbc.car.carlog import carlog
+from iqdbc.can.dbc import DBC, Signal
 
 
 MAX_BAD_COUNTER = 5

iqdbc_repo/iqdbc/can/tests/__init__.py

@@ -1,7 +1,7 @@
 import glob
 import os
 
-from opendbc import DBC_PATH
+from iqdbc import DBC_PATH
 
 ALL_DBCS = [os.path.basename(dbc).split('.')[0] for dbc in
             glob.glob(f"{DBC_PATH}/*.dbc")]

iqdbc_repo/iqdbc/can/tests/benchmark.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import time
-from opendbc.can import CANPacker, CANParser
+from iqdbc.can import CANPacker, CANParser
 
 
 def _benchmark(checks, n):

iqdbc_repo/iqdbc/can/tests/test_checksums.py

@@ -1,5 +1,5 @@
 import copy
-from opendbc.can import CANPacker, CANParser
+from iqdbc.can import CANPacker, CANParser
 
 
 class TestCanChecksums:
@@ -7,7 +7,7 @@ class TestCanChecksums:
   def verify_checksum(self, subtests, dbc_file: str, msg_name: str, msg_addr: int, test_messages: list[bytes],
                       checksum_field: str = 'CHECKSUM', counter_field = 'COUNTER'):
     """
-    Verify that opendbc calculates payload CRCs/checksums matching those received in known-good sample messages
+    Verify that iqdbc calculates payload CRCs/checksums matching those received in known-good sample messages
     Depends on all non-zero bits in the sample message having a corresponding DBC signal, add UNKNOWN signals if needed
     """
     parser = CANParser(dbc_file, [(msg_name, 0)], 0)
@@ -173,7 +173,7 @@ class TestCanChecksums:
       b'\xbd\xed\xbf\xff\xaa\x20\x20\x10',
       b'\x67\xee\xbf\xff\xaa\x20\x20\x10',
       b'\x36\xef\xbf\xff\xaa\x20\x20\x10',
-    ], counter_field="COUNTER_DISABLED")  # see opendbc#1235
+    ], counter_field="COUNTER_DISABLED")  # see iqdbc#1235
 
   def test_volkswagen_mqb_crc_esp_21(self, subtests):
     self.verify_volkswagen_mqb_crc(subtests, "ESP_21", 0xFD, [

iqdbc_repo/iqdbc/can/tests/test_dbc_exceptions.py

@@ -1,7 +1,7 @@
 import pytest
 
-from opendbc.can import CANDefine, CANPacker, CANParser
-from opendbc.can.tests import TEST_DBC
+from iqdbc.can import CANDefine, CANPacker, CANParser
+from iqdbc.can.tests import TEST_DBC
 
 
 class TestCanParserPackerExceptions:

iqdbc_repo/iqdbc/can/tests/test_dbc_parser.py

@@ -1,5 +1,5 @@
-from opendbc.can import CANParser
-from opendbc.can.tests import ALL_DBCS
+from iqdbc.can import CANParser
+from iqdbc.can.tests import ALL_DBCS
 
 
 class TestDBCParser:

iqdbc_repo/iqdbc/can/tests/test_define.py

@@ -1,5 +1,5 @@
-from opendbc.can import CANDefine
-from opendbc.can.tests import ALL_DBCS
+from iqdbc.can import CANDefine
+from iqdbc.can.tests import ALL_DBCS
 
 
 class TestCANDefine:

iqdbc_repo/iqdbc/can/tests/test_packer_parser.py

@@ -1,8 +1,8 @@
 import pytest
 import random
 
-from opendbc.can import CANPacker, CANParser
-from opendbc.can.tests import TEST_DBC
+from iqdbc.can import CANPacker, CANParser
+from iqdbc.can.tests import TEST_DBC
 
 MAX_BAD_COUNTER = 5
 
@@ -75,7 +75,7 @@ class TestCanParserPacker:
     ~1Hz, must be seen within ~10s" — so if that message is never fed, the
     parser is permanently invalid. Declaring an optional/rarely-sent message
     with math.nan (or gating the .vl[...] read entirely) is required to avoid
-    this; see opendbc/car/volkswagen/carstate.py's Diagnose_1/EPB_1 bugs.
+    this; see iqdbc/car/volkswagen/carstate.py's Diagnose_1/EPB_1 bugs.
     """
     parser = CANParser(TEST_DBC, [], 0)
     assert parser.can_valid

iqdbc_repo/iqdbc/car/__init__.py

@@ -4,9 +4,9 @@ from dataclasses import dataclass, field
 from enum import IntFlag, ReprEnum, StrEnum, EnumType, auto
 from dataclasses import replace
 
-from opendbc.car import structs, uds
-from opendbc.car.can_definitions import CanData
-from opendbc.car.docs_definitions import CarDocs, ExtraCarDocs
+from iqdbc.car import structs, uds
+from iqdbc.car.can_definitions import CanData
+from iqdbc.car.docs_definitions import CarDocs, ExtraCarDocs
 
 DT_CTRL = 0.01  # car state and control loop timestep (s)
 

iqdbc_repo/iqdbc/car/body/bodycan.py

@@ -1,4 +1,4 @@
-from opendbc.car.crc import CRC8BODY
+from iqdbc.car.crc import CRC8BODY
 
 
 def create_control(packer, torque_l, torque_r):

iqdbc_repo/iqdbc/car/body/carcontroller.py

@@ -1,11 +1,11 @@
 import numpy as np
 
-from opendbc.can import CANPacker
-from opendbc.car import Bus, DT_CTRL
-from opendbc.car.common.pid import PIDController
-from opendbc.car.body import bodycan
-from opendbc.car.body.values import SPEED_FROM_RPM
-from opendbc.car.interfaces import CarControllerBase
+from iqdbc.can import CANPacker
+from iqdbc.car import Bus, DT_CTRL
+from iqdbc.car.common.pid import PIDController
+from iqdbc.car.body import bodycan
+from iqdbc.car.body.values import SPEED_FROM_RPM
+from iqdbc.car.interfaces import CarControllerBase
 
 MAX_TORQUE = 500
 MAX_TORQUE_RATE = 50

iqdbc_repo/iqdbc/car/body/carstate.py

@@ -1,7 +1,7 @@
-from opendbc.can import CANParser
-from opendbc.car import Bus, structs
-from opendbc.car.interfaces import CarStateBase
-from opendbc.car.body.values import DBC
+from iqdbc.can import CANParser
+from iqdbc.car import Bus, structs
+from iqdbc.car.interfaces import CarStateBase
+from iqdbc.car.body.values import DBC
 
 
 class CarState(CarStateBase):

iqdbc_repo/iqdbc/car/body/fingerprints.py

@@ -1,6 +1,6 @@
-""" AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
-from opendbc.car.structs import CarParams
-from opendbc.car.body.values import CAR
+""" AUTO-FORMATTED USING iqdbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
+from iqdbc.car.structs import CarParams
+from iqdbc.car.body.values import CAR
 
 Ecu = CarParams.Ecu
 

iqdbc_repo/iqdbc/car/body/interface.py

@@ -1,9 +1,9 @@
 import math
-from opendbc.car import get_safety_config, structs
-from opendbc.car.body.carcontroller import CarController
-from opendbc.car.body.carstate import CarState
-from opendbc.car.body.values import SPEED_FROM_RPM
-from opendbc.car.interfaces import CarInterfaceBase
+from iqdbc.car import get_safety_config, structs
+from iqdbc.car.body.carcontroller import CarController
+from iqdbc.car.body.carstate import CarState
+from iqdbc.car.body.values import SPEED_FROM_RPM
+from iqdbc.car.interfaces import CarInterfaceBase
 
 
 class CarInterface(CarInterfaceBase):

iqdbc_repo/iqdbc/car/body/values.py

@@ -1,7 +1,7 @@
-from opendbc.car import Bus, CarSpecs, PlatformConfig, Platforms
-from opendbc.car.structs import CarParams
-from opendbc.car.docs_definitions import CarDocs
-from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
+from iqdbc.car import Bus, CarSpecs, PlatformConfig, Platforms
+from iqdbc.car.structs import CarParams
+from iqdbc.car.docs_definitions import CarDocs
+from iqdbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = CarParams.Ecu
 

iqdbc_repo/iqdbc/car/car.capnp

@@ -464,6 +464,7 @@ struct CarControl {
       prompt @6;
       promptRepeat @7;
       promptDistracted @8;
+      preAlert @9;
     }
   }
 
@@ -486,7 +487,7 @@ struct CarOutput {
 # ****** car param ******
 
 struct CarParams {
-  brand @0 :Text;  # Designates which group a platform falls under. Each folder in opendbc/car is assigned one brand string
+  brand @0 :Text;  # Designates which group a platform falls under. Each folder in iqdbc/car is assigned one brand string
   carFingerprint @1 :Text;
   fuzzyFingerprint @55 :Bool;
 
@@ -532,14 +533,9 @@ struct CarParams {
   steerLimitAlert @28 :Bool;
   steerLimitTimer @47 :Float32;  # time before steerLimitAlert is issued
 
-  vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
-  vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
   steerControlType @34 :SteerControlType;
   radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out
   stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
-  stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
-  startAccel @32 :Float32; # Required acceleration to get car moving
-  startingState @70 :Bool; # Does this car make use of special starting state
 
   steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
   longitudinalActuatorDelay @58 :Float32; # Gas/Brake actuator delay in seconds
@@ -772,4 +768,9 @@ struct CarParams {
   stoppingControlDEPRECATED @31 :Bool; # Does the car allow full control even at lows speeds when stopping
   radarTimeStepDEPRECATED @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
   enableDsuDEPRECATED @5 :Bool;        # driving support unit
+  vEgoStartingDEPRECATED @59 :Float32;
+  startAccelDEPRECATED @32 :Float32;
+  startingStateDEPRECATED @70 :Bool;
+  vEgoStoppingDEPRECATED @29 :Float32;
+  stoppingDecelRateDEPRECATED @52 :Float32;
 }

iqdbc_repo/iqdbc/car/car_helpers.py

@@ -1,17 +1,17 @@
 import os
 import time
 
-from opendbc.car import gen_empty_fingerprint
-from opendbc.car.can_definitions import CanRecvCallable, CanSendCallable
-from opendbc.car.carlog import carlog
-from opendbc.car.structs import CarParams, CarParamsT
-from opendbc.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
-from opendbc.car.fw_versions import ObdCallback, get_fw_versions_ordered, get_present_ecus, match_fw_to_car
-from opendbc.car.mock.values import CAR as MOCK
-from opendbc.car.values import BRANDS
-from opendbc.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
+from iqdbc.car import gen_empty_fingerprint
+from iqdbc.car.can_definitions import CanRecvCallable, CanSendCallable
+from iqdbc.car.carlog import carlog
+from iqdbc.car.structs import CarParams, CarParamsT
+from iqdbc.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
+from iqdbc.car.fw_versions import ObdCallback, get_fw_versions_ordered, get_present_ecus, match_fw_to_car
+from iqdbc.car.mock.values import CAR as MOCK
+from iqdbc.car.values import BRANDS
+from iqdbc.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
 
-from opendbc.iqpilot.car.interfaces import setup_interfaces as iqpilot_interfaces
+from iqdbc.iqpilot.car.interfaces import setup_interfaces as iqpilot_interfaces
 
 FRAME_FINGERPRINT = 100  # 1s
 
@@ -19,7 +19,7 @@ FRAME_FINGERPRINT = 100  # 1s
 def load_interfaces(brand_names):
   ret = {}
   for brand_name in brand_names:
-    path = f'opendbc.car.{brand_name}'
+    path = f'iqdbc.car.{brand_name}'
     CarInterface = __import__(path + '.interface', fromlist=['CarInterface']).CarInterface
     for model_name in brand_names[brand_name]:
       ret[model_name] = CarInterface
@@ -36,7 +36,7 @@ def _get_interface_names() -> dict[str, list[str]]:
   return brand_names
 
 
-# imports from directory opendbc/car/<name>/
+# imports from directory iqdbc/car/<name>/
 interface_names = _get_interface_names()
 interfaces = load_interfaces(interface_names)
 

iqdbc_repo/iqdbc/car/chrysler/carcontroller.py

@@ -1,13 +1,13 @@
-from opendbc.can import CANPacker
-from opendbc.car import Bus, DT_CTRL
-from opendbc.car.lateral import apply_meas_steer_torque_limits
-from opendbc.car.chrysler import chryslercan
-from opendbc.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags, RAM_DT
-from opendbc.car.interfaces import CarControllerBase
+from iqdbc.can import CANPacker
+from iqdbc.car import Bus, DT_CTRL
+from iqdbc.car.lateral import apply_meas_steer_torque_limits
+from iqdbc.car.chrysler import chryslercan
+from iqdbc.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags, RAM_DT
+from iqdbc.car.interfaces import CarControllerBase
 
-from opendbc.iqpilot.car.chrysler.carcontroller_ext import CarControllerExt
-from opendbc.iqpilot.car.chrysler.aol import AolCarController
-from opendbc.iqpilot.car.chrysler.values_ext import ChryslerFlagsIQ
+from iqdbc.iqpilot.car.chrysler.carcontroller_ext import CarControllerExt
+from iqdbc.iqpilot.car.chrysler.aol import AolCarController
+from iqdbc.iqpilot.car.chrysler.values_ext import ChryslerFlagsIQ
 
 
 class CarController(CarControllerBase, AolCarController, CarControllerExt):

iqdbc_repo/iqdbc/car/chrysler/carstate.py

@@ -1,11 +1,11 @@
-from opendbc.can import CANDefine, CANParser
-from opendbc.car import Bus, create_button_events, structs
-from opendbc.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS
-from opendbc.car.common.conversions import Conversions as CV
-from opendbc.car.interfaces import CarStateBase
+from iqdbc.can import CANDefine, CANParser
+from iqdbc.car import Bus, create_button_events, structs
+from iqdbc.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS
+from iqdbc.car.common.conversions import Conversions as CV
+from iqdbc.car.interfaces import CarStateBase
 
-from opendbc.iqpilot.car.chrysler.carstate_ext import CarStateExt
-from opendbc.iqpilot.car.chrysler.aol import AolCarState
+from iqdbc.iqpilot.car.chrysler.carstate_ext import CarStateExt
+from iqdbc.iqpilot.car.chrysler.aol import AolCarState
 
 ButtonType = structs.CarState.ButtonEvent.Type
 

iqdbc_repo/iqdbc/car/chrysler/chryslercan.py

@@ -1,6 +1,6 @@
-from opendbc.car import structs
-from opendbc.car.crc import CRC8J1850
-from opendbc.car.chrysler.values import RAM_CARS
+from iqdbc.car import structs
+from iqdbc.car.crc import CRC8J1850
+from iqdbc.car.chrysler.values import RAM_CARS
 
 GearShifter = structs.CarState.GearShifter
 VisualAlert = structs.CarControl.HUDControl.VisualAlert

iqdbc_repo/iqdbc/car/chrysler/fingerprints.py

@@ -1,9 +1,9 @@
-""" AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
-from opendbc.car.structs import CarParams
-from opendbc.car.chrysler.values import CAR
+""" AUTO-FORMATTED USING iqdbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
+from iqdbc.car.structs import CarParams
+from iqdbc.car.chrysler.values import CAR
 
-from opendbc.iqpilot.car.fingerprints_ext import merge_fw_versions
-from opendbc.iqpilot.car.chrysler.fingerprints_ext import FW_VERSIONS_EXT
+from iqdbc.iqpilot.car.fingerprints_ext import merge_fw_versions
+from iqdbc.iqpilot.car.chrysler.fingerprints_ext import FW_VERSIONS_EXT
 
 Ecu = CarParams.Ecu
 

iqdbc_repo/iqdbc/car/chrysler/interface.py

@@ -1,11 +1,11 @@
 #!/usr/bin/env python3
-from opendbc.car import get_safety_config, structs
-from opendbc.car.chrysler.carcontroller import CarController
-from opendbc.car.chrysler.carstate import CarState
-from opendbc.car.chrysler.radar_interface import RadarInterface
-from opendbc.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags, ChryslerSafetyFlags
-from opendbc.car.interfaces import CarInterfaceBase
-from opendbc.iqpilot.car.chrysler.values_ext import ChryslerFlagsIQ
+from iqdbc.car import get_safety_config, structs
+from iqdbc.car.chrysler.carcontroller import CarController
+from iqdbc.car.chrysler.carstate import CarState
+from iqdbc.car.chrysler.radar_interface import RadarInterface
+from iqdbc.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags, ChryslerSafetyFlags
+from iqdbc.car.interfaces import CarInterfaceBase
+from iqdbc.iqpilot.car.chrysler.values_ext import ChryslerFlagsIQ
 
 
 class CarInterface(CarInterfaceBase):

iqdbc_repo/iqdbc/car/chrysler/radar_interface.py

@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
-from opendbc.can import CANParser
-from opendbc.car import Bus, structs
-from opendbc.car.interfaces import RadarInterfaceBase
-from opendbc.car.chrysler.values import DBC
+from iqdbc.can import CANParser
+from iqdbc.car import Bus, structs
+from iqdbc.car.interfaces import RadarInterfaceBase
+from iqdbc.car.chrysler.values import DBC
 
 RADAR_MSGS_C = list(range(0x2c2, 0x2d4+2, 2))  # c_ messages 706,...,724
 RADAR_MSGS_D = list(range(0x2a2, 0x2b4+2, 2))  # d_ messages

iqdbc_repo/iqdbc/car/chrysler/values.py

@@ -1,10 +1,10 @@
 from enum import IntFlag
 from dataclasses import dataclass, field
 
-from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, uds
-from opendbc.car.structs import CarParams
-from opendbc.car.docs_definitions import CarHarness, CarDocs, CarParts
-from opendbc.car.fw_query_definitions import FwQueryConfig, Request, p16
+from iqdbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, uds
+from iqdbc.car.structs import CarParams
+from iqdbc.car.docs_definitions import CarHarness, CarDocs, CarParts
+from iqdbc.car.fw_query_definitions import FwQueryConfig, Request, p16
 
 Ecu = CarParams.Ecu
 

iqdbc_repo/iqdbc/car/debug/format_fingerprints.py

@@ -2,9 +2,9 @@
 import jinja2
 import os
 
-from opendbc.car.common.basedir import BASEDIR
-from opendbc.car.interfaces import get_interface_attr
-from opendbc.car.structs import CarParams
+from iqdbc.car.common.basedir import BASEDIR
+from iqdbc.car.interfaces import get_interface_attr
+from iqdbc.car.structs import CarParams
 
 Ecu = CarParams.Ecu
 
@@ -17,11 +17,11 @@ FINGERPRINTS_PY_TEMPLATE = jinja2.Template("""
 {%- if FINGERPRINTS[brand] and brand != 'body' %}
 # ruff: noqa: E501
 {% endif %}
-\"\"\" AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE.\"\"\"
+\"\"\" AUTO-FORMATTED USING iqdbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE.\"\"\"
 {% if FW_VERSIONS[brand] %}
-from opendbc.car.structs import CarParams
+from iqdbc.car.structs import CarParams
 {% endif %}
-from opendbc.car.{{brand}}.values import CAR
+from iqdbc.car.{{brand}}.values import CAR
 {% if FW_VERSIONS[brand] %}
 
 Ecu = CarParams.Ecu

iqdbc_repo/iqdbc/car/disable_ecu.py

@@ -1,5 +1,5 @@
-from opendbc.car.carlog import carlog
-from opendbc.car.isotp_parallel_query import IsoTpParallelQuery
+from iqdbc.car.carlog import carlog
+from iqdbc.car.isotp_parallel_query import IsoTpParallelQuery
 
 EXT_DIAG_REQUEST = b'\x10\x03'
 EXT_DIAG_RESPONSE = b'\x50\x03'

iqdbc_repo/iqdbc/car/docs.py

@@ -9,15 +9,15 @@ from typing import get_args
 from enum import Enum
 from collections import defaultdict
 
-from opendbc.car.common.basedir import BASEDIR
-from opendbc.car import gen_empty_fingerprint
-from opendbc.car.structs import CarParams, IQCarParams
-from opendbc.car.docs_definitions import BaseCarHarness, CarDocs, Device, ExtraCarDocs, Column, ExtraCarsColumn, CommonFootnote, PartType, SupportType
-from opendbc.car.car_helpers import interfaces
-from opendbc.car.interfaces import get_interface_attr
-from opendbc.car.values import Platform
-from opendbc.car.mock.values import CAR as MOCK
-from opendbc.car.extra_cars import CAR as EXTRA
+from iqdbc.car.common.basedir import BASEDIR
+from iqdbc.car import gen_empty_fingerprint
+from iqdbc.car.structs import CarParams, IQCarParams
+from iqdbc.car.docs_definitions import BaseCarHarness, CarDocs, Device, ExtraCarDocs, Column, ExtraCarsColumn, CommonFootnote, PartType, SupportType
+from iqdbc.car.car_helpers import interfaces
+from iqdbc.car.interfaces import get_interface_attr
+from iqdbc.car.values import Platform
+from iqdbc.car.mock.values import CAR as MOCK
+from iqdbc.car.extra_cars import CAR as EXTRA
 
 
 EXTRA_CARS_MD_OUT = os.path.join(BASEDIR, "../", "../", "docs", "CARS.md")

iqdbc_repo/iqdbc/car/docs_definitions.py

@@ -4,8 +4,8 @@ import copy
 from dataclasses import dataclass, field
 from enum import Enum
 
-from opendbc.car.common.conversions import Conversions as CV
-from opendbc.car.structs import CarParams
+from iqdbc.car.common.conversions import Conversions as CV
+from iqdbc.car.structs import CarParams
 
 GOOD_TORQUE_THRESHOLD = 1.0  # m/s^2
 MODEL_YEARS_RE = r"(?<= )((\d{4}-\d{2})|(\d{4}))(,|$)"

iqdbc_repo/iqdbc/car/ecu_addrs.py

@@ -1,9 +1,9 @@
 import time
 
-from opendbc.car import make_tester_present_msg, uds
-from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
-from opendbc.car.carlog import carlog
-from opendbc.car.fw_query_definitions import EcuAddrBusType
+from iqdbc.car import make_tester_present_msg, uds
+from iqdbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
+from iqdbc.car.carlog import carlog
+from iqdbc.car.fw_query_definitions import EcuAddrBusType
 
 
 def _is_tester_present_response(msg: CanData, subaddr: int | None = None) -> bool:

iqdbc_repo/iqdbc/car/extra_cars.py

@@ -1,7 +1,7 @@
 from dataclasses import dataclass
 
-from opendbc.car import structs, Platforms, ExtraPlatformConfig
-from opendbc.car.docs_definitions import ExtraCarDocs, SupportType
+from iqdbc.car import structs, Platforms, ExtraPlatformConfig
+from iqdbc.car.docs_definitions import ExtraCarDocs, SupportType
 
 
 @dataclass

iqdbc_repo/iqdbc/car/fingerprints.py

@@ -1,16 +1,16 @@
-from opendbc.car.interfaces import get_interface_attr
-from opendbc.car.body.values import CAR as BODY
-from opendbc.car.chrysler.values import CAR as CHRYSLER
-from opendbc.car.ford.values import CAR as FORD
-from opendbc.car.gm.values import CAR as GM
-from opendbc.car.honda.values import CAR as HONDA
-from opendbc.car.hyundai.values import CAR as HYUNDAI
-from opendbc.car.mazda.values import CAR as MAZDA
-from opendbc.car.mock.values import CAR as MOCK
-from opendbc.car.nissan.values import CAR as NISSAN
-from opendbc.car.subaru.values import CAR as SUBARU
-from opendbc.car.toyota.values import CAR as TOYOTA
-from opendbc.car.volkswagen.values import CAR as VW
+from iqdbc.car.interfaces import get_interface_attr
+from iqdbc.car.body.values import CAR as BODY
+from iqdbc.car.chrysler.values import CAR as CHRYSLER
+from iqdbc.car.ford.values import CAR as FORD
+from iqdbc.car.gm.values import CAR as GM
+from iqdbc.car.honda.values import CAR as HONDA
+from iqdbc.car.hyundai.values import CAR as HYUNDAI
+from iqdbc.car.mazda.values import CAR as MAZDA
+from iqdbc.car.mock.values import CAR as MOCK
+from iqdbc.car.nissan.values import CAR as NISSAN
+from iqdbc.car.subaru.values import CAR as SUBARU
+from iqdbc.car.toyota.values import CAR as TOYOTA
+from iqdbc.car.volkswagen.values import CAR as VW
 
 FW_VERSIONS = get_interface_attr('FW_VERSIONS', combine_brands=True, ignore_none=True)
 _FINGERPRINTS = get_interface_attr('FINGERPRINTS', combine_brands=True, ignore_none=True)

iqdbc_repo/iqdbc/car/ford/carcontroller.py

@@ -1,11 +1,11 @@
 import math
 import numpy as np
-from opendbc.can import CANPacker
-from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, DT_CTRL, apply_hysteresis, structs
-from opendbc.car.lateral import ISO_LATERAL_ACCEL, apply_std_steer_angle_limits
-from opendbc.car.ford import fordcan
-from opendbc.car.ford.values import CarControllerParams, FordFlags, CAR
-from opendbc.car.interfaces import CarControllerBase, V_CRUISE_MAX
+from iqdbc.can import CANPacker
+from iqdbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, DT_CTRL, apply_hysteresis, structs
+from iqdbc.car.lateral import ISO_LATERAL_ACCEL, apply_std_steer_angle_limits
+from iqdbc.car.ford import fordcan
+from iqdbc.car.ford.values import CarControllerParams, FordFlags, CAR
+from iqdbc.car.interfaces import CarControllerBase, V_CRUISE_MAX
 
 LongCtrlState = structs.CarControl.Actuators.LongControlState
 VisualAlert = structs.CarControl.HUDControl.VisualAlert

iqdbc_repo/iqdbc/car/ford/carstate.py

@@ -1,11 +1,11 @@
-from opendbc.can import CANDefine, CANParser
-from opendbc.car import Bus, create_button_events, structs
-from opendbc.car.common.conversions import Conversions as CV
-from opendbc.car.ford.fordcan import CanBus
-from opendbc.car.ford.values import DBC, CarControllerParams, FordFlags
-from opendbc.car.interfaces import CarStateBase
+from iqdbc.can import CANDefine, CANParser
+from iqdbc.car import Bus, create_button_events, structs
+from iqdbc.car.common.conversions import Conversions as CV
+from iqdbc.car.ford.fordcan import CanBus
+from iqdbc.car.ford.values import DBC, CarControllerParams, FordFlags
+from iqdbc.car.interfaces import CarStateBase
 
-from opendbc.iqpilot.car.ford.aol import AolCarState
+from iqdbc.iqpilot.car.ford.aol import AolCarState
 
 ButtonType = structs.CarState.ButtonEvent.Type
 GearShifter = structs.CarState.GearShifter

iqdbc_repo/iqdbc/car/ford/fingerprints.py

@@ -1,6 +1,6 @@
-""" AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
-from opendbc.car.structs import CarParams
-from opendbc.car.ford.values import CAR
+""" AUTO-FORMATTED USING iqdbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
+from iqdbc.car.structs import CarParams
+from iqdbc.car.ford.values import CAR
 
 Ecu = CarParams.Ecu
 

iqdbc_repo/iqdbc/car/ford/fordcan.py

@@ -1,4 +1,4 @@
-from opendbc.car import CanBusBase, structs
+from iqdbc.car import CanBusBase, structs
 
 HUDControl = structs.CarControl.HUDControl
 

iqdbc_repo/iqdbc/car/ford/interface.py

@@ -1,13 +1,13 @@
 import numpy as np
-from opendbc.car import Bus, get_safety_config, structs
-from opendbc.car.carlog import carlog
-from opendbc.car.common.conversions import Conversions as CV
-from opendbc.car.ford.carcontroller import CarController
-from opendbc.car.ford.carstate import CarState
-from opendbc.car.ford.fordcan import CanBus
-from opendbc.car.ford.radar_interface import RadarInterface
-from opendbc.car.ford.values import CarControllerParams, DBC, Ecu, FordFlags, RADAR, FordSafetyFlags
-from opendbc.car.interfaces import CarInterfaceBase
+from iqdbc.car import Bus, get_safety_config, structs
+from iqdbc.car.carlog import carlog
+from iqdbc.car.common.conversions import Conversions as CV
+from iqdbc.car.ford.carcontroller import CarController
+from iqdbc.car.ford.carstate import CarState
+from iqdbc.car.ford.fordcan import CanBus
+from iqdbc.car.ford.radar_interface import RadarInterface
+from iqdbc.car.ford.values import CarControllerParams, DBC, Ecu, FordFlags, RADAR, FordSafetyFlags
+from iqdbc.car.interfaces import CarInterfaceBase
 
 TransmissionType = structs.CarParams.TransmissionType
 

iqdbc_repo/iqdbc/car/ford/radar_interface.py

@@ -3,12 +3,12 @@ from typing import cast
 from collections import defaultdict
 from math import cos, sin
 from dataclasses import dataclass
-from opendbc.can import CANParser
-from opendbc.car import Bus, structs
-from opendbc.car.common.conversions import Conversions as CV
-from opendbc.car.ford.fordcan import CanBus
-from opendbc.car.ford.values import DBC, RADAR
-from opendbc.car.interfaces import RadarInterfaceBase
+from iqdbc.can import CANParser
+from iqdbc.car import Bus, structs
+from iqdbc.car.common.conversions import Conversions as CV
+from iqdbc.car.ford.fordcan import CanBus
+from iqdbc.car.ford.values import DBC, RADAR
+from iqdbc.car.interfaces import RadarInterfaceBase
 
 DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540))
 

iqdbc_repo/iqdbc/car/ford/tests/print_platform_codes.py

@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
 from collections import defaultdict
 
-from opendbc.car.structs import CarParams
-from opendbc.car.ford.values import get_platform_codes
-from opendbc.car.ford.fingerprints import FW_VERSIONS
+from iqdbc.car.structs import CarParams
+from iqdbc.car.ford.values import get_platform_codes
+from iqdbc.car.ford.fingerprints import FW_VERSIONS
 
 Ecu = CarParams.Ecu
 

iqdbc_repo/iqdbc/car/ford/tests/test_ford.py

@@ -4,10 +4,10 @@ from collections.abc import Iterable
 from hypothesis import settings, given, strategies as st
 from parameterized import parameterized
 
-from opendbc.car.structs import CarParams
-from opendbc.car.fw_versions import build_fw_dict
-from opendbc.car.ford.values import CAR, FW_QUERY_CONFIG, FW_PATTERN, get_platform_codes
-from opendbc.car.ford.fingerprints import FW_VERSIONS
+from iqdbc.car.structs import CarParams
+from iqdbc.car.fw_versions import build_fw_dict
+from iqdbc.car.ford.values import CAR, FW_QUERY_CONFIG, FW_PATTERN, get_platform_codes
+from iqdbc.car.ford.fingerprints import FW_VERSIONS
 
 Ecu = CarParams.Ecu
 

iqdbc_repo/iqdbc/car/ford/values.py

@@ -3,11 +3,11 @@ import re
 from dataclasses import dataclass, field, replace
 from enum import Enum, IntFlag
 
-from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, uds
-from opendbc.car.lateral import AngleSteeringLimits
-from opendbc.car.structs import CarParams
-from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
-from opendbc.car.fw_query_definitions import FwQueryConfig, LiveFwVersions, OfflineFwVersions, Request, StdQueries, p16
+from iqdbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, uds
+from iqdbc.car.lateral import AngleSteeringLimits
+from iqdbc.car.structs import CarParams
+from iqdbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
+from iqdbc.car.fw_query_definitions import FwQueryConfig, LiveFwVersions, OfflineFwVersions, Request, StdQueries, p16
 
 Ecu = CarParams.Ecu
 

iqdbc_repo/iqdbc/car/fw_query_definitions.py

@@ -3,8 +3,8 @@ from dataclasses import dataclass, field
 import struct
 from collections.abc import Callable
 
-from opendbc.car import uds
-from opendbc.car.structs import CarParams
+from iqdbc.car import uds
+from iqdbc.car.structs import CarParams
 
 Ecu = CarParams.Ecu
 

iqdbc_repo/iqdbc/car/fw_versions.py

@@ -4,15 +4,15 @@ from typing import Protocol, TypeVar
 
 from tqdm import tqdm
 
-from opendbc.car import uds
-from opendbc.car.can_definitions import CanRecvCallable, CanSendCallable
-from opendbc.car.carlog import carlog
-from opendbc.car.structs import CarParams
-from opendbc.car.ecu_addrs import get_ecu_addrs
-from opendbc.car.fingerprints import FW_VERSIONS
-from opendbc.car.fw_query_definitions import ESSENTIAL_ECUS, AddrType, EcuAddrBusType, FwQueryConfig, LiveFwVersions, OfflineFwVersions
-from opendbc.car.interfaces import get_interface_attr
-from opendbc.car.isotp_parallel_query import IsoTpParallelQuery
+from iqdbc.car import uds
+from iqdbc.car.can_definitions import CanRecvCallable, CanSendCallable
+from iqdbc.car.carlog import carlog
+from iqdbc.car.structs import CarParams
+from iqdbc.car.ecu_addrs import get_ecu_addrs
+from iqdbc.car.fingerprints import FW_VERSIONS
+from iqdbc.car.fw_query_definitions import ESSENTIAL_ECUS, AddrType, EcuAddrBusType, FwQueryConfig, LiveFwVersions, OfflineFwVersions
+from iqdbc.car.interfaces import get_interface_attr
+from iqdbc.car.isotp_parallel_query import IsoTpParallelQuery
 
 Ecu = CarParams.Ecu
 FUZZY_EXCLUDE_ECUS = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug]