diff --git a/Jenkinsfile b/Jenkinsfile
index 37621dde5c..3b16b3f112 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -90,7 +90,8 @@ pipeline {
}
}
steps {
- sh "git config --global --add safe.directory ${WORKSPACE}"
+ sh "git config --global --add safe.directory '*'"
+ sh "git submodule update --init --recursive"
sh "git lfs pull"
lock(resource: "", label: "simulator", inversePrecedence: true, quantity: 1) {
sh "${WORKSPACE}/tools/sim/build_container.sh"
@@ -189,7 +190,7 @@ pipeline {
steps {
phone_steps("tici-common", [
["build", "cd selfdrive/manager && ./build.py"],
- ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
+ ["model replay", "cd selfdrive/test/process_replay && NO_NAV=1 ./model_replay.py"],
])
}
}
diff --git a/RELEASES.md b/RELEASES.md
index eea69d295f..1b5ef8f7a7 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -6,6 +6,7 @@ Version 0.9.1 (2022-12-XX)
* Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler!
* Genesis GV60 2023 support thanks to sunnyhaibin!
* Hyundai Tucson 2022-23 support
+* Kia Sorento 2022-23 support thanks to sunnyhaibin!
* Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin!
Version 0.9.0 (2022-11-21)
diff --git a/cereal b/cereal
index f200875ca3..6654e94f0b 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit f200875ca300d3a7b9293c4effcc9456e359e505
+Subproject commit 6654e94f0b42114e2460ec8e828972cb279f0da7
diff --git a/docs/CARS.md b/docs/CARS.md
index f3667c4cea..48145d78a9 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,239 +4,240 @@
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.
-# 222 Supported Cars
+# 223 Supported Cars
-|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|
-|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|
-|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[](##)|[](##)|Honda Nidec|
-|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
-|Acura|RDX 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Cadillac|Escalade ESV 2016[3](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
-|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[](##)|[](##)|GM|
-|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[](##)|[](##)|GM|
-|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[](##)|[](##)|GM|
-|Chevrolet|Volt 2017-18[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
-|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|FCA|
-|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
-|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
-|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|FCA|
-|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
-|comma|body|All|openpilot|0 mph|0 mph|[](##)|[](##)|None|
-|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai F|
-|Genesis|G70 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai F|
-|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H|
-|Genesis|G90 2017-18|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai C|
-|Genesis|GV60 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai K|
-|Genesis|GV70 2022-23[5](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai L|
-|GMC|Acadia 2018[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
-|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[](##)|[](##)|GM|
-|Honda|Accord 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
-|Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
-|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|Honda Nidec|
-|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[4](#footnotes)|[](##)|[](##)|Honda Bosch A|
-|Honda|Civic 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Honda Bosch B|
-|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[](##)|[](##)|Honda Bosch A|
-|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Honda Bosch B|
-|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
-|Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[](##)|[](##)|Honda Bosch A|
-|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[](##)|[](##)|Honda Bosch A|
-|Honda|e 2020|All|openpilot available[1](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
-|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
-|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
-|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
-|Honda|Insight 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
-|Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
-|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[](##)|[](##)|Honda Nidec|
-|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
-|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
-|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
-|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|Hyundai B|
-|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai K|
-|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai E|
-|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai K|
-|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[](##)|[](##)|Hyundai J|
-|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai E|
-|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai Q|
-|Hyundai|Ioniq 5 (with HDA II) 2022-23[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai Q|
-|Hyundai|Ioniq 5 (without HDA II) 2022-23[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai K|
-|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai C|
-|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H|
-|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai C|
-|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H|
-|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[](##)|[](##)|Hyundai C|
-|Hyundai|Ioniq Plug-in Hybrid 2020-21|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H|
-|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai B|
-|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai G|
-|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai O|
-|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai I|
-|Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai H|
-|Hyundai|Santa Cruz 2021-22[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai N|
-|Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai D|
-|Hyundai|Santa Fe 2021-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai L|
-|Hyundai|Santa Fe Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai L|
-|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai L|
-|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai E|
-|Hyundai|Sonata 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai A|
-|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai A|
-|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[](##)|[](##)|Hyundai L|
-|Hyundai|Tucson 2022[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai N|
-|Hyundai|Tucson 2023[5](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai N|
-|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai L|
-|Hyundai|Tucson Hybrid 2022[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai N|
-|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[](##)|[](##)|Hyundai E|
-|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|FCA|
-|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
-|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai E|
-|Kia|EV6 (Southeast Asia only) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai P|
-|Kia|EV6 (with HDA II) 2022[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai P|
-|Kia|EV6 (without HDA II) 2022[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai L|
-|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai G|
-|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai A|
-|Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai H|
-|Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai F|
-|Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai C|
-|Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai H|
-|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai F|
-|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai H|
-|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[1](#footnotes)|10 mph|32 mph|[](##)|[](##)|Hyundai C|
-|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai B|
-|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai G|
-|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai A|
-|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai C|
-|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai E|
-|Kia|Sorento Plug-in Hybrid 2022-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai A|
-|Kia|Sportage 2023[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai N|
-|Kia|Sportage Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai N|
-|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai C|
-|Kia|Stinger 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai K|
-|Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai H|
-|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Lexus|ES Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Lexus|ES Hybrid 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|Toyota|
-|Lexus|NX 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Lexus|NX Hybrid 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[](##)|[](##)|Toyota|
-|Lexus|RX 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Lexus|RX 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Lexus|RX Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[](##)|[](##)|Mazda|
-|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|Mazda|
-|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|Nissan B|
-|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|Nissan A|
-|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|Nissan A|
-|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|Nissan A|
-|Ram|1500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[](##)|[](##)|Ram|
-|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
-|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
-|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|Subaru B|
-|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|Subaru B|
-|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
-|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
-|Škoda|Kamiq 2021[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[10](#footnotes)|
-|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[10](#footnotes)|
-|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Avalon 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Avalon 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Avalon Hybrid 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|C-HR 2017-21|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Camry 2018-20|All|Stock|0 mph[6](#footnotes)|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Camry 2021-22|All|openpilot|0 mph[6](#footnotes)|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Highlander 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Highlander Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Prius 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Prius Prime 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|RAV4 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
-|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[](##)|[](##)|J533|
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[](##)|[](##)|J533|
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Passat 2015-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[10](#footnotes)|
-|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[10](#footnotes)|
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[10](#footnotes)|
-|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[10](#footnotes)|
-|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Tiguan 2019-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
+|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
+|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[](##)|[](##)|Honda Nidec||
+|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec||
+|Acura|RDX 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Cadillac|Escalade ESV 2016[3](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II||
+|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[](##)|[](##)|GM|
|
+|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[](##)|[](##)|GM||
+|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[](##)|[](##)|GM||
+|Chevrolet|Volt 2017-18[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II||
+|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|FCA||
+|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|FCA||
+|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[](##)|[](##)|FCA||
+|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|FCA||
+|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|FCA||
+|comma|body|All|openpilot|0 mph|0 mph|[](##)|[](##)|None||
+|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai F||
+|Genesis|G70 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai F||
+|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H||
+|Genesis|G90 2017-18|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai C||
+|Genesis|GV60 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai K||
+|Genesis|GV70 2022-23[5](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai L||
+|GMC|Acadia 2018[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II||
+|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[](##)|[](##)|GM||
+|Honda|Accord 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A||
+|Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A||
+|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|Honda Nidec||
+|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[4](#footnotes)|[](##)|[](##)|Honda Bosch A||
+|Honda|Civic 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Honda Bosch B||
+|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[](##)|[](##)|Honda Bosch A||
+|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Honda Bosch B||
+|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec||
+|Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[](##)|[](##)|Honda Bosch A||
+|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[](##)|[](##)|Honda Bosch A||
+|Honda|e 2020|All|openpilot available[1](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A||
+|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec||
+|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec||
+|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec||
+|Honda|Insight 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A||
+|Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A||
+|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[](##)|[](##)|Honda Nidec||
+|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec||
+|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec||
+|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec||
+|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|Hyundai B||
+|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai K||
+|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai E||
+|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai K||
+|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[](##)|[](##)|Hyundai J||
+|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai E||
+|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai Q||
+|Hyundai|Ioniq 5 (with HDA II) 2022-23[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai Q||
+|Hyundai|Ioniq 5 (without HDA II) 2022-23[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai K||
+|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai C||
+|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H||
+|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai C||
+|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H||
+|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[](##)|[](##)|Hyundai C||
+|Hyundai|Ioniq Plug-in Hybrid 2020-21|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H||
+|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai B||
+|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai G||
+|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai O||
+|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai I||
+|Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai H||
+|Hyundai|Santa Cruz 2021-22[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai N||
+|Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai D||
+|Hyundai|Santa Fe 2021-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai L||
+|Hyundai|Santa Fe Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai L||
+|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai L||
+|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai E||
+|Hyundai|Sonata 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai A||
+|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai A||
+|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[](##)|[](##)|Hyundai L||
+|Hyundai|Tucson 2022[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai N||
+|Hyundai|Tucson 2023[5](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai N||
+|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai L||
+|Hyundai|Tucson Hybrid 2022[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai N||
+|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[](##)|[](##)|Hyundai E||
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|FCA||
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|FCA||
+|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai E||
+|Kia|EV6 (Southeast Asia only) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai P||
+|Kia|EV6 (with HDA II) 2022[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai P||
+|Kia|EV6 (without HDA II) 2022[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai L||
+|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai G||
+|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai A||
+|Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai H||
+|Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai F||
+|Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai C||
+|Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai H||
+|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai F||
+|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai H||
+|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[1](#footnotes)|10 mph|32 mph|[](##)|[](##)|Hyundai C||
+|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai B||
+|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai G||
+|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai A||
+|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai C||
+|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai E||
+|Kia|Sorento 2022-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai K||
+|Kia|Sorento Plug-in Hybrid 2022-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai A||
+|Kia|Sportage 2023[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai N||
+|Kia|Sportage Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai N||
+|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai C||
+|Kia|Stinger 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai K||
+|Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai H||
+|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Lexus|ES Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Lexus|ES Hybrid 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|Toyota||
+|Lexus|NX 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Lexus|NX Hybrid 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[](##)|[](##)|Toyota||
+|Lexus|RX 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Lexus|RX 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Lexus|RX Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[](##)|[](##)|Mazda||
+|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|Mazda||
+|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|Nissan B||
+|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|Nissan A||
+|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|Nissan A||
+|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|Nissan A||
+|Ram|1500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[](##)|[](##)|Ram||
+|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A||
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A||
+|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A||
+|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|Subaru B||
+|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|Subaru B||
+|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A||
+|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A||
+|Škoda|Kamiq 2021[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[10](#footnotes)||
+|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[10](#footnotes)||
+|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|Avalon 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|Avalon 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|Avalon Hybrid 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|C-HR 2017-21|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|Camry 2018-20|All|Stock|0 mph[6](#footnotes)|0 mph|[](##)|[](##)|Toyota||
+|Toyota|Camry 2021-22|All|openpilot|0 mph[6](#footnotes)|0 mph|[](##)|[](##)|Toyota||
+|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|Highlander 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|Highlander Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|Prius 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|Prius Prime 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|RAV4 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota||
+|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[](##)|[](##)|J533||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[](##)|[](##)|J533||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Volkswagen|Passat 2015-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[10](#footnotes)||
+|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[10](#footnotes)||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[10](#footnotes)||
+|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[10](#footnotes)||
+|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Volkswagen|Tiguan 2019-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
+|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
1Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`.
2By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).
-3Requires a community built ASCM harness. NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).
+3Requires a community built ASCM harness. NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).
42019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
-5Requires a red panda, additional harness box, additional OBD-C cable, USB-A to USB-A cable, and a USB-A to USB-C OTG dongle.
+5Requires a red panda for this CAN FD car. All the hardware needed is sold in the CAN FD kit.
6openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
7Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
8Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.
diff --git a/docs/assets/icon-youtube.svg b/docs/assets/icon-youtube.svg
new file mode 100644
index 0000000000..4e2c9fdfa9
--- /dev/null
+++ b/docs/assets/icon-youtube.svg
@@ -0,0 +1,12 @@
+
+
\ No newline at end of file
diff --git a/opendbc b/opendbc
index 4a7ad636ff..e8ce453227 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 4a7ad636ff806146a93f7ae541e463a7dfa5696d
+Subproject commit e8ce453227ece42bdb99b898c98876665373d7ef
diff --git a/panda b/panda
index 345147fe2b..0b3b906036 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 345147fe2bc3a06c44709426f9fcd298588b9fe4
+Subproject commit 0b3b9060365739eeeddb1528cfe4018fec4efe7a
diff --git a/poetry.lock b/poetry.lock
index 9ab86329d7..8edfbb868c 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -80,6 +80,14 @@ develop = ["imgaug (>=0.4.0)", "pytest"]
imgaug = ["imgaug (>=0.4.0)"]
tests = ["pytest"]
+[[package]]
+name = "antlr4-python3-runtime"
+version = "4.9.3"
+description = "ANTLR 4.9.3 runtime for Python 3.7"
+category = "dev"
+optional = false
+python-versions = "*"
+
[[package]]
name = "anyio"
version = "3.6.2"
@@ -2431,6 +2439,18 @@ rsa = ["cryptography (>=3.0.0)"]
signals = ["blinker (>=1.4.0)"]
signedtoken = ["cryptography (>=3.0.0)", "pyjwt (>=2.0.0,<3)"]
+[[package]]
+name = "omegaconf"
+version = "2.3.0"
+description = "A flexible configuration library"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+antlr4-python3-runtime = ">=4.9.0,<4.10.0"
+PyYAML = ">=5.1.0"
+
[[package]]
name = "onnx"
version = "1.12.0"
@@ -4444,7 +4464,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
[metadata]
lock-version = "1.1"
python-versions = "~3.8"
-content-hash = "2ab9d6aee6cc2c7bb5ba9763a54779ef9535cb752ec0038736a442992a04d459"
+content-hash = "3c2597d2199a29ef79dd4d5fbc5e2350d86c82a3fe6716d13b93ebc268053eb9"
[metadata.files]
adal = [
@@ -4557,6 +4577,9 @@ albumentations = [
{file = "albumentations-1.3.0-py3-none-any.whl", hash = "sha256:294165d87d03bc8323e484927f0a5c1a3c64b0e7b9c32a979582a6c93c363bdf"},
{file = "albumentations-1.3.0.tar.gz", hash = "sha256:be1af36832c8893314f2a5550e8ac19801e04770734c1b70fa3c996b41f37bed"},
]
+antlr4-python3-runtime = [
+ {file = "antlr4-python3-runtime-4.9.3.tar.gz", hash = "sha256:f224469b4168294902bb1efa80a8bf7855f24c99aef99cbefc1bcd3cce77881b"},
+]
anyio = [
{file = "anyio-3.6.2-py3-none-any.whl", hash = "sha256:fbbe32bd270d2a2ef3ed1c5d45041250284e31fc0a4df4a5a6071842051a51e3"},
{file = "anyio-3.6.2.tar.gz", hash = "sha256:25ea0d673ae30af41a0c442f81cf3b38c7e79fdc7b60335a4c14e05eb0947421"},
@@ -6426,6 +6449,10 @@ oauthlib = [
{file = "oauthlib-3.2.2-py3-none-any.whl", hash = "sha256:8139f29aac13e25d502680e9e19963e83f16838d48a0d71c287fe40e7067fbca"},
{file = "oauthlib-3.2.2.tar.gz", hash = "sha256:9859c40929662bec5d64f34d01c99e093149682a3f38915dc0655d5a633dd918"},
]
+omegaconf = [
+ {file = "omegaconf-2.3.0-py3-none-any.whl", hash = "sha256:7b4df175cdb08ba400f45cae3bdcae7ba8365db4d165fc65fd04b050ab63b46b"},
+ {file = "omegaconf-2.3.0.tar.gz", hash = "sha256:d5d4b6d29955cc50ad50c46dc269bcd92c6e00f5f90d23ab5fee7bfca4ba4cc7"},
+]
onnx = [
{file = "onnx-1.12.0-cp310-cp310-macosx_10_12_x86_64.whl", hash = "sha256:bdbd2578424c70836f4d0f9dda16c21868ddb07cc8192f9e8a176908b43d694b"},
{file = "onnx-1.12.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:213e73610173f6b2e99f99a4b0636f80b379c417312079d603806e48ada4ca8b"},
diff --git a/pyproject.toml b/pyproject.toml
index af9fcc6e6e..ed3a821e29 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -171,6 +171,7 @@ torchvision = { url = "https://download.pytorch.org/whl/cu113/torchvision-0.12.0
triton = "^1.1.1"
Werkzeug = "^2.1.2"
zerorpc = { git = "https://github.com/commaai/zerorpc-python.git", branch = "master" }
+omegaconf = "^2.3.0"
[build-system]
diff --git a/selfdrive/assets/navigation/default_marker.svg b/selfdrive/assets/navigation/default_marker.svg
new file mode 100644
index 0000000000..43d5290a96
--- /dev/null
+++ b/selfdrive/assets/navigation/default_marker.svg
@@ -0,0 +1,5 @@
+
+
diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md
index 2fce0f9036..1c80ea3d93 100644
--- a/selfdrive/car/CARS_template.md
+++ b/selfdrive/car/CARS_template.md
@@ -1,5 +1,6 @@
{% set footnote_tag = '[{}](#footnotes)' -%}
{% set star_icon = '[](##)' -%}
+{% set video_icon = '' -%}
@@ -12,7 +13,7 @@ A supported vehicle is one that just works when you install a comma three. All s
|{{Column | map(attribute='value') | join('|')}}|
|---|---|---|{% 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, footnote_tag)}}|{% endfor %}
+|{% for column in Column %}{{car_info.get_column(column, star_icon, video_icon, footnote_tag)}}|{% endfor %}
{% endfor %}
diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py
index 03313e2ff6..bc03619d0d 100755
--- a/selfdrive/car/docs.py
+++ b/selfdrive/car/docs.py
@@ -29,7 +29,7 @@ def get_all_car_info() -> List[CarInfo]:
all_car_info: List[CarInfo] = []
footnotes = get_all_footnotes()
for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items():
- CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")])
+ CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=False)
if CP.dashcamOnly or car_info is None:
continue
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index 03e9e721b5..c3063bc47c 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -21,6 +21,7 @@ class Column(Enum):
STEERING_TORQUE = "Steering Torque"
AUTO_RESUME = "Resume from stop"
HARNESS = "Harness"
+ VIDEO = "Video"
class Star(Enum):
@@ -159,6 +160,7 @@ class CarInfo:
Column.STEERING_TORQUE: Star.EMPTY,
Column.AUTO_RESUME: Star.FULL if CP.autoResumeSng else Star.EMPTY,
Column.HARNESS: self.harness.value,
+ Column.VIDEO: self.video_link if self.video_link is not None else "", # replaced with an image and link from template in get_column
}
# Set steering torque star from max lateral acceleration
@@ -202,12 +204,14 @@ class CarInfo:
else:
raise Exception(f"This notCar does not have a detail sentence: {CP.carFingerprint}")
- def get_column(self, column: Column, star_icon: str, footnote_tag: str) -> str:
+ def get_column(self, column: Column, star_icon: str, video_icon: str, footnote_tag: str) -> str:
item: Union[str, Star] = self.row[column]
if isinstance(item, Star):
item = star_icon.format(item.value)
elif column == Column.MODEL and len(self.years):
item += f" {self.years}"
+ elif column == Column.VIDEO and len(item) > 0:
+ item = video_icon.format(item)
footnotes = get_footnotes(self.footnotes, column)
if len(footnotes):
diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py
index c7e4d4eb30..a1695733fa 100755
--- a/selfdrive/car/fw_query_definitions.py
+++ b/selfdrive/car/fw_query_definitions.py
@@ -62,6 +62,7 @@ class Request:
@dataclass
class FwQueryConfig:
requests: List[Request]
+ # TODO: make this automatic and remove hardcoded lists, or do fingerprinting with ecus
# Overrides and removes from essential ecus for specific models and ecus (exact matching)
non_essential_ecus: Dict[capnp.lib.capnp._EnumModule, List[str]] = field(default_factory=dict)
# Ecus added for data collection, not to be fingerprinted on
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 195df36a7f..856dcbaae5 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -68,20 +68,20 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
ret.minEnableSpeed = 5 * CV.KPH_TO_MS
+ # Tuning for experimental long
+ ret.longitudinalTuning.kpV = [2.0, 1.5]
+ ret.longitudinalTuning.kiV = [0.72]
+ ret.stopAccel = -2.0
+ ret.stoppingDecelRate = 2.0 # reach brake quickly after enabling
+ ret.vEgoStopping = 0.25
+ ret.vEgoStarting = 0.25
+ ret.longitudinalActuatorDelayUpperBound = 0.5
+
if experimental_long:
ret.pcmCruise = False
ret.openpilotLongitudinalControl = True
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
- # Tuning
- ret.longitudinalTuning.kpV = [2.0, 1.5]
- ret.longitudinalTuning.kiV = [0.72]
- ret.stopAccel = -2.0
- ret.stoppingDecelRate = 2.0 # reach brake quickly after enabling
- ret.vEgoStopping = 0.25
- ret.vEgoStarting = 0.25
- ret.longitudinalActuatorDelayUpperBound = 0.5
-
else: # ASCM, OBD-II harness
ret.openpilotLongitudinalControl = True
ret.networkLocation = NetworkLocation.gateway
diff --git a/selfdrive/car/gm/radar_interface.py b/selfdrive/car/gm/radar_interface.py
index 6904e6f899..5cb211812d 100755
--- a/selfdrive/car/gm/radar_interface.py
+++ b/selfdrive/car/gm/radar_interface.py
@@ -3,7 +3,7 @@ import math
from cereal import car
from common.conversions import Conversions as CV
from opendbc.can.parser import CANParser
-from selfdrive.car.gm.values import DBC, CAR, CanBus
+from selfdrive.car.gm.values import DBC, CanBus
from selfdrive.car.interfaces import RadarInterfaceBase
RADAR_HEADER_MSG = 1120
@@ -16,9 +16,6 @@ LAST_RADAR_MSG = RADAR_HEADER_MSG + NUM_SLOTS
def create_radar_can_parser(car_fingerprint):
- if car_fingerprint not in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS, CAR.ESCALADE_ESV):
- return None
-
# C1A-ARS3-A by Continental
radar_targets = list(range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS))
signals = list(zip(['FLRRNumValidTargets',
@@ -34,11 +31,12 @@ def create_radar_can_parser(car_fingerprint):
return CANParser(DBC[car_fingerprint]['radar'], signals, checks, CanBus.OBSTACLE)
+
class RadarInterface(RadarInterfaceBase):
def __init__(self, CP):
super().__init__(CP)
- self.rcp = create_radar_can_parser(CP.carFingerprint)
+ self.rcp = None if CP.radarOffCan else create_radar_can_parser(CP.carFingerprint)
self.trigger_msg = LAST_RADAR_MSG
self.updated_messages = set()
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index ece128c253..e633ec5f62 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -75,7 +75,7 @@ class CAR:
class Footnote(Enum):
OBD_II = CarFootnote(
- 'Requires a community built ASCM harness. ' +
+ 'Requires a community built ASCM harness. ' +
'NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).',
Column.MODEL)
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index fc196528d7..da1a7bfa78 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -86,7 +86,7 @@ class CarState(CarStateBase):
50, cp.vl["CGW1"]["CF_Gway_TurnSigLh"], cp.vl["CGW1"]["CF_Gway_TurnSigRh"])
ret.steeringTorque = cp.vl["MDPS12"]["CR_Mdps_StrColTq"]
ret.steeringTorqueEps = cp.vl["MDPS12"]["CR_Mdps_OutTq"]
- ret.steeringPressed = abs(ret.steeringTorque) > self.params.STEER_THRESHOLD
+ ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
ret.steerFaultTemporary = cp.vl["MDPS12"]["CF_Mdps_ToiUnavail"] != 0 or cp.vl["MDPS12"]["CF_Mdps_ToiFlt"] != 0
# cruise state
@@ -156,6 +156,9 @@ class CarState(CarStateBase):
def update_canfd(self, cp, cp_cam):
ret = car.CarState.new_message()
+ self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1
+ speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
+
if self.CP.carFingerprint in (EV_CAR | HYBRID_CAR):
if self.CP.carFingerprint in EV_CAR:
ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255.
@@ -197,14 +200,18 @@ class CarState(CarStateBase):
ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0
ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0
- ret.cruiseState.available = True
- self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1
- if not self.CP.openpilotLongitudinalControl:
- speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
+ # cruise state
+ # CAN FD cars enable on main button press, set available if no TCS faults preventing engagement
+ ret.cruiseState.available = cp.vl["TCS"]["ACCEnable"] == 0
+ if self.CP.openpilotLongitudinalControl:
+ # These are not used for engage/disengage since openpilot keeps track of state using the buttons
+ ret.cruiseState.enabled = cp.vl["TCS"]["ACC_REQ"] == 1
+ ret.cruiseState.standstill = False
+ else:
cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp
- ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
- ret.cruiseState.standstill = cp_cruise_info.vl["SCC_CONTROL"]["CRUISE_STANDSTILL"] == 1
ret.cruiseState.enabled = cp_cruise_info.vl["SCC_CONTROL"]["ACCMode"] in (1, 2)
+ ret.cruiseState.standstill = cp_cruise_info.vl["SCC_CONTROL"]["CRUISE_STANDSTILL"] == 1
+ ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"])
cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS"
@@ -435,6 +442,7 @@ class CarState(CarStateBase):
("DriverBraking", "TCS"),
("ACCEnable", "TCS"),
+ ("ACC_REQ", "TCS"),
("COUNTER", cruise_btn_msg),
("CRUISE_BUTTONS", cruise_btn_msg),
diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py
index c492e6a5ff..af7239571c 100644
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
@@ -72,8 +72,6 @@ def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_ove
else:
a_raw = accel
a_val = clip(accel, accel_last - jn, accel_last + jn)
- if stopping:
- a_raw = 0
values = {
"ACCMode": 0 if not enabled else (2 if gas_override else 1),
@@ -83,6 +81,7 @@ def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_ove
"aReqRaw": a_raw,
"VSetDis": set_speed,
"JerkLowerLimit": jerk if enabled else 1,
+ "JerkUpperLimit": 3.0,
"ACC_ObjDist": 1,
"ObjValid": 0,
@@ -90,7 +89,6 @@ def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_ove
"SET_ME_2": 0x4,
"SET_ME_3": 0x3,
"SET_ME_TMP_64": 0x64,
- "NEW_SIGNAL_10": 4,
"DISTANCE_SETTING": 4,
}
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 6881be5a33..6d6d9833df 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -185,10 +185,13 @@ class CarInterface(CarInterfaceBase):
ret.mass = 1767. + STD_CARGO_KG # SX Prestige trim support only
ret.wheelbase = 2.756
ret.steerRatio = 13.6
- elif candidate == CAR.KIA_SORENTO_PHEV_4TH_GEN:
- ret.mass = 4095.8 * CV.LB_TO_KG + STD_CARGO_KG # weight from EX and above trims, average of FWD and AWD versions (EX, X-Line EX AWD, SX, SX Pestige, X-Line SX Prestige AWD)
+ elif candidate in (CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN):
ret.wheelbase = 2.81
- ret.steerRatio = 13.27 # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sorento-phev/2022/specifications
+ ret.steerRatio = 13.5 # average of the platforms
+ if candidate == CAR.KIA_SORENTO_4TH_GEN:
+ ret.mass = 3957 * CV.LB_TO_KG + STD_CARGO_KG
+ else:
+ ret.mass = 4537 * CV.LB_TO_KG + STD_CARGO_KG
# Genesis
elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN:
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 4d3f44d65f..eace661266 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -105,6 +105,7 @@ class CAR:
KIA_SELTOS = "KIA SELTOS 2021"
KIA_SPORTAGE_5TH_GEN = "KIA SPORTAGE 5TH GEN"
KIA_SORENTO = "KIA SORENTO GT LINE 2018"
+ KIA_SORENTO_4TH_GEN = "KIA SORENTO 4TH GEN"
KIA_SORENTO_PHEV_4TH_GEN = "KIA SORENTO PLUG-IN HYBRID 4TH GEN"
KIA_SPORTAGE_HYBRID_5TH_GEN = "KIA SPORTAGE HYBRID 5TH GEN"
KIA_STINGER = "KIA STINGER GT2 2018"
@@ -122,9 +123,10 @@ class CAR:
class Footnote(Enum):
+ # footnotes which mention "red panda" will be replaced with the CAN FD panda kit on the shop page
CANFD = CarFootnote(
- "Requires a red panda, additional harness box, " +
- "additional OBD-C cable, USB-A to USB-A cable, and a USB-A to USB-C OTG dongle.",
+ "Requires a red panda for this CAN FD car. " +
+ "All the hardware needed is sold in the CAN FD kit.",
Column.MODEL, shop_footnote=True)
@@ -160,7 +162,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", "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 2020-22", "All", "https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a),
+ CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", "https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a),
CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", harness=Harness.hyundai_e),
CAR.TUCSON: [
HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_l),
@@ -210,7 +212,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", "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),
],
- CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "Smart Cruise Control (SCC)", harness=Harness.hyundai_a),
+ CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2022-23", 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),
@@ -512,6 +515,7 @@ FW_VERSIONS = {
b'HM6M1_0a0_G20',
b'HM6M2_0a0_BD0',
b'\xf1\x8739110-2S278\xf1\x82DNDVD5GMCCXXXL5B',
+ b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M00',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware
@@ -529,6 +533,7 @@ FW_VERSIONS = {
b'\xf1\x8756310L0210\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC101',
b'\xf1\x8757700-L0000\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100',
b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP101',
+ b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC102',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00DN8 MFC AT KOR LHD 1.00 1.02 99211-L1000 190422',
@@ -538,6 +543,7 @@ FW_VERSIONS = {
b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.03 99211-L0000 210603',
b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.05 99211-L1000 201109',
b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.06 99211-L1000 210325',
+ b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.07 99211-L1000 211223',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
@@ -548,6 +554,7 @@ FW_VERSIONS = {
b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
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\x00T02601BL T02730A1 VDN8T25XXX730NS5\xf7_\x92\xf5',
b'\xf1\x00T02601BL T02832A1 VDN8T25XXX832NS8G\x0e\xfeE',
b'\xf1\x87954A02N060\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VDN8T25XXX730NS5\xf7_\x92\xf5',
@@ -794,6 +801,7 @@ FW_VERSIONS = {
b'\xf1\x00CK__ SCC F_CUP 1.00 1.01 96400-J5100 ',
b'\xf1\x00CK__ SCC F_CUP 1.00 1.03 96400-J5100 ',
b'\xf1\x00CK__ SCC F_CUP 1.00 1.01 96400-J5000 ',
+ b'\xf1\x00CK__ SCC F_CUP 1.00 1.02 96400-J5100 ',
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x81606DE051\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -801,6 +809,7 @@ FW_VERSIONS = {
b'\xf1\x82CKJN3TMSDE0B\x00\x00\x00\x00',
b'\xf1\x82CKKN3TMD_H0A\x00\x00\x00\x00',
b'\xe0\x19\xff\xe7\xe7g\x01\xa2\x00\x0f\x00\x9e\x00\x06\x00\xff\xff\xff\xff\xff\xff\x00\x00\xff\xff\xff\xff\xff\xff\x00\x00\x0f\x0e\x0f\x0f\x0e\r\x00\x00\x7f\x02.\xff\x00\x00~p\x00\x00\x00\x00u\xff\xf9\xff\x00\x00\x00\x00V\t\xd5\x01\xc0\x00\x00\x00\x007\xfb\xfc\x0b\x8d\x00',
+ b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5200 4C2CL104',
@@ -808,6 +817,7 @@ FW_VERSIONS = {
b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5420 4C4VL104',
b'\xf1\x00CK MDPS R 1.00 1.06 57700-J5420 4C4VL106',
b'\xf1\x00CK MDPS R 1.00 1.07 57700-J5220 4C2VL107',
+ b'\xf1\x00CK MDPS R 1.00 1.06 57700-J5220 4C2VL106',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00CK MFC AT USA LHD 1.00 1.03 95740-J5000 170822',
@@ -815,6 +825,7 @@ FW_VERSIONS = {
b'\xf1\x00CK MFC AT EUR LHD 1.00 1.03 95740-J5000 170822',
],
(Ecu.transmission, 0x7e1, None): [
+ b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SCK0T33NB2\xb3\xee\xba\xdc',
b'\xf1\x87VCJLE17622572DK0vd6D\x99\x98y\x97vwVffUfvfC%CuT&Dx\x87o\xff{\x1c\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x89E21\x00\x00\x00\x00\x00\x00\x00\xf1\x82SCK0T33NB0',
@@ -1457,6 +1468,7 @@ FW_VERSIONS = {
b'\xf1\x00CV1 MFC AT EUR LHD 1.00 1.05 99210-CV000 211027',
b'\xf1\x00CV1 MFC AT EUR LHD 1.00 1.06 99210-CV000 220328',
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',
],
},
CAR.IONIQ_5: {
@@ -1473,6 +1485,7 @@ FW_VERSIONS = {
CAR.TUCSON_4TH_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T',
+ b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW010 14X',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ',
@@ -1517,9 +1530,11 @@ FW_VERSIONS = {
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',
],
(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 ',
],
},
CAR.GENESIS_GV60_EV_1ST_GEN: {
@@ -1530,6 +1545,14 @@ FW_VERSIONS = {
b'\xf1\x00JW1_ RDR ----- 1.00 1.00 99110-CU000 ',
],
},
+ CAR.KIA_SORENTO_4TH_GEN: {
+ (Ecu.fwdCamera, 0x7c4, None): [
+ b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.05 99210-R5000 210623',
+ ],
+ (Ecu.fwdRadar, 0x7d0, None): [
+ b'\xf1\x00MQ4_ SCC FHCUP 1.00 1.06 99110-P2000 ',
+ ],
+ },
}
CHECKSUM = {
@@ -1547,10 +1570,10 @@ FEATURES = {
"use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022, CAR.KIA_STINGER_2022},
}
-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}
+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}
# 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}
+CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN}
# The camera does SCC on these cars, rather than the radar
CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
@@ -1615,4 +1638,5 @@ DBC = {
CAR.GENESIS_GV70_1ST_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_SORENTO_PHEV_4TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.GENESIS_GV60_EV_1ST_GEN: dbc_dict('hyundai_canfd', None),
+ CAR.KIA_SORENTO_4TH_GEN: dbc_dict('hyundai_canfd', None),
}
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index ad1fd22b90..7192f5252c 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -88,13 +88,14 @@ class CarInterfaceBase(ABC):
return ACCEL_MIN, ACCEL_MAX
@classmethod
- def get_params(cls, candidate: str, fingerprint: Optional[Dict[int, Dict[int, int]]] = None, car_fw: Optional[List[car.CarParams.CarFw]] = None, experimental_long: bool = False):
- if fingerprint is None:
- fingerprint = gen_empty_fingerprint()
-
- if car_fw is None:
- car_fw = list()
+ def get_non_essential_params(cls, candidate: str):
+ """
+ Parameters essential to controlling the car may be incomplete or wrong without FW versions or fingerprints.
+ """
+ return cls.get_params(candidate, gen_empty_fingerprint(), list(), False)
+ @classmethod
+ def get_params(cls, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool):
ret = CarInterfaceBase.get_std_params(candidate)
ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long)
diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py
index 6371b56be8..e9af828e2b 100644
--- a/selfdrive/car/nissan/values.py
+++ b/selfdrive/car/nissan/values.py
@@ -39,7 +39,7 @@ class NissanCarInfo(CarInfo):
CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = {
CAR.XTRAIL: NissanCarInfo("Nissan X-Trail 2017"),
- CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-22"),
+ CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-22", 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),
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 3edc406e19..ac0521cc68 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -100,6 +100,7 @@ routes = [
CarTestRoute("db68bbe12250812c|2022-12-05--00-54-12", HYUNDAI.TUCSON_4TH_GEN), # 2023
CarTestRoute("36e10531feea61a4|2022-07-25--13-37-42", HYUNDAI.TUCSON_HYBRID_4TH_GEN),
CarTestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
+ CarTestRoute("1d0d000db3370fd0|2023-01-04--22-28-42", HYUNDAI.KIA_SORENTO_4TH_GEN, segment=5),
CarTestRoute("628935d7d3e5f4f7|2022-11-30--01-12-46", HYUNDAI.KIA_SORENTO_PHEV_4TH_GEN),
CarTestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE),
CarTestRoute("05a8f0197fdac372|2022-10-19--14-14-09", HYUNDAI.IONIQ_5), # HDA2
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 48d85584b3..deb0454b9c 100755
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -25,7 +25,7 @@ class TestCarInterfaces(unittest.TestCase):
car_fw = []
- car_params = CarInterface.get_params(car_name, fingerprints, car_fw)
+ car_params = CarInterface.get_params(car_name, fingerprints, car_fw, experimental_long=False)
car_interface = CarInterface(car_params, CarController, CarState)
assert car_params
assert car_interface
@@ -35,6 +35,12 @@ class TestCarInterfaces(unittest.TestCase):
self.assertGreater(car_params.centerToFront, 0)
self.assertGreater(car_params.maxLateralAccel, 0)
+ # Longitudinal sanity checks
+ self.assertEqual(len(car_params.longitudinalTuning.kpV), len(car_params.longitudinalTuning.kpBP))
+ self.assertEqual(len(car_params.longitudinalTuning.kiV), len(car_params.longitudinalTuning.kiBP))
+ self.assertEqual(len(car_params.longitudinalTuning.deadzoneV), len(car_params.longitudinalTuning.deadzoneBP))
+
+ # Lateral sanity checks
if car_params.steerControlType != car.CarParams.SteerControlType.angle:
tune = car_params.lateralTuning
if tune.which() == 'pid':
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index 2e43103852..e9f23145cd 100755
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -67,7 +67,7 @@ class TestFwFingerprint(unittest.TestCase):
blacklisted_addrs = (0x7c4, 0x7d0) # includes A/C ecu and an unknown ecu
for car_model, ecus in FW_VERSIONS.items():
with self.subTest(car_model=car_model):
- CP = interfaces[car_model][0].get_params(car_model)
+ CP = interfaces[car_model][0].get_non_essential_params(car_model)
if CP.carName == 'subaru':
for ecu in ecus.keys():
self.assertNotIn(ecu[1], blacklisted_addrs, f'{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})')
diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py
index a82c20ce01..3efdd7404e 100755
--- a/selfdrive/car/tests/test_lateral_limits.py
+++ b/selfdrive/car/tests/test_lateral_limits.py
@@ -40,7 +40,7 @@ class TestLateralLimits(unittest.TestCase):
@classmethod
def setUpClass(cls):
CarInterface, _, _ = interfaces[cls.car_model]
- CP = CarInterface.get_params(cls.car_model)
+ CP = CarInterface.get_non_essential_params(cls.car_model)
if CP.dashcamOnly:
raise unittest.SkipTest("Platform is behind dashcamOnly")
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 641c109316..b6f78c4b47 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -238,7 +238,7 @@ class TestCarModelBase(unittest.TestCase):
# TODO: check rest of panda's carstate (steering, ACC main on, etc.)
checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()
- if self.CP.carName not in ("hyundai", "volkswagen", "body"):
+ if self.CP.carName not in ("hyundai", "body"):
# TODO: fix standstill mismatches for other makes
checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving()
diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
index d7b2ec4079..3a9f92c046 100644
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@@ -36,6 +36,7 @@ KIA SPORTAGE HYBRID 5TH GEN: [2.5, 2.5, 0.1]
GENESIS GV70 1ST GEN: [2.42, 2.42, 0.1]
KIA SORENTO PLUG-IN HYBRID 4TH GEN: [2.5, 2.5, 0.1]
GENESIS GV60 ELECTRIC 1ST GEN: [2.5, 2.5, 0.1]
+KIA SORENTO 4TH GEN: [2.5, 2.5, 0.1]
# Dashcam or fallback configured as ideal car
mock: [10.0, 10, 0.0]
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 64a0bed0b2..586b1a835e 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -230,7 +230,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
# FIXME: On some models, abs can sometimes be missing
Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS],
# On some models, the engine can show on two different addresses
- Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.LEXUS_IS],
+ Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.LEXUS_IS, CAR.LEXUS_RC],
}
)
@@ -831,6 +831,7 @@ FW_VERSIONS = {
b'\x01896630ZJ1000\x00\x00\x00\x00',
b'\x01896630ZU8000\x00\x00\x00\x00',
b'\x01896637621000\x00\x00\x00\x00',
+ b'\x01896637623000\x00\x00\x00\x00',
b'\x01896637624000\x00\x00\x00\x00',
b'\x01896637626000\x00\x00\x00\x00',
b'\x01896637639000\x00\x00\x00\x00',
@@ -1737,22 +1738,29 @@ FW_VERSIONS = {
],
},
CAR.LEXUS_RC: {
+ (Ecu.engine, 0x700, None): [
+ b'\x01896632478200\x00\x00\x00\x00',
+ ],
(Ecu.engine, 0x7e0, None): [
b'\x0232484000\x00\x00\x00\x00\x00\x00\x00\x0052422000\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x7b0, None): [
+ b'F152624150\x00\x00\x00\x00\x00\x00',
b'F152624221\x00\x00\x00\x00\x00\x00',
],
(Ecu.dsu, 0x791, None): [
+ b'881512407000\x00\x00\x00\x00',
b'881512409100\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'8965B24081\x00\x00\x00\x00\x00\x00',
+ b'8965B24320\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'8821F4702300\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
+ b'8646F2401200\x00\x00\x00\x00',
b'8646F2402200\x00\x00\x00\x00',
],
},
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index 7ea9aa871b..64d1246880 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -44,7 +44,7 @@ class CarState(CarStateBase):
ret.vEgoRaw = float(np.mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr]))
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
- ret.standstill = ret.vEgo < 0.1
+ ret.standstill = ret.vEgoRaw == 0
# Update steering angle, rate, yaw rate, and driver input torque. VW send
# the sign/direction in a separate signal so they must be recombined.
@@ -160,7 +160,7 @@ class CarState(CarStateBase):
# vEgo obtained from Bremse_1 vehicle speed rather than Bremse_3 wheel speeds because Bremse_3 isn't present on NSF
ret.vEgoRaw = pt_cp.vl["Bremse_1"]["Geschwindigkeit_neu__Bremse_1_"] * CV.KPH_TO_MS
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
- ret.standstill = ret.vEgo < 0.1
+ ret.standstill = ret.vEgoRaw == 0
# Update steering angle, rate, yaw rate, and driver input torque. VW send
# the sign/direction in a separate signal so they must be recombined.
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index d1f6bfb02c..f627e517be 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -373,6 +373,7 @@ FW_VERSIONS = {
b'\xf1\x8704L906056CR\xf1\x895813',
b'\xf1\x8704L906056HE\xf1\x893758',
b'\xf1\x8704L906056HN\xf1\x896590',
+ b'\xf1\x8704L906056HT\xf1\x896591',
b'\xf1\x870EA906016A \xf1\x898343',
b'\xf1\x870EA906016E \xf1\x894219',
b'\xf1\x870EA906016F \xf1\x894238',
@@ -405,6 +406,7 @@ FW_VERSIONS = {
b'\xf1\x870CW300041H \xf1\x891010',
b'\xf1\x870CW300042F \xf1\x891604',
b'\xf1\x870CW300043B \xf1\x891601',
+ b'\xf1\x870CW300043E \xf1\x891603',
b'\xf1\x870CW300044S \xf1\x894530',
b'\xf1\x870CW300044T \xf1\x895245',
b'\xf1\x870CW300045 \xf1\x894531',
@@ -442,6 +444,7 @@ FW_VERSIONS = {
b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120053114317121C111C9113',
b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333463100',
b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100',
+ b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2251229333463100',
b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2252229333463100',
b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2252229333463100',
b'\xf1\x875Q0959655C \xf1\x890361\xf1\x82\x111413001112120004110415121610169112',
@@ -934,19 +937,23 @@ FW_VERSIONS = {
b'\xf1\x8704L906026BP\xf1\x891198',
b'\xf1\x8704L906026BP\xf1\x897608',
b'\xf1\x8705E906018AS\xf1\x899596',
+ b'\xf1\x878V0906264H \xf1\x890005',
],
(Ecu.transmission, 0x7e1, None): [
+ b'\xf1\x870CW300041G \xf1\x891003',
b'\xf1\x870CW300050J \xf1\x891908',
b'\xf1\x870D9300042M \xf1\x895016',
],
(Ecu.srs, 0x715, None): [
b'\xf1\x873Q0959655AC\xf1\x890189\xf1\x82\r11110011110011021511110200',
b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r12110012120012021612110200',
+ b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1312001313001305171311052900',
b'\xf1\x873Q0959655CM\xf1\x890720\xf1\x82\0161312001313001305171311052900',
],
(Ecu.eps, 0x712, None): [
b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521N01342A1',
b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00511N01805A0',
+ b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521N01309A1',
b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521N05808A1',
],
(Ecu.fwdRadar, 0x757, None): [
@@ -1023,6 +1030,7 @@ FW_VERSIONS = {
},
CAR.SKODA_OCTAVIA_MK3: {
(Ecu.engine, 0x7e0, None): [
+ b'\xf1\x8704C906025L \xf1\x896198',
b'\xf1\x8704E906016ER\xf1\x895823',
b'\xf1\x8704E906027HD\xf1\x893742',
b'\xf1\x8704E906027MH\xf1\x894786',
@@ -1034,6 +1042,7 @@ FW_VERSIONS = {
b'\xf1\x870CW300041L \xf1\x891601',
b'\xf1\x870CW300041N \xf1\x891605',
b'\xf1\x870CW300043B \xf1\x891601',
+ b'\xf1\x870CW300043P \xf1\x891605',
b'\xf1\x870D9300041C \xf1\x894936',
b'\xf1\x870D9300041J \xf1\x894902',
b'\xf1\x870D9300041P \xf1\x894507',
@@ -1043,6 +1052,7 @@ FW_VERSIONS = {
b'\xf1\x873Q0959655AQ\xf1\x890200\xf1\x82\r11120011100010312212113100',
b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11120011100010022212110200',
b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\0163221003221002105755331052100',
+ b'\xf1\x873Q0959655CM\xf1\x890720\xf1\x82\x0e3221003221002105755331052100',
b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e3221003221002105755331052100',
b'\xf1\x875QD959655 \xf1\x890388\xf1\x82\x111101000011110006110411111111119111',
],
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index fea19adbdb..1d92cd4fb2 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -17,7 +17,7 @@ from selfdrive.boardd.boardd import can_list_to_can_capnp
from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
from selfdrive.controls.lib.lateral_planner import CAMERA_OFFSET
from selfdrive.controls.lib.drive_helpers import VCruiseHelper, get_lag_adjusted_curvature
-from selfdrive.controls.lib.latcontrol import LatControl
+from selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
from selfdrive.controls.lib.longcontrol import LongControl
from selfdrive.controls.lib.latcontrol_pid import LatControlPID
from selfdrive.controls.lib.latcontrol_indi import LatControlINDI
@@ -103,7 +103,7 @@ class Controls:
else:
self.CI, self.CP = CI, CI.CP
- self.joystick_mode = self.params.get_bool("JoystickDebugMode") or (self.CP.notCar and sm is None)
+ self.joystick_mode = self.params.get_bool("JoystickDebugMode") or self.CP.notCar
# set alternative experiences from parameters
self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
@@ -569,9 +569,11 @@ class Controls:
CC = car.CarControl.new_message()
CC.enabled = self.enabled
+
# Check which actuators can be enabled
+ standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
- CS.vEgo > self.CP.minSteerSpeed and not CS.standstill
+ (not standstill or self.joystick_mode)
CC.longActive = self.enabled and not self.events.any(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl
actuators = CC.actuators
diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py
index cefbc1078c..d38959c560 100644
--- a/selfdrive/controls/lib/latcontrol.py
+++ b/selfdrive/controls/lib/latcontrol.py
@@ -3,7 +3,7 @@ from abc import abstractmethod, ABC
from common.numpy_fast import clip
from common.realtime import DT_CTRL
-MIN_STEER_SPEED = 0.3
+MIN_LATERAL_CONTROL_SPEED = 0.3 # m/s
class LatControl(ABC):
diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py
index d692f80b4b..9ed140d38e 100644
--- a/selfdrive/controls/lib/latcontrol_angle.py
+++ b/selfdrive/controls/lib/latcontrol_angle.py
@@ -1,7 +1,7 @@
import math
from cereal import log
-from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
+from selfdrive.controls.lib.latcontrol import LatControl
STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees
@@ -14,7 +14,7 @@ class LatControlAngle(LatControl):
def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
angle_log = log.ControlsState.LateralAngleState.new_message()
- if CS.vEgo < MIN_STEER_SPEED or not active:
+ if not active:
angle_log.active = False
angle_steers_des = float(CS.steeringAngleDeg)
else:
diff --git a/selfdrive/controls/lib/latcontrol_indi.py b/selfdrive/controls/lib/latcontrol_indi.py
index 2bc3cef76b..dca82c6729 100644
--- a/selfdrive/controls/lib/latcontrol_indi.py
+++ b/selfdrive/controls/lib/latcontrol_indi.py
@@ -5,7 +5,7 @@ from cereal import log
from common.filter_simple import FirstOrderFilter
from common.numpy_fast import clip, interp
from common.realtime import DT_CTRL
-from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
+from selfdrive.controls.lib.latcontrol import LatControl
class LatControlINDI(LatControl):
@@ -82,7 +82,7 @@ class LatControlINDI(LatControl):
rate_des = VM.get_steer_from_curvature(-desired_curvature_rate, CS.vEgo, 0)
indi_log.steeringRateDesiredDeg = math.degrees(rate_des)
- if CS.vEgo < MIN_STEER_SPEED or not active:
+ if not active:
indi_log.active = False
self.steer_filter.x = 0.0
output_steer = 0
diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py
index 6bd678073e..6696d2e304 100644
--- a/selfdrive/controls/lib/latcontrol_pid.py
+++ b/selfdrive/controls/lib/latcontrol_pid.py
@@ -1,7 +1,7 @@
import math
from cereal import log
-from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
+from selfdrive.controls.lib.latcontrol import LatControl
from selfdrive.controls.lib.pid import PIDController
@@ -28,7 +28,7 @@ class LatControlPID(LatControl):
pid_log.steeringAngleDesiredDeg = angle_steers_des
pid_log.angleError = error
- if CS.vEgo < MIN_STEER_SPEED or not active:
+ if not active:
output_steer = 0.0
pid_log.active = False
self.pid.reset()
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index d10d39d945..2f56094379 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -2,7 +2,7 @@ import math
from cereal import log
from common.numpy_fast import interp
-from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
+from selfdrive.controls.lib.latcontrol import LatControl
from selfdrive.controls.lib.pid import PIDController
from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
@@ -39,7 +39,7 @@ class LatControlTorque(LatControl):
def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
pid_log = log.ControlsState.LateralTorqueState.new_message()
- if CS.vEgo < MIN_STEER_SPEED or not active:
+ if not active:
output_torque = 0.0
pid_log.active = False
else:
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index 545a4c43ff..e8095813f2 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -30,10 +30,8 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
long_control_state = LongCtrlState.off
else:
- if long_control_state == LongCtrlState.off:
+ if long_control_state in (LongCtrlState.off, LongCtrlState.pid):
long_control_state = LongCtrlState.pid
-
- elif long_control_state == LongCtrlState.pid:
if stopping_condition:
long_control_state = LongCtrlState.stopping
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index dc27fd27a9..c017951232 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -306,7 +306,7 @@ class LongitudinalMpc:
self.cruise_min_a = min_a
self.max_a = max_a
- def update(self, carstate, radarstate, v_cruise, x, v, a, j):
+ def update(self, radarstate, v_cruise, x, v, a, j):
v_ego = self.x0[1]
self.status = radarstate.leadOne.status or radarstate.leadTwo.status
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index a0f6318323..0febfbafd9 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -15,7 +15,6 @@ from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N
from system.swaglog import cloudlog
LON_MPC_STEP = 0.2 # first step is 0.2s
-AWARENESS_DECEL = -0.2 # car smoothly decel at .2m/s^2 when user is distracted
A_CRUISE_MIN = -1.2
A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
@@ -111,9 +110,7 @@ class LongitudinalPlanner:
self.v_model_error = sm['modelV2'].temporalPose.trans[0] - v_ego
if force_slow_decel:
- # if required so, force a smooth deceleration
- accel_limits_turns[1] = min(accel_limits_turns[1], AWARENESS_DECEL)
- accel_limits_turns[0] = min(accel_limits_turns[0], accel_limits_turns[1])
+ v_cruise = 0.0
# clip limits, cannot init MPC outside of bounds
accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05)
accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05)
@@ -122,7 +119,7 @@ class LongitudinalPlanner:
self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error)
- self.mpc.update(sm['carState'], sm['radarState'], v_cruise, x, v, a, j)
+ self.mpc.update(sm['radarState'], v_cruise, x, v, a, j)
self.v_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.v_solution)
self.a_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.a_solution)
diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py
index f15ab2fa56..993774f719 100755
--- a/selfdrive/controls/lib/tests/test_latcontrol.py
+++ b/selfdrive/controls/lib/tests/test_latcontrol.py
@@ -20,7 +20,7 @@ class TestLatControl(unittest.TestCase):
@parameterized.expand([(HONDA.CIVIC, LatControlPID), (TOYOTA.RAV4, LatControlTorque), (TOYOTA.PRIUS, LatControlINDI), (NISSAN.LEAF, LatControlAngle)])
def test_saturation(self, car_name, controller):
CarInterface, CarController, CarState = interfaces[car_name]
- CP = CarInterface.get_params(car_name)
+ CP = CarInterface.get_non_essential_params(car_name)
CI = CarInterface(CP, CarController, CarState)
VM = VehicleModel(CP)
diff --git a/selfdrive/controls/lib/tests/test_vehicle_model.py b/selfdrive/controls/lib/tests/test_vehicle_model.py
index 3e08cb0aa0..03d97a7e3f 100755
--- a/selfdrive/controls/lib/tests/test_vehicle_model.py
+++ b/selfdrive/controls/lib/tests/test_vehicle_model.py
@@ -12,7 +12,7 @@ from selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_sol, creat
class TestVehicleModel(unittest.TestCase):
def setUp(self):
- CP = CarInterface.get_params(CAR.CIVIC)
+ CP = CarInterface.get_non_essential_params(CAR.CIVIC)
self.VM = VehicleModel(CP)
def test_round_trip_yaw_rate(self):
diff --git a/selfdrive/controls/tests/test_state_machine.py b/selfdrive/controls/tests/test_state_machine.py
index 8f263a98e7..d5f468f214 100755
--- a/selfdrive/controls/tests/test_state_machine.py
+++ b/selfdrive/controls/tests/test_state_machine.py
@@ -31,7 +31,7 @@ class TestStateMachine(unittest.TestCase):
def setUp(self):
CarInterface, CarController, CarState = interfaces["mock"]
- CP = CarInterface.get_params("mock")
+ CP = CarInterface.get_non_essential_params("mock")
CI = CarInterface(CP, CarController, CarState)
self.controlsd = Controls(CI=CI)
diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py
index b40c8e304c..71c7b34be5 100755
--- a/selfdrive/debug/cycle_alerts.py
+++ b/selfdrive/debug/cycle_alerts.py
@@ -51,7 +51,7 @@ def cycle_alerts(duration=200, is_metric=False):
cameras = ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']
CS = car.CarState.new_message()
- CP = CarInterface.get_params("HONDA CIVIC 2016")
+ CP = CarInterface.get_non_essential_params("HONDA CIVIC 2016")
sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration',
'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
'managerState'] + cameras)
diff --git a/selfdrive/debug/internal/test_paramsd.py b/selfdrive/debug/internal/test_paramsd.py
index 3d8e422c35..81524496f7 100755
--- a/selfdrive/debug/internal/test_paramsd.py
+++ b/selfdrive/debug/internal/test_paramsd.py
@@ -20,7 +20,7 @@ T_SIM = 5 * 60 # s
DT = 0.01
-CP = CarInterface.get_params(CAR.CIVIC)
+CP = CarInterface.get_non_essential_params(CAR.CIVIC)
VM = VehicleModel(CP)
x, y = 0, 0 # m, m
diff --git a/selfdrive/test/longitudinal_maneuvers/maneuver.py b/selfdrive/test/longitudinal_maneuvers/maneuver.py
index 65935f8979..00ddfe627e 100644
--- a/selfdrive/test/longitudinal_maneuvers/maneuver.py
+++ b/selfdrive/test/longitudinal_maneuvers/maneuver.py
@@ -19,6 +19,7 @@ class Maneuver:
self.ensure_start = kwargs.get("ensure_start", False)
self.enabled = kwargs.get("enabled", True)
self.e2e = kwargs.get("e2e", False)
+ self.force_decel = kwargs.get("force_decel", False)
self.duration = duration
self.title = title
@@ -32,6 +33,7 @@ class Maneuver:
only_lead2=self.only_lead2,
only_radar=self.only_radar,
e2e=self.e2e,
+ force_decel=self.force_decel,
)
valid = True
@@ -60,6 +62,10 @@ class Maneuver:
if self.ensure_start and log['v_rel'] > 0 and log['speeds'][-1] <= 0.1:
print('LongitudinalPlanner not starting!')
valid = False
+ if self.force_decel and log['speed'] > 1e-1 and log['acceleration'] > -0.04:
+ print('Not stopping with force decel')
+ valid = False
+
print("maneuver end", valid)
return valid, np.array(logs)
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
index 8e150d800c..bd0556aa07 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -15,7 +15,7 @@ class Plant:
messaging_initialized = False
def __init__(self, lead_relevancy=False, speed=0.0, distance_lead=2.0,
- enabled=True, only_lead2=False, only_radar=False, e2e=False):
+ enabled=True, only_lead2=False, only_radar=False, e2e=False, force_decel=False):
self.rate = 1. / DT_MDL
if not Plant.messaging_initialized:
@@ -39,6 +39,7 @@ class Plant:
self.only_lead2 = only_lead2
self.only_radar = only_radar
self.e2e = e2e
+ self.force_decel = force_decel
self.rk = Ratekeeper(self.rate, print_delay_threshold=100.0)
self.ts = 1. / self.rate
@@ -48,7 +49,7 @@ class Plant:
from selfdrive.car.honda.values import CAR
from selfdrive.car.honda.interface import CarInterface
- self.planner = LongitudinalPlanner(CarInterface.get_params(CAR.CIVIC), init_v=self.speed)
+ self.planner = LongitudinalPlanner(CarInterface.get_non_essential_params(CAR.CIVIC), init_v=self.speed)
@property
def current_time(self):
@@ -111,6 +112,7 @@ class Plant:
control.controlsState.longControlState = LongCtrlState.pid if self.enabled else LongCtrlState.off
control.controlsState.vCruise = float(v_cruise * 3.6)
control.controlsState.experimentalMode = self.e2e
+ control.controlsState.forceDecel = self.force_decel
car_state.carState.vEgo = float(self.speed)
car_state.carState.standstill = self.speed < 0.01
diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
index 686b35e456..bc477ca9fe 100755
--- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
+++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
@@ -1,6 +1,7 @@
#!/usr/bin/env python3
+import itertools
import os
-from parameterized import parameterized
+from parameterized import parameterized_class
import unittest
from common.params import Params
@@ -9,8 +10,8 @@ from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
# TODO: make new FCW tests
-def create_maneuvers(e2e):
- return [
+def create_maneuvers(kwargs):
+ maneuvers = [
Maneuver(
'approach stopped car at 25m/s, initial distance: 120m',
duration=20.,
@@ -19,7 +20,7 @@ def create_maneuvers(e2e):
initial_distance_lead=120.,
speed_lead_values=[30., 0.],
breakpoints=[0., 1.],
- e2e=e2e,
+ **kwargs,
),
Maneuver(
'approach stopped car at 20m/s, initial distance 90m',
@@ -29,7 +30,7 @@ def create_maneuvers(e2e):
initial_distance_lead=90.,
speed_lead_values=[20., 0.],
breakpoints=[0., 1.],
- e2e=e2e,
+ **kwargs,
),
Maneuver(
'steady state following a car at 20m/s, then lead decel to 0mph at 1m/s^2',
@@ -39,7 +40,7 @@ def create_maneuvers(e2e):
initial_distance_lead=35.,
speed_lead_values=[20., 20., 0.],
breakpoints=[0., 15., 35.0],
- e2e=e2e,
+ **kwargs,
),
Maneuver(
'steady state following a car at 20m/s, then lead decel to 0mph at 2m/s^2',
@@ -49,7 +50,7 @@ def create_maneuvers(e2e):
initial_distance_lead=35.,
speed_lead_values=[20., 20., 0.],
breakpoints=[0., 15., 25.0],
- e2e=e2e,
+ **kwargs,
),
Maneuver(
'steady state following a car at 20m/s, then lead decel to 0mph at 3m/s^2',
@@ -59,7 +60,7 @@ def create_maneuvers(e2e):
initial_distance_lead=35.,
speed_lead_values=[20., 20., 0.],
breakpoints=[0., 15., 21.66],
- e2e=e2e,
+ **kwargs,
),
Maneuver(
'steady state following a car at 20m/s, then lead decel to 0mph at 3+m/s^2',
@@ -71,7 +72,7 @@ def create_maneuvers(e2e):
prob_lead_values=[0., 1., 1.],
cruise_values=[20., 20., 20.],
breakpoints=[2., 2.01, 8.8],
- e2e=e2e,
+ **kwargs,
),
Maneuver(
"approach stopped car at 20m/s, with prob_lead_values",
@@ -83,7 +84,7 @@ def create_maneuvers(e2e):
prob_lead_values=[0.0, 0., 1.],
cruise_values=[20., 20., 20.],
breakpoints=[0.0, 2., 2.01],
- e2e=e2e,
+ **kwargs,
),
Maneuver(
"approach slower cut-in car at 20m/s",
@@ -94,7 +95,7 @@ def create_maneuvers(e2e):
speed_lead_values=[15., 15.],
breakpoints=[1., 11.],
only_lead2=True,
- e2e=e2e,
+ **kwargs,
),
Maneuver(
"stay stopped behind radar override lead",
@@ -106,7 +107,7 @@ def create_maneuvers(e2e):
prob_lead_values=[0., 0.],
breakpoints=[1., 11.],
only_radar=True,
- e2e=e2e,
+ **kwargs,
),
Maneuver(
"NaN recovery",
@@ -117,10 +118,20 @@ def create_maneuvers(e2e):
speed_lead_values=[0., 0., 0.0],
breakpoints=[1., 1.01, 11.],
cruise_values=[float("nan"), 15., 15.],
- e2e=e2e,
+ **kwargs,
),
- # controls relies on planner commanding to move for stock-ACC resume spamming
Maneuver(
+ 'cruising at 25 m/s while disabled',
+ duration=20.,
+ initial_speed=25.,
+ lead_relevancy=False,
+ enabled=False,
+ **kwargs,
+ ),
+ ]
+ if not kwargs['force_decel']:
+ # controls relies on planner commanding to move for stock-ACC resume spamming
+ maneuvers.append(Maneuver(
"resume from a stop",
duration=20.,
initial_speed=0.,
@@ -129,20 +140,16 @@ def create_maneuvers(e2e):
speed_lead_values=[0., 0., 2.],
breakpoints=[1., 10., 15.],
ensure_start=True,
- e2e=e2e,
- ),
- Maneuver(
- 'cruising at 25 m/s while disabled',
- duration=20.,
- initial_speed=25.,
- lead_relevancy=False,
- enabled=False,
- e2e=e2e,
- ),
- ]
+ **kwargs,
+ ))
+ return maneuvers
+@parameterized_class(("e2e", "force_decel"), itertools.product([True, False], repeat=2))
class LongitudinalControl(unittest.TestCase):
+ e2e: bool
+ force_decel: bool
+
@classmethod
def setUpClass(cls):
os.environ['SIMULATION'] = "1"
@@ -154,11 +161,12 @@ class LongitudinalControl(unittest.TestCase):
params.put_bool("Passive", bool(os.getenv("PASSIVE")))
params.put_bool("OpenpilotEnabledToggle", True)
- @parameterized.expand([(man,) for e2e in [True, False] for man in create_maneuvers(e2e)])
- def test_maneuver(self, maneuver):
- print(maneuver.title, f'in {"e2e" if maneuver.e2e else "acc"} mode')
- valid, _ = maneuver.evaluate()
- self.assertTrue(valid, msg=maneuver.title)
+ def test_maneuver(self):
+ for maneuver in create_maneuvers({"e2e": self.e2e, "force_decel": self.force_decel}):
+ with self.subTest(title=maneuver.title, e2e=maneuver.e2e, force_decel=maneuver.force_decel):
+ print(maneuver.title, f'in {"e2e" if maneuver.e2e else "acc"} mode')
+ valid, _ = maneuver.evaluate()
+ self.assertTrue(valid)
if __name__ == "__main__":
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 324801fead..68cbb28aaf 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -223,7 +223,7 @@ if __name__ == "__main__":
try:
expected_msgs = 2*MAX_FRAMES
if not NO_NAV:
- expected_msgs += NAV_FRAMES*2
+ expected_msgs += NAV_FRAMES*3
cmp_log = list(LogReader(BASE_URL + log_fn))[:expected_msgs]
ignore = [
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index c5465fc025..22ec099285 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -180,7 +180,7 @@ def fingerprint(msgs, fsm, can_sock, fingerprint):
def get_car_params(msgs, fsm, can_sock, fingerprint):
if fingerprint:
CarInterface, _, _ = interfaces[fingerprint]
- CP = CarInterface.get_params(fingerprint)
+ CP = CarInterface.get_non_essential_params(fingerprint)
else:
can = FakeSocket(wait=False)
sendcan = FakeSocket(wait=False)
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 603d2b2d96..157d146ade 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-557ffbf5a1c9cafba1ff8d6f3e2642df98b2d6e6
\ No newline at end of file
+ff0348b1957c8f992125df77a36b3c0553a26e6a
diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh
index 9e06b98662..b7d586a83b 100755
--- a/selfdrive/test/setup_device_ci.sh
+++ b/selfdrive/test/setup_device_ci.sh
@@ -56,7 +56,7 @@ cd $SOURCE_DIR
rm -f .git/index.lock
git reset --hard
-git fetch --verbose origin $GIT_COMMIT
+git fetch --no-tags --no-recurse-submodules -j4 --verbose --depth 1 origin $GIT_COMMIT
find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;
git reset --hard $GIT_COMMIT
git checkout $GIT_COMMIT
@@ -69,6 +69,7 @@ git lfs pull
(ulimit -n 65535 && git lfs prune)
echo "git checkout done, t=$SECONDS"
+du -hs $SOURCE_DIR $SOURCE_DIR/.git
rsync -a --delete $SOURCE_DIR $TEST_DIR
diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc
index b5519daccf..c625564f1d 100644
--- a/selfdrive/ui/qt/maps/map.cc
+++ b/selfdrive/ui/qt/maps/map.cc
@@ -47,7 +47,7 @@ MapWindow::MapWindow(const QMapboxGLSettings &settings) : m_settings(settings),
map_eta->setVisible(false);
auto last_gps_position = coordinate_from_param("LastGPSPosition");
- if (last_gps_position) {
+ if (last_gps_position.has_value()) {
last_position = *last_gps_position;
}
@@ -82,6 +82,7 @@ void MapWindow::initLayers() {
m_map->setPaintProperty("navLayer", "line-color", QColor("#31a1ee"));
m_map->setPaintProperty("navLayer", "line-width", 7.5);
m_map->setLayoutProperty("navLayer", "line-cap", "round");
+ m_map->addAnnotationIcon("default_marker", QImage("../assets/navigation/default_marker.svg"));
}
if (!m_map->layerExists("carPosLayer")) {
qDebug() << "Initializing carPosLayer";
@@ -220,7 +221,6 @@ void MapWindow::updateState(const UIState &s) {
emit instructionsChanged(i);
}
} else {
- m_map->setPitch(MIN_PITCH);
clearRoute();
}
}
@@ -237,6 +237,7 @@ void MapWindow::updateState(const UIState &s) {
m_map->setLayoutProperty("navLayer", "visibility", "visible");
route_rcv_frame = sm.rcv_frame("navRoute");
+ updateDestinationMarker();
}
}
@@ -274,6 +275,7 @@ void MapWindow::clearRoute() {
if (!m_map.isNull()) {
m_map->setLayoutProperty("navLayer", "visibility", "none");
m_map->setPitch(MIN_PITCH);
+ updateDestinationMarker();
}
map_instructions->hideIfNoError();
@@ -361,6 +363,19 @@ void MapWindow::offroadTransition(bool offroad) {
last_bearing = {};
}
+void MapWindow::updateDestinationMarker() {
+ if (marker_id != -1) {
+ m_map->removeAnnotation(marker_id);
+ marker_id = -1;
+ }
+
+ auto nav_dest = coordinate_from_param("NavDestination");
+ if (nav_dest.has_value()) {
+ auto ano = QMapbox::SymbolAnnotation {*nav_dest, "default_marker"};
+ marker_id = m_map->addAnnotation(QVariant::fromValue(ano));
+ }
+}
+
MapInstructions::MapInstructions(QWidget * parent) : QWidget(parent) {
is_rhd = Params().getBool("IsRhdDetected");
QHBoxLayout *main_layout = new QHBoxLayout(this);
diff --git a/selfdrive/ui/qt/maps/map.h b/selfdrive/ui/qt/maps/map.h
index c3d5e92530..0d8b93a5f4 100644
--- a/selfdrive/ui/qt/maps/map.h
+++ b/selfdrive/ui/qt/maps/map.h
@@ -79,6 +79,7 @@ private:
QMapboxGLSettings m_settings;
QScopedPointer m_map;
+ QMapbox::AnnotationID marker_id = -1;
void initLayers();
@@ -111,6 +112,7 @@ private:
MapETA* map_eta;
void clearRoute();
+ void updateDestinationMarker();
uint64_t route_rcv_frame = 0;
private slots:
diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc
index ad3ee80e3d..6e19eb440f 100644
--- a/tools/cabana/canmessages.cc
+++ b/tools/cabana/canmessages.cc
@@ -91,6 +91,11 @@ void CANMessages::seekTo(double ts) {
emit updated();
}
+void CANMessages::pause(bool pause) {
+ replay->pause(pause);
+ emit (pause ? paused() : resume());
+}
+
void CANMessages::settingChanged() {
replay->setSegmentCacheLimit(settings.cached_segment_limit);
}
diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h
index 4dac4fe9df..ea43933565 100644
--- a/tools/cabana/canmessages.h
+++ b/tools/cabana/canmessages.h
@@ -38,10 +38,12 @@ public:
inline const std::vector *events() const { return replay->events(); }
inline void setSpeed(float speed) { replay->setSpeed(speed); }
inline bool isPaused() const { return replay->isPaused(); }
- inline void pause(bool pause) { replay->pause(pause); }
+ void pause(bool pause);
inline const std::vector> getTimeline() { return replay->getTimeline(); }
signals:
+ void paused();
+ void resume();
void seekedTo(double sec);
void streamStarted();
void eventsMerged();
diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc
index cf01533aaa..952ed2d83f 100644
--- a/tools/cabana/chartswidget.cc
+++ b/tools/cabana/chartswidget.cc
@@ -47,6 +47,10 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) {
QApplication::style()->standardPalette().color(QPalette::Background).value();
updateToolBar();
+ align_charts_timer = new QTimer(this);
+ align_charts_timer->setSingleShot(true);
+ align_charts_timer->callOnTimeout(this, &ChartsWidget::alignCharts);
+
QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll);
QObject::connect(can, &CANMessages::eventsMerged, this, &ChartsWidget::eventsMerged);
QObject::connect(can, &CANMessages::updated, this, &ChartsWidget::updateState);
@@ -159,7 +163,7 @@ void ChartsWidget::showChart(const QString &id, const Signal *sig, bool show, bo
QObject::connect(chart, &ChartView::zoomReset, this, &ChartsWidget::zoomReset);
QObject::connect(chart, &ChartView::seriesRemoved, this, &ChartsWidget::seriesChanged);
QObject::connect(chart, &ChartView::seriesAdded, this, &ChartsWidget::seriesChanged);
- QObject::connect(chart, &ChartView::axisYUpdated, this, &ChartsWidget::alignCharts);
+ QObject::connect(chart, &ChartView::axisYUpdated, [this]() { align_charts_timer->start(100); });
charts_layout->insertWidget(0, chart);
charts.push_back(chart);
}
@@ -453,7 +457,7 @@ void ChartView::updateAxisY() {
double range = max_y - min_y;
applyNiceNumbers(min_y - range * 0.05, max_y + range * 0.05);
}
- QTimer::singleShot(0, this, &ChartView::axisYUpdated);
+ emit axisYUpdated();
}
void ChartView::applyNiceNumbers(qreal min, qreal max) {
diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h
index 7a8325382d..819432920b 100644
--- a/tools/cabana/chartswidget.h
+++ b/tools/cabana/chartswidget.h
@@ -5,6 +5,7 @@
#include
#include
#include
+#include
#include
#include
#include
@@ -111,6 +112,7 @@ private:
QAction *dock_btn;
QAction *reset_zoom_btn;
QAction *remove_all_btn;
+ QTimer *align_charts_timer;
QVBoxLayout *charts_layout;
QList charts;
uint32_t max_chart_range = 0;
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index 43aa330029..46ef8f10f9 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -281,5 +281,6 @@ void MainWindow::setOption() {
void MainWindow::findSimilarBits() {
FindSimilarBitsDlg dlg(this);
+ QObject::connect(&dlg, &FindSimilarBitsDlg::openMessage, messages_widget, &MessagesWidget::selectMessage);
dlg.exec();
}
diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index dbf87a3da2..fd0bc68514 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -39,6 +39,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
QObject::connect(dbc(), &DBCManager::DBCFileChanged, model, &MessageListModel::sortMessages);
QObject::connect(dbc(), &DBCManager::msgUpdated, model, &MessageListModel::sortMessages);
QObject::connect(dbc(), &DBCManager::msgRemoved, model, &MessageListModel::sortMessages);
+ QObject::connect(model, &MessageListModel::modelReset, [this]() { selectMessage(current_msg_id); });
QObject::connect(table_widget->selectionModel(), &QItemSelectionModel::currentChanged, [=](const QModelIndex ¤t, const QModelIndex &previous) {
if (current.isValid() && current.row() < model->msgs.size()) {
if (model->msgs[current.row()] != current_msg_id) {
@@ -47,10 +48,12 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
}
}
});
- QObject::connect(model, &MessageListModel::modelReset, [this]() {
- if (int row = model->msgs.indexOf(current_msg_id); row != -1)
- table_widget->selectionModel()->setCurrentIndex(model->index(row, 0), QItemSelectionModel::Rows | QItemSelectionModel::ClearAndSelect);
- });
+}
+
+void MessagesWidget::selectMessage(const QString &msg_id) {
+ if (int row = model->msgs.indexOf(msg_id); row != -1) {
+ table_widget->selectionModel()->setCurrentIndex(model->index(row, 0), QItemSelectionModel::Rows | QItemSelectionModel::ClearAndSelect);
+ }
}
// MessageListModel
@@ -80,11 +83,11 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
void MessageListModel::setFilterString(const QString &string) {
filter_str = string;
- bool search_id = filter_str.contains(':');
msgs.clear();
for (auto it = can->can_msgs.begin(); it != can->can_msgs.end(); ++it) {
- if ((search_id ? it.key() : msgName(it.key())).contains(filter_str, Qt::CaseInsensitive))
+ if (it.key().contains(filter_str, Qt::CaseInsensitive) || msgName(it.key()).contains(filter_str, Qt::CaseInsensitive)) {
msgs.push_back(it.key());
+ }
}
sortMessages();
}
diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h
index 3a42bed4be..62aa23c02e 100644
--- a/tools/cabana/messageswidget.h
+++ b/tools/cabana/messageswidget.h
@@ -31,6 +31,8 @@ class MessagesWidget : public QWidget {
public:
MessagesWidget(QWidget *parent);
+ void selectMessage(const QString &message_id);
+
signals:
void msgSelectionChanged(const QString &message_id);
diff --git a/tools/cabana/tools/findsimilarbits.cc b/tools/cabana/tools/findsimilarbits.cc
index 5fa5bcf7b8..5c9623c7e4 100644
--- a/tools/cabana/tools/findsimilarbits.cc
+++ b/tools/cabana/tools/findsimilarbits.cc
@@ -25,14 +25,28 @@ FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent) {
}
bus_combo->model()->sort(0);
bus_combo->setCurrentIndex(0);
+
+ msg_cb = new QComboBox(this);
+ for (auto &[address, msg] : dbc()->messages()) {
+ msg_cb->addItem(msg.name, address);
+ }
+ msg_cb->model()->sort(0);
+ msg_cb->setCurrentIndex(0);
+
+ byte_idx_sb = new QSpinBox(this);
+ byte_idx_sb->setRange(0, 63);
+
+ bit_idx_sb = new QSpinBox(this);
+ bit_idx_sb->setRange(0, 7);
+
form_layout->addWidget(new QLabel("Bus"));
form_layout->addWidget(bus_combo);
+ form_layout->addWidget(msg_cb);
+ form_layout->addWidget(new QLabel("Byte Index"));
+ form_layout->addWidget(byte_idx_sb);
+ form_layout->addWidget(new QLabel("Bit Index"));
+ form_layout->addWidget(bit_idx_sb);
- bit_combo = new QComboBox(this);
- bit_combo->addItems({"0", "1"});
- bit_combo->setCurrentIndex(1);
- form_layout->addWidget(new QLabel("Bit"));
- form_layout->addWidget(bit_combo);
min_msgs = new QLineEdit(this);
min_msgs->setValidator(new QIntValidator(this));
@@ -45,21 +59,29 @@ FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent) {
main_layout->addLayout(form_layout);
table = new QTableWidget(this);
+ table->setSelectionBehavior(QAbstractItemView::SelectRows);
+ table->setSelectionMode(QAbstractItemView::SingleSelection);
table->setEditTriggers(QAbstractItemView::NoEditTriggers);
table->horizontalHeader()->setStretchLastSection(true);
main_layout->addWidget(table);
setMinimumSize({700, 500});
QObject::connect(search_btn, &QPushButton::clicked, this, &FindSimilarBitsDlg::find);
+ QObject::connect(table, &QTableWidget::doubleClicked, [this](const QModelIndex &index) {
+ if (index.isValid()) {
+ emit openMessage(bus_combo->currentText() + ":" + table->item(index.row(), 0)->text());
+ }
+ });
}
void FindSimilarBitsDlg::find() {
search_btn->setEnabled(false);
table->clear();
- auto msg_mismatched = calcBits(bus_combo->currentText().toUInt(), bit_combo->currentIndex(), min_msgs->text().toInt());
+ uint32_t selected_address = msg_cb->currentData().toUInt();
+ auto msg_mismatched = calcBits(bus_combo->currentText().toUInt(), selected_address, byte_idx_sb->value(), bit_idx_sb->value(), min_msgs->text().toInt());
table->setRowCount(msg_mismatched.size());
table->setColumnCount(6);
- table->setHorizontalHeaderLabels({"address", "byte idx", "bit idx", "mismatches", "total", "perc%"});
+ table->setHorizontalHeaderLabels({"address", "byte idx", "bit idx", "mismatches", "total msgs", "% mismatched"});
for (int i = 0; i < msg_mismatched.size(); ++i) {
auto &m = msg_mismatched[i];
table->setItem(i, 0, new QTableWidgetItem(QString("%1").arg(m.address, 1, 16)));
@@ -72,18 +94,24 @@ void FindSimilarBitsDlg::find() {
search_btn->setEnabled(true);
}
-QList FindSimilarBitsDlg::calcBits(uint8_t bus, int bit_to_find, int min_msgs_cnt) {
+QList FindSimilarBitsDlg::calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, int bit_idx, int min_msgs_cnt) {
QHash> mismatches;
QHash msg_count;
auto events = can->events();
+ int bit_to_find = -1;
for (auto e : *events) {
if (e->which == cereal::Event::Which::CAN) {
for (const auto &c : e->event.getCan()) {
if (c.getSrc() == bus) {
- uint32_t address = c.getAddress();
- ++msg_count[address];
- auto &mismatched = mismatches[address];
const auto dat = c.getDat();
+ uint32_t address = c.getAddress();
+ if (address == selected_address && dat.size() > byte_idx) {
+ bit_to_find = ((dat[byte_idx] >> (7 - bit_idx)) & 1) != 0;
+ }
+ ++msg_count[address];
+ if (bit_to_find == -1) continue;
+
+ auto &mismatched = mismatches[address];
if (mismatched.size() < dat.size() * 8) {
mismatched.resize(dat.size() * 8);
}
@@ -104,12 +132,12 @@ QList FindSimilarBitsDlg::calcBits(uint8_
if (auto cnt = msg_count[it.key()]; cnt > min_msgs_cnt) {
auto &mismatched = it.value();
for (int i = 0; i < mismatched.size(); ++i) {
- if (uint32_t perc = (mismatched[i] / (double)cnt) * 100; perc < 50) {
+ if (float perc = (mismatched[i] / (double)cnt) * 100; perc < 50) {
result.push_back({it.key(), (uint32_t)i / 8, (uint32_t)i % 8, mismatched[i], cnt, perc});
}
}
}
}
- std::sort(result.begin(), result.end(), [](auto &l, auto &r) { return l.perc > r.perc; });
+ std::sort(result.begin(), result.end(), [](auto &l, auto &r) { return l.perc < r.perc; });
return result;
}
diff --git a/tools/cabana/tools/findsimilarbits.h b/tools/cabana/tools/findsimilarbits.h
index 79db4a1c69..30d78f0dea 100644
--- a/tools/cabana/tools/findsimilarbits.h
+++ b/tools/cabana/tools/findsimilarbits.h
@@ -3,21 +3,29 @@
#include
#include
#include
+#include
#include
class FindSimilarBitsDlg : public QDialog {
+ Q_OBJECT
+
public:
FindSimilarBitsDlg(QWidget *parent);
+signals:
+ void openMessage(const QString &msg_id);
+
private:
struct mismatched_struct {
- uint32_t address, byte_idx, bit_idx, mismatches, total, perc;
+ uint32_t address, byte_idx, bit_idx, mismatches, total;
+ float perc;
};
- QList calcBits(uint8_t bus, int bit_to_find, int min_msgs_cnt);
+ QList calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, int bit_idx, int min_msgs_cnt);
void find();
QTableWidget *table;
- QComboBox *bus_combo, *bit_combo;
+ QComboBox *bus_combo, *msg_cb;
+ QSpinBox *byte_idx_sb, *bit_idx_sb;
QPushButton *search_btn;
QLineEdit *min_msgs;
};
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index 7e40ba2adb..ed4354ce65 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -63,22 +63,19 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
}
main_layout->addLayout(control_layout);
- QObject::connect(can, &CANMessages::updated, this, &VideoWidget::updateState);
QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->value() / 1000.0); });
QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(formatTime(value / 1000)); });
- QObject::connect(cam_widget, &CameraWidget::clicked, [this]() { pause(!can->isPaused()); });
- QObject::connect(play_btn, &QPushButton::clicked, [=]() { pause(!can->isPaused()); });
+ QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); });
+ QObject::connect(play_btn, &QPushButton::clicked, []() { can->pause(!can->isPaused()); });
+ QObject::connect(can, &CANMessages::updated, this, &VideoWidget::updateState);
+ QObject::connect(can, &CANMessages::paused, [this]() { play_btn->setText("▶"); });
+ QObject::connect(can, &CANMessages::resume, [this]() { play_btn->setText("⏸"); });
QObject::connect(can, &CANMessages::streamStarted, [this]() {
end_time_label->setText(formatTime(can->totalSeconds()));
slider->setRange(0, can->totalSeconds() * 1000);
});
}
-void VideoWidget::pause(bool pause) {
- play_btn->setText(!pause ? "⏸" : "▶");
- can->pause(pause);
-}
-
void VideoWidget::rangeChanged(double min, double max, bool is_zoomed) {
if (!is_zoomed) {
min = 0;
diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index 86cdc6f114..ec8bc4bec4 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -44,7 +44,6 @@ public:
protected:
void updateState();
- void pause(bool pause);
CameraWidget *cam_widget;
QLabel *end_time_label;
diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index e85292da03..dd2041e0cb 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -52,14 +52,9 @@ brew "zeromq"
brew "protobuf"
brew "protobuf-c"
brew "swig"
+cask "gcc-arm-embedded"
EOS
-# Install gcc-arm-embedded 10.3-2021.10. 11.x is broken on M1 Macs with Xcode 13.3~
-brew uninstall gcc-arm-embedded || true
-curl -L https://github.com/Homebrew/homebrew-cask/raw/d407663b8017a0a062c7fc0b929faf2e16abd1ff/Casks/gcc-arm-embedded.rb > /tmp/gcc-arm-embedded.rb
-brew install --cask /tmp/gcc-arm-embedded.rb
-rm /tmp/gcc-arm-embedded.rb
-
echo "[ ] finished brew install t=$SECONDS"
BREW_PREFIX=$(brew --prefix)
diff --git a/tools/replay/camera.cc b/tools/replay/camera.cc
index 72b385dca8..66898c9244 100644
--- a/tools/replay/camera.cc
+++ b/tools/replay/camera.cc
@@ -56,7 +56,7 @@ void CameraServer::cameraThread(Camera &cam) {
.timestamp_eof = eidx.getTimestampEof(),
};
yuv->set_frame_id(eidx.getFrameId());
- vipc_server_->send(yuv, &extra, false);
+ vipc_server_->send(yuv, &extra);
} else {
rError("camera[%d] failed to get frame: %lu", cam.type, eidx.getSegmentId());
}
diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc
index 77357a2873..5ad702590c 100644
--- a/tools/replay/consoleui.cc
+++ b/tools/replay/consoleui.cc
@@ -50,14 +50,6 @@ void add_str(WINDOW *w, const char *str, Color color = Color::Default, bool bold
if (color != Color::Default) wattroff(w, COLOR_PAIR(color));
}
-std::string format_seconds(int s) {
- int total_minutes = s / 60;
- int seconds = s % 60;
- int hours = total_minutes / 60;
- int minutes = total_minutes % 60;
- return util::string_format("%02d:%02d:%02d", hours, minutes, seconds);
-}
-
} // namespace
ConsoleUI::ConsoleUI(Replay *replay, QObject *parent) : replay(replay), sm({"carState", "liveParameters"}), QObject(parent) {
@@ -177,8 +169,8 @@ void ConsoleUI::updateStatus() {
}
auto [status_str, status_color] = status_text[status];
write_item(0, 0, "STATUS: ", status_str, " ", false, status_color);
- std::string suffix = " / " + format_seconds(replay->totalSeconds());
- write_item(0, 25, "TIME: ", format_seconds(replay->currentSeconds()), suffix, true);
+ std::string current_segment = " - " + std::to_string((int)(replay->currentSeconds() / 60));
+ write_item(0, 25, "TIME: ", replay->currentDateTime().toString("ddd MMMM dd hh:mm:ss").toStdString(), current_segment, true);
auto p = sm["liveParameters"].getLiveParameters();
write_item(1, 0, "STIFFNESS: ", util::string_format("%.2f %%", p.getStiffnessFactor() * 100), " ");
diff --git a/tools/replay/replay.h b/tools/replay/replay.h
index 2c68443df0..6788a97d03 100644
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -64,6 +64,7 @@ public:
inline void removeFlag(REPLAY_FLAGS flag) { flags_ &= ~flag; }
inline const Route* route() const { return route_.get(); }
inline double currentSeconds() const { return double(cur_mono_time_ - route_start_ts_) / 1e9; }
+ inline QDateTime currentDateTime() const { return route_->datetime().addSecs(currentSeconds()); }
inline uint64_t routeStartTime() const { return route_start_ts_; }
inline int toSeconds(uint64_t mono_time) const { return (mono_time - route_start_ts_) / 1e9; }
inline int totalSeconds() const { return segments_.size() * 60; }
diff --git a/tools/replay/route.cc b/tools/replay/route.cc
index f0d6ec5a12..619aeb3f5f 100644
--- a/tools/replay/route.cc
+++ b/tools/replay/route.cc
@@ -19,18 +19,19 @@ Route::Route(const QString &route, const QString &data_dir) : data_dir_(data_dir
}
RouteIdentifier Route::parseRoute(const QString &str) {
- QRegExp rx(R"(^([a-z0-9]{16})([|_/])(\d{4}-\d{2}-\d{2}--\d{2}-\d{2}-\d{2})(?:(--|/)(\d*))?$)");
+ QRegExp rx(R"(^(?:([a-z0-9]{16})([|_/]))?(\d{4}-\d{2}-\d{2}--\d{2}-\d{2}-\d{2})(?:(--|/)(\d*))?$)");
if (rx.indexIn(str) == -1) return {};
const QStringList list = rx.capturedTexts();
- return {list[1], list[3], list[5].toInt(), list[1] + "|" + list[3]};
+ return {.dongle_id = list[1], .timestamp = list[3], .segment_id = list[5].toInt(), .str = list[1] + "|" + list[3]};
}
bool Route::load() {
- if (route_.str.isEmpty()) {
+ if (route_.str.isEmpty() || (data_dir_.isEmpty() && route_.dongle_id.isEmpty())) {
rInfo("invalid route format");
return false;
}
+ date_time_ = QDateTime::fromString(route_.timestamp, "yyyy-MM-dd--HH-mm-ss");
return data_dir_.isEmpty() ? loadFromServer() : loadFromLocal();
}
diff --git a/tools/replay/route.h b/tools/replay/route.h
index 6b78ebad87..86adf6a14d 100644
--- a/tools/replay/route.h
+++ b/tools/replay/route.h
@@ -1,5 +1,6 @@
#pragma once
+#include
#include
#include "tools/replay/framereader.h"
@@ -27,6 +28,7 @@ public:
Route(const QString &route, const QString &data_dir = {});
bool load();
inline const QString &name() const { return route_.str; }
+ inline const QDateTime datetime() const { return date_time_; }
inline const QString &dir() const { return data_dir_; }
inline const RouteIdentifier &identifier() const { return route_; }
inline const std::map &segments() const { return segments_; }
@@ -41,6 +43,7 @@ protected:
RouteIdentifier route_ = {};
QString data_dir_;
std::map segments_;
+ QDateTime date_time_;
};
class Segment : public QObject {