mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-09-28 15:13:43 +08:00
Merge branch 'upstream/openpilot/master'
# Conflicts: # cereal # common/params.cc # panda # selfdrive/car/subaru/subarucan.py # selfdrive/controls/lib/lateral_planner.py # selfdrive/controls/lib/longitudinal_planner.py
This commit is contained in:
Jason Wen
@@ -2,7 +2,7 @@ FROM ghcr.io/commaai/openpilot-base:latest
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ENV PYTHONUNBUFFERED 1
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ENV OPENPILOT_PATH /home/batman/openpilot/
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ENV OPENPILOT_PATH /home/batman/openpilot
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ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
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RUN mkdir -p ${OPENPILOT_PATH}
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@@ -23,5 +23,6 @@ COPY ./cereal ${OPENPILOT_PATH}/cereal
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COPY ./panda ${OPENPILOT_PATH}/panda
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COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
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COPY ./system ${OPENPILOT_PATH}/system
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COPY ./body ${OPENPILOT_PATH}/body
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RUN scons --cache-readonly -j$(nproc)
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Vendored
+4
-7
@@ -19,6 +19,9 @@ source ~/.bash_profile
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if [ -f /TICI ]; then
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source /etc/profile
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fi
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if [ -f /data/openpilot/launch_env.sh ]; then
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source /data/openpilot/launch_env.sh
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fi
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ln -snf ${env.TEST_DIR} /data/pythonpath
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@@ -181,7 +184,7 @@ pipeline {
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}
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}
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stage('camerad-ar') {
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stage('camerad') {
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agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
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steps {
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phone_steps("tici-ar0231", [
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@@ -189,12 +192,6 @@ pipeline {
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["test camerad", "python system/camerad/test/test_camerad.py"],
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["test exposure", "python system/camerad/test/test_exposure.py"],
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])
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||||
}
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||||
}
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||||
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stage('camerad-ox') {
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agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
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steps {
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phone_steps("tici-ox03c10", [
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["build", "cd selfdrive/manager && ./build.py"],
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["test camerad", "python system/camerad/test/test_camerad.py"],
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@@ -42,7 +42,7 @@ To use openpilot in a car, you need four things
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* A supported device to run this software: a [comma three](https://comma.ai/shop/products/three).
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* This software. The setup procedure of the comma three allows the user to enter a URL for custom software.
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The URL, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another GitHub username can install a fork.
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* One of [the 200+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot.
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* One of [the 250+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot.
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* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car.
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We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
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@@ -67,7 +67,7 @@ Documentation related to openpilot development can be found on [docs.comma.ai](h
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You can add support for your car by following guides we have written for [Brand](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) and [Model](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
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Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/).
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Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions).
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And [follow us on Twitter](https://twitter.com/comma_ai).
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+19
-3
@@ -1,14 +1,30 @@
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Version 0.9.2 (2023-03-XX)
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Version 0.9.2 (2023-05-22)
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========================
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* New driving model, trained on a new dataset
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* Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do.
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* New driving model
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* Reduced turn diving
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* Trained on a new dataset
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* UI updates
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* New experimental mode visualization
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* Draw MPC path instead of model-predicted path
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* AGNOS 7
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||||
* Faster boot time
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* Fixes rare no sounds bug
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* Fixes bootsplash bug at extreme temperatures
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||||
* Buick LaCrosse 2017-19 support thanks to koch-cf!
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||||
* Chevrolet Trailblazer 2021-22 support thanks to TurboCE!
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* Ford Bronco Sport 2021-22 support
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||||
* Ford Escape 2020-22 support
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||||
* Ford Explorer 2020-22 support
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* Ford Kuga 2020-22 support
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||||
* Ford Maverick 2022-23 support
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||||
* Genesis GV80 2023 support thanks to JWingate80!
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||||
* Honda HR-V 2023 support thanks to AlexandreSato and galegozi!
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||||
* Kia Niro EV 2023 support thanks to JosselinLecocq!
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* Lexus ES 2017-18 support
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* Lincoln Aviator 2021 support
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* Škoda Fabia 2022-23 support thanks to jyoung8607!
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||||
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||||
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Version 0.9.1 (2023-02-28)
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========================
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* New driving model
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+9
-11
@@ -405,13 +405,17 @@ SConscript(['rednose/SConscript'])
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# Build system services
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SConscript([
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'system/camerad/SConscript',
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'system/clocksd/SConscript',
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'system/proclogd/SConscript',
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'system/ubloxd/SConscript',
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'system/loggerd/SConscript',
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])
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if arch != "Darwin":
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SConscript(['system/logcatd/SConscript'])
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SConscript([
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'system/camerad/SConscript',
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'system/sensord/SConscript',
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'system/logcatd/SConscript',
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])
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# Build openpilot
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@@ -428,19 +432,13 @@ SConscript(['third_party/SConscript'])
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SConscript(['common/kalman/SConscript'])
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SConscript(['common/transformations/SConscript'])
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SConscript(['selfdrive/modeld/SConscript'])
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SConscript(['selfdrive/boardd/SConscript'])
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SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
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SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
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SConscript(['selfdrive/boardd/SConscript'])
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SConscript(['system/loggerd/SConscript'])
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SConscript(['selfdrive/locationd/SConscript'])
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SConscript(['system/sensord/SConscript'])
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SConscript(['selfdrive/ui/SConscript'])
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SConscript(['selfdrive/navd/SConscript'])
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SConscript(['selfdrive/modeld/SConscript'])
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SConscript(['selfdrive/ui/SConscript'])
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||||
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||||
if (arch in ['x86_64', 'Darwin'] and Dir('#tools/cabana/').exists()) or GetOption('extras'):
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SConscript(['tools/replay/SConscript'])
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||||
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||||
+1
-1
Submodule cereal updated: dab31315f4...9acc99c3fb
+29
-23
@@ -92,15 +92,15 @@ std::unordered_map<std::string, uint32_t> keys = {
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{"CameraDebugExpGain", CLEAR_ON_MANAGER_START},
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{"CameraDebugExpTime", CLEAR_ON_MANAGER_START},
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{"CarBatteryCapacity", PERSISTENT},
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{"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
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{"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
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{"CarParamsCache", CLEAR_ON_MANAGER_START},
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{"CarParamsPersistent", PERSISTENT},
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||||
{"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
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||||
{"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
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||||
{"CompletedTrainingVersion", PERSISTENT},
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||||
{"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
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||||
{"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"CurrentBootlog", PERSISTENT},
|
||||
{"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
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||||
{"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
|
||||
{"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
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||||
{"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"DisablePowerDown", PERSISTENT},
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||||
{"ExperimentalMode", PERSISTENT},
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||||
{"ExperimentalModeConfirmed", PERSISTENT},
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||||
@@ -111,7 +111,7 @@ std::unordered_map<std::string, uint32_t> keys = {
|
||||
{"DoReboot", CLEAR_ON_MANAGER_START},
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||||
{"DoShutdown", CLEAR_ON_MANAGER_START},
|
||||
{"DoUninstall", CLEAR_ON_MANAGER_START},
|
||||
{"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
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||||
{"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
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||||
{"ForcePowerDown", CLEAR_ON_MANAGER_START},
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||||
{"GitBranch", PERSISTENT},
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||||
{"GitCommit", PERSISTENT},
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||||
@@ -137,7 +137,7 @@ std::unordered_map<std::string, uint32_t> keys = {
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||||
{"IsTestedBranch", CLEAR_ON_MANAGER_START},
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||||
{"IsReleaseBranch", CLEAR_ON_MANAGER_START},
|
||||
{"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
|
||||
{"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
|
||||
{"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
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{"LaikadEphemerisV3", PERSISTENT | DONT_LOG},
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||||
{"LanguageSetting", PERSISTENT},
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||||
{"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
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||||
@@ -150,30 +150,30 @@ std::unordered_map<std::string, uint32_t> keys = {
|
||||
{"LiveParameters", PERSISTENT},
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{"LiveTorqueCarParams", PERSISTENT},
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||||
{"LiveTorqueParameters", PERSISTENT | DONT_LOG},
|
||||
{"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
|
||||
{"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
|
||||
{"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"NavSettingTime24h", PERSISTENT},
|
||||
{"NavSettingLeftSide", PERSISTENT},
|
||||
{"NavdRender", PERSISTENT},
|
||||
{"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
|
||||
{"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
|
||||
{"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"OpenpilotEnabledToggle", PERSISTENT},
|
||||
{"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
|
||||
{"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"PandaSignatures", CLEAR_ON_MANAGER_START},
|
||||
{"Passive", PERSISTENT},
|
||||
{"PrimeType", PERSISTENT},
|
||||
{"RecordFront", PERSISTENT},
|
||||
{"RecordFrontLock", PERSISTENT}, // for the internal fleet
|
||||
{"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
|
||||
{"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"ShouldDoUpdate", CLEAR_ON_MANAGER_START},
|
||||
{"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
|
||||
{"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"SshEnabled", PERSISTENT},
|
||||
{"SubscriberInfo", PERSISTENT},
|
||||
{"TermsVersion", PERSISTENT},
|
||||
{"Timezone", PERSISTENT},
|
||||
{"TrainingVersion", PERSISTENT},
|
||||
{"UbloxAvailable", PERSISTENT},
|
||||
{"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
|
||||
{"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"UpdateFailedCount", CLEAR_ON_MANAGER_START},
|
||||
{"UpdaterState", CLEAR_ON_MANAGER_START},
|
||||
{"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
|
||||
@@ -191,17 +191,18 @@ std::unordered_map<std::string, uint32_t> keys = {
|
||||
{"ApiCache_NavDestinations", PERSISTENT},
|
||||
{"ApiCache_Owner", PERSISTENT},
|
||||
{"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
|
||||
{"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_InvalidTime", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
|
||||
{"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
|
||||
{"AccMadsCombo", PERSISTENT},
|
||||
{"AmapKey1", PERSISTENT},
|
||||
@@ -387,14 +388,19 @@ std::map<std::string, std::string> Params::readAll() {
|
||||
void Params::clearAll(ParamKeyType key_type) {
|
||||
FileLock file_lock(params_path + "/.lock");
|
||||
|
||||
if (key_type == ALL) {
|
||||
util::remove_files_in_dir(getParamPath());
|
||||
} else {
|
||||
for (auto &[key, type] : keys) {
|
||||
if (type & key_type) {
|
||||
unlink(getParamPath(key).c_str());
|
||||
// 1) delete params of key_type
|
||||
// 2) delete files that are not defined in the keys.
|
||||
if (DIR *d = opendir(getParamPath().c_str())) {
|
||||
struct dirent *de = NULL;
|
||||
while ((de = readdir(d))) {
|
||||
if (de->d_type != DT_DIR) {
|
||||
auto it = keys.find(de->d_name);
|
||||
if (it == keys.end() || (it->second & key_type)) {
|
||||
unlink(getParamPath(de->d_name).c_str());
|
||||
}
|
||||
}
|
||||
}
|
||||
closedir(d);
|
||||
}
|
||||
|
||||
fsync_dir(getParamPath());
|
||||
|
||||
+2
-2
@@ -7,8 +7,8 @@
|
||||
enum ParamKeyType {
|
||||
PERSISTENT = 0x02,
|
||||
CLEAR_ON_MANAGER_START = 0x04,
|
||||
CLEAR_ON_IGNITION_ON = 0x08,
|
||||
CLEAR_ON_IGNITION_OFF = 0x10,
|
||||
CLEAR_ON_ONROAD_TRANSITION = 0x08,
|
||||
CLEAR_ON_OFFROAD_TRANSITION = 0x10,
|
||||
DONT_LOG = 0x20,
|
||||
ALL = 0xFFFFFFFF
|
||||
};
|
||||
|
||||
@@ -9,8 +9,8 @@ cdef extern from "common/params.h":
|
||||
cpdef enum ParamKeyType:
|
||||
PERSISTENT
|
||||
CLEAR_ON_MANAGER_START
|
||||
CLEAR_ON_IGNITION_ON
|
||||
CLEAR_ON_IGNITION_OFF
|
||||
CLEAR_ON_ONROAD_TRANSITION
|
||||
CLEAR_ON_OFFROAD_TRANSITION
|
||||
ALL
|
||||
|
||||
cdef cppclass c_Params "Params":
|
||||
|
||||
@@ -1,7 +1,9 @@
|
||||
import os
|
||||
import threading
|
||||
import time
|
||||
import tempfile
|
||||
import shutil
|
||||
import uuid
|
||||
import unittest
|
||||
|
||||
from common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking
|
||||
@@ -28,9 +30,16 @@ class TestParams(unittest.TestCase):
|
||||
self.params.put("CarParams", "test")
|
||||
self.params.put("DongleId", "cb38263377b873ee")
|
||||
assert self.params.get("CarParams") == b"test"
|
||||
|
||||
undefined_param = self.params.get_param_path(uuid.uuid4().hex)
|
||||
with open(undefined_param, "w") as f:
|
||||
f.write("test")
|
||||
assert os.path.isfile(undefined_param)
|
||||
|
||||
self.params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
|
||||
assert self.params.get("CarParams") is None
|
||||
assert self.params.get("DongleId") is not None
|
||||
assert not os.path.isfile(undefined_param)
|
||||
|
||||
def test_params_two_things(self):
|
||||
self.params.put("DongleId", "bob")
|
||||
|
||||
@@ -143,20 +143,3 @@ TEST_CASE("util::create_directories") {
|
||||
REQUIRE(util::create_directories("", 0755) == false);
|
||||
}
|
||||
}
|
||||
|
||||
TEST_CASE("util::remove_files_in_dir") {
|
||||
std::string tmp_dir = "/tmp/test_remove_all_in_dir";
|
||||
system("rm /tmp/test_remove_all_in_dir -rf");
|
||||
REQUIRE(util::create_directories(tmp_dir, 0755));
|
||||
const int tmp_file_cnt = 10;
|
||||
for (int i = 0; i < tmp_file_cnt; ++i) {
|
||||
std::string tmp_file = tmp_dir + "/test_XXXXXX";
|
||||
int fd = mkstemp((char*)tmp_file.c_str());
|
||||
close(fd);
|
||||
REQUIRE(util::file_exists(tmp_file.c_str()));
|
||||
}
|
||||
|
||||
REQUIRE(util::read_files_in_dir(tmp_dir).size() == tmp_file_cnt);
|
||||
util::remove_files_in_dir(tmp_dir);
|
||||
REQUIRE(util::read_files_in_dir(tmp_dir).empty());
|
||||
}
|
||||
|
||||
@@ -99,22 +99,6 @@ std::map<std::string, std::string> read_files_in_dir(const std::string &path) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
void remove_files_in_dir(const std::string &path) {
|
||||
DIR *d = opendir(path.c_str());
|
||||
if (!d) return;
|
||||
|
||||
std::string fn;
|
||||
struct dirent *de = NULL;
|
||||
while ((de = readdir(d))) {
|
||||
if (de->d_type != DT_DIR) {
|
||||
fn = path + "/" + de->d_name;
|
||||
unlink(fn.c_str());
|
||||
}
|
||||
}
|
||||
|
||||
closedir(d);
|
||||
}
|
||||
|
||||
int write_file(const char* path, const void* data, size_t size, int flags, mode_t mode) {
|
||||
int fd = HANDLE_EINTR(open(path, flags, mode));
|
||||
if (fd == -1) {
|
||||
|
||||
@@ -81,7 +81,6 @@ std::string dir_name(std::string const& path);
|
||||
// **** file fhelpers *****
|
||||
std::string read_file(const std::string& fn);
|
||||
std::map<std::string, std::string> read_files_in_dir(const std::string& path);
|
||||
void remove_files_in_dir(const std::string& path);
|
||||
int write_file(const char* path, const void* data, size_t size, int flags = O_WRONLY, mode_t mode = 0664);
|
||||
|
||||
FILE* safe_fopen(const char* filename, const char* mode);
|
||||
|
||||
+254
-244
@@ -4,253 +4,262 @@
|
||||
|
||||
A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
|
||||
|
||||
# 243 Supported Cars
|
||||
# 252 Supported Cars
|
||||
|
||||
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
|
||||
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Harness Kit<br> |Video|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Acura&model=ILX 2016-19">Honda Nidec</a>||
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2016-18">Honda Nidec</a>||
|
||||
|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2019-22">Honda Bosch A</a>||
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 2014-19">J533</a>||
|
||||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 Sportback e-tron 2017-18">J533</a>||
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q2 2018">J533</a>||
|
||||
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q3 2019-23">J533</a>||
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=RS3 2018">J533</a>||
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=S3 2015-17">J533</a>||
|
||||
|Buick|LaCrosse 2017-19[<sup>3</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Buick&model=LaCrosse 2017-19">OBD-II</a>||
|
||||
|Cadillac|Escalade 2017[<sup>3</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade 2017">OBD-II</a>||
|
||||
|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade ESV 2016">OBD-II</a>||
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EUV 2022-23">GM</a>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EV 2022-23">GM</a>||
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Silverado 1500 2020-21">GM</a>||
|
||||
|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Trailblazer 2021-22">GM</a>||
|
||||
|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Volt 2017-18">OBD-II</a>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2017-18">FCA</a>||
|
||||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2019-20">FCA</a>||
|
||||
|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2021">FCA</a>||
|
||||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2017-18">FCA</a>||
|
||||
|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2019-22">FCA</a>||
|
||||
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Acura&model=ILX 2016-19">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2016-18">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2019-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 2014-19">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 Sportback e-tron 2017-18">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q2 2018">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q3 2019-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=RS3 2018">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=S3 2015-17">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Buick|LaCrosse 2017-19[<sup>3</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Buick&model=LaCrosse 2017-19">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Cadillac|Escalade 2017[<sup>3</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade 2017">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade ESV 2016">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EUV 2022-23">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EV 2022-23">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Silverado 1500 2020-21">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Trailblazer 2021-22">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Volt 2017-18">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2017-18">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2019-20">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2021">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2017-18">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2019-23">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|comma|body|All|openpilot|0 mph|0 mph|[](##)|[](##)|None||
|
||||
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Hyundai F</a>||
|
||||
|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Hyundai F</a>||
|
||||
|Genesis|G80 2017|All|Stock|19 mph|37 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Hyundai J</a>||
|
||||
|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2018-19">Hyundai H</a>||
|
||||
|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G90 2017-18">Hyundai C</a>||
|
||||
|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Hyundai A</a>||
|
||||
|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Hyundai K</a>||
|
||||
|Genesis|GV70 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 2022-23">Hyundai L</a>||
|
||||
|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Acadia 2018">OBD-II</a>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Sierra 1500 2020-21">GM</a>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord 2018-22">Honda Bosch A</a>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord Hybrid 2018-22">Honda Bosch A</a>||
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2016-18">Honda Nidec</a>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Honda Bosch A</a>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Honda Bosch B</a>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2017-21">Honda Bosch A</a>||
|
||||
|Honda|Civic Hatchback 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Honda Bosch B</a>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2015-16">Honda Nidec</a>||
|
||||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2017-22">Honda Bosch A</a>||
|
||||
|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V Hybrid 2017-19">Honda Bosch A</a>||
|
||||
|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=e 2020">Honda Bosch A</a>||
|
||||
|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Fit 2018-20">Honda Nidec</a>||
|
||||
|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Freed 2020">Honda Nidec</a>||
|
||||
|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2019-22">Honda Nidec</a>||
|
||||
|Honda|HR-V 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2023">Honda Bosch B</a>||
|
||||
|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Insight 2019-22">Honda Bosch A</a>||
|
||||
|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Inspire 2018">Honda Bosch A</a>||
|
||||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Odyssey 2018-20">Honda Nidec</a>||
|
||||
|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Passport 2019-21">Honda Nidec</a>||
|
||||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Pilot 2016-22">Honda Nidec</a>||
|
||||
|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Ridgeline 2017-23">Honda Nidec</a>||
|
||||
|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2017-19">Hyundai B</a>||
|
||||
|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2021-23">Hyundai K</a>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra GT 2017-19">Hyundai E</a>||
|
||||
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra Hybrid 2021-23">Hyundai K</a>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Genesis 2015-16">Hyundai J</a>||
|
||||
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=i30 2017-19">Hyundai E</a>||
|
||||
|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Hyundai Q</a>||
|
||||
|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Hyundai Q</a>||
|
||||
|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Hyundai K</a>||
|
||||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2019">Hyundai C</a>||
|
||||
|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2020">Hyundai H</a>||
|
||||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Hyundai C</a>||
|
||||
|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Hyundai H</a>||
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Hyundai C</a>||
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Hyundai H</a>||
|
||||
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona 2020">Hyundai B</a>||
|
||||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2018-21">Hyundai G</a>||
|
||||
|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2022">Hyundai O</a>||
|
||||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Hybrid 2020">Hyundai I</a>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Palisade 2020-22">Hyundai H</a>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Santa Cruz 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Cruz 2022-23">Hyundai N</a>||
|
||||
|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2019-20">Hyundai D</a>||
|
||||
|Hyundai|Santa Fe 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2021-22">Hyundai L</a>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Santa Fe Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Hybrid 2022">Hyundai L</a>||
|
||||
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022">Hyundai L</a>||
|
||||
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2018-19">Hyundai E</a>||
|
||||
|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2020-23">Hyundai A</a>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata Hybrid 2020-22">Hyundai A</a>||
|
||||
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2021">Hyundai L</a>||
|
||||
|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2022">Hyundai N</a>||
|
||||
|Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2023">Hyundai N</a>||
|
||||
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Diesel 2019">Hyundai L</a>||
|
||||
|Hyundai|Tucson Hybrid 2022[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Hybrid 2022">Hyundai N</a>||
|
||||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Veloster 2019-20">Hyundai E</a>||
|
||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2016-18">FCA</a>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2019-21">FCA</a>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Ceed 2019">Hyundai E</a>||
|
||||
|Kia|EV6 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Hyundai P</a>||
|
||||
|Kia|EV6 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022-23">Hyundai P</a>||
|
||||
|Kia|EV6 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022-23">Hyundai L</a>||
|
||||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2019-21">Hyundai G</a>||
|
||||
|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 2021-22">Hyundai A</a>||
|
||||
|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 Hybrid 2020">Hyundai A</a>||
|
||||
|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2019">Hyundai H</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2020">Hyundai F</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2021">Hyundai C</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2022">Hyundai H</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2023">Hyundai A</a>||
|
||||
|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2021-22">Hyundai F</a>||
|
||||
|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2023">Hyundai A</a>||
|
||||
|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Hyundai C</a>||
|
||||
|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2020">Hyundai D</a>||
|
||||
|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2017">Hyundai B</a>||
|
||||
|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2019-20">Hyundai G</a>||
|
||||
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Seltos 2021">Hyundai A</a>||
|
||||
|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2018">Hyundai C</a>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2019">Hyundai E</a>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Sorento 2021-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2021-23">Hyundai K</a>||
|
||||
|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Hyundai A</a>||
|
||||
|Kia|Sportage 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage 2023">Hyundai N</a>||
|
||||
|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage Hybrid 2023">Hyundai N</a>||
|
||||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2018-20">Hyundai C</a>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2022">Hyundai K</a>||
|
||||
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Telluride 2020-22">Hyundai H</a>||
|
||||
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=CT Hybrid 2017-18">Toyota</a>||
|
||||
|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2017-18">Toyota</a>||
|
||||
|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2019-22">Toyota</a>||
|
||||
|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2017-18">Toyota</a>||
|
||||
|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2019-23">Toyota</a>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=IS 2017-19">Toyota</a>||
|
||||
|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2018-19">Toyota</a>||
|
||||
|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2020-21">Toyota</a>||
|
||||
|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2018-19">Toyota</a>||
|
||||
|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2020-21">Toyota</a>||
|
||||
|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RC 2018-20">Toyota</a>||
|
||||
|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2016">Toyota</a>||
|
||||
|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2017-19">Toyota</a>||
|
||||
|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2020-22">Toyota</a>||
|
||||
|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2016">Toyota</a>||
|
||||
|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2017-19">Toyota</a>||
|
||||
|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Toyota</a>||
|
||||
|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-22">Toyota</a>||
|
||||
|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">Mazda</a>||
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-9 2021-23">Mazda</a>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Altima 2019-20">Nissan B</a>||
|
||||
|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Leaf 2018-23">Nissan A</a>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Rogue 2018-20">Nissan A</a>||
|
||||
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=X-Trail 2017">Nissan A</a>||
|
||||
|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ram&model=1500 2019-23">Ram</a>||
|
||||
|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Ateca 2018">J533</a>||
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Leon 2014-20">J533</a>||
|
||||
|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Ascent 2019-21">Subaru A</a>||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2018-19">Subaru A</a>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2020-23">Subaru A</a>||
|
||||
|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Forester 2019-21">Subaru A</a>||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2017-19">Subaru A</a>||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2020-22">Subaru A</a>||
|
||||
|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Legacy 2020-22">Subaru B</a>||
|
||||
|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Subaru B</a>||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Subaru A</a>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Subaru A</a>||
|
||||
|Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Fabia 2022-23">J533</a>[<sup>10</sup>](#footnotes)||
|
||||
|Škoda|Kamiq 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kamiq 2021">J533</a>[<sup>10</sup>](#footnotes)||
|
||||
|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Karoq 2019-21">J533</a>||
|
||||
|Škoda|Kodiaq 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2017-23">J533</a>||
|
||||
|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia 2015, 2018-19">J533</a>||
|
||||
|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia RS 2016">J533</a>||
|
||||
|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020">J533</a>[<sup>10</sup>](#footnotes)||
|
||||
|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Superb 2015-22">J533</a>||
|
||||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard 2019-20">Toyota</a>||
|
||||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard Hybrid 2021">Toyota</a>||
|
||||
|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2016">Toyota</a>||
|
||||
|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2017-18">Toyota</a>||
|
||||
|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2019-21">Toyota</a>||
|
||||
|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2022">Toyota</a>||
|
||||
|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2019-21">Toyota</a>||
|
||||
|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2022">Toyota</a>||
|
||||
|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2017-20">Toyota</a>||
|
||||
|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2021">Toyota</a>||
|
||||
|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2017-20">Toyota</a>||
|
||||
|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2021-22">Toyota</a>||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2018-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2021-23">Toyota</a>||
|
||||
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2018-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2021-23">Toyota</a>||
|
||||
|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2017-19">Toyota</a>||
|
||||
|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2020-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Toyota</a>||
|
||||
|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Toyota</a>||
|
||||
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hatchback 2019-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid 2020-22">Toyota</a>||
|
||||
|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Toyota</a>||
|
||||
|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2017-19">Toyota</a>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2020-23">Toyota</a>||
|
||||
|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2017-19">Toyota</a>||
|
||||
|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2020-23">Toyota</a>||
|
||||
|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Mirai 2021">Toyota</a>||
|
||||
|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2016">Toyota</a>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2017-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2021-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2017-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2021-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius v 2017">Toyota</a>||
|
||||
|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2016">Toyota</a>||
|
||||
|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2017-18">Toyota</a>||
|
||||
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2019-21">Toyota</a>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2022">Toyota</a>||
|
||||
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2016">Toyota</a>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2017-18">Toyota</a>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2019-21">Toyota</a>||
|
||||
|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2022">Toyota</a>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Sienna 2018-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon 2018-22">J533</a>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon eHybrid 2020-22">J533</a>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon R 2020-22">J533</a>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas 2018-23">J533</a>||
|
||||
|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">J533</a>||
|
||||
|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=California 2021">J533</a>||
|
||||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Caravelle 2020">J533</a>||
|
||||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=CC 2018-22">J533</a>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Crafter 2017-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Crafter 2018-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Golf 2014-20">J533</a>||
|
||||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf 2015-20">J533</a>||
|
||||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf Alltrack 2015-19">J533</a>||
|
||||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTD 2015-20">J533</a>||
|
||||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTE 2015-20">J533</a>||
|
||||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTI 2015-21">J533</a>||
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf R 2015-19">J533</a>||
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf SportsVan 2015-20">J533</a>||
|
||||
|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Grand California 2019-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta 2018-22">J533</a>||
|
||||
|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta GLI 2021-22">J533</a>||
|
||||
|Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat 2015-22">J533</a>||
|
||||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat Alltrack 2015-22">J533</a>||
|
||||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat GTE 2015-22">J533</a>||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo 2018-23">J533</a>[<sup>10</sup>](#footnotes)||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2018-23">J533</a>[<sup>10</sup>](#footnotes)||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Cross 2021">J533</a>[<sup>10</sup>](#footnotes)||
|
||||
|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Roc 2021">J533</a>[<sup>10</sup>](#footnotes)||
|
||||
|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Taos 2022">J533</a>||
|
||||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont 2018-22">J533</a>||
|
||||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">J533</a>||
|
||||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont X 2021-22">J533</a>||
|
||||
|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan 2018-23">J533</a>||
|
||||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">J533</a>||
|
||||
|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Touran 2017">J533</a>||
|
||||
|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Bronco Sport 2021-22">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape 2020-22">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Ford|Explorer 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer 2020-22">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga 2020-22">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Ford|Maverick 2022-23|Co-Pilot360 Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Maverick 2022-23">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Hyundai F connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Hyundai F connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Genesis|G80 2017|All|Stock|19 mph|37 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Hyundai J connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2018-19">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G90 2017-18">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Genesis|GV70 (2.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Genesis|GV70 (3.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Hyundai M connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV80 2023">Hyundai M connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Acadia 2018">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Sierra 1500 2020-21">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord 2018-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord Hybrid 2018-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2016-18">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Honda Bosch B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2017-21">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|Civic Hatchback 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Honda Bosch B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2015-16">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2017-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V Hybrid 2017-19">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=e 2020">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Fit 2018-20">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Freed 2020">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2019-22">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|HR-V 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2023">Honda Bosch B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Insight 2019-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Inspire 2018">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Odyssey 2018-20">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|Passport 2019-22|All|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Passport 2019-22">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Pilot 2016-22">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Ridgeline 2017-23">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2017-19">Hyundai B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2021-23">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra GT 2017-19">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra Hybrid 2021-23">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Genesis 2015-16">Hyundai J connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=i30 2017-19">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Hyundai Q connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Hyundai Q connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2019">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2020">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona 2020">Hyundai B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2018-21">Hyundai G connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2022">Hyundai O connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Hybrid 2020">Hyundai I connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Palisade 2020-22">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Santa Cruz 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Cruz 2022-23">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2019-20">Hyundai D connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Santa Fe 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2021-22">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Santa Fe Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Hybrid 2022">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2018-19">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2020-23">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata Hybrid 2020-22">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2021">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2022">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2023">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Diesel 2019">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Tucson Hybrid 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Hybrid 2022-23">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Veloster 2019-20">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2016-18">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2019-21">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Ceed 2019">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|EV6 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Hyundai P connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|EV6 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022-23">Hyundai P connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|EV6 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022-23">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2019-21">Hyundai G connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2023">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 2021-22">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 Hybrid 2020">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2019">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2020">Hyundai F connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2021">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2022">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2023">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2021-22">Hyundai F connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2023">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2020">Hyundai D connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2017">Hyundai B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2019-20">Hyundai G connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Seltos 2021">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2018">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2019">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Sorento 2021-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2021-23">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Sportage 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage 2023">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage Hybrid 2023">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2018-20">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2022">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Telluride 2020-22">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=CT Hybrid 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2019-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2019-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=IS 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2018-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2020-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2018-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2020-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RC 2018-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2020-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lincoln|Aviator 2021|Co-Pilot360 Plus|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lincoln&model=Aviator 2021">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">Mazda connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-9 2021-23">Mazda connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Altima 2019-20">Nissan B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Leaf 2018-23">Nissan A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Rogue 2018-20">Nissan A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=X-Trail 2017">Nissan A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ram&model=1500 2019-23">Ram connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Ateca 2018">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Leon 2014-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Ascent 2019-21">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2018-19">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2020-23">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Forester 2019-21">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2017-19">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2020-22">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Legacy 2020-22">Subaru B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Subaru B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Fabia 2022-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
|
||||
|Škoda|Kamiq 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kamiq 2021">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
|
||||
|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Karoq 2019-21">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Škoda|Kodiaq 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2017-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia 2015, 2018-19">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia RS 2016">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
|
||||
|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Superb 2015-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard 2019-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard Hybrid 2021">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2019-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2022">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2019-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2022">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2017-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2021">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2017-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2021-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2018-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2021-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2018-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2021-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2020-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hatchback 2019-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid 2020-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2020-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2020-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Mirai 2021">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2017-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2021-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2017-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2021-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius v 2017">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2019-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2022">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2019-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2022">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Sienna 2018-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon 2018-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon eHybrid 2020-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon R 2020-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=California 2021">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Caravelle 2020">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=CC 2018-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Crafter 2017-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Crafter 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Golf 2014-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf 2015-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf Alltrack 2015-19">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTD 2015-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTE 2015-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTI 2015-21">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf R 2015-19">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf SportsVan 2015-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Grand California 2019-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta 2018-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta GLI 2021-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat 2015-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat Alltrack 2015-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat GTE 2015-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Cross 2021">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
|
||||
|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Roc 2021">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
|
||||
|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Taos 2022">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont 2018-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont X 2021-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Touran 2017">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|
||||
<a id="footnotes"></a>
|
||||
<sup>1</sup>Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br />
|
||||
@@ -281,6 +290,7 @@ If your car has the following packages or features, then it's a good candidate f
|
||||
| Make | Required Package/Features |
|
||||
| ---- | ------------------------- |
|
||||
| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
|
||||
| Ford | Any car with Lane Centering will likely work. |
|
||||
| Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
|
||||
| Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
|
||||
| Nissan | Any car with ProPILOT will likely work. |
|
||||
|
||||
+1
-1
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
|
||||
export VECLIB_MAXIMUM_THREADS=1
|
||||
|
||||
if [ -z "$AGNOS_VERSION" ]; then
|
||||
export AGNOS_VERSION="6.2"
|
||||
export AGNOS_VERSION="7.1"
|
||||
fi
|
||||
|
||||
if [ -z "$PASSIVE" ]; then
|
||||
|
||||
+1
-1
Submodule panda updated: d8d5012ab7...ea44b41f91
Generated
+86
-14
@@ -887,7 +887,7 @@ pgp = ["gpg"]
|
||||
|
||||
[[package]]
|
||||
name = "efficientnet-pytorch"
|
||||
version = "0.6.3"
|
||||
version = "0.7.1"
|
||||
description = "EfficientNet implemented in PyTorch."
|
||||
category = "dev"
|
||||
optional = false
|
||||
@@ -1126,6 +1126,38 @@ category = "dev"
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
|
||||
[[package]]
|
||||
name = "fsspec"
|
||||
version = "2023.5.0"
|
||||
description = "File-system specification"
|
||||
category = "dev"
|
||||
optional = false
|
||||
python-versions = ">=3.8"
|
||||
|
||||
[package.extras]
|
||||
abfs = ["adlfs"]
|
||||
adl = ["adlfs"]
|
||||
arrow = ["pyarrow (>=1)"]
|
||||
dask = ["dask", "distributed"]
|
||||
devel = ["pytest", "pytest-cov"]
|
||||
dropbox = ["dropbox", "dropboxdrivefs", "requests"]
|
||||
full = ["adlfs", "aiohttp (!=4.0.0a0,!=4.0.0a1)", "dask", "distributed", "dropbox", "dropboxdrivefs", "fusepy", "gcsfs", "libarchive-c", "ocifs", "panel", "paramiko", "pyarrow (>=1)", "pygit2", "requests", "s3fs", "smbprotocol", "tqdm"]
|
||||
fuse = ["fusepy"]
|
||||
gcs = ["gcsfs"]
|
||||
git = ["pygit2"]
|
||||
github = ["requests"]
|
||||
gs = ["gcsfs"]
|
||||
gui = ["panel"]
|
||||
hdfs = ["pyarrow (>=1)"]
|
||||
http = ["aiohttp (!=4.0.0a0,!=4.0.0a1)", "requests"]
|
||||
libarchive = ["libarchive-c"]
|
||||
oci = ["ocifs"]
|
||||
s3 = ["s3fs"]
|
||||
sftp = ["paramiko"]
|
||||
smb = ["smbprotocol"]
|
||||
ssh = ["paramiko"]
|
||||
tqdm = ["tqdm"]
|
||||
|
||||
[[package]]
|
||||
name = "ft4222"
|
||||
version = "1.6.0"
|
||||
@@ -1299,6 +1331,34 @@ chardet = ["chardet (>=2.2)"]
|
||||
genshi = ["genshi"]
|
||||
lxml = ["lxml"]
|
||||
|
||||
[[package]]
|
||||
name = "huggingface-hub"
|
||||
version = "0.14.1"
|
||||
description = "Client library to download and publish models, datasets and other repos on the huggingface.co hub"
|
||||
category = "dev"
|
||||
optional = false
|
||||
python-versions = ">=3.7.0"
|
||||
|
||||
[package.dependencies]
|
||||
filelock = "*"
|
||||
fsspec = "*"
|
||||
packaging = ">=20.9"
|
||||
pyyaml = ">=5.1"
|
||||
requests = "*"
|
||||
tqdm = ">=4.42.1"
|
||||
typing-extensions = ">=3.7.4.3"
|
||||
|
||||
[package.extras]
|
||||
all = ["InquirerPy (==0.3.4)", "Jinja2", "Pillow", "black (>=23.1,<24.0)", "gradio", "jedi", "mypy (==0.982)", "pytest", "pytest-cov", "pytest-env", "pytest-xdist", "ruff (>=0.0.241)", "soundfile", "types-PyYAML", "types-requests", "types-simplejson", "types-toml", "types-tqdm", "types-urllib3"]
|
||||
cli = ["InquirerPy (==0.3.4)"]
|
||||
dev = ["InquirerPy (==0.3.4)", "Jinja2", "Pillow", "black (>=23.1,<24.0)", "gradio", "jedi", "mypy (==0.982)", "pytest", "pytest-cov", "pytest-env", "pytest-xdist", "ruff (>=0.0.241)", "soundfile", "types-PyYAML", "types-requests", "types-simplejson", "types-toml", "types-tqdm", "types-urllib3"]
|
||||
fastai = ["fastai (>=2.4)", "fastcore (>=1.3.27)", "toml"]
|
||||
quality = ["black (>=23.1,<24.0)", "mypy (==0.982)", "ruff (>=0.0.241)"]
|
||||
tensorflow = ["graphviz", "pydot", "tensorflow"]
|
||||
testing = ["InquirerPy (==0.3.4)", "Jinja2", "Pillow", "gradio", "jedi", "pytest", "pytest-cov", "pytest-env", "pytest-xdist", "soundfile"]
|
||||
torch = ["torch"]
|
||||
typing = ["types-PyYAML", "types-requests", "types-simplejson", "types-toml", "types-tqdm", "types-urllib3"]
|
||||
|
||||
[[package]]
|
||||
name = "humanfriendly"
|
||||
version = "10.0"
|
||||
@@ -3793,20 +3853,22 @@ jeepney = ">=0.6"
|
||||
|
||||
[[package]]
|
||||
name = "segmentation-models-pytorch"
|
||||
version = "0.2.1"
|
||||
version = "0.3.2"
|
||||
description = "Image segmentation models with pre-trained backbones. PyTorch."
|
||||
category = "dev"
|
||||
optional = false
|
||||
python-versions = ">=3.0.0"
|
||||
python-versions = ">=3.7.0"
|
||||
|
||||
[package.dependencies]
|
||||
efficientnet-pytorch = "0.6.3"
|
||||
efficientnet-pytorch = "0.7.1"
|
||||
pillow = "*"
|
||||
pretrainedmodels = "0.7.4"
|
||||
timm = "0.4.12"
|
||||
timm = "0.6.12"
|
||||
torchvision = ">=0.5.0"
|
||||
tqdm = "*"
|
||||
|
||||
[package.extras]
|
||||
test = ["pytest"]
|
||||
test = ["black (==22.3.0)", "flake8 (==4.0.1)", "flake8-docstrings (==1.6.0)", "mock", "pre-commit", "pytest"]
|
||||
|
||||
[[package]]
|
||||
name = "send2trash"
|
||||
@@ -4302,14 +4364,16 @@ numba = ["numba (>=0.55.2,<0.56.0)"]
|
||||
|
||||
[[package]]
|
||||
name = "timm"
|
||||
version = "0.4.12"
|
||||
version = "0.6.12"
|
||||
description = "(Unofficial) PyTorch Image Models"
|
||||
category = "dev"
|
||||
optional = false
|
||||
python-versions = ">=3.6"
|
||||
|
||||
[package.dependencies]
|
||||
torch = ">=1.4"
|
||||
huggingface-hub = "*"
|
||||
pyyaml = "*"
|
||||
torch = ">=1.7"
|
||||
torchvision = "*"
|
||||
|
||||
[[package]]
|
||||
@@ -4740,7 +4804,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
|
||||
[metadata]
|
||||
lock-version = "1.1"
|
||||
python-versions = "~3.8"
|
||||
content-hash = "774e90b7d2bef68c6d219c8afc3d5717a104a04b9cd7b1b215655eb48fa62d04"
|
||||
content-hash = "0f8861fe679c2ba9a2a6365498a02ee353023e1a3ef882b117516fb7ea28fb58"
|
||||
|
||||
[metadata.files]
|
||||
adal = [
|
||||
@@ -5625,7 +5689,7 @@ dulwich = [
|
||||
{file = "dulwich-0.20.46.tar.gz", hash = "sha256:4f0e88ffff5db1523d93d92f1525fe5fa161318ffbaad502c1b9b3be7a067172"},
|
||||
]
|
||||
efficientnet-pytorch = [
|
||||
{file = "efficientnet_pytorch-0.6.3.tar.gz", hash = "sha256:6667459336893e9bf6367de3788ba449fed97f65da3b6782bf2204b6273a319f"},
|
||||
{file = "efficientnet_pytorch-0.7.1.tar.gz", hash = "sha256:00b9b261effce59d2d47aae2ad238c29a2a65175470f41ada7ecac439b7c1ee1"},
|
||||
]
|
||||
einops = [
|
||||
{file = "einops-0.5.0-py3-none-any.whl", hash = "sha256:055de7eeb3cb9e9710ef3085a811090c6b52e809b7044e8785824ed185f486d1"},
|
||||
@@ -5842,6 +5906,10 @@ frozenlist = [
|
||||
{file = "frozenlist-1.3.1-cp39-cp39-win_amd64.whl", hash = "sha256:625d8472c67f2d96f9a4302a947f92a7adbc1e20bedb6aff8dbc8ff039ca6189"},
|
||||
{file = "frozenlist-1.3.1.tar.gz", hash = "sha256:3a735e4211a04ccfa3f4833547acdf5d2f863bfeb01cfd3edaffbc251f15cec8"},
|
||||
]
|
||||
fsspec = [
|
||||
{file = "fsspec-2023.5.0-py3-none-any.whl", hash = "sha256:51a4ad01a5bb66fcc58036e288c0d53d3975a0df2a5dc59a93b59bade0391f2a"},
|
||||
{file = "fsspec-2023.5.0.tar.gz", hash = "sha256:b3b56e00fb93ea321bc9e5d9cf6f8522a0198b20eb24e02774d329e9c6fb84ce"},
|
||||
]
|
||||
ft4222 = [
|
||||
{file = "ft4222-1.6.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:64c80402e19ada10f142cf9d5f5b343a121689b94dfc31fafc7864db13ac7f79"},
|
||||
{file = "ft4222-1.6.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:5c713b6527513a77e674a6db60d97f67b18ce9f85727168ecbeef82557f2b2d1"},
|
||||
@@ -6125,6 +6193,10 @@ html5lib = [
|
||||
{file = "html5lib-1.1-py2.py3-none-any.whl", hash = "sha256:0d78f8fde1c230e99fe37986a60526d7049ed4bf8a9fadbad5f00e22e58e041d"},
|
||||
{file = "html5lib-1.1.tar.gz", hash = "sha256:b2e5b40261e20f354d198eae92afc10d750afb487ed5e50f9c4eaf07c184146f"},
|
||||
]
|
||||
huggingface-hub = [
|
||||
{file = "huggingface_hub-0.14.1-py3-none-any.whl", hash = "sha256:9fc619170d800ff3793ad37c9757c255c8783051e1b5b00501205eb43ccc4f27"},
|
||||
{file = "huggingface_hub-0.14.1.tar.gz", hash = "sha256:9ab899af8e10922eac65e290d60ab956882ab0bf643e3d990b1394b6b47b7fbc"},
|
||||
]
|
||||
humanfriendly = [
|
||||
{file = "humanfriendly-10.0-py2.py3-none-any.whl", hash = "sha256:1697e1a8a8f550fd43c2865cd84542fc175a61dcb779b6fee18cf6b6ccba1477"},
|
||||
{file = "humanfriendly-10.0.tar.gz", hash = "sha256:6b0b831ce8f15f7300721aa49829fc4e83921a9a301cc7f606be6686a2288ddc"},
|
||||
@@ -8078,8 +8150,8 @@ secretstorage = [
|
||||
{file = "SecretStorage-3.3.3.tar.gz", hash = "sha256:2403533ef369eca6d2ba81718576c5e0f564d5cca1b58f73a8b23e7d4eeebd77"},
|
||||
]
|
||||
segmentation-models-pytorch = [
|
||||
{file = "segmentation_models_pytorch-0.2.1-py3-none-any.whl", hash = "sha256:98822571470867fb0f416c112c32f7f1d21702dd32195ec8f7736932c2de0486"},
|
||||
{file = "segmentation_models_pytorch-0.2.1.tar.gz", hash = "sha256:86744552b04c6bedf7e10f7928791894d8d9b399b9ed58ed1a3236d2bf69ead6"},
|
||||
{file = "segmentation_models_pytorch-0.3.2-py3-none-any.whl", hash = "sha256:dba48e7ead5d34fcb6e5c6d04d6d7c5a61a53fa84264e5481df788a22a1bd66b"},
|
||||
{file = "segmentation_models_pytorch-0.3.2.tar.gz", hash = "sha256:8372733e57a10cb8f6b9e18a20577fbb3fb83549b6945664dc774a9b6d3ecd13"},
|
||||
]
|
||||
send2trash = [
|
||||
{file = "Send2Trash-1.8.0-py3-none-any.whl", hash = "sha256:f20eaadfdb517eaca5ce077640cb261c7d2698385a6a0f072a4a5447fd49fa08"},
|
||||
@@ -8443,8 +8515,8 @@ timezonefinder = [
|
||||
{file = "timezonefinder-6.1.3.tar.gz", hash = "sha256:f2ee561b1e7692b933fcd914df38800e93db7caf278e7328de7328829b04f275"},
|
||||
]
|
||||
timm = [
|
||||
{file = "timm-0.4.12-py3-none-any.whl", hash = "sha256:dba6b1702b7d24bf9f0f1c2fc394b4ee28f93cde5404f1dc732d63ccd00533b6"},
|
||||
{file = "timm-0.4.12.tar.gz", hash = "sha256:b14be70dbd4528b5ca8657cf5bc2672c7918c3d9ebfbffe80f4785b54e884b1e"},
|
||||
{file = "timm-0.6.12-py3-none-any.whl", hash = "sha256:3dfa19b82afa707acc0c2392a84c0e549dd9ea626c285fb2e8d9e4073b58dbd1"},
|
||||
{file = "timm-0.6.12.tar.gz", hash = "sha256:8f1747121598e06a1ea2d00df16d332cc284cdd4596bdc136b490a2122d3aa91"},
|
||||
]
|
||||
tinycss2 = [
|
||||
{file = "tinycss2-1.2.1-py3-none-any.whl", hash = "sha256:2b80a96d41e7c3914b8cda8bc7f705a4d9c49275616e886103dd839dfc847847"},
|
||||
|
||||
+1
-1
@@ -164,7 +164,7 @@ redis = "^4.3.4"
|
||||
s2sphere = "^0.2.5"
|
||||
scikit-image = "^0.19.3"
|
||||
scikit-learn = "^1.1.1"
|
||||
segmentation-models-pytorch = "==0.2.1"
|
||||
segmentation-models-pytorch = "==0.3.2"
|
||||
simplejson = "^3.17.6"
|
||||
SQLAlchemy = "^1.4.39"
|
||||
torch = { url = "https://download.pytorch.org/whl/cu118/torch-2.0.0%2Bcu118-cp38-cp38-linux_x86_64.whl" }
|
||||
|
||||
Binary file not shown.
|
Before Width: | Height: | Size: 854 KiB After Width: | Height: | Size: 712 KiB |
@@ -517,6 +517,11 @@ def getSshAuthorizedKeys() -> str:
|
||||
return Params().get("GithubSshKeys", encoding='utf8') or ''
|
||||
|
||||
|
||||
@dispatcher.add_method
|
||||
def getGithubUsername() -> str:
|
||||
return Params().get("GithubUsername", encoding='utf8') or ''
|
||||
|
||||
|
||||
@dispatcher.add_method
|
||||
def getSimInfo():
|
||||
return HARDWARE.get_sim_info()
|
||||
|
||||
@@ -53,6 +53,7 @@ class MockParams():
|
||||
default_params = {
|
||||
"DongleId": b"0000000000000000",
|
||||
"GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # noqa: E501
|
||||
"GithubUsername": b"commaci",
|
||||
"GsmMetered": True,
|
||||
"AthenadUploadQueue": '[]',
|
||||
}
|
||||
|
||||
@@ -377,6 +377,10 @@ class TestAthenadMethods(unittest.TestCase):
|
||||
keys = dispatcher["getSshAuthorizedKeys"]()
|
||||
self.assertEqual(keys, MockParams().params["GithubSshKeys"].decode('utf-8'))
|
||||
|
||||
def test_getGithubUsername(self):
|
||||
keys = dispatcher["getGithubUsername"]()
|
||||
self.assertEqual(keys, MockParams().params["GithubUsername"].decode('utf-8'))
|
||||
|
||||
def test_getVersion(self):
|
||||
resp = dispatcher["getVersion"]()
|
||||
keys = ["version", "remote", "branch", "commit"]
|
||||
|
||||
+31
-13
@@ -232,6 +232,8 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
|
||||
panda->can_send(event.getSendcan());
|
||||
LOGT("sendcan sent to panda: %s", (panda->hw_serial()).c_str());
|
||||
}
|
||||
} else {
|
||||
LOGE("sendcan too old to send: %llu, %llu", nanos_since_boot(), event.getLogMonoTime());
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -388,6 +390,8 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
|
||||
ps.setFanStallCount(health.fan_stall_count);
|
||||
ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid));
|
||||
ps.setSpiChecksumErrorCount(health.spi_checksum_error_count);
|
||||
ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);
|
||||
ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f);
|
||||
|
||||
std::array<cereal::PandaState::PandaCanState::Builder, PANDA_CAN_CNT> cs = {ps.initCanState0(), ps.initCanState1(), ps.initCanState2()};
|
||||
|
||||
@@ -464,7 +468,8 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
|
||||
SubMaster sm({"controlsState"});
|
||||
|
||||
Panda *peripheral_panda = pandas[0];
|
||||
bool ignition_last = false;
|
||||
bool is_onroad = false;
|
||||
bool is_onroad_last = false;
|
||||
std::future<bool> safety_future;
|
||||
|
||||
LOGD("start panda state thread");
|
||||
@@ -483,27 +488,40 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
|
||||
|
||||
ignition = *ignition_opt;
|
||||
|
||||
// TODO: make this check fast, currently takes 16ms
|
||||
// check if we have new pandas and are offroad
|
||||
if (!ignition && (pandas.size() != Panda::list().size())) {
|
||||
LOGW("Reconnecting to changed amount of pandas!");
|
||||
do_exit = true;
|
||||
break;
|
||||
// check if we should have pandad reconnect
|
||||
if (!ignition) {
|
||||
bool comms_healthy = true;
|
||||
for (const auto &panda : pandas) {
|
||||
comms_healthy &= panda->comms_healthy();
|
||||
}
|
||||
|
||||
if (!comms_healthy) {
|
||||
LOGE("Reconnecting, communication to pandas not healthy");
|
||||
do_exit = true;
|
||||
|
||||
// TODO: list is slow, takes 16ms
|
||||
} else if (pandas.size() != Panda::list().size()) {
|
||||
LOGW("Reconnecting to changed amount of pandas!");
|
||||
do_exit = true;
|
||||
}
|
||||
|
||||
if (do_exit) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// clear ignition-based params and set new safety on car start
|
||||
if (ignition && !ignition_last) {
|
||||
params.clearAll(CLEAR_ON_IGNITION_ON);
|
||||
is_onroad = params.getBool("IsOnroad");
|
||||
|
||||
// set new safety on onroad transition, after params are cleared
|
||||
if (is_onroad && !is_onroad_last) {
|
||||
if (!safety_future.valid() || safety_future.wait_for(0ms) == std::future_status::ready) {
|
||||
safety_future = std::async(std::launch::async, safety_setter_thread, pandas);
|
||||
} else {
|
||||
LOGW("Safety setter thread already running");
|
||||
}
|
||||
} else if (!ignition && ignition_last) {
|
||||
params.clearAll(CLEAR_ON_IGNITION_OFF);
|
||||
}
|
||||
|
||||
ignition_last = ignition;
|
||||
is_onroad_last = is_onroad;
|
||||
|
||||
sm.update(0);
|
||||
const bool engaged = sm.allAliveAndValid({"controlsState"}) && sm["controlsState"].getControlsState().getEnabled();
|
||||
|
||||
@@ -13,9 +13,11 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
|
||||
// try USB first, then SPI
|
||||
try {
|
||||
handle = std::make_unique<PandaUsbHandle>(serial);
|
||||
LOGW("conntected to %s over USB", serial.c_str());
|
||||
} catch (std::exception &e) {
|
||||
#ifndef __APPLE__
|
||||
handle = std::make_unique<PandaSpiHandle>(serial);
|
||||
LOGW("conntected to %s over SPI", serial.c_str());
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
@@ -1,8 +1,9 @@
|
||||
#pragma once
|
||||
|
||||
#include <mutex>
|
||||
#include <atomic>
|
||||
#include <cstdint>
|
||||
#include <mutex>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#ifndef __APPLE__
|
||||
|
||||
+30
-19
@@ -26,7 +26,7 @@ def flash_panda(panda_serial: str) -> Panda:
|
||||
panda = Panda(panda_serial)
|
||||
|
||||
fw_signature = get_expected_signature(panda)
|
||||
internal_panda = panda.is_internal() and not panda.bootstub
|
||||
internal_panda = panda.is_internal()
|
||||
|
||||
panda_version = "bootstub" if panda.bootstub else panda.get_version()
|
||||
panda_signature = b"" if panda.bootstub else panda.get_signature()
|
||||
@@ -39,7 +39,7 @@ def flash_panda(panda_serial: str) -> Panda:
|
||||
|
||||
if panda.bootstub:
|
||||
bootstub_version = panda.get_version()
|
||||
cloudlog.info(f"Flashed firmware not booting, flashing development bootloader. Bootstub version: {bootstub_version}")
|
||||
cloudlog.info(f"Flashed firmware not booting, flashing development bootloader. {bootstub_version=}, {internal_panda=}")
|
||||
if internal_panda:
|
||||
HARDWARE.recover_internal_panda()
|
||||
panda.recover(reset=(not internal_panda))
|
||||
@@ -76,23 +76,28 @@ def panda_sort_cmp(a: Panda, b: Panda):
|
||||
|
||||
|
||||
def main() -> NoReturn:
|
||||
count = 0
|
||||
first_run = True
|
||||
params = Params()
|
||||
|
||||
while True:
|
||||
try:
|
||||
count += 1
|
||||
cloudlog.event("pandad.flash_and_connect", count=count)
|
||||
params.remove("PandaSignatures")
|
||||
|
||||
# Flash all Pandas in DFU mode
|
||||
for serial in PandaDFU.list():
|
||||
cloudlog.info(f"Panda in DFU mode found, flashing recovery {serial}")
|
||||
PandaDFU(serial).recover()
|
||||
time.sleep(1)
|
||||
dfu_serials = PandaDFU.list()
|
||||
if len(dfu_serials) > 0:
|
||||
for serial in dfu_serials:
|
||||
cloudlog.info(f"Panda in DFU mode found, flashing recovery {serial}")
|
||||
PandaDFU(serial).recover()
|
||||
time.sleep(1)
|
||||
|
||||
panda_serials = Panda.list()
|
||||
if len(panda_serials) == 0:
|
||||
if first_run:
|
||||
cloudlog.info("Resetting internal panda")
|
||||
cloudlog.info("No pandas found, resetting internal panda")
|
||||
HARDWARE.reset_internal_panda()
|
||||
time.sleep(2) # wait to come back up
|
||||
continue
|
||||
@@ -104,17 +109,6 @@ def main() -> NoReturn:
|
||||
for serial in panda_serials:
|
||||
pandas.append(flash_panda(serial))
|
||||
|
||||
# check health for lost heartbeat
|
||||
for panda in pandas:
|
||||
health = panda.health()
|
||||
if health["heartbeat_lost"]:
|
||||
params.put_bool("PandaHeartbeatLost", True)
|
||||
cloudlog.event("heartbeat lost", deviceState=health, serial=panda.get_usb_serial())
|
||||
|
||||
if first_run:
|
||||
cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
|
||||
panda.reset()
|
||||
|
||||
# Ensure internal panda is present if expected
|
||||
internal_pandas = [panda for panda in pandas if panda.is_internal()]
|
||||
if HARDWARE.has_internal_panda() and len(internal_pandas) == 0:
|
||||
@@ -130,13 +124,30 @@ def main() -> NoReturn:
|
||||
# log panda fw versions
|
||||
params.put("PandaSignatures", b','.join(p.get_signature() for p in pandas))
|
||||
|
||||
# close all pandas
|
||||
for panda in pandas:
|
||||
# check health for lost heartbeat
|
||||
health = panda.health()
|
||||
if health["heartbeat_lost"]:
|
||||
params.put_bool("PandaHeartbeatLost", True)
|
||||
cloudlog.event("heartbeat lost", deviceState=health, serial=panda.get_usb_serial())
|
||||
|
||||
if first_run:
|
||||
cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
|
||||
if panda.is_internal():
|
||||
HARDWARE.reset_internal_panda()
|
||||
else:
|
||||
panda.reset(reconnect=False)
|
||||
|
||||
for p in pandas:
|
||||
p.close()
|
||||
# TODO: wrap all panda exceptions in a base panda exception
|
||||
except (usb1.USBErrorNoDevice, usb1.USBErrorPipe):
|
||||
# a panda was disconnected while setting everything up. let's try again
|
||||
cloudlog.exception("Panda USB exception while setting up")
|
||||
continue
|
||||
except Exception:
|
||||
cloudlog.exception("pandad.uncaught_exception")
|
||||
continue
|
||||
|
||||
first_run = False
|
||||
|
||||
|
||||
@@ -283,7 +283,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
|
||||
}
|
||||
|
||||
// Wait for (N)ACK
|
||||
tx_buf[0] = 0x12;
|
||||
tx_buf[0] = 0x11;
|
||||
transfer.len = 1;
|
||||
ret = wait_for_ack(transfer, SPI_HACK);
|
||||
if (ret < 0) {
|
||||
@@ -303,7 +303,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
|
||||
}
|
||||
|
||||
// Wait for (N)ACK
|
||||
tx_buf[0] = 0xab;
|
||||
tx_buf[0] = 0x13;
|
||||
transfer.len = 1;
|
||||
ret = wait_for_ack(transfer, SPI_DACK);
|
||||
if (ret < 0) {
|
||||
|
||||
@@ -6,7 +6,7 @@ import unittest
|
||||
from collections import defaultdict
|
||||
|
||||
import cereal.messaging as messaging
|
||||
from cereal import car
|
||||
from cereal import car, log
|
||||
from common.params import Params
|
||||
from common.spinner import Spinner
|
||||
from common.timeout import Timeout
|
||||
@@ -31,12 +31,13 @@ class TestBoardd(unittest.TestCase):
|
||||
@phone_only
|
||||
@with_processes(['pandad'])
|
||||
def test_loopback(self):
|
||||
# wait for boardd to init
|
||||
time.sleep(2)
|
||||
params = Params()
|
||||
params.put_bool("IsOnroad", False)
|
||||
|
||||
with Timeout(60, "boardd didn't start"):
|
||||
sm = messaging.SubMaster(['pandaStates'])
|
||||
while sm.rcv_frame['pandaStates'] < 1 and len(sm['pandaStates']) == 0:
|
||||
while sm.rcv_frame['pandaStates'] < 1 or len(sm['pandaStates']) == 0 or \
|
||||
any(ps.pandaType == log.PandaState.PandaType.unknown for ps in sm['pandaStates']):
|
||||
sm.update(1000)
|
||||
|
||||
num_pandas = len(sm['pandaStates'])
|
||||
@@ -44,21 +45,21 @@ class TestBoardd(unittest.TestCase):
|
||||
self.assertEqual(num_pandas, expected_pandas, "connected pandas ({num_pandas}) doesn't match expected panda count ({expected_pandas}). \
|
||||
connect another panda for multipanda tests.")
|
||||
|
||||
# boardd blocks on CarVin and CarParams
|
||||
# boardd safety setting relies on these params
|
||||
cp = car.CarParams.new_message()
|
||||
|
||||
safety_config = car.CarParams.SafetyConfig.new_message()
|
||||
safety_config.safetyModel = car.CarParams.SafetyModel.allOutput
|
||||
cp.safetyConfigs = [safety_config]*num_pandas
|
||||
|
||||
params = Params()
|
||||
params.put_bool("IsOnroad", True)
|
||||
params.put_bool("FirmwareQueryDone", True)
|
||||
params.put_bool("ControlsReady", True)
|
||||
params.put("CarParams", cp.to_bytes())
|
||||
|
||||
sendcan = messaging.pub_sock('sendcan')
|
||||
can = messaging.sub_sock('can', conflate=False, timeout=100)
|
||||
time.sleep(0.2)
|
||||
time.sleep(0.5)
|
||||
|
||||
n = 200
|
||||
for i in range(n):
|
||||
|
||||
@@ -3,8 +3,9 @@ import time
|
||||
import unittest
|
||||
|
||||
import cereal.messaging as messaging
|
||||
from panda import Panda
|
||||
from cereal import log
|
||||
from common.gpio import gpio_set, gpio_init
|
||||
from panda import Panda
|
||||
from selfdrive.test.helpers import phone_only
|
||||
from selfdrive.manager.process_config import managed_processes
|
||||
from system.hardware import HARDWARE
|
||||
@@ -20,10 +21,10 @@ class TestPandad(unittest.TestCase):
|
||||
sm = messaging.SubMaster(['peripheralState'])
|
||||
for _ in range(timeout):
|
||||
sm.update(1000)
|
||||
if sm.updated['peripheralState']:
|
||||
if sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown:
|
||||
break
|
||||
|
||||
if not sm.updated['peripheralState']:
|
||||
if sm['peripheralState'].pandaType == log.PandaState.PandaType.unknown:
|
||||
raise Exception("boardd failed to start")
|
||||
|
||||
@phone_only
|
||||
@@ -54,6 +55,18 @@ class TestPandad(unittest.TestCase):
|
||||
|
||||
assert any(Panda(s).is_internal() for s in Panda.list())
|
||||
|
||||
@phone_only
|
||||
def test_best_case_startup_time(self):
|
||||
# run once so we're setup
|
||||
managed_processes['pandad'].start()
|
||||
self._wait_for_boardd()
|
||||
managed_processes['pandad'].stop()
|
||||
|
||||
# should be fast this time
|
||||
managed_processes['pandad'].start()
|
||||
self._wait_for_boardd(8)
|
||||
|
||||
|
||||
#def test_out_of_date_fw(self):
|
||||
# pass
|
||||
|
||||
|
||||
@@ -1,6 +1,10 @@
|
||||
{% set footnote_tag = '[<sup>{}</sup>](#footnotes)' -%}
|
||||
{% set star_icon = '[](##)' -%}
|
||||
{% set video_icon = '<a href="{}" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>' -%}
|
||||
{% set footnote_tag = '[<sup>{}</sup>](#footnotes)' %}
|
||||
{% set star_icon = '[](##)' %}
|
||||
{% set video_icon = '<a href="{}" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>' %}
|
||||
{# Force harness column wider by using a blank image with max width. #}
|
||||
{% set width_tag = '<a href="##"><img width=2000></a>%s<br> ' %}
|
||||
{% set harness_col_name = 'Harness Kit' %}
|
||||
{% set wide_harness_col_name = width_tag|format(harness_col_name) -%}
|
||||
|
||||
<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
|
||||
|
||||
@@ -10,7 +14,7 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|
||||
# {{all_car_info | length}} Supported Cars
|
||||
|
||||
|{{Column | map(attribute='value') | join('|')}}|
|
||||
|{{Column | map(attribute='value') | join('|') | replace(harness_col_name, wide_harness_col_name)}}|
|
||||
|---|---|---|{% for _ in range((Column | length) - 3) %}{{':---:|'}}{% endfor +%}
|
||||
{% for car_info in all_car_info %}
|
||||
|{% for column in Column %}{{car_info.get_column(column, star_icon, video_icon, footnote_tag)}}|{% endfor %}
|
||||
@@ -39,6 +43,7 @@ If your car has the following packages or features, then it's a good candidate f
|
||||
| Make | Required Package/Features |
|
||||
| ---- | ------------------------- |
|
||||
| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
|
||||
| Ford | Any car with Lane Centering will likely work. |
|
||||
| Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
|
||||
| Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
|
||||
| Nissan | Any car with ProPILOT will likely work. |
|
||||
|
||||
@@ -1,12 +1,11 @@
|
||||
from enum import IntFlag
|
||||
from dataclasses import dataclass
|
||||
from enum import Enum
|
||||
from typing import Dict, List, Optional, Union
|
||||
|
||||
from cereal import car
|
||||
from panda.python import uds
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarInfo, Harness
|
||||
from selfdrive.car.docs_definitions import CarInfo, Harness, HarnessKit
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
@@ -61,13 +60,13 @@ RAM_CARS = RAM_DT | RAM_HD
|
||||
@dataclass
|
||||
class ChryslerCarInfo(CarInfo):
|
||||
package: str = "Adaptive Cruise Control (ACC)"
|
||||
harness: Enum = Harness.fca
|
||||
harness_kit: HarnessKit = HarnessKit(Harness.fca)
|
||||
|
||||
|
||||
CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
|
||||
CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"),
|
||||
CAR.PACIFICA_2018_HYBRID: None, # same platforms
|
||||
CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-22"),
|
||||
CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"),
|
||||
CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"),
|
||||
CAR.PACIFICA_2020: [
|
||||
ChryslerCarInfo("Chrysler Pacifica 2019-20"),
|
||||
@@ -75,10 +74,10 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
|
||||
],
|
||||
CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
|
||||
CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
|
||||
CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", harness=Harness.ram),
|
||||
CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", harness_kit=HarnessKit(Harness.ram)),
|
||||
CAR.RAM_HD: [
|
||||
ChryslerCarInfo("Ram 2500 2020-22", harness=Harness.ram),
|
||||
ChryslerCarInfo("Ram 3500 2019-22", harness=Harness.ram),
|
||||
ChryslerCarInfo("Ram 2500 2020-22", harness_kit=HarnessKit(Harness.ram)),
|
||||
ChryslerCarInfo("Ram 3500 2019-22", harness_kit=HarnessKit(Harness.ram)),
|
||||
],
|
||||
}
|
||||
|
||||
@@ -127,6 +126,9 @@ FINGERPRINTS = {
|
||||
# Based on "8190c7275a24557b|2020-02-24--09-57-23"
|
||||
{
|
||||
168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1258: 8, 1259: 8, 1260: 8, 1262: 8, 1284: 8, 1536: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 1899: 8, 1900: 8, 1902: 8, 2015: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2023: 8, 2024: 8, 2026: 8, 2027: 8, 2028: 8, 2031: 8
|
||||
},
|
||||
{
|
||||
168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 450: 8, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 2018: 8, 2020: 8, 2026: 8, 2028: 8
|
||||
}],
|
||||
CAR.JEEP_CHEROKEE: [{
|
||||
55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 975: 8, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1543: 8, 1562: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
|
||||
@@ -224,6 +226,7 @@ FW_VERSIONS = {
|
||||
b'68453514AD',
|
||||
b'68510283AG',
|
||||
b'68527375AD',
|
||||
b'68527346AE',
|
||||
],
|
||||
(Ecu.srs, 0x744, None): [
|
||||
b'68428609AB',
|
||||
@@ -246,6 +249,7 @@ FW_VERSIONS = {
|
||||
b'68535469AB',
|
||||
b'68535470AC',
|
||||
b'68586307AB',
|
||||
b'68548900AB',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x753, None): [
|
||||
b'04672892AB',
|
||||
@@ -273,6 +277,7 @@ FW_VERSIONS = {
|
||||
b'68552788AA',
|
||||
b'68552790AA',
|
||||
b'68585112AB',
|
||||
b'68552789AA',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'05036065AE ',
|
||||
@@ -284,6 +289,7 @@ FW_VERSIONS = {
|
||||
b'68500630AD',
|
||||
b'68500630AE',
|
||||
b'68539650AD',
|
||||
b'05149846AA ',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'68360078AL',
|
||||
@@ -296,6 +302,7 @@ FW_VERSIONS = {
|
||||
b'68484467AC',
|
||||
b'68502994AD',
|
||||
b'68540431AB',
|
||||
b'68520867AE',
|
||||
],
|
||||
},
|
||||
|
||||
|
||||
@@ -31,8 +31,8 @@ def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, com_cont_req=b'\x28\x83\x01'
|
||||
except Exception:
|
||||
cloudlog.exception("ecu disable exception")
|
||||
|
||||
print(f"ecu disable retry ({i+1}) ...")
|
||||
cloudlog.warning("ecu disable failed")
|
||||
cloudlog.error(f"ecu disable retry ({i + 1}) ...")
|
||||
cloudlog.error("ecu disable failed")
|
||||
return False
|
||||
|
||||
|
||||
|
||||
@@ -1,5 +1,6 @@
|
||||
import re
|
||||
from collections import namedtuple
|
||||
import copy
|
||||
from dataclasses import dataclass, field
|
||||
from enum import Enum
|
||||
from typing import Dict, List, Optional, Tuple, Union
|
||||
@@ -20,7 +21,7 @@ class Column(Enum):
|
||||
FSR_STEERING = "No ALC below"
|
||||
STEERING_TORQUE = "Steering Torque"
|
||||
AUTO_RESUME = "Resume from stop"
|
||||
HARNESS = "Harness"
|
||||
HARNESS = "Harness Kit"
|
||||
VIDEO = "Video"
|
||||
|
||||
|
||||
@@ -69,6 +70,23 @@ class Harness(Enum):
|
||||
none = "None"
|
||||
|
||||
|
||||
class HarnessPart(Enum):
|
||||
harness_box = "harness box"
|
||||
comma_power_v2 = "comma power v2"
|
||||
rj45_cable = "RJ45 cable (7 ft)"
|
||||
long_obdc_cable = "long OBD-C cable"
|
||||
usbc_coupler = "USB-C coupler"
|
||||
|
||||
|
||||
DEFAULT_HARNESS_PARTS: List[HarnessPart] = [HarnessPart.harness_box, HarnessPart.comma_power_v2, HarnessPart.rj45_cable]
|
||||
|
||||
|
||||
@dataclass
|
||||
class HarnessKit:
|
||||
connector: Harness = Harness.none
|
||||
parts: List[HarnessPart] = field(default_factory=lambda: copy.copy(DEFAULT_HARNESS_PARTS))
|
||||
|
||||
|
||||
CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only", "shop_footnote"], defaults=(False, False))
|
||||
|
||||
|
||||
@@ -135,7 +153,9 @@ class CarInfo:
|
||||
footnotes: List[Enum] = field(default_factory=list)
|
||||
min_steer_speed: Optional[float] = None
|
||||
min_enable_speed: Optional[float] = None
|
||||
harness: Enum = Harness.none
|
||||
|
||||
# harness connectors + all the parts needed
|
||||
harness_kit: HarnessKit = HarnessKit()
|
||||
|
||||
def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]):
|
||||
self.car_name = CP.carName
|
||||
@@ -165,12 +185,14 @@ class CarInfo:
|
||||
self.min_enable_speed = CP.minEnableSpeed
|
||||
|
||||
# harness column
|
||||
harness_col = self.harness.value
|
||||
if self.harness is not Harness.none:
|
||||
harness_col = self.harness_kit.connector.value
|
||||
if self.harness_kit.connector is not Harness.none:
|
||||
model_years = self.model + (' ' + self.years if self.years else '')
|
||||
harness_col = f'<a href="https://comma.ai/shop/comma-three.html?make={self.make}&model={model_years}">{harness_col}</a>'
|
||||
harness_connector = f'- 1 <a href="https://comma.ai/shop/comma-three.html?make={self.make}&model={model_years}">{harness_col} connector</a>'
|
||||
harness_parts = '<br>'.join([f"- {self.harness_kit.parts.count(part)} {part.value}" for part in sorted(set(self.harness_kit.parts), key=lambda part: part.value)])
|
||||
harness_col = f'<details><summary>View</summary><sub>{harness_connector}<br>{harness_parts}</sub></details>'
|
||||
|
||||
self.row = {
|
||||
self.row: Dict[Enum, Union[str, Star]] = {
|
||||
Column.MAKE: self.make,
|
||||
Column.MODEL: self.model,
|
||||
Column.PACKAGE: self.package,
|
||||
|
||||
@@ -2,13 +2,26 @@ from cereal import car
|
||||
from common.numpy_fast import clip
|
||||
from opendbc.can.packer import CANPacker
|
||||
from selfdrive.car import apply_std_steer_angle_limits
|
||||
from selfdrive.car.ford.fordcan import create_acc_command, create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, \
|
||||
from selfdrive.car.ford.fordcan import create_acc_msg, create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, \
|
||||
create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg
|
||||
from selfdrive.car.ford.values import CANBUS, CANFD_CARS, CarControllerParams
|
||||
|
||||
LongCtrlState = car.CarControl.Actuators.LongControlState
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
|
||||
|
||||
def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw):
|
||||
# No blending at low speed due to lack of torque wind-up and inaccurate current curvature
|
||||
if v_ego_raw > 9:
|
||||
apply_curvature = clip(apply_curvature, current_curvature - CarControllerParams.CURVATURE_ERROR,
|
||||
current_curvature + CarControllerParams.CURVATURE_ERROR)
|
||||
|
||||
# Curvature rate limit after driver torque limit
|
||||
apply_curvature = apply_std_steer_angle_limits(apply_curvature, apply_curvature_last, v_ego_raw, CarControllerParams)
|
||||
|
||||
return clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX)
|
||||
|
||||
|
||||
class CarController:
|
||||
def __init__(self, dbc_name, CP, VM):
|
||||
self.CP = CP
|
||||
@@ -43,17 +56,16 @@ class CarController:
|
||||
can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, tja_toggle=True))
|
||||
|
||||
### lateral control ###
|
||||
# send steering commands at 20Hz
|
||||
# send steer msg at 20Hz
|
||||
if (self.frame % CarControllerParams.STEER_STEP) == 0:
|
||||
if CC.latActive:
|
||||
# apply limits to curvature and clip to signal range
|
||||
apply_curvature = apply_std_steer_angle_limits(actuators.curvature, self.apply_curvature_last, CS.out.vEgo, CarControllerParams)
|
||||
apply_curvature = clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX)
|
||||
# apply rate limits, curvature error limit, and clip to signal range
|
||||
current_curvature = -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1)
|
||||
apply_curvature = apply_ford_curvature_limits(actuators.curvature, self.apply_curvature_last, current_curvature, CS.out.vEgoRaw)
|
||||
else:
|
||||
apply_curvature = 0.
|
||||
|
||||
self.apply_curvature_last = apply_curvature
|
||||
can_sends.append(create_lka_msg(self.packer))
|
||||
|
||||
if self.CP.carFingerprint in CANFD_CARS:
|
||||
# TODO: extended mode
|
||||
@@ -63,31 +75,32 @@ class CarController:
|
||||
else:
|
||||
can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, 0., 0., -apply_curvature, 0.))
|
||||
|
||||
# send lka msg at 33Hz
|
||||
if (self.frame % CarControllerParams.LKA_STEP) == 0:
|
||||
can_sends.append(create_lka_msg(self.packer))
|
||||
|
||||
### longitudinal control ###
|
||||
# send acc command at 50Hz
|
||||
# send acc msg at 50Hz
|
||||
if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
|
||||
# Both gas and accel are in m/s^2, accel is used solely for braking
|
||||
accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
|
||||
gas = accel
|
||||
if not CC.longActive or gas < CarControllerParams.MIN_GAS:
|
||||
gas = CarControllerParams.INACTIVE_GAS
|
||||
|
||||
precharge_brake = accel < -0.1
|
||||
if accel > -0.5:
|
||||
gas = accel
|
||||
decel = False
|
||||
else:
|
||||
gas = -5.0
|
||||
decel = True
|
||||
|
||||
can_sends.append(create_acc_command(self.packer, CC.longActive, gas, accel, precharge_brake, decel))
|
||||
stopping = CC.actuators.longControlState == LongCtrlState.stopping
|
||||
can_sends.append(create_acc_msg(self.packer, CC.longActive, gas, accel, stopping))
|
||||
|
||||
### ui ###
|
||||
send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
|
||||
|
||||
# send lkas ui command at 1Hz or if ui state changes
|
||||
# send lkas ui msg at 1Hz or if ui state changes
|
||||
if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
|
||||
can_sends.append(create_lkas_ui_msg(self.packer, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
|
||||
|
||||
# send acc ui command at 20Hz or if ui state changes
|
||||
# send acc ui msg at 5Hz or if ui state changes
|
||||
if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
|
||||
can_sends.append(create_acc_ui_msg(self.packer, main_on, CC.latActive, hud_control, CS.acc_tja_status_stock_values))
|
||||
can_sends.append(create_acc_ui_msg(self.packer, self.CP, main_on, CC.latActive,
|
||||
CS.out.cruiseState.standstill, hud_control,
|
||||
CS.acc_tja_status_stock_values))
|
||||
|
||||
self.main_on_last = main_on
|
||||
self.lkas_enabled_last = CC.latActive
|
||||
|
||||
@@ -16,9 +16,21 @@ class CarState(CarStateBase):
|
||||
if CP.transmissionType == TransmissionType.automatic:
|
||||
self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"]
|
||||
|
||||
self.vehicle_sensors_valid = False
|
||||
self.hybrid_platform = False
|
||||
|
||||
def update(self, cp, cp_cam):
|
||||
ret = car.CarState.new_message()
|
||||
|
||||
# Hybrid variants experience a bug where a message from the PCM sends invalid checksums,
|
||||
# we do not support these cars at this time.
|
||||
# TrnAin_Tq_Actl and its quality flag are only set on ICE platform variants
|
||||
self.hybrid_platform = cp.vl["VehicleOperatingModes"]["TrnAinTq_D_Qf"] == 0
|
||||
|
||||
# Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement
|
||||
# The vehicle usually recovers out of this state within a minute of normal driving
|
||||
self.vehicle_sensors_valid = cp.vl["SteeringPinion_Data"]["StePinCompAnEst_D_Qf"] == 3
|
||||
|
||||
# car speed
|
||||
ret.vEgoRaw = cp.vl["BrakeSysFeatures"]["Veh_V_ActlBrk"] * CV.KPH_TO_MS
|
||||
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
|
||||
@@ -48,6 +60,7 @@ class CarState(CarStateBase):
|
||||
ret.cruiseState.available = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (3, 4, 5)
|
||||
ret.cruiseState.nonAdaptive = cp.vl["Cluster_Info1_FD1"]["AccEnbl_B_RqDrv"] == 0
|
||||
ret.cruiseState.standstill = cp.vl["EngBrakeData"]["AccStopMde_D_Rq"] == 3
|
||||
ret.accFaulted = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (1, 2)
|
||||
|
||||
# gear
|
||||
if self.CP.transmissionType == TransmissionType.automatic:
|
||||
@@ -62,7 +75,7 @@ class CarState(CarStateBase):
|
||||
|
||||
# safety
|
||||
ret.stockFcw = bool(cp_cam.vl["ACCDATA_3"]["FcwVisblWarn_B_Rq"])
|
||||
ret.stockAeb = ret.stockFcw and ret.cruiseState.enabled
|
||||
ret.stockAeb = bool(cp_cam.vl["ACCDATA_2"]["CmbbBrkDecel_B_Rq"])
|
||||
|
||||
# button presses
|
||||
ret.leftBlinker = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 1
|
||||
@@ -92,6 +105,8 @@ class CarState(CarStateBase):
|
||||
def get_can_parser(CP):
|
||||
signals = [
|
||||
# sig_name, sig_address
|
||||
("TrnAinTq_D_Qf", "VehicleOperatingModes"), # Used to detect hybrid or ICE platform variant
|
||||
|
||||
("Veh_V_ActlBrk", "BrakeSysFeatures"), # ABS vehicle speed (kph)
|
||||
("VehYaw_W_Actl", "Yaw_Data_FD1"), # ABS vehicle yaw rate (rad/s)
|
||||
("VehStop_D_Stat", "DesiredTorqBrk"), # ABS vehicle stopped
|
||||
@@ -105,6 +120,7 @@ class CarState(CarStateBase):
|
||||
("AccStopMde_D_Rq", "EngBrakeData"), # PCM ACC standstill
|
||||
("AccEnbl_B_RqDrv", "Cluster_Info1_FD1"), # PCM ACC enable
|
||||
("StePinComp_An_Est", "SteeringPinion_Data"), # PSCM estimated steering angle (deg)
|
||||
("StePinCompAnEst_D_Qf", "SteeringPinion_Data"), # PSCM estimated steering angle (quality flag)
|
||||
# Calculates steering angle (and offset) from pinion
|
||||
# angle and driving measurements.
|
||||
# StePinRelInit_An_Sns is the pinion angle, initialised
|
||||
@@ -125,7 +141,6 @@ class CarState(CarStateBase):
|
||||
("AccButtnGapIncPress", "Steering_Data_FD1"),
|
||||
("AslButtnOnOffCnclPress", "Steering_Data_FD1"),
|
||||
("AslButtnOnOffPress", "Steering_Data_FD1"),
|
||||
("CcAslButtnCnclPress", "Steering_Data_FD1"),
|
||||
("LaSwtchPos_D_Stat", "Steering_Data_FD1"),
|
||||
("CcAslButtnCnclResPress", "Steering_Data_FD1"),
|
||||
("CcAslButtnDeny_B_Actl", "Steering_Data_FD1"),
|
||||
@@ -139,7 +154,6 @@ class CarState(CarStateBase):
|
||||
("CcAslButtnSetDecPress", "Steering_Data_FD1"),
|
||||
("CcAslButtnSetIncPress", "Steering_Data_FD1"),
|
||||
("CcAslButtnSetPress", "Steering_Data_FD1"),
|
||||
("CcAsllButtnResPress", "Steering_Data_FD1"),
|
||||
("CcButtnOffPress", "Steering_Data_FD1"),
|
||||
("CcButtnOnOffCnclPress", "Steering_Data_FD1"),
|
||||
("CcButtnOnOffPress", "Steering_Data_FD1"),
|
||||
@@ -154,6 +168,7 @@ class CarState(CarStateBase):
|
||||
|
||||
checks = [
|
||||
# sig_address, frequency
|
||||
("VehicleOperatingModes", 100),
|
||||
("BrakeSysFeatures", 50),
|
||||
("Yaw_Data_FD1", 100),
|
||||
("DesiredTorqBrk", 50),
|
||||
@@ -202,6 +217,8 @@ class CarState(CarStateBase):
|
||||
def get_cam_can_parser(CP):
|
||||
signals = [
|
||||
# sig_name, sig_address
|
||||
("CmbbBrkDecel_B_Rq", "ACCDATA_2"), # AEB actuation request bit
|
||||
|
||||
("HaDsply_No_Cs", "ACCDATA_3"),
|
||||
("HaDsply_No_Cnt", "ACCDATA_3"),
|
||||
("AccStopStat_D_Dsply", "ACCDATA_3"), # ACC stopped status message
|
||||
@@ -216,7 +233,7 @@ class CarState(CarStateBase):
|
||||
("FcwMemStat_B_Actl", "ACCDATA_3"), # FCW enabled setting
|
||||
("AccTGap_B_Dsply", "ACCDATA_3"), # ACC time gap display setting
|
||||
("CadsAlignIncplt_B_Actl", "ACCDATA_3"),
|
||||
("AccFllwMde_B_Dsply", "ACCDATA_3"), # ACC follow mode display setting
|
||||
("AccFllwMde_B_Dsply", "ACCDATA_3"), # ACC lead indicator
|
||||
("CadsRadrBlck_B_Actl", "ACCDATA_3"),
|
||||
("CmbbPostEvnt_B_Dsply", "ACCDATA_3"), # AEB event status
|
||||
("AccStopMde_B_Dsply", "ACCDATA_3"), # ACC stop mode display setting
|
||||
@@ -233,9 +250,7 @@ class CarState(CarStateBase):
|
||||
("FeatNoIpmaActl", "IPMA_Data"),
|
||||
("PersIndexIpma_D_Actl", "IPMA_Data"),
|
||||
("AhbcRampingV_D_Rq", "IPMA_Data"), # AHB ramping
|
||||
("LaActvStats_D_Dsply", "IPMA_Data"), # LKAS status (lines)
|
||||
("LaDenyStats_B_Dsply", "IPMA_Data"), # LKAS error
|
||||
("LaHandsOff_D_Dsply", "IPMA_Data"), # LKAS hands on chime
|
||||
("CamraDefog_B_Req", "IPMA_Data"), # Windshield heater?
|
||||
("CamraStats_D_Dsply", "IPMA_Data"), # Camera status
|
||||
("DasAlrtLvl_D_Dsply", "IPMA_Data"), # DAS alert level
|
||||
@@ -248,6 +263,7 @@ class CarState(CarStateBase):
|
||||
|
||||
checks = [
|
||||
# sig_address, frequency
|
||||
("ACCDATA_2", 50),
|
||||
("ACCDATA_3", 5),
|
||||
("IPMA_Data", 1),
|
||||
]
|
||||
|
||||
+147
-48
@@ -5,11 +5,15 @@ HUDControl = car.CarControl.HUDControl
|
||||
|
||||
|
||||
def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray):
|
||||
curvature = (dat[2] << 3) | ((dat[3]) >> 5)
|
||||
curvature_rate = (dat[6] << 3) | ((dat[7]) >> 5)
|
||||
path_angle = ((dat[3] & 0x1F) << 6) | ((dat[4]) >> 2)
|
||||
path_offset = ((dat[4] & 0x3) << 8) | dat[5]
|
||||
|
||||
checksum = mode + counter
|
||||
checksum += dat[2] + ((dat[3] & 0xE0) >> 5) # curvature
|
||||
checksum += dat[6] + ((dat[7] & 0xE0) >> 5) # curvature rate
|
||||
checksum += (dat[3] & 0x1F) + ((dat[4] & 0xFC) >> 2) # path angle
|
||||
checksum += (dat[4] & 0x3) + dat[5] # path offset
|
||||
for sig_val in (curvature, curvature_rate, path_angle, path_offset):
|
||||
checksum += sig_val + (sig_val >> 8)
|
||||
|
||||
return 0xFF - (checksum & 0xFF)
|
||||
|
||||
|
||||
@@ -19,7 +23,7 @@ def create_lka_msg(packer):
|
||||
|
||||
This command can apply "Lane Keeping Aid" manoeuvres, which are subject to the PSCM lockout.
|
||||
|
||||
Frequency is 20Hz.
|
||||
Frequency is 33Hz.
|
||||
"""
|
||||
|
||||
return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, {})
|
||||
@@ -97,7 +101,7 @@ def create_lat_ctl2_msg(packer, mode: int, path_offset: float, path_angle: float
|
||||
return packer.make_can_msg("LateralMotionControl2", CANBUS.main, values)
|
||||
|
||||
|
||||
def create_acc_command(packer, long_active: bool, gas: float, accel: float, precharge_brake: bool, decel: bool):
|
||||
def create_acc_msg(packer, long_active: bool, gas: float, accel: float, stopping: bool):
|
||||
"""
|
||||
Creates a CAN message for the Ford ACC Command.
|
||||
|
||||
@@ -107,16 +111,95 @@ def create_acc_command(packer, long_active: bool, gas: float, accel: float, prec
|
||||
Frequency is 50Hz.
|
||||
"""
|
||||
|
||||
decel = accel < 0 and long_active
|
||||
values = {
|
||||
"AccBrkTot_A_Rq": accel, # Brake total accel request: [-20|11.9449] m/s^2
|
||||
"Cmbb_B_Enbl": 1 if long_active else 0, # Enabled: 0=No, 1=Yes
|
||||
"AccPrpl_A_Rq": gas, # Acceleration request: [-5|5.23] m/s^2
|
||||
"AccBrkPrchg_B_Rq": 1 if precharge_brake else 0, # Pre-charge brake request: 0=No, 1=Yes
|
||||
"AccResumEnbl_B_Rq": 1 if long_active else 0,
|
||||
# TODO: we may be able to improve braking response by utilizing pre-charging better
|
||||
"AccBrkPrchg_B_Rq": 1 if decel else 0, # Pre-charge brake request: 0=No, 1=Yes
|
||||
"AccBrkDecel_B_Rq": 1 if decel else 0, # Deceleration request: 0=Inactive, 1=Active
|
||||
"AccStopStat_B_Rq": 1 if stopping else 0,
|
||||
}
|
||||
return packer.make_can_msg("ACCDATA", CANBUS.main, values)
|
||||
|
||||
|
||||
def create_acc_ui_msg(packer, CP, main_on: bool, enabled: bool, standstill: bool, hud_control,
|
||||
stock_values: dict):
|
||||
"""
|
||||
Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam
|
||||
assist status.
|
||||
|
||||
Stock functionality is maintained by passing through unmodified signals.
|
||||
|
||||
Frequency is 5Hz.
|
||||
"""
|
||||
|
||||
# Tja_D_Stat
|
||||
if enabled:
|
||||
if hud_control.leftLaneDepart:
|
||||
status = 3 # ActiveInterventionLeft
|
||||
elif hud_control.rightLaneDepart:
|
||||
status = 4 # ActiveInterventionRight
|
||||
else:
|
||||
status = 2 # Active
|
||||
elif main_on:
|
||||
if hud_control.leftLaneDepart:
|
||||
status = 5 # ActiveWarningLeft
|
||||
elif hud_control.rightLaneDepart:
|
||||
status = 6 # ActiveWarningRight
|
||||
else:
|
||||
status = 1 # Standby
|
||||
else:
|
||||
status = 0 # Off
|
||||
|
||||
values = {s: stock_values[s] for s in [
|
||||
"HaDsply_No_Cs",
|
||||
"HaDsply_No_Cnt",
|
||||
"AccStopStat_D_Dsply", # ACC stopped status message
|
||||
"AccTrgDist2_D_Dsply", # ACC target distance
|
||||
"AccStopRes_B_Dsply",
|
||||
"TjaWarn_D_Rq", # TJA warning
|
||||
"TjaMsgTxt_D_Dsply", # TJA text
|
||||
"IaccLamp_D_Rq", # iACC status icon
|
||||
"AccMsgTxt_D2_Rq", # ACC text
|
||||
"FcwDeny_B_Dsply", # FCW disabled
|
||||
"FcwMemStat_B_Actl", # FCW enabled setting
|
||||
"AccTGap_B_Dsply", # ACC time gap display setting
|
||||
"CadsAlignIncplt_B_Actl",
|
||||
"AccFllwMde_B_Dsply", # ACC follow mode display setting
|
||||
"CadsRadrBlck_B_Actl",
|
||||
"CmbbPostEvnt_B_Dsply", # AEB event status
|
||||
"AccStopMde_B_Dsply", # ACC stop mode display setting
|
||||
"FcwMemSens_D_Actl", # FCW sensitivity setting
|
||||
"FcwMsgTxt_D_Rq", # FCW text
|
||||
"AccWarn_D_Dsply", # ACC warning
|
||||
"FcwVisblWarn_B_Rq", # FCW visible alert
|
||||
"FcwAudioWarn_B_Rq", # FCW audio alert
|
||||
"AccTGap_D_Dsply", # ACC time gap
|
||||
"AccMemEnbl_B_RqDrv", # ACC adaptive/normal setting
|
||||
"FdaMem_B_Stat", # FDA enabled setting
|
||||
]}
|
||||
|
||||
values.update({
|
||||
"Tja_D_Stat": status, # TJA status
|
||||
})
|
||||
|
||||
if CP.openpilotLongitudinalControl:
|
||||
values.update({
|
||||
"AccStopStat_D_Dsply": 2 if standstill else 0, # Stopping status text
|
||||
"AccMsgTxt_D2_Rq": 0, # ACC text
|
||||
"AccTGap_B_Dsply": 0, # Show time gap control UI
|
||||
"AccFllwMde_B_Dsply": 1 if hud_control.leadVisible else 0, # Lead indicator
|
||||
"AccStopMde_B_Dsply": 1 if standstill else 0,
|
||||
"AccWarn_D_Dsply": 0, # ACC warning
|
||||
"AccTGap_D_Dsply": 4, # Fixed time gap in UI
|
||||
})
|
||||
|
||||
return packer.make_can_msg("ACCDATA_3", CANBUS.main, values)
|
||||
|
||||
|
||||
def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool, hud_control, stock_values: dict):
|
||||
"""
|
||||
Creates a CAN message for the Ford IPC IPMA/LKAS status.
|
||||
@@ -160,60 +243,76 @@ def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool,
|
||||
|
||||
hands_on_wheel_dsply = 1 if steer_alert else 0
|
||||
|
||||
values = {
|
||||
**stock_values,
|
||||
values = {s: stock_values[s] for s in [
|
||||
"FeatConfigIpmaActl",
|
||||
"FeatNoIpmaActl",
|
||||
"PersIndexIpma_D_Actl",
|
||||
"AhbcRampingV_D_Rq", # AHB ramping
|
||||
"LaDenyStats_B_Dsply", # LKAS error
|
||||
"CamraDefog_B_Req", # Windshield heater?
|
||||
"CamraStats_D_Dsply", # Camera status
|
||||
"DasAlrtLvl_D_Dsply", # DAS alert level
|
||||
"DasStats_D_Dsply", # DAS status
|
||||
"DasWarn_D_Dsply", # DAS warning
|
||||
"AhbHiBeam_D_Rq", # AHB status
|
||||
"Passthru_63",
|
||||
"Passthru_48",
|
||||
]}
|
||||
|
||||
values.update({
|
||||
"LaActvStats_D_Dsply": lines, # LKAS status (lines) [0|31]
|
||||
"LaHandsOff_D_Dsply": hands_on_wheel_dsply, # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed
|
||||
}
|
||||
})
|
||||
return packer.make_can_msg("IPMA_Data", CANBUS.main, values)
|
||||
|
||||
|
||||
def create_acc_ui_msg(packer, main_on: bool, enabled: bool, hud_control, stock_values: dict):
|
||||
"""
|
||||
Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam assist status.
|
||||
|
||||
Stock functionality is maintained by passing through unmodified signals.
|
||||
|
||||
Frequency is 20Hz.
|
||||
"""
|
||||
|
||||
# Tja_D_Stat
|
||||
if enabled:
|
||||
if hud_control.leftLaneDepart:
|
||||
status = 3 # ActiveInterventionLeft
|
||||
elif hud_control.rightLaneDepart:
|
||||
status = 4 # ActiveInterventionRight
|
||||
else:
|
||||
status = 2 # Active
|
||||
elif main_on:
|
||||
if hud_control.leftLaneDepart:
|
||||
status = 5 # ActiveWarningLeft
|
||||
elif hud_control.rightLaneDepart:
|
||||
status = 6 # ActiveWarningRight
|
||||
else:
|
||||
status = 1 # Standby
|
||||
else:
|
||||
status = 0 # Off
|
||||
|
||||
values = {
|
||||
**stock_values,
|
||||
"Tja_D_Stat": status,
|
||||
}
|
||||
return packer.make_can_msg("ACCDATA_3", CANBUS.main, values)
|
||||
|
||||
|
||||
def create_button_msg(packer, stock_values: dict, cancel=False, resume=False, tja_toggle=False,
|
||||
bus: int = CANBUS.camera):
|
||||
"""
|
||||
Creates a CAN message for the Ford SCCM buttons/switches.
|
||||
|
||||
Includes cruise control buttons, turn lights and more.
|
||||
|
||||
Frequency is 10Hz.
|
||||
"""
|
||||
|
||||
values = {
|
||||
**stock_values,
|
||||
values = {s: stock_values[s] for s in [
|
||||
"HeadLghtHiFlash_D_Stat", # SCCM Passthrough the remaining buttons
|
||||
"TurnLghtSwtch_D_Stat", # SCCM Turn signal switch
|
||||
"WiprFront_D_Stat",
|
||||
"LghtAmb_D_Sns",
|
||||
"AccButtnGapDecPress",
|
||||
"AccButtnGapIncPress",
|
||||
"AslButtnOnOffCnclPress",
|
||||
"AslButtnOnOffPress",
|
||||
"LaSwtchPos_D_Stat",
|
||||
"CcAslButtnCnclResPress",
|
||||
"CcAslButtnDeny_B_Actl",
|
||||
"CcAslButtnIndxDecPress",
|
||||
"CcAslButtnIndxIncPress",
|
||||
"CcAslButtnOffCnclPress",
|
||||
"CcAslButtnOnOffCncl",
|
||||
"CcAslButtnOnPress",
|
||||
"CcAslButtnResDecPress",
|
||||
"CcAslButtnResIncPress",
|
||||
"CcAslButtnSetDecPress",
|
||||
"CcAslButtnSetIncPress",
|
||||
"CcAslButtnSetPress",
|
||||
"CcButtnOffPress",
|
||||
"CcButtnOnOffCnclPress",
|
||||
"CcButtnOnOffPress",
|
||||
"CcButtnOnPress",
|
||||
"HeadLghtHiFlash_D_Actl",
|
||||
"HeadLghtHiOn_B_StatAhb",
|
||||
"AhbStat_B_Dsply",
|
||||
"AccButtnGapTogglePress",
|
||||
"WiprFrontSwtch_D_Stat",
|
||||
"HeadLghtHiCtrl_D_RqAhb",
|
||||
]}
|
||||
|
||||
values.update({
|
||||
"CcAslButtnCnclPress": 1 if cancel else 0, # CC cancel button
|
||||
"CcAsllButtnResPress": 1 if resume else 0, # CC resume button
|
||||
"TjaButtnOnOffPress": 1 if tja_toggle else 0, # TJA toggle button
|
||||
}
|
||||
"TjaButtnOnOffPress": 1 if tja_toggle else 0, # LCA/TJA toggle button
|
||||
})
|
||||
return packer.make_can_msg("Steering_Data_FD1", bus, values)
|
||||
|
||||
@@ -15,8 +15,10 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.carName = "ford"
|
||||
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)]
|
||||
|
||||
# These cars are dashcam only until the port is finished
|
||||
ret.dashcamOnly = True
|
||||
# These cars are dashcam only for lack of test coverage.
|
||||
# Once a user confirms each car works and a test route is
|
||||
# added to selfdrive/car/tests/routes.py, we can remove it from this list.
|
||||
ret.dashcamOnly = candidate in {CAR.FOCUS_MK4}
|
||||
|
||||
ret.radarUnavailable = True
|
||||
ret.steerControlType = car.CarParams.SteerControlType.angle
|
||||
@@ -53,7 +55,7 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
# Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
|
||||
found_ecus = [fw.ecu for fw in car_fw]
|
||||
if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[0]:
|
||||
if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[0] or docs:
|
||||
ret.transmissionType = TransmissionType.automatic
|
||||
else:
|
||||
ret.transmissionType = TransmissionType.manual
|
||||
@@ -74,6 +76,11 @@ class CarInterface(CarInterfaceBase):
|
||||
ret = self.CS.update(self.cp, self.cp_cam)
|
||||
|
||||
events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic])
|
||||
if not self.CS.vehicle_sensors_valid:
|
||||
events.add(car.CarEvent.EventName.vehicleSensorsInvalid)
|
||||
if self.CS.hybrid_platform:
|
||||
events.add(car.CarEvent.EventName.startupNoControl)
|
||||
|
||||
ret.events = events.to_msg()
|
||||
|
||||
return ret
|
||||
|
||||
@@ -1,27 +1,22 @@
|
||||
from collections import defaultdict
|
||||
from dataclasses import dataclass
|
||||
from enum import Enum
|
||||
from typing import Dict, List, Set, Union
|
||||
|
||||
from cereal import car
|
||||
from selfdrive.car import AngleRateLimit, dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarInfo, Harness
|
||||
from selfdrive.car.docs_definitions import CarInfo, Harness, HarnessKit
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
|
||||
|
||||
class CarControllerParams:
|
||||
# Messages: Lane_Assist_Data1, LateralMotionControl
|
||||
STEER_STEP = 5
|
||||
# Message: ACCDATA
|
||||
ACC_CONTROL_STEP = 2
|
||||
# Message: IPMA_Data
|
||||
LKAS_UI_STEP = 100
|
||||
# Message: ACCDATA_3
|
||||
ACC_UI_STEP = 5
|
||||
# Message: Steering_Data_FD1, but send twice as fast
|
||||
BUTTONS_STEP = 10 / 2
|
||||
STEER_STEP = 5 # LateralMotionControl, 20Hz
|
||||
LKA_STEP = 3 # Lane_Assist_Data1, 33Hz
|
||||
ACC_CONTROL_STEP = 2 # ACCDATA, 50Hz
|
||||
LKAS_UI_STEP = 100 # IPMA_Data, 1Hz
|
||||
ACC_UI_STEP = 20 # ACCDATA_3, 5Hz
|
||||
BUTTONS_STEP = 5 # Steering_Data_FD1, 10Hz, but send twice as fast
|
||||
|
||||
CURVATURE_MAX = 0.02 # Max curvature for steering command, m^-1
|
||||
STEER_DRIVER_ALLOWANCE = 1.0 # Driver intervention threshold, Nm
|
||||
@@ -32,9 +27,12 @@ class CarControllerParams:
|
||||
# Worst case, the low speed limits will allow 4.3 m/s^3 up, 4.9 m/s^3 down at 75 mph
|
||||
ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.0002, 0.0001])
|
||||
ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.000225, 0.00015])
|
||||
CURVATURE_ERROR = 0.002 # ~6 degrees at 10 m/s, ~10 degrees at 35 m/s
|
||||
|
||||
ACCEL_MAX = 2.0 # m/s^s max acceleration
|
||||
ACCEL_MIN = -3.5 # m/s^s max deceleration
|
||||
MIN_GAS = -0.5
|
||||
INACTIVE_GAS = -5.0
|
||||
|
||||
def __init__(self, CP):
|
||||
pass
|
||||
@@ -68,23 +66,20 @@ DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base
|
||||
@dataclass
|
||||
class FordCarInfo(CarInfo):
|
||||
package: str = "Co-Pilot360 Assist+"
|
||||
harness: Enum = Harness.ford_q3
|
||||
harness_kit: HarnessKit = HarnessKit(Harness.ford_q3)
|
||||
|
||||
|
||||
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
|
||||
CAR.BRONCO_SPORT_MK1: FordCarInfo("Ford Bronco Sport 2021-22"),
|
||||
CAR.ESCAPE_MK4: [
|
||||
FordCarInfo("Ford Escape 2020-22"),
|
||||
FordCarInfo("Ford Escape Plug-in Hybrid 2020-22"),
|
||||
FordCarInfo("Ford Kuga 2020-21", "Driver Assistance Pack"),
|
||||
FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Driver Assistance Pack"),
|
||||
FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"),
|
||||
],
|
||||
CAR.EXPLORER_MK6: [
|
||||
FordCarInfo("Ford Explorer 2020-22"),
|
||||
FordCarInfo("Lincoln Aviator 2021", "Co-Pilot360 Plus"),
|
||||
FordCarInfo("Lincoln Aviator Plug-in Hybrid 2021", "Co-Pilot360 Plus"),
|
||||
],
|
||||
CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2019", "Driver Assistance Pack"),
|
||||
CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2018", "Adaptive Cruise Control with Lane Centering"),
|
||||
CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022-23", "Co-Pilot360 Assist"),
|
||||
}
|
||||
|
||||
@@ -162,11 +157,13 @@ FW_VERSIONS = {
|
||||
},
|
||||
CAR.EXPLORER_MK6: {
|
||||
(Ecu.eps, 0x730, None): [
|
||||
b'L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'M1MC-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.abs, 0x760, None): [
|
||||
b'L1MC-2D053-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'L1MC-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'L1MC-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'L1MC-2D053-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
@@ -176,11 +173,13 @@ FW_VERSIONS = {
|
||||
b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x706, None): [
|
||||
b'LB5T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LB5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LB5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.engine, 0x7E0, None): [
|
||||
b'LB5A-14C204-ATJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LB5A-14C204-BUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
|
||||
@@ -5,7 +5,7 @@ from typing import Dict, List, Union
|
||||
|
||||
from cereal import car
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness, HarnessKit, HarnessPart
|
||||
Ecu = car.CarParams.Ecu
|
||||
|
||||
|
||||
@@ -89,9 +89,9 @@ class GMCarInfo(CarInfo):
|
||||
|
||||
def init_make(self, CP: car.CarParams):
|
||||
if CP.networkLocation == car.CarParams.NetworkLocation.fwdCamera:
|
||||
self.harness = Harness.gm
|
||||
self.harness_kit = HarnessKit(Harness.gm)
|
||||
else:
|
||||
self.harness = Harness.obd_ii
|
||||
self.harness_kit = HarnessKit(Harness.obd_ii, parts=[HarnessPart.long_obdc_cable, HarnessPart.usbc_coupler])
|
||||
self.footnotes.append(Footnote.OBD_II)
|
||||
|
||||
|
||||
|
||||
@@ -6,7 +6,7 @@ from cereal import car
|
||||
from common.conversions import Conversions as CV
|
||||
from panda.python import uds
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness, HarnessKit
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
@@ -110,9 +110,9 @@ class HondaCarInfo(CarInfo):
|
||||
|
||||
def init_make(self, CP: car.CarParams):
|
||||
if CP.carFingerprint in HONDA_BOSCH:
|
||||
self.harness = Harness.bosch_b if CP.carFingerprint in HONDA_BOSCH_RADARLESS else Harness.bosch_a
|
||||
self.harness_kit = HarnessKit(Harness.bosch_b) if CP.carFingerprint in HONDA_BOSCH_RADARLESS else HarnessKit(Harness.bosch_a)
|
||||
else:
|
||||
self.harness = Harness.nidec
|
||||
self.harness_kit = HarnessKit(Harness.nidec)
|
||||
|
||||
|
||||
CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
|
||||
@@ -146,7 +146,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
|
||||
CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
|
||||
CAR.PILOT: [
|
||||
HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
|
||||
HondaCarInfo("Honda Passport 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS),
|
||||
HondaCarInfo("Honda Passport 2019-22", "All", min_steer_speed=12. * CV.MPH_TO_MS),
|
||||
],
|
||||
CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-23", min_steer_speed=12. * CV.MPH_TO_MS),
|
||||
CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
|
||||
@@ -1114,6 +1114,7 @@ FW_VERSIONS = {
|
||||
b'28101-5EZ-A210\x00\x00',
|
||||
b'28101-5EZ-A600\x00\x00',
|
||||
b'28101-5EZ-A430\x00\x00',
|
||||
b'28101-5EZ-A700\x00\x00',
|
||||
],
|
||||
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
|
||||
b'37805-RLV-4060\x00\x00',
|
||||
@@ -1128,6 +1129,7 @@ FW_VERSIONS = {
|
||||
b'37805-RLV-B220\x00\x00',
|
||||
b'37805-RLV-B210\x00\x00',
|
||||
b'37805-RLV-L160\x00\x00',
|
||||
b'37805-RLV-B420\x00\x00',
|
||||
],
|
||||
(Ecu.gateway, 0x18daeff1, None): [
|
||||
b'38897-TG7-A030\x00\x00',
|
||||
@@ -1141,6 +1143,7 @@ FW_VERSIONS = {
|
||||
b'39990-TG7-A060\x00\x00',
|
||||
b'39990-TG7-A070\x00\x00',
|
||||
b'39990-TGS-A230\x00\x00',
|
||||
b'39990-TGS-A320\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'36161-TG7-A310\x00\x00',
|
||||
@@ -1161,6 +1164,7 @@ FW_VERSIONS = {
|
||||
b'36161-TGT-A030\x00\x00',
|
||||
b'36161-TGT-A130\x00\x00',
|
||||
b'36161-TGS-A030\x00\x00',
|
||||
b'36161-TGS-A220\x00\x00',
|
||||
],
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
b'77959-TG7-A020\x00\x00',
|
||||
@@ -1168,6 +1172,7 @@ FW_VERSIONS = {
|
||||
b'77959-TG7-A210\x00\x00',
|
||||
b'77959-TG7-Y210\x00\x00',
|
||||
b'77959-TGS-A010\x00\x00',
|
||||
b'77959-TGS-A110\x00\x00',
|
||||
],
|
||||
(Ecu.combinationMeter, 0x18da60f1, None): [
|
||||
b'78109-TG7-A040\x00\x00',
|
||||
@@ -1201,6 +1206,7 @@ FW_VERSIONS = {
|
||||
b'78109-TGS-AT20\x00\x00',
|
||||
b'78109-TGS-AX20\x00\x00',
|
||||
b'78109-TGS-AJ20\x00\x00',
|
||||
b'78109-TGS-AC10\x00\x00',
|
||||
],
|
||||
(Ecu.vsa, 0x18da28f1, None): [
|
||||
b'57114-TG7-A130\x00\x00',
|
||||
|
||||
@@ -232,6 +232,10 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.mass = 2200
|
||||
ret.wheelbase = 3.15
|
||||
ret.steerRatio = 12.069
|
||||
elif candidate == CAR.GENESIS_GV80:
|
||||
ret.mass = 2258. + STD_CARGO_KG
|
||||
ret.wheelbase = 2.95
|
||||
ret.steerRatio = 14.14
|
||||
|
||||
# *** longitudinal control ***
|
||||
if candidate in CANFD_CAR:
|
||||
|
||||
+113
-75
@@ -6,7 +6,7 @@ from cereal import car
|
||||
from panda.python import uds
|
||||
from common.conversions import Conversions as CV
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness, HarnessKit
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
@@ -132,6 +132,7 @@ class CAR:
|
||||
GENESIS_GV70_1ST_GEN = "GENESIS GV70 1ST GEN"
|
||||
GENESIS_G80 = "GENESIS G80 2017"
|
||||
GENESIS_G90 = "GENESIS G90 2017"
|
||||
GENESIS_GV80 = "GENESIS GV80 2023"
|
||||
|
||||
|
||||
class Footnote(Enum):
|
||||
@@ -153,107 +154,114 @@ class HyundaiCarInfo(CarInfo):
|
||||
|
||||
CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
|
||||
CAR.ELANTRA: [
|
||||
HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_b),
|
||||
HyundaiCarInfo("Hyundai Elantra GT 2017-19", harness=Harness.hyundai_e),
|
||||
HyundaiCarInfo("Hyundai i30 2017-19", harness=Harness.hyundai_e),
|
||||
HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness_kit=HarnessKit(Harness.hyundai_b)),
|
||||
HyundaiCarInfo("Hyundai Elantra GT 2017-19", harness_kit=HarnessKit(Harness.hyundai_e)),
|
||||
HyundaiCarInfo("Hyundai i30 2017-19", harness_kit=HarnessKit(Harness.hyundai_e)),
|
||||
],
|
||||
CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
|
||||
CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
|
||||
CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness_kit=HarnessKit(Harness.hyundai_k)),
|
||||
CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness_kit=HarnessKit(Harness.hyundai_k)),
|
||||
CAR.HYUNDAI_GENESIS: [
|
||||
HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j), # TODO: check 2015 packages
|
||||
HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j),
|
||||
HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness_kit=HarnessKit(Harness.hyundai_j)), # TODO: check 2015 packages
|
||||
HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, harness_kit=HarnessKit(Harness.hyundai_j)),
|
||||
],
|
||||
CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness=Harness.hyundai_c),
|
||||
CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", harness=Harness.hyundai_h), # TODO: confirm 2020-21 harness
|
||||
CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", harness=Harness.hyundai_c),
|
||||
CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", harness=Harness.hyundai_h),
|
||||
CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", harness=Harness.hyundai_c),
|
||||
CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", harness=Harness.hyundai_h),
|
||||
CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", harness=Harness.hyundai_b),
|
||||
CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", harness=Harness.hyundai_g),
|
||||
CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", harness=Harness.hyundai_o),
|
||||
CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness=Harness.hyundai_i), # TODO: check packages
|
||||
CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", harness=Harness.hyundai_d),
|
||||
CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", video_link="https://youtu.be/VnHzSTygTS4", harness=Harness.hyundai_l),
|
||||
CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All", harness=Harness.hyundai_l),
|
||||
CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", harness=Harness.hyundai_l),
|
||||
CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a),
|
||||
CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", harness=Harness.hyundai_e),
|
||||
CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness_kit=HarnessKit(Harness.hyundai_c)),
|
||||
CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", harness_kit=HarnessKit(Harness.hyundai_h)), # TODO: confirm 2020-21 harness
|
||||
CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", harness_kit=HarnessKit(Harness.hyundai_c)),
|
||||
CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", harness_kit=HarnessKit(Harness.hyundai_h)),
|
||||
CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", harness_kit=HarnessKit(Harness.hyundai_c)),
|
||||
CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", harness_kit=HarnessKit(Harness.hyundai_h)),
|
||||
CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", harness_kit=HarnessKit(Harness.hyundai_b)),
|
||||
CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", harness_kit=HarnessKit(Harness.hyundai_g)),
|
||||
CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", harness_kit=HarnessKit(Harness.hyundai_o)),
|
||||
CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness_kit=HarnessKit(Harness.hyundai_i)), # TODO: check packages
|
||||
CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", harness_kit=HarnessKit(Harness.hyundai_d)),
|
||||
CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", video_link="https://youtu.be/VnHzSTygTS4", harness_kit=HarnessKit(Harness.hyundai_l)),
|
||||
CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All", harness_kit=HarnessKit(Harness.hyundai_l)),
|
||||
CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", harness_kit=HarnessKit(Harness.hyundai_l)),
|
||||
CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", harness_kit=HarnessKit(Harness.hyundai_a)),
|
||||
CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", harness_kit=HarnessKit(Harness.hyundai_e)),
|
||||
CAR.TUCSON: [
|
||||
HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_l),
|
||||
HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness=Harness.hyundai_l),
|
||||
HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, harness_kit=HarnessKit(Harness.hyundai_l)),
|
||||
HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness_kit=HarnessKit(Harness.hyundai_l)),
|
||||
],
|
||||
CAR.PALISADE: [
|
||||
HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h),
|
||||
HyundaiCarInfo("Kia Telluride 2020-22", "All", harness=Harness.hyundai_h),
|
||||
HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness_kit=HarnessKit(Harness.hyundai_h)),
|
||||
HyundaiCarInfo("Kia Telluride 2020-22", "All", harness_kit=HarnessKit(Harness.hyundai_h)),
|
||||
],
|
||||
CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e),
|
||||
CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", harness=Harness.hyundai_a),
|
||||
CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, harness_kit=HarnessKit(Harness.hyundai_e)),
|
||||
CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", harness_kit=HarnessKit(Harness.hyundai_a)),
|
||||
CAR.IONIQ_5: [
|
||||
HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", harness=Harness.hyundai_q),
|
||||
HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", harness=Harness.hyundai_k),
|
||||
HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", harness=Harness.hyundai_q),
|
||||
HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", harness_kit=HarnessKit(Harness.hyundai_q)),
|
||||
HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", harness_kit=HarnessKit(Harness.hyundai_k)),
|
||||
HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", harness_kit=HarnessKit(Harness.hyundai_q)),
|
||||
],
|
||||
CAR.TUCSON_4TH_GEN: [
|
||||
HyundaiCarInfo("Hyundai Tucson 2022", harness=Harness.hyundai_n),
|
||||
HyundaiCarInfo("Hyundai Tucson 2023", "All", harness=Harness.hyundai_n),
|
||||
HyundaiCarInfo("Hyundai Tucson 2022", harness_kit=HarnessKit(Harness.hyundai_n)),
|
||||
HyundaiCarInfo("Hyundai Tucson 2023", "All", harness_kit=HarnessKit(Harness.hyundai_n)),
|
||||
],
|
||||
CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022", "All", harness=Harness.hyundai_n),
|
||||
CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", harness=Harness.hyundai_n),
|
||||
CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-23", "All", harness_kit=HarnessKit(Harness.hyundai_n)),
|
||||
CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", harness_kit=HarnessKit(Harness.hyundai_n)),
|
||||
|
||||
# Kia
|
||||
CAR.KIA_FORTE: HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g),
|
||||
CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", harness=Harness.hyundai_a),
|
||||
CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", harness=Harness.hyundai_a),
|
||||
CAR.KIA_NIRO_EV: [
|
||||
HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
|
||||
HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f),
|
||||
HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c),
|
||||
HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
|
||||
CAR.KIA_FORTE: [
|
||||
HyundaiCarInfo("Kia Forte 2019-21", harness_kit=HarnessKit(Harness.hyundai_g)),
|
||||
HyundaiCarInfo("Kia Forte 2023", harness_kit=HarnessKit(Harness.hyundai_e)),
|
||||
],
|
||||
CAR.KIA_NIRO_EV_2ND_GEN: HyundaiCarInfo("Kia Niro EV 2023", "All", harness=Harness.hyundai_a),
|
||||
CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", harness_kit=HarnessKit(Harness.hyundai_a)),
|
||||
CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", harness_kit=HarnessKit(Harness.hyundai_a)),
|
||||
CAR.KIA_NIRO_EV: [
|
||||
HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness_kit=HarnessKit(Harness.hyundai_h)),
|
||||
HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness_kit=HarnessKit(Harness.hyundai_f)),
|
||||
HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness_kit=HarnessKit(Harness.hyundai_c)),
|
||||
HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness_kit=HarnessKit(Harness.hyundai_h)),
|
||||
],
|
||||
CAR.KIA_NIRO_EV_2ND_GEN: HyundaiCarInfo("Kia Niro EV 2023", "All", harness_kit=HarnessKit(Harness.hyundai_a)),
|
||||
CAR.KIA_NIRO_PHEV: [
|
||||
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c),
|
||||
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", harness=Harness.hyundai_d),
|
||||
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, harness_kit=HarnessKit(Harness.hyundai_c)),
|
||||
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", harness_kit=HarnessKit(Harness.hyundai_d)),
|
||||
],
|
||||
CAR.KIA_NIRO_HEV_2021: [
|
||||
HyundaiCarInfo("Kia Niro Hybrid 2021-22", harness=Harness.hyundai_f), # TODO: 2021 could be hyundai_d, verify
|
||||
HyundaiCarInfo("Kia Niro Hybrid 2021-22", harness_kit=HarnessKit(Harness.hyundai_f)), # TODO: 2021 could be hyundai_d, verify
|
||||
],
|
||||
CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", harness=Harness.hyundai_a),
|
||||
CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", harness=Harness.hyundai_b), # TODO: may support 2016, 2018
|
||||
CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", harness=Harness.hyundai_g),
|
||||
CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", harness_kit=HarnessKit(Harness.hyundai_a)),
|
||||
CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", harness_kit=HarnessKit(Harness.hyundai_b)), # TODO: may support 2016, 2018
|
||||
CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", harness_kit=HarnessKit(Harness.hyundai_g)),
|
||||
CAR.KIA_OPTIMA_H: [
|
||||
HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control"), # TODO: may support adjacent years
|
||||
HyundaiCarInfo("Kia Optima Hybrid 2019"),
|
||||
],
|
||||
CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness=Harness.hyundai_a),
|
||||
CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", harness=Harness.hyundai_n),
|
||||
CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness_kit=HarnessKit(Harness.hyundai_a)),
|
||||
CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", harness_kit=HarnessKit(Harness.hyundai_n)),
|
||||
CAR.KIA_SORENTO: [
|
||||
HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c),
|
||||
HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e),
|
||||
HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness_kit=HarnessKit(Harness.hyundai_c)),
|
||||
HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness_kit=HarnessKit(Harness.hyundai_e)),
|
||||
],
|
||||
CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", harness=Harness.hyundai_k),
|
||||
CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", harness=Harness.hyundai_a),
|
||||
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", harness=Harness.hyundai_n),
|
||||
CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
|
||||
CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", harness=Harness.hyundai_k),
|
||||
CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e),
|
||||
CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", harness_kit=HarnessKit(Harness.hyundai_k)),
|
||||
CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", harness_kit=HarnessKit(Harness.hyundai_a)),
|
||||
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", harness_kit=HarnessKit(Harness.hyundai_n)),
|
||||
CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness_kit=HarnessKit(Harness.hyundai_c)),
|
||||
CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", harness_kit=HarnessKit(Harness.hyundai_k)),
|
||||
CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness_kit=HarnessKit(Harness.hyundai_e)),
|
||||
CAR.KIA_EV6: [
|
||||
HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", harness=Harness.hyundai_p),
|
||||
HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", harness=Harness.hyundai_l),
|
||||
HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", harness=Harness.hyundai_p)
|
||||
HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", harness_kit=HarnessKit(Harness.hyundai_p)),
|
||||
HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", harness_kit=HarnessKit(Harness.hyundai_l)),
|
||||
HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", harness_kit=HarnessKit(Harness.hyundai_p))
|
||||
],
|
||||
|
||||
# Genesis
|
||||
CAR.GENESIS_GV60_EV_1ST_GEN: [
|
||||
HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", harness=Harness.hyundai_a),
|
||||
HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", harness=Harness.hyundai_k),
|
||||
HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", harness_kit=HarnessKit(Harness.hyundai_a)),
|
||||
HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", harness_kit=HarnessKit(Harness.hyundai_k)),
|
||||
],
|
||||
CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness=Harness.hyundai_f),
|
||||
CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", harness=Harness.hyundai_f),
|
||||
CAR.GENESIS_GV70_1ST_GEN: HyundaiCarInfo("Genesis GV70 2022-23", "All", harness=Harness.hyundai_l),
|
||||
CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018-19", "All", harness=Harness.hyundai_h),
|
||||
CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", harness=Harness.hyundai_c),
|
||||
CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness_kit=HarnessKit(Harness.hyundai_f)),
|
||||
CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", harness_kit=HarnessKit(Harness.hyundai_f)),
|
||||
CAR.GENESIS_GV70_1ST_GEN: [
|
||||
HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", harness_kit=HarnessKit(Harness.hyundai_l)),
|
||||
HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", harness_kit=HarnessKit(Harness.hyundai_m)),
|
||||
],
|
||||
CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018-19", "All", harness_kit=HarnessKit(Harness.hyundai_h)),
|
||||
CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", harness_kit=HarnessKit(Harness.hyundai_c)),
|
||||
CAR.GENESIS_GV80: HyundaiCarInfo("Genesis GV80 2023", "All", harness_kit=HarnessKit(Harness.hyundai_m)),
|
||||
}
|
||||
|
||||
class Buttons:
|
||||
@@ -573,6 +581,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x82DNCVN5GMCCXXXG2B',
|
||||
b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10',
|
||||
b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82DNDWN5TMDCXXXJ1A',
|
||||
b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M10',
|
||||
b'\xf1\x87391162M003',
|
||||
b'\xf1\x87391162M013',
|
||||
b'\xf1\x87391162M023',
|
||||
@@ -586,6 +595,7 @@ FW_VERSIONS = {
|
||||
],
|
||||
(Ecu.eps, 0x7d4, None): [
|
||||
b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware
|
||||
b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC102',
|
||||
b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware
|
||||
b'\xf1\x00DN8 MDPS C 1.00 1.01 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4DNAC101',
|
||||
b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101',
|
||||
@@ -623,6 +633,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x96\xa1\xf1\x92',
|
||||
b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB2\x00\x00\x00\x00\x00\x00\x08\xc9O:',
|
||||
b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB4\x00\x00\x00\x00\x00\x00g!l[',
|
||||
b'\xf1\x00HT6WA280BLHT6WAE10A1SDN8G25NB5\x00\x00\x00\x00\x00\x00\xe0t\xa9\xba',
|
||||
b'\xf1\x00T02601BL T02730A1 VDN8T25XXX730NS5\xf7_\x92\xf5',
|
||||
b'\xf1\x00T02601BL T02832A1 VDN8T25XXX832NS8G\x0e\xfeE',
|
||||
b'\xf1\x00T02601BL T02900A1 VDN8T25XXX900NSCF\xe4!Y',
|
||||
@@ -789,10 +800,10 @@ FW_VERSIONS = {
|
||||
CAR.SANTA_FE_2022: {
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1500 ',
|
||||
b'\xf1\x8799110S1500\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1500 ',
|
||||
b'\xf1\x00TM__ SCC FHCUP 1.00 1.00 99110-S1500 ',
|
||||
],
|
||||
(Ecu.abs, 0x7d1, None): [
|
||||
b'\xf1\x00TM ESC \x01 102!\x04\x03 58910-S2DA0',
|
||||
b'\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0',
|
||||
b'\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0',
|
||||
b'\xf1\x8758910-S2DA0\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0',
|
||||
@@ -803,6 +814,8 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_L50',
|
||||
b'\xf1\x81HM6M1_0a0_H00',
|
||||
b'\xf1\x82TACVN5GMI3XXXH0A',
|
||||
b'\xf1\x82TMBZN5TMD3XXXG2E',
|
||||
b'\xf1\x82TACVN5GSI3XXXH0A',
|
||||
@@ -823,6 +836,8 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00TMA MFC AT USA LHD 1.00 1.01 99211-S2500 210205',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xf1\x00HT6WA280BLHT6WAD00A1STM2G25NH2\x00\x00\x00\x00\x00\x00\xf8\xc0\xc3\xaa',
|
||||
b'\xf1\x00HT6WA280BLHT6WAD00A1STM4G25NH1\x00\x00\x00\x00\x00\x00\x9cl\x04\xbc',
|
||||
b'\xf1\x00T02601BL T02900A1 VTMPT25XXX900NSA\xf3\xf4Uj',
|
||||
b'\xf1\x87SDMXCA9087684GN1VfvgUUeVwwgwwwwwffffU?\xfb\xff\x97\x88\x7f\xff+\xa4\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00',
|
||||
b'\xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6\x06\x88\xf7',
|
||||
@@ -1177,21 +1192,27 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00BD MDPS C 1.00 1.02 56310-XX000 4BD2C102',
|
||||
b'\xf1\x00BD MDPS C 1.00 1.08 56310/M6300 4BDDC108',
|
||||
b'\xf1\x00BD MDPS C 1.00 1.08 56310M6300\x00 4BDDC108',
|
||||
b'\xf1\x00BDm MDPS C A.01 1.03 56310M7800\x00 4BPMC103',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x7C4, None): [
|
||||
b'\xf1\x00BD LKAS AT USA LHD 1.00 1.04 95740-M6000 J33',
|
||||
b'\xf1\x00BDP LKAS AT USA LHD 1.00 1.05 99211-M6500 744',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7D0, None): [
|
||||
b'\xf1\x00BD__ SCC H-CUP 1.00 1.02 99110-M6000 ',
|
||||
b'\xf1\x00BDPE_SCC FHCUPC 1.00 1.04 99110-M6500\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\x01TBDM1NU06F200H01',
|
||||
b'391182B945\x00',
|
||||
b'\xf1\x81616F2051\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.abs, 0x7d1, None): [
|
||||
b'\xf1\x816VGRAH00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'\xf1\x8758900-M7AB0 \xf1\x816VQRAD00127.ELF\xf1\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xf1\x006V2B0_C2\x00\x006V2C6051\x00\x00CBD0N20NL1\x00\x00\x00\x00',
|
||||
b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\x00\x00\x00\x00',
|
||||
b"\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\xcf\x1e'\xc3",
|
||||
],
|
||||
@@ -1374,6 +1395,7 @@ FW_VERSIONS = {
|
||||
],
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00SG2EMFC AT EUR LHD 1.01 1.09 99211-AT000 220801',
|
||||
b'\xf1\x00SG2EMFC AT USA LHD 1.01 1.09 99211-AT000 220801',
|
||||
],
|
||||
},
|
||||
CAR.KIA_NIRO_PHEV: {
|
||||
@@ -1575,6 +1597,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\000CN7HMFC AT USA LHD 1.00 1.03 99210-AA000 200819',
|
||||
b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.07 99210-AA000 220426',
|
||||
b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.08 99210-AA000 220728',
|
||||
b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.09 99210-AA000 221108',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00CNhe SCC FHCUP 1.00 1.01 99110-BY000 ',
|
||||
@@ -1687,6 +1710,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00CV1 MFC AT EUR RHD 1.00 1.00 99210-CV100 220630',
|
||||
b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.00 99210-CV100 220630',
|
||||
b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.04 99210-CV000 210823',
|
||||
b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.05 99210-CV000 211027',
|
||||
b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.06 99210-CV000 220328',
|
||||
],
|
||||
},
|
||||
@@ -1721,9 +1745,11 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q',
|
||||
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9220 14K',
|
||||
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9100 14A',
|
||||
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9250 14W',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ',
|
||||
b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ',
|
||||
],
|
||||
},
|
||||
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: {
|
||||
@@ -1753,16 +1779,19 @@ FW_VERSIONS = {
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00NQ5__ 1.00 1.02 99110-P1000 ',
|
||||
b'\xf1\x00NQ5__ 1.00 1.03 99110-P1000 ',
|
||||
b'\xf1\x00NQ5__ 1.01 1.03 99110-P1000 ',
|
||||
],
|
||||
},
|
||||
CAR.GENESIS_GV70_1ST_GEN: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.04 99211-AR000 210204',
|
||||
b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.01 99211-AR200 220125',
|
||||
b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.01 99211-AR300 220125',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00JK1_ SCC FHCUP 1.00 1.02 99110-AR000 ',
|
||||
b'\xf1\x00JK1_ SCC FHCUP 1.00 1.00 99110-AR200 ',
|
||||
b'\xf1\x00JK1_ SCC FHCUP 1.00 1.00 99110-AR300 ',
|
||||
],
|
||||
},
|
||||
CAR.GENESIS_GV60_EV_1ST_GEN: {
|
||||
@@ -1794,6 +1823,14 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00SG2_ RDR ----- 1.00 1.01 99110-AT000 ',
|
||||
],
|
||||
},
|
||||
CAR.GENESIS_GV80: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00JX1 MFC AT USA LHD 1.00 1.02 99211-T6110 220513',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00JX1_ SCC FHCUP 1.00 1.01 99110-T6100 ',
|
||||
],
|
||||
},
|
||||
}
|
||||
|
||||
CHECKSUM = {
|
||||
@@ -1808,10 +1845,10 @@ CAN_GEARS = {
|
||||
"use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020},
|
||||
}
|
||||
|
||||
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN}
|
||||
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN, CAR.GENESIS_GV80}
|
||||
|
||||
# The radar does SCC on these cars when HDA I, rather than the camera
|
||||
CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN}
|
||||
CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80}
|
||||
|
||||
# The camera does SCC on these cars, rather than the radar
|
||||
CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
|
||||
@@ -1889,4 +1926,5 @@ DBC = {
|
||||
CAR.KIA_SORENTO_4TH_GEN: dbc_dict('hyundai_canfd', None),
|
||||
CAR.KIA_NIRO_HEV_2ND_GEN: dbc_dict('hyundai_canfd', None),
|
||||
CAR.KIA_NIRO_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
|
||||
CAR.GENESIS_GV80: dbc_dict('hyundai_canfd', None),
|
||||
}
|
||||
|
||||
@@ -1,10 +1,9 @@
|
||||
from dataclasses import dataclass
|
||||
from enum import Enum
|
||||
from typing import Dict, List, Union
|
||||
|
||||
from cereal import car
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarInfo, Harness
|
||||
from selfdrive.car.docs_definitions import CarInfo, Harness, HarnessKit
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
@@ -38,7 +37,7 @@ class CAR:
|
||||
@dataclass
|
||||
class MazdaCarInfo(CarInfo):
|
||||
package: str = "All"
|
||||
harness: Enum = Harness.mazda
|
||||
harness_kit: HarnessKit = HarnessKit(Harness.mazda)
|
||||
|
||||
|
||||
CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
|
||||
|
||||
@@ -26,13 +26,11 @@ class CarController:
|
||||
can_sends = []
|
||||
|
||||
### STEER ###
|
||||
lkas_hud_msg = CS.lkas_hud_msg
|
||||
lkas_hud_info_msg = CS.lkas_hud_info_msg
|
||||
steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
|
||||
|
||||
if CC.latActive:
|
||||
# windup slower
|
||||
apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams)
|
||||
apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw, CarControllerParams)
|
||||
|
||||
# Max torque from driver before EPS will give up and not apply torque
|
||||
if not bool(CS.out.steeringPressed):
|
||||
@@ -63,16 +61,16 @@ class CarController:
|
||||
can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, pcm_cancel_cmd))
|
||||
|
||||
can_sends.append(nissancan.create_steering_control(
|
||||
self.packer, apply_angle, self.frame, CC.enabled, self.lkas_max_torque))
|
||||
self.packer, apply_angle, self.frame, CC.latActive, self.lkas_max_torque))
|
||||
|
||||
if lkas_hud_msg and lkas_hud_info_msg:
|
||||
if self.CP.carFingerprint != CAR.ALTIMA:
|
||||
if self.frame % 2 == 0:
|
||||
can_sends.append(nissancan.create_lkas_hud_msg(
|
||||
self.packer, lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart))
|
||||
self.packer, CS.lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart))
|
||||
|
||||
if self.frame % 50 == 0:
|
||||
can_sends.append(nissancan.create_lkas_hud_info_msg(
|
||||
self.packer, lkas_hud_info_msg, steer_hud_alert
|
||||
self.packer, CS.lkas_hud_info_msg, steer_hud_alert
|
||||
))
|
||||
|
||||
new_actuators = actuators.copy()
|
||||
|
||||
@@ -14,8 +14,8 @@ class CarState(CarStateBase):
|
||||
super().__init__(CP)
|
||||
can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
|
||||
|
||||
self.lkas_hud_msg = None
|
||||
self.lkas_hud_info_msg = None
|
||||
self.lkas_hud_msg = {}
|
||||
self.lkas_hud_info_msg = {}
|
||||
|
||||
self.steeringTorqueSamples = deque(TORQUE_SAMPLES*[0], TORQUE_SAMPLES)
|
||||
self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
|
||||
|
||||
@@ -1,11 +1,10 @@
|
||||
from dataclasses import dataclass
|
||||
from typing import Dict, List, Optional, Union
|
||||
from enum import Enum
|
||||
|
||||
from cereal import car
|
||||
from panda.python import uds
|
||||
from selfdrive.car import AngleRateLimit, dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarInfo, Harness
|
||||
from selfdrive.car.docs_definitions import CarInfo, Harness, HarnessKit, HarnessPart
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
@@ -31,10 +30,13 @@ class CAR:
|
||||
ALTIMA = "NISSAN ALTIMA 2020"
|
||||
|
||||
|
||||
NISSAN_HARNESS_PARTS = [HarnessPart.harness_box, HarnessPart.rj45_cable, HarnessPart.long_obdc_cable, HarnessPart.usbc_coupler]
|
||||
|
||||
|
||||
@dataclass
|
||||
class NissanCarInfo(CarInfo):
|
||||
package: str = "ProPILOT Assist"
|
||||
harness: Enum = Harness.nissan_a
|
||||
harness_kit: HarnessKit = HarnessKit(Harness.nissan_a, parts=NISSAN_HARNESS_PARTS)
|
||||
|
||||
|
||||
CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = {
|
||||
@@ -42,7 +44,7 @@ CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = {
|
||||
CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"),
|
||||
CAR.LEAF_IC: None, # same platforms
|
||||
CAR.ROGUE: NissanCarInfo("Nissan Rogue 2018-20"),
|
||||
CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", harness=Harness.nissan_b),
|
||||
CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", harness_kit=HarnessKit(Harness.nissan_b, parts=NISSAN_HARNESS_PARTS)),
|
||||
}
|
||||
|
||||
FINGERPRINTS = {
|
||||
|
||||
@@ -264,7 +264,7 @@ class CarState(CarStateBase):
|
||||
("LKAS_State_Msg", "ES_DashStatus"),
|
||||
("Signal2", "ES_DashStatus"),
|
||||
("Cruise_Soft_Disable", "ES_DashStatus"),
|
||||
("EyeSight_Status_Msg", "ES_DashStatus"),
|
||||
("Cruise_Status_Msg", "ES_DashStatus"),
|
||||
("Signal3", "ES_DashStatus"),
|
||||
("Cruise_Distance", "ES_DashStatus"),
|
||||
("Signal4", "ES_DashStatus"),
|
||||
|
||||
@@ -20,7 +20,7 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
if candidate in PREGLOBAL_CARS:
|
||||
ret.enableBsm = 0x25c in fingerprint[0]
|
||||
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruLegacy)]
|
||||
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruPreglobal)]
|
||||
else:
|
||||
ret.enableBsm = 0x228 in fingerprint[0]
|
||||
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)]
|
||||
|
||||
@@ -3,6 +3,7 @@ from cereal import car
|
||||
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
|
||||
|
||||
def create_steering_control(packer, apply_steer):
|
||||
values = {
|
||||
"LKAS_Output": apply_steer,
|
||||
@@ -11,9 +12,11 @@ def create_steering_control(packer, apply_steer):
|
||||
}
|
||||
return packer.make_can_msg("ES_LKAS", 0, values)
|
||||
|
||||
|
||||
def create_steering_status(packer):
|
||||
return packer.make_can_msg("ES_LKAS_State", 0, {})
|
||||
|
||||
|
||||
def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd):
|
||||
values = copy.copy(es_distance_msg)
|
||||
values["COUNTER"] = (values["COUNTER"] + 1) % 0x10
|
||||
@@ -21,8 +24,8 @@ def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd):
|
||||
values["Cruise_Cancel"] = 1
|
||||
return packer.make_can_msg("ES_Distance", bus, values)
|
||||
|
||||
def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
|
||||
|
||||
def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
|
||||
values = copy.copy(es_lkas_state_msg)
|
||||
|
||||
# Filter the stock LKAS "Keep hands on wheel" alert
|
||||
@@ -52,18 +55,19 @@ def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_
|
||||
# Ensure we don't overwrite potentially more important alerts from stock (e.g. FCW)
|
||||
if visual_alert == VisualAlert.ldw and values["LKAS_Alert"] == 0:
|
||||
if left_lane_depart:
|
||||
values["LKAS_Alert"] = 12 # Left lane departure dash alert
|
||||
values["LKAS_Alert"] = 12 # Left lane departure dash alert
|
||||
elif right_lane_depart:
|
||||
values["LKAS_Alert"] = 11 # Right lane departure dash alert
|
||||
values["LKAS_Alert"] = 11 # Right lane departure dash alert
|
||||
|
||||
values["LKAS_ACTIVE"] = 1 # Show LKAS lane lines
|
||||
values["LKAS_Dash_State"] = 2 if enabled else 0 # Green enabled indicator
|
||||
values["LKAS_ACTIVE"] = 1 # Show LKAS lane lines
|
||||
values["LKAS_Dash_State"] = 2 if enabled else 0 # Green enabled indicator
|
||||
|
||||
values["LKAS_Left_Line_Visible"] = int(left_line)
|
||||
values["LKAS_Right_Line_Visible"] = int(right_line)
|
||||
|
||||
return packer.make_can_msg("ES_LKAS_State", 0, values)
|
||||
|
||||
|
||||
def create_es_dashstatus(packer, dashstatus_msg):
|
||||
values = copy.copy(dashstatus_msg)
|
||||
|
||||
@@ -73,6 +77,7 @@ def create_es_dashstatus(packer, dashstatus_msg):
|
||||
|
||||
return packer.make_can_msg("ES_DashStatus", 0, values)
|
||||
|
||||
|
||||
def create_infotainmentstatus(packer, infotainmentstatus_msg, visual_alert):
|
||||
# Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
|
||||
if infotainmentstatus_msg["LKAS_State_Infotainment"] in (3, 4):
|
||||
@@ -88,12 +93,14 @@ def create_infotainmentstatus(packer, infotainmentstatus_msg, visual_alert):
|
||||
|
||||
return packer.make_can_msg("INFOTAINMENT_STATUS", 0, infotainmentstatus_msg)
|
||||
|
||||
|
||||
# *** Subaru Pre-global ***
|
||||
|
||||
def subaru_preglobal_checksum(packer, values, addr):
|
||||
dat = packer.make_can_msg(addr, 0, values)[2]
|
||||
return (sum(dat[:7])) % 256
|
||||
|
||||
|
||||
def create_preglobal_steering_control(packer, apply_steer, frame, steer_step):
|
||||
|
||||
idx = (frame / steer_step) % 8
|
||||
@@ -107,8 +114,8 @@ def create_preglobal_steering_control(packer, apply_steer, frame, steer_step):
|
||||
|
||||
return packer.make_can_msg("ES_LKAS", 0, values)
|
||||
|
||||
def create_preglobal_es_distance(packer, cruise_button, es_distance_msg):
|
||||
|
||||
def create_preglobal_es_distance(packer, cruise_button, es_distance_msg):
|
||||
values = copy.copy(es_distance_msg)
|
||||
values["Cruise_Button"] = cruise_button
|
||||
|
||||
|
||||
@@ -1,11 +1,11 @@
|
||||
from dataclasses import dataclass
|
||||
from enum import Enum, IntFlag
|
||||
from enum import IntFlag
|
||||
from typing import Dict, List, Union
|
||||
|
||||
from cereal import car
|
||||
from panda.python import uds
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarInfo, Harness
|
||||
from selfdrive.car.docs_definitions import CarInfo, Harness, HarnessKit
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
@@ -53,13 +53,13 @@ class CAR:
|
||||
@dataclass
|
||||
class SubaruCarInfo(CarInfo):
|
||||
package: str = "EyeSight Driver Assistance"
|
||||
harness: Enum = Harness.subaru_a
|
||||
harness_kit: HarnessKit = HarnessKit(Harness.subaru_a)
|
||||
|
||||
|
||||
CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
|
||||
CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"),
|
||||
CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", harness=Harness.subaru_b),
|
||||
CAR.LEGACY: SubaruCarInfo("Subaru Legacy 2020-22", "All", harness=Harness.subaru_b),
|
||||
CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", harness_kit=HarnessKit(Harness.subaru_b)),
|
||||
CAR.LEGACY: SubaruCarInfo("Subaru Legacy 2020-22", "All", harness_kit=HarnessKit(Harness.subaru_b)),
|
||||
CAR.IMPREZA: [
|
||||
SubaruCarInfo("Subaru Impreza 2017-19"),
|
||||
SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
|
||||
@@ -247,7 +247,7 @@ FW_VERSIONS = {
|
||||
],
|
||||
(Ecu.fwdCamera, 0x787, None): [
|
||||
b'\000\000eb\037@ \"',
|
||||
b'\000\000e\x8f\037@ )',
|
||||
b'\x00\x00e\x8f\x1f@ )',
|
||||
b'\x00\x00eq\x1f@ "',
|
||||
b'\x00\x00eq\x00\x00\x00\x00',
|
||||
b'\x00\x00e\x8f\x00\x00\x00\x00',
|
||||
@@ -262,6 +262,7 @@ FW_VERSIONS = {
|
||||
b'\xca!fp\x07',
|
||||
b'\xf3"f@\x07',
|
||||
b'\xe6!fp\x07',
|
||||
b'\xf3"fp\x07',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xe6\xf5\004\000\000',
|
||||
|
||||
@@ -16,9 +16,7 @@ from selfdrive.car.body.values import CAR as COMMA
|
||||
|
||||
# TODO: add routes for these cars
|
||||
non_tested_cars = [
|
||||
FORD.ESCAPE_MK4,
|
||||
FORD.FOCUS_MK4,
|
||||
FORD.MAVERICK_MK1,
|
||||
GM.CADILLAC_ATS,
|
||||
GM.HOLDEN_ASTRA,
|
||||
GM.MALIBU,
|
||||
@@ -47,7 +45,9 @@ routes = [
|
||||
CarTestRoute("8fb5eabf914632ae|2022-08-04--17-28-53", CHRYSLER.RAM_HD, segment=6),
|
||||
|
||||
CarTestRoute("54827bf84c38b14f|2023-01-25--14-14-11", FORD.BRONCO_SPORT_MK1),
|
||||
CarTestRoute("f8eaaccd2a90aef8|2023-05-04--15-10-09", FORD.ESCAPE_MK4),
|
||||
CarTestRoute("62241b0c7fea4589|2022-09-01--15-32-49", FORD.EXPLORER_MK6),
|
||||
CarTestRoute("bd37e43731e5964b|2023-04-30--10-42-26", FORD.MAVERICK_MK1),
|
||||
#TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION),
|
||||
|
||||
CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.ACADIA),
|
||||
@@ -144,6 +144,7 @@ routes = [
|
||||
CarTestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.ELANTRA_HEV_2021),
|
||||
CarTestRoute("7120aa90bbc3add7|2021-08-02--07-12-31", HYUNDAI.SONATA_HYBRID),
|
||||
CarTestRoute("715ac05b594e9c59|2021-10-27--23-24-56", HYUNDAI.GENESIS_G70_2020),
|
||||
CarTestRoute("6b0d44d22df18134|2023-05-06--10-36-55", HYUNDAI.GENESIS_GV80),
|
||||
|
||||
CarTestRoute("00c829b1b7613dea|2021-06-24--09-10-10", TOYOTA.ALPHARD_TSS2),
|
||||
CarTestRoute("912119ebd02c7a42|2022-03-19--07-24-50", TOYOTA.ALPHARDH_TSS2),
|
||||
|
||||
@@ -6,9 +6,9 @@ from parameterized import parameterized
|
||||
|
||||
from cereal import car
|
||||
from selfdrive.car import gen_empty_fingerprint
|
||||
from selfdrive.car.fingerprints import all_known_cars
|
||||
from selfdrive.car.car_helpers import interfaces
|
||||
from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS
|
||||
from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS, all_known_cars
|
||||
|
||||
|
||||
class TestCarInterfaces(unittest.TestCase):
|
||||
|
||||
@@ -51,7 +51,7 @@ class TestCarInterfaces(unittest.TestCase):
|
||||
|
||||
elif tune.which() == 'torque':
|
||||
self.assertTrue(not math.isnan(tune.torque.kf) and tune.torque.kf > 0)
|
||||
self.assertTrue(not math.isnan(tune.torque.friction))
|
||||
self.assertTrue(not math.isnan(tune.torque.friction) and tune.torque.friction > 0)
|
||||
|
||||
elif tune.which() == 'indi':
|
||||
self.assertTrue(len(tune.indi.outerLoopGainV))
|
||||
|
||||
@@ -74,7 +74,8 @@ class TestCarDocs(unittest.TestCase):
|
||||
if car.name == "comma body":
|
||||
raise unittest.SkipTest
|
||||
|
||||
self.assertNotIn(car.harness, [None, Harness.none], f"Need to specify car harness: {car.name}")
|
||||
self.assertNotIn(car.harness_kit.connector, [None, Harness.none], f"Need to specify car harness: {car.name}")
|
||||
self.assertTrue(car.harness_kit.parts, f"Need to specify harness parts: {car.name} with {car.harness_kit.connector.value} connector")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
@@ -27,8 +27,8 @@ FORD MAVERICK 1ST GEN: [.nan, 1.5, .nan]
|
||||
COMMA BODY: [.nan, 1000, .nan]
|
||||
|
||||
# Totally new cars
|
||||
RAM 1500 5TH GEN: [2.0, 2.0, 0.0]
|
||||
RAM HD 5TH GEN: [1.4, 1.4, 0.0]
|
||||
RAM 1500 5TH GEN: [2.0, 2.0, 0.05]
|
||||
RAM HD 5TH GEN: [1.4, 1.4, 0.05]
|
||||
SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11]
|
||||
CADILLAC ESCALADE 2017: [1.899999976158142, 1.842270016670227, 0.1120000034570694]
|
||||
CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05]
|
||||
@@ -46,6 +46,7 @@ GENESIS GV60 ELECTRIC 1ST GEN: [2.5, 2.5, 0.1]
|
||||
KIA SORENTO 4TH GEN: [2.5, 2.5, 0.1]
|
||||
KIA NIRO HYBRID 2ND GEN: [2.42, 2.5, 0.12]
|
||||
KIA NIRO EV 2ND GEN: [2.05, 2.5, 0.14]
|
||||
GENESIS GV80 2023: [2.5, 2.5, 0.1]
|
||||
|
||||
# Dashcam or fallback configured as ideal car
|
||||
mock: [10.0, 10, 0.0]
|
||||
|
||||
@@ -99,6 +99,13 @@ def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_dep
|
||||
|
||||
# lane sway functionality
|
||||
# not all cars have LKAS_HUD — update with camera values if available
|
||||
values.update(stock_lkas_hud)
|
||||
if len(stock_lkas_hud):
|
||||
values.update({s: stock_lkas_hud[s] for s in [
|
||||
"LANE_SWAY_FLD",
|
||||
"LANE_SWAY_BUZZER",
|
||||
"LANE_SWAY_WARNING",
|
||||
"LANE_SWAY_SENSITIVITY",
|
||||
"LANE_SWAY_TOGGLE",
|
||||
]})
|
||||
|
||||
return packer.make_can_msg("LKAS_HUD", 0, values)
|
||||
|
||||
@@ -6,7 +6,7 @@ from typing import Dict, List, Union
|
||||
from cereal import car
|
||||
from common.conversions import Conversions as CV
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness, HarnessKit
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
@@ -102,7 +102,7 @@ class Footnote(Enum):
|
||||
@dataclass
|
||||
class ToyotaCarInfo(CarInfo):
|
||||
package: str = "All"
|
||||
harness: Enum = Harness.toyota
|
||||
harness_kit: HarnessKit = HarnessKit(Harness.toyota)
|
||||
|
||||
|
||||
CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
|
||||
@@ -1076,6 +1076,7 @@ FW_VERSIONS = {
|
||||
b'\x01896630E62200\x00\x00\x00\x00',
|
||||
b'\x01896630E64100\x00\x00\x00\x00',
|
||||
b'\x01896630E64200\x00\x00\x00\x00',
|
||||
b'\x01896630E64400\x00\x00\x00\x00',
|
||||
b'\x01896630EB1000\x00\x00\x00\x00',
|
||||
b'\x01896630EB1100\x00\x00\x00\x00',
|
||||
b'\x01896630EB1200\x00\x00\x00\x00',
|
||||
@@ -2017,6 +2018,7 @@ FW_VERSIONS = {
|
||||
b'\x01896630ED0000\x00\x00\x00\x00',
|
||||
b'\x01896630ED0100\x00\x00\x00\x00',
|
||||
b'\x01896630ED6000\x00\x00\x00\x00',
|
||||
b'\x018966348T8000\x00\x00\x00\x00',
|
||||
b'\x018966348W5100\x00\x00\x00\x00',
|
||||
b'\x018966348W9000\x00\x00\x00\x00',
|
||||
b'\x01896634D12000\x00\x00\x00\x00',
|
||||
@@ -2024,6 +2026,7 @@ FW_VERSIONS = {
|
||||
b'\x01896634D43000\x00\x00\x00\x00',
|
||||
b'\x01896634D44000\x00\x00\x00\x00',
|
||||
b'\x018966348X0000\x00\x00\x00\x00',
|
||||
b'\x01896630ED5000\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.abs, 0x7b0, None): [
|
||||
b'\x01F15260E031\x00\x00\x00\x00\x00\x00',
|
||||
@@ -2049,11 +2052,12 @@ FW_VERSIONS = {
|
||||
},
|
||||
CAR.LEXUS_RXH_TSS2: {
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\x02348X4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'\x02348X5000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'\x02348X8000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'\x02348Y3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'\x0234D14000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'\x0234D16000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'\x02348X4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.abs, 0x7b0, None): [
|
||||
b'F152648831\x00\x00\x00\x00\x00\x00',
|
||||
|
||||
@@ -7,7 +7,7 @@ from cereal import car
|
||||
from panda.python import uds
|
||||
from opendbc.can.can_define import CANDefine
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness, HarnessKit, HarnessPart
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
@@ -166,7 +166,7 @@ class Footnote(Enum):
|
||||
@dataclass
|
||||
class VWCarInfo(CarInfo):
|
||||
package: str = "Adaptive Cruise Control (ACC) & Lane Assist"
|
||||
harness: Enum = Harness.j533
|
||||
harness_kit: HarnessKit = HarnessKit(Harness.j533, parts=[HarnessPart.harness_box, HarnessPart.long_obdc_cable, HarnessPart.usbc_coupler])
|
||||
|
||||
def init_make(self, CP: car.CarParams):
|
||||
self.footnotes.insert(0, Footnote.VW_EXP_LONG)
|
||||
@@ -394,6 +394,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x8704E906016A \xf1\x897697',
|
||||
b'\xf1\x8704E906016AD\xf1\x895758',
|
||||
b'\xf1\x8704E906016CE\xf1\x899096',
|
||||
b'\xf1\x8704E906016CH\xf1\x899226',
|
||||
b'\xf1\x8704E906023AG\xf1\x891726',
|
||||
b'\xf1\x8704E906023BN\xf1\x894518',
|
||||
b'\xf1\x8704E906024K \xf1\x896811',
|
||||
@@ -442,6 +443,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x8709G927749AP\xf1\x892943',
|
||||
b'\xf1\x8709S927158A \xf1\x893585',
|
||||
b'\xf1\x870CW300040H \xf1\x890606',
|
||||
b'\xf1\x870CW300041D \xf1\x891004',
|
||||
b'\xf1\x870CW300041H \xf1\x891010',
|
||||
b'\xf1\x870CW300042F \xf1\x891604',
|
||||
b'\xf1\x870CW300043B \xf1\x891601',
|
||||
@@ -450,6 +452,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x870CW300044T \xf1\x895245',
|
||||
b'\xf1\x870CW300045 \xf1\x894531',
|
||||
b'\xf1\x870CW300047D \xf1\x895261',
|
||||
b'\xf1\x870CW300047E \xf1\x895261',
|
||||
b'\xf1\x870CW300048J \xf1\x890611',
|
||||
b'\xf1\x870CW300049H \xf1\x890905',
|
||||
b'\xf1\x870D9300012 \xf1\x894904',
|
||||
@@ -482,6 +485,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114317121C111C9113',
|
||||
b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114417121411149113',
|
||||
b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120053114317121C111C9113',
|
||||
b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\x13141500111233003142114A2131219333313100',
|
||||
b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333463100',
|
||||
b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100',
|
||||
b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2251229333463100',
|
||||
@@ -615,6 +619,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x8704L906026FP\xf1\x892012',
|
||||
b'\xf1\x8704L906026GA\xf1\x892013',
|
||||
b'\xf1\x8704L906026KD\xf1\x894798',
|
||||
b'\xf1\x873G0906259B \xf1\x890002',
|
||||
b'\xf1\x873G0906264 \xf1\x890004',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
@@ -625,7 +630,10 @@ FW_VERSIONS = {
|
||||
b'\xf1\x870D9300041A \xf1\x894801',
|
||||
b'\xf1\x870DD300045T \xf1\x891601',
|
||||
b'\xf1\x870DL300011H \xf1\x895201',
|
||||
b'\xf1\x870CW300042H \xf1\x891601',
|
||||
b'\xf1\x870GC300042H \xf1\x891404',
|
||||
b'\xf1\x870D9300018C \xf1\x895297',
|
||||
b'\xf1\x870GC300043 \xf1\x892301',
|
||||
],
|
||||
(Ecu.srs, 0x715, None): [
|
||||
b'\xf1\x873Q0959655AE\xf1\x890195\xf1\x82\r56140056130012416612124111',
|
||||
@@ -633,7 +641,10 @@ FW_VERSIONS = {
|
||||
b'\xf1\x873Q0959655AN\xf1\x890306\xf1\x82\r58160058140013036914110311',
|
||||
b'\xf1\x873Q0959655BA\xf1\x890195\xf1\x82\r56140056130012516612125111',
|
||||
b'\xf1\x873Q0959655BB\xf1\x890195\xf1\x82\r56140056130012026612120211',
|
||||
b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e5915005914001305701311052900',
|
||||
b'\xf1\x873Q0959655BG\xf1\x890712\xf1\x82\x0e5915005914001305701311052900',
|
||||
b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\0165915005914001344701311442900',
|
||||
b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e5915005914001354701311542900',
|
||||
b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e5915005914001305701311052900',
|
||||
b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02315120011111200631145171716121691132111',
|
||||
],
|
||||
@@ -646,6 +657,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521B00606A1',
|
||||
b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516B00501A1',
|
||||
b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521B00703A1',
|
||||
b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563B0000600',
|
||||
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020600',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x757, None): [
|
||||
@@ -680,19 +692,24 @@ FW_VERSIONS = {
|
||||
CAR.POLO_MK6: {
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\xf1\x8704C906025H \xf1\x895177',
|
||||
b'\xf1\x8705C906032J \xf1\x891702',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xf1\x870CW300042D \xf1\x891612',
|
||||
b'\xf1\x870CW300050D \xf1\x891908',
|
||||
b'\xf1\x870CW300051G \xf1\x891909',
|
||||
],
|
||||
(Ecu.srs, 0x715, None): [
|
||||
b'\xf1\x872Q0959655AG\xf1\x890248\xf1\x82\x1218130411110411--04040404231811152H14',
|
||||
b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\x1248130411110416--04040404784811152H14',
|
||||
b'\xf1\x872Q0959655AS\xf1\x890411\xf1\x82\x1384830511110516041405820599841215391471',
|
||||
],
|
||||
(Ecu.eps, 0x712, None): [
|
||||
b'\xf1\x872Q1909144M \xf1\x896041',
|
||||
b'\xf1\x872Q2909144AB\xf1\x896050',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x757, None): [
|
||||
b'\xf1\x872Q0907572AA\xf1\x890396',
|
||||
b'\xf1\x872Q0907572R \xf1\x890372',
|
||||
],
|
||||
},
|
||||
@@ -754,6 +771,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x8704L906027G \xf1\x899893',
|
||||
b'\xf1\x875N0906259 \xf1\x890002',
|
||||
b'\xf1\x875NA906259H \xf1\x890002',
|
||||
b'\xf1\x875NA907115E \xf1\x890003',
|
||||
b'\xf1\x875NA907115E \xf1\x890005',
|
||||
b'\xf1\x8783A907115B \xf1\x890005',
|
||||
b'\xf1\x8783A907115F \xf1\x890002',
|
||||
@@ -770,6 +788,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x870D9300043 \xf1\x895202',
|
||||
b'\xf1\x870DL300011N \xf1\x892001',
|
||||
b'\xf1\x870DL300011N \xf1\x892012',
|
||||
b'\xf1\x870DL300012M \xf1\x892107',
|
||||
b'\xf1\x870DL300012P \xf1\x892103',
|
||||
b'\xf1\x870DL300013A \xf1\x893005',
|
||||
b'\xf1\x870DL300013G \xf1\x892119',
|
||||
@@ -780,6 +799,7 @@ FW_VERSIONS = {
|
||||
(Ecu.srs, 0x715, None): [
|
||||
b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\02331310031333334313132573732379333313100',
|
||||
b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1312110031333300314232583732379333423100',
|
||||
b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1331310031333334313132013730379333423100',
|
||||
b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02316143231313500314641011750179333423100',
|
||||
b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02312110031333300314240583752379333423100',
|
||||
b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02331310031333336313140013950399333423100',
|
||||
@@ -791,6 +811,7 @@ FW_VERSIONS = {
|
||||
],
|
||||
(Ecu.eps, 0x712, None): [
|
||||
b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820529A6060603',
|
||||
b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527A6050705',
|
||||
b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A60604A1',
|
||||
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6000600',
|
||||
b'\xf1\x875QF909144A \xf1\x895581\xf1\x82\x0571A60834A1',
|
||||
@@ -814,18 +835,23 @@ FW_VERSIONS = {
|
||||
CAR.TOURAN_MK2: {
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\xf1\x8704L906026HM\xf1\x893017',
|
||||
b'\xf1\x8705E906018CQ\xf1\x890808',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xf1\x870CW300041E \xf1\x891005',
|
||||
b'\xf1\x870CW300051M \xf1\x891926',
|
||||
],
|
||||
(Ecu.srs, 0x715, None): [
|
||||
b'\xf1\x875Q0959655AS\xf1\x890318\xf1\x82\023363500213533353141324C4732479333313100',
|
||||
b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1336350021353336314740025250529333613100',
|
||||
],
|
||||
(Ecu.eps, 0x712, None): [
|
||||
b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820531B0062105',
|
||||
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A8090400',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x757, None): [
|
||||
b'\xf1\x873Q0907572C \xf1\x890195',
|
||||
b'\xf1\x872Q0907572AA\xf1\x890396',
|
||||
],
|
||||
},
|
||||
CAR.TRANSPORTER_T61: {
|
||||
@@ -1219,6 +1245,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x8704L906026MT\xf1\x893076',
|
||||
b'\xf1\x873G0906259 \xf1\x890004',
|
||||
b'\xf1\x873G0906259B \xf1\x890002',
|
||||
b'\xf1\x873G0906259L \xf1\x890003',
|
||||
b'\xf1\x873G0906264A \xf1\x890002',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
@@ -1227,6 +1254,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x870D9300012 \xf1\x894940',
|
||||
b'\xf1\x870D9300013A \xf1\x894905',
|
||||
b'\xf1\x870D9300041H \xf1\x894905',
|
||||
b'\xf1\x870GC300014M \xf1\x892801',
|
||||
b'\xf1\x870GC300043 \xf1\x892301',
|
||||
b'\xf1\x870D9300043F \xf1\x895202',
|
||||
],
|
||||
@@ -1236,6 +1264,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x875Q0959655AK\xf1\x890130\xf1\x82\022111200111121001121110012211292221111',
|
||||
b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100',
|
||||
b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100',
|
||||
b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152025350539331463100',
|
||||
],
|
||||
(Ecu.eps, 0x712, None): [
|
||||
b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514UZ070203',
|
||||
@@ -1243,12 +1272,14 @@ FW_VERSIONS = {
|
||||
b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\00563UZ060700',
|
||||
b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563UZ060600',
|
||||
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070600',
|
||||
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070700',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x757, None): [
|
||||
b'\xf1\x873Q0907572B \xf1\x890192',
|
||||
b'\xf1\x873Q0907572B \xf1\x890194',
|
||||
b'\xf1\x873Q0907572C \xf1\x890195',
|
||||
b'\xf1\x875Q0907572R \xf1\x890771',
|
||||
b'\xf1\x875Q0907572S \xf1\x890780',
|
||||
],
|
||||
},
|
||||
}
|
||||
|
||||
@@ -26,9 +26,7 @@ from selfdrive.controls.lib.latcontrol_torque import LatControlTorque
|
||||
from selfdrive.controls.lib.events import Events, ET
|
||||
from selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
|
||||
from selfdrive.controls.lib.vehicle_model import VehicleModel
|
||||
from selfdrive.locationd.calibrationd import Calibration
|
||||
from system.hardware import HARDWARE
|
||||
from selfdrive.manager.process_config import managed_processes
|
||||
|
||||
SOFT_DISABLE_TIME = 3 # seconds
|
||||
LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
|
||||
@@ -37,9 +35,7 @@ LANE_DEPARTURE_THRESHOLD = 0.1
|
||||
REPLAY = "REPLAY" in os.environ
|
||||
SIMULATION = "SIMULATION" in os.environ
|
||||
NOSENSOR = "NOSENSOR" in os.environ
|
||||
IGNORE_PROCESSES = {"uploader", "deleter", "loggerd", "logmessaged", "tombstoned", "statsd",
|
||||
"logcatd", "proclogd", "clocksd", "updated", "timezoned", "manage_athenad"} | \
|
||||
{k for k, v in managed_processes.items() if not v.enabled}
|
||||
IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"}
|
||||
|
||||
ThermalStatus = log.DeviceState.ThermalStatus
|
||||
State = log.ControlsState.OpenpilotState
|
||||
@@ -289,9 +285,12 @@ class Controls:
|
||||
|
||||
# Handle calibration status
|
||||
cal_status = self.sm['liveCalibration'].calStatus
|
||||
if cal_status != Calibration.CALIBRATED:
|
||||
if cal_status == Calibration.UNCALIBRATED:
|
||||
if cal_status != log.LiveCalibrationData.Status.calibrated:
|
||||
if cal_status == log.LiveCalibrationData.Status.uncalibrated:
|
||||
self.events.add(EventName.calibrationIncomplete)
|
||||
elif cal_status == log.LiveCalibrationData.Status.recalibrating:
|
||||
set_offroad_alert("Offroad_Recalibration", True)
|
||||
self.events.add(EventName.calibrationRecalibrating)
|
||||
else:
|
||||
self.events.add(EventName.calibrationInvalid)
|
||||
|
||||
@@ -343,9 +342,9 @@ class Controls:
|
||||
self.events.add(EventName.cameraMalfunction)
|
||||
elif not self.sm.all_freq_ok(self.camera_packets):
|
||||
self.events.add(EventName.cameraFrameRate)
|
||||
if self.rk.lagging:
|
||||
if not REPLAY and self.rk.lagging:
|
||||
self.events.add(EventName.controlsdLagging)
|
||||
if len(self.sm['radarState'].radarErrors) or not self.sm.all_checks(['radarState']):
|
||||
if len(self.sm['radarState'].radarErrors) or (not self.rk.lagging and not self.sm.all_checks(['radarState'])):
|
||||
self.events.add(EventName.radarFault)
|
||||
if not self.sm.valid['pandaStates']:
|
||||
self.events.add(EventName.usbError)
|
||||
@@ -418,7 +417,7 @@ class Controls:
|
||||
# TODO: fix simulator
|
||||
if not SIMULATION:
|
||||
if not NOSENSOR:
|
||||
if not self.sm['liveLocationKalman'].gpsOK and (self.distance_traveled > 1000):
|
||||
if not self.sm['liveLocationKalman'].gpsOK and self.sm['liveLocationKalman'].inputsOK and (self.distance_traveled > 1000):
|
||||
# Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
|
||||
self.events.add(EventName.noGps)
|
||||
|
||||
@@ -707,15 +706,15 @@ class Controls:
|
||||
|
||||
recent_blinker = (self.sm.frame - self.last_blinker_frame) * DT_CTRL < 5.0 # 5s blinker cooldown
|
||||
ldw_allowed = self.is_ldw_enabled and CS.vEgo > LDW_MIN_SPEED and not recent_blinker \
|
||||
and not CC.latActive and self.sm['liveCalibration'].calStatus == Calibration.CALIBRATED
|
||||
and not CC.latActive and self.sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.calibrated
|
||||
|
||||
model_v2 = self.sm['modelV2']
|
||||
desire_prediction = model_v2.meta.desirePrediction
|
||||
if len(desire_prediction) and ldw_allowed:
|
||||
right_lane_visible = model_v2.laneLineProbs[2] > 0.5
|
||||
left_lane_visible = model_v2.laneLineProbs[1] > 0.5
|
||||
l_lane_change_prob = desire_prediction[Desire.laneChangeLeft - 1]
|
||||
r_lane_change_prob = desire_prediction[Desire.laneChangeRight - 1]
|
||||
l_lane_change_prob = desire_prediction[Desire.laneChangeLeft]
|
||||
r_lane_change_prob = desire_prediction[Desire.laneChangeRight]
|
||||
|
||||
lane_lines = model_v2.laneLines
|
||||
l_lane_close = left_lane_visible and (lane_lines[1].y[0] > -(1.08 + CAMERA_OFFSET))
|
||||
|
||||
@@ -48,5 +48,9 @@
|
||||
"Offroad_NoFirmware": {
|
||||
"text": "openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.",
|
||||
"severity": 0
|
||||
},
|
||||
"Offroad_Recalibration": {
|
||||
"text": "openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.",
|
||||
"severity": 0
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
import math
|
||||
|
||||
from cereal import car
|
||||
from cereal import car, log
|
||||
from common.conversions import Conversions as CV
|
||||
from common.numpy_fast import clip, interp
|
||||
from common.realtime import DT_MDL
|
||||
@@ -23,6 +23,8 @@ CAR_ROTATION_RADIUS = 0.0
|
||||
# EU guidelines
|
||||
MAX_LATERAL_JERK = 5.0
|
||||
|
||||
MAX_VEL_ERR = 5.0
|
||||
|
||||
ButtonEvent = car.CarState.ButtonEvent
|
||||
ButtonType = car.CarState.ButtonEvent.Type
|
||||
CRUISE_LONG_PRESS = 50
|
||||
@@ -211,3 +213,11 @@ def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, fric
|
||||
)
|
||||
friction = float(friction_interp) if friction_compensation else 0.0
|
||||
return friction
|
||||
|
||||
|
||||
def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:
|
||||
# ToDo: Try relative error, and absolute speed
|
||||
if len(modelV2.temporalPose.trans):
|
||||
vel_err = clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
|
||||
return float(vel_err)
|
||||
return 0.0
|
||||
|
||||
@@ -242,8 +242,9 @@ def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S
|
||||
|
||||
|
||||
def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
|
||||
first_word = 'Recalibration' if sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.recalibrating else 'Calibration'
|
||||
return Alert(
|
||||
"Calibration in Progress: %d%%" % sm['liveCalibration'].calPerc,
|
||||
f"{first_word} in Progress: {sm['liveCalibration'].calPerc:.0f}%",
|
||||
f"Drive Above {get_display_speed(MIN_SPEED_FILTER, metric)}",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2)
|
||||
@@ -368,6 +369,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
|
||||
# Car is recognized, but marked as dashcam only
|
||||
EventName.startupNoControl: {
|
||||
ET.PERMANENT: StartupAlert("Dashcam mode"),
|
||||
ET.NO_ENTRY: NoEntryAlert("Dashcam mode"),
|
||||
},
|
||||
|
||||
# Car is not recognized
|
||||
@@ -761,9 +763,15 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
|
||||
|
||||
EventName.calibrationIncomplete: {
|
||||
ET.PERMANENT: calibration_incomplete_alert,
|
||||
ET.SOFT_DISABLE: soft_disable_alert("Device remount detected: recalibrating"),
|
||||
ET.SOFT_DISABLE: soft_disable_alert("Calibration Incomplete"),
|
||||
ET.NO_ENTRY: NoEntryAlert("Calibration in Progress"),
|
||||
},
|
||||
|
||||
EventName.calibrationRecalibrating: {
|
||||
ET.PERMANENT: calibration_incomplete_alert,
|
||||
ET.SOFT_DISABLE: soft_disable_alert("Device Remount Detected: Recalibrating"),
|
||||
ET.NO_ENTRY: NoEntryAlert("Remount Detected: Recalibrating"),
|
||||
},
|
||||
|
||||
EventName.doorOpen: {
|
||||
ET.SOFT_DISABLE: user_soft_disable_alert("Door Open"),
|
||||
@@ -987,4 +995,10 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
|
||||
ET.NO_ENTRY: NoEntryAlert("LKAS Disabled"),
|
||||
},
|
||||
|
||||
EventName.vehicleSensorsInvalid: {
|
||||
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Vehicle Sensors Invalid"),
|
||||
ET.PERMANENT: NormalPermanentAlert("Vehicle Sensors Calibrating", "Drive to Calibrate"),
|
||||
ET.NO_ENTRY: NoEntryAlert("Vehicle Sensors Calibrating"),
|
||||
},
|
||||
|
||||
}
|
||||
|
||||
@@ -4,7 +4,7 @@ from common.numpy_fast import interp
|
||||
from system.swaglog import cloudlog
|
||||
from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc
|
||||
from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N
|
||||
from selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED
|
||||
from selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED, get_speed_error
|
||||
from selfdrive.controls.lib.desire_helper import DesireHelper
|
||||
import cereal.messaging as messaging
|
||||
from cereal import log
|
||||
@@ -39,7 +39,11 @@ class LateralPlanner:
|
||||
self.plan_yaw = np.zeros((TRAJECTORY_SIZE,))
|
||||
self.plan_yaw_rate = np.zeros((TRAJECTORY_SIZE,))
|
||||
self.t_idxs = np.arange(TRAJECTORY_SIZE)
|
||||
self.y_pts = np.zeros(TRAJECTORY_SIZE)
|
||||
self.y_pts = np.zeros((TRAJECTORY_SIZE,))
|
||||
self.v_plan = np.zeros((TRAJECTORY_SIZE,))
|
||||
self.v_ego = 0.0
|
||||
self.l_lane_change_prob = 0.0
|
||||
self.r_lane_change_prob = 0.0
|
||||
self.d_path_w_lines_xyz = np.zeros((TRAJECTORY_SIZE, 3))
|
||||
|
||||
self.lat_mpc = LateralMpc()
|
||||
@@ -52,6 +56,7 @@ class LateralPlanner:
|
||||
def update(self, sm):
|
||||
# clip speed , lateral planning is not possible at 0 speed
|
||||
measured_curvature = sm['controlsState'].curvature
|
||||
v_ego_car = sm['carState'].vEgo
|
||||
|
||||
# Parse model predictions
|
||||
md = sm['modelV2']
|
||||
@@ -61,7 +66,7 @@ class LateralPlanner:
|
||||
self.plan_yaw = np.array(md.orientation.z)
|
||||
self.plan_yaw_rate = np.array(md.orientationRate.z)
|
||||
self.velocity_xyz = np.column_stack([md.velocity.x, md.velocity.y, md.velocity.z])
|
||||
car_speed = np.linalg.norm(self.velocity_xyz, axis=1)
|
||||
car_speed = np.linalg.norm(self.velocity_xyz, axis=1) - get_speed_error(md, v_ego_car)
|
||||
self.v_plan = np.clip(car_speed, MIN_SPEED, np.inf)
|
||||
self.v_ego = self.v_plan[0]
|
||||
|
||||
|
||||
@@ -11,7 +11,7 @@ from selfdrive.modeld.constants import T_IDXS
|
||||
from selfdrive.controls.lib.longcontrol import LongCtrlState
|
||||
from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, MIN_ACCEL, MAX_ACCEL
|
||||
from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
|
||||
from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N
|
||||
from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N, get_speed_error
|
||||
from selfdrive.controls.lib.vision_turn_controller import VisionTurnController
|
||||
from selfdrive.controls.lib.speed_limit_controller import SpeedLimitController, SpeedLimitResolver
|
||||
from selfdrive.controls.lib.turn_speed_controller import TurnSpeedController
|
||||
@@ -116,8 +116,7 @@ class LongitudinalPlanner:
|
||||
# Prevent divergence, smooth in current v_ego
|
||||
self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
|
||||
# Compute model v_ego error
|
||||
if len(sm['modelV2'].temporalPose.trans):
|
||||
self.v_model_error = sm['modelV2'].temporalPose.trans[0] - v_ego
|
||||
self.v_model_error = get_speed_error(sm['modelV2'], v_ego)
|
||||
|
||||
if force_slow_decel:
|
||||
v_cruise = 0.0
|
||||
|
||||
@@ -5,7 +5,7 @@ import datetime
|
||||
from collections import Counter
|
||||
from pprint import pprint
|
||||
from tqdm import tqdm
|
||||
from typing import cast
|
||||
from typing import List, Tuple, cast
|
||||
|
||||
from cereal.services import service_list
|
||||
from tools.lib.route import Route
|
||||
@@ -20,6 +20,7 @@ if __name__ == "__main__":
|
||||
cams = [s for s in service_list if s.endswith('CameraState')]
|
||||
cnt_cameras = dict.fromkeys(cams, 0)
|
||||
|
||||
alerts: List[Tuple[float, str]] = []
|
||||
start_time = math.inf
|
||||
end_time = -math.inf
|
||||
for q in tqdm(r.qlog_paths()):
|
||||
@@ -27,18 +28,22 @@ if __name__ == "__main__":
|
||||
continue
|
||||
lr = list(LogReader(q))
|
||||
for msg in lr:
|
||||
end_time = max(end_time, msg.logMonoTime)
|
||||
start_time = min(start_time, msg.logMonoTime)
|
||||
|
||||
if msg.which() == 'carEvents':
|
||||
for e in msg.carEvents:
|
||||
cnt_events[e.name] += 1
|
||||
elif msg.which() == 'controlsState':
|
||||
if len(alerts) == 0 or alerts[-1][1] != msg.controlsState.alertType:
|
||||
t = (msg.logMonoTime - start_time) / 1e9
|
||||
alerts.append((t, msg.controlsState.alertType))
|
||||
elif msg.which() in cams:
|
||||
cnt_cameras[msg.which()] += 1
|
||||
|
||||
if not msg.valid:
|
||||
cnt_valid[msg.which()] += 1
|
||||
|
||||
end_time = max(end_time, msg.logMonoTime)
|
||||
start_time = min(start_time, msg.logMonoTime)
|
||||
|
||||
duration = (end_time - start_time) / 1e9
|
||||
|
||||
print("Events")
|
||||
@@ -55,5 +60,10 @@ if __name__ == "__main__":
|
||||
expected_frames = int(s.frequency * duration / cast(float, s.decimation))
|
||||
print(" ", k.ljust(20), f"{v}, {v/expected_frames:.1%} of expected")
|
||||
|
||||
print("\n")
|
||||
print("Alerts")
|
||||
for t, a in alerts:
|
||||
print(f"{t:8.2f} {a}")
|
||||
|
||||
print("\n")
|
||||
print("Route duration", datetime.timedelta(seconds=duration))
|
||||
|
||||
@@ -49,7 +49,7 @@ if __name__ == "__main__":
|
||||
sw_pn = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER).decode("utf-8")
|
||||
sw_ver = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER).decode("utf-8")
|
||||
component = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.SYSTEM_NAME_OR_ENGINE_TYPE).decode("utf-8")
|
||||
odx_file = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.ODX_FILE).decode("utf-8")
|
||||
odx_file = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.ODX_FILE).decode("utf-8").rstrip('\x00')
|
||||
current_coding = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING) # type: ignore
|
||||
coding_text = current_coding.hex()
|
||||
|
||||
@@ -70,14 +70,14 @@ if __name__ == "__main__":
|
||||
coding_variant, current_coding_array, coding_byte, coding_bit = None, None, 0, 0
|
||||
coding_length = len(current_coding)
|
||||
|
||||
# EV_SteerAssisMQB/MNB cover the majority of MQB racks (EPS_MQB_ZFLS)
|
||||
if odx_file in ("EV_SteerAssisMQB\x00", "EV_SteerAssisMNB\x00"):
|
||||
coding_variant = "ZF"
|
||||
# EPS_MQB_ZFLS
|
||||
if odx_file in ("EV_SteerAssisMQB", "EV_SteerAssisMNB"):
|
||||
coding_variant = "ZFLS"
|
||||
coding_byte = 0
|
||||
coding_bit = 4
|
||||
|
||||
# APA racks (MQB_PP_APA) have a different coding layout
|
||||
elif odx_file == "EV_SteerAssisVWBSMQBA\x00\x00\x00\x00":
|
||||
# MQB_PP_APA, MQB_VWBS_GEN2
|
||||
elif odx_file in ("EV_SteerAssisVWBSMQBA", "EV_SteerAssisVWBSMQBGen2"):
|
||||
coding_variant = "APA"
|
||||
coding_byte = 3
|
||||
coding_bit = 0
|
||||
@@ -111,8 +111,8 @@ if __name__ == "__main__":
|
||||
if args.action in ["enable", "disable"]:
|
||||
print("\nAttempting configuration update")
|
||||
|
||||
assert(coding_variant in ("ZF", "APA"))
|
||||
# ZF EPS config coding length can be anywhere from 1 to 4 bytes, but the
|
||||
assert(coding_variant in ("ZFLS", "APA"))
|
||||
# ZFLS EPS config coding length can be anywhere from 1 to 4 bytes, but the
|
||||
# bit we care about is always in the same place in the first byte
|
||||
if args.action == "enable":
|
||||
new_byte = current_coding_array[coding_byte] | (1 << coding_bit)
|
||||
|
||||
@@ -39,12 +39,6 @@ YAW_LIMITS = np.array([-0.06912048084718224, 0.06912048084718235])
|
||||
DEBUG = os.getenv("DEBUG") is not None
|
||||
|
||||
|
||||
class Calibration:
|
||||
UNCALIBRATED = 0
|
||||
CALIBRATED = 1
|
||||
INVALID = 2
|
||||
|
||||
|
||||
def is_calibration_valid(rpy: np.ndarray) -> bool:
|
||||
return (PITCH_LIMITS[0] < rpy[1] < PITCH_LIMITS[1]) and (YAW_LIMITS[0] < rpy[2] < YAW_LIMITS[1]) # type: ignore
|
||||
|
||||
@@ -69,6 +63,7 @@ class Calibrator:
|
||||
rpy_init = RPY_INIT
|
||||
wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT
|
||||
valid_blocks = 0
|
||||
self.cal_status = log.LiveCalibrationData.Status.uncalibrated
|
||||
|
||||
if param_put and calibration_params:
|
||||
try:
|
||||
@@ -134,16 +129,20 @@ class Calibrator:
|
||||
self.calib_spread = np.zeros(3)
|
||||
|
||||
if self.valid_blocks < INPUTS_NEEDED:
|
||||
self.cal_status = Calibration.UNCALIBRATED
|
||||
if self.cal_status == log.LiveCalibrationData.Status.recalibrating:
|
||||
self.cal_status = log.LiveCalibrationData.Status.recalibrating
|
||||
else:
|
||||
self.cal_status = log.LiveCalibrationData.Status.uncalibrated
|
||||
elif is_calibration_valid(self.rpy):
|
||||
self.cal_status = Calibration.CALIBRATED
|
||||
self.cal_status = log.LiveCalibrationData.Status.calibrated
|
||||
else:
|
||||
self.cal_status = Calibration.INVALID
|
||||
self.cal_status = log.LiveCalibrationData.Status.invalid
|
||||
|
||||
# If spread is too high, assume mounting was changed and reset to last block.
|
||||
# Make the transition smooth. Abrupt transitions are not good for feedback loop through supercombo model.
|
||||
if max(self.calib_spread) > MAX_ALLOWED_SPREAD and self.cal_status == Calibration.CALIBRATED:
|
||||
if max(self.calib_spread) > MAX_ALLOWED_SPREAD and self.cal_status == log.LiveCalibrationData.Status.calibrated:
|
||||
self.reset(self.rpys[self.block_idx - 1], valid_blocks=1, smooth_from=self.rpy)
|
||||
self.cal_status = log.LiveCalibrationData.Status.recalibrating
|
||||
|
||||
write_this_cycle = (self.idx == 0) and (self.block_idx % (INPUTS_WANTED//5) == 5)
|
||||
if self.param_put and write_this_cycle:
|
||||
@@ -210,7 +209,7 @@ class Calibrator:
|
||||
|
||||
if self.not_car:
|
||||
liveCalibration.validBlocks = INPUTS_NEEDED
|
||||
liveCalibration.calStatus = Calibration.CALIBRATED
|
||||
liveCalibration.calStatus = log.LiveCalibrationData.Status.calibrated
|
||||
liveCalibration.calPerc = 100.
|
||||
liveCalibration.rpyCalib = [0, 0, 0]
|
||||
liveCalibration.rpyCalibSpread = self.calib_spread.tolist()
|
||||
|
||||
@@ -5,7 +5,6 @@ import time
|
||||
import shutil
|
||||
from collections import defaultdict
|
||||
from concurrent.futures import Future, ProcessPoolExecutor
|
||||
from datetime import datetime
|
||||
from enum import IntEnum
|
||||
from typing import List, Optional, Dict, Any
|
||||
|
||||
@@ -88,7 +87,6 @@ class Laikad:
|
||||
self.auto_fetch_navs = auto_fetch_navs
|
||||
self.orbit_fetch_executor: Optional[ProcessPoolExecutor] = None
|
||||
self.orbit_fetch_future: Optional[Future] = None
|
||||
self.got_first_gnss_msg = False
|
||||
|
||||
self.last_report_time = GPSTime(0, 0)
|
||||
self.last_fetch_navs_t = GPSTime(0, 0)
|
||||
@@ -178,17 +176,32 @@ class Laikad:
|
||||
|
||||
return position_estimate, position_std, velocity_estimate, velocity_std
|
||||
|
||||
def gps_time_from_qcom_report(self, gnss_msg):
|
||||
report = gnss_msg.drMeasurementReport
|
||||
if report.source == log.QcomGnss.MeasurementSource.gps:
|
||||
report_time = GPSTime(report.gpsWeek, report.gpsMilliseconds / 1000.0)
|
||||
elif report.source == log.QcomGnss.MeasurementSource.sbas:
|
||||
report_time = GPSTime(report.gpsWeek, report.gpsMilliseconds / 1000.0)
|
||||
elif report.source == log.QcomGnss.MeasurementSource.glonass:
|
||||
report_time = GPSTime.from_glonass(report.glonassYear,
|
||||
report.glonassDay,
|
||||
report.glonassMilliseconds / 1000.0)
|
||||
else:
|
||||
raise NotImplementedError(f'Unknownconstellation {report.source}')
|
||||
return report_time
|
||||
|
||||
def is_good_report(self, gnss_msg):
|
||||
if gnss_msg.which() == 'drMeasurementReport' and self.use_qcom:
|
||||
constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source)
|
||||
# TODO: Understand and use remaining unknown constellations
|
||||
try:
|
||||
good_constellation = constellation_id in [ConstellationId.GPS, ConstellationId.SBAS]
|
||||
good_constellation = constellation_id in [ConstellationId.GPS, ConstellationId.SBAS, ConstellationId.GLONASS]
|
||||
except NotImplementedError:
|
||||
good_constellation = False
|
||||
# gpsWeek 65535 is received rarely from quectel, this cannot be
|
||||
# passed to GnssMeasurements's gpsWeek (Int16)
|
||||
good_week = not getattr(gnss_msg, gnss_msg.which()).gpsWeek > np.iinfo(np.int16).max
|
||||
# Garbage timestamps with week > 32767 are sometimes sent by module.
|
||||
# This is an issue with gpsTime and GLONASS time.
|
||||
report_time = self.gps_time_from_qcom_report(gnss_msg)
|
||||
good_week = report_time.week < np.iinfo(np.int16).max
|
||||
return good_constellation and good_week
|
||||
elif gnss_msg.which() == 'measurementReport' and not self.use_qcom:
|
||||
return True
|
||||
@@ -197,17 +210,26 @@ class Laikad:
|
||||
|
||||
def read_report(self, gnss_msg):
|
||||
if self.use_qcom:
|
||||
# QCOM reports are per constellation, should always send 3 reports
|
||||
report = gnss_msg.drMeasurementReport
|
||||
week = report.gpsWeek
|
||||
tow = report.gpsMilliseconds / 1000.0
|
||||
new_meas = read_raw_qcom(report)
|
||||
report_time = self.gps_time_from_qcom_report(gnss_msg)
|
||||
|
||||
if report_time - self.last_report_time > 0:
|
||||
self.qcom_reports = [report]
|
||||
else:
|
||||
self.qcom_reports.append(report)
|
||||
self.last_report_time = report_time
|
||||
|
||||
new_meas = []
|
||||
if len(self.qcom_reports) == 3:
|
||||
for report in self.qcom_reports:
|
||||
new_meas.extend(read_raw_qcom(report))
|
||||
|
||||
else:
|
||||
report = gnss_msg.measurementReport
|
||||
week = report.gpsWeek
|
||||
tow = report.rcvTow
|
||||
self.last_report_time = GPSTime(report.gpsWeek, report.rcvTow)
|
||||
new_meas = read_raw_ublox(report)
|
||||
self.last_report_time = GPSTime(week, tow)
|
||||
return week, tow, new_meas
|
||||
return self.last_report_time, new_meas
|
||||
|
||||
def is_ephemeris(self, gnss_msg):
|
||||
if self.use_qcom:
|
||||
@@ -281,13 +303,11 @@ class Laikad:
|
||||
if self.is_ephemeris(gnss_msg):
|
||||
self.read_ephemeris(gnss_msg)
|
||||
elif self.is_good_report(gnss_msg):
|
||||
week, tow, new_meas = self.read_report(gnss_msg)
|
||||
self.gps_week = week
|
||||
if week > 0:
|
||||
self.got_first_gnss_msg = True
|
||||
latest_msg_t = GPSTime(week, tow)
|
||||
report_t, new_meas = self.read_report(gnss_msg)
|
||||
self.gps_week = report_t.week
|
||||
if report_t.week > 0:
|
||||
if self.auto_fetch_navs:
|
||||
self.fetch_navs(latest_msg_t, block)
|
||||
self.fetch_navs(report_t, block)
|
||||
|
||||
corrected_measurements = self.process_report(new_meas, t)
|
||||
msg_dict['correctedMeasurements'] = [create_measurement_msg(m) for m in corrected_measurements]
|
||||
@@ -432,10 +452,7 @@ def main(sm=None, pm=None):
|
||||
raw_name = "qcomGnss"
|
||||
else:
|
||||
raw_name = "ubloxGnss"
|
||||
raw_gnss_sock = messaging.sub_sock(raw_name, conflate=False, timeout=1000)
|
||||
|
||||
if sm is None:
|
||||
sm = messaging.SubMaster(['clocks',])
|
||||
raw_gnss_sock = messaging.sub_sock(raw_name, conflate=False)
|
||||
if pm is None:
|
||||
pm = messaging.PubMaster(['gnssMeasurements'])
|
||||
|
||||
@@ -443,23 +460,16 @@ def main(sm=None, pm=None):
|
||||
use_internet = False # "LAIKAD_NO_INTERNET" not in os.environ
|
||||
|
||||
replay = "REPLAY" in os.environ
|
||||
if replay or "CI" in os.environ:
|
||||
if replay:
|
||||
use_internet = True
|
||||
|
||||
laikad = Laikad(save_ephemeris=not replay, auto_fetch_navs=use_internet, use_qcom=use_qcom)
|
||||
|
||||
while True:
|
||||
for in_msg in messaging.drain_sock(raw_gnss_sock):
|
||||
for in_msg in messaging.drain_sock(raw_gnss_sock, wait_for_one=True):
|
||||
out_msg = laikad.process_gnss_msg(getattr(in_msg, raw_name), in_msg.logMonoTime, replay)
|
||||
pm.send('gnssMeasurements', out_msg)
|
||||
|
||||
sm.update(0)
|
||||
if not laikad.got_first_gnss_msg and sm.updated['clocks']:
|
||||
clocks_msg = sm['clocks']
|
||||
t = GPSTime.from_datetime(datetime.utcfromtimestamp(clocks_msg.wallTimeNanos * 1E-9))
|
||||
if laikad.auto_fetch_navs:
|
||||
laikad.fetch_navs(t, block=replay)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
||||
@@ -507,7 +507,7 @@ void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibra
|
||||
this->calib = live_calib;
|
||||
this->device_from_calib = euler2rot(this->calib);
|
||||
this->calib_from_device = this->device_from_calib.transpose();
|
||||
this->calibrated = log.getCalStatus() == 1;
|
||||
this->calibrated = log.getCalStatus() == cereal::LiveCalibrationData::Status::CALIBRATED;
|
||||
this->observation_values_invalid["liveCalibration"] *= DECAY;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -5,6 +5,7 @@ import unittest
|
||||
import numpy as np
|
||||
|
||||
import cereal.messaging as messaging
|
||||
from cereal import log
|
||||
from common.params import Params
|
||||
from selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, MAX_YAW_RATE_FILTER, SMOOTH_CYCLES
|
||||
|
||||
@@ -96,6 +97,7 @@ class TestCalibrationd(unittest.TestCase):
|
||||
[0.0, 0.0, 0.0],
|
||||
[1e-3, 1e-3, 1e-3])
|
||||
self.assertEqual(c.valid_blocks, 1)
|
||||
self.assertEqual(c.cal_status, log.LiveCalibrationData.Status.recalibrating)
|
||||
np.testing.assert_allclose(c.rpy, [0.0, 0.0, -0.05], atol=1e-2)
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
@@ -36,3 +36,8 @@ def unblock_stdout() -> None:
|
||||
# whose low byte is the signal number and whose high byte is the exit status
|
||||
exit_status = os.wait()[1] >> 8
|
||||
os._exit(exit_status)
|
||||
|
||||
|
||||
def write_onroad_params(started, params):
|
||||
params.put_bool("IsOnroad", started)
|
||||
params.put_bool("IsOffroad", not started)
|
||||
|
||||
@@ -14,7 +14,7 @@ from common.params import Params, ParamKeyType
|
||||
from common.text_window import TextWindow
|
||||
from selfdrive.boardd.set_time import set_time
|
||||
from system.hardware import HARDWARE, PC
|
||||
from selfdrive.manager.helpers import unblock_stdout
|
||||
from selfdrive.manager.helpers import unblock_stdout, write_onroad_params
|
||||
from selfdrive.manager.process import ensure_running
|
||||
from selfdrive.manager.process_config import managed_processes
|
||||
from selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
|
||||
@@ -199,12 +199,27 @@ def manager_thread() -> None:
|
||||
sm = messaging.SubMaster(['deviceState', 'carParams'], poll=['deviceState'])
|
||||
pm = messaging.PubMaster(['managerState'])
|
||||
|
||||
write_onroad_params(False, params)
|
||||
ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore)
|
||||
|
||||
started_prev = False
|
||||
|
||||
while True:
|
||||
sm.update()
|
||||
|
||||
started = sm['deviceState'].started
|
||||
|
||||
if started and not started_prev:
|
||||
params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
|
||||
elif not started and started_prev:
|
||||
params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
|
||||
|
||||
# update onroad params, which drives boardd's safety setter thread
|
||||
if started != started_prev:
|
||||
write_onroad_params(started, params)
|
||||
|
||||
started_prev = started
|
||||
|
||||
ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore)
|
||||
|
||||
running = ' '.join("%s%s\u001b[0m" % ("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
|
||||
|
||||
@@ -32,28 +32,30 @@ Read [here](https://github.com/commaai/openpilot/blob/90af436a121164a51da9fa48d0
|
||||
* .dlc file is a pre-quantized model and only runs on qualcomm DSPs
|
||||
|
||||
### input format
|
||||
* single image (640 * 320 * 3 in RGB):
|
||||
* full input size is 6 * 640/2 * 320/2 = 307200
|
||||
* represented in YUV420 with 6 channels:
|
||||
* Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
|
||||
* Channel 4 represents the half-res U channel
|
||||
* Channel 5 represents the half-res V channel
|
||||
* normalized, ranging from -1.0 to 1.0
|
||||
* single image W = 1440 H = 960 represented in planar YUV420 format:
|
||||
* full input size is 1440 * 960 = 1382400
|
||||
* normalized ranging from 0.0 to 1.0 in float32 (onnx runner) or ranging from 0 to 255 in uint8 (snpe runner)
|
||||
|
||||
### output format
|
||||
* 39 x float32 outputs ([parsing example](https://github.com/commaai/openpilot/blob/master/selfdrive/modeld/models/dmonitoring.cc#L165))
|
||||
* face pose: 12 = 6 + 6
|
||||
* face orientation [pitch, yaw, roll] in camera frame: 3
|
||||
* face position [dx, dy] relative to image center: 2
|
||||
* normalized face size: 1
|
||||
* standard deviations for above outputs: 6
|
||||
* face visible probability: 1
|
||||
* eyes: 20 = (8 + 1) + (8 + 1) + 1 + 1
|
||||
* eye position and size, and their standard deviations: 8
|
||||
* eye visible probability: 1
|
||||
* eye closed probability: 1
|
||||
* wearing sunglasses probability: 1
|
||||
* poor camera vision probability: 1
|
||||
* face partially out-of-frame probability: 1
|
||||
* (deprecated) distracted probabilities: 2
|
||||
* face covered probability: 1
|
||||
* 84 x float32 outputs = 2 + 41 * 2 ([parsing example](https://github.com/commaai/openpilot/blob/22ce4e17ba0d3bfcf37f8255a4dd1dc683fe0c38/selfdrive/modeld/models/dmonitoring.cc#L33))
|
||||
* for each person in the front seats (2 * 41)
|
||||
* face pose: 12 = 6 + 6
|
||||
* face orientation [pitch, yaw, roll] in camera frame: 3
|
||||
* face position [dx, dy] relative to image center: 2
|
||||
* normalized face size: 1
|
||||
* standard deviations for above outputs: 6
|
||||
* face visible probability: 1
|
||||
* eyes: 20 = (8 + 1) + (8 + 1) + 1 + 1
|
||||
* eye position and size, and their standard deviations: 8
|
||||
* eye visible probability: 1
|
||||
* eye closed probability: 1
|
||||
* wearing sunglasses probability: 1
|
||||
* face occluded probability: 1
|
||||
* touching wheel probability: 1
|
||||
* paying attention probability: 1
|
||||
* (deprecated) distracted probabilities: 2
|
||||
* using phone probability: 1
|
||||
* distracted probability: 1
|
||||
* common outputs 2
|
||||
* poor camera vision probability: 1
|
||||
* left hand drive probability: 1
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:5121deb0d5c683b0fbee4c1cad7bc625953bf127b1383fb7599a6b644efd0aea
|
||||
oid sha256:0007958c9bad4a87eb5c28080b5bfdc24834958fbcbaff448674fa570b0196da
|
||||
size 46011200
|
||||
|
||||
@@ -3,10 +3,10 @@ import gc
|
||||
|
||||
import cereal.messaging as messaging
|
||||
from cereal import car
|
||||
from cereal import log
|
||||
from common.params import Params, put_bool_nonblocking
|
||||
from common.realtime import set_realtime_priority
|
||||
from selfdrive.controls.lib.events import Events
|
||||
from selfdrive.locationd.calibrationd import Calibration
|
||||
from selfdrive.monitoring.driver_monitor import DriverStatus
|
||||
from selfdrive.monitoring.hands_on_wheel_monitor import HandsOnWheelStatus
|
||||
|
||||
@@ -24,7 +24,7 @@ def dmonitoringd_thread(sm=None, pm=None):
|
||||
driver_status = DriverStatus(rhd_saved=Params().get_bool("IsRhdDetected"))
|
||||
hands_on_wheel_status = HandsOnWheelStatus()
|
||||
|
||||
sm['liveCalibration'].calStatus = Calibration.INVALID
|
||||
sm['liveCalibration'].calStatus = log.LiveCalibrationData.Status.invalid
|
||||
sm['liveCalibration'].rpyCalib = [0, 0, 0]
|
||||
sm['carState'].buttonEvents = []
|
||||
sm['carState'].standstill = True
|
||||
|
||||
+2
-12
@@ -7,22 +7,12 @@
|
||||
#include "selfdrive/navd/map_renderer.h"
|
||||
#include "system/hardware/hw.h"
|
||||
|
||||
|
||||
|
||||
void sigHandler(int s) {
|
||||
qInfo() << "Shutting down";
|
||||
std::signal(s, SIG_DFL);
|
||||
|
||||
qApp->quit();
|
||||
}
|
||||
|
||||
|
||||
int main(int argc, char *argv[]) {
|
||||
qInstallMessageHandler(swagLogMessageHandler);
|
||||
|
||||
QApplication app(argc, argv);
|
||||
std::signal(SIGINT, sigHandler);
|
||||
std::signal(SIGTERM, sigHandler);
|
||||
std::signal(SIGINT, sigTermHandler);
|
||||
std::signal(SIGTERM, sigTermHandler);
|
||||
|
||||
MapRenderer * m = new MapRenderer(get_mapbox_settings());
|
||||
assert(m);
|
||||
|
||||
@@ -11,7 +11,7 @@
|
||||
#include "selfdrive/ui/qt/maps/map_helpers.h"
|
||||
|
||||
const float DEFAULT_ZOOM = 13.5; // Don't go below 13 or features will start to disappear
|
||||
const int HEIGHT = 512, WIDTH = 512;
|
||||
const int HEIGHT = 256, WIDTH = 256;
|
||||
const int NUM_VIPC_BUFFERS = 4;
|
||||
|
||||
const int EARTH_CIRCUMFERENCE_METERS = 40075000;
|
||||
@@ -177,12 +177,10 @@ void MapRenderer::publish(const double render_time) {
|
||||
uint8_t* dst = (uint8_t*)buf->addr;
|
||||
uint8_t* src = cap.bits();
|
||||
|
||||
// RGB to greyscale and crop
|
||||
// RGB to greyscale
|
||||
memset(dst, 128, buf->len);
|
||||
for (int r = 0; r < HEIGHT/2; r++) {
|
||||
for (int c = 0; c < WIDTH/2; c++) {
|
||||
dst[r*WIDTH/2 + c] = src[((HEIGHT/4 + r)*WIDTH + (c+WIDTH/4)) * 3];
|
||||
}
|
||||
for (int i = 0; i < WIDTH * HEIGHT; i++) {
|
||||
dst[i] = src[i * 3];
|
||||
}
|
||||
|
||||
vipc_server->send(buf, &extra);
|
||||
|
||||
@@ -10,12 +10,12 @@ from cffi import FFI
|
||||
from common.ffi_wrapper import suffix
|
||||
from common.basedir import BASEDIR
|
||||
|
||||
HEIGHT = WIDTH = SIZE = 512
|
||||
HEIGHT = WIDTH = SIZE = 256
|
||||
METERS_PER_PIXEL = 2
|
||||
|
||||
|
||||
def get_ffi():
|
||||
lib = os.path.join(BASEDIR, "selfdrive", "navd", "libmap_renderer" + suffix())
|
||||
lib = os.path.join(BASEDIR, "selfdrive", "navd", "libmaprender" + suffix())
|
||||
|
||||
ffi = FFI()
|
||||
ffi.cdef("""
|
||||
|
||||
@@ -2,8 +2,9 @@ import os
|
||||
import time
|
||||
from functools import wraps
|
||||
|
||||
from system.hardware import PC
|
||||
import cereal.messaging as messaging
|
||||
from selfdrive.manager.process_config import managed_processes
|
||||
from system.hardware import PC
|
||||
from system.version import training_version, terms_version
|
||||
|
||||
|
||||
@@ -15,6 +16,11 @@ def set_params_enabled():
|
||||
params.put_bool("OpenpilotEnabledToggle", True)
|
||||
params.put_bool("Passive", False)
|
||||
|
||||
# valid calib
|
||||
msg = messaging.new_message('liveCalibration')
|
||||
msg.liveCalibration.validBlocks = 20
|
||||
msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
|
||||
params.put("CalibrationParams", msg.to_bytes())
|
||||
|
||||
def phone_only(f):
|
||||
@wraps(f)
|
||||
|
||||
@@ -70,7 +70,10 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non
|
||||
field_tolerances = {}
|
||||
default_tolerance = EPSILON if tolerance is None else tolerance
|
||||
|
||||
log1, log2 = (list(filter(lambda m: m.which() not in ignore_msgs, log)) for log in (log1, log2))
|
||||
log1, log2 = (
|
||||
sorted((m for m in log if m.which() not in ignore_msgs), key=lambda m: (m.logMonoTime, m.which()))
|
||||
for log in (log1, log2)
|
||||
)
|
||||
|
||||
if len(log1) != len(log2):
|
||||
cnt1 = Counter(m.which() for m in log1)
|
||||
|
||||
@@ -1 +1 @@
|
||||
82db08d52b155336e9a1dadd11485d5acdf2eba0
|
||||
9d3cd2e7d5fceaaf0e8a4bd798a24fcf470da7c2
|
||||
|
||||
@@ -372,7 +372,6 @@ CONFIGS = [
|
||||
pub_sub={
|
||||
"ubloxGnss": ["gnssMeasurements"],
|
||||
"qcomGnss": ["gnssMeasurements"],
|
||||
"clocks": []
|
||||
},
|
||||
ignore=["logMonoTime"],
|
||||
init_callback=get_car_params,
|
||||
@@ -421,11 +420,7 @@ def setup_env(simulation=False, CP=None, cfg=None, controlsState=None, lr=None):
|
||||
if lr is not None:
|
||||
services = {m.which() for m in lr}
|
||||
params.put_bool("UbloxAvailable", "ubloxGnss" in services)
|
||||
|
||||
if lr is not None:
|
||||
services = {m.which() for m in lr}
|
||||
params.put_bool("UbloxAvailable", "ubloxGnss" in services)
|
||||
|
||||
|
||||
if cfg is not None:
|
||||
# Clear all custom processConfig environment variables
|
||||
for config in CONFIGS:
|
||||
|
||||
@@ -1 +1 @@
|
||||
627aa0f54e377d1f3954c58e37c0a15b555e20b3
|
||||
658e4dd36d92ae7a973a090aaf3fab62fdf701b6
|
||||
|
||||
@@ -19,7 +19,7 @@ from panda.python import Panda
|
||||
from selfdrive.car.toyota.values import EPS_SCALE
|
||||
from selfdrive.manager.process import ensure_running
|
||||
from selfdrive.manager.process_config import managed_processes
|
||||
from selfdrive.test.process_replay.process_replay import FAKEDATA, setup_env, check_enabled
|
||||
from selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, setup_env, check_enabled
|
||||
from selfdrive.test.update_ci_routes import upload_route
|
||||
from tools.lib.route import Route
|
||||
from tools.lib.framereader import FrameReader
|
||||
@@ -233,7 +233,11 @@ def migrate_sensorEvents(lr, old_logtime=False):
|
||||
|
||||
return all_msgs
|
||||
|
||||
def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False):
|
||||
|
||||
def regen_segment(lr, frs=None, daemons="all", outdir=FAKEDATA, disable_tqdm=False):
|
||||
if not isinstance(daemons, str) and not hasattr(daemons, "__iter__"):
|
||||
raise ValueError("whitelist_proc must be a string or iterable")
|
||||
|
||||
lr = migrate_carparams(list(lr))
|
||||
lr = migrate_sensorEvents(list(lr))
|
||||
if frs is None:
|
||||
@@ -262,33 +266,68 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False):
|
||||
multiprocessing.Process(target=replay_service, args=('ubloxRaw', lr)),
|
||||
multiprocessing.Process(target=replay_panda_states, args=('pandaStates', lr)),
|
||||
],
|
||||
'managerState': [
|
||||
'manager': [
|
||||
multiprocessing.Process(target=replay_manager_state, args=('managerState', lr)),
|
||||
],
|
||||
'thermald': [
|
||||
multiprocessing.Process(target=replay_device_state, args=('deviceState', lr)),
|
||||
],
|
||||
'rawgpsd': [
|
||||
multiprocessing.Process(target=replay_service, args=('qcomGnss', lr)),
|
||||
multiprocessing.Process(target=replay_service, args=('gpsLocation', lr)),
|
||||
],
|
||||
'camerad': [
|
||||
*cam_procs,
|
||||
],
|
||||
}
|
||||
# TODO add configs for modeld, dmonitoringmodeld
|
||||
fakeable_daemons = {}
|
||||
for config in CONFIGS:
|
||||
replayable_messages = set([msg for sub in config.pub_sub.values() for msg in sub])
|
||||
processes = [
|
||||
multiprocessing.Process(target=replay_service, args=(msg, lr))
|
||||
for msg in replayable_messages
|
||||
]
|
||||
fakeable_daemons[config.proc_name] = processes
|
||||
|
||||
additional_fake_daemons = {}
|
||||
if daemons != "all":
|
||||
additional_fake_daemons = fakeable_daemons
|
||||
if isinstance(daemons, str):
|
||||
raise ValueError(f"Invalid value for daemons: {daemons}")
|
||||
|
||||
for d in daemons:
|
||||
if d in fake_daemons:
|
||||
raise ValueError(f"Running daemon {d} is not supported!")
|
||||
|
||||
if d in fakeable_daemons:
|
||||
del additional_fake_daemons[d]
|
||||
|
||||
all_fake_daemons = {**fake_daemons, **additional_fake_daemons}
|
||||
|
||||
try:
|
||||
# TODO: make first run of onnxruntime CUDA provider fast
|
||||
managed_processes["modeld"].start()
|
||||
managed_processes["dmonitoringmodeld"].start()
|
||||
if "modeld" not in all_fake_daemons:
|
||||
managed_processes["modeld"].start()
|
||||
if "dmonitoringmodeld" not in all_fake_daemons:
|
||||
managed_processes["dmonitoringmodeld"].start()
|
||||
time.sleep(5)
|
||||
|
||||
# start procs up
|
||||
ignore = list(fake_daemons.keys()) + ['ui', 'manage_athenad', 'uploader', 'soundd']
|
||||
ignore = list(all_fake_daemons.keys()) \
|
||||
+ ['ui', 'manage_athenad', 'uploader', 'soundd', 'micd', 'navd']
|
||||
|
||||
print("Faked daemons:", ", ".join(all_fake_daemons.keys()))
|
||||
print("Running daemons:", ", ".join([key for key in managed_processes.keys() if key not in ignore]))
|
||||
|
||||
ensure_running(managed_processes.values(), started=True, params=Params(), CP=car.CarParams(), not_run=ignore)
|
||||
for procs in fake_daemons.values():
|
||||
for procs in all_fake_daemons.values():
|
||||
for p in procs:
|
||||
p.start()
|
||||
|
||||
for _ in tqdm(range(60), disable=disable_tqdm):
|
||||
# ensure all procs are running
|
||||
for d, procs in fake_daemons.items():
|
||||
for d, procs in all_fake_daemons.items():
|
||||
for p in procs:
|
||||
if not p.is_alive():
|
||||
raise Exception(f"{d}'s {p.name} died")
|
||||
@@ -297,7 +336,7 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False):
|
||||
# kill everything
|
||||
for p in managed_processes.values():
|
||||
p.stop()
|
||||
for procs in fake_daemons.values():
|
||||
for procs in all_fake_daemons.values():
|
||||
for p in procs:
|
||||
p.terminate()
|
||||
|
||||
@@ -312,7 +351,7 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False):
|
||||
return seg_path
|
||||
|
||||
|
||||
def regen_and_save(route, sidx, upload=False, use_route_meta=False, outdir=FAKEDATA, disable_tqdm=False):
|
||||
def regen_and_save(route, sidx, daemons="all", upload=False, use_route_meta=False, outdir=FAKEDATA, disable_tqdm=False):
|
||||
if use_route_meta:
|
||||
r = Route(route)
|
||||
lr = LogReader(r.log_paths()[sidx])
|
||||
@@ -333,7 +372,7 @@ def regen_and_save(route, sidx, upload=False, use_route_meta=False, outdir=FAKED
|
||||
frs = {'roadCameraState': fr}
|
||||
if wfr is not None:
|
||||
frs['wideRoadCameraState'] = wfr
|
||||
rpath = regen_segment(lr, frs, outdir=outdir, disable_tqdm=disable_tqdm)
|
||||
rpath = regen_segment(lr, frs, daemons, outdir=outdir, disable_tqdm=disable_tqdm)
|
||||
|
||||
# compress raw rlog before uploading
|
||||
with open(os.path.join(rpath, "rlog"), "rb") as f:
|
||||
@@ -356,10 +395,18 @@ def regen_and_save(route, sidx, upload=False, use_route_meta=False, outdir=FAKED
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
def comma_separated_list(string):
|
||||
if string == "all":
|
||||
return string
|
||||
return string.split(",")
|
||||
|
||||
parser = argparse.ArgumentParser(description="Generate new segments from old ones")
|
||||
parser.add_argument("--upload", action="store_true", help="Upload the new segment to the CI bucket")
|
||||
parser.add_argument("--outdir", help="log output dir", default=FAKEDATA)
|
||||
parser.add_argument("--whitelist-procs", type=comma_separated_list, default="all",
|
||||
help="Comma-separated whitelist of processes to regen (e.g. controlsd). Pass 'all' to whitelist all processes.")
|
||||
parser.add_argument("route", type=str, help="The source route")
|
||||
parser.add_argument("seg", type=int, help="Segment in source route")
|
||||
args = parser.parse_args()
|
||||
regen_and_save(args.route, args.seg, args.upload, outdir=args.outdir)
|
||||
|
||||
regen_and_save(args.route, args.seg, args.whitelist_procs, args.upload, outdir=args.outdir)
|
||||
|
||||
@@ -92,7 +92,6 @@ def get_strategy_for_events(event_types, finite=False):
|
||||
'speedAccuracy': floats(width=32),
|
||||
})
|
||||
r['LiveCalibration'] = st.fixed_dictionaries({
|
||||
'calStatus': st.integers(min_value=0, max_value=1),
|
||||
'rpyCalib': st.lists(floats(width=32), min_size=3, max_size=3),
|
||||
})
|
||||
|
||||
|
||||
@@ -25,41 +25,42 @@ source_segments = [
|
||||
("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"), # HONDA.CIVIC (NIDEC)
|
||||
("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"), # HONDA.ACCORD (BOSCH)
|
||||
("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"), # CHRYSLER.PACIFICA_2018_HYBRID
|
||||
("RAM", "2f4452b03ccb98f0|2022-09-07--13-55-08--10"), # CHRYSLER.RAM_1500
|
||||
("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"), # CHRYSLER.RAM_1500
|
||||
("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"), # SUBARU.OUTBACK
|
||||
("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"), # GM.VOLT
|
||||
("GM2", "376bf99325883932|2022-10-27--13-41-22--1"), # GM.BOLT_EUV
|
||||
("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"), # NISSAN.XTRAIL
|
||||
("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"), # VOLKSWAGEN.GOLF
|
||||
("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"), # MAZDA.CX9_2021
|
||||
("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.BRONCO_SPORT_MK1
|
||||
|
||||
# Enable when port is tested and dashcamOnly is no longer set
|
||||
#("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.BRONCO_SPORT_MK1
|
||||
#("TESLA", "bb50caf5f0945ab1|2021-06-19--17-20-18--3"), # TESLA.AP2_MODELS
|
||||
#("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"), # VOLKSWAGEN.PASSAT_NMS
|
||||
]
|
||||
|
||||
segments = [
|
||||
("BODY", "regenFA002A80700|2022-09-27--15-37-02--0"),
|
||||
("HYUNDAI", "regenBE53A59065B|2022-09-27--16-52-03--0"),
|
||||
("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"),
|
||||
("TOYOTA", "regen929C5790007|2022-09-27--16-27-47--0"),
|
||||
("TOYOTA2", "regenEA3950D7F22|2022-09-27--15-43-24--0"),
|
||||
("TOYOTA3", "regen89026F6BD8D|2022-09-27--15-45-37--0"),
|
||||
("HONDA", "regenC7D5645EB17|2022-09-27--15-47-29--0"),
|
||||
("HONDA2", "regenCC2ECCE5742|2022-09-27--16-18-01--0"),
|
||||
("CHRYSLER", "regenC253C4DAC90|2022-09-27--15-51-03--0"),
|
||||
("RAM", "regen20490083AE7|2022-09-27--15-53-15--0"),
|
||||
("SUBARU", "regen1E72BBDCED5|2022-09-27--15-55-31--0"),
|
||||
("GM", "regen45B05A80EF6|2022-09-27--15-57-22--0"),
|
||||
("GM2", "376bf99325883932|2022-10-27--13-41-22--1"),
|
||||
("NISSAN", "regenC19D899B46D|2022-09-27--15-59-13--0"),
|
||||
("VOLKSWAGEN", "regenD8F7AC4BD0D|2022-09-27--16-41-45--0"),
|
||||
("MAZDA", "regenFC3F9ECBB64|2022-09-27--16-03-09--0"),
|
||||
]
|
||||
("BODY", "aregenECF15D9E559|2023-05-10--14-26-40--0"),
|
||||
("HYUNDAI", "aregenAB9F543F70A|2023-05-10--14-28-25--0"),
|
||||
("HYUNDAI2", "aregen39F5A028F96|2023-05-10--14-31-00--0"),
|
||||
("TOYOTA", "aregen8D6A8B36E8D|2023-05-10--14-32-38--0"),
|
||||
("TOYOTA2", "aregenB1933C49809|2023-05-10--14-34-14--0"),
|
||||
("TOYOTA3", "aregen5D9915223DC|2023-05-10--14-36-43--0"),
|
||||
("HONDA", "aregen484B732B675|2023-05-10--14-38-23--0"),
|
||||
("HONDA2", "aregenAF6ACED4713|2023-05-10--14-40-01--0"),
|
||||
("CHRYSLER", "aregen99B094E1E2E|2023-05-10--14-41-40--0"),
|
||||
("RAM", "aregen5C2487E1EEB|2023-05-10--14-44-09--0"),
|
||||
("SUBARU", "aregen98D277B792E|2023-05-10--14-46-46--0"),
|
||||
("GM", "aregen377BA28D848|2023-05-10--14-48-28--0"),
|
||||
("GM2", "aregen7CA0CC0F0C2|2023-05-10--14-51-00--0"),
|
||||
("NISSAN", "aregen7097BF01563|2023-05-10--14-52-43--0"),
|
||||
("VOLKSWAGEN", "aregen765AF3D2CB5|2023-05-10--14-54-23--0"),
|
||||
("MAZDA", "aregen3053762FF2E|2023-05-10--14-56-53--0"),
|
||||
("FORD", "aregenDDE0F89FA1E|2023-05-10--14-59-26--0"),
|
||||
]
|
||||
|
||||
# dashcamOnly makes don't need to be tested until a full port is done
|
||||
excluded_interfaces = ["mock", "ford", "mazda", "tesla"]
|
||||
excluded_interfaces = ["mock", "mazda", "tesla"]
|
||||
|
||||
BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
|
||||
REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
|
||||
|
||||
+101
-53
@@ -1,11 +1,14 @@
|
||||
#!/usr/bin/env python3
|
||||
import math
|
||||
import json
|
||||
import os
|
||||
import shutil
|
||||
import subprocess
|
||||
import time
|
||||
import numpy as np
|
||||
import unittest
|
||||
from collections import Counter, defaultdict
|
||||
from functools import cached_property
|
||||
from pathlib import Path
|
||||
|
||||
from cereal import car
|
||||
@@ -45,6 +48,15 @@ PROCS = {
|
||||
"./ubloxd": 0.02,
|
||||
"selfdrive.tombstoned": 0,
|
||||
"./logcatd": 0,
|
||||
"system.micd": 10.0,
|
||||
"system.timezoned": 0,
|
||||
"system.sensord.pigeond": 6.0,
|
||||
"selfdrive.boardd.pandad": 0,
|
||||
"selfdrive.statsd": 0.4,
|
||||
"selfdrive.navd.navd": 0.4,
|
||||
"system.loggerd.uploader": 4.0,
|
||||
"system.loggerd.deleter": 0.1,
|
||||
"selfdrive.locationd.laikad": None, # TODO: laikad cpu usage is sporadic
|
||||
}
|
||||
|
||||
TIMINGS = {
|
||||
@@ -71,48 +83,6 @@ def cputime_total(ct):
|
||||
return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
|
||||
|
||||
|
||||
def check_cpu_usage(proclogs):
|
||||
result = "\n"
|
||||
result += "------------------------------------------------\n"
|
||||
result += "------------------ CPU Usage -------------------\n"
|
||||
result += "------------------------------------------------\n"
|
||||
|
||||
plogs_by_proc = defaultdict(list)
|
||||
for pl in proclogs:
|
||||
for x in pl.procLog.procs:
|
||||
if len(x.cmdline) > 0:
|
||||
n = list(x.cmdline)[0]
|
||||
plogs_by_proc[n].append(x)
|
||||
|
||||
print(plogs_by_proc.keys())
|
||||
|
||||
r = True
|
||||
dt = (proclogs[-1].logMonoTime - proclogs[0].logMonoTime) / 1e9
|
||||
for proc_name, expected_cpu in PROCS.items():
|
||||
err = ""
|
||||
cpu_usage = 0.
|
||||
x = plogs_by_proc[proc_name]
|
||||
if len(x) > 2:
|
||||
cpu_time = cputime_total(x[-1]) - cputime_total(x[0])
|
||||
cpu_usage = cpu_time / dt * 100.
|
||||
if cpu_usage > max(expected_cpu * 1.15, expected_cpu + 5.0):
|
||||
# cpu usage is high while playing sounds
|
||||
if not (proc_name == "./_soundd" and cpu_usage < 65.):
|
||||
err = "using more CPU than normal"
|
||||
elif cpu_usage < min(expected_cpu * 0.65, max(expected_cpu - 1.0, 0.0)):
|
||||
err = "using less CPU than normal"
|
||||
else:
|
||||
err = "NO METRICS FOUND"
|
||||
|
||||
result += f"{proc_name.ljust(35)} {cpu_usage:5.2f}% ({expected_cpu:5.2f}%) {err}\n"
|
||||
if len(err) > 0:
|
||||
r = False
|
||||
|
||||
result += "------------------------------------------------\n"
|
||||
print(result)
|
||||
return r
|
||||
|
||||
|
||||
class TestOnroad(unittest.TestCase):
|
||||
|
||||
@classmethod
|
||||
@@ -120,19 +90,22 @@ class TestOnroad(unittest.TestCase):
|
||||
if "DEBUG" in os.environ:
|
||||
segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(ROOT).iterdir())
|
||||
segs = sorted(segs, key=lambda x: x.stat().st_mtime)
|
||||
print(segs[-2])
|
||||
cls.lr = list(LogReader(os.path.join(segs[-2], "rlog")))
|
||||
print(segs[-3])
|
||||
cls.lr = list(LogReader(os.path.join(segs[-3], "rlog")))
|
||||
return
|
||||
|
||||
# setup env
|
||||
os.environ['PASSIVE'] = "0"
|
||||
os.environ['REPLAY'] = "1"
|
||||
os.environ['SKIP_FW_QUERY'] = "1"
|
||||
os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
|
||||
os.environ['LOGPRINT'] = 'debug'
|
||||
os.environ['LOGPRINT'] = "debug"
|
||||
|
||||
params = Params()
|
||||
params.clear_all()
|
||||
set_params_enabled()
|
||||
if os.path.exists(ROOT):
|
||||
shutil.rmtree(ROOT)
|
||||
|
||||
# Make sure athena isn't running
|
||||
os.system("pkill -9 -f athena")
|
||||
@@ -177,6 +150,25 @@ class TestOnroad(unittest.TestCase):
|
||||
# use the second segment by default as it's the first full segment
|
||||
cls.lr = list(LogReader(os.path.join(str(cls.segments[1]), "rlog")))
|
||||
|
||||
@cached_property
|
||||
def service_msgs(self):
|
||||
msgs = defaultdict(list)
|
||||
for m in self.lr:
|
||||
msgs[m.which()].append(m)
|
||||
return msgs
|
||||
|
||||
def test_service_frequencies(self):
|
||||
for s, msgs in self.service_msgs.items():
|
||||
if s in ('initData', 'sentinel'):
|
||||
continue
|
||||
|
||||
# skip gps services for now
|
||||
if s in ('ubloxGnss', 'ubloxRaw', 'gnssMeasurements'):
|
||||
continue
|
||||
|
||||
with self.subTest(service=s):
|
||||
assert len(msgs) >= math.floor(service_list[s].frequency*55)
|
||||
|
||||
def test_cloudlog_size(self):
|
||||
msgs = [m for m in self.lr if m.which() == 'logMessage']
|
||||
|
||||
@@ -193,7 +185,7 @@ class TestOnroad(unittest.TestCase):
|
||||
result += "-------------- UI Draw Timing ------------------\n"
|
||||
result += "------------------------------------------------\n"
|
||||
|
||||
ts = [m.uiDebug.drawTimeMillis for m in self.lr if m.which() == 'uiDebug']
|
||||
ts = [m.uiDebug.drawTimeMillis for m in self.service_msgs['uiDebug']]
|
||||
result += f"min {min(ts):.2f}ms\n"
|
||||
result += f"max {max(ts):.2f}ms\n"
|
||||
result += f"std {np.std(ts):.2f}ms\n"
|
||||
@@ -201,15 +193,60 @@ class TestOnroad(unittest.TestCase):
|
||||
result += "------------------------------------------------\n"
|
||||
print(result)
|
||||
|
||||
self.assertGreater(len(ts), 20*50, "insufficient samples")
|
||||
#self.assertLess(max(ts), 30.)
|
||||
self.assertLess(np.mean(ts), 10.)
|
||||
#self.assertLess(np.std(ts), 5.)
|
||||
|
||||
def test_cpu_usage(self):
|
||||
proclogs = [m for m in self.lr if m.which() == 'procLog']
|
||||
self.assertGreater(len(proclogs), service_list['procLog'].frequency * 45, "insufficient samples")
|
||||
cpu_ok = check_cpu_usage(proclogs)
|
||||
result = "\n"
|
||||
result += "------------------------------------------------\n"
|
||||
result += "------------------ CPU Usage -------------------\n"
|
||||
result += "------------------------------------------------\n"
|
||||
|
||||
plogs_by_proc = defaultdict(list)
|
||||
for pl in self.service_msgs['procLog']:
|
||||
for x in pl.procLog.procs:
|
||||
if len(x.cmdline) > 0:
|
||||
n = list(x.cmdline)[0]
|
||||
plogs_by_proc[n].append(x)
|
||||
print(plogs_by_proc.keys())
|
||||
|
||||
cpu_ok = True
|
||||
dt = (self.service_msgs['procLog'][-1].logMonoTime - self.service_msgs['procLog'][0].logMonoTime) / 1e9
|
||||
for proc_name, expected_cpu in PROCS.items():
|
||||
|
||||
err = ""
|
||||
cpu_usage = 0.
|
||||
x = plogs_by_proc[proc_name]
|
||||
if len(x) > 2:
|
||||
cpu_time = cputime_total(x[-1]) - cputime_total(x[0])
|
||||
cpu_usage = cpu_time / dt * 100.
|
||||
|
||||
if expected_cpu is None:
|
||||
result += f"{proc_name.ljust(35)} {cpu_usage:5.2f}% ({expected_cpu}) SKIPPED\n"
|
||||
continue
|
||||
elif cpu_usage > max(expected_cpu * 1.15, expected_cpu + 5.0):
|
||||
# cpu usage is high while playing sounds
|
||||
if not (proc_name == "./_soundd" and cpu_usage < 65.):
|
||||
err = "using more CPU than normal"
|
||||
elif cpu_usage < min(expected_cpu * 0.65, max(expected_cpu - 1.0, 0.0)):
|
||||
err = "using less CPU than normal"
|
||||
else:
|
||||
err = "NO METRICS FOUND"
|
||||
|
||||
result += f"{proc_name.ljust(35)} {cpu_usage:5.2f}% ({expected_cpu:5.2f}%) {err}\n"
|
||||
if len(err) > 0:
|
||||
cpu_ok = False
|
||||
|
||||
# Ensure there's no missing procs
|
||||
all_procs = set([p.name for p in self.service_msgs['managerState'][0].managerState.processes if p.shouldBeRunning])
|
||||
for p in all_procs:
|
||||
with self.subTest(proc=p):
|
||||
assert any(p in pp for pp in PROCS.keys()), f"Expected CPU usage missing for {p}"
|
||||
|
||||
result += "------------------------------------------------\n"
|
||||
print(result)
|
||||
|
||||
self.assertTrue(cpu_ok)
|
||||
|
||||
def test_camera_processing_time(self):
|
||||
@@ -234,7 +271,7 @@ class TestOnroad(unittest.TestCase):
|
||||
|
||||
cfgs = [("lateralPlan", 0.05, 0.05), ("longitudinalPlan", 0.05, 0.05)]
|
||||
for (s, instant_max, avg_max) in cfgs:
|
||||
ts = [getattr(getattr(m, s), "solverExecutionTime") for m in self.lr if m.which() == s]
|
||||
ts = [getattr(getattr(m, s), "solverExecutionTime") for m in self.service_msgs[s]]
|
||||
self.assertLess(max(ts), instant_max, f"high '{s}' execution time: {max(ts)}")
|
||||
self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}")
|
||||
result += f"'{s}' execution time: min {min(ts):.5f}s\n"
|
||||
@@ -254,7 +291,7 @@ class TestOnroad(unittest.TestCase):
|
||||
("driverStateV2", 0.050, 0.026),
|
||||
]
|
||||
for (s, instant_max, avg_max) in cfgs:
|
||||
ts = [getattr(getattr(m, s), "modelExecutionTime") for m in self.lr if m.which() == s]
|
||||
ts = [getattr(getattr(m, s), "modelExecutionTime") for m in self.service_msgs[s]]
|
||||
self.assertLess(max(ts), instant_max, f"high '{s}' execution time: {max(ts)}")
|
||||
self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}")
|
||||
result += f"'{s}' execution time: min {min(ts):.5f}s\n"
|
||||
@@ -270,7 +307,7 @@ class TestOnroad(unittest.TestCase):
|
||||
result += "----------------- Service Timings --------------\n"
|
||||
result += "------------------------------------------------\n"
|
||||
for s, (maxmin, rsd) in TIMINGS.items():
|
||||
msgs = [m.logMonoTime for m in self.lr if m.which() == s]
|
||||
msgs = [m.logMonoTime for m in self.service_msgs[s]]
|
||||
if not len(msgs):
|
||||
raise Exception(f"missing {s}")
|
||||
|
||||
@@ -305,6 +342,17 @@ class TestOnroad(unittest.TestCase):
|
||||
expected = EVENTS[car.CarEvent.EventName.startup][ET.PERMANENT].alert_text_1
|
||||
self.assertEqual(startup_alert, expected, "wrong startup alert")
|
||||
|
||||
def test_engagable(self):
|
||||
no_entries = Counter()
|
||||
for m in self.service_msgs['carEvents']:
|
||||
for evt in m.carEvents:
|
||||
if evt.noEntry:
|
||||
no_entries[evt.name] += 1
|
||||
|
||||
eng = [m.controlsState.engageable for m in self.service_msgs['controlsState']]
|
||||
assert all(eng), \
|
||||
f"Not engageable for whole segment:\n- controlsState.engageable: {Counter(eng)}\n- No entry events: {no_entries}"
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
||||
@@ -8,7 +8,7 @@ from selfdrive.controls.lib.pid import PIDController
|
||||
|
||||
class BaseFanController(ABC):
|
||||
@abstractmethod
|
||||
def update(self, max_cpu_temp: float, ignition: bool) -> int:
|
||||
def update(self, cur_temp: float, ignition: bool) -> int:
|
||||
pass
|
||||
|
||||
|
||||
@@ -18,19 +18,19 @@ class TiciFanController(BaseFanController):
|
||||
cloudlog.info("Setting up TICI fan handler")
|
||||
|
||||
self.last_ignition = False
|
||||
self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, neg_limit=-80, pos_limit=0, rate=(1 / DT_TRML))
|
||||
self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, rate=(1 / DT_TRML))
|
||||
|
||||
def update(self, max_cpu_temp: float, ignition: bool) -> int:
|
||||
self.controller.neg_limit = -(80 if ignition else 30)
|
||||
def update(self, cur_temp: float, ignition: bool) -> int:
|
||||
self.controller.neg_limit = -(100 if ignition else 30)
|
||||
self.controller.pos_limit = -(30 if ignition else 0)
|
||||
|
||||
if ignition != self.last_ignition:
|
||||
self.controller.reset()
|
||||
|
||||
error = 70 - max_cpu_temp
|
||||
error = 70 - cur_temp
|
||||
fan_pwr_out = -int(self.controller.update(
|
||||
error=error,
|
||||
feedforward=interp(max_cpu_temp, [60.0, 100.0], [0, -80])
|
||||
feedforward=interp(cur_temp, [60.0, 100.0], [0, -100])
|
||||
))
|
||||
|
||||
self.last_ignition = ignition
|
||||
|
||||
@@ -14,43 +14,43 @@ def patched_controller(controller_class):
|
||||
class TestFanController(unittest.TestCase):
|
||||
def wind_up(self, controller, ignition=True):
|
||||
for _ in range(1000):
|
||||
controller.update(max_cpu_temp=100, ignition=ignition)
|
||||
controller.update(100, ignition)
|
||||
|
||||
def wind_down(self, controller, ignition=False):
|
||||
for _ in range(1000):
|
||||
controller.update(max_cpu_temp=10, ignition=ignition)
|
||||
controller.update(10, ignition)
|
||||
|
||||
@parameterized.expand(ALL_CONTROLLERS)
|
||||
def test_hot_onroad(self, controller_class):
|
||||
controller = patched_controller(controller_class)
|
||||
self.wind_up(controller)
|
||||
self.assertGreaterEqual(controller.update(max_cpu_temp=100, ignition=True), 70)
|
||||
self.assertGreaterEqual(controller.update(100, True), 70)
|
||||
|
||||
@parameterized.expand(ALL_CONTROLLERS)
|
||||
def test_offroad_limits(self, controller_class):
|
||||
controller = patched_controller(controller_class)
|
||||
self.wind_up(controller)
|
||||
self.assertLessEqual(controller.update(max_cpu_temp=100, ignition=False), 30)
|
||||
self.assertLessEqual(controller.update(100, False), 30)
|
||||
|
||||
@parameterized.expand(ALL_CONTROLLERS)
|
||||
def test_no_fan_wear(self, controller_class):
|
||||
controller = patched_controller(controller_class)
|
||||
self.wind_down(controller)
|
||||
self.assertEqual(controller.update(max_cpu_temp=10, ignition=False), 0)
|
||||
self.assertEqual(controller.update(10, False), 0)
|
||||
|
||||
@parameterized.expand(ALL_CONTROLLERS)
|
||||
def test_limited(self, controller_class):
|
||||
controller = patched_controller(controller_class)
|
||||
self.wind_up(controller, ignition=True)
|
||||
self.assertGreaterEqual(controller.update(max_cpu_temp=100, ignition=True), 80)
|
||||
self.wind_up(controller, True)
|
||||
self.assertEqual(controller.update(100, True), 100)
|
||||
|
||||
@parameterized.expand(ALL_CONTROLLERS)
|
||||
def test_windup_speed(self, controller_class):
|
||||
controller = patched_controller(controller_class)
|
||||
self.wind_down(controller, ignition=True)
|
||||
self.wind_down(controller, True)
|
||||
for _ in range(10):
|
||||
controller.update(max_cpu_temp=90, ignition=True)
|
||||
self.assertGreaterEqual(controller.update(max_cpu_temp=90, ignition=True), 60)
|
||||
controller.update(90, True)
|
||||
self.assertGreaterEqual(controller.update(90, True), 60)
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
||||
@@ -313,9 +313,6 @@ def thermald_thread(end_event, hw_queue):
|
||||
should_start = should_start and all(startup_conditions.values())
|
||||
|
||||
if should_start != should_start_prev or (count == 0):
|
||||
params.put_bool("IsOnroad", should_start)
|
||||
params.put_bool("IsOffroad", not should_start)
|
||||
|
||||
params.put_bool("IsEngaged", False)
|
||||
engaged_prev = False
|
||||
HARDWARE.set_power_save(not should_start)
|
||||
|
||||
@@ -40,8 +40,6 @@ void TrainingGuide::mouseReleaseEvent(QMouseEvent *e) {
|
||||
}
|
||||
|
||||
void TrainingGuide::showEvent(QShowEvent *event) {
|
||||
boundingRect = width() == WIDE_WIDTH ? boundingRectWide : boundingRectStandard;
|
||||
|
||||
currentIndex = 0;
|
||||
image.load(img_path + "step0.png");
|
||||
click_timer.start();
|
||||
|
||||
@@ -25,56 +25,31 @@ private:
|
||||
int currentIndex = 0;
|
||||
|
||||
// Bounding boxes for each training guide step
|
||||
const QRect continueBtnStandard = {1620, 0, 300, 1080};
|
||||
QVector<QRect> boundingRectStandard {
|
||||
QRect(112, 804, 619, 166),
|
||||
continueBtnStandard,
|
||||
continueBtnStandard,
|
||||
QRect(1476, 565, 253, 308),
|
||||
QRect(1501, 529, 184, 108),
|
||||
continueBtnStandard,
|
||||
QRect(1613, 665, 178, 153),
|
||||
QRect(1220, 0, 420, 730),
|
||||
QRect(1335, 499, 440, 147),
|
||||
QRect(112, 820, 996, 148),
|
||||
QRect(1412, 199, 316, 333),
|
||||
continueBtnStandard,
|
||||
QRect(1237, 63, 683, 1017),
|
||||
continueBtnStandard,
|
||||
QRect(1455, 110, 313, 860),
|
||||
QRect(1253, 519, 383, 228),
|
||||
continueBtnStandard,
|
||||
continueBtnStandard,
|
||||
QRect(630, 804, 626, 164),
|
||||
QRect(108, 804, 426, 164),
|
||||
};
|
||||
|
||||
const QRect continueBtnWide = {1840, 0, 320, 1080};
|
||||
QVector<QRect> boundingRectWide {
|
||||
const QRect continueBtn = {1840, 0, 320, 1080};
|
||||
QVector<QRect> boundingRect {
|
||||
QRect(112, 804, 618, 164),
|
||||
continueBtnWide,
|
||||
continueBtnWide,
|
||||
continueBtn,
|
||||
continueBtn,
|
||||
QRect(1641, 558, 210, 313),
|
||||
QRect(1662, 528, 184, 108),
|
||||
continueBtnWide,
|
||||
continueBtn,
|
||||
QRect(1814, 621, 211, 170),
|
||||
QRect(1350, 0, 497, 755),
|
||||
QRect(1553, 516, 406, 112),
|
||||
QRect(1540, 386, 468, 238),
|
||||
QRect(112, 804, 1126, 164),
|
||||
QRect(1598, 199, 316, 333),
|
||||
continueBtnWide,
|
||||
continueBtn,
|
||||
QRect(1364, 90, 796, 990),
|
||||
continueBtnWide,
|
||||
continueBtn,
|
||||
QRect(1593, 114, 318, 853),
|
||||
QRect(1379, 511, 391, 243),
|
||||
continueBtnWide,
|
||||
continueBtnWide,
|
||||
continueBtn,
|
||||
continueBtn,
|
||||
QRect(630, 804, 626, 164),
|
||||
QRect(108, 804, 426, 164),
|
||||
};
|
||||
|
||||
const QString img_path = "../assets/training/";
|
||||
QVector<QRect> boundingRect;
|
||||
QElapsedTimer click_timer;
|
||||
|
||||
signals:
|
||||
|
||||
@@ -273,7 +273,7 @@ void DevicePanel::updateCalibDescription() {
|
||||
AlignedBuffer aligned_buf;
|
||||
capnp::FlatArrayMessageReader cmsg(aligned_buf.align(calib_bytes.data(), calib_bytes.size()));
|
||||
auto calib = cmsg.getRoot<cereal::Event>().getLiveCalibration();
|
||||
if (calib.getCalStatus() != 0) {
|
||||
if (calib.getCalStatus() != cereal::LiveCalibrationData::Status::UNCALIBRATED) {
|
||||
double pitch = calib.getRpyCalib()[1] * (180 / M_PI);
|
||||
double yaw = calib.getRpyCalib()[2] * (180 / M_PI);
|
||||
desc += tr(" Your device is pointed %1° %2 and %3° %4.")
|
||||
@@ -343,7 +343,6 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
|
||||
QPushButton {
|
||||
font-size: 140px;
|
||||
padding-bottom: 20px;
|
||||
font-weight: bold;
|
||||
border 1px grey solid;
|
||||
border-radius: 100px;
|
||||
background-color: #292929;
|
||||
@@ -379,22 +378,18 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
|
||||
QObject::connect(map_panel, &MapPanel::closeSettings, this, &SettingsWindow::closeSettings);
|
||||
#endif
|
||||
|
||||
const int padding = panels.size() > 3 ? 25 : 35;
|
||||
|
||||
nav_btns = new QButtonGroup(this);
|
||||
for (auto &[name, panel] : panels) {
|
||||
QPushButton *btn = new QPushButton(name);
|
||||
btn->setCheckable(true);
|
||||
btn->setChecked(nav_btns->buttons().size() == 0);
|
||||
btn->setStyleSheet(QString(R"(
|
||||
btn->setStyleSheet(R"(
|
||||
QPushButton {
|
||||
color: grey;
|
||||
border: none;
|
||||
background: none;
|
||||
font-size: 65px;
|
||||
font-weight: 500;
|
||||
padding-top: %1px;
|
||||
padding-bottom: %1px;
|
||||
}
|
||||
QPushButton:checked {
|
||||
color: white;
|
||||
@@ -402,8 +397,8 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
|
||||
QPushButton:pressed {
|
||||
color: #ADADAD;
|
||||
}
|
||||
)").arg(padding));
|
||||
|
||||
)");
|
||||
btn->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
|
||||
nav_btns->addButton(btn);
|
||||
sidebar_layout->addWidget(btn, 0, Qt::AlignRight);
|
||||
|
||||
|
||||
@@ -415,7 +415,7 @@ void WifiManager::addTetheringConnection() {
|
||||
}
|
||||
|
||||
void WifiManager::tetheringActivated(QDBusPendingCallWatcher *call) {
|
||||
int prime_type = uiState()->prime_type;
|
||||
int prime_type = uiState()->primeType();
|
||||
int ipv4_forward = (prime_type == PrimeType::NONE || prime_type == PrimeType::LITE);
|
||||
|
||||
if (!ipv4_forward) {
|
||||
|
||||
+28
-23
@@ -154,7 +154,7 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) {
|
||||
void OnroadWindow::offroadTransition(bool offroad) {
|
||||
#ifdef ENABLE_MAPS
|
||||
if (!offroad) {
|
||||
if (map == nullptr && (uiState()->prime_type || !MAPBOX_TOKEN.isEmpty())) {
|
||||
if (map == nullptr && (uiState()->primeType() || !MAPBOX_TOKEN.isEmpty())) {
|
||||
MapWindow * m = new MapWindow(get_mapbox_settings());
|
||||
map = m;
|
||||
|
||||
@@ -525,6 +525,7 @@ void AnnotatedCameraWidget::drawIcon(QPainter &p, int x, int y, QPixmap &img, QB
|
||||
p.drawEllipse(x - btn_size / 2, y - btn_size / 2, btn_size, btn_size);
|
||||
p.setOpacity(opacity);
|
||||
p.drawPixmap(x - img.size().width() / 2, y - img.size().height() / 2, img);
|
||||
p.setOpacity(1.0);
|
||||
}
|
||||
|
||||
|
||||
@@ -576,24 +577,34 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
|
||||
}
|
||||
|
||||
// paint path
|
||||
QLinearGradient bg(0, height(), 0, height() / 4);
|
||||
float start_hue, end_hue;
|
||||
QLinearGradient bg(0, height(), 0, 0);
|
||||
if (sm["controlsState"].getControlsState().getExperimentalMode()) {
|
||||
const auto &acceleration = sm["modelV2"].getModelV2().getAcceleration();
|
||||
float acceleration_future = 0;
|
||||
if (acceleration.getZ().size() > 16) {
|
||||
acceleration_future = acceleration.getX()[16]; // 2.5 seconds
|
||||
// The first half of track_vertices are the points for the right side of the path
|
||||
// and the indices match the positions of accel from uiPlan
|
||||
const auto &acceleration = sm["uiPlan"].getUiPlan().getAccel();
|
||||
const int max_len = std::min<int>(scene.track_vertices.length() / 2, acceleration.size());
|
||||
|
||||
for (int i = 0; i < max_len; ++i) {
|
||||
// Some points are out of frame
|
||||
if (scene.track_vertices[i].y() < 0 || scene.track_vertices[i].y() > height()) continue;
|
||||
|
||||
// Flip so 0 is bottom of frame
|
||||
float lin_grad_point = (height() - scene.track_vertices[i].y()) / height();
|
||||
|
||||
// speed up: 120, slow down: 0
|
||||
float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);
|
||||
// FIXME: painter.drawPolygon can be slow if hue is not rounded
|
||||
path_hue = int(path_hue * 100 + 0.5) / 100;
|
||||
|
||||
float saturation = fmin(fabs(acceleration[i] * 1.5), 1);
|
||||
float lightness = util::map_val(saturation, 0.0f, 1.0f, 0.95f, 0.62f); // lighter when grey
|
||||
float alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, 0.4f, 0.0f); // matches previous alpha fade
|
||||
bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha));
|
||||
|
||||
// Skip a point, unless next is last
|
||||
i += (i + 2) < max_len ? 1 : 0;
|
||||
}
|
||||
start_hue = 60;
|
||||
// speed up: 120, slow down: 0
|
||||
end_hue = fmax(fmin(start_hue + acceleration_future * 45, 148), 0);
|
||||
|
||||
// FIXME: painter.drawPolygon can be slow if hue is not rounded
|
||||
end_hue = int(end_hue * 100 + 0.5) / 100;
|
||||
|
||||
bg.setColorAt(0.0, QColor::fromHslF(start_hue / 360., 0.97, 0.56, 0.4));
|
||||
bg.setColorAt(0.5, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.35));
|
||||
bg.setColorAt(1.0, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.0));
|
||||
} else {
|
||||
bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4));
|
||||
bg.setColorAt(0.5, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.35));
|
||||
@@ -615,13 +626,7 @@ void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s)
|
||||
int x = rightHandDM ? rect().right() - (btn_size - 24) / 2 - (bdr_s * 2) : (btn_size - 24) / 2 + (bdr_s * 2);
|
||||
int y = rect().bottom() - footer_h / 2;
|
||||
float opacity = dmActive ? 0.65 : 0.2;
|
||||
drawIcon(painter, x, y, dm_img, blackColor(0), opacity);
|
||||
|
||||
// circle background
|
||||
painter.setOpacity(1.0);
|
||||
painter.setPen(Qt::NoPen);
|
||||
painter.setBrush(blackColor(70));
|
||||
painter.drawEllipse(x - btn_size / 2, y - btn_size / 2, btn_size, btn_size);
|
||||
drawIcon(painter, x, y, dm_img, blackColor(70), opacity);
|
||||
|
||||
// face
|
||||
QPointF face_kpts_draw[std::size(default_face_kpts_3d)];
|
||||
|
||||
@@ -19,6 +19,10 @@ void setMainWindow(QWidget *w) {
|
||||
wl_surface_set_buffer_transform(s, WL_OUTPUT_TRANSFORM_270);
|
||||
wl_surface_commit(s);
|
||||
w->showFullScreen();
|
||||
|
||||
// ensure we have a valid eglDisplay, otherwise the ui will silently fail
|
||||
void *egl = native->nativeResourceForWindow("egldisplay", w->windowHandle());
|
||||
assert(egl != nullptr);
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
@@ -59,7 +59,8 @@ void configFont(QPainter &p, const QString &family, int size, const QString &sty
|
||||
}
|
||||
|
||||
void clearLayout(QLayout* layout) {
|
||||
while (QLayoutItem* item = layout->takeAt(0)) {
|
||||
while (layout->count() > 0) {
|
||||
QLayoutItem* item = layout->takeAt(0);
|
||||
if (QWidget* widget = item->widget()) {
|
||||
widget->deleteLater();
|
||||
}
|
||||
|
||||
@@ -17,6 +17,7 @@ QMap<QString, QString> getSupportedLanguages();
|
||||
void configFont(QPainter &p, const QString &family, int size, const QString &style);
|
||||
void clearLayout(QLayout* layout);
|
||||
void setQtSurfaceFormat();
|
||||
void sigTermHandler(int s);
|
||||
QString timeAgo(const QDateTime &date);
|
||||
void swagLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg);
|
||||
void initApp(int argc, char *argv[], bool disable_hidpi = true);
|
||||
|
||||
@@ -277,7 +277,7 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) {
|
||||
primeUser = new PrimeUserWidget;
|
||||
mainLayout->addWidget(primeUser);
|
||||
|
||||
mainLayout->setCurrentWidget(uiState()->prime_type ? (QWidget*)primeUser : (QWidget*)primeAd);
|
||||
mainLayout->setCurrentWidget(uiState()->primeType() ? (QWidget*)primeUser : (QWidget*)primeAd);
|
||||
|
||||
setFixedWidth(750);
|
||||
setStyleSheet(R"(
|
||||
@@ -312,7 +312,7 @@ void SetupWidget::replyFinished(const QString &response, bool success) {
|
||||
|
||||
QJsonObject json = doc.object();
|
||||
int prime_type = json["prime_type"].toInt();
|
||||
uiState()->prime_type = prime_type;
|
||||
uiState()->setPrimeType(prime_type);
|
||||
|
||||
if (!json["is_paired"].toBool()) {
|
||||
mainLayout->setCurrentIndex(0);
|
||||
|
||||
@@ -5,17 +5,13 @@
|
||||
#include "selfdrive/ui/qt/util.h"
|
||||
#include "selfdrive/ui/soundd/sound.h"
|
||||
|
||||
void sigHandler(int s) {
|
||||
qApp->quit();
|
||||
}
|
||||
|
||||
int main(int argc, char **argv) {
|
||||
qInstallMessageHandler(swagLogMessageHandler);
|
||||
setpriority(PRIO_PROCESS, 0, -20);
|
||||
|
||||
QApplication a(argc, argv);
|
||||
std::signal(SIGINT, sigHandler);
|
||||
std::signal(SIGTERM, sigHandler);
|
||||
std::signal(SIGINT, sigTermHandler);
|
||||
std::signal(SIGTERM, sigTermHandler);
|
||||
|
||||
Sound sound;
|
||||
return a.exec();
|
||||
|
||||
+9
-8
@@ -179,7 +179,7 @@ static void update_state(UIState *s) {
|
||||
scene.view_from_wide_calib.v[i*3 + j] = view_from_wide_calib(i,j);
|
||||
}
|
||||
}
|
||||
scene.calibration_valid = sm["liveCalibration"].getLiveCalibration().getCalStatus() == 1;
|
||||
scene.calibration_valid = sm["liveCalibration"].getLiveCalibration().getCalStatus() == cereal::LiveCalibrationData::Status::CALIBRATED;
|
||||
scene.calibration_wide_valid = wfde_list.size() == 3;
|
||||
}
|
||||
if (sm.updated("pandaStates")) {
|
||||
@@ -242,13 +242,6 @@ void UIState::updateStatus() {
|
||||
started_prev = scene.started;
|
||||
emit offroadTransition(!scene.started);
|
||||
}
|
||||
|
||||
// Handle prime type change
|
||||
if (prime_type != prime_type_prev) {
|
||||
prime_type_prev = prime_type;
|
||||
emit primeTypeChanged(prime_type);
|
||||
Params().put("PrimeType", std::to_string(prime_type));
|
||||
}
|
||||
}
|
||||
|
||||
UIState::UIState(QObject *parent) : QObject(parent) {
|
||||
@@ -279,6 +272,14 @@ void UIState::update() {
|
||||
emit uiUpdate(*this);
|
||||
}
|
||||
|
||||
void UIState::setPrimeType(int type) {
|
||||
if (type != prime_type) {
|
||||
prime_type = type;
|
||||
Params().put("PrimeType", std::to_string(prime_type));
|
||||
emit primeTypeChanged(prime_type);
|
||||
}
|
||||
}
|
||||
|
||||
Device::Device(QObject *parent) : brightness_filter(BACKLIGHT_OFFROAD, BACKLIGHT_TS, BACKLIGHT_DT), QObject(parent) {
|
||||
setAwake(true);
|
||||
resetInteractiveTimout();
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user