Add TW 2019 RAV4H FP

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

common/params.py

@@ -118,6 +118,7 @@ keys = {
   "DragonSteeringMonitorTimer": [TxType.PERSISTENT],
   "DragonCameraOffset": [TxType.PERSISTENT],
   "DragonUIVolumeBoost": [TxType.PERSISTENT],
+  "DragonGreyPandaMode": [TxType.PERSISTENT],
 }
 
 

dragonpilot/chinese-fonts/installer.sh

@@ -1,7 +1,7 @@
 #!/usr/bin/bash
 
 # Anndroid system locale, zh-TW = Traditional Chinese, zh-CN = Simplified Chinese
-lang=en
+lang=zh-CN
 
 update_font_reg=0
 update_font_bold=0

opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc

@@ -10,7 +10,7 @@ BO_ 550 BRAKE_MODULE: 8 XXX
  SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (1.0,0) [-20000|20000] "" XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

opendbc/lexus_is_hybrid_2017_pt_generated.dbc

@@ -357,7 +357,7 @@ BO_ 550 BRAKE_MODULE: 8 XXX
  SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (1.0,0) [-20000|20000] "" XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

selfdrive/car/honda/values.py

@@ -59,7 +59,14 @@ FINGERPRINTS = {
     148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
   }],
   CAR.ACCORDH: [{
+    148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 525: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
+  },
+  {
     148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 525: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1416: 5, 1600: 5, 1601: 8, 1652: 8
+  },
+  {
+    # Honda Inspire Hybrid
+    148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 408: 6, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 450: 8, 464: 8, 475: 8, 477: 8, 479: 8, 481: 8, 495: 8, 525: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1416: 5, 1600: 5, 1601: 8, 1652: 8
   }],
   CAR.ACURA_ILX: [{
     57: 3, 145: 8, 228: 5, 304: 8, 316: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 7, 419: 8, 420: 8, 422: 8, 428: 8, 432: 7, 464: 8, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 882: 2, 884: 7, 887: 8, 888: 8, 892: 8, 923: 2, 929: 4, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1030: 5, 1034: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1365: 5,

selfdrive/car/toyota/carstate.py

@@ -41,25 +41,17 @@ def get_can_parser(CP):
     ("STEER_RATE", "STEER_ANGLE_SENSOR", 0),
     ("CRUISE_ACTIVE", "PCM_CRUISE", 0),
     ("CRUISE_STATE", "PCM_CRUISE", 0),
-    ("MAIN_ON", "PCM_CRUISE_2", 0),
-    ("SET_SPEED", "PCM_CRUISE_2", 0),
-    ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
     ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
     ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
     ("TURN_SIGNALS", "STEERING_LEVERS", 3),   # 3 is no blinkers
     ("LKA_STATE", "EPS_STATUS", 0),
-    ("IPAS_STATE", "EPS_STATUS", 1),
     ("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
-    ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
   ]
 
   checks = [
-    ("BRAKE_MODULE", 40),
-    ("GAS_PEDAL", 33),
     ("WHEEL_SPEEDS", 80),
     ("STEER_ANGLE_SENSOR", 80),
     ("PCM_CRUISE", 33),
-    ("PCM_CRUISE_2", 33),
     ("STEER_TORQUE_SENSOR", 50),
     ("EPS_STATUS", 25),
   ]
@@ -67,6 +59,32 @@ def get_can_parser(CP):
   if CP.carFingerprint in NO_DSU_CAR:
     signals += [("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0)]
 
+  if CP.carFingerprint == CAR.LEXUS_ISH:
+    checks += [
+      ("BRAKE_MODULE", 50),
+      ("GAS_PEDAL", 50),
+      ("PCM_CRUISE_ISH", 1),
+    ]
+
+    signals += [
+      ("MAIN_ON", "PCM_CRUISE_ISH", 0),
+      ("SET_SPEED", "PCM_CRUISE_ISH", 0),
+      ("AUTO_HIGH_BEAM", "LIGHT_STALK_ISH", 0),
+    ]
+  else:
+    checks += [
+      ("BRAKE_MODULE", 40),
+      ("GAS_PEDAL", 33),
+      ("PCM_CRUISE_2", 33),
+    ]
+    signals += [
+      ("MAIN_ON", "PCM_CRUISE_2", 0),
+      ("SET_SPEED", "PCM_CRUISE_2", 0),
+      ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
+      ("IPAS_STATE", "EPS_STATUS", 1),
+      ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
+    ]
+
   if CP.carFingerprint == CAR.PRIUS:
     signals += [("STATE", "AUTOPARK_STATUS", 0)]
 
@@ -171,14 +189,20 @@ class CarState(object):
     self.angle_steers_rate = cp.vl["STEER_ANGLE_SENSOR"]['STEER_RATE']
     can_gear = int(cp.vl["GEAR_PACKET"]['GEAR'])
     self.gear_shifter = parse_gear_shifter(can_gear, self.shifter_values)
-    self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON']
+    if self.CP.carFingerprint == CAR.LEXUS_ISH:
+      self.main_on = cp.vl["PCM_CRUISE_ISH"]['MAIN_ON']
+    else:
+      self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON']
     self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
     self.right_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2
 
     # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
     self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
     self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
-    self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
+    if self.CP.carFingerprint == CAR.LEXUS_ISH:
+      self.ipas_active = False
+    else:
+      self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
     self.brake_error = 0
     self.steer_torque_driver = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']
     self.steer_torque_motor = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS']
@@ -186,13 +210,21 @@ class CarState(object):
     self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD
 
     self.user_brake = 0
-    self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
-    self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
+    if self.CP.carFingerprint == CAR.LEXUS_ISH:
+      self.v_cruise_pcm = cp.vl["PCM_CRUISE_ISH"]['SET_SPEED']
+      # ish does not have curise status value (always 0), so we use curise_active value instead
+      self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE']
+      self.low_speed_lockout = False
+    else:
+      self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
+      self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
+      self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
     self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
-    self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
     self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
     if self.CP.carFingerprint == CAR.PRIUS:
       self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0
+    elif self.CP.carFingerprint == CAR.LEXUS_ISH:
+      self.generic_toggle = bool(cp.vl["LIGHT_STALK_ISH"]['AUTO_HIGH_BEAM'])
     else:
       self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])
 

selfdrive/car/toyota/interface.py

@@ -215,6 +215,16 @@ class CarInterface(object):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
       ret.lateralTuning.pid.kf = 0.00007818594
 
+    elif candidate == CAR.LEXUS_ISH:
+      stop_and_go = True
+      ret.safetyParam = 100
+      ret.wheelbase = 2.80 # in spec
+      ret.steerRatio = 13.3 # in spec
+      tire_stiffness_factor = 0.444 # from camry
+      ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG # in spec, mean of is300 (1680 kg) / is300h (1720 kg) / is350 (1685 kg)
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.04]]
+      ret.lateralTuning.pid.kf = 0.00006 # from camry
+
     ret.steerRateCost = 1.
     ret.centerToFront = ret.wheelbase * 0.44
 

selfdrive/car/toyota/values.py

@@ -17,7 +17,7 @@ class CAR:
   COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019"
   LEXUS_ESH_TSS2 = "LEXUS ES 300H 2019"
   SIENNA = "TOYOTA SIENNA XLE 2018"
-
+  LEXUS_ISH = "LEXUS IS HYBRID 2017"
 
 class ECU:
   CAM = 0 # camera
@@ -28,19 +28,25 @@ class ECU:
 # addr: (ecu, cars, bus, 1/freq*100, vl)
 STATIC_MSGS = [
   (0x130, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'),
-  (0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-  (0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-  (0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+  (0x130, ECU.CAM, (CAR.LEXUS_ISH), 1, 100, '\x00\x00\x03\xff\x00\x00\x3a'),
+  (0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.LEXUS_ISH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+  (0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.LEXUS_ISH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+  (0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.LEXUS_ISH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
   (0x245, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+  (0x245, ECU.CAM, (CAR.LEXUS_ISH), 1,   5, '\x00\x10\x01\x00'),
   (0x248, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1,   5, '\x00\x00\x00\x00\x00\x00\x01'),
+  (0x248, ECU.CAM, (CAR.LEXUS_ISH), 1,   5, '\x00\x01\x00\x00\x00\x00\x00'),
   (0x367, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0,  40, '\x06\x00'),
-  (0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
+  (0x367, ECU.CAM, (CAR.LEXUS_ISH), 0,  40, '\x02\x00'),
+  (0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.LEXUS_ISH), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
   (0x466, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 100, '\x20\x20\xAD'),
   (0x466, ECU.CAM, (CAR.COROLLA, CAR.AVALON), 1, 100, '\x24\x20\xB1'),
-  (0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
-  (0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
+  (0x466, ECU.CAM, (CAR.LEXUS_ISH), 1, 100, '\x41\x20\xce'),
+  (0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.LEXUS_ISH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
+  (0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.LEXUS_ISH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
   (0x48b, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'),
-  (0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
+  (0x48b, ECU.CAM, (CAR.LEXUS_ISH), 0, 100, '\x66\x07\x0a\x0f\x01\x00\x00\x00'),
+  (0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_ISH), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
 
   (0x128, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   3, '\xf4\x01\x90\x83\x00\x37'),
   (0x128, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA), 1,   3, '\x03\x00\x20\x00\x00\x52'),
@@ -83,6 +89,9 @@ def check_ecu_msgs(fingerprint, ecu):
 
 
 FINGERPRINTS = {
+  CAR.LEXUS_ISH: [{
+    36: 8, 37: 8, 170: 8, 180: 8, 295: 8, 296: 8, 400: 6, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 7, 921: 7, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1009: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1187: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+  }],
   CAR.RAV4: [{
     36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 512: 6, 513: 6, 547: 8, 548: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 4, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1656: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2024: 8
   }],
@@ -169,11 +178,22 @@ FINGERPRINTS = {
   # XLE, Limited, and AWD
   {
     36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 565: 8, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 891: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1076: 8, 1077: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1696: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
-  }],
-  CAR.COROLLA_TSS2: [
-  # hatch 2019+ and sedan 2020+
+  },
+  # Taiwan 2019 RAV4H from Max Duan
   {
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 810: 2, 812: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 896: 8, 898: 8, 913: 8, 921: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1063: 8, 1071: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1696: 8, 1745: 8, 1775: 8, 1779: 8
+  }],
+  CAR.COROLLA_TSS2: [{
+    # hatch 2019+ and sedan 2020+
     36: 8, 37: 8, 114: 5, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1809: 8, 1816: 8, 1817: 8, 1840: 8, 1848: 8, 1904: 8, 1912: 8, 1940: 8, 1941: 8, 1948: 8, 1949: 8, 1952: 8, 1960: 8, 1981: 8, 1986: 8, 1990: 8, 1994: 8, 1998: 8, 2004: 8
+  },
+  {
+    # 2019 Taiwan Altis
+    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 885: 8, 896: 8, 898: 8, 918: 7, 921: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1082: 8, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1745: 8, 1775: 8, 1779: 8
+  },
+  {
+    # 2019 Taiwan Altis Hybrid (?)
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 810: 2, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 885: 8, 896: 8, 898: 8, 918: 7, 921: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 987: 8, 993: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1082: 8, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1745: 8, 1775: 8, 1779: 8
   }],
   CAR.LEXUS_ESH_TSS2: [
   {
@@ -201,10 +221,11 @@ DBC = {
   CAR.AVALON: dbc_dict('toyota_avalon_2017_pt_generated', 'toyota_adas'),
   CAR.RAV4_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
-  CAR.LEXUS_ESH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
+  CAR.LEXUS_ESH_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
   CAR.SIENNA: dbc_dict('toyota_sienna_xle_2018_pt_generated', 'toyota_adas'),
+  CAR.LEXUS_ISH: dbc_dict('lexus_is_hybrid_2017_pt_generated', 'toyota_adas'),
 }
 
 NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2]
 TSS2_CAR = [CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2]
-NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA]  # no resume button press required
+NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA, CAR.LEXUS_ISH]  # no resume button press required

selfdrive/controls/lib/alerts.py

@@ -77,154 +77,154 @@ ALERTS = [
 
   Alert(
       "fcw",
-      "BRAKE!",
-      "Risk of Collision",
+      "刹车!",
+      "有碰撞的风险",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.chimeWarningRepeat, 1., 2., 2.),
 
   Alert(
       "steerSaturated",
-      "TAKE CONTROL",
-      "Turn Exceeds Steering Limit",
+      "接管控制",
+      "弯道超过方向盘转向限制",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 2., 3.),
 
   Alert(
       "steerTempUnavailable",
-      "TAKE CONTROL",
-      "Steering Temporarily Unavailable",
+      "接管控制",
+      "转向控制暂时失效",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning1, .4, 2., 3.),
 
   Alert(
       "steerTempUnavailableMute",
-      "TAKE CONTROL",
-      "Steering Temporarily Unavailable",
+      "接管控制",
+      "转向控制暂时失效",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.none, .2, .2, .2),
 
   Alert(
       "preDriverDistracted",
-      "KEEP EYES ON ROAD: User Appears Distracted",
+      "注意路况：驾驶出现分心",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
 
   Alert(
       "promptDriverDistracted",
-      "KEEP EYES ON ROAD",
-      "User Appears Distracted",
+      "注意路况",
+      "驾驶出现分心",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),
 
   Alert(
       "driverDistracted",
-      "DISENGAGE IMMEDIATELY",
-      "User Was Distracted",
+      "立即解除",
+      "驾驶出现分心",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),
 
   Alert(
       "preDriverUnresponsive",
-      "TOUCH STEERING WHEEL: No Driver Monitoring",
+      "触碰方向盘：无驾驶监控",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
 
   Alert(
       "promptDriverUnresponsive",
-      "TOUCH STEERING WHEEL",
-      "User Is Unresponsive",
+      "触碰方向盘",
+      "驾驶没有反应",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),
 
   Alert(
       "driverUnresponsive",
-      "DISENGAGE IMMEDIATELY",
-      "User Was Unresponsive",
+      "立即解除",
+      "驾驶没有反应",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),
 
   Alert(
       "driverMonitorOff",
-      "DRIVER MONITOR IS UNAVAILABLE",
-      "Accuracy Is Low",
+      "驾驶监控暂时停用",
+      "监控准确率：低",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.none, .4, 0., 4.),
 
   Alert(
       "driverMonitorOn",
-      "DRIVER MONITOR IS AVAILABLE",
-      "Accuracy Is High",
+      "驾驶监控已启用",
+      "监控准确率：高",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.none, .4, 0., 4.),
 
   Alert(
       "geofence",
-      "DISENGAGEMENT REQUIRED",
-      "Not in Geofenced Area",
+      "请求解除",
+      "不在地理围栏区域之内",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),
 
   Alert(
       "startup",
-      "Be ready to take over at any time",
-      "Always keep hands on wheel and eyes on road",
+      "随时准备好接管",
+      "请您将手放在方向盘上并持续注意路况",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
 
   Alert(
       "startupNoControl",
-      "Dashcam mode",
-      "Always keep hands on wheel and eyes on road",
+      "硬扯记录模式",
+      "请您将手放在方向盘上并持续注意路况",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
 
   Alert(
       "startupNoCar",
-      "Dashcam mode with unsupported car",
-      "Always keep hands on wheel and eyes on road",
+      "行车记录模式（为支持的车型）",
+      "请您将手放在方向盘上并持续注意路况",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
 
   Alert(
       "ethicalDilemma",
-      "TAKE CONTROL IMMEDIATELY",
-      "Ethical Dilemma Detected",
+      "即可接管控制",
+      "检测到困难",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 3.),
 
   Alert(
       "steerTempUnavailableNoEntry",
-      "openpilot Unavailable",
-      "Steering Temporarily Unavailable",
+      "无法使用openpilot",
+      "转向控制暂时失效",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),
 
   Alert(
       "manualRestart",
-      "TAKE CONTROL",
-      "Resume Driving Manually",
+      "接管控制",
+      "请自行恢复驾驶",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
   Alert(
       "resumeRequired",
-      "STOPPED",
-      "Press Resume to Move",
+      "已停止",
+      "请按RES继续",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
   Alert(
       "belowSteerSpeed",
-      "TAKE CONTROL",
-      "Steer Unavailable Below ",
+      "接管控制",
+      "转向控制暂时失效，车速低于",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning1, 0., 0., .1),
 
   Alert(
       "debugAlert",
-      "DEBUG ALERT",
+      "DEBUG提示",
       "",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, .1, .1),
@@ -232,71 +232,71 @@ ALERTS = [
   # Non-entry only alerts
   Alert(
       "wrongCarModeNoEntry",
-      "openpilot Unavailable",
-      "Main Switch Off",
+      "无法使用openpilot",
+      "主开关关闭",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),
 
   Alert(
       "dataNeededNoEntry",
-      "openpilot Unavailable",
-      "Data Needed for Calibration. Upload Drive, Try Again",
+      "无法使用openpilot",
+      "需要更多的数据来协助校准，请将行车记录上传后再试",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),
 
   Alert(
       "outOfSpaceNoEntry",
-      "openpilot Unavailable",
-      "Out of Storage Space",
+      "无法使用openpilot",
+      "储存空间不足",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),
 
   Alert(
       "pedalPressedNoEntry",
-      "openpilot Unavailable",
-      "Pedal Pressed During Attempt",
+      "无法使用openpilot",
+      "试踩踏板",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, "brakePressed", AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "speedTooLowNoEntry",
-      "openpilot Unavailable",
-      "Speed Too Low",
+      "无法使用openpilot",
+      "车速过慢",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "brakeHoldNoEntry",
-      "openpilot Unavailable",
-      "Brake Hold Active",
+      "无法使用openpilot",
+      "驻车刹车已启用",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "parkBrakeNoEntry",
-      "openpilot Unavailable",
-      "Park Brake Engaged",
+      "无法使用openpilot",
+      "电车驻车已启动",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "lowSpeedLockoutNoEntry",
-      "openpilot Unavailable",
-      "Cruise Fault: Restart the Car",
+      "无法使用openpilot",
+      "巡航系统错误，请重新发动车辆",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "lowBatteryNoEntry",
-      "openpilot Unavailable",
-      "Low Battery",
+      "无法使用openpilot",
+      "电池电量过低",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "sensorDataInvalidNoEntry",
-      "openpilot Unavailable",
-      "No Data from EON Sensors",
+      "无法使用openpilot",
+      "没有收到任何来自传感器的数据",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
@@ -317,78 +317,78 @@ ALERTS = [
   # Cancellation alerts causing soft disabling
   Alert(
       "overheat",
-      "TAKE CONTROL IMMEDIATELY",
-      "System Overheated",
+      "即刻接管控制",
+      "系统过热",
       AlertStatus.critical, AlertSize.full,
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
 
   Alert(
       "wrongGear",
-      "TAKE CONTROL IMMEDIATELY",
-      "Gear not D",
+      "即刻接管控制",
+      "档位不在D档",
       AlertStatus.critical, AlertSize.full,
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
 
   Alert(
       "calibrationInvalid",
-      "TAKE CONTROL IMMEDIATELY",
-      "Calibration Invalid: Reposition EON and Recalibrate",
+      "即刻接管控制",
+      "校准无效：请将传感器放于新的位置并重新校准",
       AlertStatus.critical, AlertSize.full,
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
 
   Alert(
       "calibrationIncomplete",
-      "TAKE CONTROL IMMEDIATELY",
-      "Calibration in Progress",
+      "即刻接管控制",
+      "正在校准相机中",
       AlertStatus.critical, AlertSize.full,
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
 
   Alert(
       "doorOpen",
-      "TAKE CONTROL IMMEDIATELY",
-      "Door Open",
+      "即刻接管控制",
+      "车门开启",
       AlertStatus.critical, AlertSize.full,
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
 
   Alert(
       "seatbeltNotLatched",
-      "TAKE CONTROL IMMEDIATELY",
-      "Seatbelt Unlatched",
+      "即刻接管控制",
+      "未系安全带",
       AlertStatus.critical, AlertSize.full,
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
 
   Alert(
       "espDisabled",
-      "TAKE CONTROL IMMEDIATELY",
-      "ESP Off",
+      "即刻接管控制",
+      "ESP关闭",
       AlertStatus.critical, AlertSize.full,
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
 
   Alert(
       "lowBattery",
-      "TAKE CONTROL IMMEDIATELY",
-      "Low Battery",
+      "即刻接管控制",
+      "电池电量过低",
       AlertStatus.critical, AlertSize.full,
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
 
   Alert(
       "commIssue",
-      "TAKE CONTROL IMMEDIATELY",
-      "Communication Issue between Processes",
-      AlertStatus.critical, AlertSize.full,
-      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
-
-  Alert(
-      "radarCanError",
-      "TAKE CONTROL IMMEDIATELY",
-      "Radar Error: Restart the Car",
+      "即刻接管控制",
+      "雷达讯号错误：请重新发动车辆",
       AlertStatus.critical, AlertSize.full,
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
 
   Alert(
       "radarFault",
-      "TAKE CONTROL IMMEDIATELY",
-      "Radar Error: Restart the Car",
+      "即刻接管控制",
+      "雷达讯号错误：请重新发动车辆",
+      AlertStatus.critical, AlertSize.full,
+      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
+
+  Alert(
+      "radarFault",
+      "即刻接管控制",
+      "雷达讯号错误：请重新发动车辆",
       AlertStatus.critical, AlertSize.full,
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
 
@@ -402,157 +402,157 @@ ALERTS = [
   # Cancellation alerts causing immediate disabling
   Alert(
       "controlsFailed",
-      "TAKE CONTROL IMMEDIATELY",
-      "Controls Failed",
+      "即刻接管控制",
+      "控制错误",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 4.),
 
   Alert(
       "controlsMismatch",
-      "TAKE CONTROL IMMEDIATELY",
-      "Controls Mismatch",
+      "即刻接管控制",
+      "控制不匹配",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 4.),
 
   Alert(
       "canError",
-      "TAKE CONTROL IMMEDIATELY",
-      "CAN Error: Check Connections",
+      "即刻接管控制",
+      "CAN错误：请检查连接",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 4.),
 
   Alert(
       "steerUnavailable",
-      "TAKE CONTROL IMMEDIATELY",
-      "LKAS Fault: Restart the Car",
+      "即刻接管控制",
+      "LKAS错误：请重新发动车辆",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 4.),
 
   Alert(
       "brakeUnavailable",
-      "TAKE CONTROL IMMEDIATELY",
-      "Cruise Fault: Restart the Car",
+      "即刻接管控制",
+      "巡航系统错误：请重新发动车辆",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 4.),
 
   Alert(
       "gasUnavailable",
-      "TAKE CONTROL IMMEDIATELY",
-      "Gas Fault: Restart the Car",
+      "即刻接管控制",
+      "油门错误：请重新发动车辆",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 4.),
 
   Alert(
       "reverseGear",
-      "TAKE CONTROL IMMEDIATELY",
-      "Reverse Gear",
+      "即刻接管控制",
+      "切换至倒车档",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 4.),
 
   Alert(
       "cruiseDisabled",
-      "TAKE CONTROL IMMEDIATELY",
-      "Cruise Is Off",
+      "即刻接管控制",
+      "巡航系统关闭",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 4.),
 
   Alert(
       "plannerError",
-      "TAKE CONTROL IMMEDIATELY",
-      "Planner Solution Error",
+      "即刻接管控制",
+      "Planner Solution 错误",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 4.),
 
   # not loud cancellations (user is in control)
   Alert(
       "noTarget",
-      "openpilot Canceled",
-      "No close lead car",
+      "openpilot已取消",
+      "没有侦测到前车",
       AlertStatus.normal, AlertSize.mid,
       Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
 
   Alert(
       "speedTooLow",
-      "openpilot Canceled",
-      "Speed too low",
+      "openpilot已取消",
+      "车速过慢",
       AlertStatus.normal, AlertSize.mid,
       Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
 
   Alert(
       "invalidGiraffeHonda",
-      "Invalid Giraffe Configuration",
-      "Set 0111 for openpilot. 1011 for stock",
+      "Giraffe开关错误",
+      "openpilot模式为0111，原厂模式为1011",
       AlertStatus.normal, AlertSize.mid,
       Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
 
   # Cancellation alerts causing non-entry
   Alert(
       "overheatNoEntry",
-      "openpilot Unavailable",
-      "System overheated",
+      "无法使用openpilot",
+      "系统过热",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "wrongGearNoEntry",
-      "openpilot Unavailable",
-      "Gear not D",
+      "无法使用openpilot",
+      "车辆不在D档",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "calibrationInvalidNoEntry",
-      "openpilot Unavailable",
-      "Calibration Invalid: Reposition EON and Recalibrate",
+      "无法使用openpilot",
+      "校准无效：请将传感器放于新的位置并重新校准",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "calibrationIncompleteNoEntry",
-      "openpilot Unavailable",
-      "Calibration in Progress",
+      "无法使用openpilot",
+      "正在校准相机中",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "doorOpenNoEntry",
-      "openpilot Unavailable",
-      "Door open",
+      "无法使用openpilot",
+      "车门开启",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "seatbeltNotLatchedNoEntry",
-      "openpilot Unavailable",
-      "Seatbelt unlatched",
+      "无法使用openpilot",
+      "未系安全带",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "espDisabledNoEntry",
-      "openpilot Unavailable",
-      "ESP Off",
+      "无法使用openpilot",
+      "ESP关闭",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "geofenceNoEntry",
-      "openpilot Unavailable",
-      "Not in Geofenced Area",
+      "无法使用openpilot",
+      "不在地理围栏区域之内",
       AlertStatus.normal, AlertSize.mid,
       Priority.MID, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "radarCanErrorNoEntry",
-      "openpilot Unavailable",
-      "Radar Error: Restart the Car",
+      "无法使用openpilot",
+      "雷达信号错误：请重新发动车辆",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "radarFaultNoEntry",
-      "openpilot Unavailable",
-      "Radar Error: Restart the Car",
+      "无法使用openpilot",
+      "雷达信号错误：请重新发动车辆",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
@@ -565,77 +565,77 @@ ALERTS = [
 
   Alert(
       "controlsFailedNoEntry",
-      "openpilot Unavailable",
-      "Controls Failed",
+      "无法使用openpilot",
+      "控制发生错误",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "canErrorNoEntry",
-      "openpilot Unavailable",
-      "CAN Error: Check Connections",
+      "无法使用openpilot",
+      "CAN错误：请检查连接",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "steerUnavailableNoEntry",
-      "openpilot Unavailable",
-      "LKAS Fault: Restart the Car",
+      "无法使用openpilot",
+      "LKAS错误: 请重新发动车辆",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "brakeUnavailableNoEntry",
-      "openpilot Unavailable",
-      "Cruise Fault: Restart the Car",
+      "无法使用openpilot",
+      "巡航系统错误：请重新发动车辆",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "gasUnavailableNoEntry",
-      "openpilot Unavailable",
-      "Gas Error: Restart the Car",
+      "无法使用openpilot",
+      "油门错误：请重新发动车辆",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "reverseGearNoEntry",
-      "openpilot Unavailable",
-      "Reverse Gear",
+      "无法使用openpilot",
+      "切换至倒车档",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "cruiseDisabledNoEntry",
-      "openpilot Unavailable",
-      "Cruise is Off",
+      "无法使用openpilot",
+      "巡航系统关闭",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "noTargetNoEntry",
-      "openpilot Unavailable",
-      "No Close Lead Car",
+      "无法使用openpilot",
+      "没有侦测到前车",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "plannerErrorNoEntry",
-      "openpilot Unavailable",
-      "Planner Solution Error",
+      "无法使用openpilot",
+      "Planner Solution 错误",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "invalidGiraffeHondaNoEntry",
-      "openpilot Unavailable",
-      "Set 0111 for openpilot. 1011 for stock",
+      "无法使用openpilot",
+      "openpilot模式为0111，原厂模式为1011",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
 
   Alert(
       "commIssueNoEntry",
-      "openpilot unavailable",
+      "无法使用openpilot",
       "Communication Issue between Processes",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
@@ -643,43 +643,43 @@ ALERTS = [
   # permanent alerts
   Alert(
       "steerUnavailablePermanent",
-      "LKAS Fault: Restart the car to engage",
+      "LKAS错误: 请重新发动车辆",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
   Alert(
       "brakeUnavailablePermanent",
-      "Cruise Fault: Restart the car to engage",
+      "巡航系统错误：请重新发动车辆",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
   Alert(
       "lowSpeedLockoutPermanent",
-      "Cruise Fault: Restart the car to engage",
+      "巡航系统错误：请重新发动车辆",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
   Alert(
       "calibrationIncompletePermanent",
-      "Calibration in Progress: ",
-      "Drive Above ",
+      "正在校准相机中 ",
+      "车速请高于",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
   Alert(
       "invalidGiraffeHondaPermanent",
-      "Invalid Giraffe Configuration",
-      "Set 0111 for openpilot. 1011 for stock",
+      "Giraffe 开关错误",
+      "openpilot模式为0111，原厂模式为1011",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
   Alert(
       "sensorDataInvalidPermanent",
-      "No Data from EON Sensors",
-      "Reboot your EON",
+      "没有收到任何来自传感器的数据",
+      "请重启您的传感器",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
@@ -692,7 +692,7 @@ ALERTS = [
 
   Alert(
       "vehicleModelInvalid",
-      "Vehicle Parameter Identification Failed",
+      "车辆参数识别失败",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOWEST, VisualAlert.steerRequired, AudibleAlert.none, .0, .0, .1),

selfdrive/dragonpilot/appd/appd.py

@@ -24,11 +24,12 @@ mixplorer_main = "com.mixplorer.activities.BrowseActivity"
 
 def main(gctx=None):
 
-  dragon_enable_tomtom = False if params.get('DragonEnableTomTom') == "0" else True
-  dragon_enable_autonavi = False if params.get('DragonEnableAutonavi') == "0" else True
-  dragon_enable_mixplorer = False if params.get('DragonEnableMixplorer') == "0" else True
-  dragon_boot_tomtom = False if params.get("DragonBootTomTom") == "0" else True
-  dragon_boot_autonavi = False if params.get("DragonBootAutonavi") == "0" else True
+  dragon_enable_tomtom = True if params.get('DragonEnableTomTom') == "1" else False
+  dragon_enable_autonavi = True if params.get('DragonEnableAutonavi') == "1" else False
+  dragon_enable_mixplorer = True if params.get('DragonEnableMixplorer') == "1" else False
+  dragon_boot_tomtom = True if params.get("DragonBootTomTom") == "1" else False
+  dragon_boot_autonavi = True if params.get("DragonBootAutonavi") == "1" else False
+  dragon_greypanda_mode = True if params.get('DragonGreyPandaMode') == "1" else False
   tomtom_is_running = False
   autonavi_is_running = False
   mixplorer_is_running = False
@@ -39,6 +40,7 @@ def main(gctx=None):
   frame = 0
   start_delay = None
   stop_delay = None
+  high_accuracy_mode_enabled = False
 
   params.put('DragonRunTomTom', '0')
   params.put('DragonRunAutonavi', '0')
@@ -50,6 +52,13 @@ def main(gctx=None):
   thermal_sock = messaging.sub_sock(service_list['thermal'].port)
 
   while dragon_enable_tomtom or dragon_enable_autonavi or dragon_enable_mixplorer:
+    if (dragon_enable_tomtom or dragon_enable_autonavi) and not high_accuracy_mode_enabled:
+      if dragon_greypanda_mode:
+        system("settings put secure location_providers_allowed -gps,network,wifi")
+        system("settings put secure location_providers_allowed +gps")
+      else:
+        system("settings put secure location_providers_allowed +gps,network,wifi")
+      high_accuracy_mode_enabled = True
 
     # allow user to manually start/stop app
     if dragon_enable_tomtom:

selfdrive/dragonpilot/dragonconf/__init__.py

@@ -38,6 +38,7 @@ default_conf = {
   'DragonSteeringMonitorTimer': '3',
   'DragonCameraOffset': '6',
   'DragonUIVolumeBoost': '0',
+  'DragonGreyPandaMode': '0',
 }
 
 deprecated_conf = {