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BluePilot Rocks - restore Ford attribution

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Document the substantial BluePilot bp-7.0 lineage behind StarPilot's
Ford support, preserve upstream license notices, credit the original
contributors, and add durable source references.
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firestar5683
2026-09-06 08:16:52 -05:00
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CREDITS.md
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# Credits and Code Provenance
StarPilot stands on work by comma.ai, FrogPilot, and many other open-source contributors. This
document records provenance that is not adequately represented by StarPilot's historical commit
authorship. It is not an assertion that an upstream contributor endorses, maintains, or is
responsible for StarPilot's adaptation.
## Ford support adapted from BluePilot
StarPilot commit [`3f6ccd104e826643887930b41ad3b4086b833d32`](https://github.com/firestar5683/StarPilot/commit/3f6ccd104e826643887930b41ad3b4086b833d32)
introduced a substantial adaptation of Ford work from BluePilot's `bp-7.0` branch. That commit's
message thanked the project, but it did not record a source revision or preserve the upstream
authors in the code. This file corrects that provenance gap without rewriting published history.
The exact checkout used for the original port was not recorded and therefore cannot now be proven.
At the time of the import,
[`3a838bba6d3d280592c2fd0496b3378977ae25f1`](https://github.com/BluePilotDev/bluepilot/commit/3a838bba6d3d280592c2fd0496b3378977ae25f1),
was the tip of the public `bp-7.0` line. Some imported platform lines instead trace to the
contemporaneous development line at
[`59e3f2f16a38ff0c16d173b0ccddded23aaa1cd8`](https://github.com/BluePilotDev/bluepilot/commit/59e3f2f16a38ff0c16d173b0ccddded23aaa1cd8).
Those histories were merged the next day as
[`e1d051d7ba270261b4455068bd68f1a58db15a4a`](https://github.com/BluePilotDev/bluepilot/commit/e1d051d7ba270261b4455068bd68f1a58db15a4a),
which is the complete `bp-7.0` snapshot used for this audit. This reconstruction is deliberately
recorded as a range rather than pretending that the missing original source SHA can be recovered.
### Upstream authors and work
- **Alan Polk (`alan-polk`)** is the principal upstream author of the Ford curvature controller,
angle-primary controller, manual-turn behavior, controller integration, and related panda safety
work. Important lineage commits include
[`db2bdff05`](https://github.com/BluePilotDev/bluepilot/commit/db2bdff05df103d71df62f45c2a3cb5211aba6e6),
[`d0aac605f`](https://github.com/BluePilotDev/bluepilot/commit/d0aac605f99d37e9da205e419f7989c1e9eaa386),
[`8f8d6d15f`](https://github.com/BluePilotDev/bluepilot/commit/8f8d6d15f0a590f42b78de964ffb0d0af7f5d63d), and
[`97867c1eb`](https://github.com/BluePilotDev/bluepilot/commit/97867c1eb57b7472f6fc3de62f0fef576e5a5497).
- **John Christman** contributed `bp-7.0` lateral integration, platform data, and the upstream
anti-stall work referenced by StarPilot's recovery logic, including
[`ec0ab181c`](https://github.com/BluePilotDev/bluepilot/commit/ec0ab181c344dccaae053e763bc6ce269551a2d8) and
[`9012f7666`](https://github.com/BluePilotDev/bluepilot/commit/9012f76666a5c90764fcaec40832b9a607488c27),
with additional vehicle data in
[`f0c6bf51f`](https://github.com/BluePilotDev/bluepilot/commit/f0c6bf51f19bb7b74226ead622cabef56e602125).
- **Jacob Neulight** contributed measured shadow-curvature and steering-pinion curvature/safety
work, including
[`699c17d9f`](https://github.com/BluePilotDev/bluepilot/commit/699c17d9fde62c690eed9d68eed7d731744d5137) and
[`26030f3cb`](https://github.com/BluePilotDev/bluepilot/commit/26030f3cb56a169ab0cf2b5a5ad15fa9af391b10).
- **Nathan Ingraham** contributed the separate high-speed damping adjustment in
[`1db52bc79`](https://github.com/BluePilotDev/bluepilot/commit/1db52bc79e607ddb00214254dd4d732615e27fe4) and
[`3610e3f18`](https://github.com/BluePilotDev/bluepilot/commit/3610e3f18a0ad37d793d7ada61dbc739ab1077a3).
- **Praeuner** contributed the damping-range update in
[`b600a8fdb`](https://github.com/BluePilotDev/bluepilot/commit/b600a8fdb985a2219fad4006ce9444b7071b52da).
- **tonesto7** contributed to the Ford integration and CAN-message history represented in the
imported branch, including
[`7f9212f7f`](https://github.com/BluePilotDev/bluepilot/commit/7f9212f7f8dc22c4a0a22443158554f4d3652a3c).
- **Haibin Wen and sunnypilot contributors** are named in file-level notices on upstream Ford
extension files that informed StarPilot's vehicle-state and lateral-limit integration. Their
published copyright and license notices are retained in [THIRD_PARTY_NOTICES.md](THIRD_PARTY_NOTICES.md).
- **Dirk Petersen, Alex Troxel, Kacer Aleks, and other BluePilot contributors** supplied Ford
fingerprints, VIN/platform data, tests, and integration changes that are represented in the
imported vehicle-support set. Examples include
[`3706b5645`](https://github.com/BluePilotDev/bluepilot/commit/3706b5645c270ad83cfecc3e92618924f0963166),
[`694bdbb7a`](https://github.com/BluePilotDev/bluepilot/commit/694bdbb7a9cc70af04d0118e891df96e47ded7c7), and
[`a02c06ef3`](https://github.com/BluePilotDev/bluepilot/commit/a02c06ef37acff518a511ba0a88a4dc65f506353).
This list identifies contributors whose work was found during the repository and blame audit. The
BluePilot repository and its Git history remain the authoritative record and may identify further
contributors.
### Local-to-upstream map
| StarPilot area | Upstream lineage | What StarPilot changed |
| --- | --- | --- |
| `starpilot/car/ford/lateral.py` | `human_turn.py`, `lateral_curv_ext.py`, `lateral_angle_ext.py`, and `values_ext.py` at the reference snapshot above | Reorganized three extension/mixin implementations into one controller; integrated StarPilot Params; later added live-delay curvature lookahead, active-session driver override, measured-curvature handoff blending, PSCM acknowledgement, and local recovery/tuning behavior. |
| `starpilot/car/ford/fordcan.py` | `fordcan_ext.py` and the angle-mode safety protocol, especially `8f8d6d15f` | Reduced the extension to the Ford lateral CAN constructors used by StarPilot and adapted it to the local controller interface. |
| `opendbc_repo/opendbc/car/ford/` | Ford controller/state/interface/radar/platform changes in the `bp-7.0` snapshot | Integrated the changes directly into StarPilot's opendbc layout instead of retaining sunnypilot mixins; subsequent fixes and behavior differ by file. |
| `opendbc_repo/opendbc/safety/modes/ford.h` and Ford safety tests | BluePilot panda enforcement for four-signal curvature and angle-primary control, especially `8f8d6d15f`, plus shadow-curvature work | Adapted the flags and checks to StarPilot's smaller mode protocol and continued adding local regression coverage. |
| Ford Params and settings surfaces | BluePilot's mode and tuning concepts | Renamed and implemented in StarPilot's native Params/Galaxy architecture; no BluePilot or sunnypilot UI classes were retained. |
The local code has materially diverged, but the first four rows remain derivative in design and in
parts of their implementation. Future ports should cite the exact upstream commit in the importing
commit and at the relevant source boundary; when history can be retained cleanly, use a merge,
subtree, or cherry-pick with origin metadata rather than a single squashed attribution.
## Policy for future third-party ports
Before publishing a third-party port:
1. Read every repository-level and file-level license that may cover the source. Stop and ask the
rightsholder when the terms or their scope conflict.
2. Record the repository URL, exact commit SHA, source paths/symbols, authors found in the relevant
history, and the local destination in the importing commit and this file.
3. Preserve required copyright and license notices verbatim. Reorganization, translation, and
AI-assisted rewriting do not remove source provenance.
4. Retain authorship/history with a merge, subtree, or `cherry-pick -x` when practical. For a true
adaptation, keep the local adapter as commit author and use an `Adapted-from:` trailer and source
comments; do not add `Co-authored-by:` for a person without their agreement.
5. Describe material local deviations and make clear that upstream contributors do not support or
endorse the downstream version.
See [THIRD_PARTY_NOTICES.md](THIRD_PARTY_NOTICES.md) for licensing notices.
LICENSE
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Copyright (c) 2018, Comma.ai, Inc.
Copyright (c) 2026, firestar5683 and StarPilot contributors
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
README.md
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@@ -21,6 +21,14 @@ but [has expanded to offer Quality-Of-Life improvements for all](#features)!
StarPilot is built off of [FrogPilot](https://github.com/FrogAi/FrogPilot)
and supports the major features FrogPilot offers.
Ford-specific lateral-control and vehicle-support work includes substantial adaptations from
[BluePilot](https://github.com/BluePilotDev/bluepilot/tree/bp-7.0), principally developed by
[Alan Polk](https://github.com/alan-polk) with additional BluePilot contributors. StarPilot's
implementation has since diverged, but that does not erase its lineage. See [CREDITS.md](CREDITS.md)
for the code-level provenance and [THIRD_PARTY_NOTICES.md](THIRD_PARTY_NOTICES.md) for applicable
upstream notices and terms. BluePilot and its contributors do not maintain or endorse StarPilot;
please direct support requests for this adaptation to the StarPilot project.
StarPilot has a vibrant, welcoming community [discord](https://firestar.link/discord).
Stop by to chat or ask questions!
@@ -77,4 +85,8 @@ Uses your comma's sysroot/toolchain
* Custom long maneuver tests, specifically designed for regen-only vehicles
## Third-Party Notices
* Portions of this software include modified versions of the Material Design Icons provided by Google under the Apache License 2.0. A copy of the license is included in the `LICENSE-MDI` file.
* Ford support includes software adapted from BluePilot's `bp-7.0` branch. The source repository contains both a standard MIT notice and a separate custom SUNNYPILOT LLC notice; StarPilot preserves both in [THIRD_PARTY_NOTICES.md](THIRD_PARTY_NOTICES.md).
> This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use.
THIRD_PARTY_NOTICES.md
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# Third-Party Notices
This file supplements StarPilot's root `LICENSE`. StarPilot-original contributions are offered
under that MIT license. Third-party material remains subject to its original terms; inclusion here
does not relicense it or imply endorsement by an upstream project or contributor.
## BluePilot `bp-7.0` Ford support
Portions of StarPilot's Ford lateral control, CAN integration, panda safety logic, vehicle data,
and related tests are adapted from the public BluePilot repository:
- Source: <https://github.com/BluePilotDev/bluepilot/tree/bp-7.0>
- Audited `bp-7.0` snapshot: [`e1d051d7ba270261b4455068bd68f1a58db15a4a`](https://github.com/BluePilotDev/bluepilot/commit/e1d051d7ba270261b4455068bd68f1a58db15a4a)
- Historical reconstruction: [CREDITS.md](CREDITS.md#ford-support-adapted-from-bluepilot)
- Provenance and contributors: [CREDITS.md](CREDITS.md)
The upstream branch contains both `LICENSE` and `LICENSE.md`. Its README points to `LICENSE` for
openpilot licensing, while some extension files point to `LICENSE.md`. Because the scope of those
two notices is not unambiguous, StarPilot preserves both and treats the more restrictive notice
conservatively for upstream-derived material. This is a record of the published notices, not a
legal conclusion about their scope.
### Upstream `LICENSE` notice (MIT)
Copyright (c) 2018, Comma.ai, Inc.
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and
associated documentation files (the "Software"), to deal in the Software without restriction,
including without limitation the rights to use, copy, modify, merge, publish, distribute,
sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or
substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT
OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
### Upstream Ford extension file notice
The upstream `carstate_ext.py`, `values_ext.py`, and several related sunnypilot extension files
carry this file-level notice:
> Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
>
> This file is part of sunnypilot and is licensed under the MIT License.
> See the LICENSE.md file in the root directory for more details.
StarPilot's Ford state integration and lateral-limit values were informed by those extension files.
The reference to “MIT License” conflicts with the nonstandard restrictions in the referenced
upstream `LICENSE.md`; both texts are retained here rather than silently choosing between them.
### Upstream `LICENSE.md` notice (published as “Custom MIT License”)
The following notice is reproduced verbatim from the reference branch:
> # Custom MIT License
>
> Copyright (c) 2024, Haibin Wen, SUNNYPILOT LLC
>
> Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to view and modify the Software, subject to the following conditions:
>
> 1. **Permission Required**: Permission Required for Commercial, For-Profit, or Closed Source Use: Use of the Software, in whole or in part, for any commercial purposes, for-profit projects, or in closed source projects requires explicit written permission from the original author(s).
>
> 2. **Redistribution**: Any redistribution of the Software, modified or unmodified, must retain this license notice and the following acknowledgment:
> "This software is licensed under a custom license requiring permission for use."
>
> 3. **Visibility**: Any project that uses the Software must visibly mention the following acknowledgment:
> "This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use."
>
> 4. **No Warranty**: THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
>
> Contact sunnypilot Support <support@sunnypilot.ai> for permission requests.
>
> ---
>
> Haibin Wen, SUNNYPILOT LLC
Required upstream acknowledgments:
> This software is licensed under a custom license requiring permission for use.
>
> This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use.
For commercial, for-profit, or closed-source use, consult the upstream notice and obtain any
permission it requires. The upstream repository's simultaneous publication of two differently
scoped notices should be clarified with the relevant copyright holders before relying on one to
the exclusion of the other.
common/params_keys.h
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@@ -373,6 +373,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"ForceStandstill", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
{"FordLKASButtonControlMigrated", {PERSISTENT, BOOL, "0", "0"}},
{"ForceTorqueController", {PERSISTENT, BOOL, "0", "0", 3}},
// These Ford lateral tuning concepts descend from BluePilot bp-7.0. StarPilot's key names and
// settings integration are local; see /CREDITS.md and /THIRD_PARTY_NOTICES.md for provenance.
{"FordAngleBlend", {PERSISTENT, FLOAT, "0.5", "0.5", 2}},
{"FordAngleHighSpeedDamping", {PERSISTENT, FLOAT, "1.0", "1.0", 2}},
{"FordAngleHighSpeedFactor", {PERSISTENT, FLOAT, "1.0", "1.0", 2}},
opendbc_repo/opendbc/car/ford/carcontroller.py
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@@ -6,6 +6,8 @@ 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
# This Ford extension boundary substantially adapts BluePilot bp-7.0 work. See the root CREDITS.md
# (including Alan Polk's d0aac605f and db2bdff05) and THIRD_PARTY_NOTICES.md.
from openpilot.starpilot.car.ford import fordcan as starpilot_fordcan
from openpilot.starpilot.car.ford.lateral import FordLateralController, FordLateralMode, FordLateralResult
opendbc_repo/opendbc/car/ford/carstate.py
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# Ford-specific additions first imported in StarPilot 3f6ccd104e substantially adapt BluePilot
# bp-7.0 vehicle-state work, including a sunnypilot extension with the Haibin Wen/contributors
# notice retained in THIRD_PARTY_NOTICES.md. See the repository root CREDITS.md for provenance.
from cereal import custom
from opendbc.can import CANDefine, CANParser
from opendbc.car import Bus, create_button_events, structs
opendbc_repo/opendbc/car/ford/fingerprints.py
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@@ -1,4 +1,6 @@
""" AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
# Some Ford firmware entries first imported in StarPilot 3f6ccd104e came from BluePilot bp-7.0
# contributors. The exact authors and source revisions are recorded in the root CREDITS.md.
from opendbc.car.structs import CarParams
from opendbc.car.ford.values import CAR
opendbc_repo/opendbc/car/ford/interface.py
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@@ -1,3 +1,5 @@
# Ford-specific additions first imported in StarPilot 3f6ccd104e substantially adapt BluePilot
# bp-7.0 interface work. See the repository root CREDITS.md and THIRD_PARTY_NOTICES.md.
import numpy as np
from opendbc.car import Bus, get_safety_config, structs
from opendbc.car.carlog import carlog
opendbc_repo/opendbc/car/ford/radar_interface.py
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@@ -1,3 +1,5 @@
# Ford-specific additions first imported in StarPilot 3f6ccd104e substantially adapt BluePilot
# bp-7.0 radar work. See the repository root CREDITS.md and THIRD_PARTY_NOTICES.md.
import numpy as np
from collections import deque
from typing import cast
opendbc_repo/opendbc/car/ford/values.py
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@@ -1,3 +1,5 @@
# Ford platform data and limits first imported in StarPilot 3f6ccd104e substantially adapt
# BluePilot bp-7.0 contributor work. See the repository root CREDITS.md and THIRD_PARTY_NOTICES.md.
import copy
import re
from dataclasses import dataclass, field, replace
opendbc_repo/opendbc/safety/modes/ford.h
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@@ -2,6 +2,11 @@
#include "opendbc/safety/declarations.h"
// StarPilot's extended Ford curvature/angle enforcement below is substantially adapted from
// BluePilot bp-7.0 panda work, principally Alan Polk's 8f8d6d15f0a590f42b78de964ffb0d0af7f5d63d
// with shadow-curvature contributions from Jacob Neulight. See /CREDITS.md and
// /THIRD_PARTY_NOTICES.md. This comment does not attribute the surrounding upstream openpilot code.
// Safety-relevant CAN messages for Ford vehicles.
#define FORD_EngBrakeData 0x165U // RX from PCM, for driver brake pedal and cruise state
#define FORD_EngVehicleSpThrottle 0x204U // RX from PCM, for driver throttle input
starpilot/car/ford/fordcan.py
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@@ -1,3 +1,10 @@
"""Ford extended-lateral CAN constructors.
Adapted from BluePilot's ``fordcan_ext.py`` and angle-mode protocol at bp-7.0 commit
e1d051d7ba270261b4455068bd68f1a58db15a4a, including panda integration developed principally by
Alan Polk. See CREDITS.md and THIRD_PARTY_NOTICES.md for detailed provenance and terms.
"""
from opendbc.car.ford.fordcan import CanBus, calculate_lat_ctl2_checksum
starpilot/car/ford/lateral.py
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@@ -1,3 +1,16 @@
"""Ford lateral-control extensions.
The four-signal curvature strategy, path-angle-primary strategy, manual-turn detector, platform
gains, and related safety protocol are substantially adapted from BluePilot's Ford work, principally
by Alan Polk and additional contributors. The audited bp-7.0 reference is
e1d051d7ba270261b4455068bd68f1a58db15a4a; the missing original source SHA is reconstructed in
CREDITS.md. StarPilot reorganized that work for its own architecture and has since changed its
tuning, lookahead, driver-override handoff, and recovery behavior.
See CREDITS.md for feature-level authorship and upstream commits, and THIRD_PARTY_NOTICES.md for the
published upstream license notices. Upstream contributors do not maintain this adaptation.
"""
from collections import deque
from dataclasses import dataclass
from enum import IntEnum
@@ -17,6 +30,8 @@ class FordLateralMode(IntEnum):
angle = 2
# These rate-limit values descend from BluePilot's ``values_ext.py``, which carries the Haibin Wen
# and sunnypilot contributors copyright notice reproduced in THIRD_PARTY_NOTICES.md.
FORD_ANGLE_LIMITS = AngleSteeringLimits(
0.02,
([5, 16, 25], [0.0025, 0.0012, 0.00008]),
@@ -66,6 +81,7 @@ class FordLateralResult:
shadow_curvature: float = 0.0
# Adapted from BluePilot HumanTurnDetector (Alan Polk, 97867c1eb57b7472f6fc3de62f0fef576e5a5497).
class HumanTurnDetector:
ANGLE_DEG = 45.0
HOLD_SECONDS = 1.5
@@ -312,6 +328,8 @@ class FordLateralController:
active=True,
)
# Platform grouping and baseline gains descend from Alan Polk's angle-primary implementation
# (d0aac605f99d37e9da205e419f7989c1e9eaa386); StarPilot applies its own runtime factors below.
def _platform_angle_gains(self) -> tuple[float, float]:
if self.CP.carFingerprint in CANFD_BODY_ON_FRAME:
return 0.95, 0.95
@@ -363,6 +381,8 @@ class FordLateralController:
self.path_angle_last = path_angle
lane_change = self._lane_change()[0]
# The anti-stall concept and initial thresholds trace to John Christman's upstream work
# (9012f76666a5c90764fcaec40832b9a607488c27). This active-session recovery is StarPilot-specific.
stall_gap = float(actuators.curvature) - current
stalled = (self.human_turn_enabled and not CS.out.steeringPressed and not lane_change and v_ego > 9.0
and abs(stall_gap) > STALL_GAP_MIN