dragonpilot 0.7.7.3

======================== * Fixed steering monitor timer param. * Fixed screen frozen issue when "screen off while driving" toggle is enabled. (Thanks to @salmankhan, @stevej99, @bobbydough) * Re-added Dev Mini UI. (Thanks to @Ninjaa) * Added ability (dp_reset_live_param_on_start) to reset LiveParameters on each start. (Thanks @eisenheim) * Fixed error cuased by enabling both dp_toyota_zss and dp_lqr at the same time. (Thanks to @bobbydough) * Added ability (dp_gpxd) to export GPS track into GPX files (/sdcard/gpx_logs/). (Thanks to @mageymoo1) * Used lane width estimate value from Germany. (Thanks to @arne182)
2026-09-28 10:23:41 +08:00 · 2020-08-21 11:51:42 +10:00
parent fc73a3b5ee
commit 899f68dabf
15 changed files with 275 additions and 56 deletions
@@ -1,3 +1,20 @@
+dragonpilot 0.7.7.3
+========================
+* 修正方向盤監控。
+* Fixed steering monitor timer param.
+* 修正行駛時關閉畫面導致當機的錯誤。(感謝 @salmankhan, @stevej99, @bobbydough 回報)
+* Fixed screen frozen issue when "screen off while driving" toggle is enabled. (Thanks to @salmankhan, @stevej99, @bobbydough)
+* 加回 Dev Mini UI 開關。(感謝 @Ninjaa 建議)
+* Re-added Dev Mini UI. (Thanks to @Ninjaa)
+* 新增 (dp_reset_live_parameters_on_start) 每次發車重設 LiveParameters 值。(感謝 @eisenheim)
+* Added ability (dp_reset_live_param_on_start) to reset LiveParameters on each start. (Thanks @eisenheim)
+* 修正同時開啟 dp_toyota_zss 和 dp_lqr 產生的錯誤。(感謝 @bobbydough)
+* Fixed error cuased by enabling both dp_toyota_zss and dp_lqr at the same time. (Thanks to @bobbydough)
+* 新增 (dp_gpxd) 將 GPS 軌跡導出至 GPX 格式 (/sdcard/gpx_logs/）的功能。 （感謝 @mageymoo1）
+* Added ability (dp_gpxd) to export GPS track into GPX files (/sdcard/gpx_logs/). (Thanks to @mageymoo1)
+* 使用德國的車道寬度估算值。 （感謝 @arne182）
+* Used lane width estimate value from Germany. (Thanks to @arne182)
+
 dragonpilot 0.7.7.2
 ========================
 * 加入 d_poly offset。 (感謝 @ShaneSmiskol)
@@ -1,3 +1,35 @@
+2020-08-18 (0.7.7.0)
+========================
+* gpxd 不再切換至 GCJ-02 格式。(感謝 @arne182 建議)
+* gpxd no longer switch to GCJ-02 format automatically. (Thanks to @arne182)
+* 修正方向盤監控。
+* Fixed steering monitor timer param.
+* 修正行駛時關閉畫面導致當機的錯誤。(感謝 @salmankhan, @stevej99, @bobbydough 回報)
+* Fixed screen frozen issue when "screen off while driving" toggle is enabled. (Thanks to @salmankhan, @stevej99, @bobbydough)
+* 加回 Dev Mini UI 開關。(感謝 @Ninjaa 建議)
+* Re-added Dev Mini UI. (Thanks to @Ninjaa)
+
+2020-08-17 (0.7.7.0)
+========================
+* gpxd 只儲存高精度數據。(感謝 @arne182)
+* gpxd now only stored high accuracy data. (Thanks to @arne182)
+* gpxd 加入自動切換成 GCJ-02 格式。
+* added ability to switch to GCJ-02 format in gpxd.
+* 新增 (dp_reset_live_parameters_on_start) 每次發車重設 LiveParameters 值。(感謝 @eisenheim)
+* Added ability (dp_reset_live_param_on_start) to reset LiveParameters on each start. (Thanks @eisenheim)
+
+2020-08-12 (0.7.7.0)
+========================
+* 修正同時開啟 dp_toyota_zss 和 dp_lqr 產生的錯誤。(感謝 @bobbydough)
+* Fixed error cuased by enabling both dp_toyota_zss and dp_lqr at the same time. (Thanks to @bobbydough)
+
+2020-08-12 (0.7.7.0)
+========================
+* 新增 (dp_gpxd) 將 GPS 軌跡導出至 GPX 格式 (/sdcard/gpx_logs/）的功能。 （感謝 @mageymoo1）
+* Added ability (dp_gpxd) to export GPS track into GPX files (/sdcard/gpx_logs/). (Thanks to @mageymoo1)
+* 使用德國的車道寬度估算值。 （感謝 @arne182）
+* Used lane width estimate value from Germany. (Thanks to @arne182)
+
 2020-08-11 (0.7.7.0)
 ========================
 * 加入 d_poly offset。 (感謝 @ShaneSmiskol)
@@ -2081,11 +2081,11 @@ struct DragonConf {
  dpSteeringLimitAlert @12 :Bool;
  dpSteeringOnSignal @13 :Bool;
  dpSignalOffDelay @14 :UInt8;
-  dpAssistedLcMinMph @15 :UInt8;
+  dpAssistedLcMinMph @15 :Float32;
  dpAutoLc @16 :Bool;
  dpAutoLcCont @17 :Bool;
-  dpAutoLcMinMph @18 :UInt8;
-  dpAutoLcDelay @19 :UInt8;
+  dpAutoLcMinMph @18 :Float32;
+  dpAutoLcDelay @19 :Float32;
  dpSlowOnCurve @20 :Bool;
  dpAllowGas @21 :Bool;
  dpMaxCtrlSpeed @22 :Float32;
@@ -2108,34 +2108,35 @@ struct DragonConf {
  dpUiPath @39 :Bool;
  dpUiLead @40 :Bool;
  dpUiDev @41 :Bool;
-  dpUiBlinker @42 :Bool;
-  dpUiBrightness @43 :UInt8;
-  dpUiVolumeBoost @44 :Int8;
-  dpAppAutoUpdate @45 :Bool;
-  dpAppExtGps @46 :Bool;
-  dpAppTomtom @47 :Bool;
-  dpAppTomtomAuto @48 :Bool;
-  dpAppTomtomManual @49 :Int8;
-  dpAppAutonavi @50 :Bool;
-  dpAppAutonaviAuto @51 :Bool;
-  dpAppAutonaviManual @52 :Int8;
-  dpAppAegis @53 :Bool;
-  dpAppAegisAuto @54 :Bool;
-  dpAppAegisManual @55 :Int8;
-  dpAppMixplorer @56 :Bool;
-  dpAppMixplorerManual @57 :Int8;
-  dpToyotaLdw @58 :Bool;
-  dpToyotaSng @59 :Bool;
-  dpToyotaLowestCruiseOverride @60 :Bool;
-  dpToyotaLowestCruiseOverrideAt @61 :Float32;
-  dpToyotaLowestCruiseOverrideSpeed @62 :Float32;
-  dpIpAddr @63 :Text;
-  dpCameraOffset @64 :Int8;
-  dpLocale @65 :Text;
-  dpChargingCtrl @66 :Bool;
-  dpChargingAt @67 :UInt8;
-  dpDischargingAt @68 :UInt8;
-  dpIsUpdating @69 :Bool;
-  dpThermalStarted @70 :Bool;
-  dpThermalOverheat @71 :Bool;
+  dpUiDevMini @42 :Bool;
+  dpUiBlinker @43 :Bool;
+  dpUiBrightness @44 :UInt8;
+  dpUiVolumeBoost @45 :Int8;
+  dpAppAutoUpdate @46 :Bool;
+  dpAppExtGps @47 :Bool;
+  dpAppTomtom @48 :Bool;
+  dpAppTomtomAuto @49 :Bool;
+  dpAppTomtomManual @50 :Int8;
+  dpAppAutonavi @51 :Bool;
+  dpAppAutonaviAuto @52 :Bool;
+  dpAppAutonaviManual @53 :Int8;
+  dpAppAegis @54 :Bool;
+  dpAppAegisAuto @55 :Bool;
+  dpAppAegisManual @56 :Int8;
+  dpAppMixplorer @57 :Bool;
+  dpAppMixplorerManual @58 :Int8;
+  dpToyotaLdw @59 :Bool;
+  dpToyotaSng @60 :Bool;
+  dpToyotaLowestCruiseOverride @61 :Bool;
+  dpToyotaLowestCruiseOverrideAt @62 :Float32;
+  dpToyotaLowestCruiseOverrideSpeed @63 :Float32;
+  dpIpAddr @64 :Text;
+  dpCameraOffset @65 :Int8;
+  dpLocale @66 :Text;
+  dpChargingCtrl @67 :Bool;
+  dpChargingAt @68 :UInt8;
+  dpDischargingAt @69 :UInt8;
+  dpIsUpdating @70 :Bool;
+  dpThermalStarted @71 :Bool;
+  dpThermalOverheat @72 :Bool;
 }
@@ -22,6 +22,7 @@ confs = [
  {'name': 'dp_upload_on_mobile', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_uploader', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_upload_on_hotspot', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_uploader', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_updated', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
+  {'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_lat_ctrl', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
@@ -29,15 +30,15 @@ confs = [
  {'name': 'dp_steering_on_signal', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_lat_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_signal_off_delay', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 10, 'conf_type': ['param', 'struct']},
  # assist/auto lane change
-  {'name': 'dp_assisted_lc_min_mph', 'default': 45, 'type': 'UInt8', 'min': 0, 'max': 255, 'conf_type': ['param', 'struct']},
+  {'name': 'dp_assisted_lc_min_mph', 'default': 45, 'type': 'Float32', 'min': 0, 'max': 255., 'conf_type': ['param', 'struct']},
  {'name': 'dp_auto_lc', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  {'name': 'dp_auto_lc_cont', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_auto_lc', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_auto_lc_min_mph', 'default': 60, 'type': 'UInt8', 'min': 0, 'max': 255, 'depends': [{'name': 'dp_auto_lc', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_auto_lc_delay', 'default': 3, 'type': 'UInt8', 'min': 0, 'max': 10, 'depends': [{'name': 'dp_auto_lc', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_auto_lc_min_mph', 'default': 60, 'type': 'Float32', 'min': 0, 'max': 255., 'depends': [{'name': 'dp_auto_lc', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_auto_lc_delay', 'default': 3, 'type': 'Float32', 'min': 0, 'max': 10., 'depends': [{'name': 'dp_auto_lc', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  # long ctrl
  {'name': 'dp_slow_on_curve', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_allow_gas', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_max_ctrl_speed', 'default': 92, 'type': 'Float32', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_max_ctrl_speed', 'default': 92., 'type': 'Float32', 'conf_type': ['param', 'struct']},
  {'name': 'dp_lead_car_alert', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  {'name': 'dp_dynamic_follow', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 4, 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 3, 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
@@ -81,8 +82,8 @@ confs = [
  {'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_toyota_zss', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_toyota_lowest_cruise_override', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_toyota_lowest_cruise_override_at', 'default': 44, 'type': 'Float32', 'depends': [{'name': 'dp_toyota_lowest_cruise_override', 'vals': [True]}], 'min': 44, 'max': 46, 'conf_type': ['param', 'struct']},
-  {'name': 'dp_toyota_lowest_cruise_override_speed', 'default': 32, 'type': 'Float32', 'depends': [{'name': 'dp_toyota_lowest_cruise_override_speed', 'vals': [True]}], 'min': 27, 'max': 44, 'conf_type': ['param', 'struct']},
+  {'name': 'dp_toyota_lowest_cruise_override_at', 'default': 44, 'type': 'Float32', 'depends': [{'name': 'dp_toyota_lowest_cruise_override', 'vals': [True]}], 'min': 0, 'max': 255., 'conf_type': ['param', 'struct']},
+  {'name': 'dp_toyota_lowest_cruise_override_speed', 'default': 32, 'type': 'Float32', 'depends': [{'name': 'dp_toyota_lowest_cruise_override_speed', 'vals': [True]}], 'min': 0, 'max': 255., 'conf_type': ['param', 'struct']},
  # custom car
  {'name': 'dp_car_selected', 'default': '', 'type': 'Text', 'conf_type': ['param']},
  {'name': 'dp_car_list', 'default': '', 'type': 'Text', 'conf_type': ['param']},
@@ -104,6 +105,7 @@ confs = [

  {'name': 'dp_sr_learner', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_lqr', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_reset_live_param_on_start', 'default': False, 'type': 'Bool', 'conf_type': ['param']},

  # including thermal data
  {'name': 'dp_thermal_started', 'default': False, 'type': 'Bool', 'conf_type': ['struct']},
@@ -296,7 +296,8 @@ class CarInterface(CarInterfaceBase):

    if candidate == CAR.PRIUS and Params().get('dp_toyota_zss') == b'1':
      ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.lateralTuning.indi.timeConstant = 0.1
+      if Params().get('dp_lqr') == b'0':
+        ret.lateralTuning.indi.timeConstant = 0.1
      ret.steerRateCost = 0.5

    # TODO: get actual value, for now starting with reasonable value for
@@ -43,6 +43,7 @@ class Controls:
    gc.disable()
    set_realtime_priority(53)
    set_core_affinity(3)
+    params = Params()

    # Setup sockets
    self.pm = pm
@@ -52,8 +53,10 @@ class Controls:

    self.sm = sm
    if self.sm is None:
-      self.sm = messaging.SubMaster(['dragonConf', 'thermal', 'health', 'frame', 'model', 'liveCalibration',
-                                     'dMonitoringState', 'plan', 'pathPlan', 'liveLocationKalman'])
+      socks = ['dragonConf', 'thermal', 'health', 'frame', 'model', 'liveCalibration',
+               'dMonitoringState', 'plan', 'pathPlan', 'liveLocationKalman']
+      ignore_alive = None if params.get('dp_driver_monitor') == b'1' else ['dMonitoringState']
+      self.sm = messaging.SubMaster(socks, ignore_alive=ignore_alive)

    self.can_sock = can_sock
    if can_sock is None:
@@ -69,7 +72,6 @@ class Controls:
    self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], has_relay)

    # read params
-    params = Params()
    self.is_metric = params.get("IsMetric", encoding='utf8') == "1"
    self.is_ldw_enabled = params.get("IsLdwEnabled", encoding='utf8') == "1"
    internet_needed = False #(params.get("Offroad_ConnectivityNeeded", encoding='utf8') is not None) and (params.get("DisableUpdates") != b"1")
@@ -54,9 +54,9 @@ class LanePlanner():
    self.p_poly = [0., 0., 0., 0.]
    self.d_poly = [0., 0., 0., 0.]

-    self.lane_width_estimate = 3.7
+    self.lane_width_estimate = 2.85
    self.lane_width_certainty = 1.0
-    self.lane_width = 3.7
+    self.lane_width = 2.85

    self.l_prob = 0.
    self.r_prob = 0.
@@ -103,7 +103,7 @@ class LanePlanner():
    self.lane_width_certainty += 0.05 * (self.l_prob * self.r_prob - self.lane_width_certainty)
    current_lane_width = abs(self.l_poly[3] - self.r_poly[3])
    self.lane_width_estimate += 0.005 * (current_lane_width - self.lane_width_estimate)
-    speed_lane_width = interp(v_ego, [0., 31.], [2.8, 3.5])
+    speed_lane_width = interp(v_ego, [0., 14., 20.], [2.5, 3., 3.5]) # German Standards
    self.lane_width = self.lane_width_certainty * self.lane_width_estimate + \
                      (1 - self.lane_width_certainty) * speed_lane_width

@@ -0,0 +1,153 @@
+#!/usr/bin/env python3.7
+'''
+GPS cord converter: https://gist.github.com/jp1017/71bd0976287ce163c11a7cb963b04dd8
+'''
+import cereal.messaging as messaging
+import os
+import time
+import datetime
+import signal
+import threading
+import math
+
+pi = 3.1415926535897932384626
+x_pi = 3.14159265358979324 * 3000.0 / 180.0
+a = 6378245.0
+ee = 0.00669342162296594323
+
+GPX_LOG_PATH = '/sdcard/gpx_logs/'
+
+LOG_DELAY = 0.1 # secs, lower for higher accuracy, 0.1 seems fine
+LOG_LENGTH = 30 # mins, higher means it keeps more data in the memory, will take more time to write into a file too.
+LOST_SIGNAL_COUNT_LENGTH = 30 # secs, if we lost signal for this long, perform output to data
+MIN_MOVE_SPEED_KMH = 5 # km/h, min speed to trigger logging
+
+# do not change
+LOST_SIGNAL_COUNT_MAX = LOST_SIGNAL_COUNT_LENGTH / LOG_DELAY # secs,
+LOGS_PER_FILE = LOG_LENGTH * 60 / LOG_DELAY # e.g. 3 * 60 / 0.1 = 1800 points per file
+MIN_MOVE_SPEED_MS = MIN_MOVE_SPEED_KMH / 3.6
+
+class WaitTimeHelper:
+  ready_event = threading.Event()
+  shutdown = False
+
+  def __init__(self):
+    signal.signal(signal.SIGTERM, self.graceful_shutdown)
+    signal.signal(signal.SIGINT, self.graceful_shutdown)
+    signal.signal(signal.SIGHUP, self.graceful_shutdown)
+
+  def graceful_shutdown(self, signum, frame):
+    self.shutdown = True
+    self.ready_event.set()
+
+def main():
+  # init
+  sm = messaging.SubMaster(['gpsLocationExternal'])
+  log_count = 0
+  logs = list()
+  lost_signal_count = 0
+  wait_helper = WaitTimeHelper()
+  started_time = datetime.datetime.utcnow().isoformat()
+  # outside_china_checked = False
+  # outside_china = False
+  while True:
+    sm.update()
+    if sm.updated['gpsLocationExternal']:
+      gps = sm['gpsLocationExternal']
+
+      # do not log when no fix or accuracy is too low, add lost_signal_count
+      if gps.flags % 2 == 0 or gps.accuracy > 5.:
+        if log_count > 0:
+          lost_signal_count += 1
+      else:
+        lng = gps.longitude
+        lat = gps.latitude
+        # if not outside_china_checked:
+        #   outside_china = out_of_china(lng, lat)
+        #   outside_china_checked = True
+        # if not outside_china:
+        #   lng, lat = wgs84togcj02(lng, lat)
+        logs.append([datetime.datetime.utcfromtimestamp(gps.timestamp*0.001).isoformat(), lat, lng, gps.altitude])
+        log_count += 1
+        lost_signal_count = 0
+    '''
+    write to log if
+    1. reach per file limit
+    2. lost signal for a certain time (e.g. under cover car park?)
+    '''
+    if log_count > 0 and (log_count >= LOGS_PER_FILE or lost_signal_count >= LOST_SIGNAL_COUNT_MAX):
+      # output
+      to_gpx(logs, started_time)
+      lost_signal_count = 0
+      log_count = 0
+      logs.clear()
+      started_time = datetime.datetime.utcnow().isoformat()
+
+    time.sleep(LOG_DELAY)
+    if wait_helper.shutdown:
+      break
+  # when process end, we store any logs.
+  if log_count > 0:
+    to_gpx(logs, started_time)
+
+'''
+check to see if it's in china
+'''
+def out_of_china(lng, lat):
+  if lng < 72.004 or lng > 137.8347:
+    return True
+  elif lat < 0.8293 or lat > 55.8271:
+    return True
+  return False
+
+def transform_lat(lng, lat):
+  ret = -100.0 + 2.0 * lng + 3.0 * lat + 0.2 * lat * lat + 0.1 * lng * lat + 0.2 * math.sqrt(abs(lng))
+  ret += (20.0 * math.sin(6.0 * lng * pi) + 20.0 * math.sin(2.0 * lng * pi)) * 2.0 / 3.0
+  ret += (20.0 * math.sin(lat * pi) + 40.0 * math.sin(lat / 3.0 * pi)) * 2.0 / 3.0
+  ret += (160.0 * math.sin(lat / 12.0 * pi) + 320 * math.sin(lat * pi / 30.0)) * 2.0 / 3.0
+  return ret
+
+def transform_lng(lng, lat):
+  ret = 300.0 + lng + 2.0 * lat + 0.1 * lng * lng + 0.1 * lng * lat + 0.1 * math.sqrt(abs(lng))
+  ret += (20.0 * math.sin(6.0 * lng * pi) + 20.0 * math.sin(2.0 * lng * pi)) * 2.0 / 3.0
+  ret += (20.0 * math.sin(lng * pi) + 40.0 * math.sin(lng / 3.0 * pi)) * 2.0 / 3.0
+  ret += (150.0 * math.sin(lng / 12.0 * pi) + 300.0 * math.sin(lng / 30.0 * pi)) * 2.0 / 3.0
+  return ret
+
+'''
+Convert wgs84 to gcj02 (
+'''
+def wgs84togcj02(lng, lat):
+  if out_of_china(lng, lat):
+    return lng, lat
+  dlat = transform_lat(lng - 105.0, lat - 35.0)
+  dlng = transform_lng(lng - 105.0, lat - 35.0)
+  radlat = lat / 180.0 * pi
+  magic = math.sin(radlat)
+  magic = 1 - ee * magic * magic
+  sqrtmagic = math.sqrt(magic)
+  dlat = (dlat * 180.0) / ((a * (1 - ee)) / (magic * sqrtmagic) * pi)
+  dlng = (dlng * 180.0) / (a / sqrtmagic * math.cos(radlat) * pi)
+  mglat = lat + dlat
+  mglng = lng + dlng
+  return mglng, mglat
+
+'''
+write logs to a gpx file
+'''
+def to_gpx(logs, filename):
+  if not os.path.exists(GPX_LOG_PATH):
+    os.makedirs(GPX_LOG_PATH)
+  with open('%s%sZ.gpx' % (GPX_LOG_PATH, filename.replace(':','-')), 'w') as f:
+    f.write("%s\n" % '<?xml version="1.0" encoding="UTF-8" standalone="no" ?>')
+    f.write("%s\n" % '<gpx xmlns="http://www.topografix.com/GPX/1/1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://www.topografix.com/GPX/1/1 http://www.topografix.com/GPX/1/1/gpx.xsd" version="1.1">')
+    f.write("\t<trk>\n")
+    f.write("\t\t<trkseg>\n")
+    for trkpt in logs:
+      f.write("\t\t\t<trkpt time=\"%sZ\" lat=\"%s\" lon=\"%s\" ele=\"%s\" />\n" % (trkpt[0], trkpt[1], trkpt[2], trkpt[3]))
+    f.write("\t\t</trkseg>\n")
+    f.write("\t</trk>\n")
+    f.write("%s\n" % '</gpx>')
+
+if __name__ == "__main__":
+  main()
@@ -82,7 +82,7 @@ def main(sm=None, pm=None):
  CP = car.CarParams.from_bytes(params_reader.get("CarParams", block=True))
  cloudlog.info("paramsd got CarParams")

-  params = params_reader.get("LiveParameters")
+  params = params_reader.get("LiveParameters") if params_reader.get('dp_reset_live_param_on_start') == b'0' else None

  # Check if car model matches
  if params is not None:
@@ -202,6 +202,7 @@ managed_processes = {
  "driverview": "selfdrive.monitoring.driverview",
  "systemd": "selfdrive.dragonpilot.systemd",
  "appd": "selfdrive.dragonpilot.appd",
+  "gpxd": "selfdrive.dragonpilot.gpxd",
 }

 daemon_processes = {
@@ -267,6 +268,7 @@ if ANDROID:
    'clocksd',
    'gpsd',
    'dmonitoringmodeld',
+    'gpxd',
  ]

 def register_managed_process(name, desc, car_started=False):
@@ -590,18 +592,19 @@ def main():

  # dp
  del managed_processes['tombstoned']
-  if params.get("dp_logger") == b'0':
+  if params.get("dp_logger") == b'0' or \
+          params.get("dp_atl") == b'1' or \
+          params.get("dp_steering_monitor") == b'0':
    del managed_processes['loggerd']
    del managed_processes['logmessaged']
    del managed_processes['proclogd']
    del managed_processes['logcatd']
-    del managed_processes['deleter']
-  if params.get("dp_uploader") == b'0' or \
-      params.get("dp_atl") == b'1' or \
-      params.get("dp_steering_monitor") == b'0':
+  if params.get("dp_uploader") == b'0':
    del managed_processes['uploader']
  if params.get("dp_updated") == b'0':
    del managed_processes['updated']
+  if params.get('dp_gpxd') == b'0':
+    del managed_processes['gpxd']

  # SystemExit on sigterm
  signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))
@@ -8,6 +8,8 @@ from selfdrive.controls.lib.events import Events
 from selfdrive.monitoring.driver_monitor import DriverStatus, MAX_TERMINAL_ALERTS, MAX_TERMINAL_DURATION
 from selfdrive.locationd.calibration_helpers import Calibration
 from common.realtime import DT_DMON
+from common.realtime import sec_since_boot
+import time

 def dmonitoringd_thread(sm=None, pm=None):
  gc.disable()
@@ -51,6 +53,7 @@ def dmonitoringd_thread(sm=None, pm=None):

  # 10Hz <- dmonitoringmodeld
  while True:
+    start_time = sec_since_boot()
    sm.update()

    # dp
@@ -121,6 +124,9 @@ def dmonitoringd_thread(sm=None, pm=None):
        "isPreview": False,
      }
      pm.send('dMonitoringState', dat)
+    diff = sec_since_boot() - start_time
+    if not sm['dragonConf'].dpDriverMonitor and diff < 0.1:
+      time.sleep(0.1-diff)

 def main(sm=None, pm=None):
  dmonitoringd_thread(sm, pm)
@@ -1063,7 +1063,7 @@ static void ui_draw_vision_footer(UIState *s) {
  if (s->scene.dpUiDev) {
    ui_draw_bbui(s);
  }
-  if (s->scene.dpUiDev || s->scene.dpDashcam || s->scene.dpAppWaze) {
+  if (s->scene.dpUiDevMini) {
    ui_draw_infobar(s);
  }

@@ -334,7 +334,7 @@ void handle_message(UIState *s, SubMaster &sm) {
      if (alert_sound == AudibleAlert::NONE) {
        s->sound.stop();
      } else {
-        if (s->scene.dpUiScreenOffDriving) {
+        if (s->scene.dpUiScreenOffDriving && !s->awake) {
          set_awake(s, true);
        }
        s->sound.play(alert_sound);
@@ -446,6 +446,7 @@ void handle_message(UIState *s, SubMaster &sm) {
    scene.dpUiPath = data.getDpUiPath();
    scene.dpUiLead = data.getDpUiLead();
    scene.dpUiDev = data.getDpUiDev();
+    scene.dpUiDevMini = data.getDpUiDevMini();
    scene.dpUiBlinker = data.getDpUiBlinker();
    scene.dpUiBrightness = data.getDpUiBrightness();
    scene.dpUiVolumeBoost = data.getDpUiVolumeBoost();
@@ -843,7 +844,7 @@ int main(int argc, char* argv[]) {
  // dp
  s->scene.dp_alert_rate = 0;
  s->scene.dp_alert_type = 1;
-  if (s->scene.dpUiScreenOffDriving) {
+  if (s->scene.dpUiScreenOffDriving && !s->awake) {
    set_awake(s, true);
  }

@@ -954,7 +955,7 @@ int main(int argc, char* argv[]) {

    if (s->controls_timeout > 0) {
      s->controls_timeout--;
-    } else if (s->started) {
+    } else if (s->started && !s->scene.dpUiScreenOffReversing && !s->scene.dpUiScreenOffDriving) {
      if (!s->controls_seen) {
        // car is started, but controlsState hasn't been seen at all
        s->scene.alert_text1 = "openpilot Unavailable";
@@ -159,6 +159,7 @@ typedef struct UIScene {
  bool dpUiPath;
  bool dpUiLead;
  bool dpUiDev;
+  bool dpUiDevMini;
  bool dpUiBlinker;
  int dpUiBrightness;
  int dpUiVolumeBoost;