mirror of
https://github.com/MoreTore/openpilot.git
synced 2026-08-07 01:06:01 +08:00
New stoofs
This commit is contained in:
firestar5683
@@ -199,6 +199,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
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{"CESpeed", {PERSISTENT, FLOAT, "0.0", "0.0", 1}},
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{"CESpeedLead", {PERSISTENT, FLOAT, "0.0", "0.0", 1}},
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{"CCMLead", {PERSISTENT, BOOL, "1", "0", 1}},
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{"CCMLaunchAssist", {PERSISTENT, BOOL, "0", "0", 1}},
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{"CCMSetSpeedMargin", {PERSISTENT, FLOAT, "3.0", "0.0", 1}},
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{"CCMSpeed", {PERSISTENT, FLOAT, "45.0", "0.0", 1}},
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{"CCMSpeedLead", {PERSISTENT, FLOAT, "35.0", "0.0", 1}},
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@@ -283,6 +284,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
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{"FlashPanda", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
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{"GMDashSpoofOffsets", {PERSISTENT, BOOL, "0", "0", 2}},
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{"GMPedalLongitudinal", {PERSISTENT, BOOL, "1", "1", 2}},
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{"GMStockDashWhenNotEngaged", {PERSISTENT, BOOL, "0", "0", 2}},
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{"LongPitch", {PERSISTENT, BOOL, "1", "0", 2}},
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{"RemoteStartBootsComma", {PERSISTENT, BOOL, "0", "0"}},
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{"RemapCancelToDistance", {PERSISTENT, BOOL, "0", "0"}},
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@@ -376,6 +378,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
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{"LongitudinalManeuverStatus", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON, "{}", "{}"}},
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{"LongitudinalTune", {PERSISTENT, BOOL, "1", "0", 0}},
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{"LoudBlindspotAlert", {PERSISTENT, BOOL, "0", "0", 0}},
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{"LoudBlindspotAlertWhenDisengaged", {PERSISTENT, BOOL, "0", "0", 0}},
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{"LowVoltageShutdown", {PERSISTENT, FLOAT, "11.8", "11.8", 3}},
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{"MainCruiseButtonControl", {PERSISTENT, INT, "9", "9", 2}},
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{"ManualUpdateInitiated", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
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@@ -68,13 +68,14 @@ def should_spoof_dash_speed(CP, starpilot_toggles):
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return True
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def should_send_acc_dashboard_status(CP, dash_speed_spoof_active):
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def should_send_acc_dashboard_status(CP, dash_speed_spoof_active, enabled=True, stock_dash_when_not_engaged=False):
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status_car = CP.carFingerprint not in CC_ONLY_CAR or CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL
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volt_camera_no_camera = (
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CP.carFingerprint == CAR.CHEVROLET_VOLT_CAMERA and
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bool(getattr(CP, "flags", 0) & GMFlags.NO_CAMERA.value)
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)
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return status_car and (dash_speed_spoof_active or volt_camera_no_camera)
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should_spoof = dash_speed_spoof_active and (enabled or not stock_dash_when_not_engaged)
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return status_car and (should_spoof or volt_camera_no_camera)
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def get_acc_dashboard_fcw_alert(hud_alert, CS):
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@@ -725,7 +726,8 @@ class CarController(CarControllerBase):
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idx, CC.enabled, near_stop, at_full_stop, self.CP))
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CS.auto_hold_engaged = False
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if should_send_acc_dashboard_status(self.CP, dash_speed_spoof_active):
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stock_dash_when_not_engaged = getattr(starpilot_toggles, "gm_stock_dash_when_not_engaged", False)
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if should_send_acc_dashboard_status(self.CP, dash_speed_spoof_active, CC.enabled, stock_dash_when_not_engaged):
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acc_dashboard_status = get_acc_dashboard_status_values(CC.enabled, hud_v_cruise * CV.MS_TO_KPH, hud_control, CS)
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fcw_alert = get_acc_dashboard_fcw_alert(hud_alert, CS)
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can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN,
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@@ -265,6 +265,33 @@ class TestGMCarController:
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assert should_send_acc_dashboard_status(cp, dash_speed_spoof_active=False)
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def test_stock_dash_toggle_suppresses_disabled_dash_spoof(self):
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cp = SimpleNamespace(carFingerprint=CAR.CADILLAC_XT4, flags=0)
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assert should_send_acc_dashboard_status(cp, dash_speed_spoof_active=True, enabled=False)
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assert not should_send_acc_dashboard_status(
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cp,
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dash_speed_spoof_active=True,
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enabled=False,
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stock_dash_when_not_engaged=True,
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)
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assert should_send_acc_dashboard_status(
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cp,
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dash_speed_spoof_active=True,
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enabled=True,
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stock_dash_when_not_engaged=True,
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)
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def test_stock_dash_toggle_keeps_no_camera_exception(self):
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cp = SimpleNamespace(carFingerprint=CAR.CHEVROLET_VOLT_CAMERA, flags=GMFlags.NO_CAMERA.value)
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assert should_send_acc_dashboard_status(
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cp,
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dash_speed_spoof_active=True,
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enabled=False,
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stock_dash_when_not_engaged=True,
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)
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def test_acc_dashboard_no_camera_exception_is_volt_camera_only(self):
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assert not should_send_acc_dashboard_status(
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SimpleNamespace(carFingerprint=CAR.CHEVROLET_VOLT_CAMERA, flags=0),
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@@ -15,6 +15,7 @@ class CarState(CarStateBase):
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self.shifter_values = can_define.dv["Transmission"]["Gear"]
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self.angle_rate_calulator = CanSignalRateCalculator(50)
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self.sng_cruise_enabled = False
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def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
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cp = can_parsers[Bus.pt]
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@@ -133,6 +134,22 @@ class CarState(CarStateBase):
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self.cruise_state = cp_cam.vl["ES_DashStatus"]["Cruise_State"]
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self.throttle_msg = copy.copy(cp.vl["Throttle"])
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sng_standstill_hold = (
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ret.cruiseState.available and
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ret.standstill and
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self.car_follow == 1 and
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self.cruise_state == 3 and
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not ret.gasPressed
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)
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if ret.cruiseState.enabled:
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self.sng_cruise_enabled = True
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elif self.sng_cruise_enabled and sng_standstill_hold:
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ret.cruiseState.enabled = True
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else:
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self.sng_cruise_enabled = False
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else:
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self.sng_cruise_enabled = False
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return ret, fp_ret
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@staticmethod
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@@ -37,7 +37,7 @@ def select_redneck_target_speed(v_cruise_kph: float, speed_cluster_ms: float,
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target_speed_ms = float(starpilot_target_speed_ms)
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if allow_plan_decrease and len(plan_speeds_ms) > 0:
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if lead_present and plan_speeds_ms[0] > speed_cluster_ms:
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if lead_present and target_speed_ms > speed_cluster_ms and plan_speeds_ms[0] > speed_cluster_ms:
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recovery_lookahead_points = min(len(plan_speeds_ms), LEAD_RECOVERY_LOOKAHEAD_POINTS)
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recovery_target_speed_ms = max(speed_cluster_ms, min(plan_speeds_ms[:recovery_lookahead_points]))
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return min(target_speed_ms, recovery_target_speed_ms)
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@@ -182,6 +182,19 @@ class TestRedneckCruise(unittest.TestCase):
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)
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self.assertAlmostEqual(55.8 * CV.MPH_TO_MS, target_speed)
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def test_target_speed_does_not_use_recovery_branch_when_cluster_is_above_internal_max(self):
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target_speed = select_redneck_target_speed(
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45.0,
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46.0 * CV.KPH_TO_MS,
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0.0,
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[46.6 * CV.KPH_TO_MS, 46.4 * CV.KPH_TO_MS, 46.2 * CV.KPH_TO_MS, 46.0 * CV.KPH_TO_MS,
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44.0 * CV.KPH_TO_MS, 42.0 * CV.KPH_TO_MS, 39.0 * CV.KPH_TO_MS],
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7,
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allow_plan_decrease=True,
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lead_present=True,
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)
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self.assertLess(target_speed * CV.MS_TO_KPH, 45.0)
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def test_target_speed_stays_on_lead_target_when_cluster_drops_below_it(self):
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target_speed = select_redneck_target_speed(
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76.9,
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@@ -51,6 +51,8 @@ class FakeSubMaster:
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def make_sm():
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return {
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"carState": SimpleNamespace(standstill=False, leftBlinker=False, rightBlinker=False),
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"selfdriveState": SimpleNamespace(enabled=True),
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"longitudinalPlan": SimpleNamespace(allowThrottle=True, shouldStop=False),
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"starpilotCarState": SimpleNamespace(trafficModeEnabled=False),
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"starpilotRadarState": SimpleNamespace(
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leadLeft=SimpleNamespace(status=False, dRel=float("inf"), vLead=0.0),
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@@ -69,6 +71,7 @@ def make_toggles():
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conditional_chill_speed_lead=35 * CV.MPH_TO_MS,
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conditional_chill_speed_margin=3 * CV.MPH_TO_MS,
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conditional_chill_lead=True,
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conditional_chill_launch_assist=False,
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)
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@@ -130,7 +133,7 @@ def test_ccm_enters_chill_for_stable_lead_cruising(monkeypatch):
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planner, _detector, ccm = make_ccm()
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sm = make_sm()
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toggles = make_toggles()
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monotonic_values = iter([10.0, 10.5])
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monotonic_values = iter([10.0, 11.1])
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monkeypatch.setattr("openpilot.starpilot.controls.lib.conditional_chill_mode.time.monotonic", lambda: next(monotonic_values))
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planner.tracking_lead = True
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@@ -147,6 +150,27 @@ def test_ccm_enters_chill_for_stable_lead_cruising(monkeypatch):
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assert ccm.status_value == CCStatus["LEAD"]
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def test_ccm_stable_lead_requires_longer_entry_debounce(monkeypatch):
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planner, _detector, ccm = make_ccm()
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sm = make_sm()
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toggles = make_toggles()
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monotonic_values = iter([10.0, 10.6])
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monkeypatch.setattr("openpilot.starpilot.controls.lib.conditional_chill_mode.time.monotonic", lambda: next(monotonic_values))
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planner.tracking_lead = True
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planner.lead_one.status = True
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planner.lead_one.dRel = 45.0
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planner.lead_one.vLead = 24.8
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planner.lead_one.radar = True
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v_ego = 58 * CV.MPH_TO_MS
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ccm.update(v_ego, v_ego, sm, toggles)
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ccm.update(v_ego, v_ego, sm, toggles)
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assert ccm.experimental_mode
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assert ccm.status_value == CCStatus["OFF"]
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def test_ccm_hard_vetoes_force_experimental(monkeypatch):
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planner, detector, ccm = make_ccm()
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sm = make_sm()
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@@ -210,6 +234,88 @@ def test_ccm_immediately_exits_chill_when_scene_turns_into_slow_lead(monkeypatch
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assert ccm.status_value == CCStatus["OFF"]
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def test_ccm_launch_assist_enters_chill_from_standstill_when_planner_wants_to_go(monkeypatch):
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planner, _detector, ccm = make_ccm()
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sm = make_sm()
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sm["carState"].standstill = True
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toggles = make_toggles()
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toggles.conditional_chill_launch_assist = True
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monkeypatch.setattr("openpilot.starpilot.controls.lib.conditional_chill_mode.time.monotonic", lambda: 20.0)
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ccm.update(0.0, 25 * CV.MPH_TO_MS, sm, toggles)
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assert not ccm.experimental_mode
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assert ccm.status_value == CCStatus["SPEED"]
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def test_ccm_launch_assist_does_not_bypass_real_stop_scene(monkeypatch):
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planner, detector, ccm = make_ccm()
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sm = make_sm()
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sm["carState"].standstill = True
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sm["longitudinalPlan"].shouldStop = True
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toggles = make_toggles()
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toggles.conditional_chill_launch_assist = True
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monkeypatch.setattr("openpilot.starpilot.controls.lib.conditional_chill_mode.time.monotonic", lambda: 21.0)
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ccm.update(0.0, 25 * CV.MPH_TO_MS, sm, toggles)
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assert ccm.experimental_mode
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assert ccm.status_value == CCStatus["OFF"]
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detector.stop_light_detected = True
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sm["longitudinalPlan"].shouldStop = False
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ccm.update(0.0, 25 * CV.MPH_TO_MS, sm, toggles)
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assert ccm.experimental_mode
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assert ccm.status_value == CCStatus["OFF"]
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def test_ccm_launch_assist_exits_once_launch_speed_is_reached(monkeypatch):
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planner, _detector, ccm = make_ccm()
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sm = make_sm()
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sm["carState"].standstill = True
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toggles = make_toggles()
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toggles.conditional_chill_launch_assist = True
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monotonic_values = iter([30.0, 30.2])
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monkeypatch.setattr("openpilot.starpilot.controls.lib.conditional_chill_mode.time.monotonic", lambda: next(monotonic_values))
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ccm.update(0.0, 25 * CV.MPH_TO_MS, sm, toggles)
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assert not ccm.experimental_mode
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sm["carState"].standstill = False
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ccm.update(16 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS, sm, toggles)
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assert ccm.experimental_mode
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assert ccm.status_value == CCStatus["OFF"]
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def test_ccm_launch_assist_exits_immediately_if_lead_slows_again(monkeypatch):
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planner, _detector, ccm = make_ccm()
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sm = make_sm()
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sm["carState"].standstill = True
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toggles = make_toggles()
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toggles.conditional_chill_launch_assist = True
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monotonic_values = iter([40.0, 40.1])
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monkeypatch.setattr("openpilot.starpilot.controls.lib.conditional_chill_mode.time.monotonic", lambda: next(monotonic_values))
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planner.tracking_lead = True
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planner.lead_one.status = True
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planner.lead_one.dRel = 18.0
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planner.lead_one.vLead = 2.0
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planner.lead_one.radar = True
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ccm.update(0.0, 25 * CV.MPH_TO_MS, sm, toggles)
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assert not ccm.experimental_mode
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assert ccm.status_value == CCStatus["LEAD"]
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sm["carState"].standstill = False
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planner.lead_one.vLead = 0.2
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planner.lead_one.aLeadK = -0.4
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ccm.update(3 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS, sm, toggles)
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assert ccm.experimental_mode
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assert ccm.status_value == CCStatus["OFF"]
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def test_ccm_respects_manual_chill_override(monkeypatch):
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planner, _detector, ccm = make_ccm()
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sm = make_sm()
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@@ -223,6 +329,19 @@ def test_ccm_respects_manual_chill_override(monkeypatch):
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assert ccm.status_value == CCStatus["USER_CHILL"]
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def test_ccm_launch_assist_is_disabled_by_default(monkeypatch):
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planner, _detector, ccm = make_ccm()
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sm = make_sm()
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sm["carState"].standstill = True
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toggles = make_toggles()
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monkeypatch.setattr("openpilot.starpilot.controls.lib.conditional_chill_mode.time.monotonic", lambda: 50.0)
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ccm.update(0.0, 25 * CV.MPH_TO_MS, sm, toggles)
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assert ccm.experimental_mode
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assert ccm.status_value == CCStatus["OFF"]
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def test_ccm_restores_persisted_manual_experimental_override(monkeypatch):
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planner, _detector, ccm = make_ccm()
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sm = make_sm()
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@@ -52,6 +52,27 @@ StarPilotEventName = custom.StarPilotOnroadEvent.EventName
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IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
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def should_loud_blindspot_alert_without_lateral(CS, sm, starpilot_toggles) -> bool:
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if not (getattr(starpilot_toggles, "loud_blindspot_alert", False) and
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getattr(starpilot_toggles, "loud_blindspot_alert_when_disengaged", False)):
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return False
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if sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
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return False
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left_signal_blocked = bool(CS.leftBlinker and CS.leftBlindspot)
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right_signal_blocked = bool(CS.rightBlinker and CS.rightBlindspot)
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one_blinker = bool(CS.leftBlinker) != bool(CS.rightBlinker)
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if not (one_blinker and (left_signal_blocked or right_signal_blocked)):
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return False
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return (
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not sm['carControl'].latActive or
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not sm['starpilotPlan'].lateralCheck or
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sm['starpilotCarState'].pauseLateral
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)
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class SelfdriveD:
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def __init__(self, CP=None):
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self.params = Params()
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@@ -374,10 +395,12 @@ class SelfdriveD:
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# ******************************************************************************************
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||||
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||||
# Handle lane change
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||||
blindspot_alert_added = False
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||||
if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
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direction = self.sm['modelV2'].meta.laneChangeDirection
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if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
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||||
(CS.rightBlindspot and direction == LaneChangeDirection.right):
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blindspot_alert_added = True
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if self.starpilot_toggles.loud_blindspot_alert:
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self.starpilot_events.add(StarPilotEventName.laneChangeBlockedLoud)
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else:
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@@ -398,6 +421,9 @@ class SelfdriveD:
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||||
LaneChangeState.laneChangeFinishing):
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||||
self.events.add(EventName.laneChange)
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||||
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||||
if not blindspot_alert_added and should_loud_blindspot_alert_without_lateral(CS, self.sm, self.starpilot_toggles):
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||||
self.starpilot_events.add(StarPilotEventName.laneChangeBlockedLoud)
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||||
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||||
for i, pandaState in enumerate(self.sm['pandaStates']):
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||||
# All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput
|
||||
if i < len(self.CP.safetyConfigs):
|
||||
|
||||
@@ -0,0 +1,58 @@
|
||||
from types import SimpleNamespace
|
||||
|
||||
from cereal import log
|
||||
from openpilot.selfdrive.selfdrived.selfdrived import should_loud_blindspot_alert_without_lateral
|
||||
|
||||
|
||||
LaneChangeState = log.LaneChangeState
|
||||
|
||||
|
||||
def _car_state(left_blinker=False, right_blinker=False, left_blindspot=False, right_blindspot=False):
|
||||
return SimpleNamespace(
|
||||
leftBlinker=left_blinker,
|
||||
rightBlinker=right_blinker,
|
||||
leftBlindspot=left_blindspot,
|
||||
rightBlindspot=right_blindspot,
|
||||
)
|
||||
|
||||
|
||||
def _sm(lane_change_state=LaneChangeState.off, lat_active=False, lateral_check=False, pause_lateral=False):
|
||||
return {
|
||||
"modelV2": SimpleNamespace(meta=SimpleNamespace(laneChangeState=lane_change_state)),
|
||||
"carControl": SimpleNamespace(latActive=lat_active),
|
||||
"starpilotPlan": SimpleNamespace(lateralCheck=lateral_check),
|
||||
"starpilotCarState": SimpleNamespace(pauseLateral=pause_lateral),
|
||||
}
|
||||
|
||||
|
||||
def _toggles(enabled=True):
|
||||
return SimpleNamespace(
|
||||
loud_blindspot_alert=True,
|
||||
loud_blindspot_alert_when_disengaged=enabled,
|
||||
)
|
||||
|
||||
|
||||
def test_loud_blindspot_alert_without_lateral_for_matching_signal():
|
||||
CS = _car_state(left_blinker=True, left_blindspot=True)
|
||||
|
||||
assert should_loud_blindspot_alert_without_lateral(CS, _sm(lat_active=False), _toggles())
|
||||
assert should_loud_blindspot_alert_without_lateral(CS, _sm(lat_active=True, lateral_check=False), _toggles())
|
||||
assert should_loud_blindspot_alert_without_lateral(CS, _sm(lat_active=True, lateral_check=True, pause_lateral=True), _toggles())
|
||||
|
||||
|
||||
def test_loud_blindspot_alert_without_lateral_ignores_active_lateral():
|
||||
CS = _car_state(right_blinker=True, right_blindspot=True)
|
||||
|
||||
assert not should_loud_blindspot_alert_without_lateral(CS, _sm(lat_active=True, lateral_check=True), _toggles())
|
||||
|
||||
|
||||
def test_loud_blindspot_alert_without_lateral_requires_matching_side_and_toggle():
|
||||
assert not should_loud_blindspot_alert_without_lateral(_car_state(left_blinker=True, right_blindspot=True), _sm(), _toggles())
|
||||
assert not should_loud_blindspot_alert_without_lateral(_car_state(left_blinker=True, right_blinker=True, left_blindspot=True), _sm(), _toggles())
|
||||
assert not should_loud_blindspot_alert_without_lateral(_car_state(left_blinker=True, left_blindspot=True), _sm(), _toggles(enabled=False))
|
||||
|
||||
|
||||
def test_loud_blindspot_alert_without_lateral_skips_normal_lane_change_alert_path():
|
||||
CS = _car_state(left_blinker=True, left_blindspot=True)
|
||||
|
||||
assert not should_loud_blindspot_alert_without_lateral(CS, _sm(lane_change_state=LaneChangeState.preLaneChange), _toggles())
|
||||
@@ -404,6 +404,7 @@ class StarPilotSoundsLayout(_SettingsPage):
|
||||
"GreenLightAlert",
|
||||
"LeadDepartingAlert",
|
||||
"LoudBlindspotAlert",
|
||||
"LoudBlindspotAlertWhenDisengaged",
|
||||
"SpeedLimitChangedAlert",
|
||||
]
|
||||
|
||||
@@ -445,6 +446,12 @@ class StarPilotSoundsLayout(_SettingsPage):
|
||||
"is_enabled": lambda: starpilot_state.car_state.hasBSM,
|
||||
"disabled_label": tr_noop("Needs BSM")
|
||||
},
|
||||
"LoudBlindspotAlertWhenDisengaged": {
|
||||
"title": tr_noop("Loud While Paused"),
|
||||
"subtitle": tr_noop("When lateral is off or paused"),
|
||||
"is_enabled": lambda: starpilot_state.car_state.hasBSM and self._params.get_bool("LoudBlindspotAlert"),
|
||||
"disabled_label": tr_noop("Enable Loud Blindspot")
|
||||
},
|
||||
"SpeedLimitChangedAlert": {
|
||||
"title": tr_noop("Speed Limit"),
|
||||
"subtitle": tr_noop("When posted speed limit changes"),
|
||||
|
||||
@@ -144,7 +144,13 @@ class VehicleSettingsManagerView(AetherInteractiveMixin, Widget):
|
||||
"get_state": lambda: self._controller._params.get_bool("GMDashSpoofOffsets"),
|
||||
"set_state": lambda s: self._controller._on_toggle("GMDashSpoofOffsets"),
|
||||
})
|
||||
if cs.isGM:
|
||||
if cs.isGM and cs.hasOpenpilotLongitudinal:
|
||||
toggles.append({
|
||||
"title": tr("Stock Dash Disengaged"),
|
||||
"subtitle": tr("Use the stock GM dash set speed while openpilot is not engaged."),
|
||||
"get_state": lambda: self._controller._params.get_bool("GMStockDashWhenNotEngaged"),
|
||||
"set_state": lambda s: self._controller._on_toggle("GMStockDashWhenNotEngaged"),
|
||||
})
|
||||
toggles.append({
|
||||
"title": tr("Remote Start Panda"),
|
||||
"get_state": lambda: self._controller._params.get_bool("RemoteStartBootsComma"),
|
||||
|
||||
@@ -113,6 +113,7 @@ SAFE_MODE_MANAGED_KEYS = (
|
||||
"CESpeed",
|
||||
"CESpeedLead",
|
||||
"CCMLead",
|
||||
"CCMLaunchAssist",
|
||||
"CCMSetSpeedMargin",
|
||||
"CCMSpeed",
|
||||
"CCMSpeedLead",
|
||||
@@ -183,6 +184,7 @@ SAFE_MODE_MANAGED_KEYS = (
|
||||
"GMAutoHold",
|
||||
"GMPedalLongitudinal",
|
||||
"GMDashSpoofOffsets",
|
||||
"GMStockDashWhenNotEngaged",
|
||||
"LongPitch",
|
||||
)
|
||||
|
||||
|
||||
@@ -723,6 +723,7 @@ class StarPilotVariables:
|
||||
toggle.conditional_chill_speed_lead = self.get_value("CCMSpeedLead", cast=float, condition=toggle.conditional_chill_mode, conversion=speed_conversion)
|
||||
toggle.conditional_chill_speed_margin = self.get_value("CCMSetSpeedMargin", cast=float, condition=toggle.conditional_chill_mode, conversion=speed_conversion)
|
||||
toggle.conditional_chill_lead = self.get_value("CCMLead", condition=toggle.conditional_chill_mode)
|
||||
toggle.conditional_chill_launch_assist = self.get_value("CCMLaunchAssist", condition=toggle.conditional_chill_mode)
|
||||
toggle.cem_status = (
|
||||
self.get_value("ShowCEMStatus", condition=toggle.conditional_experimental_mode) or
|
||||
self.get_value("ShowCCMStatus", condition=toggle.conditional_chill_mode) or
|
||||
@@ -738,6 +739,7 @@ class StarPilotVariables:
|
||||
toggle.green_light_alert = self.get_value("GreenLightAlert", condition=custom_alerts)
|
||||
toggle.lead_departing_alert = self.get_value("LeadDepartingAlert", condition=custom_alerts)
|
||||
toggle.loud_blindspot_alert = self.get_value("LoudBlindspotAlert", condition=custom_alerts and has_bsm)
|
||||
toggle.loud_blindspot_alert_when_disengaged = self.get_value("LoudBlindspotAlertWhenDisengaged", condition=toggle.loud_blindspot_alert)
|
||||
toggle.speed_limit_changed_alert = self.get_value("SpeedLimitChangedAlert", condition=custom_alerts)
|
||||
|
||||
toggle.custom_personalities = toggle.openpilot_longitudinal and self.get_value("CustomPersonalities")
|
||||
@@ -1305,6 +1307,7 @@ class StarPilotVariables:
|
||||
toggle.green_light_alert = False
|
||||
toggle.lead_departing_alert = False
|
||||
toggle.loud_blindspot_alert = False
|
||||
toggle.loud_blindspot_alert_when_disengaged = False
|
||||
toggle.speed_limit_changed_alert = False
|
||||
|
||||
toggle.startup_alert_top = "Be ready to take over at any time"
|
||||
@@ -1326,6 +1329,10 @@ class StarPilotVariables:
|
||||
"GMDashSpoofOffsets",
|
||||
condition=toggle.car_make == "gm" and toggle.has_pedal,
|
||||
)
|
||||
toggle.gm_stock_dash_when_not_engaged = self.get_value(
|
||||
"GMStockDashWhenNotEngaged",
|
||||
condition=toggle.car_make == "gm" and toggle.openpilot_longitudinal,
|
||||
)
|
||||
toggle.long_pitch = self.get_value(
|
||||
"LongPitch",
|
||||
condition=toggle.openpilot_longitudinal and toggle.car_make == "gm",
|
||||
|
||||
@@ -12,17 +12,24 @@ from openpilot.starpilot.common.experimental_state import (
|
||||
|
||||
class ConditionalChillMode:
|
||||
CCM_STOP_MODEL_TIME = 7.0
|
||||
CHILL_ENTRY_CONFIRM_TIME = 0.35
|
||||
CHILL_SPEED_ENTRY_CONFIRM_TIME = 0.35
|
||||
CHILL_LEAD_ENTRY_CONFIRM_TIME = 1.0
|
||||
CHILL_LAUNCH_ENTRY_CONFIRM_TIME = 0.0
|
||||
CHILL_EXIT_BUFFER_TIME = 0.35
|
||||
CHILL_MIN_DWELL_TIME = 1.2
|
||||
|
||||
CHILL_LAUNCH_EXIT_SPEED = 15 * CV.MPH_TO_MS
|
||||
CHILL_LAUNCH_MAX_ENTRY_SPEED = 1.0
|
||||
CHILL_LAUNCH_MAX_BRAKE = 0.2
|
||||
CHILL_LAUNCH_MAX_CLOSING_SPEED = 0.75
|
||||
|
||||
STABLE_LEAD_MIN_MODEL_PROB = 0.9
|
||||
STABLE_LEAD_MAX_BRAKE = 0.2
|
||||
STABLE_LEAD_MIN_SPEED = 1.5
|
||||
STABLE_LEAD_MAX_DISTANCE = 90.0
|
||||
STABLE_LEAD_MAX_DISTANCE_TIME = 4.5
|
||||
STABLE_LEAD_MAX_CLOSING_SPEED = 0.75
|
||||
STABLE_LEAD_MAX_CLOSING_RATIO = 0.03
|
||||
STABLE_LEAD_MAX_CLOSING_SPEED = 1.25
|
||||
STABLE_LEAD_MAX_CLOSING_RATIO = 0.05
|
||||
|
||||
ADJACENT_LEAD_VETO_MIN_SPEED = 1.0
|
||||
ADJACENT_LEAD_VETO_MAX_DISTANCE = 65.0
|
||||
@@ -43,6 +50,7 @@ class ConditionalChillMode:
|
||||
self._soft_exit_since = 0.0
|
||||
self._chill_hold_until = 0.0
|
||||
self._prev_cc_status = None
|
||||
self._launch_active = False
|
||||
|
||||
def update(self, v_ego, v_cruise, sm, starpilot_toggles):
|
||||
now = time.monotonic()
|
||||
@@ -57,23 +65,24 @@ class ConditionalChillMode:
|
||||
return
|
||||
|
||||
self._refresh_detector(v_ego, sm)
|
||||
auto_status, launch_candidate = self._get_chill_status(v_ego, v_cruise, sm, starpilot_toggles)
|
||||
|
||||
if safe_mode or self._has_hard_veto(v_ego, sm):
|
||||
if safe_mode or self._has_hard_veto(v_ego, sm, allow_launch=launch_candidate):
|
||||
self._reset_timers()
|
||||
self.experimental_mode = False if safe_mode else True
|
||||
self.status_value = CCStatus["OFF"]
|
||||
self._write_status(CCStatus["OFF"])
|
||||
return
|
||||
|
||||
auto_status = self._get_chill_status(v_ego, v_cruise, sm, starpilot_toggles)
|
||||
chill_candidate = auto_status != CCStatus["OFF"]
|
||||
entry_confirm_time = self._get_entry_confirm_time(auto_status, launch_candidate)
|
||||
|
||||
if chill_candidate:
|
||||
if self._candidate_since == 0.0:
|
||||
self._candidate_since = now
|
||||
self._soft_exit_since = 0.0
|
||||
|
||||
if not self.experimental_mode or (now - self._candidate_since) >= self.CHILL_ENTRY_CONFIRM_TIME:
|
||||
if not self.experimental_mode or (now - self._candidate_since) >= entry_confirm_time:
|
||||
self.experimental_mode = False
|
||||
self._active_auto_status = auto_status
|
||||
self._chill_hold_until = max(self._chill_hold_until, now + self.CHILL_MIN_DWELL_TIME)
|
||||
@@ -103,6 +112,7 @@ class ConditionalChillMode:
|
||||
self._candidate_since = 0.0
|
||||
self._soft_exit_since = 0.0
|
||||
self._chill_hold_until = 0.0
|
||||
self._launch_active = False
|
||||
|
||||
def _refresh_detector(self, v_ego, sm):
|
||||
detector_toggles = type("DetectorToggles", (), {
|
||||
@@ -116,8 +126,8 @@ class ConditionalChillMode:
|
||||
self.detector.slow_lead(detector_toggles, v_ego)
|
||||
self.detector.stop_sign_and_light(v_ego, sm, self.CCM_STOP_MODEL_TIME)
|
||||
|
||||
def _has_hard_veto(self, v_ego, sm):
|
||||
if sm["carState"].standstill:
|
||||
def _has_hard_veto(self, v_ego, sm, allow_launch=False):
|
||||
if sm["carState"].standstill and not allow_launch:
|
||||
return True
|
||||
|
||||
if sm["carState"].leftBlinker or sm["carState"].rightBlinker:
|
||||
@@ -138,7 +148,7 @@ class ConditionalChillMode:
|
||||
if self._adjacent_lead_ambiguous(sm, v_ego):
|
||||
return True
|
||||
|
||||
return self._low_speed_stop_scene(v_ego)
|
||||
return self._low_speed_stop_scene(v_ego) and not allow_launch
|
||||
|
||||
def _low_speed_stop_scene(self, v_ego):
|
||||
if v_ego >= self.LOW_SPEED_STOP_SCENE_MAX_SPEED:
|
||||
@@ -157,6 +167,11 @@ class ConditionalChillMode:
|
||||
return lead_distance < lead_distance_limit and lead_speed < max(6.0, v_ego + 0.5)
|
||||
|
||||
def _get_chill_status(self, v_ego, v_cruise, sm, starpilot_toggles):
|
||||
if getattr(starpilot_toggles, "conditional_chill_launch_assist", False):
|
||||
launch_status = self._get_launch_status(v_ego, sm)
|
||||
if launch_status != CCStatus["OFF"]:
|
||||
return launch_status, True
|
||||
|
||||
lead = self.starpilot_planner.lead_one
|
||||
lead_status = bool(getattr(lead, "status", False))
|
||||
tracking_lead = bool(getattr(self.starpilot_planner, "tracking_lead", False))
|
||||
@@ -165,13 +180,13 @@ class ConditionalChillMode:
|
||||
if (not lead_status and not tracking_lead and
|
||||
v_ego >= starpilot_toggles.conditional_chill_speed and
|
||||
set_speed_error >= starpilot_toggles.conditional_chill_speed_margin):
|
||||
return CCStatus["SPEED"]
|
||||
return CCStatus["SPEED"], False
|
||||
|
||||
if not starpilot_toggles.conditional_chill_lead:
|
||||
return CCStatus["OFF"]
|
||||
return CCStatus["OFF"], False
|
||||
|
||||
if v_ego < starpilot_toggles.conditional_chill_speed_lead or not lead_status or not tracking_lead:
|
||||
return CCStatus["OFF"]
|
||||
return CCStatus["OFF"], False
|
||||
|
||||
lead_distance = float(getattr(lead, "dRel", float("inf")))
|
||||
lead_speed = float(getattr(lead, "vLead", 0.0))
|
||||
@@ -183,15 +198,80 @@ class ConditionalChillMode:
|
||||
lead_confident = bool(getattr(lead, "radar", False)) or lead_prob >= self.STABLE_LEAD_MIN_MODEL_PROB
|
||||
|
||||
if not lead_confident:
|
||||
return CCStatus["OFF"]
|
||||
return CCStatus["OFF"], False
|
||||
|
||||
if lead_distance >= max_distance or lead_speed <= self.STABLE_LEAD_MIN_SPEED:
|
||||
return CCStatus["OFF"]
|
||||
return CCStatus["OFF"], False
|
||||
|
||||
if lead_brake > self.STABLE_LEAD_MAX_BRAKE or closing_speed > max_closing_speed:
|
||||
return CCStatus["OFF"], False
|
||||
|
||||
return CCStatus["LEAD"], False
|
||||
|
||||
def _get_launch_status(self, v_ego, sm):
|
||||
if self._launch_active and self._launch_exit_required(v_ego, sm):
|
||||
self._launch_active = False
|
||||
return CCStatus["OFF"]
|
||||
|
||||
return CCStatus["LEAD"]
|
||||
if self._launch_active:
|
||||
return self._get_launch_cc_status()
|
||||
|
||||
if not self._launch_scene_eligible(v_ego, sm):
|
||||
return CCStatus["OFF"]
|
||||
|
||||
self._launch_active = True
|
||||
return self._get_launch_cc_status()
|
||||
|
||||
def _launch_scene_eligible(self, v_ego, sm):
|
||||
if v_ego > self.CHILL_LAUNCH_MAX_ENTRY_SPEED and not self._launch_active:
|
||||
return False
|
||||
|
||||
selfdrive_state = self._get_sm_service(sm, "selfdriveState")
|
||||
longitudinal_plan = self._get_sm_service(sm, "longitudinalPlan")
|
||||
if selfdrive_state is None or longitudinal_plan is None:
|
||||
return False
|
||||
|
||||
if not bool(getattr(selfdrive_state, "enabled", False)):
|
||||
return False
|
||||
|
||||
if bool(getattr(longitudinal_plan, "shouldStop", False)) or not bool(getattr(longitudinal_plan, "allowThrottle", False)):
|
||||
return False
|
||||
|
||||
lead = getattr(self.starpilot_planner, "lead_one", None)
|
||||
lead_status = bool(getattr(lead, "status", False))
|
||||
tracking_lead = bool(getattr(self.starpilot_planner, "tracking_lead", False))
|
||||
if not lead_status and not tracking_lead:
|
||||
return True
|
||||
|
||||
lead_speed = float(getattr(lead, "vLead", 0.0))
|
||||
lead_brake = max(0.0, -float(getattr(lead, "aLeadK", 0.0)))
|
||||
closing_speed = max(0.0, v_ego - lead_speed)
|
||||
|
||||
return lead_speed > self.STABLE_LEAD_MIN_SPEED and lead_brake <= self.CHILL_LAUNCH_MAX_BRAKE and closing_speed <= self.CHILL_LAUNCH_MAX_CLOSING_SPEED
|
||||
|
||||
def _launch_exit_required(self, v_ego, sm):
|
||||
if v_ego >= self.CHILL_LAUNCH_EXIT_SPEED:
|
||||
return True
|
||||
|
||||
if not self._launch_scene_eligible(v_ego, sm):
|
||||
return True
|
||||
|
||||
return False
|
||||
|
||||
def _get_launch_cc_status(self):
|
||||
lead = getattr(self.starpilot_planner, "lead_one", None)
|
||||
lead_status = bool(getattr(lead, "status", False))
|
||||
tracking_lead = bool(getattr(self.starpilot_planner, "tracking_lead", False))
|
||||
return CCStatus["LEAD"] if lead_status or tracking_lead else CCStatus["SPEED"]
|
||||
|
||||
def _get_entry_confirm_time(self, auto_status, launch_candidate):
|
||||
if launch_candidate:
|
||||
return self.CHILL_LAUNCH_ENTRY_CONFIRM_TIME
|
||||
|
||||
if auto_status == CCStatus["LEAD"]:
|
||||
return self.CHILL_LEAD_ENTRY_CONFIRM_TIME
|
||||
|
||||
return self.CHILL_SPEED_ENTRY_CONFIRM_TIME
|
||||
|
||||
def _adjacent_lead_ambiguous(self, sm, v_ego):
|
||||
radar_state = self._get_sm_service(sm, "starpilotRadarState")
|
||||
|
||||
@@ -1665,6 +1665,14 @@
|
||||
"ui_type": "toggle",
|
||||
"parent_key": "ConditionalChill"
|
||||
},
|
||||
{
|
||||
"key": "CCMLaunchAssist",
|
||||
"label": "Launch Assist",
|
||||
"description": "Temporarily switch to \"Chill Mode\" when starting from a stop if planner is already allowing throttle. Useful if your car launches too slowly from lights or stop signs.",
|
||||
"data_type": "bool",
|
||||
"ui_type": "toggle",
|
||||
"parent_key": "ConditionalChill"
|
||||
},
|
||||
{
|
||||
"key": "CCMSetSpeedMargin",
|
||||
"label": "Set Speed Margin",
|
||||
@@ -2242,6 +2250,14 @@
|
||||
"ui_type": "toggle",
|
||||
"parent_key": "CustomAlerts"
|
||||
},
|
||||
{
|
||||
"key": "LoudBlindspotAlertWhenDisengaged",
|
||||
"label": "Blind Spot Alert When Disengaged",
|
||||
"description": "Play the loud blind spot alert while lateral control is off or paused. Useful when steering pauses on turn signal, since the lane-change state machine is inactive then.",
|
||||
"data_type": "bool",
|
||||
"ui_type": "toggle",
|
||||
"parent_key": "CustomAlerts"
|
||||
},
|
||||
{
|
||||
"key": "SpeedLimitChangedAlert",
|
||||
"label": "Speed Limit Changed Alert",
|
||||
@@ -2401,6 +2417,13 @@
|
||||
"data_type": "bool",
|
||||
"ui_type": "toggle"
|
||||
},
|
||||
{
|
||||
"key": "GMStockDashWhenNotEngaged",
|
||||
"label": "Stock Dash When Disengaged",
|
||||
"description": "Use the stock GM dashboard set speed while openpilot is not engaged. When off, StarPilot keeps the existing dashboard spoof behavior.",
|
||||
"data_type": "bool",
|
||||
"ui_type": "toggle"
|
||||
},
|
||||
{
|
||||
"key": "LongPitch",
|
||||
"label": "Smooth Pedal Response on Hills",
|
||||
@@ -3331,4 +3354,4 @@
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
]
|
||||
|
||||
@@ -102,6 +102,7 @@ StarPilotLongitudinalPanel::StarPilotLongitudinalPanel(StarPilotSettingsWindow *
|
||||
{"PersistChillState", tr("Persist Chill State"), tr("<b>Keep your manual Conditional Chill override through reboots</b> until you manually clear it."), ""},
|
||||
{"CCMSpeed", tr("Above"), tr("<b>Switch to \"Chill Mode\" on open roads above this speed when no lead is detected and the car is still below the set speed.</b>"), ""},
|
||||
{"CCMLead", tr("Stable Lead Ahead"), tr("<b>Switch to \"Chill Mode\" when following a steady, well-tracked lead vehicle at cruising speeds.</b>"), ""},
|
||||
{"CCMLaunchAssist", tr("Launch Assist"), tr("<b>Temporarily switch to \"Chill Mode\" when starting from a stop if planner is already allowing throttle.</b> Useful if your car launches too slowly from lights or stop signs."), ""},
|
||||
{"CCMSetSpeedMargin", tr("Set Speed Margin"), tr("<b>How far below the set speed the car must be before open-road Conditional Chill can engage.</b>"), ""},
|
||||
{"ShowCCMStatus", tr("Status Widget"), tr("<b>Show which condition triggered \"Chill Mode\"</b> on the driving screen."), ""},
|
||||
|
||||
|
||||
@@ -30,7 +30,7 @@ private:
|
||||
|
||||
QSet<QString> advancedLongitudinalTuneKeys = {"EVTuning", "TruckTuning", "LongitudinalActuatorDelay", "MaxDesiredAcceleration", "StartAccel", "StopAccel", "StoppingDecelRate", "VEgoStarting", "VEgoStopping"};
|
||||
QSet<QString> aggressivePersonalityKeys = {"AggressiveFollow", "AggressiveFollowHigh", "AggressiveJerkAcceleration", "AggressiveJerkDeceleration", "AggressiveJerkDanger", "AggressiveJerkSpeed", "AggressiveJerkSpeedDecrease", "ResetAggressivePersonality"};
|
||||
QSet<QString> conditionalChillKeys = {"PersistChillState", "CCMSpeed", "CCMSpeedLead", "CCMLead", "CCMSetSpeedMargin", "ShowCCMStatus"};
|
||||
QSet<QString> conditionalChillKeys = {"PersistChillState", "CCMSpeed", "CCMSpeedLead", "CCMLead", "CCMLaunchAssist", "CCMSetSpeedMargin", "ShowCCMStatus"};
|
||||
QSet<QString> conditionalExperimentalKeys = {"PersistExperimentalState", "CESpeed", "CESpeedLead", "CECurves", "CELead", "CEModelStopTime", "CESignalSpeed", "CEStopLights", "ShowCEMStatus"};
|
||||
QSet<QString> curveSpeedKeys = {"CalibratedLateralAcceleration", "CalibrationProgress", "ResetCurveData", "ShowCSCStatus"};
|
||||
QSet<QString> customDrivingPersonalityKeys = {"AggressivePersonalityProfile", "RelaxedPersonalityProfile", "StandardPersonalityProfile", "TrafficPersonalityProfile"};
|
||||
|
||||
@@ -39,6 +39,7 @@ StarPilotSoundsPanel::StarPilotSoundsPanel(StarPilotSettingsWindow *parent, bool
|
||||
{"GreenLightAlert", tr("Green Light Alert"), tr("<b>Play an alert when the model predicts a red light has turned green.</b><br><br><i><b>Disclaimer</b>: openpilot does not explicitly detect traffic lights. This alert is based on end-to-end model predictions from camera input and may trigger even when the light has not changed.</i>"), ""},
|
||||
{"LeadDepartingAlert", tr("Lead Departing Alert"), tr("<b>Play an alert when the lead vehicle departs from a stop.</b>"), ""},
|
||||
{"LoudBlindspotAlert", tr("Loud \"Car Detected in Blindspot\" Alert"), tr("<b>Play a louder alert if a vehicle is in the blind spot when attempting to change lanes.</b> Based on the \"Car Detected in Blindspot\" event."), ""},
|
||||
{"LoudBlindspotAlertWhenDisengaged", tr("Blind Spot Alert When Disengaged"), tr("<b>Play the loud blind spot alert while lateral control is off or paused.</b><br><br>Useful when steering pauses on turn signal, since the lane-change state machine is inactive then."), ""},
|
||||
{"SpeedLimitChangedAlert", tr("Speed Limit Changed Alert"), tr("<b>Play an alert when the posted speed limit changes.</b>"), ""}
|
||||
};
|
||||
|
||||
@@ -192,6 +193,10 @@ void StarPilotSoundsPanel::updateToggles() {
|
||||
setVisible &= parent->hasBSM;
|
||||
}
|
||||
|
||||
else if (key == "LoudBlindspotAlertWhenDisengaged") {
|
||||
setVisible &= parent->hasBSM && params.getBool("LoudBlindspotAlert");
|
||||
}
|
||||
|
||||
else if (key == "SpeedLimitChangedAlert") {
|
||||
setVisible &= params.getBool("ShowSpeedLimits") || (parent->hasOpenpilotLongitudinal && params.getBool("SpeedLimitController"));
|
||||
}
|
||||
|
||||
@@ -27,7 +27,7 @@ private:
|
||||
|
||||
QSet<QString> alertCooldownKeys {"SwitchbackModeCooldown"};
|
||||
QSet<QString> alertVolumeControlKeys {"BelowSteerSpeedVolume", "DisengageVolume", "EngageVolume", "PromptDistractedVolume", "PromptVolume", "RefuseVolume", "WarningImmediateVolume", "WarningSoftVolume"};
|
||||
QSet<QString> customAlertsKeys {"GoatScream", "GoatScreamCriticalAlerts", "GreenLightAlert", "LeadDepartingAlert", "LoudBlindspotAlert", "SpeedLimitChangedAlert"};
|
||||
QSet<QString> customAlertsKeys {"GoatScream", "GoatScreamCriticalAlerts", "GreenLightAlert", "LeadDepartingAlert", "LoudBlindspotAlert", "LoudBlindspotAlertWhenDisengaged", "SpeedLimitChangedAlert"};
|
||||
|
||||
QSet<QString> parentKeys;
|
||||
|
||||
|
||||
@@ -173,6 +173,7 @@ StarPilotVehiclesPanel::StarPilotVehiclesPanel(StarPilotSettingsWindow *parent,
|
||||
{"GMToggles", tr("General Motors Settings"), tr("<b>StarPilot features for General Motors vehicles.</b>"), ""},
|
||||
{"GMPedalLongitudinal", tr("Use Pedal For Longitudinal"), tr("<b>Use the pedal interceptor for full longitudinal control</b> on supported GM vehicles."), ""},
|
||||
{"GMDashSpoofOffsets", tr("Apply Offsets To Dash Spoof"), tr("<b>On GM pedal-long cars, add the configured set-speed offset</b> to the spoofed dash set speed so it matches the on-screen set speed."), ""},
|
||||
{"GMStockDashWhenNotEngaged", tr("Stock Dash When Disengaged"), tr("<b>Use the stock GM dashboard set speed while openpilot is not engaged.</b><br><br>When off, StarPilot keeps the existing dashboard spoof behavior."), ""},
|
||||
{"LongPitch", tr("Smooth Pedal Response on Hills"), tr("<b>Smoothen acceleration and braking</b> when driving downhill/uphill."), ""},
|
||||
{"RemoteStartBootsComma", tr("Remote Start Boots comma"), tr("<b>Use the remote-start GM panda firmware at boot.</b><br><br>Required for GM remote-start startup signal behavior."), ""},
|
||||
{"RemapCancelToDistance", tr("Remap Cancel Button"), tr("<b>On pedal-interceptor Bolts, treat the steering-wheel CANCEL button as an extra mappable button.</b>"), ""},
|
||||
|
||||
@@ -23,8 +23,8 @@ private:
|
||||
|
||||
std::map<QString, AbstractControl*> toggles;
|
||||
|
||||
QSet<QString> gmKeys = {"GMPedalLongitudinal", "GMDashSpoofOffsets", "LongPitch", "RemoteStartBootsComma", "RemapCancelToDistance", "VoltSNG"};
|
||||
QSet<QString> longitudinalKeys = {"FrogsGoMoosTweak", "GMDashSpoofOffsets", "LongPitch", "RemapCancelToDistance", "SNGHack", "VoltSNG"};
|
||||
QSet<QString> gmKeys = {"GMPedalLongitudinal", "GMDashSpoofOffsets", "GMStockDashWhenNotEngaged", "LongPitch", "RemoteStartBootsComma", "RemapCancelToDistance", "VoltSNG"};
|
||||
QSet<QString> longitudinalKeys = {"FrogsGoMoosTweak", "GMDashSpoofOffsets", "GMStockDashWhenNotEngaged", "LongPitch", "RemapCancelToDistance", "SNGHack", "VoltSNG"};
|
||||
QSet<QString> subaruKeys = {"SubaruSNG"};
|
||||
QSet<QString> toyotaKeys = {"ClusterOffset", "FrogsGoMoosTweak", "LockDoorsTimer", "SNGHack", "ToyotaDoors"};
|
||||
QSet<QString> vehicleInfoKeys = {"BlindSpotSupport", "HardwareDetected", "OpenpilotLongitudinal", "PedalSupport", "RadarSupport", "SDSUSupport", "SNGSupport"};
|
||||
|
||||
Reference in New Issue
Block a user