Jetlink v0.9.0 keeps its own index of comma's big models and the ONNX
each was built from, checked hourly. Active Big's choice, by the ONNX's
hash, is sized from it rather than from comma's LFS, so JetlinkPointers
is no longer read and is dropped.
JetlinkPointers leaves params_keys.h: the native params libraries need
their usual rebuild.
Use one saved schedule with editable zero defaults. Preserve current schedules and round displayed offsets and edits to whole units without conversion drift.
- params_keys.h: every setting in the library's manifest (python -m opendbc.bluepilot_lateral.params.manifest),
without BACKUP, which StarPilot's params don't have. disable_BP_lat_UI defaults to "1": BluePilot lateral
is off until the user turns it on.
- car init (VehicleStartupPreferences.prepare): init_ford_safety_param_starpilot ORs the library's startup
bits into the Ford param. They stay off without the openpilot toggle, in Safe Mode, or when a startup
setting can't be read.
- card (configure_controller): the Ford CarController gets a BluePilotInputs, which fills the library's
LateralInputs from modelV2, vehicleParameters and lateralDelay each frame and re-reads the per-frame
settings every 3 s.
- test_bluepilot_lateral.py: the init path's bits, the real CarController and libsafety with the same
param, for a CAN and a CAN FD Ford, off/on/on+pinion/pinion-only, curvature and angle mode: every
steering and LKA frame passes, and only angle mode with BluePilot on steers through the path angle.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
StarPilot's angle-only bluepilot_lateral adaptation and the BluePilot-derived curvature strategies (Mach-E,
classic, Explorer, generic CAN FD, new-port curvature, manual-turn latch, curvature preview, pinion
measurement) are removed, with their extended safety profiles 16/32/64 and the interim angle word 128. Ford
lateral is upstream's stock curvature path until the BluePilot lateral library is mounted.
StarPilot's own Ford features stay, re-keyed from the extended words to the stock ones:
- AOL: classic 32 -> 0, Mach-E 18 and the CAN FD trucks 66 -> 2 (+1 with openpilot long); the CAN FD
retained-display rules apply to word 2. Edge/Mondeo/Transit and the manual bit (256) are unchanged.
- release CAN FD long: word 3 (was 19/67); 19 and 67 are now retired and denied.
- stock cruise switch, CAN FD camera-lead radar handling, hands-free cluster: keyed on the Ford family.
- classic stock ACC (0) keeps the no-ACCDATA TX list the extended classic profile had.
Bits 9-14 of the Ford param are reserved for the BluePilot lateral library's startup bits
(safety/modes/ford_param.h); AOL and pandad mask them out of the profile word.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
With Jetlink running the big model (on, supported, no Chestnut), Active Big
in Galaxy and on the device is Jetlink's choice: the model manager marks a
big model selectable when its catalog entry names the ONNX it was built from
(source_sha256), downloaded or not, since Jetlink's host fetches the ONNX
itself. The choice is the new JetlinkModel param, {sha256, displayName}, the
adapter's big-model key; Chestnut's own Active Big is left as it was. None
leaves the model to the Jetlink app, and the manager words it.
A newer choice made in the Jetlink app is written back into JetlinkModel by
jetlink, so Active Big shows the model that drives; one StarPilot does not
list is named as the app's.
JetlinkModel is a new key in params_keys.h: the native params libraries need
their usual rebuild.
Prabhaav Pillai