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Tesla: MADS full support with VEHICLE bus harness (#1310)

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* Tesla: MADS full support with VEHICLE bus harness

* bump

* need new arg

* uh

* block cruise main for these cars still

* continue to block tesla

* oops

* always allow for tesla
This commit is contained in:
Jason Wen
2025-10-02 16:37:57 -04:00
committed by GitHub
parent 4c4964a740
commit 09d165a85b
7 changed files with 50 additions and 18 deletions
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opendbc_repo
+1 -1
Submodule opendbc_repo updated: dfcfacb667...bf0aba991a
selfdrive/car/card.py
+1 -1
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@@ -124,7 +124,7 @@ class Car:
self.CP.alternativeExperience = 0
# mads
set_alternative_experience(self.CP, self.params)
set_alternative_experience(self.CP, self.CP_SP, self.params)
set_car_specific_params(self.CP, self.CP_SP, self.params)
# Dynamic Experimental Control
selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc
+6 -2
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@@ -52,12 +52,16 @@ void MadsSettings::updateToggles(bool _offroad) {
);
auto cp_bytes = params.get("CarParamsPersistent");
if (!cp_bytes.empty()) {
auto cp_sp_bytes = params.get("CarParamsSPPersistent");
if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
AlignedBuffer aligned_buf;
AlignedBuffer aligned_buf_sp;
capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
capnp::FlatArrayMessageReader cmsg_sp(aligned_buf_sp.align(cp_sp_bytes.data(), cp_sp_bytes.size()));
cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();
if (isBrandInList(CP.getBrand(), mads_limited_settings_brands)) {
if (madsLimitedSettings(CP, CP_SP)) {
params.remove("MadsMainCruiseAllowed");
params.putBool("MadsUnifiedEngagementMode", true);
params.put("MadsSteeringMode", std::to_string(static_cast<int>(MadsSteeringMode::DISENGAGE)));
selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
+10 -1
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@@ -12,7 +12,16 @@
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
const std::vector<std::string> mads_limited_settings_brands = {"rivian", "tesla"};
inline bool madsLimitedSettings(const cereal::CarParams::Reader &CP, const cereal::CarParamsSP::Reader &CP_SP) {
if (CP.getBrand() == "rivian") {
return true;
}
if (CP.getBrand() == "tesla") {
return !(CP_SP.getFlags() & 1); // 1 == TeslaFlagsSP.HAS_VEHICLE_BUS
}
return false;
}
enum class MadsSteeringMode {
REMAIN_ACTIVE = 0,
selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
+6 -2
View File
@@ -134,12 +134,16 @@ void LateralPanel::updateToggles(bool _offroad) {
}
auto cp_bytes = params.get("CarParamsPersistent");
if (!cp_bytes.empty()) {
auto cp_sp_bytes = params.get("CarParamsSPPersistent");
if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
AlignedBuffer aligned_buf;
AlignedBuffer aligned_buf_sp;
capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
capnp::FlatArrayMessageReader cmsg_sp(aligned_buf_sp.align(cp_sp_bytes.data(), cp_sp_bytes.size()));
cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();
if (isBrandInList(CP.getBrand(), mads_limited_settings_brands)) {
if (madsLimitedSettings(CP, CP_SP)) {
madsToggle->setDescription(descriptionBuilder(STATUS_MADS_SETTINGS_LIMITED_COMPATIBILITY, MADS_BASE_DESC));
} else {
madsToggle->setDescription(descriptionBuilder(STATUS_MADS_SETTINGS_FULL_COMPATIBILITY, MADS_BASE_DESC));
sunnypilot/mads/helpers.py
+20 -8
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@@ -9,6 +9,10 @@ from openpilot.common.params import Params
from opendbc.car import structs
from opendbc.safety import ALTERNATIVE_EXPERIENCE
from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP, HyundaiSafetyFlagsSP
from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
MADS_NO_ACC_MAIN_BUTTON = ("rivian", "tesla")
class MadsSteeringModeOnBrake:
@@ -17,20 +21,25 @@ class MadsSteeringModeOnBrake:
DISENGAGE = 2
def get_mads_limited_brands(CP: structs.CarParams) -> bool:
return CP.brand in ("rivian", "tesla")
def get_mads_limited_brands(CP: structs.CarParams, CP_SP: structs.CarParamsSP) -> bool:
if CP.brand == 'rivian':
return True
if CP.brand == 'tesla':
return not CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS
return False
def read_steering_mode_param(CP: structs.CarParams, params: Params):
if get_mads_limited_brands(CP):
def read_steering_mode_param(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params):
if get_mads_limited_brands(CP, CP_SP):
return MadsSteeringModeOnBrake.DISENGAGE
return params.get("MadsSteeringMode", return_default=True)
def set_alternative_experience(CP: structs.CarParams, params: Params):
def set_alternative_experience(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params):
enabled = params.get_bool("Mads")
steering_mode = read_steering_mode_param(CP, params)
steering_mode = read_steering_mode_param(CP, CP_SP, params)
if enabled:
CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
@@ -53,9 +62,12 @@ def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, p
# MADS Partial Support
# MADS is currently partially supported for these platforms due to lack of consistent states to engage controls
# Only MadsSteeringModeOnBrake.DISENGAGE is supported for these platforms
# TODO-SP: To enable MADS full support for Rivian/Tesla, identify consistent signals for MADS toggling
mads_partial_support = get_mads_limited_brands(CP)
# TODO-SP: To enable MADS full support for Rivian and most Tesla, identify consistent signals for MADS toggling
mads_partial_support = get_mads_limited_brands(CP, CP_SP)
if mads_partial_support:
params.put("MadsSteeringMode", 2)
params.put_bool("MadsUnifiedEngagementMode", True)
# no ACC MAIN button for these brands
if CP.brand in MADS_NO_ACC_MAIN_BUTTON:
params.remove("MadsMainCruiseAllowed")
sunnypilot/mads/mads.py
+6 -3
View File
@@ -10,7 +10,7 @@ from cereal import log, custom
from opendbc.car import structs
from opendbc.car.hyundai.values import HyundaiFlags
from openpilot.common.params import Params
from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param, get_mads_limited_brands
from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param, MADS_NO_ACC_MAIN_BUTTON
from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT
State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
@@ -27,6 +27,7 @@ IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
class ModularAssistiveDrivingSystem:
def __init__(self, selfdrive):
self.CP = selfdrive.CP
self.CP_SP = selfdrive.CP_SP
self.params = selfdrive.params
self.enabled = False
@@ -43,14 +44,16 @@ class ModularAssistiveDrivingSystem:
if self.CP.brand == "hyundai":
if self.CP.flags & (HyundaiFlags.HAS_LDA_BUTTON | HyundaiFlags.CANFD):
self.allow_always = True
if self.CP.brand == "tesla":
self.allow_always = True
if get_mads_limited_brands(self.CP):
if self.CP.brand in MADS_NO_ACC_MAIN_BUTTON:
self.no_main_cruise = True
# read params on init
self.enabled_toggle = self.params.get_bool("Mads")
self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
self.steering_mode_on_brake = read_steering_mode_param(self.CP, self.params)
self.steering_mode_on_brake = read_steering_mode_param(self.CP, self.CP_SP, self.params)
self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
def read_params(self):