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dragonpilot 2022-08-26T01:39:55 for EON/C2

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version: dragonpilot v0.8.17 beta for EON/C2
date: 2022-08-26T01:39:55
dp-dev(priv2) master commit: 2cc578fbfc144eaecebf1803c8b59db45c2e9715
This commit is contained in:
Dragonpilot Team
2022-08-26 01:37:49 +00:00
parent 66006fe0e9
commit 58e0b3246f
112 changed files with 6445 additions and 4007 deletions
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CHANGELOGS.md
+3 -1
View File
@@ -1,8 +1,10 @@
dragonpilot [latest] - EON/C2 Release
========================
* NEW: Synced to openpilot master 2022.08.15 commits.
* NEW: Synced to openpilot master 2022.08.23 commits.
* New driving model.
* NEW: Added back honda eps mod toggle.
* NEW: Added back camera offset toggle.
* TWEAK: Resume logic to adapt ATL mode.
dragonpilot 2022.08.17 - EON/C2 Release
========================
README.md
+13 -13
View File
@@ -17,7 +17,7 @@ Table of Contents
What is openpilot?
------
[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
<table>
<tr>
@@ -40,9 +40,9 @@ Running on a dedicated device in a car
To use openpilot in a car, you need four things
* A supported device to run this software: a [comma three](https://comma.ai/shop/products/three).
* This software. The setup procedure of the comma three allows the user to enter a url for custom software.
The url, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another github username can install a fork.
* One of [the 150+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported, but has adaptive cruise control and lane keeping assist, it's likely able to run openpilot.
* This software. The setup procedure of the comma three allows the user to enter a URL for custom software.
The URL, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another GitHub username can install a fork.
* One of [the 150+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot.
* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car.
We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
@@ -52,11 +52,11 @@ Running on PC
All of openpilot's services can run as normal on a PC, even without special hardware or a car. To develop or experiment with openpilot you can run openpilot on recorded or simulated data.
With openpilot's tools you can plot logs, replay drives and watch the full-res camera streams. See [the tools README](tools/README.md) for more information.
With openpilot's tools, you can plot logs, replay drives, and watch the full-res camera streams. See [the tools README](tools/README.md) for more information.
You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes, but does require a decent GPU.
You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes but does require a decent GPU.
A PC running openpilot can also control your vehicle if it is connected to a [a webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and [a harness](https://comma.ai/shop/products/car-harness).
A PC running openpilot can also control your vehicle if it is connected to a [webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and a [harness](https://comma.ai/shop/products/car-harness).
Community and Contributing
------
@@ -78,8 +78,8 @@ By default, openpilot uploads the driving data to our servers. You can also acce
openpilot is open source software: the user is free to disable data collection if they wish to do so.
openpilot logs the road facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
@@ -87,11 +87,11 @@ Safety and Testing
----
* openpilot observes ISO26262 guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
* openpilot has software in the loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
* openpilot has software-in-the-loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
* panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
* Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
* panda has additional hardware in the loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
* panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
* Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
* panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
Directory Structure
RELEASES.md
+15 -1
View File
@@ -1,8 +1,22 @@
Version 0.8.16 (2022-XX-XX)
Version 0.8.17 (2022-XX-XX)
========================
Version 0.8.16 (2022-08-26)
========================
* New driving model
* Reduced turn cutting
* Auto-detect right hand drive setting with driver monitoring model
* Improved fan controller for comma three
* New translations
* Japanese thanks to cydia2020!
* Brazilian Portuguese thanks to AlexandreSato!
* Chevrolet Bolt EUV 2022-23 support thanks to JasonJShuler!
* Chevrolet Silverado 1500 2020-21 support thanks to JasonJShuler!
* GMC Sierra 1500 2020-21 support thanks to JasonJShuler!
* Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
* Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
* Hyundai Tucson Hybrid 2022 support thanks to sunnyhaibin!
* Subaru Legacy 2020-22 support thanks to martinl!
* Subaru Outback 2020-22 support
Version 0.8.15 (2022-07-20)
cereal/car.capnp
+3 -2
View File
@@ -111,10 +111,11 @@ struct CarEvent @0x9b1657f34caf3ad3 {
lkasDisabled @107;
canBusMissing @111;
controlsdLagging @112;
resumeBlocked @113;
#dp
speedLimitActive @113;
speedLimitValueChange @114;
speedLimitActive @114;
speedLimitValueChange @115;
radarCanErrorDEPRECATED @15;
communityFeatureDisallowedDEPRECATED @62;
cereal/dp.capnp
+1
View File
@@ -26,4 +26,5 @@ struct DragonConf {
dpMapd @18 :Bool;
dpDashcamd @19 :Bool;
dpMazdaSteerAlert @20 :Bool;
dpCameraOffset @21 :Int8;
}
cereal/libcereal_shared.so
BIN
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Binary file not shown.
cereal/log.capnp
+11 -2
View File
@@ -38,6 +38,8 @@ struct InitData {
passive @12 :Bool;
params @17 :Map(Text, Data);
commands @19 :Map(Text, Data);
enum DeviceType {
unknown @0;
neo @1;
@@ -410,6 +412,7 @@ struct PandaState @0xa7649e2575e4591e {
heartbeatLost @22 :Bool;
blockedCnt @24 :UInt32;
interruptLoad @25 :Float32;
fanPower @28 :UInt8;
enum FaultStatus {
none @0;
@@ -1928,6 +1931,9 @@ struct EncodeData {
unixTimestampNanos @3 :UInt64;
}
struct UserFlag {
}
struct Event {
logMonoTime @0 :UInt64; # nanoseconds
valid @67 :Bool = true;
@@ -1995,6 +2001,9 @@ struct Event {
navRoute @83 :NavRoute;
navThumbnail @84: Thumbnail;
# user flags
userFlag @93 :UserFlag;
# *********** debug ***********
testJoystick @52 :Joystick;
roadEncodeData @86 :EncodeData;
@@ -2002,8 +2011,8 @@ struct Event {
wideRoadEncodeData @88 :EncodeData;
qRoadEncodeData @89 :EncodeData;
dragonConf @93 :Dp.DragonConf;
liveMapData @94: LiveMapData;
dragonConf @94 :Dp.DragonConf;
liveMapData @95: LiveMapData;
# *********** legacy + deprecated ***********
model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
cereal/messaging/bridge
BIN
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Binary file not shown.
cereal/messaging/messaging_pyx.cpp
+122 -23
View File
@@ -1,4 +1,4 @@
/* Generated by Cython 0.29.24 */
/* Generated by Cython 0.29.26 */
/* BEGIN: Cython Metadata
{
@@ -28,8 +28,8 @@ END: Cython Metadata */
#elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000)
#error Cython requires Python 2.6+ or Python 3.3+.
#else
#define CYTHON_ABI "0_29_24"
#define CYTHON_HEX_VERSION 0x001D18F0
#define CYTHON_ABI "0_29_26"
#define CYTHON_HEX_VERSION 0x001D1AF0
#define CYTHON_FUTURE_DIVISION 1
#include <stddef.h>
#ifndef offsetof
@@ -176,7 +176,7 @@ END: Cython Metadata */
#ifndef CYTHON_USE_UNICODE_INTERNALS
#define CYTHON_USE_UNICODE_INTERNALS 1
#endif
#if PY_VERSION_HEX < 0x030300F0
#if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2
#undef CYTHON_USE_UNICODE_WRITER
#define CYTHON_USE_UNICODE_WRITER 0
#elif !defined(CYTHON_USE_UNICODE_WRITER)
@@ -195,7 +195,7 @@ END: Cython Metadata */
#define CYTHON_FAST_THREAD_STATE 1
#endif
#ifndef CYTHON_FAST_PYCALL
#define CYTHON_FAST_PYCALL 1
#define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1)
#endif
#ifndef CYTHON_PEP489_MULTI_PHASE_INIT
#define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000)
@@ -214,7 +214,9 @@ END: Cython Metadata */
#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1)
#endif
#if CYTHON_USE_PYLONG_INTERNALS
#include "longintrepr.h"
#if PY_MAJOR_VERSION < 3
#include "longintrepr.h"
#endif
#undef SHIFT
#undef BASE
#undef MASK
@@ -345,9 +347,68 @@ class __Pyx_FakeReference {
#define __Pyx_DefaultClassType PyClass_Type
#else
#define __Pyx_BUILTIN_MODULE_NAME "builtins"
#if PY_VERSION_HEX >= 0x030800A4 && PY_VERSION_HEX < 0x030800B2
#define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
PyCode_New(a, 0, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
#define __Pyx_DefaultClassType PyType_Type
#if PY_VERSION_HEX >= 0x030B00A1
static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f,
PyObject *code, PyObject *c, PyObject* n, PyObject *v,
PyObject *fv, PyObject *cell, PyObject* fn,
PyObject *name, int fline, PyObject *lnos) {
PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL;
PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL;
const char *fn_cstr=NULL;
const char *name_cstr=NULL;
PyCodeObject* co=NULL;
PyObject *type, *value, *traceback;
PyErr_Fetch(&type, &value, &traceback);
if (!(kwds=PyDict_New())) goto end;
if (!(argcount=PyLong_FromLong(a))) goto end;
if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end;
if (!(posonlyargcount=PyLong_FromLong(0))) goto end;
if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end;
if (!(kwonlyargcount=PyLong_FromLong(k))) goto end;
if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end;
if (!(nlocals=PyLong_FromLong(l))) goto end;
if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end;
if (!(stacksize=PyLong_FromLong(s))) goto end;
if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end;
if (!(flags=PyLong_FromLong(f))) goto end;
if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end;
if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end;
if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end;
if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end;
if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too;
if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here
if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too;
Py_XDECREF((PyObject*)co);
co = (PyCodeObject*)call_result;
call_result = NULL;
if (0) {
cleanup_code_too:
Py_XDECREF((PyObject*)co);
co = NULL;
}
end:
Py_XDECREF(kwds);
Py_XDECREF(argcount);
Py_XDECREF(posonlyargcount);
Py_XDECREF(kwonlyargcount);
Py_XDECREF(nlocals);
Py_XDECREF(stacksize);
Py_XDECREF(replace);
Py_XDECREF(call_result);
Py_XDECREF(empty);
if (type) {
PyErr_Restore(type, value, traceback);
}
return co;
}
#else
#define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
@@ -585,10 +646,10 @@ static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) {
#if PY_VERSION_HEX < 0x030200A4
typedef long Py_hash_t;
#define __Pyx_PyInt_FromHash_t PyInt_FromLong
#define __Pyx_PyInt_AsHash_t PyInt_AsLong
#define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t
#else
#define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t
#define __Pyx_PyInt_AsHash_t PyInt_AsSsize_t
#define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t
#endif
#if PY_MAJOR_VERSION >= 3
#define __Pyx_PyMethod_New(func, self, klass) ((self) ? ((void)(klass), PyMethod_New(func, self)) : __Pyx_NewRef(func))
@@ -753,6 +814,7 @@ static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x);
(likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj))
static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*);
static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t);
static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*);
#if CYTHON_ASSUME_SAFE_MACROS
#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x))
#else
@@ -1120,6 +1182,7 @@ static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args,
#ifndef Py_MEMBER_SIZE
#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member)
#endif
#if CYTHON_FAST_PYCALL
static size_t __pyx_pyframe_localsplus_offset = 0;
#include "frameobject.h"
#define __Pxy_PyFrame_Initialize_Offsets()\
@@ -1127,6 +1190,7 @@ static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args,
(void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus)))
#define __Pyx_PyFrame_GetLocalsplus(frame)\
(assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset))
#endif // CYTHON_FAST_PYCALL
#endif
/* PyObjectCallMethO.proto */
@@ -3922,6 +3986,9 @@ static PyTypeObject __pyx_type_6cereal_9messaging_13messaging_pyx_Context = {
#if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
0, /*tp_print*/
#endif
#if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000
0, /*tp_pypy_flags*/
#endif
};
static PyObject *__pyx_tp_new_6cereal_9messaging_13messaging_pyx_Poller(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) {
@@ -4055,6 +4122,9 @@ static PyTypeObject __pyx_type_6cereal_9messaging_13messaging_pyx_Poller = {
#if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
0, /*tp_print*/
#endif
#if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000
0, /*tp_pypy_flags*/
#endif
};
static struct __pyx_vtabstruct_6cereal_9messaging_13messaging_pyx_SubSocket __pyx_vtable_6cereal_9messaging_13messaging_pyx_SubSocket;
@@ -4169,6 +4239,9 @@ static PyTypeObject __pyx_type_6cereal_9messaging_13messaging_pyx_SubSocket = {
#if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
0, /*tp_print*/
#endif
#if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000
0, /*tp_pypy_flags*/
#endif
};
static PyObject *__pyx_tp_new_6cereal_9messaging_13messaging_pyx_PubSocket(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) {
@@ -4279,6 +4352,9 @@ static PyTypeObject __pyx_type_6cereal_9messaging_13messaging_pyx_PubSocket = {
#if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
0, /*tp_print*/
#endif
#if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000
0, /*tp_pypy_flags*/
#endif
};
static PyMethodDef __pyx_methods[] = {
@@ -6080,7 +6156,7 @@ static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int
}
if (!use_cline) {
c_line = 0;
PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
(void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
}
else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) {
c_line = 0;
@@ -6177,30 +6253,31 @@ static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) {
static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
const char *funcname, int c_line,
int py_line, const char *filename) {
PyCodeObject *py_code = 0;
PyObject *py_srcfile = 0;
PyObject *py_funcname = 0;
PyCodeObject *py_code = NULL;
PyObject *py_funcname = NULL;
#if PY_MAJOR_VERSION < 3
PyObject *py_srcfile = NULL;
py_srcfile = PyString_FromString(filename);
#else
py_srcfile = PyUnicode_FromString(filename);
#endif
if (!py_srcfile) goto bad;
#endif
if (c_line) {
#if PY_MAJOR_VERSION < 3
py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
if (!py_funcname) goto bad;
#else
py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
if (!py_funcname) goto bad;
funcname = PyUnicode_AsUTF8(py_funcname);
if (!funcname) goto bad;
#endif
}
else {
#if PY_MAJOR_VERSION < 3
py_funcname = PyString_FromString(funcname);
#else
py_funcname = PyUnicode_FromString(funcname);
if (!py_funcname) goto bad;
#endif
}
if (!py_funcname) goto bad;
#if PY_MAJOR_VERSION < 3
py_code = __Pyx_PyCode_New(
0,
0,
@@ -6219,11 +6296,16 @@ static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
__pyx_empty_bytes /*PyObject *lnotab*/
);
Py_DECREF(py_srcfile);
Py_DECREF(py_funcname);
#else
py_code = PyCode_NewEmpty(filename, funcname, py_line);
#endif
Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline
return py_code;
bad:
Py_XDECREF(py_srcfile);
Py_XDECREF(py_funcname);
#if PY_MAJOR_VERSION < 3
Py_XDECREF(py_srcfile);
#endif
return NULL;
}
static void __Pyx_AddTraceback(const char *funcname, int c_line,
@@ -7071,6 +7153,23 @@ static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) {
Py_DECREF(x);
return ival;
}
static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) {
if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) {
return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o);
#if PY_MAJOR_VERSION < 3
} else if (likely(PyInt_CheckExact(o))) {
return PyInt_AS_LONG(o);
#endif
} else {
Py_ssize_t ival;
PyObject *x;
x = PyNumber_Index(o);
if (!x) return -1;
ival = PyInt_AsLong(x);
Py_DECREF(x);
return ival;
}
}
static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) {
return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False);
}
cereal/messaging/messaging_pyx.so
BIN
View File
Binary file not shown.
cereal/services.h
+35 -33
View File
@@ -23,39 +23,41 @@ static struct service services[] = {
{ "longitudinalPlan", 8018, true, 20, 5 },
{ "procLog", 8019, true, 0, -1 },
{ "gpsLocationExternal", 8020, true, 10, 10 },
{ "ubloxGnss", 8021, true, 10, -1 },
{ "qcomGnss", 8023, true, 2, -1 },
{ "gnssMeasurements", 8024, true, 10, -1 },
{ "clocks", 8025, true, 1, 1 },
{ "ubloxRaw", 8026, true, 20, -1 },
{ "liveLocationKalman", 8027, true, 20, 5 },
{ "liveParameters", 8028, true, 20, 5 },
{ "cameraOdometry", 8029, true, 20, 5 },
{ "lateralPlan", 8030, true, 20, 5 },
{ "thumbnail", 8031, true, 0, 1 },
{ "carEvents", 8032, true, 1, 1 },
{ "carParams", 8033, true, 0, 1 },
{ "roadCameraState", 8034, true, 20, 20 },
{ "driverCameraState", 8035, true, 20, 20 },
{ "driverEncodeIdx", 8036, false, 20, 1 },
{ "driverStateV2", 8037, true, 20, 10 },
{ "driverMonitoringState", 8038, true, 20, 10 },
{ "wideRoadEncodeIdx", 8039, false, 20, 1 },
{ "wideRoadCameraState", 8040, true, 20, 20 },
{ "modelV2", 8041, true, 20, 40 },
{ "managerState", 8042, true, 2, 1 },
{ "uploaderState", 8043, true, 0, 1 },
{ "navInstruction", 8044, true, 1, 10 },
{ "navRoute", 8045, true, 0, -1 },
{ "navThumbnail", 8046, true, 0, -1 },
{ "qRoadEncodeIdx", 8047, false, 20, -1 },
{ "testJoystick", 8048, true, 0, -1 },
{ "roadEncodeData", 8049, false, 20, -1 },
{ "driverEncodeData", 8050, false, 20, -1 },
{ "wideRoadEncodeData", 8051, false, 20, -1 },
{ "qRoadEncodeData", 8052, false, 20, -1 },
{ "dragonConf", 8053, false, 1, -1 },
{ "liveMapData", 8054, true, 0, -1 },
{ "gpsLocation", 8021, true, 1, 1 },
{ "ubloxGnss", 8023, true, 10, -1 },
{ "qcomGnss", 8024, true, 2, -1 },
{ "gnssMeasurements", 8025, true, 10, 10 },
{ "clocks", 8026, true, 1, 1 },
{ "ubloxRaw", 8027, true, 20, -1 },
{ "liveLocationKalman", 8028, true, 20, 5 },
{ "liveParameters", 8029, true, 20, 5 },
{ "cameraOdometry", 8030, true, 20, 5 },
{ "lateralPlan", 8031, true, 20, 5 },
{ "thumbnail", 8032, true, 0, 1 },
{ "carEvents", 8033, true, 1, 1 },
{ "carParams", 8034, true, 0, 1 },
{ "roadCameraState", 8035, true, 20, 20 },
{ "driverCameraState", 8036, true, 20, 20 },
{ "driverEncodeIdx", 8037, false, 20, 1 },
{ "driverStateV2", 8038, true, 20, 10 },
{ "driverMonitoringState", 8039, true, 20, 10 },
{ "wideRoadEncodeIdx", 8040, false, 20, 1 },
{ "wideRoadCameraState", 8041, true, 20, 20 },
{ "modelV2", 8042, true, 20, 40 },
{ "managerState", 8043, true, 2, 1 },
{ "uploaderState", 8044, true, 0, 1 },
{ "navInstruction", 8045, true, 1, 10 },
{ "navRoute", 8046, true, 0, -1 },
{ "navThumbnail", 8047, true, 0, -1 },
{ "qRoadEncodeIdx", 8048, false, 20, -1 },
{ "userFlag", 8049, true, 0, 1 },
{ "testJoystick", 8050, true, 0, -1 },
{ "roadEncodeData", 8051, false, 20, -1 },
{ "driverEncodeData", 8052, false, 20, -1 },
{ "wideRoadEncodeData", 8053, false, 20, -1 },
{ "qRoadEncodeData", 8054, false, 20, -1 },
{ "dragonConf", 8055, false, 1, -1 },
{ "liveMapData", 8056, true, 0, -1 },
};
#endif
cereal/services.py
+3 -1
View File
@@ -41,9 +41,10 @@ services = {
"longitudinalPlan": (True, 20., 5),
"procLog": (True, 0.5),
"gpsLocationExternal": (True, 10., 10),
"gpsLocation": (True, 1., 1),
"ubloxGnss": (True, 10.),
"qcomGnss": (True, 2.),
"gnssMeasurements": (True, 10.),
"gnssMeasurements": (True, 10., 10),
"clocks": (True, 1., 1),
"ubloxRaw": (True, 20.),
"liveLocationKalman": (True, 20., 5),
@@ -67,6 +68,7 @@ services = {
"navRoute": (True, 0.),
"navThumbnail": (True, 0.),
"qRoadEncodeIdx": (False, 20.),
"userFlag": (True, 0., 1),
# debug
"testJoystick": (True, 0.),
cereal/visionipc/visionipc_pyx.so
BIN
View File
Binary file not shown.
common/clock.cpp
+108 -23
View File
@@ -1,4 +1,4 @@
/* Generated by Cython 0.29.24 */
/* Generated by Cython 0.29.26 */
/* BEGIN: Cython Metadata
{
@@ -23,8 +23,8 @@ END: Cython Metadata */
#elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000)
#error Cython requires Python 2.6+ or Python 3.3+.
#else
#define CYTHON_ABI "0_29_24"
#define CYTHON_HEX_VERSION 0x001D18F0
#define CYTHON_ABI "0_29_26"
#define CYTHON_HEX_VERSION 0x001D1AF0
#define CYTHON_FUTURE_DIVISION 1
#include <stddef.h>
#ifndef offsetof
@@ -171,7 +171,7 @@ END: Cython Metadata */
#ifndef CYTHON_USE_UNICODE_INTERNALS
#define CYTHON_USE_UNICODE_INTERNALS 1
#endif
#if PY_VERSION_HEX < 0x030300F0
#if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2
#undef CYTHON_USE_UNICODE_WRITER
#define CYTHON_USE_UNICODE_WRITER 0
#elif !defined(CYTHON_USE_UNICODE_WRITER)
@@ -190,7 +190,7 @@ END: Cython Metadata */
#define CYTHON_FAST_THREAD_STATE 1
#endif
#ifndef CYTHON_FAST_PYCALL
#define CYTHON_FAST_PYCALL 1
#define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1)
#endif
#ifndef CYTHON_PEP489_MULTI_PHASE_INIT
#define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000)
@@ -209,7 +209,9 @@ END: Cython Metadata */
#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1)
#endif
#if CYTHON_USE_PYLONG_INTERNALS
#include "longintrepr.h"
#if PY_MAJOR_VERSION < 3
#include "longintrepr.h"
#endif
#undef SHIFT
#undef BASE
#undef MASK
@@ -340,9 +342,68 @@ class __Pyx_FakeReference {
#define __Pyx_DefaultClassType PyClass_Type
#else
#define __Pyx_BUILTIN_MODULE_NAME "builtins"
#if PY_VERSION_HEX >= 0x030800A4 && PY_VERSION_HEX < 0x030800B2
#define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
PyCode_New(a, 0, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
#define __Pyx_DefaultClassType PyType_Type
#if PY_VERSION_HEX >= 0x030B00A1
static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f,
PyObject *code, PyObject *c, PyObject* n, PyObject *v,
PyObject *fv, PyObject *cell, PyObject* fn,
PyObject *name, int fline, PyObject *lnos) {
PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL;
PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL;
const char *fn_cstr=NULL;
const char *name_cstr=NULL;
PyCodeObject* co=NULL;
PyObject *type, *value, *traceback;
PyErr_Fetch(&type, &value, &traceback);
if (!(kwds=PyDict_New())) goto end;
if (!(argcount=PyLong_FromLong(a))) goto end;
if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end;
if (!(posonlyargcount=PyLong_FromLong(0))) goto end;
if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end;
if (!(kwonlyargcount=PyLong_FromLong(k))) goto end;
if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end;
if (!(nlocals=PyLong_FromLong(l))) goto end;
if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end;
if (!(stacksize=PyLong_FromLong(s))) goto end;
if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end;
if (!(flags=PyLong_FromLong(f))) goto end;
if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end;
if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end;
if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end;
if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end;
if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too;
if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here
if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too;
Py_XDECREF((PyObject*)co);
co = (PyCodeObject*)call_result;
call_result = NULL;
if (0) {
cleanup_code_too:
Py_XDECREF((PyObject*)co);
co = NULL;
}
end:
Py_XDECREF(kwds);
Py_XDECREF(argcount);
Py_XDECREF(posonlyargcount);
Py_XDECREF(kwonlyargcount);
Py_XDECREF(nlocals);
Py_XDECREF(stacksize);
Py_XDECREF(replace);
Py_XDECREF(call_result);
Py_XDECREF(empty);
if (type) {
PyErr_Restore(type, value, traceback);
}
return co;
}
#else
#define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
@@ -580,10 +641,10 @@ static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) {
#if PY_VERSION_HEX < 0x030200A4
typedef long Py_hash_t;
#define __Pyx_PyInt_FromHash_t PyInt_FromLong
#define __Pyx_PyInt_AsHash_t PyInt_AsLong
#define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t
#else
#define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t
#define __Pyx_PyInt_AsHash_t PyInt_AsSsize_t
#define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t
#endif
#if PY_MAJOR_VERSION >= 3
#define __Pyx_PyMethod_New(func, self, klass) ((self) ? ((void)(klass), PyMethod_New(func, self)) : __Pyx_NewRef(func))
@@ -742,6 +803,7 @@ static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x);
(likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj))
static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*);
static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t);
static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*);
#if CYTHON_ASSUME_SAFE_MACROS
#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x))
#else
@@ -1802,7 +1864,7 @@ static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int
}
if (!use_cline) {
c_line = 0;
PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
(void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
}
else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) {
c_line = 0;
@@ -1899,30 +1961,31 @@ static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) {
static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
const char *funcname, int c_line,
int py_line, const char *filename) {
PyCodeObject *py_code = 0;
PyObject *py_srcfile = 0;
PyObject *py_funcname = 0;
PyCodeObject *py_code = NULL;
PyObject *py_funcname = NULL;
#if PY_MAJOR_VERSION < 3
PyObject *py_srcfile = NULL;
py_srcfile = PyString_FromString(filename);
#else
py_srcfile = PyUnicode_FromString(filename);
#endif
if (!py_srcfile) goto bad;
#endif
if (c_line) {
#if PY_MAJOR_VERSION < 3
py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
if (!py_funcname) goto bad;
#else
py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
if (!py_funcname) goto bad;
funcname = PyUnicode_AsUTF8(py_funcname);
if (!funcname) goto bad;
#endif
}
else {
#if PY_MAJOR_VERSION < 3
py_funcname = PyString_FromString(funcname);
#else
py_funcname = PyUnicode_FromString(funcname);
if (!py_funcname) goto bad;
#endif
}
if (!py_funcname) goto bad;
#if PY_MAJOR_VERSION < 3
py_code = __Pyx_PyCode_New(
0,
0,
@@ -1941,11 +2004,16 @@ static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
__pyx_empty_bytes /*PyObject *lnotab*/
);
Py_DECREF(py_srcfile);
Py_DECREF(py_funcname);
#else
py_code = PyCode_NewEmpty(filename, funcname, py_line);
#endif
Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline
return py_code;
bad:
Py_XDECREF(py_srcfile);
Py_XDECREF(py_funcname);
#if PY_MAJOR_VERSION < 3
Py_XDECREF(py_srcfile);
#endif
return NULL;
}
static void __Pyx_AddTraceback(const char *funcname, int c_line,
@@ -2793,6 +2861,23 @@ static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) {
Py_DECREF(x);
return ival;
}
static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) {
if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) {
return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o);
#if PY_MAJOR_VERSION < 3
} else if (likely(PyInt_CheckExact(o))) {
return PyInt_AS_LONG(o);
#endif
} else {
Py_ssize_t ival;
PyObject *x;
x = PyNumber_Index(o);
if (!x) return -1;
ival = PyInt_AsLong(x);
Py_DECREF(x);
return ival;
}
}
static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) {
return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False);
}
common/clock.so
BIN
View File
Binary file not shown.
common/dp_conf.py
+16 -16
View File
@@ -5,6 +5,7 @@ import sys
import json
import time
from math import floor
from selfdrive.controls.lib.lane_planner import CAMERA_OFFSET
'''
* type: Bool, Int8, UInt8, UInt16, Float32
@@ -21,20 +22,19 @@ confs = [
{'name': 'dp_locale', 'default': 'en-US', 'type': 'Text', 'conf_type': ['param', 'struct'], 'update_once': True},
{'name': 'dp_jetson', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
{'name': 'dp_hotspot_on_boot', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
# nav service
{'name': 'dp_otisserv', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
#{'name': 'dp_nav_mapbox_token_pk', 'default': '', 'type': 'Text', 'conf_type': ['param']},
#{'name': 'dp_nav_mapbox_token_sk', 'default': '', 'type': 'Text', 'conf_type': ['param']},
#{'name': 'dp_nav_full_screen', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
#{'name': 'dp_nav_gmap_enable', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
#{'name': 'dp_nav_gmap_key', 'default': '', 'type': 'Text', 'conf_type': ['param']},
#{'name': 'dp_nav_amap_enable', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
#{'name': 'dp_nav_amap_key', 'default': '', 'type': 'Text', 'conf_type': ['param']},
#{'name': 'dp_nav_amap_key_2', 'default': '', 'type': 'Text', 'conf_type': ['param']},
#{'name': 'dp_nav_style_day', 'default': 'mapbox://styles/rav4kumar/ckv7dtfba6oik15r0w8dh1c1q', 'type': 'Text', 'conf_type': ['param']},
#{'name': 'dp_nav_style_night', 'default': 'mapbox://styles/rav4kumar/ckvsf3f4u0zb414tcz9vof5jc', 'type': 'Text', 'conf_type': ['param']},
{'name': 'dp_nav_mapbox_token_pk', 'default': '', 'type': 'Text', 'conf_type': ['param']},
{'name': 'dp_nav_mapbox_token_sk', 'default': '', 'type': 'Text', 'conf_type': ['param']},
{'name': 'dp_nav_full_screen', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
{'name': 'dp_nav_gmap_enable', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
{'name': 'dp_nav_gmap_key', 'default': '', 'type': 'Text', 'conf_type': ['param']},
{'name': 'dp_nav_amap_enable', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
{'name': 'dp_nav_amap_key', 'default': '', 'type': 'Text', 'conf_type': ['param']},
{'name': 'dp_nav_amap_key_2', 'default': '', 'type': 'Text', 'conf_type': ['param']},
{'name': 'dp_nav_style_day', 'default': 'mapbox://styles/rav4kumar/ckv7dtfba6oik15r0w8dh1c1q', 'type': 'Text', 'conf_type': ['param']},
{'name': 'dp_nav_style_night', 'default': 'mapbox://styles/rav4kumar/ckvsf3f4u0zb414tcz9vof5jc', 'type': 'Text', 'conf_type': ['param']},
# gpxd
{'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
@@ -55,7 +55,7 @@ confs = [
#ui
{'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['struct']},
{'name': 'dp_quiet_drive', 'default': False, 'type': 'Boolean', 'conf_type': ['param']},
{'name': 'dp_quiet_drive', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
{'name': 'dp_ui_top', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
{'name': 'dp_ui_side', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
{'name': 'dp_ui_volume', 'default': -5, 'type': 'Int8', 'min': -5, 'max': 100, 'conf_type': ['param', 'struct']},
@@ -68,14 +68,14 @@ confs = [
{'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
{'name': 'dp_toyota_ap_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
{'name': 'dp_toyota_cruise_override', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
{'name': 'dp_toyota_cruise_override_speed', 'default': 30, 'type': 'UInt8', 'min': 5, 'max': 60, 'conf_type': ['param', 'struct']},
{'name': 'dp_toyota_cruise_override_speed', 'default': 30, 'type': 'UInt8', 'min': 5, 'max': 60, 'depends': [{'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
{'name': 'dp_use_lanelines', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
{'name': 'dp_mapd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
{'name': 'dp_lateral_lqr', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
# # dashcam related
# dashcam related
{'name': 'dp_dashcamd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
# # auto shutdown
{'name': 'dp_auto_shutdown', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
@@ -88,7 +88,7 @@ confs = [
# {'name': 'dp_athenad', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct'], 'update_once': True},
# {'name': 'dp_uploader', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct'], 'update_once': True},
# # {'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
#
{'name': 'dp_hotspot_on_boot', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
# # lat ctrl
# {'name': 'dp_lane_less_mode_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
# {'name': 'dp_lane_less_mode', 'default': 2, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_lane_less_mode_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
@@ -137,7 +137,7 @@ confs = [
# {'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['struct']},
# {'name': 'dp_fan_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param']},
# {'name': 'dp_last_modified', 'default': str(floor(time.time())), 'type': 'Text', 'conf_type': ['param']},
# {'name': 'dp_camera_offset', 'default': 6 if EON else -4 if TICI else 0, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
{'name': 'dp_camera_offset', 'default': CAMERA_OFFSET, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
# {'name': 'dp_path_offset', 'default': 0 if EON else -4 if TICI else 0, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
#
# {'name': 'dp_reg', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
common/kalman/simple_kalman_impl.cpp
+113 -23
View File
@@ -1,4 +1,4 @@
/* Generated by Cython 0.29.24 */
/* Generated by Cython 0.29.26 */
/* BEGIN: Cython Metadata
{
@@ -22,8 +22,8 @@ END: Cython Metadata */
#elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000)
#error Cython requires Python 2.6+ or Python 3.3+.
#else
#define CYTHON_ABI "0_29_24"
#define CYTHON_HEX_VERSION 0x001D18F0
#define CYTHON_ABI "0_29_26"
#define CYTHON_HEX_VERSION 0x001D1AF0
#define CYTHON_FUTURE_DIVISION 1
#include <stddef.h>
#ifndef offsetof
@@ -170,7 +170,7 @@ END: Cython Metadata */
#ifndef CYTHON_USE_UNICODE_INTERNALS
#define CYTHON_USE_UNICODE_INTERNALS 1
#endif
#if PY_VERSION_HEX < 0x030300F0
#if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2
#undef CYTHON_USE_UNICODE_WRITER
#define CYTHON_USE_UNICODE_WRITER 0
#elif !defined(CYTHON_USE_UNICODE_WRITER)
@@ -189,7 +189,7 @@ END: Cython Metadata */
#define CYTHON_FAST_THREAD_STATE 1
#endif
#ifndef CYTHON_FAST_PYCALL
#define CYTHON_FAST_PYCALL 1
#define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1)
#endif
#ifndef CYTHON_PEP489_MULTI_PHASE_INIT
#define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000)
@@ -208,7 +208,9 @@ END: Cython Metadata */
#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1)
#endif
#if CYTHON_USE_PYLONG_INTERNALS
#include "longintrepr.h"
#if PY_MAJOR_VERSION < 3
#include "longintrepr.h"
#endif
#undef SHIFT
#undef BASE
#undef MASK
@@ -339,9 +341,68 @@ class __Pyx_FakeReference {
#define __Pyx_DefaultClassType PyClass_Type
#else
#define __Pyx_BUILTIN_MODULE_NAME "builtins"
#if PY_VERSION_HEX >= 0x030800A4 && PY_VERSION_HEX < 0x030800B2
#define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
PyCode_New(a, 0, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
#define __Pyx_DefaultClassType PyType_Type
#if PY_VERSION_HEX >= 0x030B00A1
static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f,
PyObject *code, PyObject *c, PyObject* n, PyObject *v,
PyObject *fv, PyObject *cell, PyObject* fn,
PyObject *name, int fline, PyObject *lnos) {
PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL;
PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL;
const char *fn_cstr=NULL;
const char *name_cstr=NULL;
PyCodeObject* co=NULL;
PyObject *type, *value, *traceback;
PyErr_Fetch(&type, &value, &traceback);
if (!(kwds=PyDict_New())) goto end;
if (!(argcount=PyLong_FromLong(a))) goto end;
if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end;
if (!(posonlyargcount=PyLong_FromLong(0))) goto end;
if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end;
if (!(kwonlyargcount=PyLong_FromLong(k))) goto end;
if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end;
if (!(nlocals=PyLong_FromLong(l))) goto end;
if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end;
if (!(stacksize=PyLong_FromLong(s))) goto end;
if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end;
if (!(flags=PyLong_FromLong(f))) goto end;
if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end;
if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end;
if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end;
if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end;
if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too;
if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here
if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too;
Py_XDECREF((PyObject*)co);
co = (PyCodeObject*)call_result;
call_result = NULL;
if (0) {
cleanup_code_too:
Py_XDECREF((PyObject*)co);
co = NULL;
}
end:
Py_XDECREF(kwds);
Py_XDECREF(argcount);
Py_XDECREF(posonlyargcount);
Py_XDECREF(kwonlyargcount);
Py_XDECREF(nlocals);
Py_XDECREF(stacksize);
Py_XDECREF(replace);
Py_XDECREF(call_result);
Py_XDECREF(empty);
if (type) {
PyErr_Restore(type, value, traceback);
}
return co;
}
#else
#define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
@@ -579,10 +640,10 @@ static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) {
#if PY_VERSION_HEX < 0x030200A4
typedef long Py_hash_t;
#define __Pyx_PyInt_FromHash_t PyInt_FromLong
#define __Pyx_PyInt_AsHash_t PyInt_AsLong
#define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t
#else
#define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t
#define __Pyx_PyInt_AsHash_t PyInt_AsSsize_t
#define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t
#endif
#if PY_MAJOR_VERSION >= 3
#define __Pyx_PyMethod_New(func, self, klass) ((self) ? ((void)(klass), PyMethod_New(func, self)) : __Pyx_NewRef(func))
@@ -738,6 +799,7 @@ static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x);
(likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj))
static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*);
static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t);
static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*);
#if CYTHON_ASSUME_SAFE_MACROS
#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x))
#else
@@ -1116,6 +1178,7 @@ static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args,
#ifndef Py_MEMBER_SIZE
#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member)
#endif
#if CYTHON_FAST_PYCALL
static size_t __pyx_pyframe_localsplus_offset = 0;
#include "frameobject.h"
#define __Pxy_PyFrame_Initialize_Offsets()\
@@ -1123,6 +1186,7 @@ static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args,
(void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus)))
#define __Pyx_PyFrame_GetLocalsplus(frame)\
(assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset))
#endif // CYTHON_FAST_PYCALL
#endif
/* PyObjectCall.proto */
@@ -4329,6 +4393,9 @@ static PyTypeObject __pyx_type_6common_6kalman_18simple_kalman_impl_KF1D = {
#if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
0, /*tp_print*/
#endif
#if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000
0, /*tp_pypy_flags*/
#endif
};
static PyMethodDef __pyx_methods[] = {
@@ -5873,7 +5940,7 @@ static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int
}
if (!use_cline) {
c_line = 0;
PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
(void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
}
else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) {
c_line = 0;
@@ -5970,30 +6037,31 @@ static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) {
static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
const char *funcname, int c_line,
int py_line, const char *filename) {
PyCodeObject *py_code = 0;
PyObject *py_srcfile = 0;
PyObject *py_funcname = 0;
PyCodeObject *py_code = NULL;
PyObject *py_funcname = NULL;
#if PY_MAJOR_VERSION < 3
PyObject *py_srcfile = NULL;
py_srcfile = PyString_FromString(filename);
#else
py_srcfile = PyUnicode_FromString(filename);
#endif
if (!py_srcfile) goto bad;
#endif
if (c_line) {
#if PY_MAJOR_VERSION < 3
py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
if (!py_funcname) goto bad;
#else
py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
if (!py_funcname) goto bad;
funcname = PyUnicode_AsUTF8(py_funcname);
if (!funcname) goto bad;
#endif
}
else {
#if PY_MAJOR_VERSION < 3
py_funcname = PyString_FromString(funcname);
#else
py_funcname = PyUnicode_FromString(funcname);
if (!py_funcname) goto bad;
#endif
}
if (!py_funcname) goto bad;
#if PY_MAJOR_VERSION < 3
py_code = __Pyx_PyCode_New(
0,
0,
@@ -6012,11 +6080,16 @@ static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
__pyx_empty_bytes /*PyObject *lnotab*/
);
Py_DECREF(py_srcfile);
Py_DECREF(py_funcname);
#else
py_code = PyCode_NewEmpty(filename, funcname, py_line);
#endif
Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline
return py_code;
bad:
Py_XDECREF(py_srcfile);
Py_XDECREF(py_funcname);
#if PY_MAJOR_VERSION < 3
Py_XDECREF(py_srcfile);
#endif
return NULL;
}
static void __Pyx_AddTraceback(const char *funcname, int c_line,
@@ -6864,6 +6937,23 @@ static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) {
Py_DECREF(x);
return ival;
}
static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) {
if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) {
return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o);
#if PY_MAJOR_VERSION < 3
} else if (likely(PyInt_CheckExact(o))) {
return PyInt_AS_LONG(o);
#endif
} else {
Py_ssize_t ival;
PyObject *x;
x = PyNumber_Index(o);
if (!x) return -1;
ival = PyInt_AsLong(x);
Py_DECREF(x);
return ival;
}
}
static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) {
return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False);
}
common/kalman/simple_kalman_impl.so
BIN
View File
Binary file not shown.
common/params_pyx.so
BIN
View File
Binary file not shown.
common/transformations/transformations.cpp
+113 -23
View File
@@ -1,4 +1,4 @@
/* Generated by Cython 0.29.24 */
/* Generated by Cython 0.29.26 */
/* BEGIN: Cython Metadata
{
@@ -32,8 +32,8 @@ END: Cython Metadata */
#elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000)
#error Cython requires Python 2.6+ or Python 3.3+.
#else
#define CYTHON_ABI "0_29_24"
#define CYTHON_HEX_VERSION 0x001D18F0
#define CYTHON_ABI "0_29_26"
#define CYTHON_HEX_VERSION 0x001D1AF0
#define CYTHON_FUTURE_DIVISION 1
#include <stddef.h>
#ifndef offsetof
@@ -180,7 +180,7 @@ END: Cython Metadata */
#ifndef CYTHON_USE_UNICODE_INTERNALS
#define CYTHON_USE_UNICODE_INTERNALS 1
#endif
#if PY_VERSION_HEX < 0x030300F0
#if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2
#undef CYTHON_USE_UNICODE_WRITER
#define CYTHON_USE_UNICODE_WRITER 0
#elif !defined(CYTHON_USE_UNICODE_WRITER)
@@ -199,7 +199,7 @@ END: Cython Metadata */
#define CYTHON_FAST_THREAD_STATE 1
#endif
#ifndef CYTHON_FAST_PYCALL
#define CYTHON_FAST_PYCALL 1
#define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1)
#endif
#ifndef CYTHON_PEP489_MULTI_PHASE_INIT
#define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000)
@@ -218,7 +218,9 @@ END: Cython Metadata */
#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1)
#endif
#if CYTHON_USE_PYLONG_INTERNALS
#include "longintrepr.h"
#if PY_MAJOR_VERSION < 3
#include "longintrepr.h"
#endif
#undef SHIFT
#undef BASE
#undef MASK
@@ -349,9 +351,68 @@ class __Pyx_FakeReference {
#define __Pyx_DefaultClassType PyClass_Type
#else
#define __Pyx_BUILTIN_MODULE_NAME "builtins"
#if PY_VERSION_HEX >= 0x030800A4 && PY_VERSION_HEX < 0x030800B2
#define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
PyCode_New(a, 0, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
#define __Pyx_DefaultClassType PyType_Type
#if PY_VERSION_HEX >= 0x030B00A1
static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f,
PyObject *code, PyObject *c, PyObject* n, PyObject *v,
PyObject *fv, PyObject *cell, PyObject* fn,
PyObject *name, int fline, PyObject *lnos) {
PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL;
PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL;
const char *fn_cstr=NULL;
const char *name_cstr=NULL;
PyCodeObject* co=NULL;
PyObject *type, *value, *traceback;
PyErr_Fetch(&type, &value, &traceback);
if (!(kwds=PyDict_New())) goto end;
if (!(argcount=PyLong_FromLong(a))) goto end;
if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end;
if (!(posonlyargcount=PyLong_FromLong(0))) goto end;
if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end;
if (!(kwonlyargcount=PyLong_FromLong(k))) goto end;
if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end;
if (!(nlocals=PyLong_FromLong(l))) goto end;
if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end;
if (!(stacksize=PyLong_FromLong(s))) goto end;
if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end;
if (!(flags=PyLong_FromLong(f))) goto end;
if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end;
if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end;
if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end;
if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end;
if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too;
if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here
if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too;
Py_XDECREF((PyObject*)co);
co = (PyCodeObject*)call_result;
call_result = NULL;
if (0) {
cleanup_code_too:
Py_XDECREF((PyObject*)co);
co = NULL;
}
end:
Py_XDECREF(kwds);
Py_XDECREF(argcount);
Py_XDECREF(posonlyargcount);
Py_XDECREF(kwonlyargcount);
Py_XDECREF(nlocals);
Py_XDECREF(stacksize);
Py_XDECREF(replace);
Py_XDECREF(call_result);
Py_XDECREF(empty);
if (type) {
PyErr_Restore(type, value, traceback);
}
return co;
}
#else
#define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
@@ -589,10 +650,10 @@ static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) {
#if PY_VERSION_HEX < 0x030200A4
typedef long Py_hash_t;
#define __Pyx_PyInt_FromHash_t PyInt_FromLong
#define __Pyx_PyInt_AsHash_t PyInt_AsLong
#define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t
#else
#define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t
#define __Pyx_PyInt_AsHash_t PyInt_AsSsize_t
#define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t
#endif
#if PY_MAJOR_VERSION >= 3
#define __Pyx_PyMethod_New(func, self, klass) ((self) ? ((void)(klass), PyMethod_New(func, self)) : __Pyx_NewRef(func))
@@ -762,6 +823,7 @@ static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x);
(likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj))
static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*);
static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t);
static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*);
#if CYTHON_ASSUME_SAFE_MACROS
#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x))
#else
@@ -1345,6 +1407,7 @@ static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args,
#ifndef Py_MEMBER_SIZE
#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member)
#endif
#if CYTHON_FAST_PYCALL
static size_t __pyx_pyframe_localsplus_offset = 0;
#include "frameobject.h"
#define __Pxy_PyFrame_Initialize_Offsets()\
@@ -1352,6 +1415,7 @@ static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args,
(void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus)))
#define __Pyx_PyFrame_GetLocalsplus(frame)\
(assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset))
#endif // CYTHON_FAST_PYCALL
#endif
/* PyObjectCall.proto */
@@ -6278,6 +6342,9 @@ static PyTypeObject __pyx_type_6common_15transformations_15transformations_Local
#if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
0, /*tp_print*/
#endif
#if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000
0, /*tp_pypy_flags*/
#endif
};
static PyMethodDef __pyx_methods[] = {
@@ -9042,7 +9109,7 @@ static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int
}
if (!use_cline) {
c_line = 0;
PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
(void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
}
else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) {
c_line = 0;
@@ -9139,30 +9206,31 @@ static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) {
static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
const char *funcname, int c_line,
int py_line, const char *filename) {
PyCodeObject *py_code = 0;
PyObject *py_srcfile = 0;
PyObject *py_funcname = 0;
PyCodeObject *py_code = NULL;
PyObject *py_funcname = NULL;
#if PY_MAJOR_VERSION < 3
PyObject *py_srcfile = NULL;
py_srcfile = PyString_FromString(filename);
#else
py_srcfile = PyUnicode_FromString(filename);
#endif
if (!py_srcfile) goto bad;
#endif
if (c_line) {
#if PY_MAJOR_VERSION < 3
py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
if (!py_funcname) goto bad;
#else
py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
if (!py_funcname) goto bad;
funcname = PyUnicode_AsUTF8(py_funcname);
if (!funcname) goto bad;
#endif
}
else {
#if PY_MAJOR_VERSION < 3
py_funcname = PyString_FromString(funcname);
#else
py_funcname = PyUnicode_FromString(funcname);
if (!py_funcname) goto bad;
#endif
}
if (!py_funcname) goto bad;
#if PY_MAJOR_VERSION < 3
py_code = __Pyx_PyCode_New(
0,
0,
@@ -9181,11 +9249,16 @@ static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
__pyx_empty_bytes /*PyObject *lnotab*/
);
Py_DECREF(py_srcfile);
Py_DECREF(py_funcname);
#else
py_code = PyCode_NewEmpty(filename, funcname, py_line);
#endif
Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline
return py_code;
bad:
Py_XDECREF(py_srcfile);
Py_XDECREF(py_funcname);
#if PY_MAJOR_VERSION < 3
Py_XDECREF(py_srcfile);
#endif
return NULL;
}
static void __Pyx_AddTraceback(const char *funcname, int c_line,
@@ -10361,6 +10434,23 @@ static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) {
Py_DECREF(x);
return ival;
}
static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) {
if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) {
return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o);
#if PY_MAJOR_VERSION < 3
} else if (likely(PyInt_CheckExact(o))) {
return PyInt_AS_LONG(o);
#endif
} else {
Py_ssize_t ival;
PyObject *x;
x = PyNumber_Index(o);
if (!x) return -1;
ival = PyInt_AsLong(x);
Py_DECREF(x);
return ival;
}
}
static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) {
return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False);
}
common/transformations/transformations.so
BIN
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common/version.h
+1 -1
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@@ -1 +1 @@
#define COMMA_VERSION "2022.08.19"
#define COMMA_VERSION "2022.08.26"
docs/CARS.md
+216 -226
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@@ -2,228 +2,217 @@
# Supported Cars
A supported vehicle is one that just works when you install a comma device. Every car performs differently with openpilot, but all supported cars should provide a better experience than any stock system.
A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.
## How We Rate The Cars
# 205 Supported Cars
### Stop and Go
- [![star](assets/icon-star-full.svg)](##) - openpilot operates down to 0 mph.
- [![star](assets/icon-star-empty.svg)](##) - openpilot operates only above a minimum speed. See your car's manual for the minimum speed.
### Steer to 0
- [![star](assets/icon-star-full.svg)](##) - openpilot can control the steering wheel down to 0 mph.
- [![star](assets/icon-star-empty.svg)](##) - No steering control below certain speeds. See your car's manual for the minimum speed.
### Steering Torque
- [![star](assets/icon-star-full.svg)](##) - Car has enough steering torque to comfortably take most highway turns.
- [![star](assets/icon-star-empty.svg)](##) - Limited ability to make tighter turns.
# 201 Supported Cars
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|
|---|---|---|:---:|:---:|:---:|:---:|
|Acura|ILX 2016-19|AcuraWatch Plus|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
|Acura|RDX 2016-18|AcuraWatch Plus|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
|Acura|RDX 2019-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
|Audi|A3 2014-19|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Audi|Q2 2018|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Audi|Q3 2020-21|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Audi|RS3 2018|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Audi|S3 2015-17|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Chevrolet|Bolt EUV 2022-23|Premier/Premier Redline Trim|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise Control|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Chrysler|Pacifica 2021|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|comma|body|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Genesis|G70 2018-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Genesis|G70 2020|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Genesis|G80 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Genesis|G90 2017-18|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise Control|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Honda|Accord 2018-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
|Honda|Accord Hybrid 2018-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
|Honda|Civic 2016-18|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
|Honda|Civic 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)[<sup>2</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|
|Honda|Civic 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Honda|Civic Hatchback 2017-21|Honda Sensing|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
|Honda|Civic Hatchback 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Honda|CR-V 2015-16|Touring Trim|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
|Honda|CR-V 2017-22|Honda Sensing|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
|Honda|CR-V Hybrid 2017-19|Honda Sensing|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
|Honda|e 2020|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
|Honda|Fit 2018-20|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
|Honda|Freed 2020|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
|Honda|HR-V 2019-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
|Honda|Insight 2019-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
|Honda|Inspire 2018|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
|Honda|Odyssey 2018-20|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
|Honda|Passport 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
|Honda|Pilot 2016-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
|Honda|Ridgeline 2017-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Hyundai|Ioniq 5 2022|Highway Driving Assist II|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Hyundai|Ioniq Electric 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC) & LFA|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Hyundai|Ioniq Plug-in Hybrid 2020-21|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Hyundai|Palisade 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Hyundai|Santa Fe 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Hyundai|Santa Fe 2021-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Hyundai|Santa Fe Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Hyundai|Sonata 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Hyundai|Sonata Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Kia|Ceed 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Kia|EV6 2022|Highway Driving Assist II|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Kia|Forte 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Kia|K5 2021-22|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Kia|Niro Electric 2019|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Kia|Niro Electric 2020|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Kia|Niro Electric 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Kia|Niro Electric 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Kia|Niro Plug-in Hybrid 2018-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Kia|Optima 2017|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Kia|Optima 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Kia|Seltos 2021|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Kia|Sorento 2018|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Kia|Sorento 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Kia|Stinger 2018-20|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Kia|Telluride 2020|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Lexus|ES 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Lexus|ES Hybrid 2017-18|Lexus Safety System+|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Lexus|ES Hybrid 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Lexus|IS 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Lexus|NX 2018-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Lexus|NX 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Lexus|NX Hybrid 2018-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Lexus|NX Hybrid 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Lexus|RC 2017-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Lexus|RX 2016-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Lexus|RX 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Lexus|RX Hybrid 2016-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Lexus|RX Hybrid 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Lexus|UX Hybrid 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Mazda|CX-5 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Mazda|CX-9 2021-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Nissan|Altima 2019-20|ProPILOT Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Nissan|Leaf 2018-22|ProPILOT Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Nissan|Rogue 2018-20|ProPILOT Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Nissan|X-Trail 2017|ProPILOT Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Ram|1500 2019-22|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|SEAT|Ateca 2018|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|SEAT|Leon 2014-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Subaru|Ascent 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
|Subaru|Crosstrek 2020-21|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Subaru|Forester 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Subaru|Impreza 2017-19|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
|Subaru|Impreza 2020-22|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Subaru|Outback 2020-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Subaru|XV 2018-19|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
|Subaru|XV 2020-21|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Škoda|Kamiq 2021[<sup>5</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Škoda|Karoq 2019-21[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Škoda|Kodiaq 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Škoda|Octavia 2015, 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Škoda|Octavia RS 2016|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Škoda|Scala 2020|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Škoda|Superb 2015-18|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|Alphard 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|Alphard Hybrid 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|Avalon 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|Avalon 2017-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|Avalon 2019-21|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|Avalon 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|Avalon Hybrid 2019-21|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|Avalon Hybrid 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|C-HR 2017-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|C-HR Hybrid 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|Camry 2018-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|Camry 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|Camry Hybrid 2018-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|Camry Hybrid 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|Corolla 2017-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|Corolla 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|Corolla Cross (Non-US only) 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|Corolla Hatchback 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|Corolla Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|Highlander 2017-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|Highlander 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|Highlander Hybrid 2017-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|Highlander Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|Mirai 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|Prius 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|Prius 2017-20|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|Prius 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|Prius Prime 2017-20|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|Prius Prime 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|Prius v 2017|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|RAV4 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|RAV4 2017-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|RAV4 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|RAV4 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|RAV4 Hybrid 2017-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|RAV4 Hybrid 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|RAV4 Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Toyota|Sienna 2018-20|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Volkswagen|Arteon 2018-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Volkswagen|Arteon eHybrid 2020-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Volkswagen|Arteon R 2020-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Volkswagen|Atlas 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Volkswagen|Atlas Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Volkswagen|California 2021[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Volkswagen|Caravelle 2020[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Volkswagen|CC 2018-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Volkswagen|e-Golf 2014-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Volkswagen|Golf 2015-20[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Volkswagen|Golf Alltrack 2015-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Volkswagen|Golf GTD 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Volkswagen|Golf GTE 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Volkswagen|Golf GTI 2015-21|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Volkswagen|Golf R 2015-19[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Volkswagen|Golf SportsVan 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Volkswagen|Jetta 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Volkswagen|Jetta GLI 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Volkswagen|Passat 2015-22[<sup>6,7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Volkswagen|Passat Alltrack 2015-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Volkswagen|Passat GTE 2015-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Volkswagen|Polo 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Volkswagen|Polo GTI 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Volkswagen|T-Cross 2021[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Volkswagen|T-Roc 2021[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Volkswagen|Taos 2022[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Volkswagen|Teramont 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Volkswagen|Teramont Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Volkswagen|Teramont X 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Volkswagen|Tiguan 2019-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Volkswagen|Touran 2017|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Harness|
|---|---|---|:---:|:---:|:---:|:---:|:---:|
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Nidec|
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Nidec|
|Acura|RDX 2019-22|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Bosch A|
|Audi|A3 2014-19|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
|Audi|Q2 2018|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
|Audi|Q3 2020-21|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
|Audi|RS3 2018|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
|Audi|S3 2015-17|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|OBD-II|
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|GM|
|Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|GM|
|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise Control|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|OBD-II|
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|FCA|
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|FCA|
|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|FCA|
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|FCA|
|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|FCA|
|comma|body|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|None|
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Genesis|G70 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Genesis|G90 2017-18|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise Control|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|OBD-II|
|GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|GM|
|Honda|Accord 2018-22|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Bosch A|
|Honda|Accord Hybrid 2018-22|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Bosch A|
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Nidec|
|Honda|Civic 2019-21|All|Stock|0 mph|2 mph[<sup>2</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|Honda Bosch A|
|Honda|Civic 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|
|Honda|Civic Hatchback 2017-21|Honda Sensing|Stock|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Bosch A|
|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|
|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Nidec|
|Honda|CR-V 2017-22|Honda Sensing|Stock|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Bosch A|
|Honda|CR-V Hybrid 2017-19|Honda Sensing|Stock|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Bosch A|
|Honda|e 2020|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Bosch A|
|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Nidec|
|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Nidec|
|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Nidec|
|Honda|Insight 2019-22|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Bosch A|
|Honda|Inspire 2018|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Bosch A|
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Nidec|
|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Nidec|
|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Nidec|
|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Nidec|
|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC) & LKAS|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
|Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC) & LKAS|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai J|
|Hyundai|Ioniq 5 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai Q|
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Hyundai|Ioniq Electric 2020|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC) & LFA|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Hyundai|Ioniq Plug-in Hybrid 2020-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai O|
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai I|
|Hyundai|Palisade 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Hyundai|Santa Fe 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai D|
|Hyundai|Santa Fe 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Santa Fe Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Hyundai|Sonata 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Hyundai|Sonata Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Tucson Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|FCA|
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|FCA|
|Kia|Ceed 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Kia|EV6 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai P|
|Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
|Kia|Forte 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
|Kia|K5 2021-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Kia|Niro Electric 2019|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Kia|Niro Electric 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Kia|Niro Electric 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Kia|Niro Electric 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Kia|Niro Plug-in Hybrid 2018-19|Smart Cruise Control (SCC) & LKAS|openpilot|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Kia|Optima 2017|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
|Kia|Optima 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
|Kia|Seltos 2021|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Kia|Sorento 2018|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Kia|Sorento 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Kia|Stinger 2018-20|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Kia|Telluride 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|ES Hybrid 2017-18|Lexus Safety System+|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|ES Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|NX 2018-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|NX Hybrid 2018-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|RX 2016-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|RX Hybrid 2016-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Mazda|CX-5 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Mazda|
|Mazda|CX-9 2021-22|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|Mazda|
|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Nissan B|
|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Nissan A|
|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Nissan A|
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Nissan A|
|Ram|1500 2019-22|Adaptive Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|Ram|
|SEAT|Ateca 2018|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
|SEAT|Leon 2014-20|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Subaru A|
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
|Subaru|Crosstrek 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Subaru A|
|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Subaru A|
|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Subaru A|
|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Subaru B|
|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Subaru B|
|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Subaru A|
|Škoda|Kamiq 2021[<sup>5</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
|Škoda|Karoq 2019-21[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
|Škoda|Kodiaq 2018-19|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
|Škoda|Octavia 2015, 2018-19|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
|Škoda|Octavia RS 2016|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
|Škoda|Scala 2020|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
|Škoda|Superb 2015-18|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Avalon 2016|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Avalon 2017-18|All|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Avalon 2019-21|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Avalon Hybrid 2019-21|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|C-HR 2017-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>4</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Camry 2021-22|All|openpilot|0 mph[<sup>4</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Camry Hybrid 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Corolla 2017-19|All|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Corolla Cross (Non-US only) 2020-21|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Highlander 2017-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Highlander 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Highlander Hybrid 2017-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Highlander Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Prius 2016|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Prius 2017-20|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Prius Prime 2017-20|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Prius v 2017|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|RAV4 2016|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|RAV4 2017-18|All|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|RAV4 Hybrid 2017-18|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Sienna 2018-20|All|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Volkswagen|Arteon 2018-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Arteon eHybrid 2020-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Arteon R 2020-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Atlas 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Atlas Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|California 2021[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Caravelle 2020[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|CC 2018-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|e-Golf 2014-20|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
|Volkswagen|Golf 2015-20[<sup>8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
|Volkswagen|Golf Alltrack 2015-19|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
|Volkswagen|Golf GTD 2015-20|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
|Volkswagen|Golf GTE 2015-20|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
|Volkswagen|Golf GTI 2015-21|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
|Volkswagen|Golf R 2015-19[<sup>8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
|Volkswagen|Golf SportsVan 2015-20|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
|Volkswagen|Jetta 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Jetta GLI 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Passat 2015-22[<sup>6,7,8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Passat Alltrack 2015-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Passat GTE 2015-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Polo 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Polo GTI 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|T-Cross 2021[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|T-Roc 2021[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Taos 2022[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Teramont 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Teramont Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Teramont X 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Tiguan 2019-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Touran 2017|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
<a id="footnotes"></a>
<sup>1</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
@@ -241,13 +230,13 @@ Although they're not upstream, the community has openpilot running on other make
# Don't see your car here?
**openpilot can support many more cars than it currently does.** There are a few reasons your car may not be supported.
If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported! We're adding support for new cars all the time. We don't have a roadmap for car support, and in fact, most car support comes from users like you!
If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported! We're adding support for new cars all the time. **We don't have a roadmap for car support**, and in fact, most car support comes from users like you!
### Which cars are able to be supported?
openpilot uses the existing steering, gas, and brake interfaces in your car. If your car lacks any one of these interfaces, openpilot will not be able to control the car. If your car has any form of [LKAS](https://en.wikipedia.org/wiki/Automated_Lane_Keeping_Systems)/[LCA](https://en.wikipedia.org/wiki/Lane_centering) and [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control), then it almost certainly has these interfaces. These interfaces generally started shipping on cars around 2016.
openpilot uses the existing steering, gas, and brake interfaces in your car. If your car lacks any one of these interfaces, openpilot will not be able to control the car. If your car has [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control) and any form of [LKAS](https://en.wikipedia.org/wiki/Automated_Lane_Keeping_Systems)/[LCA](https://en.wikipedia.org/wiki/Lane_centering), then it almost certainly has these interfaces. These features generally started shipping on cars around 2016. Note that manufacturers will often make their own [marketing terms](https://en.wikipedia.org/wiki/Adaptive_cruise_control#Vehicle_models_supporting_adaptive_cruise_control) for these features, such as Hyundai's "Smart Cruise Control" branding of Adaptive Cruise Control.
If your car has the following packages or features, then it's a good candidate for support. If it does not, then it's unlikely able to be supported.
If your car has the following packages or features, then it's a good candidate for support.
| Make | Required Package/Features |
| ---- | ------------------------- |
@@ -265,8 +254,9 @@ All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wi
### Toyota Security
Specific new Toyota models are shipping with a new message authentication method that openpilot does not yet support.
So far, this list includes:
openpilot does not yet support these Toyota models due to a new message authentication method.
[Vote](https://comma.ai/shop/products/vote) if you'd like to see openpilot support on these models.
* Toyota RAV4 Prime 2021+
* Toyota Sienna 2021+
* Toyota Venza 2021+
@@ -275,4 +265,4 @@ So far, this list includes:
* Toyota Corolla Cross 2022+ (only US model)
* Lexus NX 2022+
* Toyota bZ4x 2023+
* Subaru Solterra 2023+
* Subaru Solterra 2023+
opendbc/Dockerfile
+1
View File
@@ -29,6 +29,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
python-openssl \
xz-utils \
zlib1g-dev \
cmake \
&& rm -rf /var/lib/apt/lists/*
RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
opendbc/can/common.h
+2
View File
@@ -18,6 +18,7 @@
//#define DEBUG printf
#define MAX_BAD_COUNTER 5
#define CAN_INVALID_CNT 5
void init_crc_lookup_tables();
@@ -68,6 +69,7 @@ public:
uint64_t last_sec = 0;
uint64_t last_nonempty_sec = 0;
uint64_t bus_timeout_threshold = 0;
uint64_t can_invalid_cnt = CAN_INVALID_CNT;
CANParser(int abus, const std::string& dbc_name,
const std::vector<MessageParseOptions> &options,
opendbc/can/libdbc.so
BIN
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opendbc/can/packer_pyx.so
BIN
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opendbc/can/parser_pyx.cpp
+617 -768
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opendbc/can/parser_pyx.so
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opendbc/generator/gm/gm_global_a_powertrain.dbc
+11 -3
View File
@@ -73,6 +73,7 @@ BO_ 201 ECMEngineStatus: 8 K20_ECM
SG_ CruiseMainOn : 29|1@0+ (1,0) [0|1] "" NEO
SG_ Brake_Pressed : 40|1@0+ (1,0) [0|1] "" NEO
SG_ Standstill : 2|1@0+ (1,0) [0|1] "" NEO
SG_ CruiseActive : 31|2@0+ (1,0) [0|3] "" NEO
BO_ 209 EBCMBrakePedalSensors: 7 K17_EBCM
SG_ Counter1 : 7|2@0+ (1,0) [0|3] "" XXX
@@ -191,9 +192,10 @@ BO_ 789 EBCMFrictionBrakeCmd: 5 K124_ASCM
BO_ 800 AEBCmd: 6 K124_ASCM
SG_ RollingCounter : 5|2@0+ (1,0) [0|3] "" NEO
SG_ Checksum : 27|20@0+ (1,0) [0|2047] "" NEO
SG_ BrakeCmdActive : 3|1@1+ (1,0) [0|1] "" NEO
SG_ BrakingForce : 2|7@0+ (1,0) [0|7] "" NEO
SG_ AEBChecksum : 27|20@0+ (1,0) [0|0] "" NEO
SG_ AEBCmdActive : 3|1@1+ (1,0) [0|1] "" NEO
SG_ AEBCmd : 2|11@0+ (1,0) [0|0] "" NEO
SG_ AEBCmd2 : 23|8@0+ (1,0) [0|0] "" NEO
BO_ 810 TCICOnStarGPSPosition: 8 K73_TCIC
SG_ GPSLongitude : 39|32@0+ (1,-2147483648) [0|0] "milliarcsecond" NEO
@@ -219,8 +221,13 @@ BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] "" NEO
SG_ FCWAlert : 41|2@0+ (1,0) [0|3] "" XXX
BO_ 977 ECMCruiseControl: 8 K20_ECM
SG_ CruiseActive : 39|1@0+ (1,0) [0|3] "" NEO
SG_ CruiseSetSpeed : 19|12@0+ (0.0625,0) [0|0] "km/h" NEO
BO_ 1001 ECMVehicleSpeed: 8 K20_ECM
SG_ VehicleSpeed : 7|16@0+ (0.01,0) [0|0] "mph" NEO
SG_ VehicleSpeedLeft : 39|16@0+ (0.01,0) [0|0] "mph" NEO
BO_ 1033 ASCMKeepAlive: 7 NEO
SG_ ASCMKeepAliveAllZero : 7|56@0+ (1,0) [0|0] "" NEO
@@ -265,6 +272,7 @@ CM_ SG_ 352 Ignition "Non-zero when ignition is on";
CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62";
CM_ SG_ 497 Ignition "Describes ignition + preconditioning mode, noisy";
CM_ SG_ 501 PRNDL2 "When ManualMode is Active, Value is 13=L1 12=L2 11=L3 ... 4=L10";
CM_ SG_ 1001 VehicleSpeed "Spinouts show here on 2wd. Speed derived from right front wheel (drive tire)";
BA_DEF_ "UseGMParameterIDs" INT 0 0;
BA_DEF_ "ProtocolType" STRING ;
BA_DEF_ "BusType" STRING ;
opendbc/generator/test_generator.py
+5 -1
View File
@@ -11,7 +11,11 @@ def test_generator():
ignore = [f for f in os.listdir(opendbc_root) if not f.endswith('_generated.dbc')]
comp = filecmp.dircmp(opendbc_root, d, ignore=ignore)
assert len(comp.diff_files) == 0, f"Different files: {comp.diff_files}"
err = "Generated DBC mismatch\n\n"
err += f"Different files: {comp.diff_files}\n\n"
err += "Run opendbc/generator/generator.py to regenerate DBC files."
assert len(comp.diff_files) == 0, err
if __name__ == "__main__":
opendbc/generator/toyota/_toyota_2017.dbc
+9 -1
View File
@@ -117,7 +117,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 643 PRE_COLLISION: 7 DSU
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
SG_ _COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
@@ -163,6 +163,10 @@ BO_ 835 ACC_CONTROL: 8 DSU
BO_ 836 PRE_COLLISION_2: 8 DSU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
BO_ 865 CLUTCH: 8 XXX
SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" XXX
SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX
BO_ 869 DSU_CRUISE : 7 DSU
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
@@ -385,8 +389,11 @@ CM_ SG_ 835 ITS_CONNECT_LEAD "Displayed when lead car is capable of ITS Connect"
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals.";
CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT.";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit";
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
CM_ SG_ 956 GEAR "on 6MT, only R shows.";
CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
@@ -440,6 +447,7 @@ VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
VAL_ 865 CLUTCH_RELEASED 0 "clutch pressed any amount" 1 "clutch released"
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 956 SPORT_ON 0 "off" 1 "on";
VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
opendbc/gm_global_a_powertrain_generated.dbc
+11 -3
View File
@@ -93,6 +93,7 @@ BO_ 201 ECMEngineStatus: 8 K20_ECM
SG_ CruiseMainOn : 29|1@0+ (1,0) [0|1] "" NEO
SG_ Brake_Pressed : 40|1@0+ (1,0) [0|1] "" NEO
SG_ Standstill : 2|1@0+ (1,0) [0|1] "" NEO
SG_ CruiseActive : 31|2@0+ (1,0) [0|3] "" NEO
BO_ 209 EBCMBrakePedalSensors: 7 K17_EBCM
SG_ Counter1 : 7|2@0+ (1,0) [0|3] "" XXX
@@ -211,9 +212,10 @@ BO_ 789 EBCMFrictionBrakeCmd: 5 K124_ASCM
BO_ 800 AEBCmd: 6 K124_ASCM
SG_ RollingCounter : 5|2@0+ (1,0) [0|3] "" NEO
SG_ Checksum : 27|20@0+ (1,0) [0|2047] "" NEO
SG_ BrakeCmdActive : 3|1@1+ (1,0) [0|1] "" NEO
SG_ BrakingForce : 2|7@0+ (1,0) [0|7] "" NEO
SG_ AEBChecksum : 27|20@0+ (1,0) [0|0] "" NEO
SG_ AEBCmdActive : 3|1@1+ (1,0) [0|1] "" NEO
SG_ AEBCmd : 2|11@0+ (1,0) [0|0] "" NEO
SG_ AEBCmd2 : 23|8@0+ (1,0) [0|0] "" NEO
BO_ 810 TCICOnStarGPSPosition: 8 K73_TCIC
SG_ GPSLongitude : 39|32@0+ (1,-2147483648) [0|0] "milliarcsecond" NEO
@@ -239,8 +241,13 @@ BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] "" NEO
SG_ FCWAlert : 41|2@0+ (1,0) [0|3] "" XXX
BO_ 977 ECMCruiseControl: 8 K20_ECM
SG_ CruiseActive : 39|1@0+ (1,0) [0|3] "" NEO
SG_ CruiseSetSpeed : 19|12@0+ (0.0625,0) [0|0] "km/h" NEO
BO_ 1001 ECMVehicleSpeed: 8 K20_ECM
SG_ VehicleSpeed : 7|16@0+ (0.01,0) [0|0] "mph" NEO
SG_ VehicleSpeedLeft : 39|16@0+ (0.01,0) [0|0] "mph" NEO
BO_ 1033 ASCMKeepAlive: 7 NEO
SG_ ASCMKeepAliveAllZero : 7|56@0+ (1,0) [0|0] "" NEO
@@ -285,6 +292,7 @@ CM_ SG_ 352 Ignition "Non-zero when ignition is on";
CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62";
CM_ SG_ 497 Ignition "Describes ignition + preconditioning mode, noisy";
CM_ SG_ 501 PRNDL2 "When ManualMode is Active, Value is 13=L1 12=L2 11=L3 ... 4=L10";
CM_ SG_ 1001 VehicleSpeed "Spinouts show here on 2wd. Speed derived from right front wheel (drive tire)";
BA_DEF_ "UseGMParameterIDs" INT 0 0;
BA_DEF_ "ProtocolType" STRING ;
BA_DEF_ "BusType" STRING ;
opendbc/kia_ev6.dbc → opendbc/hyundai_canfd.dbc
+85 -3
View File
@@ -42,6 +42,11 @@ BO_ 53 ACCELERATOR: 32 XXX
SG_ GEAR : 192|3@1+ (1,0) [0|7] "" XXX
SG_ ACCELERATOR_PEDAL : 40|8@1+ (1,0) [0|255] "" XXX
BO_ 69 GEAR: 24 XXX
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
SG_ GEAR : 44|3@1+ (1,0) [0|7] "" XXX
BO_ 80 LKAS: 16 XXX
SG_ STEER_REQ : 52|1@1+ (1,0) [0|1] "" XXX
SG_ TORQUE_REQUEST : 41|11@1+ (1,-1024) [0|4095] "" XXX
@@ -85,6 +90,11 @@ BO_ 234 MDPS: 24 XXX
SG_ STEERING_ANGLE : 96|16@1- (-0.1,0) [0|255] "deg" XXX
SG_ STEERING_ANGLE_2 : 128|16@1- (-0.1,0) [0|65535] "deg" XXX
BO_ 261 ACCELERATOR_ALT: 32 XXX
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
SG_ ACCELERATOR_PEDAL : 103|10@1+ (0.25,0) [0|1022] "" XXX
BO_ 293 STEERING_SENSORS: 16 XXX
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
@@ -107,6 +117,13 @@ BO_ 298 LFA: 16 XXX
SG_ SET_ME_1 : 80|1@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_3 : 111|8@0+ (1,0) [0|255] "" XXX
BO_ 304 GEAR_SHIFTER: 16 XXX
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
SG_ PARK_BUTTON : 32|2@1+ (1,0) [0|3] "" XXX
SG_ GEAR : 64|3@1+ (1,0) [0|7] "" XXX
SG_ KNOB_POSITION : 40|3@1+ (1,0) [0|3] "" XXX
BO_ 373 SCC1: 24 XXX
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
@@ -144,9 +161,66 @@ BO_ 389 CAM_0x185: 8 CAMERA
BO_ 416 CRUISE_INFO: 32 XXX
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE3 : 24|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE4 : 32|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE5 : 40|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE6 : 48|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE7 : 56|8@1+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_1 : 64|2@1+ (1,0) [0|3] "" XXX
SG_ CRUISE_MAIN : 66|1@1+ (1,0) [0|1] "" XXX
SG_ CRUISE_STATUS : 67|3@1+ (1,0) [0|7] "" XXX
SG_ CRUISE_INACTIVE : 70|1@1+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_2 : 71|5@1+ (1,0) [0|15] "" XXX
SG_ CRUISE_STANDSTILL : 76|1@1+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_3 : 77|11@1+ (1,0) [0|2047] "" XXX
SG_ BYTE11 : 88|8@1+ (1,0) [0|127] "" XXX
SG_ SET_SPEED : 102|7@0+ (1,0) [0|127] "km/h or mph" XXX
SG_ CRUISE_ACTIVE : 184|1@1+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_4 : 103|1@1+ (1,0) [0|1] "" XXX
SG_ BYTE13 : 104|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE14 : 112|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE15 : 120|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE16 : 128|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE17 : 136|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE18 : 144|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE19 : 152|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE20 : 160|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE21 : 168|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE22 : 176|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE23 : 184|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE24 : 192|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE25 : 200|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE26 : 208|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE27 : 216|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE28 : 224|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE29 : 232|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE30 : 240|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE31 : 248|8@1+ (1,0) [0|255] "" XXX
BO_ 426 CRUISE_BUTTONS_ALT: 16 XXX
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_1 : 24|4@1+ (1,0) [0|15] "" XXX
SG_ SET_ME_1 : 28|3@1+ (1,0) [0|7] "" XXX
SG_ NEW_SIGNAL_2 : 31|3@1+ (1,0) [0|7] "" XXX
SG_ ADAPTIVE_CRUISE_MAIN_BTN : 34|1@1+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_3 : 35|1@1+ (1,0) [0|1] "" XXX
SG_ LFA_BTN : 39|1@1+ (1,0) [0|1] "" XXX
SG_ CRUISE_BUTTONS : 36|3@1+ (1,0) [0|4] "" XXX
SG_ NEW_SIGNAL_4 : 40|1@1+ (1,0) [0|1] "" XXX
SG_ NORMAL_CRUISE_MAIN_BTN : 41|1@1+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_5 : 42|2@1+ (1,0) [0|3] "" XXX
SG_ SET_ME_2 : 44|3@1+ (1,0) [0|7] "" XXX
SG_ NEW_SIGNAL_6 : 47|1@1+ (1,0) [0|1] "" XXX
SG_ BYTE6 : 48|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE7 : 56|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE8 : 64|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE9 : 72|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE10 : 80|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE11 : 88|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE12 : 96|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE13 : 104|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE14 : 112|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE15 : 120|8@1+ (1,0) [0|255] "" XXX
BO_ 438 CAM_0x1b6: 32 CAMERA
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
@@ -173,10 +247,11 @@ BO_ 463 CRUISE_BUTTONS: 8 XXX
SG_ COUNTER : 12|4@1+ (1,0) [0|255] "" XXX
SG_ CRUISE_BUTTONS : 16|3@1+ (1,0) [0|3] "" XXX
BO_ 480 NEW_MSG_1: 16 XXX
BO_ 480 LFAHDA_CLUSTER: 16 XXX
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
SG_ LFA_GREY : 47|1@0+ (1,0) [0|1] "" XXX
SG_ HDA_ICON : 31|1@1+ (1,0) [0|1] "" XXX
SG_ LFA_ICON : 47|2@1+ (1,0) [0|3] "" XXX
BO_ 507 CAM_0x1fb: 32 CAMERA
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
@@ -259,7 +334,14 @@ BO_ 1240 CLUSTER_INFO: 8 XXX
CM_ SG_ 961 COUNTER_ALT "only increments on change";
CM_ SG_ 1041 COUNTER_ALT "only increments on change";
CM_ SG_ 1043 COUNTER_ALT "only increments on change";
VAL_ 53 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ;
VAL_ 69 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ;
VAL_ 304 GEAR 1 "P" 2 "R" 3 "N" 4 "D";
VAL_ 80 LKA_ICON 0 "hidden" 1 "grey" 2 "green" 3 "flashing green" ;
VAL_ 80 LKA_MODE 1 "warning only" 2 "assist" 6 "off" ;
VAL_ 298 LKA_ICON 0 "hidden" 1 "grey" 2 "green" 3 "flashing green" ;
VAL_ 298 LKA_MODE 1 "warning only" 2 "assist" 6 "off" ;
VAL_ 416 CRUISE_STATUS 0 "cruise_inactive" 2 "cruise_active" 4 "driver_override" ;
VAL_ 426 CRUISE_BUTTONS 0 "none" 1 "res_accel" 2 "set_decel" 3 "gap_distance" 4 "pause_resume" ;
VAL_ 463 CRUISE_BUTTONS 0 "none" 1 "res_accel" 2 "set_decel" 3 "gap_distance" 4 "pause_resume" ;
opendbc/toyota_new_mc_pt_generated.dbc
+9 -1
View File
@@ -162,7 +162,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 643 PRE_COLLISION: 7 DSU
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
SG_ _COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
@@ -208,6 +208,10 @@ BO_ 835 ACC_CONTROL: 8 DSU
BO_ 836 PRE_COLLISION_2: 8 DSU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
BO_ 865 CLUTCH: 8 XXX
SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" XXX
SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX
BO_ 869 DSU_CRUISE : 7 DSU
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
@@ -430,8 +434,11 @@ CM_ SG_ 835 ITS_CONNECT_LEAD "Displayed when lead car is capable of ITS Connect"
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals.";
CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT.";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit";
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
CM_ SG_ 956 GEAR "on 6MT, only R shows.";
CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
@@ -485,6 +492,7 @@ VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
VAL_ 865 CLUTCH_RELEASED 0 "clutch pressed any amount" 1 "clutch released"
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 956 SPORT_ON 0 "off" 1 "on";
VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
opendbc/toyota_nodsu_pt_generated.dbc
+9 -1
View File
@@ -162,7 +162,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 643 PRE_COLLISION: 7 DSU
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
SG_ _COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
@@ -208,6 +208,10 @@ BO_ 835 ACC_CONTROL: 8 DSU
BO_ 836 PRE_COLLISION_2: 8 DSU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
BO_ 865 CLUTCH: 8 XXX
SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" XXX
SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX
BO_ 869 DSU_CRUISE : 7 DSU
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
@@ -431,8 +435,11 @@ CM_ SG_ 835 ITS_CONNECT_LEAD "Displayed when lead car is capable of ITS Connect"
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals.";
CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT.";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit";
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
CM_ SG_ 956 GEAR "on 6MT, only R shows.";
CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
@@ -486,6 +493,7 @@ VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
VAL_ 865 CLUTCH_RELEASED 0 "clutch pressed any amount" 1 "clutch released"
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 956 SPORT_ON 0 "off" 1 "on";
VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
opendbc/toyota_tnga_k_pt_generated.dbc
+9 -1
View File
@@ -162,7 +162,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 643 PRE_COLLISION: 7 DSU
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
SG_ _COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
@@ -208,6 +208,10 @@ BO_ 835 ACC_CONTROL: 8 DSU
BO_ 836 PRE_COLLISION_2: 8 DSU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
BO_ 865 CLUTCH: 8 XXX
SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" XXX
SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX
BO_ 869 DSU_CRUISE : 7 DSU
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
@@ -430,8 +434,11 @@ CM_ SG_ 835 ITS_CONNECT_LEAD "Displayed when lead car is capable of ITS Connect"
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals.";
CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT.";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit";
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
CM_ SG_ 956 GEAR "on 6MT, only R shows.";
CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
@@ -485,6 +492,7 @@ VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
VAL_ 865 CLUTCH_RELEASED 0 "clutch pressed any amount" 1 "clutch released"
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 956 SPORT_ON 0 "off" 1 "on";
VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
opendbc/vw_golf_mk4.dbc
+1 -1
View File
@@ -1121,7 +1121,7 @@ BO_ 208 Lenkhilfe_3: 6 XXX
SG_ LH3_BLWValid : 45|1@1+ (1,0) [0|1] "" XXX
SG_ LH3_Lenkungstyp : 46|2@1+ (1,0) [0|3] "" XXX
BO_ 978 Lenkhilfe_2: 8 XXX
BO_ 978 Lenkhilfe_2: 7 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ LH2_Geradeaus : 12|1@1+ (1,0) [0|1] "" XXX
panda/board/obj/bootstub.panda.bin
BIN
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panda/board/obj/panda.bin.signed
BIN
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panda/board/obj/panda.bin.sspoof.signed
BIN
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panda/board/obj/panda.bin.testing.signed
BIN
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panda/board/obj/panda.bin.testing.sspoof.signed
BIN
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panda/examples/query_fw_versions.py
+6 -2
View File
@@ -4,12 +4,14 @@ from tqdm import tqdm
from panda import Panda
from panda.python.uds import UdsClient, MessageTimeoutError, NegativeResponseError, SESSION_TYPE, DATA_IDENTIFIER_TYPE
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument('--rxoffset', default="")
parser.add_argument('--nonstandard', action='store_true')
parser.add_argument('--debug', action='store_true')
parser.add_argument('--addr')
parser.add_argument('--bus')
args = parser.parse_args()
if args.addr:
@@ -39,9 +41,11 @@ if __name__ == "__main__":
if addr == 0x7df or addr == 0x18db33f1:
continue
t.set_description(hex(addr))
panda.send_heartbeat()
bus = 1 if panda.has_obd() else 0
if args.bus:
bus = int(args.bus)
else:
bus = 1 if panda.has_obd() else 0
rx_addr = addr + int(args.rxoffset, base=16) if args.rxoffset else None
uds_client = UdsClient(panda, addr, rx_addr, bus, timeout=0.2, debug=args.debug)
# Check for anything alive at this address, and switch to the highest
panda/python/__init__.py
+16 -7
View File
@@ -173,8 +173,8 @@ class Panda:
HW_TYPE_RED_PANDA = b'\x07'
CAN_PACKET_VERSION = 2
HEALTH_PACKET_VERSION = 7
HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBBBHBBBHIf")
HEALTH_PACKET_VERSION = 8
HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBBBHBBBHIfB")
F2_DEVICES = (HW_TYPE_PEDAL, )
F4_DEVICES = (HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS)
@@ -197,6 +197,9 @@ class Panda:
FLAG_HYUNDAI_LONG = 4
FLAG_HYUNDAI_CAMERA_SCC = 8
FLAG_HYUNDAI_CANFD_HDA2 = 1
FLAG_HYUNDAI_CANFD_ALT_BUTTONS = 2
FLAG_TESLA_POWERTRAIN = 1
FLAG_TESLA_LONG_CONTROL = 2
@@ -209,14 +212,17 @@ class Panda:
FLAG_GM_HW_CAM = 1
def __init__(self, serial: Optional[str] = None, claim: bool = True):
def __init__(self, serial: Optional[str] = None, claim: bool = True, disable_checks: bool = True):
self._serial = serial
self._disable_checks = disable_checks
self._handle = None
self._bcd_device = None
# connect and set mcu type
self.connect(claim)
def close(self):
self._handle.close()
self._handle = None
@@ -265,6 +271,11 @@ class Panda:
self.health_version, self.can_version = self.get_packets_versions()
print("connected")
# disable openpilot's heartbeat checks
if self._disable_checks:
self.set_heartbeat_disabled()
self.set_power_save(0)
def reset(self, enter_bootstub=False, enter_bootloader=False, reconnect=True):
try:
if enter_bootloader:
@@ -438,6 +449,7 @@ class Panda:
"alternative_experience": a[19],
"blocked_msg_cnt": a[20],
"interrupt_load": a[21],
"fan_power": a[22],
}
# ******************* control *******************
@@ -551,11 +563,8 @@ class Panda:
self._handle.controlWrite(Panda.REQUEST_OUT, 0xda, int(bootmode), 0, b'')
time.sleep(0.2)
def set_safety_mode(self, mode=SAFETY_SILENT, param=0, disable_checks=True):
def set_safety_mode(self, mode=SAFETY_SILENT, param=0):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xdc, mode, param, b'')
if disable_checks:
self.set_heartbeat_disabled()
self.set_power_save(0)
def set_gmlan(self, bus=2):
# TODO: check panda type
rednose/helpers/ekf_sym_pyx.so
BIN
View File
Binary file not shown.
selfdrive/boardd/boardd
BIN
View File
Binary file not shown.
selfdrive/boardd/boardd_api_impl.cpp
+108 -23
View File
@@ -1,4 +1,4 @@
/* Generated by Cython 0.29.24 */
/* Generated by Cython 0.29.26 */
/* BEGIN: Cython Metadata
{
@@ -23,8 +23,8 @@ END: Cython Metadata */
#elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000)
#error Cython requires Python 2.6+ or Python 3.3+.
#else
#define CYTHON_ABI "0_29_24"
#define CYTHON_HEX_VERSION 0x001D18F0
#define CYTHON_ABI "0_29_26"
#define CYTHON_HEX_VERSION 0x001D1AF0
#define CYTHON_FUTURE_DIVISION 1
#include <stddef.h>
#ifndef offsetof
@@ -171,7 +171,7 @@ END: Cython Metadata */
#ifndef CYTHON_USE_UNICODE_INTERNALS
#define CYTHON_USE_UNICODE_INTERNALS 1
#endif
#if PY_VERSION_HEX < 0x030300F0
#if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2
#undef CYTHON_USE_UNICODE_WRITER
#define CYTHON_USE_UNICODE_WRITER 0
#elif !defined(CYTHON_USE_UNICODE_WRITER)
@@ -190,7 +190,7 @@ END: Cython Metadata */
#define CYTHON_FAST_THREAD_STATE 1
#endif
#ifndef CYTHON_FAST_PYCALL
#define CYTHON_FAST_PYCALL 1
#define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1)
#endif
#ifndef CYTHON_PEP489_MULTI_PHASE_INIT
#define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000)
@@ -209,7 +209,9 @@ END: Cython Metadata */
#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1)
#endif
#if CYTHON_USE_PYLONG_INTERNALS
#include "longintrepr.h"
#if PY_MAJOR_VERSION < 3
#include "longintrepr.h"
#endif
#undef SHIFT
#undef BASE
#undef MASK
@@ -340,9 +342,68 @@ class __Pyx_FakeReference {
#define __Pyx_DefaultClassType PyClass_Type
#else
#define __Pyx_BUILTIN_MODULE_NAME "builtins"
#if PY_VERSION_HEX >= 0x030800A4 && PY_VERSION_HEX < 0x030800B2
#define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
PyCode_New(a, 0, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
#define __Pyx_DefaultClassType PyType_Type
#if PY_VERSION_HEX >= 0x030B00A1
static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f,
PyObject *code, PyObject *c, PyObject* n, PyObject *v,
PyObject *fv, PyObject *cell, PyObject* fn,
PyObject *name, int fline, PyObject *lnos) {
PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL;
PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL;
const char *fn_cstr=NULL;
const char *name_cstr=NULL;
PyCodeObject* co=NULL;
PyObject *type, *value, *traceback;
PyErr_Fetch(&type, &value, &traceback);
if (!(kwds=PyDict_New())) goto end;
if (!(argcount=PyLong_FromLong(a))) goto end;
if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end;
if (!(posonlyargcount=PyLong_FromLong(0))) goto end;
if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end;
if (!(kwonlyargcount=PyLong_FromLong(k))) goto end;
if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end;
if (!(nlocals=PyLong_FromLong(l))) goto end;
if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end;
if (!(stacksize=PyLong_FromLong(s))) goto end;
if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end;
if (!(flags=PyLong_FromLong(f))) goto end;
if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end;
if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end;
if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end;
if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end;
if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too;
if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here
if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too;
Py_XDECREF((PyObject*)co);
co = (PyCodeObject*)call_result;
call_result = NULL;
if (0) {
cleanup_code_too:
Py_XDECREF((PyObject*)co);
co = NULL;
}
end:
Py_XDECREF(kwds);
Py_XDECREF(argcount);
Py_XDECREF(posonlyargcount);
Py_XDECREF(kwonlyargcount);
Py_XDECREF(nlocals);
Py_XDECREF(stacksize);
Py_XDECREF(replace);
Py_XDECREF(call_result);
Py_XDECREF(empty);
if (type) {
PyErr_Restore(type, value, traceback);
}
return co;
}
#else
#define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
@@ -580,10 +641,10 @@ static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) {
#if PY_VERSION_HEX < 0x030200A4
typedef long Py_hash_t;
#define __Pyx_PyInt_FromHash_t PyInt_FromLong
#define __Pyx_PyInt_AsHash_t PyInt_AsLong
#define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t
#else
#define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t
#define __Pyx_PyInt_AsHash_t PyInt_AsSsize_t
#define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t
#endif
#if PY_MAJOR_VERSION >= 3
#define __Pyx_PyMethod_New(func, self, klass) ((self) ? ((void)(klass), PyMethod_New(func, self)) : __Pyx_NewRef(func))
@@ -746,6 +807,7 @@ static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x);
(likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj))
static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*);
static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t);
static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*);
#if CYTHON_ASSUME_SAFE_MACROS
#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x))
#else
@@ -2568,7 +2630,7 @@ static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int
}
if (!use_cline) {
c_line = 0;
PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
(void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
}
else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) {
c_line = 0;
@@ -2665,30 +2727,31 @@ static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) {
static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
const char *funcname, int c_line,
int py_line, const char *filename) {
PyCodeObject *py_code = 0;
PyObject *py_srcfile = 0;
PyObject *py_funcname = 0;
PyCodeObject *py_code = NULL;
PyObject *py_funcname = NULL;
#if PY_MAJOR_VERSION < 3
PyObject *py_srcfile = NULL;
py_srcfile = PyString_FromString(filename);
#else
py_srcfile = PyUnicode_FromString(filename);
#endif
if (!py_srcfile) goto bad;
#endif
if (c_line) {
#if PY_MAJOR_VERSION < 3
py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
if (!py_funcname) goto bad;
#else
py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
if (!py_funcname) goto bad;
funcname = PyUnicode_AsUTF8(py_funcname);
if (!funcname) goto bad;
#endif
}
else {
#if PY_MAJOR_VERSION < 3
py_funcname = PyString_FromString(funcname);
#else
py_funcname = PyUnicode_FromString(funcname);
if (!py_funcname) goto bad;
#endif
}
if (!py_funcname) goto bad;
#if PY_MAJOR_VERSION < 3
py_code = __Pyx_PyCode_New(
0,
0,
@@ -2707,11 +2770,16 @@ static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
__pyx_empty_bytes /*PyObject *lnotab*/
);
Py_DECREF(py_srcfile);
Py_DECREF(py_funcname);
#else
py_code = PyCode_NewEmpty(filename, funcname, py_line);
#endif
Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline
return py_code;
bad:
Py_XDECREF(py_srcfile);
Py_XDECREF(py_funcname);
#if PY_MAJOR_VERSION < 3
Py_XDECREF(py_srcfile);
#endif
return NULL;
}
static void __Pyx_AddTraceback(const char *funcname, int c_line,
@@ -3559,6 +3627,23 @@ static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) {
Py_DECREF(x);
return ival;
}
static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) {
if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) {
return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o);
#if PY_MAJOR_VERSION < 3
} else if (likely(PyInt_CheckExact(o))) {
return PyInt_AS_LONG(o);
#endif
} else {
Py_ssize_t ival;
PyObject *x;
x = PyNumber_Index(o);
if (!x) return -1;
ival = PyInt_AsLong(x);
Py_DECREF(x);
return ival;
}
}
static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) {
return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False);
}
selfdrive/boardd/boardd_api_impl.so
BIN
View File
Binary file not shown.
selfdrive/car/__init__.py
+1 -1
View File
@@ -38,7 +38,7 @@ def create_button_enable_events(buttonEvents: capnp.lib.capnp._DynamicListBuilde
def gen_empty_fingerprint():
return {i: {} for i in range(0, 4)}
return {i: {} for i in range(0, 8)}
# FIXME: hardcoding honda civic 2016 touring params so they can be used to
selfdrive/car/body/values.py
+2 -2
View File
@@ -2,7 +2,7 @@ from typing import Dict
from cereal import car
from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarInfo, Harness
from selfdrive.car.docs_definitions import CarInfo
Ecu = car.CarParams.Ecu
SPEED_FROM_RPM = 0.008587
@@ -18,7 +18,7 @@ class CAR:
BODY = "COMMA BODY"
CAR_INFO: Dict[str, CarInfo] = {
CAR.BODY: CarInfo("comma body", package="All", harness=Harness.none),
CAR.BODY: CarInfo("comma body", package="All"),
}
FW_VERSIONS = {
selfdrive/car/chrysler/carcontroller.py
+20 -19
View File
@@ -22,23 +22,8 @@ class CarController:
def update(self, CC, CS):
can_sends = []
# TODO: can we make this more sane? why is it different for all the cars?
lkas_control_bit = self.lkas_control_bit_prev
if CS.out.vEgo > self.CP.minSteerSpeed:
lkas_control_bit = True
elif self.CP.carFingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0):
lkas_control_bit = False
elif self.CP.carFingerprint in RAM_CARS:
if CS.out.vEgo < (self.CP.minSteerSpeed - 0.5):
lkas_control_bit = False
# EPS faults if LKAS re-enables too quickly
lkas_control_bit = lkas_control_bit and (self.frame - self.last_lkas_falling_edge > 200)
lkas_active = CC.latActive and self.lkas_control_bit_prev
# *** control msgs ***
# cruise buttons
if (self.frame - self.last_button_frame)*DT_CTRL > 0.05:
das_bus = 2 if self.CP.carFingerprint in RAM_CARS else 0
@@ -61,19 +46,35 @@ class CarController:
# steering
if self.frame % 2 == 0:
# TODO: can we make this more sane? why is it different for all the cars?
lkas_control_bit = self.lkas_control_bit_prev
if CS.out.vEgo > self.CP.minSteerSpeed:
lkas_control_bit = True
elif self.CP.carFingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0):
lkas_control_bit = False
elif self.CP.carFingerprint in RAM_CARS:
if CS.out.vEgo < (self.CP.minSteerSpeed - 0.5):
lkas_control_bit = False
# EPS faults if LKAS re-enables too quickly
lkas_control_bit = lkas_control_bit and (self.frame - self.last_lkas_falling_edge > 200)
if not lkas_control_bit and self.lkas_control_bit_prev:
self.last_lkas_falling_edge = self.frame
self.lkas_control_bit_prev = lkas_control_bit
# steer torque
new_steer = int(round(CC.actuators.steer * self.params.STEER_MAX))
apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params)
if not lkas_active:
if not lkas_active or not lkas_control_bit:
apply_steer = 0
self.apply_steer_last = apply_steer
can_sends.append(create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit))
self.frame += 1
if not lkas_control_bit and self.lkas_control_bit_prev:
self.last_lkas_falling_edge = self.frame
self.lkas_control_bit_prev = lkas_control_bit
new_actuators = CC.actuators.copy()
new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
selfdrive/car/docs_definitions.py
+51 -96
View File
@@ -2,7 +2,7 @@ import re
from collections import namedtuple
from dataclasses import dataclass, field
from enum import Enum
from typing import Dict, List, Optional, Tuple, Union, no_type_check
from typing import Dict, List, Optional, Tuple, Union
from cereal import car
from common.conversions import Conversions as CV
@@ -15,20 +15,15 @@ NO_AUTO_RESUME_STOCK_LONG = {"toyota", "gm"}
NO_AUTO_RESUME = NO_AUTO_RESUME_STOCK_LONG | {"nissan", "subaru"}
class Tier(Enum):
GOLD = 0
SILVER = 1
BRONZE = 2
class Column(Enum):
MAKE = "Make"
MODEL = "Model"
PACKAGE = "Supported Package"
LONGITUDINAL = "openpilot ACC"
FSR_LONGITUDINAL = "Stop and Go"
FSR_STEERING = "Steer to 0"
LONGITUDINAL = "ACC"
FSR_LONGITUDINAL = "No ACC accel below"
FSR_STEERING = "No ALC below"
STEERING_TORQUE = "Steering Torque"
HARNESS = "Harness"
class Star(Enum):
@@ -37,9 +32,46 @@ class Star(Enum):
EMPTY = "empty"
StarColumns = list(Column)[3:]
TierColumns = (Column.FSR_LONGITUDINAL, Column.FSR_STEERING, Column.STEERING_TORQUE)
CarFootnote = namedtuple("CarFootnote", ["text", "column", "star"], defaults=[None])
class Harness(Enum):
nidec = "Honda Nidec"
bosch_a = "Honda Bosch A"
bosch_b = "Honda Bosch B"
toyota = "Toyota"
subaru_a = "Subaru A"
subaru_b = "Subaru B"
fca = "FCA"
ram = "Ram"
vw = "VW"
j533 = "J533"
hyundai_a = "Hyundai A"
hyundai_b = "Hyundai B"
hyundai_c = "Hyundai C"
hyundai_d = "Hyundai D"
hyundai_e = "Hyundai E"
hyundai_f = "Hyundai F"
hyundai_g = "Hyundai G"
hyundai_h = "Hyundai H"
hyundai_i = "Hyundai I"
hyundai_j = "Hyundai J"
hyundai_k = "Hyundai K"
hyundai_l = "Hyundai L"
hyundai_m = "Hyundai M"
hyundai_n = "Hyundai N"
hyundai_o = "Hyundai O"
hyundai_p = "Hyundai P"
hyundai_q = "Hyundai Q"
custom = "Developer"
obd_ii = "OBD-II"
gm = "GM"
nissan_a = "Nissan A"
nissan_b = "Nissan B"
mazda = "Mazda"
ford_q3 = "Ford Q3"
ford_q4 = "Ford Q4"
none = "None"
CarFootnote = namedtuple("CarFootnote", ["text", "column"], defaults=[None])
def get_footnotes(footnotes: List[Enum], column: Column) -> List[Enum]:
@@ -83,7 +115,7 @@ class CarInfo:
footnotes: List[Enum] = field(default_factory=list)
min_steer_speed: Optional[float] = None
min_enable_speed: Optional[float] = None
harness: Optional[Enum] = None
harness: Enum = Harness.none
def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]):
# TODO: set all the min steer speeds in carParams and remove this
@@ -92,8 +124,6 @@ class CarInfo:
else:
self.min_steer_speed = CP.minSteerSpeed
assert self.harness is not None, f"{CP.carFingerprint}: Need to specify car harness"
# TODO: set all the min enable speeds in carParams correctly and remove this
if self.min_enable_speed is None:
self.min_enable_speed = CP.minEnableSpeed
@@ -105,11 +135,11 @@ class CarInfo:
Column.MAKE: self.make,
Column.MODEL: self.model,
Column.PACKAGE: self.package,
# StarColumns
Column.LONGITUDINAL: Star.FULL if CP.openpilotLongitudinalControl and not CP.radarOffCan else Star.EMPTY,
Column.FSR_LONGITUDINAL: Star.FULL if self.min_enable_speed <= 0. else Star.EMPTY,
Column.FSR_STEERING: Star.FULL if self.min_steer_speed <= 0. else Star.EMPTY,
Column.LONGITUDINAL: "openpilot" if CP.openpilotLongitudinalControl and not CP.radarOffCan else "Stock",
Column.FSR_LONGITUDINAL: f"{max(self.min_enable_speed * CV.MS_TO_MPH, 0):.0f} mph",
Column.FSR_STEERING: f"{max(self.min_steer_speed * CV.MS_TO_MPH, 0):.0f} mph",
Column.STEERING_TORQUE: Star.EMPTY,
Column.HARNESS: self.harness.value,
}
# Set steering torque star from max lateral acceleration
@@ -117,26 +147,7 @@ class CarInfo:
if CP.maxLateralAccel >= GOOD_TORQUE_THRESHOLD:
self.row[Column.STEERING_TORQUE] = Star.FULL
if CP.notCar:
for col in StarColumns:
self.row[col] = Star.FULL
self.all_footnotes = all_footnotes
for column in StarColumns:
# Demote if footnote specifies a star
for fn in get_footnotes(self.footnotes, column):
if fn.value.star is not None:
self.row[column] = fn.value.star
# openpilot ACC star doesn't count for tiers
full_stars = [s for col, s in self.row.items() if col in TierColumns].count(Star.FULL)
if full_stars == len(TierColumns):
self.tier = Tier.GOLD
elif full_stars == len(TierColumns) - 1:
self.tier = Tier.SILVER
else:
self.tier = Tier.BRONZE
self.year_list = get_year_list(self.years)
self.detail_sentence = self.get_detail_sentence(CP)
@@ -169,10 +180,9 @@ class CarInfo:
else:
raise Exception(f"This notCar does not have a detail sentence: {CP.carFingerprint}")
@no_type_check
def get_column(self, column: Column, star_icon: str, footnote_tag: str) -> str:
item: Union[str, Star] = self.row[column]
if column in StarColumns:
if isinstance(item, Star):
item = star_icon.format(item.value)
elif column == Column.MODEL and len(self.years):
item += f" {self.years}"
@@ -184,58 +194,3 @@ class CarInfo:
return item
class Harness(Enum):
nidec = "Honda Nidec"
bosch_a = "Honda Bosch A"
bosch_b = "Honda Bosch B"
toyota = "Toyota"
subaru_a = "Subaru A"
subaru_b = "Subaru B"
fca = "FCA"
ram = "Ram"
vw = "VW"
j533 = "J533"
hyundai_a = "Hyundai A"
hyundai_b = "Hyundai B"
hyundai_c = "Hyundai C"
hyundai_d = "Hyundai D"
hyundai_e = "Hyundai E"
hyundai_f = "Hyundai F"
hyundai_g = "Hyundai G"
hyundai_h = "Hyundai H"
hyundai_i = "Hyundai I"
hyundai_j = "Hyundai J"
hyundai_k = "Hyundai K"
hyundai_l = "Hyundai L"
hyundai_m = "Hyundai M"
hyundai_n = "Hyundai N"
hyundai_o = "Hyundai O"
hyundai_p = "Hyundai P"
custom = "Developer"
obd_ii = "OBD-II"
gm = "GM"
nissan_a = "Nissan A"
nissan_b = "Nissan B"
mazda = "Mazda"
none = "None"
STAR_DESCRIPTIONS = {
"Gas & Brakes": { # icon and row name
Column.FSR_LONGITUDINAL.value: [
[Star.FULL.value, "openpilot operates down to 0 mph."],
[Star.EMPTY.value, "openpilot operates only above a minimum speed. See your car's manual for the minimum speed."],
],
},
"Steering": {
Column.FSR_STEERING.value: [
[Star.FULL.value, "openpilot can control the steering wheel down to 0 mph."],
[Star.EMPTY.value, "No steering control below certain speeds. See your car's manual for the minimum speed."],
],
Column.STEERING_TORQUE.value: [
[Star.FULL.value, "Car has enough steering torque to comfortably take most highway turns."],
[Star.EMPTY.value, "Limited ability to make tighter turns."],
],
},
}
selfdrive/car/ford/radar_interface.py
+93 -23
View File
@@ -1,33 +1,63 @@
#!/usr/bin/env python3
from math import cos, sin
from cereal import car
from common.conversions import Conversions as CV
from opendbc.can.parser import CANParser
from selfdrive.car.ford.values import CANBUS, DBC
from common.conversions import Conversions as CV
from selfdrive.car.ford.values import CANBUS, DBC, RADAR
from selfdrive.car.interfaces import RadarInterfaceBase
RADAR_MSGS = list(range(0x500, 0x540))
DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540))
DELPHI_MRR_RADAR_START_ADDR = 0x120
DELPHI_MRR_RADAR_MSG_COUNT = 64
def _create_radar_can_parser(car_fingerprint):
if DBC[car_fingerprint]['radar'] is None:
return None
msg_n = len(RADAR_MSGS)
def _create_delphi_esr_radar_can_parser():
msg_n = len(DELPHI_ESR_RADAR_MSGS)
signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n,
RADAR_MSGS * 3))
checks = list(zip(RADAR_MSGS, [20] * msg_n))
DELPHI_ESR_RADAR_MSGS * 3))
checks = list(zip(DELPHI_ESR_RADAR_MSGS, [20] * msg_n))
return CANParser(RADAR.DELPHI_ESR, signals, checks, CANBUS.radar)
def _create_delphi_mrr_radar_can_parser():
signals = []
checks = []
for i in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1):
msg = f"MRR_Detection_{i:03d}"
signals += [
(f"CAN_DET_VALID_LEVEL_{i:02d}", msg),
(f"CAN_DET_AZIMUTH_{i:02d}", msg),
(f"CAN_DET_RANGE_{i:02d}", msg),
(f"CAN_DET_RANGE_RATE_{i:02d}", msg),
(f"CAN_DET_AMPLITUDE_{i:02d}", msg),
(f"CAN_SCAN_INDEX_2LSB_{i:02d}", msg),
]
checks += [(msg, 20)]
return CANParser(RADAR.DELPHI_MRR, signals, checks, CANBUS.radar)
return CANParser(DBC[car_fingerprint]['radar'], signals, checks, CANBUS.radar)
class RadarInterface(RadarInterfaceBase):
def __init__(self, CP):
super().__init__(CP)
self.validCnt = {key: 0 for key in RADAR_MSGS}
self.track_id = 0
self.rcp = _create_radar_can_parser(CP.carFingerprint)
self.trigger_msg = 0x53f
self.updated_messages = set()
self.track_id = 0
self.radar = DBC[CP.carFingerprint]['radar']
if self.radar is None:
self.rcp = None
elif self.radar == RADAR.DELPHI_ESR:
self.rcp = _create_delphi_esr_radar_can_parser()
self.trigger_msg = DELPHI_ESR_RADAR_MSGS[-1]
self.valid_cnt = {key: 0 for key in DELPHI_ESR_RADAR_MSGS}
elif self.radar == RADAR.DELPHI_MRR:
self.rcp = _create_delphi_mrr_radar_can_parser()
self.trigger_msg = DELPHI_MRR_RADAR_START_ADDR + DELPHI_MRR_RADAR_MSG_COUNT - 1
else:
raise ValueError(f"Unsupported radar: {self.radar}")
def update(self, can_strings):
if self.rcp is None:
@@ -45,20 +75,30 @@ class RadarInterface(RadarInterfaceBase):
errors.append("canError")
ret.errors = errors
if self.radar == RADAR.DELPHI_ESR:
self._update_delphi_esr()
elif self.radar == RADAR.DELPHI_MRR:
self._update_delphi_mrr()
ret.points = list(self.pts.values())
self.updated_messages.clear()
return ret
def _update_delphi_esr(self):
for ii in sorted(self.updated_messages):
cpt = self.rcp.vl[ii]
if cpt['X_Rel'] > 0.00001:
self.validCnt[ii] = 0 # reset counter
self.valid_cnt[ii] = 0 # reset counter
if cpt['X_Rel'] > 0.00001:
self.validCnt[ii] += 1
self.valid_cnt[ii] += 1
else:
self.validCnt[ii] = max(self.validCnt[ii] - 1, 0)
#print ii, self.validCnt[ii], cpt['VALID'], cpt['X_Rel'], cpt['Angle']
self.valid_cnt[ii] = max(self.valid_cnt[ii] - 1, 0)
#print ii, self.valid_cnt[ii], cpt['VALID'], cpt['X_Rel'], cpt['Angle']
# radar point only valid if there have been enough valid measurements
if self.validCnt[ii] > 0:
if self.valid_cnt[ii] > 0:
if ii not in self.pts:
self.pts[ii] = car.RadarData.RadarPoint.new_message()
self.pts[ii].trackId = self.track_id
@@ -73,6 +113,36 @@ class RadarInterface(RadarInterfaceBase):
if ii in self.pts:
del self.pts[ii]
ret.points = list(self.pts.values())
self.updated_messages.clear()
return ret
def _update_delphi_mrr(self):
for ii in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1):
msg = self.rcp.vl[f"MRR_Detection_{ii:03d}"]
# SCAN_INDEX rotates through 0..3 on each message
# treat these as separate points
scanIndex = msg[f"CAN_SCAN_INDEX_2LSB_{ii:02d}"]
i = (ii - 1) * 4 + scanIndex
if i not in self.pts:
self.pts[i] = car.RadarData.RadarPoint.new_message()
self.pts[i].trackId = self.track_id
self.pts[i].aRel = float('nan')
self.pts[i].yvRel = float('nan')
self.track_id += 1
valid = bool(msg[f"CAN_DET_VALID_LEVEL_{ii:02d}"])
amplitude = msg[f"CAN_DET_AMPLITUDE_{ii:02d}"] # dBsm [-64|63]
if valid and 0 < amplitude <= 15:
azimuth = msg[f"CAN_DET_AZIMUTH_{ii:02d}"] # rad [-3.1416|3.13964]
dist = msg[f"CAN_DET_RANGE_{ii:02d}"] # m [0|255.984]
distRate = msg[f"CAN_DET_RANGE_RATE_{ii:02d}"] # m/s [-128|127.984]
# *** openpilot radar point ***
self.pts[i].dRel = cos(azimuth) * dist # m from front of car
self.pts[i].yRel = -sin(azimuth) * dist # in car frame's y axis, left is positive
self.pts[i].vRel = distRate # m/s
self.pts[i].measured = True
else:
del self.pts[i]
selfdrive/car/ford/values.py
+7 -2
View File
@@ -24,6 +24,11 @@ class CarControllerParams:
STEER_RATE_LIMIT_DOWN = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., 3.5, 0.4])
class RADAR:
DELPHI_ESR = 'ford_fusion_2018_adas'
DELPHI_MRR = 'FORD_CADS'
class CANBUS:
main = 0
radar = 1
@@ -80,6 +85,6 @@ FW_VERSIONS = {
DBC = {
CAR.ESCAPE_MK4: dbc_dict('ford_lincoln_base_pt', None),
CAR.FOCUS_MK4: dbc_dict('ford_lincoln_base_pt', None),
CAR.ESCAPE_MK4: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR),
CAR.FOCUS_MK4: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR),
}
selfdrive/car/gm/carcontroller.py
+2 -2
View File
@@ -109,10 +109,10 @@ class CarController:
else:
# Stock longitudinal, integrated at camera
if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
if CC.cruiseControl.cancel:
self.last_button_frame = self.frame
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CruiseButtons.CANCEL))
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
# Show green icon when LKA torque is applied, and
# alarming orange icon when approaching torque limit.
selfdrive/car/gm/carstate.py
+3
View File
@@ -16,12 +16,14 @@ class CarState(CarStateBase):
can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"]
self.lka_steering_cmd_counter = 0
self.buttons_counter = 0
def update(self, pt_cp, cam_cp, loopback_cp):
ret = car.CarState.new_message()
self.prev_cruise_buttons = self.cruise_buttons
self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
ret.wheelSpeeds = self.get_wheel_speeds(
pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"],
@@ -109,6 +111,7 @@ class CarState(CarStateBase):
("AcceleratorPedal2", "AcceleratorPedal2"),
("CruiseState", "AcceleratorPedal2"),
("ACCButtons", "ASCMSteeringButton"),
("RollingCounter", "ASCMSteeringButton"),
("SteeringWheelAngle", "PSCMSteeringAngle"),
("SteeringWheelRate", "PSCMSteeringAngle"),
("FLWheelSpd", "EBCMWheelSpdFront"),
selfdrive/car/gm/gmcan.py
+5 -2
View File
@@ -1,7 +1,10 @@
from selfdrive.car import make_can_msg
def create_buttons(packer, bus, button):
values = {"ACCButtons": button}
def create_buttons(packer, bus, idx, button):
values = {
"ACCButtons": button,
"RollingCounter": idx,
}
return packer.make_can_msg("ASCMSteeringButton", bus, values)
def create_steering_control(packer, bus, apply_steer, idx, lkas_active):
selfdrive/car/gm/interface.py
+10 -4
View File
@@ -4,7 +4,7 @@ from math import fabs
from panda import Panda
from common.conversions import Conversions as CV
from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car import STD_CARGO_KG, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR
from selfdrive.car.interfaces import CarInterfaceBase
@@ -160,6 +160,15 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.SILVERADO:
ret.minEnableSpeed = -1
ret.mass = 2200. + STD_CARGO_KG
ret.wheelbase = 3.75
ret.steerRatio = 16.3
ret.centerToFront = ret.wheelbase * 0.5
tire_stiffness_factor = 1.0
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
@@ -197,9 +206,6 @@ class CarInterface(CarInterfaceBase):
if ret.vEgo < self.CP.minSteerSpeed:
events.add(car.CarEvent.EventName.belowSteerSpeed)
# handle button presses
events.events.extend(create_button_enable_events(ret.buttonEvents, pcm_cruise=self.CP.pcmCruise))
ret.events = events.to_msg()
return ret
selfdrive/car/gm/values.py
+11 -2
View File
@@ -59,6 +59,7 @@ class CAR:
BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
BOLT_EUV = "CHEVROLET BOLT EUV 2022"
SILVERADO = "CHEVROLET SILVERADO 1500 2020"
class Footnote(Enum):
@@ -83,7 +84,11 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier/Premier Redline Trim", video_link="https://youtu.be/xvwzGMUA210", footnotes=[], harness=Harness.gm),
CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210", footnotes=[], harness=Harness.gm),
CAR.SILVERADO: [
GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II", footnotes=[], harness=Harness.gm),
GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", footnotes=[], harness=Harness.gm),
],
}
@@ -157,6 +162,10 @@ FINGERPRINTS = {
{
189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
}],
CAR.SILVERADO: [
{
190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
}],
}
DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
@@ -164,6 +173,6 @@ DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_power
EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}
# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
CAMERA_ACC_CAR = {CAR.BOLT_EUV}
CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO}
STEER_THRESHOLD = 1.0
selfdrive/car/honda/carcontroller.py
+5 -6
View File
@@ -190,12 +190,11 @@ class CarController:
if not self.CP.openpilotLongitudinalControl:
if self.frame % 2 == 0 and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS: # radarless cars don't have supplemental message
can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CP.carFingerprint))
if dragonconf.dpAtl != 1:
# If using stock ACC, spam cancel command to kill gas when OP disengages.
if pcm_cancel_cmd:
can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, self.CP.carFingerprint))
elif CC.cruiseControl.resume:
can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, self.CP.carFingerprint))
# If using stock ACC, spam cancel command to kill gas when OP disengages.
if pcm_cancel_cmd:
can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, self.CP.carFingerprint))
elif CC.cruiseControl.resume:
can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, self.CP.carFingerprint))
else:
# Send gas and brake commands.
selfdrive/car/honda/interface.py
+3 -23
View File
@@ -4,7 +4,7 @@ from panda import Panda
from common.conversions import Conversions as CV
from common.numpy_fast import interp
from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.disable_ecu import disable_ecu
from common.params import Params
@@ -87,7 +87,6 @@ class CarInterface(CarInterfaceBase):
eps_modified = True
if candidate == CAR.CIVIC:
stop_and_go = True
ret.mass = CivicParams.MASS
ret.wheelbase = CivicParams.WHEELBASE
ret.centerToFront = CivicParams.CENTER_TO_FRONT
@@ -107,7 +106,6 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 1.
elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022):
stop_and_go = True
ret.mass = CivicParams.MASS
ret.wheelbase = CivicParams.WHEELBASE
ret.centerToFront = CivicParams.CENTER_TO_FRONT
@@ -117,7 +115,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate in (CAR.ACCORD, CAR.ACCORDH):
stop_and_go = True
ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.83
ret.centerToFront = ret.wheelbase * 0.39
@@ -131,7 +128,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
elif candidate == CAR.ACURA_ILX:
stop_and_go = False
ret.mass = 3095. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.37
@@ -141,7 +137,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate in (CAR.CRV, CAR.CRV_EU):
stop_and_go = False
ret.mass = 3572. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.62
ret.centerToFront = ret.wheelbase * 0.41
@@ -152,7 +147,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.CRV_5G:
stop_and_go = True
ret.mass = 3410. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.66
ret.centerToFront = ret.wheelbase * 0.41
@@ -170,7 +164,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.CRV_HYBRID:
stop_and_go = True
ret.mass = 1667. + STD_CARGO_KG # mean of 4 models in kg
ret.wheelbase = 2.66
ret.centerToFront = ret.wheelbase * 0.41
@@ -181,7 +174,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.FIT:
stop_and_go = False
ret.mass = 2644. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.53
ret.centerToFront = ret.wheelbase * 0.39
@@ -191,7 +183,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
elif candidate == CAR.FREED:
stop_and_go = False
ret.mass = 3086. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.74
# the remaining parameters were copied from FIT
@@ -202,7 +193,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
elif candidate == CAR.HRV:
stop_and_go = False
ret.mass = 3125 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.61
ret.centerToFront = ret.wheelbase * 0.41
@@ -213,7 +203,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.ACURA_RDX:
stop_and_go = False
ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.68
ret.centerToFront = ret.wheelbase * 0.38
@@ -223,7 +212,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate == CAR.ACURA_RDX_3G:
stop_and_go = True
ret.mass = 4068. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.75
ret.centerToFront = ret.wheelbase * 0.41
@@ -233,7 +221,6 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 0.677
elif candidate == CAR.ODYSSEY:
stop_and_go = False
ret.mass = 4471. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 3.00
ret.centerToFront = ret.wheelbase * 0.41
@@ -243,7 +230,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
elif candidate == CAR.ODYSSEY_CHN:
stop_and_go = False
ret.mass = 1849.2 + STD_CARGO_KG # mean of 4 models in kg
ret.wheelbase = 2.90
ret.centerToFront = ret.wheelbase * 0.41 # from CAR.ODYSSEY
@@ -253,7 +239,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
elif candidate in (CAR.PILOT, CAR.PASSPORT):
stop_and_go = False
ret.mass = 4204. * CV.LB_TO_KG + STD_CARGO_KG # average weight
ret.wheelbase = 2.82
ret.centerToFront = ret.wheelbase * 0.428
@@ -263,7 +248,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
elif candidate == CAR.RIDGELINE:
stop_and_go = False
ret.mass = 4515. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 3.18
ret.centerToFront = ret.wheelbase * 0.41
@@ -273,7 +257,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
elif candidate == CAR.INSIGHT:
stop_and_go = True
ret.mass = 2987. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.7
ret.centerToFront = ret.wheelbase * 0.39
@@ -283,7 +266,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
elif candidate == CAR.HONDA_E:
stop_and_go = True
ret.mass = 3338.8 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.5
ret.centerToFront = ret.wheelbase * 0.5
@@ -315,7 +297,8 @@ class CarInterface(CarInterfaceBase):
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
# conflict with PCM acc
ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else 25.5 * CV.MPH_TO_MS
stop_and_go = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor
ret.minEnableSpeed = -1. if stop_and_go else 25.5 * CV.MPH_TO_MS
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
@@ -393,9 +376,6 @@ class CarInterface(CarInterfaceBase):
if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001:
events.add(EventName.manualRestart)
# handle button presses
events.events.extend(create_button_enable_events(ret.buttonEvents, self.CP.pcmCruise))
ret.events = events.to_msg()
return ret
selfdrive/car/honda/values.py
+1 -1
View File
@@ -113,7 +113,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
],
CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", harness=Harness.nidec),
CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", harness=Harness.nidec, video_link="https://youtu.be/-IkImTe1NYE"),
CAR.CIVIC_BOSCH: [
HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch_a),
HondaCarInfo("Honda Civic Hatchback 2017-21", harness=Harness.bosch_a),
selfdrive/car/hyundai/carcontroller.py
+20 -9
View File
@@ -5,7 +5,7 @@ from common.realtime import DT_CTRL
from opendbc.can.packer import CANPacker
from selfdrive.car import apply_std_steer_torque_limits
from selfdrive.car.hyundai import hyundaicanfd, hyundaican
from selfdrive.car.hyundai.values import Buttons, CarControllerParams, CANFD_CAR, CAR
from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
VisualAlert = car.CarControl.HUDControl.VisualAlert
LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -71,22 +71,33 @@ class CarController:
if self.CP.carFingerprint in CANFD_CAR:
# steering control
can_sends.append(hyundaicanfd.create_lkas(self.packer, CC.enabled, CC.latActive, apply_steer))
can_sends.append(hyundaicanfd.create_lkas(self.packer, self.CP, CC.enabled, CC.latActive, apply_steer))
if self.frame % 5 == 0:
# block LFA on HDA2
if self.frame % 5 == 0 and (self.CP.flags & HyundaiFlags.CANFD_HDA2):
can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, CS.cam_0x2a4))
# cruise cancel
# LFA and HDA icons
if self.frame % 2 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_HDA2):
can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, CC.enabled))
# button presses
if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
# cruise cancel
if CC.cruiseControl.cancel:
for _ in range(20):
can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL))
self.last_button_frame = self.frame
if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
can_sends.append(hyundaicanfd.create_cruise_info(self.packer, CS.cruise_info_copy, True))
self.last_button_frame = self.frame
else:
for _ in range(20):
can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL))
self.last_button_frame = self.frame
# cruise standstill resume
elif CC.cruiseControl.resume:
can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL))
self.last_button_frame = self.frame
if not (self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL))
self.last_button_frame = self.frame
else:
# tester present - w/ no response (keeps radar disabled)
selfdrive/car/hyundai/carstate.py
+77 -26
View File
@@ -5,7 +5,7 @@ from cereal import car
from common.conversions import Conversions as CV
from opendbc.can.parser import CANParser
from opendbc.can.can_define import CANDefine
from selfdrive.car.hyundai.values import DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
from selfdrive.car.hyundai.values import HyundaiFlags, DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
from selfdrive.car.interfaces import CarStateBase
PREV_BUTTON_SAMPLES = 8
@@ -20,7 +20,7 @@ class CarState(CarStateBase):
self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
if CP.carFingerprint in CANFD_CAR:
self.shifter_values = can_define.dv["ACCELERATOR"]["GEAR"]
self.shifter_values = can_define.dv["GEAR_SHIFTER"]["GEAR"]
elif self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]:
@@ -136,14 +136,17 @@ class CarState(CarStateBase):
def update_canfd(self, cp, cp_cam):
ret = car.CarState.new_message()
ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255.
ret.gasPressed = ret.gas > 1e-3
if self.CP.flags & HyundaiFlags.CANFD_HDA2:
ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255.
else:
ret.gas = cp.vl["ACCELERATOR_ALT"]["ACCELERATOR_PEDAL"] / 1023.
ret.gasPressed = ret.gas > 1e-5
ret.brakePressed = cp.vl["BRAKE"]["BRAKE_PRESSED"] == 1
ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR_OPEN"] == 1
ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT_LATCHED"] == 0
gear = cp.vl["ACCELERATOR"]["GEAR"]
gear = cp.vl["GEAR_SHIFTER"]["GEAR"]
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
# TODO: figure out positions
@@ -168,16 +171,19 @@ class CarState(CarStateBase):
ret.cruiseState.available = True
ret.cruiseState.enabled = cp.vl["SCC1"]["CRUISE_ACTIVE"] == 1
ret.cruiseState.standstill = cp.vl["CRUISE_INFO"]["CRUISE_STANDSTILL"] == 1
cp_cruise_info = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam
speed_factor = CV.MPH_TO_MS if cp.vl["CLUSTER_INFO"]["DISTANCE_UNIT"] == 1 else CV.KPH_TO_MS
ret.cruiseState.speed = cp.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor
ret.cruiseState.speed = cp_cruise_info.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor
ret.cruiseState.standstill = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STANDSTILL"] == 1
self.cruise_buttons.extend(cp.vl_all["CRUISE_BUTTONS"]["CRUISE_BUTTONS"])
self.main_buttons.extend(cp.vl_all["CRUISE_BUTTONS"]["ADAPTIVE_CRUISE_MAIN_BTN"])
self.buttons_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS"
self.cruise_buttons.extend(cp.vl_all[cruise_btn_msg]["CRUISE_BUTTONS"])
self.main_buttons.extend(cp.vl_all[cruise_btn_msg]["ADAPTIVE_CRUISE_MAIN_BTN"])
self.buttons_counter = cp.vl[cruise_btn_msg]["COUNTER"]
self.cruise_info_copy = copy.copy(cp_cruise_info.vl["CRUISE_INFO"])
self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"])
if self.CP.flags & HyundaiFlags.CANFD_HDA2:
self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"])
ret.cruiseActualEnabled = ret.cruiseState.enabled
return ret
@@ -320,9 +326,7 @@ class CarState(CarStateBase):
@staticmethod
def get_cam_can_parser(CP):
if CP.carFingerprint in CANFD_CAR:
signals = [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)]
checks = [("CAM_0x2a4", 20)]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6)
return CarState.get_cam_can_parser_canfd(CP)
signals = [
# signal_name, signal_address
@@ -375,14 +379,15 @@ class CarState(CarStateBase):
@staticmethod
def get_can_parser_canfd(CP):
cruise_btn_msg = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS"
signals = [
("WHEEL_SPEED_1", "WHEEL_SPEEDS"),
("WHEEL_SPEED_2", "WHEEL_SPEEDS"),
("WHEEL_SPEED_3", "WHEEL_SPEEDS"),
("WHEEL_SPEED_4", "WHEEL_SPEEDS"),
("ACCELERATOR_PEDAL", "ACCELERATOR"),
("GEAR", "ACCELERATOR"),
("GEAR", "GEAR_SHIFTER"),
("BRAKE_PRESSED", "BRAKE"),
("STEERING_RATE", "STEERING_SENSORS"),
@@ -391,11 +396,9 @@ class CarState(CarStateBase):
("STEERING_OUT_TORQUE", "MDPS"),
("CRUISE_ACTIVE", "SCC1"),
("SET_SPEED", "CRUISE_INFO"),
("CRUISE_STANDSTILL", "CRUISE_INFO"),
("COUNTER", "CRUISE_BUTTONS"),
("CRUISE_BUTTONS", "CRUISE_BUTTONS"),
("ADAPTIVE_CRUISE_MAIN_BTN", "CRUISE_BUTTONS"),
("COUNTER", cruise_btn_msg),
("CRUISE_BUTTONS", cruise_btn_msg),
("ADAPTIVE_CRUISE_MAIN_BTN", cruise_btn_msg),
("DISTANCE_UNIT", "CLUSTER_INFO"),
@@ -408,16 +411,64 @@ class CarState(CarStateBase):
checks = [
("WHEEL_SPEEDS", 100),
("ACCELERATOR", 100),
("GEAR_SHIFTER", 100),
("BRAKE", 100),
("STEERING_SENSORS", 100),
("MDPS", 100),
("SCC1", 50),
("CRUISE_INFO", 50),
("CRUISE_BUTTONS", 50),
(cruise_btn_msg, 50),
("CLUSTER_INFO", 4),
("BLINKERS", 4),
("DOORS_SEATBELTS", 4),
]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 5)
if CP.flags & HyundaiFlags.CANFD_HDA2:
signals += [
("ACCELERATOR_PEDAL", "ACCELERATOR"),
("GEAR", "ACCELERATOR"),
("SET_SPEED", "CRUISE_INFO"),
("CRUISE_STANDSTILL", "CRUISE_INFO"),
]
checks += [
("CRUISE_INFO", 50),
("ACCELERATOR", 100),
]
else:
signals += [
("ACCELERATOR_PEDAL", "ACCELERATOR_ALT"),
]
checks += [
("ACCELERATOR_ALT", 100),
]
bus = 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 4
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, bus)
@staticmethod
def get_cam_can_parser_canfd(CP):
if CP.flags & HyundaiFlags.CANFD_HDA2:
signals = [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)]
checks = [("CAM_0x2a4", 20)]
else:
signals = [
("COUNTER", "CRUISE_INFO"),
("NEW_SIGNAL_1", "CRUISE_INFO"),
("CRUISE_MAIN", "CRUISE_INFO"),
("CRUISE_STATUS", "CRUISE_INFO"),
("CRUISE_INACTIVE", "CRUISE_INFO"),
("NEW_SIGNAL_2", "CRUISE_INFO"),
("CRUISE_STANDSTILL", "CRUISE_INFO"),
("NEW_SIGNAL_3", "CRUISE_INFO"),
("BYTE11", "CRUISE_INFO"),
("SET_SPEED", "CRUISE_INFO"),
("NEW_SIGNAL_4", "CRUISE_INFO"),
]
signals += [(f"BYTE{i}", "CRUISE_INFO") for i in range(3, 7)]
signals += [(f"BYTE{i}", "CRUISE_INFO") for i in range(13, 31)]
checks = [
("CRUISE_INFO", 50),
]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6)
selfdrive/car/hyundai/hyundaicanfd.py
+21 -2
View File
@@ -1,4 +1,7 @@
def create_lkas(packer, enabled, lat_active, apply_steer):
from selfdrive.car.hyundai.values import HyundaiFlags
def create_lkas(packer, CP, enabled, lat_active, apply_steer):
values = {
"LKA_MODE": 2,
"LKA_ICON": 2 if enabled else 1,
@@ -10,7 +13,9 @@ def create_lkas(packer, enabled, lat_active, apply_steer):
"NEW_SIGNAL_1": 0,
"NEW_SIGNAL_2": 0,
}
return packer.make_can_msg("LKAS", 4, values)
msg = "LKAS" if CP.flags & HyundaiFlags.CANFD_HDA2 else "LFA"
return packer.make_can_msg(msg, 4, values)
def create_cam_0x2a4(packer, camera_values):
camera_values.update({
@@ -25,3 +30,17 @@ def create_buttons(packer, cnt, btn):
"CRUISE_BUTTONS": btn,
}
return packer.make_can_msg("CRUISE_BUTTONS", 5, values)
def create_cruise_info(packer, cruise_info_copy, cancel):
values = cruise_info_copy
if cancel:
values["CRUISE_STATUS"] = 0
values["CRUISE_INACTIVE"] = 1
return packer.make_can_msg("CRUISE_INFO", 4, values)
def create_lfahda_cluster(packer, enabled):
values = {
"HDA_ICON": 1 if enabled else 0,
"LFA_ICON": 2 if enabled else 0,
}
return packer.make_can_msg("LFAHDA_CLUSTER", 4, values)
selfdrive/car/hyundai/interface.py
+30 -18
View File
@@ -2,9 +2,9 @@
from cereal import car
from panda import Panda
from common.conversions import Conversions as CV
from selfdrive.car.hyundai.values import CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car import STD_CARGO_KG, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.disable_ecu import disable_ecu
from common.params import Params
@@ -116,13 +116,11 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.indi.actuatorEffectivenessV = [2.3]
ret.minSteerSpeed = 60 * CV.KPH_TO_MS
elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
ret.lateralTuning.pid.kf = 0.00005
ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743.}.get(candidate, 1275.) + STD_CARGO_KG
ret.wheelbase = 2.6
ret.steerRatio = 13.42 # Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1490. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
@@ -163,6 +161,12 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.TUCSON_HYBRID_4TH_GEN:
ret.mass = 1680. + STD_CARGO_KG # average of all 3 trims
ret.wheelbase = 2.756
ret.steerRatio = 16.
tire_stiffness_factor = 0.385
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
# Kia
elif candidate == CAR.KIA_SORENTO:
@@ -172,7 +176,7 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021):
elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021):
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1737. + STD_CARGO_KG
ret.wheelbase = 2.7
@@ -180,7 +184,7 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
if candidate == CAR.KIA_NIRO_HEV:
if candidate == CAR.KIA_NIRO_PHEV:
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.KIA_SELTOS:
ret.mass = 1337. + STD_CARGO_KG
@@ -287,7 +291,18 @@ class CarInterface(CarInterfaceBase):
if candidate in CANFD_CAR:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd)]
# detect HDA2 with LKAS message
if 0x50 in fingerprint[6]:
ret.flags |= HyundaiFlags.CANFD_HDA2.value
ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
else:
# non-HDA2
if 0x1cf not in fingerprint[4]:
ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
else:
ret.enableBsm = 0x58b in fingerprint[0]
if candidate in LEGACY_SAFETY_MODE_CAR:
# these cars require a special panda safety mode due to missing counters and checksums in the messages
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
@@ -317,8 +332,6 @@ class CarInterface(CarInterfaceBase):
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.enableBsm = 0x58b in fingerprint[0]
if int(Params().get("dp_atl").decode('utf-8')) == 1:
ret.openpilotLongitudinalControl = False
@@ -334,6 +347,14 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam)
ret.cruiseState.enabled, ret.cruiseState.available = self.dp_atl_mode(ret)
if self.CS.CP.openpilotLongitudinalControl and self.CS.cruise_buttons[-1] != self.CS.prev_cruise_buttons:
buttonEvents = [create_button_event(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)]
# Handle CF_Clu_CruiseSwState changing buttons mid-press
if self.CS.cruise_buttons[-1] != 0 and self.CS.prev_cruise_buttons != 0:
buttonEvents.append(create_button_event(0, self.CS.prev_cruise_buttons, BUTTONS_DICT))
ret.buttonEvents = buttonEvents
# On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
# To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
# Main button also can trigger an engagement on these cars
@@ -344,15 +365,6 @@ class CarInterface(CarInterfaceBase):
if self.CS.brake_error:
events.add(EventName.brakeUnavailable)
if self.CS.CP.openpilotLongitudinalControl and self.CS.cruise_buttons[-1] != self.CS.prev_cruise_buttons:
buttonEvents = [create_button_event(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)]
# Handle CF_Clu_CruiseSwState changing buttons mid-press
if self.CS.cruise_buttons[-1] != 0 and self.CS.prev_cruise_buttons != 0:
buttonEvents.append(create_button_event(0, self.CS.prev_cruise_buttons, BUTTONS_DICT))
ret.buttonEvents = buttonEvents
events.events.extend(create_button_enable_events(ret.buttonEvents))
# low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
self.low_speed_alert = True
selfdrive/car/hyundai/values.py
+50 -13
View File
@@ -1,3 +1,4 @@
from enum import IntFlag
from dataclasses import dataclass
from typing import Dict, List, Optional, Union
@@ -29,7 +30,7 @@ class CarControllerParams:
# To determine the limit for your car, find the maximum value that the stock LKAS will request.
# If the max stock LKAS request is <384, add your car to this list.
elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ,
CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_HEV,
CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV,
CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO, CAR.KIA_STINGER):
self.STEER_MAX = 255
@@ -38,6 +39,11 @@ class CarControllerParams:
self.STEER_MAX = 384
class HyundaiFlags(IntFlag):
CANFD_HDA2 = 1
CANFD_ALT_BUTTONS = 2
class CAR:
# Hyundai
ELANTRA = "HYUNDAI ELANTRA 2017"
@@ -66,12 +72,13 @@ class CAR:
VELOSTER = "HYUNDAI VELOSTER 2019"
SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021"
IONIQ_5 = "HYUNDAI IONIQ 5 2022"
TUCSON_HYBRID_4TH_GEN = "HYUNDAI TUCSON HYBRID 4TH GEN"
# Kia
KIA_FORTE = "KIA FORTE E 2018 & GT 2021"
KIA_K5_2021 = "KIA K5 2021"
KIA_NIRO_EV = "KIA NIRO EV 2020"
KIA_NIRO_HEV = "KIA NIRO HYBRID 2019"
KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019"
KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021"
KIA_OPTIMA = "KIA OPTIMA SX 2019 & 2016"
KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
@@ -112,7 +119,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", "Smart Cruise Control (SCC)", harness=Harness.hyundai_o),
CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness=Harness.hyundai_i),
CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", harness=Harness.hyundai_d),
CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", harness=Harness.hyundai_l),
CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", video_link="https://youtu.be/VnHzSTygTS4", harness=Harness.hyundai_l),
CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All", harness=Harness.hyundai_l),
CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", harness=Harness.hyundai_l),
CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-22", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a),
@@ -127,7 +134,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
],
CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", "Smart Cruise Control (SCC)", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e),
CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", harness=Harness.hyundai_a),
CAR.IONIQ_5: HyundaiCarInfo("Hyundai Ioniq 5 2022", "Highway Driving Assist II", harness=Harness.none),
CAR.IONIQ_5: HyundaiCarInfo("Hyundai Ioniq 5 2022", "Highway Driving Assist II", harness=Harness.hyundai_q),
CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022", "All", harness=Harness.hyundai_n),
# Kia
CAR.KIA_FORTE: [
@@ -141,7 +149,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
HyundaiCarInfo("Kia Niro Electric 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c),
HyundaiCarInfo("Kia Niro Electric 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
],
CAR.KIA_NIRO_HEV: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c),
CAR.KIA_NIRO_PHEV: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c),
CAR.KIA_NIRO_HEV_2021: [
HyundaiCarInfo("Kia Niro Hybrid 2021", harness=Harness.hyundai_f), # TODO: could be hyundai_d, verify
HyundaiCarInfo("Kia Niro Hybrid 2022", harness=Harness.hyundai_h),
@@ -613,6 +621,7 @@ FW_VERSIONS = {
b'\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1500 ',
b'\xf1\x8799110S1500\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1500 ',
b'\xf1\x8799110S1500\xf1\x00TM__ SCC FHCUP 1.00 1.00 99110-S1500 ',
b'\xf1\x00TM__ SCC FHCUP 1.00 1.00 99110-S1500 ',
],
(Ecu.esp, 0x7d1, None): [
b'\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0',
@@ -621,6 +630,7 @@ FW_VERSIONS = {
b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0',
b'\xf1\x8758910-S1DA0\xf1\x00TM ESC \x1e 102 \x08\x08 58910-S1DA0',
b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0',
b'\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0',
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x82TACVN5GMI3XXXH0A',
@@ -629,6 +639,7 @@ FW_VERSIONS = {
b'\xf1\x82TMCFD5MMCXXXXG0A',
b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82TMDWN5TMD3TXXJ1A',
b'\xf1\x81HM6M2_0a0_G00',
b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00TM MDPS C 1.00 1.02 56370-S2AA0 0B19',
@@ -648,6 +659,8 @@ FW_VERSIONS = {
b'\xf1\x87KMMYBU034207SB72x\x89\x88\x98h\x88\x98\x89\x87fhvvfWf33_\xff\x87\xff\x8f\xfa\x81\xe5\xf1\x89HT6TAF00A1\xf1\x82STM0M25GS1\x00\x00\x00\x00\x00\x00',
b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6',
b'\xf1\x00HT6TA290BLHT6TAF00A1STM0M25GS1\x00\x00\x00\x00\x00\x006\xd8\x97\x15',
b'\xf1\x00T02601BL T02900A1 VTMPT25XXX900NS8\xb7\xaa\xfe\xfc',
b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02900A1 \xf1\x00T02601BL T02900A1 VTMPT25XXX900NS8\xb7\xaa\xfe\xfc',
],
},
CAR.SANTA_FE_HEV_2022: {
@@ -690,6 +703,7 @@ FW_VERSIONS = {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00CK__ SCC F_CUP 1.00 1.01 96400-J5100 ',
b'\xf1\x00CK__ SCC F_CUP 1.00 1.03 96400-J5100 ',
b'\xf1\x00CK__ SCC F_CUP 1.00 1.01 96400-J5000 ',
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x81606DE051\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -707,6 +721,7 @@ FW_VERSIONS = {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00CK MFC AT USA LHD 1.00 1.03 95740-J5000 170822',
b'\xf1\x00CK MFC AT USA LHD 1.00 1.04 95740-J5000 180504',
b'\xf1\x00CK MFC AT EUR LHD 1.00 1.03 95740-J5000 170822',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x87VCJLE17622572DK0vd6D\x99\x98y\x97vwVffUfvfC%CuT&Dx\x87o\xff{\x1c\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
@@ -716,6 +731,7 @@ FW_VERSIONS = {
b'\xf1\x87VDHLG17118862DK2\x8awWwgu\x96wVfUVwv\x97xWvfvUTGTx\x87o\xff\xc9\xed\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
b'\xf1\x87VDKLJ18675252DK6\x89vhgwwwwveVU\x88w\x87w\x99vgf\x97vXfgw_\xff\xc2\xfb\xf1\x89E25\x00\x00\x00\x00\x00\x00\x00\xf1\x82TCK0T33NB2',
b'\xf1\x87WAJTE17552812CH4vfFffvfVeT5DwvvVVdFeegeg\x88\x88o\xff\x1a]\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00TCK2T20NB1\x19\xd2\x00\x94',
b'\xf1\x87VDHLG17274082DK2wfFf\x89x\x98wUT5T\x88v\x97xgeGefTGTVvO\xff\x1c\x14\xf1\x81E19\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E19\x00\x00\x00\x00\x00\x00\x00SCK0T33UB2\xee[\x97S',
],
},
CAR.PALISADE: {
@@ -810,6 +826,7 @@ FW_VERSIONS = {
b"\xf1\x87LBLUFN622950KF36\xa8\x88\x88\x88\x87w\x87xh\x99\x96\x89\x88\x99\x98\x89\x88\x99\x98\x89\x87o\xf6\xff\x98\x88o\xffx'\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8",
b'\xf1\x87LDMVBN950669KF37\x97www\x96fffy\x99\xa7\x99\xa9\x99\xaa\x99g\x88\x96x\xb8\x8f\xf9\xffTD/\xff\xa7\xcb\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
b'\xf1\x87LDLVAA4478824HH1\x87wwwvfvg\x89\x99\xa8\x99w\x88\x87x\x89\x99\xa8\x99\xa6o\xfa\xfffU/\xffu\x92\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6',
b'\xf1\x87LDMVBN871852KF37\xb9\x99\x99\x99\xa8\x88\x88\x88y\x99\xa7\x99x\x99\xa7\x89\x88\x88\x98\x88\x89o\xf7\xff\xaa\x88o\xff\x0e\xed\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
],
},
CAR.VELOSTER: {
@@ -1010,6 +1027,7 @@ FW_VERSIONS = {
b'\xf1\x00DEev SCC F-CUP 1.00 1.02 96400-Q4000 ',
b'\xf1\x00DEev SCC F-CUP 1.00 1.02 96400-Q4100 ',
b'\xf1\x00DEev SCC F-CUP 1.00 1.03 96400-Q4100 ',
b'\xf1\x00DEev SCC FHCUP 1.00 1.03 96400-Q4000 ',
b'\xf1\x8799110Q4000\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4000 ',
b'\xf1\x8799110Q4100\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4100 ',
b'\xf1\x8799110Q4500\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4500 ',
@@ -1029,9 +1047,10 @@ FW_VERSIONS = {
b'\xf1\x00DEE MFC AT USA LHD 1.00 1.03 95740-Q4000 180821',
b'\xf1\x00DEE MFC AT USA LHD 1.00 1.01 99211-Q4500 210428',
b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.03 95740-Q4000 180821',
b'\xf1\x00DEE MFC AT KOR LHD 1.00 1.03 95740-Q4000 180821',
],
},
CAR.KIA_NIRO_HEV: {
CAR.KIA_NIRO_PHEV: {
(Ecu.engine, 0x7e0, None): [
b'\xf1\x816H6F4051\x00\x00\x00\x00\x00\x00\x00\x00',
b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -1137,11 +1156,13 @@ FW_VERSIONS = {
b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.00 99210-AB000 200819',
b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.03 99210-AA000 200819',
b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.01 99210-AB000 210205',
b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.06 99210-AA000 220111',
],
(Ecu.esp, 0x7d1, None): [
b'\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800',
b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 104 \x08\x03 58910-AA800',
b'\xf1\x8758910-AB800\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800',
b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 105 \x10\x03 58910-AA800',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x00HT6WA280BLHT6VA640A1CCN0N20NS5\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -1156,7 +1177,7 @@ FW_VERSIONS = {
b'\xf1\x82CNCWD0AMFCXCSFFA',
b'\xf1\x82CNCWD0AMFCXCSFFB',
b'\xf1\x82CNCVD0AMFCXCSFFB',
b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82CNDWD0AMFCXCSG8A',
b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_G80',
],
},
CAR.ELANTRA_HEV_2021: {
@@ -1282,6 +1303,21 @@ FW_VERSIONS = {
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.02 99211-GI010 211206',
],
},
CAR.TUCSON_HYBRID_4TH_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00NX4 MDPS C 1.00 1.01 56300-P0100 2228',
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x87391312MND0',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x00PSBG2441 G19_Rev\x00\x00\x00SNX4T16XXHS01NS2lS\xdfa',
b'\xf1\x8795441-3D220\x00\xf1\x81G19_Rev\x00\x00\x00\xf1\x00PSBG2441 G19_Rev\x00\x00\x00SNX4T16XXHS01NS2lS\xdfa',
],
},
}
CHECKSUM = {
@@ -1293,18 +1329,18 @@ FEATURES = {
# which message has the gear
"use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA},
"use_tcu_gears": {CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
"use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022},
"use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022},
# these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
"use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022},
}
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5}
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN}
# The camera does SCC on these cars, rather than the radar
CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019} # these cars use a different gas signal
HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019} # these cars use a different gas signal
EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022}
# these cars require a special panda safety mode due to missing counters and checksums in the messages
@@ -1331,7 +1367,7 @@ DBC = {
CAR.KIA_FORTE: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_K5_2021: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_NIRO_EV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
CAR.KIA_NIRO_HEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
CAR.KIA_NIRO_PHEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
CAR.KIA_NIRO_HEV_2021: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_OPTIMA: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None),
@@ -1352,7 +1388,8 @@ DBC = {
CAR.PALISADE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
CAR.VELOSTER: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_EV6: dbc_dict('kia_ev6', None),
CAR.KIA_EV6: dbc_dict('hyundai_canfd', None),
CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
CAR.IONIQ_5: dbc_dict('kia_ev6', None),
CAR.TUCSON_HYBRID_4TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.IONIQ_5: dbc_dict('hyundai_canfd', None),
}
selfdrive/car/interfaces.py
+4 -1
View File
@@ -9,7 +9,7 @@ from common.basedir import BASEDIR
from common.conversions import Conversions as CV
from common.kalman.simple_kalman import KF1D
from common.realtime import DT_CTRL
from selfdrive.car import gen_empty_fingerprint
from selfdrive.car import create_button_enable_events, gen_empty_fingerprint
from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
from selfdrive.controls.lib.events import Events
from selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -233,6 +233,9 @@ class CarInterfaceBase(ABC):
if self.dragonconf.dpAtl != 1 and cs_out.accFaulted:
events.add(EventName.accFaulted)
# Handle button presses
events.events.extend(create_button_enable_events(cs_out.buttonEvents, pcm_cruise=self.CP.pcmCruise))
# Handle permanent and temporary steering faults
self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
if cs_out.steerFaultTemporary:
selfdrive/car/mazda/values.py
+1 -1
View File
@@ -40,7 +40,7 @@ CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-20"),
CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017-18"),
CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017-20"),
CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-22"),
CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-22", video_link="https://youtu.be/dA3duO4a0O4"),
CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022"),
}
selfdrive/car/subaru/carstate.py
+4 -2
View File
@@ -4,7 +4,7 @@ from opendbc.can.can_define import CANDefine
from common.conversions import Conversions as CV
from selfdrive.car.interfaces import CarStateBase
from opendbc.can.parser import CANParser
from selfdrive.car.subaru.values import DBC, STEER_THRESHOLD, CAR, GLOBAL_GEN2, PREGLOBAL_CARS
from selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS
class CarState(CarStateBase):
@@ -50,7 +50,9 @@ class CarState(CarStateBase):
ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"]
ret.steeringTorque = cp.vl["Steering_Torque"]["Steer_Torque_Sensor"]
ret.steeringTorqueEps = cp.vl["Steering_Torque"]["Steer_Torque_Output"]
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD[self.car_fingerprint]
steer_threshold = 75 if self.CP.carFingerprint in PREGLOBAL_CARS else 80
ret.steeringPressed = abs(ret.steeringTorque) > steer_threshold
cp_cruise = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp
ret.cruiseState.enabled = cp_cruise.vl["CruiseControl"]["Cruise_Activated"] != 0
selfdrive/car/subaru/interface.py
+1 -1
View File
@@ -71,7 +71,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
elif candidate == CAR.OUTBACK:
elif candidate in (CAR.OUTBACK, CAR.LEGACY):
ret.mass = 1568. + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
selfdrive/car/subaru/values.py
+21 -13
View File
@@ -35,6 +35,7 @@ class CAR:
IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020"
FORESTER = "SUBARU FORESTER 2019"
OUTBACK = "SUBARU OUTBACK 6TH GEN"
LEGACY = "SUBARU LEGACY 7TH GEN"
# Pre-global
FORESTER_PREGLOBAL = "SUBARU FORESTER 2017 - 2018"
@@ -52,6 +53,7 @@ class SubaruCarInfo(CarInfo):
CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"),
CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", harness=Harness.subaru_b),
CAR.LEGACY: SubaruCarInfo("Subaru Legacy 2020-22", "All", harness=Harness.subaru_b),
CAR.IMPREZA: [
SubaruCarInfo("Subaru Impreza 2017-19"),
SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
@@ -101,6 +103,23 @@ FW_VERSIONS = {
b'\x01\xfe\xf7\x00\x00',
],
},
CAR.LEGACY: {
(Ecu.esp, 0x7b0, None): [
b'\xa1\\ x04\x01',
],
(Ecu.eps, 0x746, None): [
b'\x9b\xc0\x11\x00',
],
(Ecu.fwdCamera, 0x787, None): [
b'\x00\x00e\x80\x00\x1f@ \x19\x00',
],
(Ecu.engine, 0x7e0, None): [
b'\xde\"a0\x07',
],
(Ecu.transmission, 0x7e1, None): [
b'\xa5\xf6\x05@\x00',
],
},
CAR.IMPREZA: {
(Ecu.esp, 0x7b0, None): [
b'\x7a\x94\x3f\x90\x00',
@@ -448,29 +467,18 @@ FW_VERSIONS = {
},
}
STEER_THRESHOLD = {
CAR.ASCENT: 80,
CAR.IMPREZA: 80,
CAR.IMPREZA_2020: 80,
CAR.FORESTER: 80,
CAR.OUTBACK: 80,
CAR.FORESTER_PREGLOBAL: 75,
CAR.LEGACY_PREGLOBAL: 75,
CAR.OUTBACK_PREGLOBAL: 75,
CAR.OUTBACK_PREGLOBAL_2018: 75,
}
DBC = {
CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None),
CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None),
CAR.IMPREZA_2020: dbc_dict('subaru_global_2017_generated', None),
CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None),
CAR.OUTBACK: dbc_dict('subaru_global_2017_generated', None),
CAR.LEGACY: dbc_dict('subaru_global_2017_generated', None),
CAR.FORESTER_PREGLOBAL: dbc_dict('subaru_forester_2017_generated', None),
CAR.LEGACY_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
CAR.OUTBACK_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None),
}
GLOBAL_GEN2 = (CAR.OUTBACK, )
GLOBAL_GEN2 = (CAR.OUTBACK, CAR.LEGACY)
PREGLOBAL_CARS = (CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018)
selfdrive/car/tests/test_car_interfaces.py
+3 -5
View File
@@ -5,6 +5,7 @@ import importlib
from parameterized import parameterized
from cereal import car
from selfdrive.car import gen_empty_fingerprint
from selfdrive.car.fingerprints import all_known_cars
from selfdrive.car.car_helpers import interfaces
from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS
@@ -19,11 +20,8 @@ class TestCarInterfaces(unittest.TestCase):
fingerprint = {}
CarInterface, CarController, CarState = interfaces[car_name]
fingerprints = {
0: fingerprint,
1: fingerprint,
2: fingerprint,
}
fingerprints = gen_empty_fingerprint()
fingerprints.update({k: fingerprint for k in fingerprints.keys()})
car_fw = []
selfdrive/car/torque_data/override.yaml
+3
View File
@@ -25,6 +25,9 @@ RAM 1500 5TH GEN: [2.0, 2.0, 0.0]
RAM HD 5TH GEN: [1.4, 1.4, 0.0]
SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11]
CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05]
CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112]
VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1]
HYUNDAI TUCSON HYBRID 4TH GEN: [2.5, 2.5, 0.0]
# Dashcam or fallback configured as ideal car
mock: [10.0, 10, 0.0]
selfdrive/car/torque_data/substitute.yaml
+2
View File
@@ -69,6 +69,8 @@ VOLKSWAGEN POLO 6TH GEN: VOLKSWAGEN GOLF 7TH GEN
SEAT LEON 3RD GEN: VOLKSWAGEN GOLF 7TH GEN
SEAT ATECA 1ST GEN: VOLKSWAGEN GOLF 7TH GEN
SUBARU LEGACY 7TH GEN: SUBARU OUTBACK 6TH GEN
# Old subarus don't have much data guessing it's like low torque impreza
SUBARU OUTBACK 2018 - 2019: SUBARU IMPREZA LIMITED 2019
SUBARU OUTBACK 2015 - 2017: SUBARU IMPREZA LIMITED 2019
selfdrive/car/toyota/carstate.py
+24 -17
View File
@@ -162,14 +162,14 @@ class CarState(CarStateBase):
ret.cruiseState.available = cp.vl["PCM_CRUISE_2"]["MAIN_ON"] != 0
ret.cruiseState.speed = cp.vl["PCM_CRUISE_2"]["SET_SPEED"] * CV.KPH_TO_MS
if self.CP.carFingerprint in RADAR_ACC_CAR:
self.acc_type = cp.vl["ACC_CONTROL"]["ACC_TYPE"]
ret.stockFcw = bool(cp.vl["ACC_HUD"]["FCW"])
elif self.CP.carFingerprint in TSS2_CAR:
self.acc_type = cp_cam.vl["ACC_CONTROL"]["ACC_TYPE"]
ret.stockFcw = bool(cp_cam.vl["ACC_HUD"]["FCW"])
cp_acc = cp_cam if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) else cp
# KRKeegan - Add support for toyota distance button
if self.CP.carFingerprint in (TSS2_CAR | RADAR_ACC_CAR):
self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"]
ret.stockFcw = bool(cp_acc.vl["ACC_HUD"]["FCW"])
# KRKeegan - Add support for toyota distance button
if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
self.distance_btn = 1 if cp_cam.vl["ACC_CONTROL"]["DISTANCE"] == 1 else 0
ret.distanceLines = cp.vl["PCM_CRUISE_SM"]["DISTANCE_LINES"]
@@ -192,10 +192,11 @@ class CarState(CarStateBase):
ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] in (1, 2, 3, 4, 5, 6)
ret.genericToggle = bool(cp.vl["LIGHT_STALK"]["AUTO_HIGH_BEAM"])
ret.stockAeb = bool(cp_cam.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_cam.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0
if not self.CP.enableDsu:
ret.stockAeb = bool(cp_acc.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_acc.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
if self.CP.enableBsm:
ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1)
ret.rightBlindspot = (cp.vl["BSM"]["R_ADJACENT"] == 1) or (cp.vl["BSM"]["R_APPROACHING"] == 1)
@@ -393,17 +394,21 @@ class CarState(CarStateBase):
signals.append(("DISTANCE_LINES", "PCM_CRUISE_SM"))
checks.append(("PCM_CRUISE_SM", 0))
if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu:
signals += [
("FORCE", "PRE_COLLISION"),
("PRECOLLISION_ACTIVE", "PRE_COLLISION"),
]
checks += [
("PRE_COLLISION", 33),
]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
@staticmethod
def get_cam_can_parser(CP):
signals = [
("FORCE", "PRE_COLLISION"),
("PRECOLLISION_ACTIVE", "PRE_COLLISION"),
]
# Include traffic singal signals.
signals += [
signals = [
("TSGN1", "RSA1", 0),
("SPDVAL1", "RSA1", 0),
("SPLSGN1", "RSA1", 0),
@@ -417,18 +422,20 @@ class CarState(CarStateBase):
# use steering message to check if panda is connected to frc
checks = [
("STEERING_LKA", 42),
("RSA1", 0),
("RSA2", 0),
("PRE_COLLISION", 0), # TODO: figure out why freq is inconsistent
]
if CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
signals += [
("PRECOLLISION_ACTIVE", "PRE_COLLISION"),
("FORCE", "PRE_COLLISION"),
("ACC_TYPE", "ACC_CONTROL"),
("FCW", "ACC_HUD"),
]
checks += [
("PRE_COLLISION", 33),
("ACC_CONTROL", 33),
("ACC_HUD", 1),
]
selfdrive/car/toyota/values.py
+6 -3
View File
@@ -6,7 +6,7 @@ from typing import Dict, List, Union
from cereal import car
from common.conversions import Conversions as CV
from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness, Star
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
Ecu = car.CarParams.Ecu
MIN_ACC_SPEED = 19. * CV.MPH_TO_MS
@@ -90,7 +90,7 @@ class Footnote(Enum):
DSU = CarFootnote(
"When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace " +
"stock Adaptive Cruise Control (ACC). <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b>",
Column.LONGITUDINAL, star=Star.HALF)
Column.LONGITUDINAL)
CAMRY = CarFootnote(
"openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.",
Column.FSR_LONGITUDINAL)
@@ -115,7 +115,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
CAR.AVALON_TSS2: ToyotaCarInfo("Toyota Avalon 2022"),
CAR.AVALONH_TSS2: ToyotaCarInfo("Toyota Avalon Hybrid 2022"),
CAR.CAMRY: ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
CAR.CAMRYH: ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk", footnotes=[Footnote.CAMRY]),
CAR.CAMRYH: ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"),
CAR.CAMRY_TSS2: ToyotaCarInfo("Toyota Camry 2021-22", footnotes=[Footnote.CAMRY]),
CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-22"),
CAR.CHR: ToyotaCarInfo("Toyota C-HR 2017-21"),
@@ -689,6 +689,7 @@ FW_VERSIONS = {
b'\x01896630ZP2000\x00\x00\x00\x00',
b'\x01896630ZQ5000\x00\x00\x00\x00',
b'\x01896630ZU9000\x00\x00\x00\x00',
b'\x01896630ZX4000\x00\x00\x00\x00',
b'\x018966312L8000\x00\x00\x00\x00',
b'\x018966312M0000\x00\x00\x00\x00',
b'\x018966312M9000\x00\x00\x00\x00',
@@ -784,6 +785,7 @@ FW_VERSIONS = {
b'\x01896637626000\x00\x00\x00\x00',
b'\x01896637648000\x00\x00\x00\x00',
b'\x01896637643000\x00\x00\x00\x00',
b'\x02896630A21000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
b'\x02896630ZJ5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
b'\x02896630ZN8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
b'\x02896630ZQ3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
@@ -828,6 +830,7 @@ FW_VERSIONS = {
b'F152612A10\x00\x00\x00\x00\x00\x00',
b'F152612D00\x00\x00\x00\x00\x00\x00',
b'F152616011\x00\x00\x00\x00\x00\x00',
b'F152616060\x00\x00\x00\x00\x00\x00',
b'F152642540\x00\x00\x00\x00\x00\x00',
b'F152676293\x00\x00\x00\x00\x00\x00',
b'F152676303\x00\x00\x00\x00\x00\x00',
selfdrive/car/volkswagen/carcontroller.py
+18 -3
View File
@@ -1,8 +1,10 @@
from cereal import car
from opendbc.can.packer import CANPacker
from common.numpy_fast import clip
from common.conversions import Conversions as CV
from selfdrive.car import apply_std_steer_torque_limits
from selfdrive.car.volkswagen import mqbcan
from selfdrive.car.volkswagen.values import CANBUS, CarControllerParams
from selfdrive.car.volkswagen import mqbcan, pqcan
from selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams
VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -11,7 +13,7 @@ class CarController:
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.CCP = CarControllerParams(CP)
self.CCS = mqbcan
self.CCS = pqcan if CP.carFingerprint in PQ_CARS else mqbcan
self.packer_pt = CANPacker(dbc_name)
self.apply_steer_last = 0
@@ -65,6 +67,13 @@ class CarController:
self.apply_steer_last = apply_steer
can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hcaEnabled))
# **** Acceleration Controls ******************************************** #
if self.frame % self.CCP.ACC_CONTROL_STEP == 0 and self.CP.openpilotLongitudinalControl:
tsk_status = self.CCS.tsk_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0
can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, tsk_status, accel))
# **** HUD Controls ***************************************************** #
if self.frame % self.CCP.LDW_STEP == 0:
@@ -74,6 +83,12 @@ class CarController:
can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, CANBUS.pt, CS.ldw_stock_values, CC.enabled,
CS.out.steeringPressed, hud_alert, hud_control))
if self.frame % self.CCP.ACC_HUD_STEP == 0 and self.CP.openpilotLongitudinalControl:
acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
set_speed = hud_control.setSpeed * CV.MS_TO_KPH # FIXME: follow the recent displayed-speed updates, also use mph_kmh toggle to fix display rounding problem?
can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, CANBUS.pt, acc_hud_status, set_speed,
hud_control.leadVisible))
# **** Stock ACC Button Controls **************************************** #
if self.CP.pcmCruise and self.frame % self.CCP.GRA_ACC_STEP == 0:
selfdrive/car/volkswagen/carstate.py
+246 -1
View File
@@ -3,7 +3,7 @@ from cereal import car
from common.conversions import Conversions as CV
from selfdrive.car.interfaces import CarStateBase
from opendbc.can.parser import CANParser
from selfdrive.car.volkswagen.values import DBC, CANBUS, NetworkLocation, TransmissionType, GearShifter, \
from selfdrive.car.volkswagen.values import DBC, CANBUS, PQ_CARS, NetworkLocation, TransmissionType, GearShifter, \
CarControllerParams
@@ -28,6 +28,9 @@ class CarState(CarStateBase):
return button_events
def update(self, pt_cp, cam_cp, ext_cp, trans_type):
if self.CP.carFingerprint in PQ_CARS:
return self.update_pq(pt_cp, cam_cp, ext_cp, trans_type)
ret = car.CarState.new_message()
# Update vehicle speed and acceleration from ABS wheel speeds.
ret.wheelSpeeds = self.get_wheel_speeds(
@@ -136,8 +139,111 @@ class CarState(CarStateBase):
ret.cruiseActualEnabled = ret.cruiseState.enabled
return ret
def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type):
ret = car.CarState.new_message()
# Update vehicle speed and acceleration from ABS wheel speeds.
ret.wheelSpeeds = self.get_wheel_speeds(
pt_cp.vl["Bremse_3"]["Radgeschw__VL_4_1"],
pt_cp.vl["Bremse_3"]["Radgeschw__VR_4_1"],
pt_cp.vl["Bremse_3"]["Radgeschw__HL_4_1"],
pt_cp.vl["Bremse_3"]["Radgeschw__HR_4_1"],
)
# vEgo obtained from Bremse_1 vehicle speed rather than Bremse_3 wheel speeds because Bremse_3 isn't present on NSF
ret.vEgoRaw = pt_cp.vl["Bremse_1"]["Geschwindigkeit_neu__Bremse_1_"] * CV.KPH_TO_MS
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = ret.vEgo < 0.1
# Update steering angle, rate, yaw rate, and driver input torque. VW send
# the sign/direction in a separate signal so they must be recombined.
ret.steeringAngleDeg = pt_cp.vl["Lenkhilfe_3"]["LH3_BLW"] * (1, -1)[int(pt_cp.vl["Lenkhilfe_3"]["LH3_BLWSign"])]
ret.steeringRateDeg = pt_cp.vl["Lenkwinkel_1"]["Lenkradwinkel_Geschwindigkeit"] * (1, -1)[int(pt_cp.vl["Lenkwinkel_1"]["Lenkradwinkel_Geschwindigkeit_S"])]
ret.steeringTorque = pt_cp.vl["Lenkhilfe_3"]["LH3_LM"] * (1, -1)[int(pt_cp.vl["Lenkhilfe_3"]["LH3_LMSign"])]
ret.steeringPressed = abs(ret.steeringTorque) > self.CCP.STEER_DRIVER_ALLOWANCE
ret.yawRate = pt_cp.vl["Bremse_5"]["Giergeschwindigkeit"] * (1, -1)[int(pt_cp.vl["Bremse_5"]["Vorzeichen_der_Giergeschwindigk"])] * CV.DEG_TO_RAD
# Verify EPS readiness to accept steering commands
hca_status = self.CCP.hca_status_values.get(pt_cp.vl["Lenkhilfe_2"]["LH2_Sta_HCA"])
ret.steerFaultPermanent = hca_status in ("DISABLED", "FAULT")
ret.steerFaultTemporary = hca_status in ("INITIALIZING", "REJECTED")
# Update gas, brakes, and gearshift.
ret.gas = pt_cp.vl["Motor_3"]["Fahrpedal_Rohsignal"] / 100.0
ret.gasPressed = ret.gas > 0
ret.brake = pt_cp.vl["Bremse_5"]["Bremsdruck"] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects
ret.brakePressed = bool(pt_cp.vl["Motor_2"]["Bremstestschalter"])
ret.parkingBrake = bool(pt_cp.vl["Kombi_1"]["Bremsinfo"])
# Update gear and/or clutch position data.
if trans_type == TransmissionType.automatic:
ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_1"]["Waehlhebelposition__Getriebe_1_"], None))
elif trans_type == TransmissionType.manual:
ret.clutchPressed = not pt_cp.vl["Motor_1"]["Kupplungsschalter"]
reverse_light = bool(pt_cp.vl["Gate_Komf_1"]["GK1_Rueckfahr"])
if reverse_light:
ret.gearShifter = GearShifter.reverse
else:
ret.gearShifter = GearShifter.drive
# Update door and trunk/hatch lid open status.
ret.doorOpen = any([pt_cp.vl["Gate_Komf_1"]["GK1_Fa_Tuerkont"],
pt_cp.vl["Gate_Komf_1"]["BSK_BT_geoeffnet"],
pt_cp.vl["Gate_Komf_1"]["BSK_HL_geoeffnet"],
pt_cp.vl["Gate_Komf_1"]["BSK_HR_geoeffnet"],
pt_cp.vl["Gate_Komf_1"]["BSK_HD_Hauptraste"]])
# Update seatbelt fastened status.
ret.seatbeltUnlatched = not bool(pt_cp.vl["Airbag_1"]["Gurtschalter_Fahrer"])
# Consume blind-spot monitoring info/warning LED states, if available.
# Infostufe: BSM LED on, Warnung: BSM LED flashing
if self.CP.enableBsm:
ret.leftBlindspot = bool(ext_cp.vl["SWA_1"]["SWA_Infostufe_SWA_li"]) or bool(ext_cp.vl["SWA_1"]["SWA_Warnung_SWA_li"])
ret.rightBlindspot = bool(ext_cp.vl["SWA_1"]["SWA_Infostufe_SWA_re"]) or bool(ext_cp.vl["SWA_1"]["SWA_Warnung_SWA_re"])
# Consume factory LDW data relevant for factory SWA (Lane Change Assist)
# and capture it for forwarding to the blind spot radar controller
self.ldw_stock_values = cam_cp.vl["LDW_Status"] if self.CP.networkLocation == NetworkLocation.fwdCamera else {}
# Stock FCW is considered active if the release bit for brake-jerk warning
# is set. Stock AEB considered active if the partial braking or target
# braking release bits are set.
# Refer to VW Self Study Program 890253: Volkswagen Driver Assistance
# Systems, chapters on Front Assist with Braking and City Emergency
# Braking for the 2016 Passat NMS
# TODO: deferred until we can collect data on pre-MY2016 behavior, AWV message may be shorter with fewer signals
ret.stockFcw = False
ret.stockAeb = False
# Update ACC radar status.
ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"])
ret.cruiseState.enabled = bool(pt_cp.vl["Motor_2"]["GRA_Status"])
if self.CP.pcmCruise:
ret.accFaulted = ext_cp.vl["ACC_GRA_Anziege"]["ACA_StaACC"] in (6, 7)
# TODO: update opendbc with PQ TSK state for OP long accFaulted
# Update ACC setpoint. When the setpoint reads as 255, the driver has not
# yet established an ACC setpoint, so treat it as zero.
ret.cruiseState.speed = ext_cp.vl["ACC_GRA_Anziege"]["ACA_V_Wunsch"] * CV.KPH_TO_MS
if ret.cruiseState.speed > 70: # 255 kph in m/s == no current setpoint
ret.cruiseState.speed = 0
# Update button states for turn signals and ACC controls, capture all ACC button state/config for passthrough
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(300, pt_cp.vl["Gate_Komf_1"]["GK1_Blinker_li"],
pt_cp.vl["Gate_Komf_1"]["GK1_Blinker_re"])
ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS)
self.gra_stock_values = pt_cp.vl["GRA_Neu"]
# Additional safety checks performed in CarInterface.
ret.espDisabled = bool(pt_cp.vl["Bremse_1"]["ESP_Passiv_getastet"])
return ret
@staticmethod
def get_can_parser(CP):
if CP.carFingerprint in PQ_CARS:
return CarState.get_can_parser_pq(CP)
signals = [
# sig_name, sig_address
("LWI_Lenkradwinkel", "LWI_01"), # Absolute steering angle
@@ -223,6 +329,9 @@ class CarState(CarStateBase):
@staticmethod
def get_cam_can_parser(CP):
if CP.carFingerprint in PQ_CARS:
return CarState.get_cam_can_parser_pq(CP)
signals = []
checks = []
@@ -249,6 +358,123 @@ class CarState(CarStateBase):
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.cam)
@staticmethod
def get_can_parser_pq(CP):
signals = [
# sig_name, sig_address, default
("LH3_BLW", "Lenkhilfe_3"), # Absolute steering angle
("LH3_BLWSign", "Lenkhilfe_3"), # Steering angle sign
("LH3_LM", "Lenkhilfe_3"), # Absolute driver torque input
("LH3_LMSign", "Lenkhilfe_3"), # Driver torque input sign
("LH2_Sta_HCA", "Lenkhilfe_2"), # Steering rack HCA status
("Lenkradwinkel_Geschwindigkeit", "Lenkwinkel_1"), # Absolute steering rate
("Lenkradwinkel_Geschwindigkeit_S", "Lenkwinkel_1"), # Steering rate sign
("Geschwindigkeit_neu__Bremse_1_", "Bremse_1"), # Vehicle speed from ABS
("Radgeschw__VL_4_1", "Bremse_3"), # ABS wheel speed, front left
("Radgeschw__VR_4_1", "Bremse_3"), # ABS wheel speed, front right
("Radgeschw__HL_4_1", "Bremse_3"), # ABS wheel speed, rear left
("Radgeschw__HR_4_1", "Bremse_3"), # ABS wheel speed, rear right
("Giergeschwindigkeit", "Bremse_5"), # Absolute yaw rate
("Vorzeichen_der_Giergeschwindigk", "Bremse_5"), # Yaw rate sign
("Gurtschalter_Fahrer", "Airbag_1"), # Seatbelt status, driver
("Gurtschalter_Beifahrer", "Airbag_1"), # Seatbelt status, passenger
("Bremstestschalter", "Motor_2"), # Brake pedal pressed (brake light test switch)
("Bremslichtschalter", "Motor_2"), # Brakes applied (brake light switch)
("Bremsdruck", "Bremse_5"), # Brake pressure applied
("Vorzeichen_Bremsdruck", "Bremse_5"), # Brake pressure applied sign (???)
("Fahrpedal_Rohsignal", "Motor_3"), # Accelerator pedal value
("ESP_Passiv_getastet", "Bremse_1"), # Stability control disabled
("GRA_Hauptschalter", "Motor_5"), # ACC main switch
("GRA_Status", "Motor_2"), # ACC engagement status
("GK1_Fa_Tuerkont", "Gate_Komf_1"), # Door open, driver
("BSK_BT_geoeffnet", "Gate_Komf_1"), # Door open, passenger
("BSK_HL_geoeffnet", "Gate_Komf_1"), # Door open, rear left
("BSK_HR_geoeffnet", "Gate_Komf_1"), # Door open, rear right
("BSK_HD_Hauptraste", "Gate_Komf_1"), # Trunk or hatch open
("GK1_Blinker_li", "Gate_Komf_1"), # Left turn signal on
("GK1_Blinker_re", "Gate_Komf_1"), # Right turn signal on
("Bremsinfo", "Kombi_1"), # Manual handbrake applied
("GRA_Hauptschalt", "GRA_Neu"), # ACC button, on/off
("GRA_Typ_Hauptschalt", "GRA_Neu"), # ACC button, momentary vs latching
("GRA_Kodierinfo", "GRA_Neu"), # ACC button, configuration
("GRA_Abbrechen", "GRA_Neu"), # ACC button, cancel
("GRA_Neu_Setzen", "GRA_Neu"), # ACC button, set
("GRA_Up_lang", "GRA_Neu"), # ACC button, increase or accel, long press
("GRA_Down_lang", "GRA_Neu"), # ACC button, decrease or decel, long press
("GRA_Up_kurz", "GRA_Neu"), # ACC button, increase or accel, short press
("GRA_Down_kurz", "GRA_Neu"), # ACC button, decrease or decel, short press
("GRA_Recall", "GRA_Neu"), # ACC button, resume
("GRA_Zeitluecke", "GRA_Neu"), # ACC button, time gap adj
("COUNTER", "GRA_Neu"), # ACC button, message counter
("GRA_Sender", "GRA_Neu"), # ACC button, CAN message originator
]
checks = [
# sig_address, frequency
("Bremse_1", 100), # From J104 ABS/ESP controller
("Bremse_3", 100), # From J104 ABS/ESP controller
("Lenkhilfe_3", 100), # From J500 Steering Assist with integrated sensors
("Lenkwinkel_1", 100), # From J500 Steering Assist with integrated sensors
("Motor_3", 100), # From J623 Engine control module
("Airbag_1", 50), # From J234 Airbag control module
("Bremse_5", 50), # From J104 ABS/ESP controller
("GRA_Neu", 50), # From J??? steering wheel control buttons
("Kombi_1", 50), # From J285 Instrument cluster
("Motor_2", 50), # From J623 Engine control module
("Motor_5", 50), # From J623 Engine control module
("Lenkhilfe_2", 20), # From J500 Steering Assist with integrated sensors
("Gate_Komf_1", 10), # From J533 CAN gateway
]
if CP.transmissionType == TransmissionType.automatic:
signals += [("Waehlhebelposition__Getriebe_1_", "Getriebe_1", 0)] # Auto trans gear selector position
checks += [("Getriebe_1", 100)] # From J743 Auto transmission control module
elif CP.transmissionType == TransmissionType.manual:
signals += [("Kupplungsschalter", "Motor_1", 0), # Clutch switch
("GK1_Rueckfahr", "Gate_Komf_1", 0)] # Reverse light from BCM
checks += [("Motor_1", 100)] # From J623 Engine control module
if CP.networkLocation == NetworkLocation.fwdCamera:
# Extended CAN devices other than the camera are here on CANBUS.pt
signals += PqExtraSignals.fwd_radar_signals
checks += PqExtraSignals.fwd_radar_checks
if CP.enableBsm:
signals += PqExtraSignals.bsm_radar_signals
checks += PqExtraSignals.bsm_radar_checks
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.pt)
@staticmethod
def get_cam_can_parser_pq(CP):
signals = []
checks = []
if CP.networkLocation == NetworkLocation.fwdCamera:
signals += [
# sig_name, sig_address
("LDW_SW_Warnung_links", "LDW_Status"), # Blind spot in warning mode on left side due to lane departure
("LDW_SW_Warnung_rechts", "LDW_Status"), # Blind spot in warning mode on right side due to lane departure
("LDW_Seite_DLCTLC", "LDW_Status"), # Direction of most likely lane departure (left or right)
("LDW_DLC", "LDW_Status"), # Lane departure, distance to line crossing
("LDW_TLC", "LDW_Status"), # Lane departure, time to line crossing
]
checks += [
# sig_address, frequency
("LDW_Status", 10) # From R242 Driver assistance camera
]
if CP.networkLocation == NetworkLocation.gateway:
# Radars are here on CANBUS.cam
signals += PqExtraSignals.fwd_radar_signals
checks += PqExtraSignals.fwd_radar_checks
if CP.enableBsm:
signals += PqExtraSignals.bsm_radar_signals
checks += PqExtraSignals.bsm_radar_checks
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.cam)
class MqbExtraSignals:
# Additional signal and message lists for optional or bus-portable controllers
fwd_radar_signals = [
@@ -270,3 +496,22 @@ class MqbExtraSignals:
bsm_radar_checks = [
("SWA_01", 20), # From J1086 Lane Change Assist
]
class PqExtraSignals:
# Additional signal and message lists for optional or bus-portable controllers
fwd_radar_signals = [
("ACA_StaACC", "ACC_GRA_Anziege", 0), # ACC drivetrain coordinator status
("ACA_V_Wunsch", "ACC_GRA_Anziege", 0), # ACC set speed
]
fwd_radar_checks = [
("ACC_GRA_Anziege", 25), # From J428 ACC radar control module
]
bsm_radar_signals = [
("SWA_Infostufe_SWA_li", "SWA_1", 0), # Blind spot object info, left
("SWA_Warnung_SWA_li", "SWA_1", 0), # Blind spot object warning, left
("SWA_Infostufe_SWA_re", "SWA_1", 0), # Blind spot object info, right
("SWA_Warnung_SWA_re", "SWA_1", 0), # Blind spot object warning, right
]
bsm_radar_checks = [
("SWA_1", 20), # From J1086 Lane Change Assist
]
selfdrive/car/volkswagen/interface.py
+42 -5
View File
@@ -1,9 +1,10 @@
from cereal import car
from selfdrive.car import STD_CARGO_KG, create_button_enable_events, scale_rot_inertia, scale_tire_stiffness, \
from panda import Panda
from common.conversions import Conversions as CV
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, \
gen_empty_fingerprint, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, GearShifter
from selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter
EventName = car.CarEvent.EventName
@@ -25,7 +26,36 @@ class CarInterface(CarInterfaceBase):
ret.carName = "volkswagen"
ret.radarOffCan = True
if True: # pylint: disable=using-constant-test
if candidate in PQ_CARS:
# Set global PQ35/PQ46/NMS parameters
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagenPq)]
ret.enableBsm = 0x3BA in fingerprint[0] # SWA_1
if 0x440 in fingerprint[0]: # Getriebe_1
ret.transmissionType = TransmissionType.automatic
else:
ret.transmissionType = TransmissionType.manual
if any(msg in fingerprint[1] for msg in (0x1A0, 0xC2)): # Bremse_1, Lenkwinkel_1
ret.networkLocation = NetworkLocation.gateway
else:
ret.networkLocation = NetworkLocation.fwdCamera
# The PQ port is in dashcam-only mode due to a fixed six-minute maximum timer on HCA steering. An unsupported
# EPS flash update to work around this timer, and enable steering down to zero, is available from:
# https://github.com/pd0wm/pq-flasher
# It is documented in a four-part blog series:
# https://blog.willemmelching.nl/carhacking/2022/01/02/vw-part1/
# Panda ALLOW_DEBUG firmware required.
ret.dashcamOnly = True
if disable_radar and ret.networkLocation == NetworkLocation.gateway:
# Proof-of-concept, prep for E2E only. No radar points available. Follow-to-stop not yet supported, but should
# be simple to add when a suitable test car becomes available. Panda ALLOW_DEBUG firmware required.
ret.openpilotLongitudinalControl = True
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONG_CONTROL
else:
# Set global MQB parameters
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagen)]
ret.enableBsm = 0x30F in fingerprint[0] # SWA_01
@@ -83,6 +113,14 @@ class CarInterface(CarInterfaceBase):
ret.mass = 1551 + STD_CARGO_KG
ret.wheelbase = 2.79
elif candidate == CAR.PASSAT_NMS:
ret.mass = 1503 + STD_CARGO_KG
ret.wheelbase = 2.80
ret.minEnableSpeed = 20 * CV.KPH_TO_MS # ACC "basic", no FtS
ret.minSteerSpeed = 50 * CV.KPH_TO_MS
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.POLO_MK6:
ret.mass = 1230 + STD_CARGO_KG
ret.wheelbase = 2.55
@@ -189,7 +227,6 @@ class CarInterface(CarInterfaceBase):
if c.enabled and ret.vEgo < self.CP.minEnableSpeed:
events.add(EventName.speedTooLow)
events.events.extend(create_button_enable_events(ret.buttonEvents, pcm_cruise=self.CP.pcmCruise))
ret.events = events.to_msg()
return ret
selfdrive/car/volkswagen/pqcan.py
+84
View File
@@ -0,0 +1,84 @@
def create_steering_control(packer, bus, apply_steer, lkas_enabled):
values = {
"LM_Offset": abs(apply_steer),
"LM_OffSign": 1 if apply_steer < 0 else 0,
"HCA_Status": 5 if (lkas_enabled and apply_steer != 0) else 3,
"Vib_Freq": 16,
}
return packer.make_can_msg("HCA_1", bus, values)
def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control):
values = ldw_stock_values.copy()
values.update({
"LDW_Lampe_gelb": 1 if enabled and steering_pressed else 0,
"LDW_Lampe_gruen": 1 if enabled and not steering_pressed else 0,
"LDW_Lernmodus_links": 3 if hud_control.leftLaneDepart else 1 + hud_control.leftLaneVisible,
"LDW_Lernmodus_rechts": 3 if hud_control.rightLaneDepart else 1 + hud_control.rightLaneVisible,
"LDW_Textbits": hud_alert,
})
return packer.make_can_msg("LDW_Status", bus, values)
def create_acc_buttons_control(packer, bus, gra_stock_values, idx, cancel=False, resume=False):
values = gra_stock_values.copy()
values.update({
"COUNTER": idx,
"GRA_Abbrechen": cancel,
"GRA_Recall": resume,
})
return packer.make_can_msg("GRA_Neu", bus, values)
def tsk_status_value(main_switch_on, acc_faulted, long_active):
if long_active:
tsk_status = 1
elif main_switch_on:
tsk_status = 2
else:
tsk_status = 0
return tsk_status
def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
if acc_faulted:
hud_status = 6
elif long_active:
hud_status = 3
elif main_switch_on:
hud_status = 2
else:
hud_status = 0
return hud_status
def create_acc_accel_control(packer, bus, adr_status, accel):
values = {
"ACS_Sta_ADR": adr_status,
"ACS_StSt_Info": adr_status != 1,
"ACS_Typ_ACC": 0, # TODO: this is ACC "basic", find a way to detect FtS support (1)
"ACS_Sollbeschl": accel if adr_status == 1 else 3.01,
"ACS_zul_Regelabw": 0.2 if adr_status == 1 else 1.27,
"ACS_max_AendGrad": 3.0 if adr_status == 1 else 5.08,
}
return packer.make_can_msg("ACC_System", bus, values)
def create_acc_hud_control(packer, bus, acc_status, set_speed, lead_visible):
values = {
"ACA_StaACC": acc_status,
"ACA_Zeitluecke": 2,
"ACA_V_Wunsch": set_speed,
"ACA_gemZeitl": 8 if lead_visible else 0,
}
# TODO: ACA_ID_StaACC, ACA_AnzDisplay, ACA_kmh_mph, ACA_PrioDisp, ACA_Aend_Zeitluecke
return packer.make_can_msg("ACC_GRA_Anziege", bus, values)
selfdrive/car/volkswagen/values.py
+61 -1
View File
@@ -18,6 +18,11 @@ Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
class CarControllerParams:
HCA_STEP = 2 # HCA_01/HCA_1 message frequency 50Hz
GRA_ACC_STEP = 3 # GRA_ACC_01/GRA_Neu message frequency 33Hz
ACC_CONTROL_STEP = 2 # ACC_06/ACC_07/ACC_System frequency 50Hz
ACC_HUD_STEP = 4 # ACC_GRA_Anziege frequency 25Hz
ACCEL_MAX = 2.0 # 2.0 m/s max acceleration
ACCEL_MIN = -3.5 # 3.5 m/s max deceleration
def __init__(self, CP):
# Documented lateral limits: 3.00 Nm max, rate of change 5.00 Nm/sec.
@@ -29,7 +34,35 @@ class CarControllerParams:
can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
if True: # pylint: disable=using-constant-test
if CP.carFingerprint in PQ_CARS:
self.LDW_STEP = 5 # LDW_1 message frequency 20Hz
self.STEER_DRIVER_ALLOWANCE = 80 # Driver intervention threshold 0.8 Nm
self.STEER_DELTA_UP = 6 # Max HCA reached in 1.00s (STEER_MAX / (50Hz * 1.00))
self.STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
if CP.transmissionType == TransmissionType.automatic:
self.shifter_values = can_define.dv["Getriebe_1"]["Waehlhebelposition__Getriebe_1_"]
self.hca_status_values = can_define.dv["Lenkhilfe_2"]["LH2_Sta_HCA"]
self.BUTTONS = [
Button(car.CarState.ButtonEvent.Type.setCruise, "GRA_Neu", "GRA_Neu_Setzen", [1]),
Button(car.CarState.ButtonEvent.Type.resumeCruise, "GRA_Neu", "GRA_Recall", [1]),
Button(car.CarState.ButtonEvent.Type.accelCruise, "GRA_Neu", "GRA_Up_kurz", [1]),
Button(car.CarState.ButtonEvent.Type.decelCruise, "GRA_Neu", "GRA_Down_kurz", [1]),
Button(car.CarState.ButtonEvent.Type.cancel, "GRA_Neu", "GRA_Abbrechen", [1]),
Button(car.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_Neu", "GRA_Zeitluecke", [1]),
]
self.LDW_MESSAGES = {
"none": 0, # Nothing to display
"laneAssistUnavail": 1, # "Lane Assist currently not available."
"laneAssistUnavailSysError": 2, # "Lane Assist system error"
"laneAssistUnavailNoSensorView": 3, # "Lane Assist not available. No sensor view."
"laneAssistTakeOver": 4, # "Lane Assist: Please Take Over Steering"
"laneAssistDeactivTrailer": 5, # "Lane Assist: no function with trailer"
}
else:
self.LDW_STEP = 10 # LDW_02 message frequency 10Hz
self.STEER_DRIVER_ALLOWANCE = 80 # Driver intervention threshold 0.8 Nm
self.STEER_DELTA_UP = 4 # Max HCA reached in 1.50s (STEER_MAX / (50Hz * 1.50))
@@ -79,6 +112,7 @@ class CAR:
GOLF_MK7 = "VOLKSWAGEN GOLF 7TH GEN" # Chassis 5G/AU/BA/BE, Mk7 VW Golf and variants
JETTA_MK7 = "VOLKSWAGEN JETTA 7TH GEN" # Chassis BU, Mk7 VW Jetta
PASSAT_MK8 = "VOLKSWAGEN PASSAT 8TH GEN" # Chassis 3G, Mk8 VW Passat and variants
PASSAT_NMS = "VOLKSWAGEN PASSAT NMS" # Chassis A3, North America/China/Mideast NMS Passat, incl. facelift
POLO_MK6 = "VOLKSWAGEN POLO 6TH GEN" # Chassis AW, Mk6 VW Polo
TAOS_MK1 = "VOLKSWAGEN TAOS 1ST GEN" # Chassis B2, Mk1 VW Taos and Tharu
TCROSS_MK1 = "VOLKSWAGEN T-CROSS 1ST GEN" # Chassis C1, Mk1 VW T-Cross SWB and LWB variants
@@ -99,7 +133,12 @@ class CAR:
SKODA_OCTAVIA_MK3 = "SKODA OCTAVIA 3RD GEN" # Chassis NE, Mk3 Skoda Octavia and variants
PQ_CARS = {CAR.PASSAT_NMS}
DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("vw_mqb_2010", None))
for car_type in PQ_CARS:
DBC[car_type] = dbc_dict("vw_golf_mk4", None)
class Footnote(Enum):
@@ -160,6 +199,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
VWCarInfo("Volkswagen Passat Alltrack 2015-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
VWCarInfo("Volkswagen Passat GTE 2015-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533),
],
CAR.PASSAT_NMS: VWCarInfo("Volkswagen Passat NMS 2017-22", harness=Harness.j533),
CAR.POLO_MK6: [
VWCarInfo("Volkswagen Polo 2020-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
VWCarInfo("Volkswagen Polo GTI 2020-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
@@ -514,6 +554,26 @@ FW_VERSIONS = {
b'\xf1\x875Q0907572R \xf1\x890771',
],
},
CAR.PASSAT_NMS: {
(Ecu.engine, 0x7e0, None): [
b'\xf1\x8706K906016C \xf1\x899609',
b'\xf1\x8706K906016G \xf1\x891124',
b'\xf1\x8706K906071BJ\xf1\x894891',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x8709G927158AB\xf1\x893318',
b'\xf1\x8709G927158BD\xf1\x893121',
b'\xf1\x8709G927158FQ\xf1\x893745',
],
(Ecu.srs, 0x715, None): [
b'\xf1\x87561959655 \xf1\x890210\xf1\x82\02212121111113000102011--121012--101312',
b'\xf1\x87561959655C \xf1\x890508\xf1\x82\02215141111121100314919--153015--304831',
],
(Ecu.fwdRadar, 0x757, None): [
b'\xf1\x87561907567A \xf1\x890132',
b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\00152',
],
},
CAR.POLO_MK6: {
(Ecu.engine, 0x7e0, None): [
b'\xf1\x8704C906025H \xf1\x895177',
selfdrive/controls/controlsd.py
+44 -20
View File
@@ -16,7 +16,7 @@ from system.version import get_short_branch
from selfdrive.boardd.boardd import can_list_to_can_capnp
from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
from selfdrive.controls.lib.lane_planner import CAMERA_OFFSET
from selfdrive.controls.lib.drive_helpers import update_v_cruise, initialize_v_cruise
from selfdrive.controls.lib.drive_helpers import V_CRUISE_INITIAL, update_v_cruise, initialize_v_cruise
from selfdrive.controls.lib.drive_helpers import get_lag_adjusted_curvature
from selfdrive.controls.lib.latcontrol import LatControl
from selfdrive.controls.lib.longcontrol import LongControl
@@ -51,6 +51,7 @@ LaneChangeState = log.LateralPlan.LaneChangeState
LaneChangeDirection = log.LateralPlan.LaneChangeDirection
EventName = car.CarEvent.EventName
ButtonEvent = car.CarState.ButtonEvent
ButtonType = car.CarState.ButtonEvent.Type
SafetyModel = car.CarParams.SafetyModel
IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
@@ -114,6 +115,9 @@ class Controls:
# dp
self.sm['dragonConf'].dpAtl = int(Params().get('dp_atl', encoding='utf8'))
self.sm['dragonConf'].dpCameraOffset = CAMERA_OFFSET * 100 # 0.04 x 100 = 4
self.dp_camera_offset_last = None
self.camera_offset = CAMERA_OFFSET
# set alternative experiences from parameters
self.disengage_on_accelerator = params.get_bool("DisengageOnAccelerator")
@@ -175,8 +179,8 @@ class Controls:
self.active = False
self.can_rcv_error = False
self.soft_disable_timer = 0
self.v_cruise_kph = 255
self.v_cruise_cluster_kph = 255
self.v_cruise_kph = V_CRUISE_INITIAL
self.v_cruise_cluster_kph = V_CRUISE_INITIAL
self.v_cruise_kph_last = 0
self.mismatch_counter = 0
self.cruise_mismatch_counter = 0
@@ -216,6 +220,16 @@ class Controls:
self.rk = Ratekeeper(100, print_delay_threshold=None)
self.prof = Profiler(False) # off by default
def set_initial_state(self):
if REPLAY:
controls_state = Params().get("ReplayControlsState")
if controls_state is not None:
controls_state = log.ControlsState.from_bytes(controls_state)
self.v_cruise_kph = controls_state.vCruise
if self.sm['pandaStates'][0].controlsAllowed:
self.state = State.enabled
def update_events(self, CS):
"""Compute carEvents from carState"""
@@ -231,6 +245,11 @@ class Controls:
self.events.add(EventName.controlsInitializing)
return
# Block resume if cruise never previously enabled
resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents)
if not self.CP.pcmCruise and self.v_cruise_kph == V_CRUISE_INITIAL and resume_pressed:
self.events.add(EventName.resumeBlocked)
# Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
if self.sm['dragonConf'].dpAtl == 0 and ((CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
(CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill))):
@@ -433,11 +452,9 @@ class Controls:
if all_valid or timed_out or SIMULATION:
if not self.read_only:
self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
self.initialized = True
if REPLAY and self.sm['pandaStates'][0].controlsAllowed:
self.state = State.enabled
self.set_initial_state()
Params().put_bool("ControlsReady", True)
# Check for CAN timeout
@@ -468,18 +485,18 @@ class Controls:
self.v_cruise_kph_last = self.v_cruise_kph
# if stock cruise is completely disabled, then we can use our own set speed logic
if not self.CP.pcmCruise:
self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.vEgo, CS.gasPressed, CS.buttonEvents,
self.button_timers, self.enabled, self.is_metric)
self.v_cruise_cluster_kph = self.v_cruise_kph
else:
if CS.cruiseState.available:
if CS.cruiseState.available:
# if stock cruise is completely disabled, then we can use our own set speed logic
if not self.CP.pcmCruise:
self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.vEgo, CS.gasPressed, CS.buttonEvents,
self.button_timers, self.enabled, self.is_metric)
self.v_cruise_cluster_kph = self.v_cruise_kph
else:
self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
else:
self.v_cruise_kph = 0
self.v_cruise_cluster_kph = 0
else:
self.v_cruise_kph = V_CRUISE_INITIAL
self.v_cruise_cluster_kph = V_CRUISE_INITIAL
# decrement the soft disable timer at every step, as it's reset on
# entrance in SOFT_DISABLING state
@@ -679,6 +696,10 @@ class Controls:
self.button_timers[b.type.raw] = 1 if b.pressed else 0
def publish_logs(self, CS, start_time, CC, lac_log):
if self.sm['dragonConf'].dpCameraOffset != self.dp_camera_offset_last:
self.camera_offset = self.sm['dragonConf'].dpCameraOffset * 0.01
self.dp_camera_offset_last = self.sm['dragonConf'].dpCameraOffset
"""Send actuators and hud commands to the car, send controlsstate and MPC logging"""
# Orientation and angle rates can be useful for carcontroller
@@ -696,7 +717,10 @@ class Controls:
speeds = self.sm['longitudinalPlan'].speeds
if len(speeds):
CC.cruiseControl.resume = self.enabled and CS.cruiseState.standstill and speeds[-1] > 0.1
if self.sm['dragonConf'].dpAtl == 1 and self.sm['longitudinalPlan'].hasLead:
CC.cruiseControl.resume = CS.cruiseActualEnabled and CS.cruiseState.standstill and speeds[-1] > 0.1
else:
CC.cruiseControl.resume = self.enabled and CS.cruiseState.standstill and speeds[-1] > 0.1
hudControl = CC.hudControl
hudControl.setSpeed = float(self.v_cruise_cluster_kph * CV.KPH_TO_MS)
@@ -720,8 +744,8 @@ class Controls:
r_lane_change_prob = desire_prediction[Desire.laneChangeRight - 1]
lane_lines = model_v2.laneLines
l_lane_close = left_lane_visible and (lane_lines[1].y[0] > -(1.08 + CAMERA_OFFSET))
r_lane_close = right_lane_visible and (lane_lines[2].y[0] < (1.08 - CAMERA_OFFSET))
l_lane_close = left_lane_visible and (lane_lines[1].y[0] > -(1.08 + self.camera_offset))
r_lane_close = right_lane_visible and (lane_lines[2].y[0] < (1.08 - self.camera_offset))
hudControl.leftLaneDepart = bool(l_lane_change_prob > LANE_DEPARTURE_THRESHOLD and l_lane_close)
hudControl.rightLaneDepart = bool(r_lane_change_prob > LANE_DEPARTURE_THRESHOLD and r_lane_close)
selfdrive/controls/lib/drive_helpers.py
+1
View File
@@ -11,6 +11,7 @@ from selfdrive.modeld.constants import T_IDXS
V_CRUISE_MAX = 145 # kph
V_CRUISE_MIN = 8 # kph
V_CRUISE_ENABLE_MIN = 40 # kph
V_CRUISE_INITIAL = 255 # kph
LAT_MPC_N = 16
LON_MPC_N = 32
selfdrive/controls/lib/events.py
+4
View File
@@ -661,6 +661,10 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
ET.NO_ENTRY: wrong_car_mode_alert,
},
EventName.resumeBlocked: {
ET.NO_ENTRY: NoEntryAlert("Press Set to Engage"),
},
EventName.wrongCruiseMode: {
ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
ET.NO_ENTRY: NoEntryAlert(_("Adaptive Cruise Disabled")),
selfdrive/controls/lib/lane_planner.py
+8
View File
@@ -44,6 +44,14 @@ class LanePlanner:
self.camera_offset = -CAMERA_OFFSET if wide_camera else CAMERA_OFFSET
self.path_offset = -PATH_OFFSET if wide_camera else PATH_OFFSET
self.dp_camera_offset = None
self.wide_camera = wide_camera
def update_offsets(self, camera_offset):
if self.dp_camera_offset != camera_offset:
self.dp_camera_offset = camera_offset
self.camera_offset = (camera_offset - 8 if self.wide_camera else camera_offset) * 0.01
def parse_model(self, md):
lane_lines = md.laneLines
if len(lane_lines) == 4 and len(lane_lines[0].t) == TRAJECTORY_SIZE:
selfdrive/controls/lib/lateral_planner.py
+3
View File
@@ -43,6 +43,9 @@ class LateralPlanner:
v_ego = sm['carState'].vEgo
measured_curvature = sm['controlsState'].curvature
# dp - update camera offset
self.LP.update_offsets(sm['dragonConf'].dpCameraOffset)
# Parse model predictions
md = sm['modelV2']
self.LP.parse_model(md)
selfdrive/dragonpilot/systemd.py
+6 -1
View File
@@ -38,6 +38,7 @@ from common.realtime import Ratekeeper
import threading
from selfdrive.dragonpilot.gpx_uploader import gpx_uploader_thread
from typing import Dict, Any
import capnp
PARAM_PATH = params.get_param_path() + "/"
@@ -249,7 +250,11 @@ def set_message(msg, conf):
struct_val = min(struct_val, conf.get('max'))
if orig_val != struct_val:
params.put(conf['name'], str(struct_val))
setattr(msg.dragonConf, get_struct_name(conf['name']), struct_val)
try:
setattr(msg.dragonConf, get_struct_name(conf['name']), struct_val)
except capnp.lib.capnp.KjException:
pass
return msg
def check_dependencies(msg, conf):
selfdrive/locationd/locationd
BIN
View File
Binary file not shown.
selfdrive/locationd/models/generated/car.cpp
+342 -342
View File
@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
* *
* This file is part of 'ekf' *
******************************************************************************/
void err_fun(double *nom_x, double *delta_x, double *out_6814212569071197423) {
out_6814212569071197423[0] = delta_x[0] + nom_x[0];
out_6814212569071197423[1] = delta_x[1] + nom_x[1];
out_6814212569071197423[2] = delta_x[2] + nom_x[2];
out_6814212569071197423[3] = delta_x[3] + nom_x[3];
out_6814212569071197423[4] = delta_x[4] + nom_x[4];
out_6814212569071197423[5] = delta_x[5] + nom_x[5];
out_6814212569071197423[6] = delta_x[6] + nom_x[6];
out_6814212569071197423[7] = delta_x[7] + nom_x[7];
out_6814212569071197423[8] = delta_x[8] + nom_x[8];
void err_fun(double *nom_x, double *delta_x, double *out_729362937437787457) {
out_729362937437787457[0] = delta_x[0] + nom_x[0];
out_729362937437787457[1] = delta_x[1] + nom_x[1];
out_729362937437787457[2] = delta_x[2] + nom_x[2];
out_729362937437787457[3] = delta_x[3] + nom_x[3];
out_729362937437787457[4] = delta_x[4] + nom_x[4];
out_729362937437787457[5] = delta_x[5] + nom_x[5];
out_729362937437787457[6] = delta_x[6] + nom_x[6];
out_729362937437787457[7] = delta_x[7] + nom_x[7];
out_729362937437787457[8] = delta_x[8] + nom_x[8];
}
void inv_err_fun(double *nom_x, double *true_x, double *out_7666174205888484741) {
out_7666174205888484741[0] = -nom_x[0] + true_x[0];
out_7666174205888484741[1] = -nom_x[1] + true_x[1];
out_7666174205888484741[2] = -nom_x[2] + true_x[2];
out_7666174205888484741[3] = -nom_x[3] + true_x[3];
out_7666174205888484741[4] = -nom_x[4] + true_x[4];
out_7666174205888484741[5] = -nom_x[5] + true_x[5];
out_7666174205888484741[6] = -nom_x[6] + true_x[6];
out_7666174205888484741[7] = -nom_x[7] + true_x[7];
out_7666174205888484741[8] = -nom_x[8] + true_x[8];
void inv_err_fun(double *nom_x, double *true_x, double *out_4929143687762803407) {
out_4929143687762803407[0] = -nom_x[0] + true_x[0];
out_4929143687762803407[1] = -nom_x[1] + true_x[1];
out_4929143687762803407[2] = -nom_x[2] + true_x[2];
out_4929143687762803407[3] = -nom_x[3] + true_x[3];
out_4929143687762803407[4] = -nom_x[4] + true_x[4];
out_4929143687762803407[5] = -nom_x[5] + true_x[5];
out_4929143687762803407[6] = -nom_x[6] + true_x[6];
out_4929143687762803407[7] = -nom_x[7] + true_x[7];
out_4929143687762803407[8] = -nom_x[8] + true_x[8];
}
void H_mod_fun(double *state, double *out_8014857022495098622) {
out_8014857022495098622[0] = 1.0;
out_8014857022495098622[1] = 0;
out_8014857022495098622[2] = 0;
out_8014857022495098622[3] = 0;
out_8014857022495098622[4] = 0;
out_8014857022495098622[5] = 0;
out_8014857022495098622[6] = 0;
out_8014857022495098622[7] = 0;
out_8014857022495098622[8] = 0;
out_8014857022495098622[9] = 0;
out_8014857022495098622[10] = 1.0;
out_8014857022495098622[11] = 0;
out_8014857022495098622[12] = 0;
out_8014857022495098622[13] = 0;
out_8014857022495098622[14] = 0;
out_8014857022495098622[15] = 0;
out_8014857022495098622[16] = 0;
out_8014857022495098622[17] = 0;
out_8014857022495098622[18] = 0;
out_8014857022495098622[19] = 0;
out_8014857022495098622[20] = 1.0;
out_8014857022495098622[21] = 0;
out_8014857022495098622[22] = 0;
out_8014857022495098622[23] = 0;
out_8014857022495098622[24] = 0;
out_8014857022495098622[25] = 0;
out_8014857022495098622[26] = 0;
out_8014857022495098622[27] = 0;
out_8014857022495098622[28] = 0;
out_8014857022495098622[29] = 0;
out_8014857022495098622[30] = 1.0;
out_8014857022495098622[31] = 0;
out_8014857022495098622[32] = 0;
out_8014857022495098622[33] = 0;
out_8014857022495098622[34] = 0;
out_8014857022495098622[35] = 0;
out_8014857022495098622[36] = 0;
out_8014857022495098622[37] = 0;
out_8014857022495098622[38] = 0;
out_8014857022495098622[39] = 0;
out_8014857022495098622[40] = 1.0;
out_8014857022495098622[41] = 0;
out_8014857022495098622[42] = 0;
out_8014857022495098622[43] = 0;
out_8014857022495098622[44] = 0;
out_8014857022495098622[45] = 0;
out_8014857022495098622[46] = 0;
out_8014857022495098622[47] = 0;
out_8014857022495098622[48] = 0;
out_8014857022495098622[49] = 0;
out_8014857022495098622[50] = 1.0;
out_8014857022495098622[51] = 0;
out_8014857022495098622[52] = 0;
out_8014857022495098622[53] = 0;
out_8014857022495098622[54] = 0;
out_8014857022495098622[55] = 0;
out_8014857022495098622[56] = 0;
out_8014857022495098622[57] = 0;
out_8014857022495098622[58] = 0;
out_8014857022495098622[59] = 0;
out_8014857022495098622[60] = 1.0;
out_8014857022495098622[61] = 0;
out_8014857022495098622[62] = 0;
out_8014857022495098622[63] = 0;
out_8014857022495098622[64] = 0;
out_8014857022495098622[65] = 0;
out_8014857022495098622[66] = 0;
out_8014857022495098622[67] = 0;
out_8014857022495098622[68] = 0;
out_8014857022495098622[69] = 0;
out_8014857022495098622[70] = 1.0;
out_8014857022495098622[71] = 0;
out_8014857022495098622[72] = 0;
out_8014857022495098622[73] = 0;
out_8014857022495098622[74] = 0;
out_8014857022495098622[75] = 0;
out_8014857022495098622[76] = 0;
out_8014857022495098622[77] = 0;
out_8014857022495098622[78] = 0;
out_8014857022495098622[79] = 0;
out_8014857022495098622[80] = 1.0;
void H_mod_fun(double *state, double *out_8315888887196402654) {
out_8315888887196402654[0] = 1.0;
out_8315888887196402654[1] = 0;
out_8315888887196402654[2] = 0;
out_8315888887196402654[3] = 0;
out_8315888887196402654[4] = 0;
out_8315888887196402654[5] = 0;
out_8315888887196402654[6] = 0;
out_8315888887196402654[7] = 0;
out_8315888887196402654[8] = 0;
out_8315888887196402654[9] = 0;
out_8315888887196402654[10] = 1.0;
out_8315888887196402654[11] = 0;
out_8315888887196402654[12] = 0;
out_8315888887196402654[13] = 0;
out_8315888887196402654[14] = 0;
out_8315888887196402654[15] = 0;
out_8315888887196402654[16] = 0;
out_8315888887196402654[17] = 0;
out_8315888887196402654[18] = 0;
out_8315888887196402654[19] = 0;
out_8315888887196402654[20] = 1.0;
out_8315888887196402654[21] = 0;
out_8315888887196402654[22] = 0;
out_8315888887196402654[23] = 0;
out_8315888887196402654[24] = 0;
out_8315888887196402654[25] = 0;
out_8315888887196402654[26] = 0;
out_8315888887196402654[27] = 0;
out_8315888887196402654[28] = 0;
out_8315888887196402654[29] = 0;
out_8315888887196402654[30] = 1.0;
out_8315888887196402654[31] = 0;
out_8315888887196402654[32] = 0;
out_8315888887196402654[33] = 0;
out_8315888887196402654[34] = 0;
out_8315888887196402654[35] = 0;
out_8315888887196402654[36] = 0;
out_8315888887196402654[37] = 0;
out_8315888887196402654[38] = 0;
out_8315888887196402654[39] = 0;
out_8315888887196402654[40] = 1.0;
out_8315888887196402654[41] = 0;
out_8315888887196402654[42] = 0;
out_8315888887196402654[43] = 0;
out_8315888887196402654[44] = 0;
out_8315888887196402654[45] = 0;
out_8315888887196402654[46] = 0;
out_8315888887196402654[47] = 0;
out_8315888887196402654[48] = 0;
out_8315888887196402654[49] = 0;
out_8315888887196402654[50] = 1.0;
out_8315888887196402654[51] = 0;
out_8315888887196402654[52] = 0;
out_8315888887196402654[53] = 0;
out_8315888887196402654[54] = 0;
out_8315888887196402654[55] = 0;
out_8315888887196402654[56] = 0;
out_8315888887196402654[57] = 0;
out_8315888887196402654[58] = 0;
out_8315888887196402654[59] = 0;
out_8315888887196402654[60] = 1.0;
out_8315888887196402654[61] = 0;
out_8315888887196402654[62] = 0;
out_8315888887196402654[63] = 0;
out_8315888887196402654[64] = 0;
out_8315888887196402654[65] = 0;
out_8315888887196402654[66] = 0;
out_8315888887196402654[67] = 0;
out_8315888887196402654[68] = 0;
out_8315888887196402654[69] = 0;
out_8315888887196402654[70] = 1.0;
out_8315888887196402654[71] = 0;
out_8315888887196402654[72] = 0;
out_8315888887196402654[73] = 0;
out_8315888887196402654[74] = 0;
out_8315888887196402654[75] = 0;
out_8315888887196402654[76] = 0;
out_8315888887196402654[77] = 0;
out_8315888887196402654[78] = 0;
out_8315888887196402654[79] = 0;
out_8315888887196402654[80] = 1.0;
}
void f_fun(double *state, double dt, double *out_6791547762604559707) {
out_6791547762604559707[0] = state[0];
out_6791547762604559707[1] = state[1];
out_6791547762604559707[2] = state[2];
out_6791547762604559707[3] = state[3];
out_6791547762604559707[4] = state[4];
out_6791547762604559707[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8000000000000007*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
out_6791547762604559707[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
out_6791547762604559707[7] = state[7];
out_6791547762604559707[8] = state[8];
void f_fun(double *state, double dt, double *out_7554938137534762046) {
out_7554938137534762046[0] = state[0];
out_7554938137534762046[1] = state[1];
out_7554938137534762046[2] = state[2];
out_7554938137534762046[3] = state[3];
out_7554938137534762046[4] = state[4];
out_7554938137534762046[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8000000000000007*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
out_7554938137534762046[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
out_7554938137534762046[7] = state[7];
out_7554938137534762046[8] = state[8];
}
void F_fun(double *state, double dt, double *out_3683219731909566018) {
out_3683219731909566018[0] = 1;
out_3683219731909566018[1] = 0;
out_3683219731909566018[2] = 0;
out_3683219731909566018[3] = 0;
out_3683219731909566018[4] = 0;
out_3683219731909566018[5] = 0;
out_3683219731909566018[6] = 0;
out_3683219731909566018[7] = 0;
out_3683219731909566018[8] = 0;
out_3683219731909566018[9] = 0;
out_3683219731909566018[10] = 1;
out_3683219731909566018[11] = 0;
out_3683219731909566018[12] = 0;
out_3683219731909566018[13] = 0;
out_3683219731909566018[14] = 0;
out_3683219731909566018[15] = 0;
out_3683219731909566018[16] = 0;
out_3683219731909566018[17] = 0;
out_3683219731909566018[18] = 0;
out_3683219731909566018[19] = 0;
out_3683219731909566018[20] = 1;
out_3683219731909566018[21] = 0;
out_3683219731909566018[22] = 0;
out_3683219731909566018[23] = 0;
out_3683219731909566018[24] = 0;
out_3683219731909566018[25] = 0;
out_3683219731909566018[26] = 0;
out_3683219731909566018[27] = 0;
out_3683219731909566018[28] = 0;
out_3683219731909566018[29] = 0;
out_3683219731909566018[30] = 1;
out_3683219731909566018[31] = 0;
out_3683219731909566018[32] = 0;
out_3683219731909566018[33] = 0;
out_3683219731909566018[34] = 0;
out_3683219731909566018[35] = 0;
out_3683219731909566018[36] = 0;
out_3683219731909566018[37] = 0;
out_3683219731909566018[38] = 0;
out_3683219731909566018[39] = 0;
out_3683219731909566018[40] = 1;
out_3683219731909566018[41] = 0;
out_3683219731909566018[42] = 0;
out_3683219731909566018[43] = 0;
out_3683219731909566018[44] = 0;
out_3683219731909566018[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
out_3683219731909566018[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
out_3683219731909566018[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
out_3683219731909566018[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
out_3683219731909566018[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
out_3683219731909566018[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
out_3683219731909566018[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
out_3683219731909566018[52] = dt*stiffness_front*state[0]/(mass*state[1]);
out_3683219731909566018[53] = -9.8000000000000007*dt;
out_3683219731909566018[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
out_3683219731909566018[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
out_3683219731909566018[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_3683219731909566018[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_3683219731909566018[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
out_3683219731909566018[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
out_3683219731909566018[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
out_3683219731909566018[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_3683219731909566018[62] = 0;
out_3683219731909566018[63] = 0;
out_3683219731909566018[64] = 0;
out_3683219731909566018[65] = 0;
out_3683219731909566018[66] = 0;
out_3683219731909566018[67] = 0;
out_3683219731909566018[68] = 0;
out_3683219731909566018[69] = 0;
out_3683219731909566018[70] = 1;
out_3683219731909566018[71] = 0;
out_3683219731909566018[72] = 0;
out_3683219731909566018[73] = 0;
out_3683219731909566018[74] = 0;
out_3683219731909566018[75] = 0;
out_3683219731909566018[76] = 0;
out_3683219731909566018[77] = 0;
out_3683219731909566018[78] = 0;
out_3683219731909566018[79] = 0;
out_3683219731909566018[80] = 1;
void F_fun(double *state, double dt, double *out_6130812160595680525) {
out_6130812160595680525[0] = 1;
out_6130812160595680525[1] = 0;
out_6130812160595680525[2] = 0;
out_6130812160595680525[3] = 0;
out_6130812160595680525[4] = 0;
out_6130812160595680525[5] = 0;
out_6130812160595680525[6] = 0;
out_6130812160595680525[7] = 0;
out_6130812160595680525[8] = 0;
out_6130812160595680525[9] = 0;
out_6130812160595680525[10] = 1;
out_6130812160595680525[11] = 0;
out_6130812160595680525[12] = 0;
out_6130812160595680525[13] = 0;
out_6130812160595680525[14] = 0;
out_6130812160595680525[15] = 0;
out_6130812160595680525[16] = 0;
out_6130812160595680525[17] = 0;
out_6130812160595680525[18] = 0;
out_6130812160595680525[19] = 0;
out_6130812160595680525[20] = 1;
out_6130812160595680525[21] = 0;
out_6130812160595680525[22] = 0;
out_6130812160595680525[23] = 0;
out_6130812160595680525[24] = 0;
out_6130812160595680525[25] = 0;
out_6130812160595680525[26] = 0;
out_6130812160595680525[27] = 0;
out_6130812160595680525[28] = 0;
out_6130812160595680525[29] = 0;
out_6130812160595680525[30] = 1;
out_6130812160595680525[31] = 0;
out_6130812160595680525[32] = 0;
out_6130812160595680525[33] = 0;
out_6130812160595680525[34] = 0;
out_6130812160595680525[35] = 0;
out_6130812160595680525[36] = 0;
out_6130812160595680525[37] = 0;
out_6130812160595680525[38] = 0;
out_6130812160595680525[39] = 0;
out_6130812160595680525[40] = 1;
out_6130812160595680525[41] = 0;
out_6130812160595680525[42] = 0;
out_6130812160595680525[43] = 0;
out_6130812160595680525[44] = 0;
out_6130812160595680525[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
out_6130812160595680525[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
out_6130812160595680525[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
out_6130812160595680525[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
out_6130812160595680525[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
out_6130812160595680525[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
out_6130812160595680525[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
out_6130812160595680525[52] = dt*stiffness_front*state[0]/(mass*state[1]);
out_6130812160595680525[53] = -9.8000000000000007*dt;
out_6130812160595680525[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
out_6130812160595680525[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
out_6130812160595680525[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_6130812160595680525[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_6130812160595680525[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
out_6130812160595680525[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
out_6130812160595680525[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
out_6130812160595680525[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_6130812160595680525[62] = 0;
out_6130812160595680525[63] = 0;
out_6130812160595680525[64] = 0;
out_6130812160595680525[65] = 0;
out_6130812160595680525[66] = 0;
out_6130812160595680525[67] = 0;
out_6130812160595680525[68] = 0;
out_6130812160595680525[69] = 0;
out_6130812160595680525[70] = 1;
out_6130812160595680525[71] = 0;
out_6130812160595680525[72] = 0;
out_6130812160595680525[73] = 0;
out_6130812160595680525[74] = 0;
out_6130812160595680525[75] = 0;
out_6130812160595680525[76] = 0;
out_6130812160595680525[77] = 0;
out_6130812160595680525[78] = 0;
out_6130812160595680525[79] = 0;
out_6130812160595680525[80] = 1;
}
void h_25(double *state, double *unused, double *out_2172051214329875381) {
out_2172051214329875381[0] = state[6];
void h_25(double *state, double *unused, double *out_8951477070372806105) {
out_8951477070372806105[0] = state[6];
}
void H_25(double *state, double *unused, double *out_3364051928398716628) {
out_3364051928398716628[0] = 0;
out_3364051928398716628[1] = 0;
out_3364051928398716628[2] = 0;
out_3364051928398716628[3] = 0;
out_3364051928398716628[4] = 0;
out_3364051928398716628[5] = 0;
out_3364051928398716628[6] = 1;
out_3364051928398716628[7] = 0;
out_3364051928398716628[8] = 0;
void H_25(double *state, double *unused, double *out_9087508506817314964) {
out_9087508506817314964[0] = 0;
out_9087508506817314964[1] = 0;
out_9087508506817314964[2] = 0;
out_9087508506817314964[3] = 0;
out_9087508506817314964[4] = 0;
out_9087508506817314964[5] = 0;
out_9087508506817314964[6] = 1;
out_9087508506817314964[7] = 0;
out_9087508506817314964[8] = 0;
}
void h_24(double *state, double *unused, double *out_7587553502939940622) {
out_7587553502939940622[0] = state[4];
out_7587553502939940622[1] = state[5];
void h_24(double *state, double *unused, double *out_4067561432286125622) {
out_4067561432286125622[0] = state[4];
out_4067561432286125622[1] = state[5];
}
void H_24(double *state, double *unused, double *out_2519055319615021229) {
out_2519055319615021229[0] = 0;
out_2519055319615021229[1] = 0;
out_2519055319615021229[2] = 0;
out_2519055319615021229[3] = 0;
out_2519055319615021229[4] = 1;
out_2519055319615021229[5] = 0;
out_2519055319615021229[6] = 0;
out_2519055319615021229[7] = 0;
out_2519055319615021229[8] = 0;
out_2519055319615021229[9] = 0;
out_2519055319615021229[10] = 0;
out_2519055319615021229[11] = 0;
out_2519055319615021229[12] = 0;
out_2519055319615021229[13] = 0;
out_2519055319615021229[14] = 1;
out_2519055319615021229[15] = 0;
out_2519055319615021229[16] = 0;
out_2519055319615021229[17] = 0;
void H_24(double *state, double *unused, double *out_1669116873140388071) {
out_1669116873140388071[0] = 0;
out_1669116873140388071[1] = 0;
out_1669116873140388071[2] = 0;
out_1669116873140388071[3] = 0;
out_1669116873140388071[4] = 1;
out_1669116873140388071[5] = 0;
out_1669116873140388071[6] = 0;
out_1669116873140388071[7] = 0;
out_1669116873140388071[8] = 0;
out_1669116873140388071[9] = 0;
out_1669116873140388071[10] = 0;
out_1669116873140388071[11] = 0;
out_1669116873140388071[12] = 0;
out_1669116873140388071[13] = 0;
out_1669116873140388071[14] = 1;
out_1669116873140388071[15] = 0;
out_1669116873140388071[16] = 0;
out_1669116873140388071[17] = 0;
}
void h_30(double *state, double *unused, double *out_6112207235155681847) {
out_6112207235155681847[0] = state[4];
void h_30(double *state, double *unused, double *out_7500845677743922938) {
out_7500845677743922938[0] = state[4];
}
void H_30(double *state, double *unused, double *out_3552638413092900127) {
out_3552638413092900127[0] = 0;
out_3552638413092900127[1] = 0;
out_3552638413092900127[2] = 0;
out_3552638413092900127[3] = 0;
out_3552638413092900127[4] = 1;
out_3552638413092900127[5] = 0;
out_3552638413092900127[6] = 0;
out_3552638413092900127[7] = 0;
out_3552638413092900127[8] = 0;
void H_30(double *state, double *unused, double *out_4831539236764628454) {
out_4831539236764628454[0] = 0;
out_4831539236764628454[1] = 0;
out_4831539236764628454[2] = 0;
out_4831539236764628454[3] = 0;
out_4831539236764628454[4] = 1;
out_4831539236764628454[5] = 0;
out_4831539236764628454[6] = 0;
out_4831539236764628454[7] = 0;
out_4831539236764628454[8] = 0;
}
void h_26(double *state, double *unused, double *out_967317172040034310) {
out_967317172040034310[0] = state[7];
void h_26(double *state, double *unused, double *out_8341493075156931027) {
out_8341493075156931027[0] = state[7];
}
void H_26(double *state, double *unused, double *out_7105555247272772852) {
out_7105555247272772852[0] = 0;
out_7105555247272772852[1] = 0;
out_7105555247272772852[2] = 0;
out_7105555247272772852[3] = 0;
out_7105555247272772852[4] = 0;
out_7105555247272772852[5] = 0;
out_7105555247272772852[6] = 0;
out_7105555247272772852[7] = 1;
out_7105555247272772852[8] = 0;
void H_26(double *state, double *unused, double *out_5617732248018180428) {
out_5617732248018180428[0] = 0;
out_5617732248018180428[1] = 0;
out_5617732248018180428[2] = 0;
out_5617732248018180428[3] = 0;
out_5617732248018180428[4] = 0;
out_5617732248018180428[5] = 0;
out_5617732248018180428[6] = 0;
out_5617732248018180428[7] = 1;
out_5617732248018180428[8] = 0;
}
void h_27(double *state, double *unused, double *out_351929141530343503) {
out_351929141530343503[0] = state[3];
void h_27(double *state, double *unused, double *out_5342806970691419479) {
out_5342806970691419479[0] = state[3];
}
void H_27(double *state, double *unused, double *out_1377875101292475216) {
out_1377875101292475216[0] = 0;
out_1377875101292475216[1] = 0;
out_1377875101292475216[2] = 0;
out_1377875101292475216[3] = 1;
out_1377875101292475216[4] = 0;
out_1377875101292475216[5] = 0;
out_1377875101292475216[6] = 0;
out_1377875101292475216[7] = 0;
out_1377875101292475216[8] = 0;
void H_27(double *state, double *unused, double *out_2656775924964203543) {
out_2656775924964203543[0] = 0;
out_2656775924964203543[1] = 0;
out_2656775924964203543[2] = 0;
out_2656775924964203543[3] = 1;
out_2656775924964203543[4] = 0;
out_2656775924964203543[5] = 0;
out_2656775924964203543[6] = 0;
out_2656775924964203543[7] = 0;
out_2656775924964203543[8] = 0;
}
void h_29(double *state, double *unused, double *out_627123203814849392) {
out_627123203814849392[0] = state[1];
void h_29(double *state, double *unused, double *out_2538465680062629706) {
out_2538465680062629706[0] = state[1];
}
void H_29(double *state, double *unused, double *out_335487625577075817) {
out_335487625577075817[0] = 0;
out_335487625577075817[1] = 1;
out_335487625577075817[2] = 0;
out_335487625577075817[3] = 0;
out_335487625577075817[4] = 0;
out_335487625577075817[5] = 0;
out_335487625577075817[6] = 0;
out_335487625577075817[7] = 0;
out_335487625577075817[8] = 0;
void H_29(double *state, double *unused, double *out_5341770581079020638) {
out_5341770581079020638[0] = 0;
out_5341770581079020638[1] = 1;
out_5341770581079020638[2] = 0;
out_5341770581079020638[3] = 0;
out_5341770581079020638[4] = 0;
out_5341770581079020638[5] = 0;
out_5341770581079020638[6] = 0;
out_5341770581079020638[7] = 0;
out_5341770581079020638[8] = 0;
}
void h_28(double *state, double *unused, double *out_2252476179278354148) {
out_2252476179278354148[0] = state[0];
void h_28(double *state, double *unused, double *out_572823783042442857) {
out_572823783042442857[0] = state[0];
}
void H_28(double *state, double *unused, double *out_5417886642646606391) {
out_5417886642646606391[0] = 1;
out_5417886642646606391[1] = 0;
out_5417886642646606391[2] = 0;
out_5417886642646606391[3] = 0;
out_5417886642646606391[4] = 0;
out_5417886642646606391[5] = 0;
out_5417886642646606391[6] = 0;
out_5417886642646606391[7] = 0;
out_5417886642646606391[8] = 0;
void H_28(double *state, double *unused, double *out_7305400852644346889) {
out_7305400852644346889[0] = 1;
out_7305400852644346889[1] = 0;
out_7305400852644346889[2] = 0;
out_7305400852644346889[3] = 0;
out_7305400852644346889[4] = 0;
out_7305400852644346889[5] = 0;
out_7305400852644346889[6] = 0;
out_7305400852644346889[7] = 0;
out_7305400852644346889[8] = 0;
}
void h_31(double *state, double *unused, double *out_8511427602559003794) {
out_8511427602559003794[0] = state[8];
void h_31(double *state, double *unused, double *out_8893848845723381957) {
out_8893848845723381957[0] = state[8];
}
void H_31(double *state, double *unused, double *out_3333405966521756200) {
out_3333405966521756200[0] = 0;
out_3333405966521756200[1] = 0;
out_3333405966521756200[2] = 0;
out_3333405966521756200[3] = 0;
out_3333405966521756200[4] = 0;
out_3333405966521756200[5] = 0;
out_3333405966521756200[6] = 0;
out_3333405966521756200[7] = 0;
out_3333405966521756200[8] = 1;
void H_31(double *state, double *unused, double *out_4991524145784828952) {
out_4991524145784828952[0] = 0;
out_4991524145784828952[1] = 0;
out_4991524145784828952[2] = 0;
out_4991524145784828952[3] = 0;
out_4991524145784828952[4] = 0;
out_4991524145784828952[5] = 0;
out_4991524145784828952[6] = 0;
out_4991524145784828952[7] = 0;
out_4991524145784828952[8] = 1;
}
#include <eigen3/Eigen/Dense>
#include <iostream>
@@ -518,68 +518,68 @@ void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, doubl
void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
update<1, 3, 0>(in_x, in_P, h_31, H_31, NULL, in_z, in_R, in_ea, MAHA_THRESH_31);
}
void car_err_fun(double *nom_x, double *delta_x, double *out_6814212569071197423) {
err_fun(nom_x, delta_x, out_6814212569071197423);
void car_err_fun(double *nom_x, double *delta_x, double *out_729362937437787457) {
err_fun(nom_x, delta_x, out_729362937437787457);
}
void car_inv_err_fun(double *nom_x, double *true_x, double *out_7666174205888484741) {
inv_err_fun(nom_x, true_x, out_7666174205888484741);
void car_inv_err_fun(double *nom_x, double *true_x, double *out_4929143687762803407) {
inv_err_fun(nom_x, true_x, out_4929143687762803407);
}
void car_H_mod_fun(double *state, double *out_8014857022495098622) {
H_mod_fun(state, out_8014857022495098622);
void car_H_mod_fun(double *state, double *out_8315888887196402654) {
H_mod_fun(state, out_8315888887196402654);
}
void car_f_fun(double *state, double dt, double *out_6791547762604559707) {
f_fun(state, dt, out_6791547762604559707);
void car_f_fun(double *state, double dt, double *out_7554938137534762046) {
f_fun(state, dt, out_7554938137534762046);
}
void car_F_fun(double *state, double dt, double *out_3683219731909566018) {
F_fun(state, dt, out_3683219731909566018);
void car_F_fun(double *state, double dt, double *out_6130812160595680525) {
F_fun(state, dt, out_6130812160595680525);
}
void car_h_25(double *state, double *unused, double *out_2172051214329875381) {
h_25(state, unused, out_2172051214329875381);
void car_h_25(double *state, double *unused, double *out_8951477070372806105) {
h_25(state, unused, out_8951477070372806105);
}
void car_H_25(double *state, double *unused, double *out_3364051928398716628) {
H_25(state, unused, out_3364051928398716628);
void car_H_25(double *state, double *unused, double *out_9087508506817314964) {
H_25(state, unused, out_9087508506817314964);
}
void car_h_24(double *state, double *unused, double *out_7587553502939940622) {
h_24(state, unused, out_7587553502939940622);
void car_h_24(double *state, double *unused, double *out_4067561432286125622) {
h_24(state, unused, out_4067561432286125622);
}
void car_H_24(double *state, double *unused, double *out_2519055319615021229) {
H_24(state, unused, out_2519055319615021229);
void car_H_24(double *state, double *unused, double *out_1669116873140388071) {
H_24(state, unused, out_1669116873140388071);
}
void car_h_30(double *state, double *unused, double *out_6112207235155681847) {
h_30(state, unused, out_6112207235155681847);
void car_h_30(double *state, double *unused, double *out_7500845677743922938) {
h_30(state, unused, out_7500845677743922938);
}
void car_H_30(double *state, double *unused, double *out_3552638413092900127) {
H_30(state, unused, out_3552638413092900127);
void car_H_30(double *state, double *unused, double *out_4831539236764628454) {
H_30(state, unused, out_4831539236764628454);
}
void car_h_26(double *state, double *unused, double *out_967317172040034310) {
h_26(state, unused, out_967317172040034310);
void car_h_26(double *state, double *unused, double *out_8341493075156931027) {
h_26(state, unused, out_8341493075156931027);
}
void car_H_26(double *state, double *unused, double *out_7105555247272772852) {
H_26(state, unused, out_7105555247272772852);
void car_H_26(double *state, double *unused, double *out_5617732248018180428) {
H_26(state, unused, out_5617732248018180428);
}
void car_h_27(double *state, double *unused, double *out_351929141530343503) {
h_27(state, unused, out_351929141530343503);
void car_h_27(double *state, double *unused, double *out_5342806970691419479) {
h_27(state, unused, out_5342806970691419479);
}
void car_H_27(double *state, double *unused, double *out_1377875101292475216) {
H_27(state, unused, out_1377875101292475216);
void car_H_27(double *state, double *unused, double *out_2656775924964203543) {
H_27(state, unused, out_2656775924964203543);
}
void car_h_29(double *state, double *unused, double *out_627123203814849392) {
h_29(state, unused, out_627123203814849392);
void car_h_29(double *state, double *unused, double *out_2538465680062629706) {
h_29(state, unused, out_2538465680062629706);
}
void car_H_29(double *state, double *unused, double *out_335487625577075817) {
H_29(state, unused, out_335487625577075817);
void car_H_29(double *state, double *unused, double *out_5341770581079020638) {
H_29(state, unused, out_5341770581079020638);
}
void car_h_28(double *state, double *unused, double *out_2252476179278354148) {
h_28(state, unused, out_2252476179278354148);
void car_h_28(double *state, double *unused, double *out_572823783042442857) {
h_28(state, unused, out_572823783042442857);
}
void car_H_28(double *state, double *unused, double *out_5417886642646606391) {
H_28(state, unused, out_5417886642646606391);
void car_H_28(double *state, double *unused, double *out_7305400852644346889) {
H_28(state, unused, out_7305400852644346889);
}
void car_h_31(double *state, double *unused, double *out_8511427602559003794) {
h_31(state, unused, out_8511427602559003794);
void car_h_31(double *state, double *unused, double *out_8893848845723381957) {
h_31(state, unused, out_8893848845723381957);
}
void car_H_31(double *state, double *unused, double *out_3333405966521756200) {
H_31(state, unused, out_3333405966521756200);
void car_H_31(double *state, double *unused, double *out_4991524145784828952) {
H_31(state, unused, out_4991524145784828952);
}
void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
predict(in_x, in_P, in_Q, dt);
selfdrive/locationd/models/generated/car.h
+21 -21
View File
@@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl
void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
void car_err_fun(double *nom_x, double *delta_x, double *out_6814212569071197423);
void car_inv_err_fun(double *nom_x, double *true_x, double *out_7666174205888484741);
void car_H_mod_fun(double *state, double *out_8014857022495098622);
void car_f_fun(double *state, double dt, double *out_6791547762604559707);
void car_F_fun(double *state, double dt, double *out_3683219731909566018);
void car_h_25(double *state, double *unused, double *out_2172051214329875381);
void car_H_25(double *state, double *unused, double *out_3364051928398716628);
void car_h_24(double *state, double *unused, double *out_7587553502939940622);
void car_H_24(double *state, double *unused, double *out_2519055319615021229);
void car_h_30(double *state, double *unused, double *out_6112207235155681847);
void car_H_30(double *state, double *unused, double *out_3552638413092900127);
void car_h_26(double *state, double *unused, double *out_967317172040034310);
void car_H_26(double *state, double *unused, double *out_7105555247272772852);
void car_h_27(double *state, double *unused, double *out_351929141530343503);
void car_H_27(double *state, double *unused, double *out_1377875101292475216);
void car_h_29(double *state, double *unused, double *out_627123203814849392);
void car_H_29(double *state, double *unused, double *out_335487625577075817);
void car_h_28(double *state, double *unused, double *out_2252476179278354148);
void car_H_28(double *state, double *unused, double *out_5417886642646606391);
void car_h_31(double *state, double *unused, double *out_8511427602559003794);
void car_H_31(double *state, double *unused, double *out_3333405966521756200);
void car_err_fun(double *nom_x, double *delta_x, double *out_729362937437787457);
void car_inv_err_fun(double *nom_x, double *true_x, double *out_4929143687762803407);
void car_H_mod_fun(double *state, double *out_8315888887196402654);
void car_f_fun(double *state, double dt, double *out_7554938137534762046);
void car_F_fun(double *state, double dt, double *out_6130812160595680525);
void car_h_25(double *state, double *unused, double *out_8951477070372806105);
void car_H_25(double *state, double *unused, double *out_9087508506817314964);
void car_h_24(double *state, double *unused, double *out_4067561432286125622);
void car_H_24(double *state, double *unused, double *out_1669116873140388071);
void car_h_30(double *state, double *unused, double *out_7500845677743922938);
void car_H_30(double *state, double *unused, double *out_4831539236764628454);
void car_h_26(double *state, double *unused, double *out_8341493075156931027);
void car_H_26(double *state, double *unused, double *out_5617732248018180428);
void car_h_27(double *state, double *unused, double *out_5342806970691419479);
void car_H_27(double *state, double *unused, double *out_2656775924964203543);
void car_h_29(double *state, double *unused, double *out_2538465680062629706);
void car_H_29(double *state, double *unused, double *out_5341770581079020638);
void car_h_28(double *state, double *unused, double *out_572823783042442857);
void car_H_28(double *state, double *unused, double *out_7305400852644346889);
void car_h_31(double *state, double *unused, double *out_8893848845723381957);
void car_H_31(double *state, double *unused, double *out_4991524145784828952);
void car_predict(double *in_x, double *in_P, double *in_Q, double dt);
void car_set_mass(double x);
void car_set_rotational_inertia(double x);
selfdrive/locationd/models/generated/gnss.cpp
+362 -362
View File
@@ -17,354 +17,354 @@ const static double MAHA_THRESH_21 = 3.8414588206941227;
* *
* This file is part of 'ekf' *
******************************************************************************/
void err_fun(double *nom_x, double *delta_x, double *out_80014774094776572) {
out_80014774094776572[0] = delta_x[0] + nom_x[0];
out_80014774094776572[1] = delta_x[1] + nom_x[1];
out_80014774094776572[2] = delta_x[2] + nom_x[2];
out_80014774094776572[3] = delta_x[3] + nom_x[3];
out_80014774094776572[4] = delta_x[4] + nom_x[4];
out_80014774094776572[5] = delta_x[5] + nom_x[5];
out_80014774094776572[6] = delta_x[6] + nom_x[6];
out_80014774094776572[7] = delta_x[7] + nom_x[7];
out_80014774094776572[8] = delta_x[8] + nom_x[8];
out_80014774094776572[9] = delta_x[9] + nom_x[9];
out_80014774094776572[10] = delta_x[10] + nom_x[10];
void err_fun(double *nom_x, double *delta_x, double *out_3985733553669045281) {
out_3985733553669045281[0] = delta_x[0] + nom_x[0];
out_3985733553669045281[1] = delta_x[1] + nom_x[1];
out_3985733553669045281[2] = delta_x[2] + nom_x[2];
out_3985733553669045281[3] = delta_x[3] + nom_x[3];
out_3985733553669045281[4] = delta_x[4] + nom_x[4];
out_3985733553669045281[5] = delta_x[5] + nom_x[5];
out_3985733553669045281[6] = delta_x[6] + nom_x[6];
out_3985733553669045281[7] = delta_x[7] + nom_x[7];
out_3985733553669045281[8] = delta_x[8] + nom_x[8];
out_3985733553669045281[9] = delta_x[9] + nom_x[9];
out_3985733553669045281[10] = delta_x[10] + nom_x[10];
}
void inv_err_fun(double *nom_x, double *true_x, double *out_9144507820461143592) {
out_9144507820461143592[0] = -nom_x[0] + true_x[0];
out_9144507820461143592[1] = -nom_x[1] + true_x[1];
out_9144507820461143592[2] = -nom_x[2] + true_x[2];
out_9144507820461143592[3] = -nom_x[3] + true_x[3];
out_9144507820461143592[4] = -nom_x[4] + true_x[4];
out_9144507820461143592[5] = -nom_x[5] + true_x[5];
out_9144507820461143592[6] = -nom_x[6] + true_x[6];
out_9144507820461143592[7] = -nom_x[7] + true_x[7];
out_9144507820461143592[8] = -nom_x[8] + true_x[8];
out_9144507820461143592[9] = -nom_x[9] + true_x[9];
out_9144507820461143592[10] = -nom_x[10] + true_x[10];
void inv_err_fun(double *nom_x, double *true_x, double *out_668705734016375974) {
out_668705734016375974[0] = -nom_x[0] + true_x[0];
out_668705734016375974[1] = -nom_x[1] + true_x[1];
out_668705734016375974[2] = -nom_x[2] + true_x[2];
out_668705734016375974[3] = -nom_x[3] + true_x[3];
out_668705734016375974[4] = -nom_x[4] + true_x[4];
out_668705734016375974[5] = -nom_x[5] + true_x[5];
out_668705734016375974[6] = -nom_x[6] + true_x[6];
out_668705734016375974[7] = -nom_x[7] + true_x[7];
out_668705734016375974[8] = -nom_x[8] + true_x[8];
out_668705734016375974[9] = -nom_x[9] + true_x[9];
out_668705734016375974[10] = -nom_x[10] + true_x[10];
}
void H_mod_fun(double *state, double *out_3038444346073204801) {
out_3038444346073204801[0] = 1.0;
out_3038444346073204801[1] = 0;
out_3038444346073204801[2] = 0;
out_3038444346073204801[3] = 0;
out_3038444346073204801[4] = 0;
out_3038444346073204801[5] = 0;
out_3038444346073204801[6] = 0;
out_3038444346073204801[7] = 0;
out_3038444346073204801[8] = 0;
out_3038444346073204801[9] = 0;
out_3038444346073204801[10] = 0;
out_3038444346073204801[11] = 0;
out_3038444346073204801[12] = 1.0;
out_3038444346073204801[13] = 0;
out_3038444346073204801[14] = 0;
out_3038444346073204801[15] = 0;
out_3038444346073204801[16] = 0;
out_3038444346073204801[17] = 0;
out_3038444346073204801[18] = 0;
out_3038444346073204801[19] = 0;
out_3038444346073204801[20] = 0;
out_3038444346073204801[21] = 0;
out_3038444346073204801[22] = 0;
out_3038444346073204801[23] = 0;
out_3038444346073204801[24] = 1.0;
out_3038444346073204801[25] = 0;
out_3038444346073204801[26] = 0;
out_3038444346073204801[27] = 0;
out_3038444346073204801[28] = 0;
out_3038444346073204801[29] = 0;
out_3038444346073204801[30] = 0;
out_3038444346073204801[31] = 0;
out_3038444346073204801[32] = 0;
out_3038444346073204801[33] = 0;
out_3038444346073204801[34] = 0;
out_3038444346073204801[35] = 0;
out_3038444346073204801[36] = 1.0;
out_3038444346073204801[37] = 0;
out_3038444346073204801[38] = 0;
out_3038444346073204801[39] = 0;
out_3038444346073204801[40] = 0;
out_3038444346073204801[41] = 0;
out_3038444346073204801[42] = 0;
out_3038444346073204801[43] = 0;
out_3038444346073204801[44] = 0;
out_3038444346073204801[45] = 0;
out_3038444346073204801[46] = 0;
out_3038444346073204801[47] = 0;
out_3038444346073204801[48] = 1.0;
out_3038444346073204801[49] = 0;
out_3038444346073204801[50] = 0;
out_3038444346073204801[51] = 0;
out_3038444346073204801[52] = 0;
out_3038444346073204801[53] = 0;
out_3038444346073204801[54] = 0;
out_3038444346073204801[55] = 0;
out_3038444346073204801[56] = 0;
out_3038444346073204801[57] = 0;
out_3038444346073204801[58] = 0;
out_3038444346073204801[59] = 0;
out_3038444346073204801[60] = 1.0;
out_3038444346073204801[61] = 0;
out_3038444346073204801[62] = 0;
out_3038444346073204801[63] = 0;
out_3038444346073204801[64] = 0;
out_3038444346073204801[65] = 0;
out_3038444346073204801[66] = 0;
out_3038444346073204801[67] = 0;
out_3038444346073204801[68] = 0;
out_3038444346073204801[69] = 0;
out_3038444346073204801[70] = 0;
out_3038444346073204801[71] = 0;
out_3038444346073204801[72] = 1.0;
out_3038444346073204801[73] = 0;
out_3038444346073204801[74] = 0;
out_3038444346073204801[75] = 0;
out_3038444346073204801[76] = 0;
out_3038444346073204801[77] = 0;
out_3038444346073204801[78] = 0;
out_3038444346073204801[79] = 0;
out_3038444346073204801[80] = 0;
out_3038444346073204801[81] = 0;
out_3038444346073204801[82] = 0;
out_3038444346073204801[83] = 0;
out_3038444346073204801[84] = 1.0;
out_3038444346073204801[85] = 0;
out_3038444346073204801[86] = 0;
out_3038444346073204801[87] = 0;
out_3038444346073204801[88] = 0;
out_3038444346073204801[89] = 0;
out_3038444346073204801[90] = 0;
out_3038444346073204801[91] = 0;
out_3038444346073204801[92] = 0;
out_3038444346073204801[93] = 0;
out_3038444346073204801[94] = 0;
out_3038444346073204801[95] = 0;
out_3038444346073204801[96] = 1.0;
out_3038444346073204801[97] = 0;
out_3038444346073204801[98] = 0;
out_3038444346073204801[99] = 0;
out_3038444346073204801[100] = 0;
out_3038444346073204801[101] = 0;
out_3038444346073204801[102] = 0;
out_3038444346073204801[103] = 0;
out_3038444346073204801[104] = 0;
out_3038444346073204801[105] = 0;
out_3038444346073204801[106] = 0;
out_3038444346073204801[107] = 0;
out_3038444346073204801[108] = 1.0;
out_3038444346073204801[109] = 0;
out_3038444346073204801[110] = 0;
out_3038444346073204801[111] = 0;
out_3038444346073204801[112] = 0;
out_3038444346073204801[113] = 0;
out_3038444346073204801[114] = 0;
out_3038444346073204801[115] = 0;
out_3038444346073204801[116] = 0;
out_3038444346073204801[117] = 0;
out_3038444346073204801[118] = 0;
out_3038444346073204801[119] = 0;
out_3038444346073204801[120] = 1.0;
void H_mod_fun(double *state, double *out_1646191520139698591) {
out_1646191520139698591[0] = 1.0;
out_1646191520139698591[1] = 0;
out_1646191520139698591[2] = 0;
out_1646191520139698591[3] = 0;
out_1646191520139698591[4] = 0;
out_1646191520139698591[5] = 0;
out_1646191520139698591[6] = 0;
out_1646191520139698591[7] = 0;
out_1646191520139698591[8] = 0;
out_1646191520139698591[9] = 0;
out_1646191520139698591[10] = 0;
out_1646191520139698591[11] = 0;
out_1646191520139698591[12] = 1.0;
out_1646191520139698591[13] = 0;
out_1646191520139698591[14] = 0;
out_1646191520139698591[15] = 0;
out_1646191520139698591[16] = 0;
out_1646191520139698591[17] = 0;
out_1646191520139698591[18] = 0;
out_1646191520139698591[19] = 0;
out_1646191520139698591[20] = 0;
out_1646191520139698591[21] = 0;
out_1646191520139698591[22] = 0;
out_1646191520139698591[23] = 0;
out_1646191520139698591[24] = 1.0;
out_1646191520139698591[25] = 0;
out_1646191520139698591[26] = 0;
out_1646191520139698591[27] = 0;
out_1646191520139698591[28] = 0;
out_1646191520139698591[29] = 0;
out_1646191520139698591[30] = 0;
out_1646191520139698591[31] = 0;
out_1646191520139698591[32] = 0;
out_1646191520139698591[33] = 0;
out_1646191520139698591[34] = 0;
out_1646191520139698591[35] = 0;
out_1646191520139698591[36] = 1.0;
out_1646191520139698591[37] = 0;
out_1646191520139698591[38] = 0;
out_1646191520139698591[39] = 0;
out_1646191520139698591[40] = 0;
out_1646191520139698591[41] = 0;
out_1646191520139698591[42] = 0;
out_1646191520139698591[43] = 0;
out_1646191520139698591[44] = 0;
out_1646191520139698591[45] = 0;
out_1646191520139698591[46] = 0;
out_1646191520139698591[47] = 0;
out_1646191520139698591[48] = 1.0;
out_1646191520139698591[49] = 0;
out_1646191520139698591[50] = 0;
out_1646191520139698591[51] = 0;
out_1646191520139698591[52] = 0;
out_1646191520139698591[53] = 0;
out_1646191520139698591[54] = 0;
out_1646191520139698591[55] = 0;
out_1646191520139698591[56] = 0;
out_1646191520139698591[57] = 0;
out_1646191520139698591[58] = 0;
out_1646191520139698591[59] = 0;
out_1646191520139698591[60] = 1.0;
out_1646191520139698591[61] = 0;
out_1646191520139698591[62] = 0;
out_1646191520139698591[63] = 0;
out_1646191520139698591[64] = 0;
out_1646191520139698591[65] = 0;
out_1646191520139698591[66] = 0;
out_1646191520139698591[67] = 0;
out_1646191520139698591[68] = 0;
out_1646191520139698591[69] = 0;
out_1646191520139698591[70] = 0;
out_1646191520139698591[71] = 0;
out_1646191520139698591[72] = 1.0;
out_1646191520139698591[73] = 0;
out_1646191520139698591[74] = 0;
out_1646191520139698591[75] = 0;
out_1646191520139698591[76] = 0;
out_1646191520139698591[77] = 0;
out_1646191520139698591[78] = 0;
out_1646191520139698591[79] = 0;
out_1646191520139698591[80] = 0;
out_1646191520139698591[81] = 0;
out_1646191520139698591[82] = 0;
out_1646191520139698591[83] = 0;
out_1646191520139698591[84] = 1.0;
out_1646191520139698591[85] = 0;
out_1646191520139698591[86] = 0;
out_1646191520139698591[87] = 0;
out_1646191520139698591[88] = 0;
out_1646191520139698591[89] = 0;
out_1646191520139698591[90] = 0;
out_1646191520139698591[91] = 0;
out_1646191520139698591[92] = 0;
out_1646191520139698591[93] = 0;
out_1646191520139698591[94] = 0;
out_1646191520139698591[95] = 0;
out_1646191520139698591[96] = 1.0;
out_1646191520139698591[97] = 0;
out_1646191520139698591[98] = 0;
out_1646191520139698591[99] = 0;
out_1646191520139698591[100] = 0;
out_1646191520139698591[101] = 0;
out_1646191520139698591[102] = 0;
out_1646191520139698591[103] = 0;
out_1646191520139698591[104] = 0;
out_1646191520139698591[105] = 0;
out_1646191520139698591[106] = 0;
out_1646191520139698591[107] = 0;
out_1646191520139698591[108] = 1.0;
out_1646191520139698591[109] = 0;
out_1646191520139698591[110] = 0;
out_1646191520139698591[111] = 0;
out_1646191520139698591[112] = 0;
out_1646191520139698591[113] = 0;
out_1646191520139698591[114] = 0;
out_1646191520139698591[115] = 0;
out_1646191520139698591[116] = 0;
out_1646191520139698591[117] = 0;
out_1646191520139698591[118] = 0;
out_1646191520139698591[119] = 0;
out_1646191520139698591[120] = 1.0;
}
void f_fun(double *state, double dt, double *out_5331942404729498203) {
out_5331942404729498203[0] = dt*state[3] + state[0];
out_5331942404729498203[1] = dt*state[4] + state[1];
out_5331942404729498203[2] = dt*state[5] + state[2];
out_5331942404729498203[3] = state[3];
out_5331942404729498203[4] = state[4];
out_5331942404729498203[5] = state[5];
out_5331942404729498203[6] = dt*state[7] + state[6];
out_5331942404729498203[7] = dt*state[8] + state[7];
out_5331942404729498203[8] = state[8];
out_5331942404729498203[9] = state[9];
out_5331942404729498203[10] = state[10];
void f_fun(double *state, double dt, double *out_8136264243716214718) {
out_8136264243716214718[0] = dt*state[3] + state[0];
out_8136264243716214718[1] = dt*state[4] + state[1];
out_8136264243716214718[2] = dt*state[5] + state[2];
out_8136264243716214718[3] = state[3];
out_8136264243716214718[4] = state[4];
out_8136264243716214718[5] = state[5];
out_8136264243716214718[6] = dt*state[7] + state[6];
out_8136264243716214718[7] = dt*state[8] + state[7];
out_8136264243716214718[8] = state[8];
out_8136264243716214718[9] = state[9];
out_8136264243716214718[10] = state[10];
}
void F_fun(double *state, double dt, double *out_3160440324773884395) {
out_3160440324773884395[0] = 1;
out_3160440324773884395[1] = 0;
out_3160440324773884395[2] = 0;
out_3160440324773884395[3] = dt;
out_3160440324773884395[4] = 0;
out_3160440324773884395[5] = 0;
out_3160440324773884395[6] = 0;
out_3160440324773884395[7] = 0;
out_3160440324773884395[8] = 0;
out_3160440324773884395[9] = 0;
out_3160440324773884395[10] = 0;
out_3160440324773884395[11] = 0;
out_3160440324773884395[12] = 1;
out_3160440324773884395[13] = 0;
out_3160440324773884395[14] = 0;
out_3160440324773884395[15] = dt;
out_3160440324773884395[16] = 0;
out_3160440324773884395[17] = 0;
out_3160440324773884395[18] = 0;
out_3160440324773884395[19] = 0;
out_3160440324773884395[20] = 0;
out_3160440324773884395[21] = 0;
out_3160440324773884395[22] = 0;
out_3160440324773884395[23] = 0;
out_3160440324773884395[24] = 1;
out_3160440324773884395[25] = 0;
out_3160440324773884395[26] = 0;
out_3160440324773884395[27] = dt;
out_3160440324773884395[28] = 0;
out_3160440324773884395[29] = 0;
out_3160440324773884395[30] = 0;
out_3160440324773884395[31] = 0;
out_3160440324773884395[32] = 0;
out_3160440324773884395[33] = 0;
out_3160440324773884395[34] = 0;
out_3160440324773884395[35] = 0;
out_3160440324773884395[36] = 1;
out_3160440324773884395[37] = 0;
out_3160440324773884395[38] = 0;
out_3160440324773884395[39] = 0;
out_3160440324773884395[40] = 0;
out_3160440324773884395[41] = 0;
out_3160440324773884395[42] = 0;
out_3160440324773884395[43] = 0;
out_3160440324773884395[44] = 0;
out_3160440324773884395[45] = 0;
out_3160440324773884395[46] = 0;
out_3160440324773884395[47] = 0;
out_3160440324773884395[48] = 1;
out_3160440324773884395[49] = 0;
out_3160440324773884395[50] = 0;
out_3160440324773884395[51] = 0;
out_3160440324773884395[52] = 0;
out_3160440324773884395[53] = 0;
out_3160440324773884395[54] = 0;
out_3160440324773884395[55] = 0;
out_3160440324773884395[56] = 0;
out_3160440324773884395[57] = 0;
out_3160440324773884395[58] = 0;
out_3160440324773884395[59] = 0;
out_3160440324773884395[60] = 1;
out_3160440324773884395[61] = 0;
out_3160440324773884395[62] = 0;
out_3160440324773884395[63] = 0;
out_3160440324773884395[64] = 0;
out_3160440324773884395[65] = 0;
out_3160440324773884395[66] = 0;
out_3160440324773884395[67] = 0;
out_3160440324773884395[68] = 0;
out_3160440324773884395[69] = 0;
out_3160440324773884395[70] = 0;
out_3160440324773884395[71] = 0;
out_3160440324773884395[72] = 1;
out_3160440324773884395[73] = dt;
out_3160440324773884395[74] = 0;
out_3160440324773884395[75] = 0;
out_3160440324773884395[76] = 0;
out_3160440324773884395[77] = 0;
out_3160440324773884395[78] = 0;
out_3160440324773884395[79] = 0;
out_3160440324773884395[80] = 0;
out_3160440324773884395[81] = 0;
out_3160440324773884395[82] = 0;
out_3160440324773884395[83] = 0;
out_3160440324773884395[84] = 1;
out_3160440324773884395[85] = dt;
out_3160440324773884395[86] = 0;
out_3160440324773884395[87] = 0;
out_3160440324773884395[88] = 0;
out_3160440324773884395[89] = 0;
out_3160440324773884395[90] = 0;
out_3160440324773884395[91] = 0;
out_3160440324773884395[92] = 0;
out_3160440324773884395[93] = 0;
out_3160440324773884395[94] = 0;
out_3160440324773884395[95] = 0;
out_3160440324773884395[96] = 1;
out_3160440324773884395[97] = 0;
out_3160440324773884395[98] = 0;
out_3160440324773884395[99] = 0;
out_3160440324773884395[100] = 0;
out_3160440324773884395[101] = 0;
out_3160440324773884395[102] = 0;
out_3160440324773884395[103] = 0;
out_3160440324773884395[104] = 0;
out_3160440324773884395[105] = 0;
out_3160440324773884395[106] = 0;
out_3160440324773884395[107] = 0;
out_3160440324773884395[108] = 1;
out_3160440324773884395[109] = 0;
out_3160440324773884395[110] = 0;
out_3160440324773884395[111] = 0;
out_3160440324773884395[112] = 0;
out_3160440324773884395[113] = 0;
out_3160440324773884395[114] = 0;
out_3160440324773884395[115] = 0;
out_3160440324773884395[116] = 0;
out_3160440324773884395[117] = 0;
out_3160440324773884395[118] = 0;
out_3160440324773884395[119] = 0;
out_3160440324773884395[120] = 1;
void F_fun(double *state, double dt, double *out_4236213521667949352) {
out_4236213521667949352[0] = 1;
out_4236213521667949352[1] = 0;
out_4236213521667949352[2] = 0;
out_4236213521667949352[3] = dt;
out_4236213521667949352[4] = 0;
out_4236213521667949352[5] = 0;
out_4236213521667949352[6] = 0;
out_4236213521667949352[7] = 0;
out_4236213521667949352[8] = 0;
out_4236213521667949352[9] = 0;
out_4236213521667949352[10] = 0;
out_4236213521667949352[11] = 0;
out_4236213521667949352[12] = 1;
out_4236213521667949352[13] = 0;
out_4236213521667949352[14] = 0;
out_4236213521667949352[15] = dt;
out_4236213521667949352[16] = 0;
out_4236213521667949352[17] = 0;
out_4236213521667949352[18] = 0;
out_4236213521667949352[19] = 0;
out_4236213521667949352[20] = 0;
out_4236213521667949352[21] = 0;
out_4236213521667949352[22] = 0;
out_4236213521667949352[23] = 0;
out_4236213521667949352[24] = 1;
out_4236213521667949352[25] = 0;
out_4236213521667949352[26] = 0;
out_4236213521667949352[27] = dt;
out_4236213521667949352[28] = 0;
out_4236213521667949352[29] = 0;
out_4236213521667949352[30] = 0;
out_4236213521667949352[31] = 0;
out_4236213521667949352[32] = 0;
out_4236213521667949352[33] = 0;
out_4236213521667949352[34] = 0;
out_4236213521667949352[35] = 0;
out_4236213521667949352[36] = 1;
out_4236213521667949352[37] = 0;
out_4236213521667949352[38] = 0;
out_4236213521667949352[39] = 0;
out_4236213521667949352[40] = 0;
out_4236213521667949352[41] = 0;
out_4236213521667949352[42] = 0;
out_4236213521667949352[43] = 0;
out_4236213521667949352[44] = 0;
out_4236213521667949352[45] = 0;
out_4236213521667949352[46] = 0;
out_4236213521667949352[47] = 0;
out_4236213521667949352[48] = 1;
out_4236213521667949352[49] = 0;
out_4236213521667949352[50] = 0;
out_4236213521667949352[51] = 0;
out_4236213521667949352[52] = 0;
out_4236213521667949352[53] = 0;
out_4236213521667949352[54] = 0;
out_4236213521667949352[55] = 0;
out_4236213521667949352[56] = 0;
out_4236213521667949352[57] = 0;
out_4236213521667949352[58] = 0;
out_4236213521667949352[59] = 0;
out_4236213521667949352[60] = 1;
out_4236213521667949352[61] = 0;
out_4236213521667949352[62] = 0;
out_4236213521667949352[63] = 0;
out_4236213521667949352[64] = 0;
out_4236213521667949352[65] = 0;
out_4236213521667949352[66] = 0;
out_4236213521667949352[67] = 0;
out_4236213521667949352[68] = 0;
out_4236213521667949352[69] = 0;
out_4236213521667949352[70] = 0;
out_4236213521667949352[71] = 0;
out_4236213521667949352[72] = 1;
out_4236213521667949352[73] = dt;
out_4236213521667949352[74] = 0;
out_4236213521667949352[75] = 0;
out_4236213521667949352[76] = 0;
out_4236213521667949352[77] = 0;
out_4236213521667949352[78] = 0;
out_4236213521667949352[79] = 0;
out_4236213521667949352[80] = 0;
out_4236213521667949352[81] = 0;
out_4236213521667949352[82] = 0;
out_4236213521667949352[83] = 0;
out_4236213521667949352[84] = 1;
out_4236213521667949352[85] = dt;
out_4236213521667949352[86] = 0;
out_4236213521667949352[87] = 0;
out_4236213521667949352[88] = 0;
out_4236213521667949352[89] = 0;
out_4236213521667949352[90] = 0;
out_4236213521667949352[91] = 0;
out_4236213521667949352[92] = 0;
out_4236213521667949352[93] = 0;
out_4236213521667949352[94] = 0;
out_4236213521667949352[95] = 0;
out_4236213521667949352[96] = 1;
out_4236213521667949352[97] = 0;
out_4236213521667949352[98] = 0;
out_4236213521667949352[99] = 0;
out_4236213521667949352[100] = 0;
out_4236213521667949352[101] = 0;
out_4236213521667949352[102] = 0;
out_4236213521667949352[103] = 0;
out_4236213521667949352[104] = 0;
out_4236213521667949352[105] = 0;
out_4236213521667949352[106] = 0;
out_4236213521667949352[107] = 0;
out_4236213521667949352[108] = 1;
out_4236213521667949352[109] = 0;
out_4236213521667949352[110] = 0;
out_4236213521667949352[111] = 0;
out_4236213521667949352[112] = 0;
out_4236213521667949352[113] = 0;
out_4236213521667949352[114] = 0;
out_4236213521667949352[115] = 0;
out_4236213521667949352[116] = 0;
out_4236213521667949352[117] = 0;
out_4236213521667949352[118] = 0;
out_4236213521667949352[119] = 0;
out_4236213521667949352[120] = 1;
}
void h_6(double *state, double *sat_pos, double *out_4164777334676317660) {
out_4164777334676317660[0] = sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)) + state[6];
void h_6(double *state, double *sat_pos, double *out_8352111296884602789) {
out_8352111296884602789[0] = sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)) + state[6];
}
void H_6(double *state, double *sat_pos, double *out_8721522254593615931) {
out_8721522254593615931[0] = (-sat_pos[0] + state[0])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
out_8721522254593615931[1] = (-sat_pos[1] + state[1])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
out_8721522254593615931[2] = (-sat_pos[2] + state[2])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
out_8721522254593615931[3] = 0;
out_8721522254593615931[4] = 0;
out_8721522254593615931[5] = 0;
out_8721522254593615931[6] = 1;
out_8721522254593615931[7] = 0;
out_8721522254593615931[8] = 0;
out_8721522254593615931[9] = 0;
out_8721522254593615931[10] = 0;
void H_6(double *state, double *sat_pos, double *out_2202359500111385714) {
out_2202359500111385714[0] = (-sat_pos[0] + state[0])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
out_2202359500111385714[1] = (-sat_pos[1] + state[1])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
out_2202359500111385714[2] = (-sat_pos[2] + state[2])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
out_2202359500111385714[3] = 0;
out_2202359500111385714[4] = 0;
out_2202359500111385714[5] = 0;
out_2202359500111385714[6] = 1;
out_2202359500111385714[7] = 0;
out_2202359500111385714[8] = 0;
out_2202359500111385714[9] = 0;
out_2202359500111385714[10] = 0;
}
void h_20(double *state, double *sat_pos, double *out_1506605518158843733) {
out_1506605518158843733[0] = sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)) + sat_pos[3]*state[10] + state[6] + state[9];
void h_20(double *state, double *sat_pos, double *out_4887672178428492502) {
out_4887672178428492502[0] = sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)) + sat_pos[3]*state[10] + state[6] + state[9];
}
void H_20(double *state, double *sat_pos, double *out_1146945854611411680) {
out_1146945854611411680[0] = (-sat_pos[0] + state[0])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
out_1146945854611411680[1] = (-sat_pos[1] + state[1])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
out_1146945854611411680[2] = (-sat_pos[2] + state[2])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
out_1146945854611411680[3] = 0;
out_1146945854611411680[4] = 0;
out_1146945854611411680[5] = 0;
out_1146945854611411680[6] = 1;
out_1146945854611411680[7] = 0;
out_1146945854611411680[8] = 0;
out_1146945854611411680[9] = 1;
out_1146945854611411680[10] = sat_pos[3];
void H_20(double *state, double *sat_pos, double *out_4961949425089895635) {
out_4961949425089895635[0] = (-sat_pos[0] + state[0])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
out_4961949425089895635[1] = (-sat_pos[1] + state[1])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
out_4961949425089895635[2] = (-sat_pos[2] + state[2])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
out_4961949425089895635[3] = 0;
out_4961949425089895635[4] = 0;
out_4961949425089895635[5] = 0;
out_4961949425089895635[6] = 1;
out_4961949425089895635[7] = 0;
out_4961949425089895635[8] = 0;
out_4961949425089895635[9] = 1;
out_4961949425089895635[10] = sat_pos[3];
}
void h_7(double *state, double *sat_pos_vel, double *out_2838038345896688742) {
out_2838038345896688742[0] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + state[7];
void h_7(double *state, double *sat_pos_vel, double *out_191603051630805475) {
out_191603051630805475[0] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + state[7];
}
void H_7(double *state, double *sat_pos_vel, double *out_7683900239883798223) {
out_7683900239883798223[0] = pow(sat_pos_vel[0] - state[0], 2)*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_7683900239883798223[1] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[1] - state[1], 2)*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_7683900239883798223[2] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[2] - state[2], 2)*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_7683900239883798223[3] = -(sat_pos_vel[0] - state[0])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_7683900239883798223[4] = -(sat_pos_vel[1] - state[1])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_7683900239883798223[5] = -(sat_pos_vel[2] - state[2])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_7683900239883798223[6] = 0;
out_7683900239883798223[7] = 1;
out_7683900239883798223[8] = 0;
out_7683900239883798223[9] = 0;
out_7683900239883798223[10] = 0;
void H_7(double *state, double *sat_pos_vel, double *out_7197851591855342328) {
out_7197851591855342328[0] = pow(sat_pos_vel[0] - state[0], 2)*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_7197851591855342328[1] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[1] - state[1], 2)*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_7197851591855342328[2] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[2] - state[2], 2)*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_7197851591855342328[3] = -(sat_pos_vel[0] - state[0])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_7197851591855342328[4] = -(sat_pos_vel[1] - state[1])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_7197851591855342328[5] = -(sat_pos_vel[2] - state[2])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_7197851591855342328[6] = 0;
out_7197851591855342328[7] = 1;
out_7197851591855342328[8] = 0;
out_7197851591855342328[9] = 0;
out_7197851591855342328[10] = 0;
}
void h_21(double *state, double *sat_pos_vel, double *out_2838038345896688742) {
out_2838038345896688742[0] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + state[7];
void h_21(double *state, double *sat_pos_vel, double *out_191603051630805475) {
out_191603051630805475[0] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + state[7];
}
void H_21(double *state, double *sat_pos_vel, double *out_7683900239883798223) {
out_7683900239883798223[0] = pow(sat_pos_vel[0] - state[0], 2)*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_7683900239883798223[1] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[1] - state[1], 2)*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_7683900239883798223[2] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[2] - state[2], 2)*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_7683900239883798223[3] = -(sat_pos_vel[0] - state[0])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_7683900239883798223[4] = -(sat_pos_vel[1] - state[1])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_7683900239883798223[5] = -(sat_pos_vel[2] - state[2])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_7683900239883798223[6] = 0;
out_7683900239883798223[7] = 1;
out_7683900239883798223[8] = 0;
out_7683900239883798223[9] = 0;
out_7683900239883798223[10] = 0;
void H_21(double *state, double *sat_pos_vel, double *out_7197851591855342328) {
out_7197851591855342328[0] = pow(sat_pos_vel[0] - state[0], 2)*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_7197851591855342328[1] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[1] - state[1], 2)*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_7197851591855342328[2] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[2] - state[2], 2)*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_7197851591855342328[3] = -(sat_pos_vel[0] - state[0])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_7197851591855342328[4] = -(sat_pos_vel[1] - state[1])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_7197851591855342328[5] = -(sat_pos_vel[2] - state[2])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_7197851591855342328[6] = 0;
out_7197851591855342328[7] = 1;
out_7197851591855342328[8] = 0;
out_7197851591855342328[9] = 0;
out_7197851591855342328[10] = 0;
}
#include <eigen3/Eigen/Dense>
#include <iostream>
@@ -506,44 +506,44 @@ void gnss_update_7(double *in_x, double *in_P, double *in_z, double *in_R, doubl
void gnss_update_21(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
update<1, 3, 0>(in_x, in_P, h_21, H_21, NULL, in_z, in_R, in_ea, MAHA_THRESH_21);
}
void gnss_err_fun(double *nom_x, double *delta_x, double *out_80014774094776572) {
err_fun(nom_x, delta_x, out_80014774094776572);
void gnss_err_fun(double *nom_x, double *delta_x, double *out_3985733553669045281) {
err_fun(nom_x, delta_x, out_3985733553669045281);
}
void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_9144507820461143592) {
inv_err_fun(nom_x, true_x, out_9144507820461143592);
void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_668705734016375974) {
inv_err_fun(nom_x, true_x, out_668705734016375974);
}
void gnss_H_mod_fun(double *state, double *out_3038444346073204801) {
H_mod_fun(state, out_3038444346073204801);
void gnss_H_mod_fun(double *state, double *out_1646191520139698591) {
H_mod_fun(state, out_1646191520139698591);
}
void gnss_f_fun(double *state, double dt, double *out_5331942404729498203) {
f_fun(state, dt, out_5331942404729498203);
void gnss_f_fun(double *state, double dt, double *out_8136264243716214718) {
f_fun(state, dt, out_8136264243716214718);
}
void gnss_F_fun(double *state, double dt, double *out_3160440324773884395) {
F_fun(state, dt, out_3160440324773884395);
void gnss_F_fun(double *state, double dt, double *out_4236213521667949352) {
F_fun(state, dt, out_4236213521667949352);
}
void gnss_h_6(double *state, double *sat_pos, double *out_4164777334676317660) {
h_6(state, sat_pos, out_4164777334676317660);
void gnss_h_6(double *state, double *sat_pos, double *out_8352111296884602789) {
h_6(state, sat_pos, out_8352111296884602789);
}
void gnss_H_6(double *state, double *sat_pos, double *out_8721522254593615931) {
H_6(state, sat_pos, out_8721522254593615931);
void gnss_H_6(double *state, double *sat_pos, double *out_2202359500111385714) {
H_6(state, sat_pos, out_2202359500111385714);
}
void gnss_h_20(double *state, double *sat_pos, double *out_1506605518158843733) {
h_20(state, sat_pos, out_1506605518158843733);
void gnss_h_20(double *state, double *sat_pos, double *out_4887672178428492502) {
h_20(state, sat_pos, out_4887672178428492502);
}
void gnss_H_20(double *state, double *sat_pos, double *out_1146945854611411680) {
H_20(state, sat_pos, out_1146945854611411680);
void gnss_H_20(double *state, double *sat_pos, double *out_4961949425089895635) {
H_20(state, sat_pos, out_4961949425089895635);
}
void gnss_h_7(double *state, double *sat_pos_vel, double *out_2838038345896688742) {
h_7(state, sat_pos_vel, out_2838038345896688742);
void gnss_h_7(double *state, double *sat_pos_vel, double *out_191603051630805475) {
h_7(state, sat_pos_vel, out_191603051630805475);
}
void gnss_H_7(double *state, double *sat_pos_vel, double *out_7683900239883798223) {
H_7(state, sat_pos_vel, out_7683900239883798223);
void gnss_H_7(double *state, double *sat_pos_vel, double *out_7197851591855342328) {
H_7(state, sat_pos_vel, out_7197851591855342328);
}
void gnss_h_21(double *state, double *sat_pos_vel, double *out_2838038345896688742) {
h_21(state, sat_pos_vel, out_2838038345896688742);
void gnss_h_21(double *state, double *sat_pos_vel, double *out_191603051630805475) {
h_21(state, sat_pos_vel, out_191603051630805475);
}
void gnss_H_21(double *state, double *sat_pos_vel, double *out_7683900239883798223) {
H_21(state, sat_pos_vel, out_7683900239883798223);
void gnss_H_21(double *state, double *sat_pos_vel, double *out_7197851591855342328) {
H_21(state, sat_pos_vel, out_7197851591855342328);
}
void gnss_predict(double *in_x, double *in_P, double *in_Q, double dt) {
predict(in_x, in_P, in_Q, dt);
selfdrive/locationd/models/generated/gnss.h
+13 -13
View File
@@ -5,18 +5,18 @@ void gnss_update_6(double *in_x, double *in_P, double *in_z, double *in_R, doubl
void gnss_update_20(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
void gnss_update_7(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
void gnss_update_21(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
void gnss_err_fun(double *nom_x, double *delta_x, double *out_80014774094776572);
void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_9144507820461143592);
void gnss_H_mod_fun(double *state, double *out_3038444346073204801);
void gnss_f_fun(double *state, double dt, double *out_5331942404729498203);
void gnss_F_fun(double *state, double dt, double *out_3160440324773884395);
void gnss_h_6(double *state, double *sat_pos, double *out_4164777334676317660);
void gnss_H_6(double *state, double *sat_pos, double *out_8721522254593615931);
void gnss_h_20(double *state, double *sat_pos, double *out_1506605518158843733);
void gnss_H_20(double *state, double *sat_pos, double *out_1146945854611411680);
void gnss_h_7(double *state, double *sat_pos_vel, double *out_2838038345896688742);
void gnss_H_7(double *state, double *sat_pos_vel, double *out_7683900239883798223);
void gnss_h_21(double *state, double *sat_pos_vel, double *out_2838038345896688742);
void gnss_H_21(double *state, double *sat_pos_vel, double *out_7683900239883798223);
void gnss_err_fun(double *nom_x, double *delta_x, double *out_3985733553669045281);
void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_668705734016375974);
void gnss_H_mod_fun(double *state, double *out_1646191520139698591);
void gnss_f_fun(double *state, double dt, double *out_8136264243716214718);
void gnss_F_fun(double *state, double dt, double *out_4236213521667949352);
void gnss_h_6(double *state, double *sat_pos, double *out_8352111296884602789);
void gnss_H_6(double *state, double *sat_pos, double *out_2202359500111385714);
void gnss_h_20(double *state, double *sat_pos, double *out_4887672178428492502);
void gnss_H_20(double *state, double *sat_pos, double *out_4961949425089895635);
void gnss_h_7(double *state, double *sat_pos_vel, double *out_191603051630805475);
void gnss_H_7(double *state, double *sat_pos_vel, double *out_7197851591855342328);
void gnss_h_21(double *state, double *sat_pos_vel, double *out_191603051630805475);
void gnss_H_21(double *state, double *sat_pos_vel, double *out_7197851591855342328);
void gnss_predict(double *in_x, double *in_P, double *in_Q, double dt);
}
selfdrive/locationd/models/generated/libkf.so
BIN
View File
Binary file not shown.
selfdrive/locationd/models/generated/live.cpp
+1702 -1702
View File
File diff suppressed because it is too large Load Diff
selfdrive/locationd/models/generated/live.h
+24 -24
View File
@@ -10,29 +10,29 @@ void live_update_32(double *in_x, double *in_P, double *in_z, double *in_R, doub
void live_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
void live_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
void live_update_33(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
void live_H(double *in_vec, double *out_6690968010248080223);
void live_err_fun(double *nom_x, double *delta_x, double *out_5128644486154966433);
void live_inv_err_fun(double *nom_x, double *true_x, double *out_7600355658971333284);
void live_H_mod_fun(double *state, double *out_1685726956674156760);
void live_f_fun(double *state, double dt, double *out_774966178326963321);
void live_F_fun(double *state, double dt, double *out_7282145086155387076);
void live_h_4(double *state, double *unused, double *out_3936704980047894152);
void live_H_4(double *state, double *unused, double *out_9052514604414786102);
void live_h_9(double *state, double *unused, double *out_4670376777294811307);
void live_H_9(double *state, double *unused, double *out_9153039822665174869);
void live_h_10(double *state, double *unused, double *out_5114531167885874097);
void live_H_10(double *state, double *unused, double *out_8901083693322163334);
void live_h_12(double *state, double *unused, double *out_6249225679190641860);
void live_H_12(double *state, double *unused, double *out_4374773061262803719);
void live_h_35(double *state, double *unused, double *out_5751710703471722702);
void live_H_35(double *state, double *unused, double *out_1629210028937790010);
void live_h_32(double *state, double *unused, double *out_7960850640984836266);
void live_H_32(double *state, double *unused, double *out_8200477424115484408);
void live_h_13(double *state, double *unused, double *out_2913105661532148231);
void live_H_13(double *state, double *unused, double *out_6442117529364745675);
void live_h_14(double *state, double *unused, double *out_4670376777294811307);
void live_H_14(double *state, double *unused, double *out_9153039822665174869);
void live_h_33(double *state, double *unused, double *out_3733937587285700568);
void live_H_33(double *state, double *unused, double *out_1521346975701067594);
void live_H(double *in_vec, double *out_4368495907718343571);
void live_err_fun(double *nom_x, double *delta_x, double *out_4465536791498929799);
void live_inv_err_fun(double *nom_x, double *true_x, double *out_4242153094211941637);
void live_H_mod_fun(double *state, double *out_8694534732588551911);
void live_f_fun(double *state, double dt, double *out_331980123976991440);
void live_F_fun(double *state, double dt, double *out_7523521905118560137);
void live_h_4(double *state, double *unused, double *out_874158167075593511);
void live_H_4(double *state, double *unused, double *out_2890470532950944797);
void live_h_9(double *state, double *unused, double *out_7169843762143865122);
void live_H_9(double *state, double *unused, double *out_5779332085231024139);
void live_h_10(double *state, double *unused, double *out_3163124755553653720);
void live_H_10(double *state, double *unused, double *out_4896893583908803739);
void live_h_12(double *state, double *unused, double *out_6187507614461106032);
void live_H_12(double *state, double *unused, double *out_7889145227076156327);
void live_h_35(double *state, double *unused, double *out_4266066339955691863);
void live_H_35(double *state, double *unused, double *out_5143582194751142618);
void live_h_32(double *state, double *unused, double *out_9055313354289894635);
void live_H_32(double *state, double *unused, double *out_6388297375264292642);
void live_h_13(double *state, double *unused, double *out_7078564321862276630);
void live_H_13(double *state, double *unused, double *out_7646665591930494052);
void live_h_14(double *state, double *unused, double *out_7169843762143865122);
void live_H_14(double *state, double *unused, double *out_5779332085231024139);
void live_h_33(double *state, double *unused, double *out_3878198370963190653);
void live_H_33(double *state, double *unused, double *out_1993025190112285014);
void live_predict(double *in_x, double *in_P, double *in_Q, double dt);
}
selfdrive/locationd/ubloxd
BIN
View File
Binary file not shown.
selfdrive/manager/process_config.py
+1 -1
View File
@@ -62,7 +62,7 @@ procs = [
PythonProcess("androidd", "system.hardware.eon.androidd", enabled=EON, offroad=True),
# Experimental
PythonProcess("rawgpsd", "selfdrive.sensord.rawgps.rawgpsd", enabled=os.path.isfile("/persist/comma/use-quectel-rawgps")),
PythonProcess("rawgpsd", "selfdrive.sensord.rawgps.rawgpsd", enabled=(TICI and os.path.isfile("/persist/comma/use-quectel-rawgps"))),
# dp
PythonProcess("dmonitoringd", "selfdrive.dragonpilot.dmonitoringd", enabled=EON),
selfdrive/mapd/lib/Route.py
+3 -11
View File
@@ -86,17 +86,9 @@ class Route():
b = np.arctan2(v[:, 0], v[:, 1])
# - Find index of las_wr section and calculate deltas of bearings to the other sections.
# dp - force re init if last_wr_idx return ValueError?
try:
last_wr_idx = way_relations.index(last_wr)
b_ref = b[last_wr_idx]
delta = b - b_ref
except ValueError:
self.way_collection_id = way_collection_id
self._ordered_way_relations = []
self._nodes_data = None
self._reset()
return
last_wr_idx = way_relations.index(last_wr)
b_ref = b[last_wr_idx]
delta = b - b_ref
# - Update the direction of the possible route continuation ways as starting from last_node_id.
# Make sure to exclude any ways already included in the ordered list as to not modify direction when there

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