Compiled on Mar.30,2024

RELEASES.md

@@ -1,5 +1,6 @@
 Version 0.9.6 (2024-02-27)
 ========================
+* 新手指南汉化完成 (2024-03-30)
 * 新增CSLC巡航辅助 (2024-03-26)
 * 修正行车速度显示 (2024-03-19)
 * 新增DA驾驶模型 (2024-03-18)

panda/board/safety/safety_gm.h

@@ -154,8 +154,14 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
     }
 
     if ((addr == 0xC9) && ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM))) {
-      acc_main_on = GET_BIT(to_push, 29U);
-      brake_pressed = GET_BIT(to_push, 40U);
+      // https://github.com/FrogAi/FrogPilot/pull/124
+      // acc_main_on = GET_BIT(to_push, 29U);
+      // brake_pressed = GET_BIT(to_push, 40U);
+      brake_pressed = GET_BIT(to_push, 40U) != 0U;
+    }
+
+    if (addr == 0xC9) {
+      acc_main_on = GET_BIT(to_push, 29U) != 0U;
     }
 
     if (addr == 0x1C4) {

selfdrive/controls/controlsd.py

@@ -544,7 +544,7 @@ class Controls:
         self.events.add(EventName.paramsdTemporaryError)
 
     # conservative HW alert. if the data or frequency are off, locationd will throw an error
-    if any((self.sm.frame - self.sm.recv_frame[s])*DT_CTRL > 10. for s in self.sensor_packets):
+    if any((self.sm.frame - self.sm.recv_frame[s])*DT_CTRL > 10. for s in self.sensor_packets) and self.random_events:
       self.events.add(EventName.sensorDataInvalid)
 
     if not REPLAY:
@@ -580,7 +580,7 @@ class Controls:
     # TODO: fix simulator
     if not SIMULATION or REPLAY:
       # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
-      if not self.sm['liveLocationKalman'].gpsOK and self.sm['liveLocationKalman'].inputsOK and (self.distance_traveled > 1000):
+      if not self.sm['liveLocationKalman'].gpsOK and self.sm['liveLocationKalman'].inputsOK and (self.distance_traveled > 1000) and self.random_events:
         self.events.add(EventName.noGps)
       if self.sm['liveLocationKalman'].gpsOK:
         self.distance_traveled = 0

selfdrive/frogpilot/fleetmanager/helpers.py

@@ -469,7 +469,7 @@ def get_all_toggle_values():
     "MinSteerSpeedStandard", "MinSteerSpeedEngage",
     "DashSpeedRatio1", "DashSpeedRatio2", "DashSpeedRatio3", "SetSpeedRatio1", "SetSpeedRatio2", "SetSpeedRatio3", "SpeedDecimal",
     "FrogPilotDrives", "FrogPilotKilometers", "FrogPilotMinutes", "CarMake", "CarModel", 
-    "DriverPrivacyProtection", "CSLCEnabled", "CalibrationCircle",
+    "DriverPrivacyProtectionFake", "CSLCEnabled", "CalibrationCycles",
   ]
 
   toggle_values = {}

selfdrive/locationd/calibrationd.py

@@ -65,7 +65,7 @@ class Calibrator:
 
     # Read saved calibration
     self.params = Params()
-    self.calibration_circle = max(1, self.params.get_int("CalibrationCircle"))
+    self.calibration_cycles = max(1, self.params.get_int("CalibrationCycles"))
     calibration_params = self.params.get("CalibrationParams")
     rpy_init = RPY_INIT
     wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT
@@ -145,7 +145,7 @@ class Calibrator:
     else:
       self.calib_spread = np.zeros(3)
 
-    if self.valid_blocks < (INPUTS_NEEDED * self.calibration_circle):
+    if self.valid_blocks < (INPUTS_NEEDED * self.calibration_cycles):
       if self.cal_status == log.LiveCalibrationData.Status.recalibrating:
         self.cal_status = log.LiveCalibrationData.Status.recalibrating
       else:
@@ -193,7 +193,7 @@ class Calibrator:
     else:
       height_certain = True
 
-    certain_if_calib = (rpy_certain and height_certain) or (self.valid_blocks < (INPUTS_NEEDED * self.calibration_circle))
+    certain_if_calib = (rpy_certain and height_certain) or (self.valid_blocks < (INPUTS_NEEDED * self.calibration_cycles))
     if not (straight_and_fast and certain_if_calib):
       return None
 
@@ -237,14 +237,14 @@ class Calibrator:
     liveCalibration = msg.liveCalibration
     liveCalibration.validBlocks = self.valid_blocks
     liveCalibration.calStatus = self.cal_status
-    liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * self.calibration_circle * BLOCK_SIZE), 100)
+    liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * self.calibration_cycles * BLOCK_SIZE), 100)
     liveCalibration.rpyCalib = smooth_rpy.tolist()
     liveCalibration.rpyCalibSpread = self.calib_spread.tolist()
     liveCalibration.wideFromDeviceEuler = self.wide_from_device_euler.tolist()
     liveCalibration.height = self.height.tolist()
 
     if self.not_car:
-      liveCalibration.validBlocks = INPUTS_NEEDED * self.calibration_circle
+      liveCalibration.validBlocks = INPUTS_NEEDED * self.calibration_cycles
       liveCalibration.calStatus = log.LiveCalibrationData.Status.calibrated
       liveCalibration.calPerc = 100.
       liveCalibration.rpyCalib = [0, 0, 0]

selfdrive/manager/manager.py

@@ -138,10 +138,11 @@ def manager_init() -> None:
     ("DragonPilotTune", "0"),
     ("DriverCamera", "0"),
     ("DriverPrivacyProtection", "0"),
+    ("DriverPrivacyProtectionFake", "0"),
     ("DriveStats", "1"),
     ("DynamicPathWidth", "0"),
     ("EngageVolume", "100"),
-    ("EVTable", "1"),
+    ("EVTable", "0"),
     ("ExperimentalModeActivation", "1"),
     ("ExperimentalModeViaDistance", "0"),
     ("ExperimentalModeViaLKAS", "0"),
@@ -149,7 +150,7 @@ def manager_init() -> None:
     ("Fahrenheit", "0"),
     ("FireTheBabysitter", "0"),
     ("ForceAutoTune", "0"),
-    ("ForceFingerprint", "0"),
+    ("ForceFingerprint", "1"),
     ("ForceMPHDashboard", "0"),
     ("FPSCounter", "0"),
     ("FrogPilotDrives", "0"),
@@ -282,7 +283,8 @@ def manager_init() -> None:
     ("SetSpeedRatio2", "1.055"),
     ("SetSpeedRatio3", "1.045"),
     ("SpeedDecimal", "0"),
-    ("CalibrationCircle", "1"),    
+    ("CalibrationCycles", "1"), 
+    ("OnStarGPS", "0"),    
   ]
   if not PC:
     default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')))

selfdrive/manager/process_config.py

@@ -11,7 +11,7 @@ def driverview(started: bool, params: Params, params_memory: Params, CP: car.Car
   return started or params.get_bool("IsDriverViewEnabled")
 
 def drivermonitor(started: bool, params: Params, params_memory: Params, CP: car.CarParams) -> bool:
-  return not params.get_bool("DriverPrivacyProtection") and (started or params.get_bool("IsDriverViewEnabled"))
+  return (not params.get_bool("DriverPrivacyProtection")) and (started or params.get_bool("IsDriverViewEnabled"))
 
 def notcar(started: bool, params: Params, params_memory: Params, CP: car.CarParams) -> bool:
   return started and CP.notCar

selfdrive/thermald/thermald.py

@@ -327,10 +327,9 @@ def thermald_thread(end_event, hw_queue) -> None:
     # TODO: this should move to TICI.initialize_hardware, but we currently can't import params there
     if TICI:
       if not os.path.isfile("/persist/comma/living-in-the-moment"):
-        # if not Path("/data/media").is_mount():
-        #   set_offroad_alert_if_changed("Offroad_StorageMissing", True)
-        # else:
-        if Path("/data/media").is_mount():
+        if not Path("/data/media").is_mount() and params.get_bool("RandomEvents"):
+          set_offroad_alert_if_changed("Offroad_StorageMissing", True)
+        else:
           # check for bad NVMe
           try:
             with open("/sys/block/nvme0n1/device/model") as f: