mirror of https://github.com/infiniteCable2/openpilot.git synced 2026-08-03 08:41:41 +08:00

Files

T

Jason Young d4185a5d57 docs: car porting (#36590 )

* checkpoint

* door states, notes

* updates

* not worth it yet

* wordsmith

* more

* more reverse engineering script content

* Revise stationary ignition-only test steps

Updated the steps for stationary ignition-only tests to include closing the driver's door and fastening the seatbelt before pressing the accelerator and brake pedals.

* fix numbering

2025-11-07 20:37:40 -05:00

1.4 KiB

Raw Blame History

CarState signals

Required for basic lateral control

brakePressed
cruiseState
doorOpen
espDisabled
gasPressed
gearShifter
leftBlinker / rightBlinker
seatbeltUnlatched
standstill
steeringAngleDeg
steeringPressed
steeringTorque
steerFaultPermanent
steerFaultTemporary
vCruise
wheelSpeeds.[fl|fr|rl|rr]: Speed of each of the car's four wheels, in m/s. The car's CAN bus often broadcasts the speed in kph, so the helper function parse_wheel_speeds performs this conversion by default.

Recommended / Required for openpilot longitudinal control

accFaulted
espActive
parkingBrake

Application Dependent

blockPcmEnable
buttonEnable
brakeHoldActive
carFaultedNonCritical
invalidLkasSetting
lowSpeedAlert
regenBraking
steeringAngleOffsetDeg
steeringDisengage
steeringTorqueEps
stockLkas
vCruiseCluster
vEgoCluster
vehicleSensorsInvalid

Automatically populated

buttonEvents

These values are populated automatically by parse_wheel_speeds:

aEgo: Acceleration of the ego vehicle, Kalman filtered derivative of vEgo.
vEgo: Speed of the ego vehicle, Kalman filtered from vEgoRaw.
vEgoRaw: Speed of the ego vehicle, based on the average of all four wheel speeds, unfiltered.

Optional

brake
charging
fuelGauge
leftBlindspot / rightBlindspot
steeringRateDeg
stockAeb
stockFcw
yawRate

1.4 KiB Raw Blame History