Dom
4cbffe53b3
Adapt BluePilot PR #145 by jrneulight (fe5b019568c8c13fb894dc6d8d779d60985051a8) to the existing exact native profile protocol. Default off; qualified parked setting applies at next startup. Preserve existing larger Mach-E envelope, all yaw/heartbeat/relay health, command limits and shadow freshness checks. Cloud qualification: 171 host tests and 170 subtests; 80 new native/geometry tests; 153 existing native tests and 9131 subtests; release native tests, pandad protocol inventory and full ARM debug/release builds passed. Rebuilt source-stamped firmware follows before branch publication.
6.3 KiB
Source provenance
Jetlink external inference
The comma-side Jetlink client and USB transport in jetlink_repo are by Zeph Leggett and the Jetlink contributors. They are vendored from revision bf4dc940e98f5d3ed9b7163adb021439010d634f under the MIT license, retained in jetlink_repo/LICENSE. StarPilot's adapter (openpilot/starpilot/models/jetlink_adapter.py) builds on Jetlink's openpilot layer and owns its param names, Always On Lateral rule, model runner reset, settings and alerts. Companion applications and inference servers remain distributed by Jetlink.
MRR35 Hyundai angle and radar
The four MRR35 angle platforms (2026 Genesis GV70, second-generation electrified GV70, 2025 Genesis GV80, and Hyundai Ioniq 9) adapt Hyundai CAN FD angle-control design and the MRR35 radar DBC generator from the locally frozen StarPilot source snapshot 678af783. That snapshot traces its Hyundai extension work to sunnypilot/opendbc hkg-angle-steering-2025 at cc4b08625a98e94b318cab15e45e05dad58042bd; its historical import revision is not established. The relevant upstream contributors include Haibin (Jason) Wen, Shane Smiskol, and DevTekVE. Their authorship remains attributable to the upstream history; they do not maintain or endorse this port.
The copied MRR35 generator source and DBC definition are at opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_mrr35_radar.py and .dbc. The host angle adapter and native safety profile are adaptations, not copies of a generic DBC or of unrelated vehicle support. Applicable upstream notices are preserved in THIRD_PARTY_NOTICES.md.
Ford support adapted from BluePilot
The Ford lateral strategies, extended CAN constructors, camera-radar filtering and native checks are adapted from StarPilot 2efe6017bfe14cee4807833e05f9a7f6ba255cdb. Their lineage includes BluePilot's bp-7.0 Ford work, principally by Alan Polk, with contributions from John Christman, Jacob Neulight, tonesto7, Haibin Wen and other sunnypilot and BluePilot contributors. The reference snapshot is e1d051d7ba270261b4455068bd68f1a58db15a4a; the exact checkout used for the earlier StarPilot import was not recorded.
Relevant lineage includes the controller and integration work in db2bdff05 and d0aac605f, extended CAN and safety work in 8f8d6d15f, and manual-turn detection in 97867c1eb.
The vehicle strategy and CAN/native owners preserve that attribution while adapting to the current controller interfaces and shared safety limits. Upstream contributors do not maintain or endorse this adaptation. Applicable notices are retained in THIRD_PARTY_NOTICES.md.
Optional Ford angle controller
The vendored opendbc_repo/opendbc/bluepilot_lateral angle core, codecs and Ford-only safety hooks are adapted directly from BluePilot bp-7.0 e1d051d7ba270261b4455068bd68f1a58db15a4a, principally by Alan Polk, with John Christman, Jacob Neulight, Nathan Ingraham, Praeuner and other BluePilot, sunnypilot and comma contributors. Exact source paths and intentionally stricter safety checks are recorded in that folder. Both upstream LICENSE and LICENSE.md notices are retained. Its layout follows Alan Polk's September 2026 library proposal; this is a StarPilot adapter, not a published BluePilot library release.
RAV4 Continental ARS510 receiver
The optional ACC-target and fused-track receivers and DBC preserve firestar5683's Dom integration from b220a37f4bd119e402225a7aa16a7cd84878d0af (Sea Turtles, 2026-10-13) and its ARS510 source attribution to ds-sebastian/ars510-radar fb5b29c2b5999f34afeb6f7ac494a73949d66c67, copyright 2026 ARS510 radar contributors. The complete MIT permission and warranty notice is retained in THIRD_PARTY_NOTICES.md. Startup/settings ownership is adapted to the current StarPilot architecture; no original firmware binaries or safety permissions are copied.
Spotify Bluetooth output
Spotify's Bluetooth output binds the comma's BlueALSA A2DP source to the selected speaker through a process-local ALSA configuration, leaving the system ALSA default, soundd and the warning speaker untouched. That approach is adapted from firestar5683's RoadScore Bluetooth output (roadscore/prototype/bluetooth_output.py, firestar5683/StarPilot RoadScore at 249eb88b3a397db847e4a595d7e23b7e85d329e5). The Soloist player itself is never included: each user downloads it from Spotify, and the PulseAudio server that carries its audio is vendored unmodified from Ubuntu (see THIRD_PARTY_NOTICES.md).
Tesla Pre-AP pedal control
The Pre-AP configuration, pedal codec/feedback, VirtualDAS feedforward table, grade compensation, torque-zero estimator and vehicle-specific gains preserve firestar5683's intentional Dom work, including 7837a3c1aab, aed0b7fdb9e9 and pinned b220a37f4bd119e402225a7aa16a7cd84878d0af. Original author attribution: firestar5683 168790843+firestar5683@users.noreply.github.com. Startup/calibration ownership, current upstream button/PID interfaces and native command bounds are adapted to the current StarPilot architecture; the old permissive native gateway is not transplanted. Existing source/license notices remain intact.
Ford optional pinion measurement
The default-off Use Pinion Yaw Sensor measurement option is adapted from jrneulight’s BluePilot PR #145 (https://github.com/BluePilotDev/bluepilot/pull/145), merged as fe5b019568c8c13fb894dc6d8d779d60985051a8. Its per-platform geometry, native pinion measurement, integrity requirements and host vehicle-model compensation are retained. StarPilot adapts the option to its existing exact safety-profile word, modern curvature checks, AOL authority and Galaxy/native settings; the upstream maintainers do not maintain this integration. Existing upstream copyright and license notices remain in THIRD_PARTY_NOTICES.md.