commaai's carcontroller called actuators.as_builder(), but in sunnypilot
opendbc the actuators passed to CarController.update is already a mutable
builder, so this crashed onroad. Use it directly. Verified by replaying
6138 frames of real Haval H6 CAN: 0 errors, control commands generated.
The commaai PR was written against a non-sunnypilot CarStateBase/CarInterface.
Adapt it to c3xl-dev:
- CarState.get_can_parsers(CP, CP_SP)
- carstate.update returns (CarState, CarStateSP) and reads ret.deprecated.brake
- CarController.update(CC, CC_SP, CS, now_nanos)
- CarInterface.update unpacks (ret, ret_sp)
Without these the car interface crashed at runtime and the selected vehicle
showed as unavailable.
Adds the GWM brand (Haval H6 2019-26, full ACC/steering support):
- opendbc/car/gwm: brand interface, carstate, carcontroller, gwmcan, values
(adapted to sunnypilot CP_SP API and deprecated field group)
- car.capnp: SafetyModel.gwm @36
- values.py: GWM in the Platform union
- docs_definitions.py: CarHarness.gwm
- safety: gwm.h, SAFETY_GWM 36, registration (behind ALLOW_DEBUG)
- dbc generator for gwm_haval_h6_mk3, torque params for GWM_HAVAL_H6
- car_list.json: Haval H6 now appears in the vehicle selector
- rebuilt panda firmware with the GWM safety mode (DEV-dc833705)
Adds the MG brand (MG 5 EV 2021, dashcam-only) to c3xl-dev's opendbc:
- opendbc/car/mg: brand interface, carstate, carcontroller, mgcan, values
- car.capnp: SafetyModel.mg @35
- values.py: MG in the Platform union
- safety: mg.h, SAFETY_MG 35, registration (behind ALLOW_DEBUG)
- dbc/mg.dbc, torque override for MG_5_EV
- car_list.json: include dashcam-only platforms so MG appears in the
vehicle selector
- rebuilt panda firmware with the MG safety mode (DEV-a53d9321)
The SPI panda boot loop called recover_internal_panda() whenever the panda
did not appear within 20s after a reset. recover() erases both the bootstub
and app sectors (dfu.py program_bootstub erases sectors 0+1) before
reflashing, so a working panda that booted slowly lost its app firmware.
Fix:
- pandad.py: wait up to 60s for the panda, retry the normal reset 3x, and
only enter the ROM bootloader (recover) when the panda is confirmed in DFU
or all normal resets failed - preserving provisioning of blank boards.
- hardware.py: align recover_internal_panda() timing with the working manual
flash scripts (0.2s reset hold, 1s settle, keep BOOT0 high).
- spi.py: raise the SPI bootloader ack timeout from 0.01s to 0.1s so the DFU
flash reliably succeeds instead of erasing then failing.
Each drive item now shows download buttons for its qlog.zst and rlog.zst
(next to the existing HEVC/TS downloads). The /download endpoint accepts
file=qlog|rlog and names the file by drive time.
The upstream sync renames usbgpu params to chestnut (ChestnutActive,
ModelManager_ActiveBundleChestnut, etc.), so rebuild the params C library
for the new keys.
Rewrite the top MR.ONE release section in English only (Chinese removed due
to garbled display) and add the recent changes: GM ignition-over-CAN panda
fix, Avoid EPS Lockout, merged master-dev model/UI updates, and OSM map
deletion.
- Rebuild libparams_c.so so the new Mapd_ClearCache param (#1971) is usable
on-device without a rebuild.
- Regenerate cereal C++ bindings for the custom.capnp verifying enum added
by #1953, keeping generated bindings in sync with the schema.
Adds Chinese translations for the new dual-slot model menu strings:
Small Model / Big Model / Model Status, download/verify status labels,
and the big-model failover notes.
* uh, i did not commit anything all this time
* slideee to the left, cha cha
* lint lint
* ui: unify model source predicate and per-source bundle lookup in model_info
* [TIZI/TICI] ui: disable the other-model row onroad like the active row
* [TIZI/TICI] ui: drop docstring that restates the function name
* [TIZI/TICI] ui: keep Favorites as the first model folder in the picker
* ui: record why model names read the params slots and not modelManagerSP
* ui: show the default model's name on the picker Default entries
* models: bind a download to its ref so cancel and reselect work everywhere
* models: resume partial chunked downloads and verify silently
* models: publish a verifying status so cached checks read as verification, not a stuck download
* [TIZI/TICI] ui: move download status onto each model's own row
* [TIZI/TICI] ui: show the row status description while it has text
* [TIZI/TICI] ui: restore the Model Status bar row
* models: a cancel interrupts verification immediately and keeps on-disk chunks
* models: a selection made mid-download queues instead of cancelling the transfer
* [TIZI/TICI] ui: Model Status shows both slots idle and the queued pick while busy
* [TIZI/TICI] ui: label the Model Status slots small and big and scroll long names
* models: start a queued download in the same tick and label empty slots (Default)
* ui: scroll Model Status names at the corrected speed
* [TIZI/TICI] ui: Model Status shows the big model failing over to small
* [TIZI/TICI] ui: stable model rows and a runner-matched failover note on Model Status
* [TIZI/TICI] ui: model rows show full names and the failover note reopens with the page
* ui: name the actually driving model runner-matched and bring mici to state parity
* fix ugly
---------
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
#1966 changes ModelManager params: drops DownloadIndex and the PrevBundle
keys, adds DownloadRef and ActiveBundleUSBGPU, and switches ActiveJson to
JSON type. Rebuild the params C library so the new keys work on-device
without a rebuild.
* models: dual-slot backend (qcom/usbgpu) with ref-based downloads
* models: restore get_active_source and the usbgpu-to-qcom fallback
* models: fix per-slot validation and cap mismatched-source refetches
* ui/models: select models by ref and seed the usbgpu slot on migration
* models: drop defensive attribute guards on capnp bundles
* models: remove vestigial fetcher state and dead fallbacks
* models: resolve the active bundle from the active source slot only
* models: pass the usbgpu kwarg through the modeld test stubs
* models: resolve the displayed model from the active slot in ui_state
* models: correct the validation memo type hint
* models: drop docstrings that restate the function name
---------
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Extend the low-speed torque scaling from 4 m/s to 8 m/s and add steering
angle-based scaling (further reduction above 50 deg wheel angle) so the EPS
does not reject HCA on sharp 90+ degree turns taken at speed. Lower the
standstill torque floor from 80% to 60% and use a stronger torque dither
(3 units vs 1) when the toggle is on, to reset the EPS stuck-torque
protection timer.
Cherry-picked #1960 adds ModelManager_PrevBundle and
ModelManager_PrevBundle_USBGPU to params_keys.h, so rebuild the params C
library so the new keys are usable on-device without a rebuild.
Adds a VW-brand toggle that scales steering torque down at low speeds
(vEgo 0.4 -> 80%, 3.5 -> 95%, >=4.0 -> 100% of STEER_MAX) to avoid EPS
lockout. Ported from dragonpilot (dp_vag_avoid_eps_lockout) following the
sunnypilot brand-params pattern: VagAvoidEPSLockout param -> VolkswagenFlagsSP
-> VW carcontroller. Default off; requires an onroad cycle to take effect.
FrogPilot handles the GM SystemPowerMode message on both bus 0 and bus 2
(SDGM cars send it on bus 2). C3XL-dev only checked bus 0, so GM cars with
0x1F1 on bus 2 never set ignition_can and the device would not auto power-on.
Mirror FrogPilot: check 0x1F1 on bus 2 as well, keep other exceptions bus-0 only.
1okko
mawei