diff --git a/README.md b/README.md index 86cccafad..f5d5db7f9 100644 --- a/README.md +++ b/README.md @@ -1,110 +1,62 @@ -
+# OPGM: openpilot for Unsupported GM Cars -

openpilot

+OPGM is a fork of [openpilot](https://github.com/commaai/openpilot/), the open source driver assistance system by comma.ai. This fork enables support for GM vehicles that are not officially supported upstream, while staying as close as possible to stock openpilot behavior. -

- openpilot is an operating system for robotics. -
- Currently, it upgrades the driver assistance system in 300+ supported cars. -

+> OPGM strives to be **"stock openpilot for unsupported GM cars."** -

- Docs - · - Roadmap - · - Contribute - · - Community - · - Try it on a comma 3X -

+To achieve this, OPGM follows these development guidelines: -Quick start: `bash <(curl -fsSL openpilot.comma.ai)` +1. **Non-GM code is never modified** by OPGM. Shared/common code is modified only when absolutely necessary. +2. **Upstream-supported GM vehicles** are only patched to enable additional functionality (e.g., stop-and-go support, lower min engagement speed). +3. **Control schemes already supported by upstream openpilot** must not be modified. Alternate control schemes, such as `pedal long` or `CC long`, are exempt from this rule. -[![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg)](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml) -[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot) -[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](LICENSE) -[![X Follow](https://img.shields.io/twitter/follow/comma_ai)](https://x.com/comma_ai) -[![Discord](https://img.shields.io/discord/469524606043160576)](https://discord.comma.ai) +For general openpilot documentation, setup, and developer guidance, refer to the [official openpilot repo](https://github.com/commaai/openpilot/). -
+--- - - - - - - -
+## Features +- Support for GM Global A vehicles with LKAS but no ACC +- `pedal long`: Longitudinal control using a pedal interceptor + - Enables full regenerative braking on Bolt EV/EUV (even those with ACC) +- `CC long`: Non-ACC cruise control adjustment, aka [“redneck ACC”](https://www.youtube.com/watch?v=41wZ1EAmf94) + - ⚠️ Cannot reduce speed below stock cruise control limits (usually 24mph) -Using openpilot in a car ------- +--- -To use openpilot in a car, you need four things: -1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x). -2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version. -3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md). -4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car. +## Supported Vehicles -We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play. +Support is focused on GM Global A vehicles with factory LKAS. For the latest list, see [CARS.md](https://github.com/opgm/opendbc/blob/master/docs/CARS.md) -### Branches -| branch | URL | description | -|------------------|----------------------------------------|-------------------------------------------------------------------------------------| -| `release3` | openpilot.comma.ai | This is openpilot's release branch. | -| `release3-staging` | openpilot-test.comma.ai | This is the staging branch for releases. Use it to get new releases slightly early. | -| `nightly` | openpilot-nightly.comma.ai | This is the bleeding edge development branch. Do not expect this to be stable. | -| `nightly-dev` | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars. | -| `secretgoodopenpilot` | installer.comma.ai/commaai/secretgoodopenpilot | This is a preview branch from the autonomy team where new driving models get merged earlier than master. | +If your vehicle isn’t listed, but has LKAS and a front-facing camera, it might still be supported or supportable. See the “contributing” section below. -To start developing openpilot ------- +--- -openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot). +## Installation -* Join the [community Discord](https://discord.comma.ai) -* Check out [the contributing docs](docs/CONTRIBUTING.md) -* Check out the [openpilot tools](tools/) -* Read about the [development workflow](docs/WORKFLOW.md) -* Code documentation lives at https://docs.comma.ai -* Information about running openpilot lives on the [community wiki](https://github.com/commaai/openpilot/wiki) +Hardware installation is the same as for any vehicle with the standard GM harness in upstream openpilot. -Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](https://comma.ai/bounties) for external contributors. +For software installation, type `opgm/release` into the custom software field, or `opgm/nightly` if you want to live on the bleeding edge. -Safety and Testing ----- +> **Note:** For EVs without ACC, a [pedal interceptor](https://www.etsy.com/listing/952895642/openpilot-comma-pedal-non-customizable?variation0=3013902165) is **strongly recommended** for a better experience. -* openpilot observes [ISO26262](https://en.wikipedia.org/wiki/ISO_26262) guidelines, see [SAFETY.md](docs/SAFETY.md) for more details. -* openpilot has software-in-the-loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit. -* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details. -* panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety). -* Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes. -* panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile). -* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes. +--- -
-MIT Licensed +## Contributing -openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified. +All development occurs on the `master` branch. Contributions are welcome: feel free to open a PR. -Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user. +Bug reports and vehicle porting discussions happen in the OPGM channel on the [openpilot community Discord](https://discord.gg/KGWEdwSnCU). -**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT. -YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS. -NO WARRANTY EXPRESSED OR IMPLIED.** -
+--- -
-User Data and comma Account +## Known Issues -By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone. +- Curve hugging and lane line drift are inherited from upstream openpilot. +- Upstream-supported GM cars (e.g. ACC Volt/Bolt) may fail to fingerprint automatically in OPGM. -openpilot is open source software: the user is free to disable data collection if they wish to do so. +--- -openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs. -The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded. +## License -By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data. -
+Licensed under the MIT License. See [LICENSE](LICENSE) for details.