Merge branch 'devel-en' into devel-zhs

# Conflicts:
#	apk/ai.comma.plus.offroad.apk

common/params.py

@@ -116,6 +116,7 @@ keys = {
   "DragonEnableMixplorer": [TxType.PERSISTENT],
   "DragonRunMixplorer": [TxType.PERSISTENT],
   "DragonSteeringMonitorTimer": [TxType.PERSISTENT],
+  "DragonCameraOffset": [TxType.PERSISTENT],
 }
 
 

selfdrive/controls/lib/lane_planner.py

@@ -1,8 +1,10 @@
 from common.numpy_fast import interp
 import numpy as np
 from selfdrive.controls.lib.latcontrol_helpers import model_polyfit, compute_path_pinv
+from common.params import Params
+params = Params()
 
-CAMERA_OFFSET = 0.06  # m from center car to camera
+CAMERA_OFFSET = int(params.get("DragonCameraOffset"))
 
 
 def calc_d_poly(l_poly, r_poly, p_poly, l_prob, r_prob, lane_width):

selfdrive/dragonpilot/dragonconf/__init__.py

@@ -36,6 +36,7 @@ default_conf = {
   'DragonEnableMixplorer': '0',
   'DragonRunMixplorer': '0',
   'DragonSteeringMonitorTimer': '3',
+  'DragonCameraOffset': '6',
 }
 
 deprecated_conf = {