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StarPilot/docs/car-porting/car-state-signals.md
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github-actions[bot] eefc084302 sunnypilot v2025.12.18-3820 
version: sunnypilot v2025.003.000 (dev)
date: 2025-12-18T05:48:43
master commit: 16c052af0835f049a67b80251d8cc1114fc08bb4
2025-12-18 05:48:43 +00:00

1.4 KiB
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CarState signals

Required for basic lateral control

  • brakePressed
  • cruiseState
  • doorOpen
  • espDisabled
  • gasPressed
  • gearShifter
  • leftBlinker / rightBlinker
  • seatbeltUnlatched
  • standstill
  • steeringAngleDeg
  • steeringPressed
  • steeringTorque
  • steerFaultPermanent
  • steerFaultTemporary
  • vCruise
  • wheelSpeeds.[fl|fr|rl|rr]: Speed of each of the car's four wheels, in m/s. The car's CAN bus often broadcasts the speed in kph, so the helper function parse_wheel_speeds performs this conversion by default.

Recommended / Required for openpilot longitudinal control

  • accFaulted
  • espActive
  • parkingBrake

Application Dependent

  • blockPcmEnable
  • buttonEnable
  • brakeHoldActive
  • carFaultedNonCritical
  • invalidLkasSetting
  • lowSpeedAlert
  • regenBraking
  • steeringAngleOffsetDeg
  • steeringDisengage
  • steeringTorqueEps
  • stockLkas
  • vCruiseCluster
  • vEgoCluster
  • vehicleSensorsInvalid

Automatically populated

  • buttonEvents

These values are populated automatically by parse_wheel_speeds:

  • aEgo: Acceleration of the ego vehicle, Kalman filtered derivative of vEgo.
  • vEgo: Speed of the ego vehicle, Kalman filtered from vEgoRaw.
  • vEgoRaw: Speed of the ego vehicle, based on the average of all four wheel speeds, unfiltered.

Optional

  • brake
  • charging
  • fuelGauge
  • leftBlindspot / rightBlindspot
  • steeringRateDeg
  • stockAeb
  • stockFcw
  • yawRate
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