Jason Wen
3e7240516e
* sp flags * pass CP_SP to card and car interfaces * CP_SP in radar interface * bump opendbc * use dataclass like old times * bump opendbc * write to params for controls * fix test models * fix * need to use copy instead * fix data type * add service * more * fix * Revert "fix" This reverts commit 74723d7fb277907e174c021af14ecbcdb54f1586. * Revert "fix data type" This reverts commit 02355f44df2e9fca06d565b2e30641ff8d62f1a3. * missed * more * no more lagging * Reapply "fix data type" This reverts commit dbf1b8583fe1843db91c6fb5c96cf1fb3be5ef79. * Reapply "fix" This reverts commit 9cbce9968a6bf245087681d5061a39db90873226. * Revert "Reapply "fix"" This reverts commit 1871919b633c6f94627b2574299740c6c3f6738e. * Revert "Reapply "fix data type"" This reverts commit 5e95752fd5e7d754acdaa83855ec8868ece290f2. * no longer * Revert "no longer" This reverts commit 66ee1ba1513b43b0b07d8344e0dfb13752f6872d. * Reapply "Reapply "fix data type"" This reverts commit 670a3843338490fa7fbf23bbe7bf47c261ded9c8. * Reapply "Reapply "fix"" This reverts commit 42f09f955c84391d01866f3d48717382547f8b85. * only for car params sp * rename * fix more test * no need for process replay * pass stock car params to sp set car params * pass stock car params to sp set car params * deprecate CarParams.sunnypilotFlags to CarParamsSP.flags * missed arg * fix tests * tests fixed * need to pass this too * must generate cp_sp! * fix typing * must be initialized prior can comm callback! * no more cancer (@devtekve) * remove more cancer * Refactor `get_non_essential_params_sp` to simplify arguments (#612) * Refactor 'get_non_essential_params_sp' function calls in tests In both `test_latcontrol.py` and `process_replay.py`, simplified the function calls to 'get_non_essential_params_sp'. Removed an unnecessary call to 'get_non_essential_params'. This change makes the code cleaner and more efficient by reducing redundancy in the function calls. This modification also ensures consistency across different code files. * Refactor get_non_essential_params_sp to take car_params. Simplify parameters by modifying `get_non_essential_params_sp` to use `car_params` as input. Adjust related calls in test files and process replay to match the updated method signature. This improves code clarity and reduces redundancy. * bump opendbc * Refactor parameter handling for `get_params_sp`. Removed unnecessary reassignment of `car_params` in calls to `get_params_sp`, ensuring a cleaner and more streamlined code structure. This change improves code clarity and eliminates redundant operations. All relevant assertions and behavior remain unaffected. * bumping opedbc * bump opendbc --------- Co-authored-by: DevTekVE <devtekve@gmail.com>
openpilot
openpilot is an operating system for robotics.
Currently, it upgrades the driver assistance system in 275+ supported cars.
Docs · Roadmap · Contribute · Community · Try it on a comma 3X
Quick start: bash <(curl -fsSL openpilot.comma.ai)
Using openpilot in a car
To use openpilot in a car, you need four things:
- Supported Device: a comma 3/3X, available at comma.ai/shop.
- Software: The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL
openpilot.comma.aito install the release version. - Supported Car: Ensure that you have one of the 275+ supported cars.
- Car Harness: You will also need a car harness to connect your comma 3/3X to your car.
We have detailed instructions for how to install the harness and device in a car. Note that it's possible to run openpilot on other hardware, although it's not plug-and-play.
Branches
| branch | URL | description |
|---|---|---|
release3 |
openpilot.comma.ai | This is openpilot's release branch. |
release3-staging |
openpilot-test.comma.ai | This is the staging branch for releases. Use it to get new releases slightly early. |
nightly |
openpilot-nightly.comma.ai | This is the bleeding edge development branch. Do not expect this to be stable. |
nightly-dev |
installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars. |
To start developing openpilot
openpilot is developed by comma and by users like you. We welcome both pull requests and issues on GitHub.
- Join the community Discord
- Check out the contributing docs
- Check out the openpilot tools
- Read about the development workflow
- Code documentation lives at https://docs.comma.ai
- Information about running openpilot lives on the community wiki
Want to get paid to work on openpilot? comma is hiring and offers lots of bounties for external contributors.
Safety and Testing
- openpilot observes ISO26262 guidelines, see SAFETY.md for more details.
- openpilot has software-in-the-loop tests that run on every commit.
- The code enforcing the safety model lives in panda and is written in C, see code rigor for more details.
- panda has software-in-the-loop safety tests.
- Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
- panda has additional hardware-in-the-loop tests.
- We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
Licensing
openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT. YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS. NO WARRANTY EXPRESSED OR IMPLIED.
User Data and comma Account
By default, openpilot uploads the driving data to our servers. You can also access your data through comma connect. We use your data to train better models and improve openpilot for everyone.
openpilot is open source software: the user is free to disable data collection if they wish to do so.
openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs. The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
By using openpilot, you agree to our Privacy Policy. You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.