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JamesL787
8d23733946
is_bosch_a_radar_car() and its downstream handling in radard.py never landed alongside the radar decoder (interface.py/values.py/radar_interface.py) -- without it, the newly-decoded Bosch-A radar points feed into radard's generic path, which assumes the wrong Kalman filter timestep and is missing a real staleness/freshness gate this radar's actual cadence needs. Ports (unmodified in behavior, only renamed to match this repo's HONDA_BOSCH_A / HONDA_BOSCH_A_RADAR_VERIFIED naming instead of "civic_bosch"): - Kalman filter dt selected from the radar's real ~15Hz cadence (HONDA_BOSCH_A_RADAR_TS), not the ~20Hz model-cycle default - measurement_update gating so a duplicate liveTracks payload (radar runs slower than the model loop) isn't absorbed twice by the KF - a "preferred track" continuity path: a previously-selected lead stays selected through ordinary model-probability fluctuations as long as it's still coherent, instead of re-arbitrating from scratch every cycle - staleness detection with two independent triggers (a better-scoring challenger track sustained over several cycles, or gross absolute-range disagreement with the model sustained over several cycles) that drops a stale preferred track rather than holding it indefinitely - honda_bosch_a_low_speed_radar_lead_sane(), requiring a few real sweeps before a radar-only low-speed takeover Tested on the branch this was developed on (109/109 relevant tests pass); this port is a mechanical, unmodified transplant onto this repo's current radard.py -- worth a run through this repo's own test suite before merge. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
StarPilot
StarPilot is a custom fork of comma.ai's openpilot, an open source driver assistance system.
Openpilot provides
- Automated Lane Centering
- Adaptive Cruise Control
- Lane Change Assist
- Driver Monitoring without wheel nags
StarPilot was formerly a GM targeted fork, but has expanded to offer Quality-Of-Life improvements for all!
StarPilot is built off of FrogPilot and supports the major features FrogPilot offers.
StarPilot has a vibrant, welcoming community discord. Stop by to chat or ask questions!
Documentation
Please see https://wiki.firestar.link for hardware lists, installation guides, and software configuration.
Features
- Full support for Comma C3, C3X, and C4
- Model switcher with all of comma's tinygrad driving models
- Special longitudinal planner tuning for VoACC (visual only, radar-less) vehicles
- Custom-tuned torque controllers for an expanding list of cars.
- Galaxy: StarPilot's portal to configure your comma device using your phone from anywhere. Download models, change settings, update software, visualize live model outputs for tuning.
- Always On Lateral (full time steering assist)*
- Speed Limit Controller*
- Learning Curve Speed Controller*
- Conditional Experimental Mode (CEM)*
- Driving Profiles*
- Custom themes*
- Alert Volume Controller*
- Comma Pedal Interceptor support*
- Toyota SDSU support*
- ZSS support*
- High quality dashcam recordings*
- Enhanced tuning for CEM (dynamic experimental mode switching)
- And more!
GM-only Features
- Increased LKAS fault resiliency
- ASCM_INT and SASCM support
- Custom lateral torque controller, with special tuning for Bolts
- 50% extra torque on 2017 Chevy Bolt
- Improved lateral and longitudinal tuning
- Dashboard cruise control display speed spoofing for vehicles with pedal interceptor
- Extra steering wheel button functionality for vehicles with pedal interceptor
- Optional toggle to boot comma when remote starting your vehicle
Developer Features
- Native and cross compilation for Windows, Mac, and Ubuntu
- Custom AGNOS to support C3, C3X, and C4
- To run UI on PC:
./c3for large UI./c4for small UI
./buildto produce cross compiled binaries for comma devices. Uses your comma's sysroot/toolchain- Toggle: "Use Precompiled Binaries" to allow switching between fast boot / editable builds
- Custom long maneuver tests, specifically designed for regen-only vehicles
Third-Party Notices
- Portions of this software include modified versions of the Material Design Icons provided by Google under the Apache License 2.0. A copy of the license is included in the
LICENSE-MDIfile.