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>
warp.make_coherent is public, for an adapter's own warp: it moves a QCOM
output to memory the CPU reads cached, as Jetlink's warp does.
CREDITS.md and JETLINK.md name the new revision.
The adapter may now supply the warp the link sends (ModelSide.model_warp,
optional; what it returns is checked against interface.FrameWarp before
the frame loop). Without one, or when it returns None, Jetlink loads the
stock driving warp pickle as before. API stays 3.
CREDITS.md and JETLINK.md name the new revision.
jetlink's own kit checks the adapter module and modeld's hook order. Tests cover in_control with AOL armed and paused, the driving warp jetlink runs, and the catalog runner's history reset on tinygrad keeping its buffers. JETLINK.md describes the stay-engaged hand-back and the cable rule.
Vendor only the comma payload jetlink commits to (jetlink/, LICENSE,
pyproject.toml, README.md) with an include list, so the exclude list goes
and upstream's README stays as published; StarPilot's notes live in
JETLINK.md. The root helper now ships inside the package.
The adapter moves to API 3 in the next commit; until then Jetlink stays
off.
d24328d stands in for the jetlink release tag commit: re-run
tools/vendor/sync.py jetlink_repo <tag commit> --apply before merging and
update the revision in CREDITS.md and JETLINK.md with it.
firestar5683