StarPilot/CREDITS.md

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 a863c3801da6fd925d14eb1f5b1e250f8efcc649 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

Ford lateral control vendors BluePilot lateral v0.2.1 (2b9dc6cc784faac47a1885d0bda0561f7b76f74d), developed by Alan Polk (alan-polk) and the BluePilot contributors. Alan provided the StarPilot integration in PR #269; his commits and authorship are retained. BluePilot maintains the library and its integration; StarPilot keeps its settings, AOL policy, packaging and integration tests separate. Complete contributor and license notices remain in the library credits and license.

The Ford CAN FD camera-lead radar filtering is adapted from StarPilot 2efe6017bfe14cee4807833e05f9a7f6ba255cdb. Its 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.

The radar interface preserves that attribution while adapting to the current interfaces. Upstream contributors do not maintain or endorse this adaptation. Applicable notices are retained in THIRD_PARTY_NOTICES.md.

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.

Subaru angle steering from Jacob Waller's fork

Subaru angle support includes implementation maintained and integrated by Jacob Waller (jacobw) in jacobwaller/openpilot, jul-angle-based, with its opendbc implementation at 8acbeccdab45a47aa7af170d2d17b61f0eb5e4f0. Jacob authored the VehicleModel angle-limit type correction and integrated the Crosstrek support. The branch also retains the original angle implementation and follow-up work by lukasloetkolben and elkoled, alongside comma contributors; their authorship remains theirs.

The inherited source covers Subaru angle platform/firmware definitions, ES_Status cruise state, angle controller/CAN integration, vehicle-model limits and native angle enforcement. StarPilot has additional platform-specific limits, driver handoff, discovery and AOL safety guards; this attribution does not claim identical tuning or complete parity with the reference fork. Original source commits, author names, emails and titles are recorded in the Subaru origin history.

The explicit StarPilot jacobw Subaru adapter additionally integrates that branch's low-speed filter, target-first limiting and Crosstrek EPS envelope. Its preserved stricter guards and platform scope are documented alongside the code.

Experimental Blendful lane centering

Blendful is authored by James Vecellio-Grant (Discountchubbs), with coauthors royjr royjr96@gmail.com, nayan nayan8teen@gmail.com and Jason Wen haibin.wen3@gmail.com. The algorithm and its tests come from commit 97135965effb3630ed55993903449edb73468d50, “controls: Blendful lateral policy (alpha) (#2073)”. Original copyright notices and the referenced license are retained in LICENSE.blendful.md. StarPilot adds the default-off developer selection and runtime compatibility guards.

This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use.