Standalone diagnostic (run on device over SSH, car IGN-ON/engine-off/
parked, openpilot stopped) that sweeps UDS CommunicationControl message
classes on the ADAS DRV ECU (0x730, ECAN) to find a combo that silences
SCC actuation (0x1A0) while leaving the rear-radar BSM verdict (0x1BA)
transmitting. A winner would restore OEM from-behind, lane-filtered blind
spot monitoring under openpilot long via a one-byte change to the disable
command. Does not alter any openpilot code path; only runs when invoked.
Restores the ECU after each combo and sets the panda to SILENT on exit.
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
The raw SIDE_DETECT_STATE bit lit the mirrors and UI for cars two lanes
over and for far-ahead traffic, because it has no lane discrimination.
Gate it on a front-radar track actually in the adjacent lane (LONG<15m,
1.9<=|LAT|<=5.5m), latched while side-detect stays asserted with a 0.5s
release debounce and 1s track-near memory, computed in carstate so the
UI path, lane-change veto, and mirror/cluster spoof all consume the same
gated signal. card stashes track adjacency from RadarData; fails open to
the raw bit if the stash goes stale. Validated on onelane/twolanes/
trafficonleft/standstillmirror rlogs.
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
When using the blinker coming up to a turn and the car near standstill or stops the model goes blind, but before it does comma will now remember what it was trying to do and continue going that direction. Manually moving the wheel or cancelling turn signal will undo this. Turns will initiate at a lower speed.
whoisdomi