mirror of
https://github.com/dragonpilot/dragonpilot.git
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Merge branch 'devel-en' into devel-zhs
This commit is contained in:
Rick Lan
@@ -62,85 +62,84 @@ At the moment, openpilot supports the [EON DevKit](https://comma.ai/shop/product
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Supported Cars
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------
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| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
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| ----------| -----------------------------------| ------------------| -----------------| -------------------| -------------|
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| Acura | ILX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>6</sup> | 25mph |
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| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>6</sup> | 12mph |
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| Chrysler | Pacifica 2017-18<sup>1</sup> | Adaptive Cruise | Stock | 0mph | 9mph |
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| Chrysler | Pacifica Hybrid 2017-18<sup>1</sup>| Adaptive Cruise | Stock | 0mph | 9mph |
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| Chrysler | Pacifica Hybrid 2019<sup>1</sup> | Adaptive Cruise | Stock | 0mph | 39mph |
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| Honda | Accord 2018-19 | All | Stock | 0mph | 3mph |
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| Honda | Accord Hybrid 2018-19 | All | Stock | 0mph | 3mph |
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| Honda | Civic Sedan/Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
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| Honda | Civic Sedan/Coupe 2019 | Honda Sensing | Stock | 0mph | 2mph |
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| Honda | Civic Hatchback 2017-19 | Honda Sensing | Stock | 0mph | 12mph |
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| Honda | CR-V 2015-16 | Touring | openpilot | 25mph<sup>6</sup> | 12mph |
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| Honda | CR-V 2017-19 | Honda Sensing | Stock | 0mph | 12mph |
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| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Stock | 0mph | 12mph |
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| Honda | Fit 2018-19 | Honda Sensing | openpilot | 25mph<sup>6</sup> | 12mph |
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| Honda | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph<sup>6</sup> | 0mph |
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| Honda | Passport 2019 | All | openpilot | 25mph<sup>6</sup> | 12mph |
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| Honda | Pilot 2016-18 | Honda Sensing | openpilot | 25mph<sup>6</sup> | 12mph |
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| Honda | Pilot 2019 | All | openpilot | 25mph<sup>6</sup> | 12mph |
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| Honda | Ridgeline 2017-19 | Honda Sensing | openpilot | 25mph<sup>6</sup> | 12mph |
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| Hyundai | Santa Fe 2019<sup>2</sup> | All | Stock | 0mph | 0mph |
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| Hyundai | Elantra 2017-19<sup>2</sup> | SCC + LKAS | Stock | 19mph | 34mph |
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| Hyundai | Genesis 2018<sup>2</sup> | All | Stock | 19mph | 34mph |
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| Jeep | Grand Cherokee 2016-18<sup>1</sup> | Adaptive Cruise | Stock | 0mph | 9mph |
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| Jeep | Grand Cherokee 2019<sup>1</sup> | Adaptive Cruise | Stock | 0mph | 39mph |
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| Kia | Optima 2019<sup>2</sup> | SCC + LKAS | Stock | 0mph | 0mph |
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| Kia | Sorento 2018<sup>2</sup> | All | Stock | 0mph | 0mph |
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| Kia | Stinger 2018<sup>2</sup> | SCC + LKAS | Stock | 0mph | 0mph |
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| Lexus | CT Hybrid 2017-18 | All | Stock<sup>5</sup>| 0mph | 0mph |
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| Lexus | ES Hybrid 2019 | All | openpilot | 0mph | 0mph |
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| Lexus | RX Hybrid 2016-19 | All | Stock<sup>5</sup>| 0mph | 0mph |
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| Lexus | IS 2017-2019 | All | Stock | 22mph | 0mph |
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| Lexus | IS Hybrid 2017 | All | Stock | 0mph | 0mph |
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| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph |
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| Subaru | Impreza 2019-20 | EyeSight | Stock | 0mph | 0mph |
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| Toyota | Avalon 2016 | TSS-P | Stock<sup>5</sup>| 20mph<sup>6</sup> | 0mph |
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| Toyota | Avalon 2017-18 | All | Stock<sup>5</sup>| 20mph<sup>6</sup> | 0mph |
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| Toyota | Camry 2018-19 | All | Stock | 0mph<sup>3</sup> | 0mph |
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| Toyota | Camry Hybrid 2018-19 | All | Stock | 0mph<sup>3</sup> | 0mph |
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| Toyota | C-HR 2017-19 | All | Stock | 0mph | 0mph |
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| Toyota | C-HR Hybrid 2017-19 | All | Stock | 0mph | 0mph |
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| Toyota | Corolla 2017-19 | All | Stock<sup>5</sup>| 20mph<sup>6</sup> | 0mph |
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| Toyota | Corolla 2020 | All | openpilot | 0mph | 0mph |
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| Toyota | Corolla Hatchback 2019 | All | openpilot | 0mph | 0mph |
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| Toyota | Corolla Hybrid 2020 | All | openpilot | 0mph | 0mph |
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| Toyota | Highlander 2017-19 | All | Stock<sup>5</sup>| 0mph | 0mph |
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| Toyota | Highlander Hybrid 2017-19 | All | Stock<sup>5</sup>| 0mph | 0mph |
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| Toyota | Prius 2016 | TSS-P | Stock<sup>5</sup>| 0mph | 0mph |
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| Toyota | Prius 2017-19 | All | Stock<sup>5</sup>| 0mph | 0mph |
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| Toyota | Prius Prime 2017-20 | All | Stock<sup>5</sup>| 0mph | 0mph |
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| Toyota | Rav4 2016 | TSS-P | Stock<sup>5</sup>| 20mph<sup>6</sup> | 0mph |
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| Toyota | Rav4 2017-18 | All | Stock<sup>5</sup>| 20mph<sup>6</sup> | 0mph |
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| Toyota | Rav4 2019 | All | openpilot | 0mph | 0mph |
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| Toyota | Rav4 Hybrid 2016 | TSS-P | Stock<sup>5</sup>| 0mph | 0mph |
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| Toyota | Rav4 Hybrid 2017-18 | All | Stock<sup>5</sup>| 0mph | 0mph |
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| Toyota | Sienna 2018 | All | Stock<sup>5</sup>| 0mph | 0mph |
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| Volkswagen| Golf 2016-19<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |
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| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
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| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
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| Acura | ILX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>5</sup> | 25mph |
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| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>5</sup> | 12mph |
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| Chrysler | Pacifica 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
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| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
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| Chrysler | Pacifica Hybrid 2019 | Adaptive Cruise | Stock | 0mph | 39mph |
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| Honda | Accord 2018-19 | All | Stock | 0mph | 3mph |
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| Honda | Accord Hybrid 2018-19 | All | Stock | 0mph | 3mph |
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| Honda | Civic Sedan/Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
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| Honda | Civic Sedan/Coupe 2019 | Honda Sensing | Stock | 0mph | 2mph |
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| Honda | Civic Hatchback 2017-19 | Honda Sensing | Stock | 0mph | 12mph |
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| Honda | CR-V 2015-16 | Touring | openpilot | 25mph<sup>5</sup> | 12mph |
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| Honda | CR-V 2017-19 | Honda Sensing | Stock | 0mph | 12mph |
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| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Stock | 0mph | 12mph |
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| Honda | Fit 2018-19 | Honda Sensing | openpilot | 25mph<sup>5</sup> | 12mph |
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| Honda | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph<sup>5</sup> | 0mph |
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| Honda | Passport 2019 | All | openpilot | 25mph<sup>5</sup> | 12mph |
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| Honda | Pilot 2016-18 | Honda Sensing | openpilot | 25mph<sup>5</sup> | 12mph |
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| Honda | Pilot 2019 | All | openpilot | 25mph<sup>5</sup> | 12mph |
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| Honda | Ridgeline 2017-19 | Honda Sensing | openpilot | 25mph<sup>5</sup> | 12mph |
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| Hyundai | Santa Fe 2019<sup>1</sup> | All | Stock | 0mph | 0mph |
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| Hyundai | Elantra 2017-19<sup>1</sup> | SCC + LKAS | Stock | 19mph | 34mph |
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| Hyundai | Genesis 2018<sup>1</sup> | All | Stock | 19mph | 34mph |
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| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
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| Jeep | Grand Cherokee 2019 | Adaptive Cruise | Stock | 0mph | 39mph |
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| Kia | Optima 2019<sup>1</sup> | SCC + LKAS | Stock | 0mph | 0mph |
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| Kia | Sorento 2018<sup>1</sup> | All | Stock | 0mph | 0mph |
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| Kia | Stinger 2018<sup>1</sup> | SCC + LKAS | Stock | 0mph | 0mph |
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| Lexus | CT Hybrid 2017-18 | All | Stock<sup>4</sup>| 0mph | 0mph |
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| Lexus | ES Hybrid 2019 | All | openpilot | 0mph | 0mph |
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| Lexus | RX Hybrid 2016-19 | All | Stock<sup>4</sup>| 0mph | 0mph |
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| Lexus | IS 2017-2019 | All | Stock | 22mph | 0mph |
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| Lexus | IS Hybrid 2017 | All | Stock | 0mph | 0mph |
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||||
| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph |
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| Subaru | Impreza 2019-20 | EyeSight | Stock | 0mph | 0mph |
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| Toyota | Avalon 2016 | TSS-P | Stock<sup>4</sup>| 20mph<sup>5</sup> | 0mph |
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| Toyota | Avalon 2017-18 | All | Stock<sup>4</sup>| 20mph<sup>5</sup> | 0mph |
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| Toyota | Camry 2018-19 | All | Stock | 0mph<sup>2</sup> | 0mph |
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| Toyota | Camry Hybrid 2018-19 | All | Stock | 0mph<sup>2</sup> | 0mph |
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| Toyota | C-HR 2017-19 | All | Stock | 0mph | 0mph |
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| Toyota | C-HR Hybrid 2017-19 | All | Stock | 0mph | 0mph |
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| Toyota | Corolla 2017-19 | All | Stock<sup>4</sup>| 20mph<sup>5</sup> | 0mph |
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| Toyota | Corolla 2020 | All | openpilot | 0mph | 0mph |
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| Toyota | Corolla Hatchback 2019 | All | openpilot | 0mph | 0mph |
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| Toyota | Corolla Hybrid 2020 | All | openpilot | 0mph | 0mph |
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| Toyota | Highlander 2017-19 | All | Stock<sup>4</sup>| 0mph | 0mph |
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| Toyota | Highlander Hybrid 2017-19 | All | Stock<sup>4</sup>| 0mph | 0mph |
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| Toyota | Prius 2016 | TSS-P | Stock<sup>4</sup>| 0mph | 0mph |
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| Toyota | Prius 2017-19 | All | Stock<sup>4</sup>| 0mph | 0mph |
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| Toyota | Prius Prime 2017-20 | All | Stock<sup>4</sup>| 0mph | 0mph |
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| Toyota | Rav4 2016 | TSS-P | Stock<sup>4</sup>| 20mph<sup>5</sup> | 0mph |
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| Toyota | Rav4 2017-18 | All | Stock<sup>4</sup>| 20mph<sup>5</sup> | 0mph |
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| Toyota | Rav4 2019 | All | openpilot | 0mph | 0mph |
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| Toyota | Rav4 Hybrid 2016 | TSS-P | Stock<sup>4</sup>| 0mph | 0mph |
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| Toyota | Rav4 Hybrid 2017-18 | All | Stock<sup>4</sup>| 0mph | 0mph |
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| Toyota | Sienna 2018 | All | Stock<sup>4</sup>| 0mph | 0mph |
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| Volkswagen| Golf 2016-19<sup>3</sup> | Driver Assistance | Stock | 0mph | 0mph |
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<sup>1</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and [FCA giraffe](https://comma.ai/shop/products/giraffe) <br />
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<sup>2</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and open sourced [Hyundai giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai), designed for the 2019 Sante Fe; pinout may differ for other Hyundai and Kia models. <br />
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<sup>3</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
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<sup>4</sup>Requires a [custom connector](https://community.comma.ai/wiki/index.php/Volkswagen#Integration_at_R242_Camera) for the [car harness](https://comma.ai/shop/products/car-harness) <br />
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<sup>1</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and open sourced [Hyundai giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai), designed for the 2019 Sante Fe; pinout may differ for other Hyundai and Kia models. <br />
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<sup>2</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
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<sup>3</sup>Requires a [custom connector](https://community.comma.ai/wiki/index.php/Volkswagen#Integration_at_R242_Camera) for the [car harness](https://comma.ai/shop/products/car-harness) <br />
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Community Maintained Cars and Features
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------
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| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
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| ----------| -----------------------------------| ------------------| -----------------| -------------------| -------------|
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| Buick | Regal 2018<sup>7</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
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| Chevrolet | Malibu 2017<sup>7</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
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| Chevrolet | Volt 2017-18<sup>7</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
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| Cadillac | ATS 2018<sup>7</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
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| GMC | Acadia Denali 2018<sup>7</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
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| Holden | Astra 2017<sup>7</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
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| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
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| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
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| Buick | Regal 2018<sup>6</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
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| Chevrolet | Malibu 2017<sup>6</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
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| Chevrolet | Volt 2017-18<sup>6</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
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| Cadillac | ATS 2018<sup>6</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
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| GMC | Acadia Denali 2018<sup>6</sup>| Adaptive Cruise | openpilot | 0mph | 7mph |
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| Holden | Astra 2017<sup>6</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
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<sup>5</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
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<sup>6</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
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<sup>7</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and [community built giraffe](https://zoneos.com/volt/). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
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<sup>4</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
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<sup>5</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
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<sup>6</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and [community built giraffe](https://zoneos.com/volt/). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
|
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|
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Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them. They are only available after enabling the toggle in `Settings->Developer->Enable Community Features`.
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@@ -277,8 +276,7 @@ Directory Structure
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├── locationd # Soon to be home of precise location
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├── logcatd # Android logcat as a service
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├── loggerd # Logger and uploader of car data
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├── modeld # Driving model runner
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├── monitoringd # Driver monitoring model runner
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├── modeld # Driving and monitoring model runners
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├── proclogd # Logs information from proc
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├── sensord # IMU / GPS interface code
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├── tests # Unit tests, system tests and a car simulator
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@@ -157,6 +157,9 @@ keys = {
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"DragonRunWaze": [TxType.PERSISTENT],
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"DragonEnableAssistedLC": [TxType.PERSISTENT],
|
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"DragonEnableAutoLC": [TxType.PERSISTENT],
|
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"DragonAssistedLCMinMPH": [TxType.PERSISTENT],
|
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"DragonAutoLCMinMPH": [TxType.PERSISTENT],
|
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"DragonAutoLCDelay": [TxType.PERSISTENT],
|
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}
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|
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|
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+1
-1
@@ -1 +1 @@
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v1.6.9
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v1.7.0
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@@ -6,7 +6,7 @@
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// accel rising edge
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// brake rising edge
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// brake > 0mph
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const AddrBus HONDA_N_TX_MSGS[] = {{0xE4, 0}, {0x194, 0}, {0x1FA, 0}, {0x200, 0}, {0x30C, 0}, {0x33D, 0}, {0x39F, 0}};
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const AddrBus HONDA_N_TX_MSGS[] = {{0xE4, 0}, {0x194, 0}, {0x1FA, 0}, {0x200, 0}, {0x30C, 0}, {0x33D, 0}};
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const AddrBus HONDA_BH_TX_MSGS[] = {{0xE4, 0}, {0x296, 1}, {0x33D, 0}}; // Bosch Harness
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const AddrBus HONDA_BG_TX_MSGS[] = {{0xE4, 2}, {0x296, 0}, {0x33D, 2}}; // Bosch Giraffe
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const int HONDA_GAS_INTERCEPTOR_THRESHOLD = 328; // ratio between offset and gain from dbc file
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@@ -217,7 +217,6 @@ static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
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// fwd from car to camera. also fwd certain msgs from camera to car
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// 0xE4 is steering on all cars except CRV and RDX, 0x194 for CRV and RDX,
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// 0x1FA is brake control, 0x30C is acc hud, 0x33D is lkas hud,
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// 0x39f is radar hud
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int bus_fwd = -1;
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if (!relay_malfunction) {
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||||
@@ -228,7 +227,7 @@ static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
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// block stock lkas messages and stock acc messages (if OP is doing ACC)
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int addr = GET_ADDR(to_fwd);
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bool is_lkas_msg = (addr == 0xE4) || (addr == 0x194) || (addr == 0x33D);
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bool is_acc_hud_msg = (addr == 0x30C) || (addr == 0x39F);
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bool is_acc_hud_msg = addr == 0x30C;
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bool is_brake_msg = addr == 0x1FA;
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bool block_fwd = is_lkas_msg ||
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(is_acc_hud_msg && long_controls_allowed) ||
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||||
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@@ -8,7 +8,7 @@ from panda.tests.safety.common import test_relay_malfunction, make_msg, test_man
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MAX_BRAKE = 255
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INTERCEPTOR_THRESHOLD = 328
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TX_MSGS = [[0xE4, 0], [0x194, 0], [0x1FA, 0], [0x200, 0], [0x30C, 0], [0x33D, 0], [0x39F, 0]]
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TX_MSGS = [[0xE4, 0], [0x194, 0], [0x1FA, 0], [0x200, 0], [0x30C, 0], [0x33D, 0]]
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|
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class TestHondaSafety(unittest.TestCase):
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@classmethod
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@@ -253,7 +253,7 @@ class TestHondaSafety(unittest.TestCase):
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self.safety.set_long_controls_allowed(l)
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blocked_msgs = [0xE4, 0x194, 0x33D]
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if l:
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blocked_msgs += [0x30C, 0x39F]
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blocked_msgs += [0x30C]
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if not f:
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blocked_msgs += [0x1FA]
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for b in buss:
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||||
|
||||
@@ -11,7 +11,7 @@ BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
|
||||
|
||||
# (route, safety mode, param)
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logs = [
|
||||
("b0c9d2329ad1606b|2019-05-30--20-23-57.bz2", Panda.SAFETY_HONDA, 0), # HONDA.CIVIC
|
||||
("2425568437959f9d|2019-12-22--16-24-37.bz2", Panda.SAFETY_HONDA_NIDEC, 0), # HONDA.CIVIC (fcw presents: 0x1FA blocked as expected)
|
||||
("38bfd238edecbcd7|2019-06-07--10-15-25.bz2", Panda.SAFETY_TOYOTA, 66), # TOYOTA.PRIUS
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("f89c604cf653e2bf|2018-09-29--13-46-50.bz2", Panda.SAFETY_GM, 0), # GM.VOLT
|
||||
("0375fdf7b1ce594d|2019-05-21--20-10-33.bz2", Panda.SAFETY_HONDA_BOSCH, 1), # HONDA.ACCORD
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.car.honda.values import CAR, HONDA_BOSCH
|
||||
from selfdrive.car.honda.values import HONDA_BOSCH
|
||||
|
||||
|
||||
def get_pt_bus(car_fingerprint, has_relay):
|
||||
@@ -25,7 +25,7 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
|
||||
"COMPUTER_BRAKE_REQUEST": brake_rq,
|
||||
"SET_ME_1": 1,
|
||||
"BRAKE_LIGHTS": brakelights,
|
||||
"CHIME": stock_brake["CHIME"], # chime issued when disabling FCM
|
||||
"CHIME": stock_brake["CHIME"] if fcw else 0, # send the chime for stock fcw
|
||||
"FCW": fcw << 1, # TODO: Why are there two bits for fcw?
|
||||
"AEB_REQ_1": 0,
|
||||
"AEB_REQ_2": 0,
|
||||
@@ -77,14 +77,6 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx,
|
||||
}
|
||||
commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values, idx))
|
||||
|
||||
if car_fingerprint in (CAR.CIVIC, CAR.ODYSSEY):
|
||||
radar_hud_values = {
|
||||
'ACC_ALERTS': hud.acc_alert,
|
||||
'LEAD_SPEED': 0x1fe, # What are these magic values
|
||||
'LEAD_STATE': 0x7,
|
||||
'LEAD_DISTANCE': 0x1e,
|
||||
}
|
||||
commands.append(packer.make_can_msg('RADAR_HUD', bus_pt, radar_hud_values, idx))
|
||||
return commands
|
||||
|
||||
|
||||
|
||||
@@ -266,10 +266,14 @@ def state_control(frame, rcv_frame, plan, path_plan, CS, CP, state, events, v_cr
|
||||
# add eventual driver distracted events
|
||||
events = driver_status.update(events, driver_engaged, isActive(state), CS.standstill)
|
||||
|
||||
# send FCW alert if triggered by planner
|
||||
if plan.fcw or CS.stockFcw:
|
||||
if plan.fcw:
|
||||
# send FCW alert if triggered by planner
|
||||
AM.add(frame, "fcw", enabled)
|
||||
|
||||
elif CS.stockFcw:
|
||||
# send a silent alert when stock fcw triggers, since the car is already beeping
|
||||
AM.add(frame, "fcwStock", enabled)
|
||||
|
||||
# State specific actions
|
||||
|
||||
if state in [State.preEnabled, State.disabled]:
|
||||
|
||||
@@ -82,6 +82,13 @@ ALERTS = [
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.chimeWarningRepeat, 1., 2., 2.),
|
||||
|
||||
Alert(
|
||||
"fcwStock",
|
||||
"BRAKE!",
|
||||
"Risk of Collision",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.none, 1., 2., 2.), # no EON chime for stock FCW
|
||||
|
||||
Alert(
|
||||
"steerSaturated",
|
||||
"接管控制",
|
||||
|
||||
@@ -64,6 +64,9 @@ class PathPlanner():
|
||||
self.dragon_auto_lc_enabled = False
|
||||
self.dragon_auto_lc_allowed = False
|
||||
self.dragon_auto_lc_timer = None
|
||||
self.dragon_assisted_lc_min_mph = 37
|
||||
self.dragon_auto_lc_min_mph = 60
|
||||
self.dragon_auto_lc_delay = 2.
|
||||
self.last_ts = 0.
|
||||
|
||||
def setup_mpc(self):
|
||||
@@ -88,6 +91,21 @@ class PathPlanner():
|
||||
if cur_time - self.last_ts > 5.:
|
||||
self.dragon_assisted_lc_enabled = True if self.params.get("DragonEnableAssistedLC", encoding='utf8') == "1" else False
|
||||
self.dragon_auto_lc_enabled = True if self.params.get("DragonEnableAutoLC", encoding='utf8') == "1" else False
|
||||
# adjustable assisted lc min speed
|
||||
self.dragon_assisted_lc_min_mph = float(self.params.get("DragonAssistedLCMinMPH", encoding='utf8'))
|
||||
if self.dragon_assisted_lc_min_mph < 0:
|
||||
self.dragon_assisted_lc_min_mph = 0.
|
||||
# adjustable auto lc min speed
|
||||
self.dragon_auto_lc_min_mph = float(self.params.get("DragonAutoLCMinMPH", encoding='utf8'))
|
||||
if self.dragon_auto_lc_min_mph < 0:
|
||||
self.dragon_auto_lc_min_mph = 0.
|
||||
# when auto lc is smaller than assisted lc, we set assisted lc to the same speed as auto lc
|
||||
if self.dragon_auto_lc_min_mph < self.dragon_assisted_lc_min_mph:
|
||||
self.dragon_assisted_lc_min_mph = self.dragon_auto_lc_min_mph
|
||||
# adjustable auto lc delay
|
||||
self.dragon_auto_lc_delay = float(self.params.get("DragonAutoLCDelay", encoding='utf8'))
|
||||
if self.dragon_auto_lc_delay < 0:
|
||||
self.dragon_auto_lc_delay = 0.
|
||||
self.last_ts = cur_time
|
||||
|
||||
v_ego = sm['carState'].vEgo
|
||||
@@ -129,13 +147,13 @@ class PathPlanner():
|
||||
# dragonpilot auto lc
|
||||
if self.dragon_assisted_lc_enabled:
|
||||
# we allow auto lc when speed is > 60mph / 96.5kph
|
||||
if self.dragon_auto_lc_enabled and v_ego >= 60 * CV.MPH_TO_MS:
|
||||
if self.dragon_auto_lc_enabled and v_ego >= self.dragon_auto_lc_min_mph * CV.MPH_TO_MS:
|
||||
self.dragon_auto_lc_allowed = True
|
||||
|
||||
if self.dragon_auto_lc_timer is None:
|
||||
# we only set timer when in preLaneChange state, 2 secs delay
|
||||
if self.lane_change_state == LaneChangeState.preLaneChange:
|
||||
self.dragon_auto_lc_timer = cur_time + 2.
|
||||
self.dragon_auto_lc_timer = cur_time + self.dragon_auto_lc_delay
|
||||
else:
|
||||
# if timer is up, we set torque_applied to True to fake user input
|
||||
if cur_time > self.dragon_auto_lc_timer:
|
||||
@@ -170,7 +188,7 @@ class PathPlanner():
|
||||
self.dragon_auto_lc_timer = None
|
||||
|
||||
# Don't allow starting lane change below 37 mph / 59.5kph
|
||||
if (v_ego < 37 * CV.MPH_TO_MS) and (self.lane_change_state == LaneChangeState.preLaneChange):
|
||||
if (v_ego < self.dragon_assisted_lc_min_mph * CV.MPH_TO_MS) and (self.lane_change_state == LaneChangeState.preLaneChange):
|
||||
self.lane_change_state = LaneChangeState.off
|
||||
|
||||
if self.lane_change_state in [LaneChangeState.off, LaneChangeState.preLaneChange]:
|
||||
|
||||
@@ -61,6 +61,9 @@ default_conf = {
|
||||
'DragonRunWaze': '0',
|
||||
'DragonEnableAssistedLC': '0',
|
||||
'DragonEnableAutoLC': '0',
|
||||
'DragonAssistedLCMinMPH': 37,
|
||||
'DragonAutoLCMinMPH': 60,
|
||||
'DragonAutoLCDelay': 2,
|
||||
}
|
||||
|
||||
deprecated_conf = {
|
||||
|
||||
@@ -1 +1 @@
|
||||
b2364d6239bca0a8caaf11f0433bf766c66e15a4
|
||||
89304bdcab73fa43a8dd39cab93bc4ea4c9cbbdb
|
||||
Reference in New Issue
Block a user