From 8b4c5631a4c8f259fe7e7db1789556c2b26e0f7e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 2 Jan 2023 22:25:39 -0800 Subject: [PATCH 01/50] Ev6 upper jerk limit (#26868) --- opendbc | 2 +- selfdrive/car/hyundai/hyundaicanfd.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc b/opendbc index 4a7ad636ff..d585a9bf29 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 4a7ad636ff806146a93f7ae541e463a7dfa5696d +Subproject commit d585a9bf2908b2c83bf02b567b9e1f5bfc587a01 diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py index c492e6a5ff..43c9642342 100644 --- a/selfdrive/car/hyundai/hyundaicanfd.py +++ b/selfdrive/car/hyundai/hyundaicanfd.py @@ -83,6 +83,7 @@ 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 +91,6 @@ 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, } From 2c293bf728f59a36830898e0f0d4111cd6708619 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 4 Jan 2023 12:06:01 -0800 Subject: [PATCH 02/50] Hyundai CAN-FD: set request accel when stopping (#26877) Update hyundaicanfd.py --- selfdrive/car/hyundai/hyundaicanfd.py | 2 -- 1 file changed, 2 deletions(-) diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py index 43c9642342..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), From b48b2f09b203db3e6bb26c671dd7e9b328207bc4 Mon Sep 17 00:00:00 2001 From: Luckst4r <67570890+Luckst4r@users.noreply.github.com> Date: Wed, 4 Jan 2023 17:17:01 -0600 Subject: [PATCH 03/50] Genesis GV70 2023: add missing FW versions (#26876) * Update values.py Fingerprint GV70 * Update selfdrive/car/hyundai/values.py Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 4d3f44d65f..782c3989a7 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1517,9 +1517,11 @@ 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: { From 083bcb6f0271518537ccfc69bdcc20ae50efd600 Mon Sep 17 00:00:00 2001 From: mitchellgoffpc Date: Fri, 6 Jan 2023 12:08:22 -0800 Subject: [PATCH 04/50] Added omegaconf to xx dependencies --- poetry.lock | 29 ++++++++++++++++++++++++++++- pyproject.toml | 1 + 2 files changed, 29 insertions(+), 1 deletion(-) 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] From 18b011636ef623023e53bd7326d9871c4ce07f97 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Fri, 6 Jan 2023 19:31:24 -0500 Subject: [PATCH 05/50] =?UTF-8?q?VW=20MQB:=20Add=20FW=20for=202019=20?= =?UTF-8?q?=C5=A0koda=20Octavia=20(#26886)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- selfdrive/car/volkswagen/values.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index d1f6bfb02c..24ea0a03ba 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -1023,6 +1023,7 @@ 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 +1035,7 @@ 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 +1045,7 @@ 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', ], From b994b93b164bb9dc2a8689dff0f271d2d68ced55 Mon Sep 17 00:00:00 2001 From: Eric Brown Date: Fri, 6 Jan 2023 17:46:21 -0700 Subject: [PATCH 06/50] GM: check radarOffCan in radar_interface (#26885) Remove hardcoded vehicle list, replace with radarOffCan check --- selfdrive/car/gm/radar_interface.py | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) 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() From 4145bc837948f530eb17c3f93728a1347e4eceb3 Mon Sep 17 00:00:00 2001 From: Mauricio Alvarez Leon <65101411+BBBmau@users.noreply.github.com> Date: Fri, 6 Jan 2023 16:49:27 -0800 Subject: [PATCH 07/50] Hyundai: add FW versions for Sonata 2023 (#26880) * Update Hyundai Sonata year to 2023 * update docs * update docs * update docs * Update values.py * and engine Co-authored-by: Laptop Researcher Co-authored-by: Shane Smiskol --- docs/CARS.md | 2 +- selfdrive/car/hyundai/values.py | 6 +++++- 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index f3667c4cea..d53ea39893 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -82,7 +82,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Hyundai|Santa Fe Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| |Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| |Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| -|Hyundai|Sonata 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| +|Hyundai|Sonata 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| |Hyundai|Sonata Hybrid 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| |Hyundai|Tucson 2022[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 782c3989a7..dd7f347863 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -160,7 +160,7 @@ 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), @@ -512,6 +512,7 @@ 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 +530,7 @@ 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 +540,7 @@ 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 +551,7 @@ 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', From b74f2d102daa6acea69d0c673dbb0172f31897f3 Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Fri, 6 Jan 2023 19:54:56 -0500 Subject: [PATCH 08/50] Hyundai: Add FW Versions for Tucson 2023 (#26887) --- selfdrive/car/hyundai/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index dd7f347863..1adf78aa84 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1477,6 +1477,7 @@ 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 ', From 0d85a2c373c3e139237c6bc969be79312a99bd63 Mon Sep 17 00:00:00 2001 From: Rafael Pinilla <80814874+Rafale83@users.noreply.github.com> Date: Sat, 7 Jan 2023 18:40:52 +0100 Subject: [PATCH 09/50] European Lexus UX250h 2019: add engine FW (#26895) * Update values.py Added mention to all 2019 Lexus UX250h Fw in CORROLLAH section * Update values.py Syntax error in REMs --- selfdrive/car/toyota/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 64a0bed0b2..e945130e90 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -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', From bf34110572cb801564346ffb2f234cd152a7b100 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 7 Jan 2023 11:05:56 -0800 Subject: [PATCH 10/50] docs: update CAN FD footnote (#26896) * docs: update CAN FD footnote * touch up --- docs/CARS.md | 2 +- selfdrive/car/hyundai/values.py | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index d53ea39893..930b52c8a2 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -236,7 +236,7 @@ A supported vehicle is one that just works when you install a comma three. All s 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).
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. 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/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 1adf78aa84..dc19c5511d 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -123,9 +123,9 @@ class CAR: class Footnote(Enum): 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.", - Column.MODEL, shop_footnote=True) + "Requires a red panda for this CAN FD. " + + "All the hardware needed is sold in the CAN FD kit.", + Column.MODEL, docs_only=True) @dataclass From 2c7df6efc87f4f16aa0801ed40bc0e2542578031 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 8 Jan 2023 03:07:30 +0800 Subject: [PATCH 11/50] replay: show absolute time (#26869) --- tools/replay/consoleui.cc | 12 ++---------- tools/replay/replay.h | 1 + tools/replay/route.cc | 1 + tools/replay/route.h | 3 +++ 4 files changed, 7 insertions(+), 10 deletions(-) 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..9d57b9118e 100644 --- a/tools/replay/route.cc +++ b/tools/replay/route.cc @@ -31,6 +31,7 @@ bool Route::load() { 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 { From ae256dceba4fff8c036777b118873d2fbcfab42c Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sat, 7 Jan 2023 13:18:28 -0800 Subject: [PATCH 12/50] revert: docs: update CAN FD footnote (#26896) partial revert, we still need the footnote to be exported for the shop --- selfdrive/car/hyundai/values.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index dc19c5511d..16f1f42679 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -122,10 +122,11 @@ 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 for this CAN FD. " + "All the hardware needed is sold in the CAN FD kit.", - Column.MODEL, docs_only=True) + Column.MODEL, shop_footnote=True) @dataclass From b6440304d59d13b918842f68ce9f3417e3e0ecbc Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Sat, 7 Jan 2023 18:53:14 -0700 Subject: [PATCH 13/50] Navigation: add destination marker (#26873) * add navigation destination marker * fix removal * update default marker icon * update default marker Co-authored-by: Kurt Nistelberger --- .../assets/navigation/default_marker.svg | 5 +++++ selfdrive/ui/qt/maps/map.cc | 19 +++++++++++++++++-- selfdrive/ui/qt/maps/map.h | 2 ++ 3 files changed, 24 insertions(+), 2 deletions(-) create mode 100644 selfdrive/assets/navigation/default_marker.svg diff --git a/selfdrive/assets/navigation/default_marker.svg b/selfdrive/assets/navigation/default_marker.svg new file mode 100644 index 0000000000..116a45e251 --- /dev/null +++ b/selfdrive/assets/navigation/default_marker.svg @@ -0,0 +1,5 @@ + + + + + diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc index b5519daccf..3e1d08740d 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"); + update_destination_marker(); } } @@ -274,6 +275,7 @@ void MapWindow::clearRoute() { if (!m_map.isNull()) { m_map->setLayoutProperty("navLayer", "visibility", "none"); m_map->setPitch(MIN_PITCH); + update_destination_marker(); } map_instructions->hideIfNoError(); @@ -361,6 +363,19 @@ void MapWindow::offroadTransition(bool offroad) { last_bearing = {}; } +void MapWindow::update_destination_marker() { + 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..8151bdecfd 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 update_destination_marker(); uint64_t route_rcv_frame = 0; private slots: From 2b611862becd0cafbe6949961da04dfa4d252b4e Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Sat, 7 Jan 2023 17:56:16 -0800 Subject: [PATCH 14/50] match style --- selfdrive/ui/qt/maps/map.cc | 6 +++--- selfdrive/ui/qt/maps/map.h | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc index 3e1d08740d..c625564f1d 100644 --- a/selfdrive/ui/qt/maps/map.cc +++ b/selfdrive/ui/qt/maps/map.cc @@ -237,7 +237,7 @@ void MapWindow::updateState(const UIState &s) { m_map->setLayoutProperty("navLayer", "visibility", "visible"); route_rcv_frame = sm.rcv_frame("navRoute"); - update_destination_marker(); + updateDestinationMarker(); } } @@ -275,7 +275,7 @@ void MapWindow::clearRoute() { if (!m_map.isNull()) { m_map->setLayoutProperty("navLayer", "visibility", "none"); m_map->setPitch(MIN_PITCH); - update_destination_marker(); + updateDestinationMarker(); } map_instructions->hideIfNoError(); @@ -363,7 +363,7 @@ void MapWindow::offroadTransition(bool offroad) { last_bearing = {}; } -void MapWindow::update_destination_marker() { +void MapWindow::updateDestinationMarker() { if (marker_id != -1) { m_map->removeAnnotation(marker_id); marker_id = -1; diff --git a/selfdrive/ui/qt/maps/map.h b/selfdrive/ui/qt/maps/map.h index 8151bdecfd..0d8b93a5f4 100644 --- a/selfdrive/ui/qt/maps/map.h +++ b/selfdrive/ui/qt/maps/map.h @@ -112,7 +112,7 @@ private: MapETA* map_eta; void clearRoute(); - void update_destination_marker(); + void updateDestinationMarker(); uint64_t route_rcv_frame = 0; private slots: From 2204a7153f3f63716eedf81a8aeee9f2ed3e3c2e Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 9 Jan 2023 07:51:08 +0800 Subject: [PATCH 15/50] replay: remove need for fake dongle id (#26899) --- tools/replay/route.cc | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/tools/replay/route.cc b/tools/replay/route.cc index 9d57b9118e..619aeb3f5f 100644 --- a/tools/replay/route.cc +++ b/tools/replay/route.cc @@ -19,15 +19,15 @@ 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; } From 19a15eeb539c8e8f53166b8885e09d6276d32fd8 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 9 Jan 2023 19:30:30 +0100 Subject: [PATCH 16/50] MacOS: homebrew arm-none-eabi-gcc works again (#26903) Revert "Fix gcc-arm-embedded for m1 mac (#24515)" This reverts commit 01a237ef02cf989a3e2dc8a529d5a0338a09e123. --- tools/mac_setup.sh | 7 +------ 1 file changed, 1 insertion(+), 6 deletions(-) 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) From a421c9464eec3a6b994df5ec010ff51b27aa4bbc Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 10 Jan 2023 05:48:04 +0800 Subject: [PATCH 17/50] replay: sync vision buffer (#26904) --- tools/replay/camera.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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()); } From a40efbdfcc3619528a2634d6b291c928c2374b4b Mon Sep 17 00:00:00 2001 From: Tim Wilson Date: Mon, 9 Jan 2023 16:01:55 -0700 Subject: [PATCH 18/50] GM camera ACC: always set long tune (#26892) * GM: set long tune for camera car w/o exp. mode * same tuning * update refs Co-authored-by: Shane Smiskol --- selfdrive/car/gm/interface.py | 18 +++++++++--------- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 10 insertions(+), 10 deletions(-) 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/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 603d2b2d96..24ec1c62de 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -557ffbf5a1c9cafba1ff8d6f3e2642df98b2d6e6 \ No newline at end of file +6d30c77af7b3210b03f65b433c0a043a96ee39bc \ No newline at end of file From dac7a24677ab680a0ff8fe209cc73cb14d6672a5 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 9 Jan 2023 16:21:47 -0800 Subject: [PATCH 19/50] car interfaces: test longitudinal params are set correctly (#26894) * add long unit tests and fix * revert * remove debug * cleanup Co-authored-by: Laptop Researcher --- selfdrive/car/tests/test_car_interfaces.py | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 48d85584b3..11e7be7f44 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -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': From 9b9c2a657ed0ba326727339269654f9497997a70 Mon Sep 17 00:00:00 2001 From: David Peterson Date: Mon, 9 Jan 2023 20:25:43 -0500 Subject: [PATCH 20/50] Car docs: add video for Nissan Leaf (#26901) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-22”), video_link= "https://youtu.be/vaMbtAh_0cY&t=0s"), Add Youtube video 2019 Leaf * Update selfdrive/car/nissan/values.py Co-authored-by: Shane Smiskol --- selfdrive/car/nissan/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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), From 1a907b4c7a3167ad21b992fd74e2439019163086 Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Mon, 9 Jan 2023 21:14:02 -0500 Subject: [PATCH 21/50] HKG: add FW Versions for 2019 Kia Stinger (#26897) * HKG: Add FW Versions for 2019 Kia Stinger * Update selfdrive/car/hyundai/values.py * fix * use shorter query Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/values.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 16f1f42679..736ebbb553 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -799,6 +799,7 @@ 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', @@ -806,6 +807,7 @@ 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', @@ -813,6 +815,7 @@ 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', @@ -820,6 +823,7 @@ 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', From d12146fbd657042bb6a74caa4c10b08a09ba074d Mon Sep 17 00:00:00 2001 From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com> Date: Mon, 9 Jan 2023 20:57:51 -0600 Subject: [PATCH 22/50] Add several missing LEXUS_RC firmwares (#26905) * Add several missing LEXUS_RC firmwares `@Vranesh#9912` 2020 RC350 DongleID/route d6303cdeea512a4e|2023-01-09--17-11-55 * lexus now has two engines * todo Co-authored-by: Shane Smiskol --- selfdrive/car/fw_query_definitions.py | 1 + selfdrive/car/toyota/values.py | 9 ++++++++- 2 files changed, 9 insertions(+), 1 deletion(-) 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/toyota/values.py b/selfdrive/car/toyota/values.py index e945130e90..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], } ) @@ -1738,22 +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', ], }, From 9e364ff76f9c0b23ebe557b95b4a584dff052e97 Mon Sep 17 00:00:00 2001 From: Kyle Dibble-Dabney <6963660+dibble9012@users.noreply.github.com> Date: Mon, 9 Jan 2023 22:01:03 -0500 Subject: [PATCH 23/50] Added fingerprint for 2023 EV6, fwdCamera (#26900) --- selfdrive/car/hyundai/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 736ebbb553..1a81e1b167 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1466,6 +1466,7 @@ 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: { From 4e9bddee5cbabe4807e690a93408a23ce66225d5 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 10 Jan 2023 13:02:43 -0800 Subject: [PATCH 24/50] longcontrol: enter stopping state immediately (#26879) * enter stopping state immediately * Update selfdrive/controls/lib/longcontrol.py --- selfdrive/controls/lib/longcontrol.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) 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 From b45dda2d0a365946e4cfc3c4a08023c05e2d58c7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 10 Jan 2023 14:46:43 -0800 Subject: [PATCH 25/50] Longitudinal tests: test forceDecel (#26765) * test with forceDecel * test all combos * fix * fix * fix * ... * remove print * clean up * just set cruise to 0 * update ref commit Co-authored-by: Bruce Wayne --- .../lib/longitudinal_mpc_lib/long_mpc.py | 2 +- .../controls/lib/longitudinal_planner.py | 7 +- .../test/longitudinal_maneuvers/maneuver.py | 6 ++ .../test/longitudinal_maneuvers/plant.py | 4 +- .../test_longitudinal.py | 68 +++++++++++-------- selfdrive/test/process_replay/ref_commit | 2 +- 6 files changed, 51 insertions(+), 38 deletions(-) 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/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..59cb0e1fe3 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 @@ -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/ref_commit b/selfdrive/test/process_replay/ref_commit index 24ec1c62de..c23ff8a140 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -6d30c77af7b3210b03f65b433c0a043a96ee39bc \ No newline at end of file +c39b74fdc14bb22a1c95cd5deedd4f4fcadf8494 From 5f66a9a6213f6c42161584979a2f760f9ad9df47 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 10 Jan 2023 16:20:27 -0800 Subject: [PATCH 26/50] jenkins fixups --- Jenkinsfile | 3 ++- selfdrive/test/process_replay/model_replay.py | 2 +- selfdrive/test/setup_device_ci.sh | 3 ++- 3 files changed, 5 insertions(+), 3 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 37621dde5c..f49ccf4315 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" 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/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 From f0d0d999813ee3c5cc49c2b47623296c70d37318 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 10 Jan 2023 19:59:39 -0800 Subject: [PATCH 27/50] process replay: test body with joystick mode (#26916) * no need to check sm * fix * Update ref_commit * revert --- selfdrive/controls/controlsd.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index fea19adbdb..b5d5e3d8a2 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -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") diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index c23ff8a140..76f2ef06ba 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -c39b74fdc14bb22a1c95cd5deedd4f4fcadf8494 +d9432dcfb875a76be051137969e371c9926611e9 From cb88b3ed6528a7ad840be7bcd33fe7023b4f3719 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Tue, 10 Jan 2023 23:51:10 -0500 Subject: [PATCH 28/50] controlsd: set latActive with max minimum steer speed (#26805) * refactor minimum lateral speed handling * rename for clarity * simplify without joystick at standstill * intermediate standstill variable, check notCar * check joystick for now * cmt Co-authored-by: Shane Smiskol --- selfdrive/controls/controlsd.py | 6 ++++-- selfdrive/controls/lib/latcontrol.py | 2 +- selfdrive/controls/lib/latcontrol_angle.py | 4 ++-- selfdrive/controls/lib/latcontrol_indi.py | 4 ++-- selfdrive/controls/lib/latcontrol_pid.py | 4 ++-- selfdrive/controls/lib/latcontrol_torque.py | 4 ++-- 6 files changed, 13 insertions(+), 11 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index b5d5e3d8a2..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 @@ -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: From 29470d2d2d5f53d4b26a220192a08adbde5eeb5d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 10 Jan 2023 22:28:54 -0800 Subject: [PATCH 29/50] VW: match panda standstill check (#25761) * test models: check panda standstill * match panda * reverse exception * check == 0 * bumppanda Co-authored-by: Adeeb Shihadeh --- panda | 2 +- selfdrive/car/tests/test_models.py | 2 +- selfdrive/car/volkswagen/carstate.py | 4 ++-- 3 files changed, 4 insertions(+), 4 deletions(-) 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/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/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. From f41caec2dec08aa3bbf8e0b3b6efa7600a8f6f0f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 11 Jan 2023 15:02:24 -0800 Subject: [PATCH 30/50] bump cereal, can in qlogs --- cereal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cereal b/cereal index f200875ca3..c0d9abf6f7 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit f200875ca300d3a7b9293c4effcc9456e359e505 +Subproject commit c0d9abf6f7c7de140c41af10e322e226d900ef99 From 9884957e3e07e09df6c021222949a4a77e2bd8ff Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 12 Jan 2023 07:32:13 +0800 Subject: [PATCH 31/50] cabana: sync play button state (#26917) sync play button --- tools/cabana/canmessages.cc | 5 +++++ tools/cabana/canmessages.h | 4 +++- tools/cabana/videowidget.cc | 13 +++++-------- tools/cabana/videowidget.h | 1 - 4 files changed, 13 insertions(+), 10 deletions(-) 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/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; From 35626303b16734b17cb3dd266c5dd6f18f8941a9 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Wed, 11 Jan 2023 18:45:15 -0500 Subject: [PATCH 32/50] VW MQB: Add FW for 2019 Volkswagen Golf (#26920) --- selfdrive/car/volkswagen/values.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 24ea0a03ba..af73683e22 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', From ccb43271977174e1a6de11b15ad07cd04c2ed056 Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Wed, 11 Jan 2023 19:14:05 -0500 Subject: [PATCH 33/50] HKG CAN-FD: set cruise state available with car signal (#26812) * HKG CAN-FD: set cruise state available with car signal * Whoops * Check this signal * No should be in SCC_CONTROL * use TCS * add back * match CAN * think these are missing Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/carstate.py | 21 +++++++++++++++------ 1 file changed, 15 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index fc196528d7..53389279f7 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -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 + if self.CP.openpilotLongitudinalControl: + # These are not used for engage/disengage since openpilot keeps track of state using the buttons + ret.cruiseState.available = cp.vl["TCS"]["ACCEnable"] == 0 + 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.available = cp_cruise_info.vl["SCC_CONTROL"]["MainMode_ACC"] == 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), @@ -476,6 +484,7 @@ class CarState(CarStateBase): ("ACCMode", "SCC_CONTROL"), ("VSetDis", "SCC_CONTROL"), ("CRUISE_STANDSTILL", "SCC_CONTROL"), + ("MainMode_ACC", "SCC_CONTROL"), ] checks += [ ("SCC_CONTROL", 50), From a24afa18d3b43f9ea02a15d99ba8eb07b8cc9709 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 11 Jan 2023 17:22:24 -0800 Subject: [PATCH 34/50] Hyundai CAN-FD: set available from TCS ACC available (#26921) * available on TCS signal always * cmt enh * better comment * better --- selfdrive/car/hyundai/carstate.py | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 53389279f7..47621d3c2c 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -201,14 +201,14 @@ class CarState(CarStateBase): ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0 # 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.available = cp.vl["TCS"]["ACCEnable"] == 0 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.available = cp_cruise_info.vl["SCC_CONTROL"]["MainMode_ACC"] == 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 @@ -484,7 +484,6 @@ class CarState(CarStateBase): ("ACCMode", "SCC_CONTROL"), ("VSetDis", "SCC_CONTROL"), ("CRUISE_STANDSTILL", "SCC_CONTROL"), - ("MainMode_ACC", "SCC_CONTROL"), ] checks += [ ("SCC_CONTROL", 50), From 257a45dd18d30971dce0a02f285874423b2bfe9d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 11 Jan 2023 20:25:01 -0800 Subject: [PATCH 35/50] HKG: filter on steering pressed (#26924) * filter on can steering pressed * Update ref_commit --- selfdrive/car/hyundai/carstate.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 47621d3c2c..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 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 76f2ef06ba..157d146ade 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -d9432dcfb875a76be051137969e371c9926611e9 +ff0348b1957c8f992125df77a36b3c0553a26e6a From 2d403cbf9c14ed51e1e6d65bd33330a5775dec66 Mon Sep 17 00:00:00 2001 From: Niels Ole Salscheider Date: Thu, 12 Jan 2023 05:33:45 +0100 Subject: [PATCH 36/50] VW MQB: Add FW for 2017 Seat Leon (#26883) * VW MQB: Add FW for 2017 Seat Leon * missing srs Co-authored-by: Comma Device Co-authored-by: Shane Smiskol --- selfdrive/car/volkswagen/values.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index af73683e22..f627e517be 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -937,19 +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): [ From 69f8ac0b6508559549e99c5f12b7d9105ce1baa8 Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Thu, 12 Jan 2023 00:17:58 -0500 Subject: [PATCH 37/50] HKG: Car Port for Kia Sorento 2022 (#26874) * HKG: Car Port for Kia Sorento 2022 * Harness K * SCC is on bus 4 * Add test route * seems reasonable * more interesting segment Co-authored-by: Shane Smiskol --- RELEASES.md | 1 + docs/CARS.md | 3 ++- selfdrive/car/hyundai/interface.py | 9 ++++++--- selfdrive/car/hyundai/values.py | 17 ++++++++++++++--- selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/override.yaml | 1 + 6 files changed, 25 insertions(+), 7 deletions(-) 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/docs/CARS.md b/docs/CARS.md index 930b52c8a2..ac374501dc 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ 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| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:| @@ -110,6 +110,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| |Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| +|Kia|Sorento 2022-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Kia|Sorento Plug-in Hybrid 2022-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| |Kia|Sportage 2023[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| |Kia|Sportage Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| 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 1a81e1b167..229ca992d5 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" @@ -211,7 +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), @@ -1543,6 +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 = { @@ -1560,10 +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, } @@ -1628,4 +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/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/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] From f3fa4d759d5967e8590492005b8ede8bd17a6981 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 12 Jan 2023 13:21:11 +0800 Subject: [PATCH 38/50] cabana: fix find similar bits (#26918) * dynamic find bit * change * Revert "change" This reverts commit 12cf513e2725a52ee40b8999521adcd6ecb00221. * change sorting and headers * make perc a float Co-authored-by: Shane Smiskol --- tools/cabana/tools/findsimilarbits.cc | 48 +++++++++++++++++++-------- tools/cabana/tools/findsimilarbits.h | 9 +++-- 2 files changed, 41 insertions(+), 16 deletions(-) diff --git a/tools/cabana/tools/findsimilarbits.cc b/tools/cabana/tools/findsimilarbits.cc index 5fa5bcf7b8..cb5dbc0845 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)); @@ -56,10 +70,11 @@ FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent) { 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 +87,25 @@ 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(); + qDebug() << bus << selected_address << byte_idx << bit_idx; + 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 +126,12 @@ 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..8083999909 100644 --- a/tools/cabana/tools/findsimilarbits.h +++ b/tools/cabana/tools/findsimilarbits.h @@ -3,6 +3,7 @@ #include #include #include +#include #include class FindSimilarBitsDlg : public QDialog { @@ -11,13 +12,15 @@ public: 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; }; From a0f55f72fcc119f7a2ff902c1e347b3779c2c318 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Wed, 11 Jan 2023 22:31:25 -0800 Subject: [PATCH 39/50] increase nav default marker --- selfdrive/assets/navigation/default_marker.svg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/assets/navigation/default_marker.svg b/selfdrive/assets/navigation/default_marker.svg index 116a45e251..43d5290a96 100644 --- a/selfdrive/assets/navigation/default_marker.svg +++ b/selfdrive/assets/navigation/default_marker.svg @@ -1,5 +1,5 @@ - + From de6f9010fa6e3daf87c7cbe855af98b73fdc6d56 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 11 Jan 2023 23:30:11 -0800 Subject: [PATCH 40/50] Car docs: show video link (#26907) * add videos to gh docs * fix * add icon * fix * try this * white inner triangle * width * try height * use video_icon in template * clean up * rename * smaller --- docs/CARS.md | 450 +++++++++++++++--------------- docs/assets/icon-youtube.svg | 12 + selfdrive/car/CARS_template.md | 3 +- selfdrive/car/docs_definitions.py | 6 +- 4 files changed, 244 insertions(+), 227 deletions(-) create mode 100644 docs/assets/icon-youtube.svg diff --git a/docs/CARS.md b/docs/CARS.md index ac374501dc..1b76069f6a 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -6,231 +6,231 @@ A supported vehicle is one that just works when you install a comma three. All s # 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|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| -|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| -|Acura|RDX 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| -|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Cadillac|Escalade ESV 2016[3](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| -|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| -|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| -|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| -|Chevrolet|Volt 2017-18[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| -|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| -|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| -|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| -|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| -|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| -|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None| -|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| -|Genesis|G70 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| -|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| -|Genesis|G90 2017-18|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| -|Genesis|GV60 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| -|Genesis|GV70 2022-23[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| -|GMC|Acadia 2018[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| -|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| -|Honda|Accord 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| -|Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| -|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| -|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| -|Honda|Civic 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B| -|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| -|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B| -|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| -|Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| -|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| -|Honda|e 2020|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| -|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| -|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| -|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| -|Honda|Insight 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| -|Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| -|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| -|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| -|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| -|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| -|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| -|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| -|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| -|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| -|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J| -|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| -|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q| -|Hyundai|Ioniq 5 (with HDA II) 2022-23[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q| -|Hyundai|Ioniq 5 (without HDA II) 2022-23[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| -|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| -|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| -|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| -|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| -|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| -|Hyundai|Ioniq Plug-in Hybrid 2020-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| -|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| -|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G| -|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai O| -|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai I| -|Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| -|Hyundai|Santa Cruz 2021-22[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| -|Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai D| -|Hyundai|Santa Fe 2021-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| -|Hyundai|Santa Fe Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| -|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| -|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| -|Hyundai|Sonata 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| -|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| -|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| -|Hyundai|Tucson 2022[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| -|Hyundai|Tucson 2023[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| -|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| -|Hyundai|Tucson Hybrid 2022[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| -|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| -|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| -|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| -|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| -|Kia|EV6 (Southeast Asia only) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P| -|Kia|EV6 (with HDA II) 2022[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P| -|Kia|EV6 (without HDA II) 2022[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| -|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G| -|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| -|Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| -|Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| -|Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| -|Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| -|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| -|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| -|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[1](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| -|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| -|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G| -|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| -|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| -|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| -|Kia|Sorento 2022-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| -|Kia|Sorento Plug-in Hybrid 2022-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| -|Kia|Sportage 2023[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| -|Kia|Sportage Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| -|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| -|Kia|Stinger 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| -|Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| -|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Lexus|ES Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Lexus|ES Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Lexus|NX 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Lexus|NX Hybrid 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Lexus|RX 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Lexus|RX 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Lexus|RX Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda| -|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda| -|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan B| -|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A| -|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A| -|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A| -|Ram|1500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ram| -|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| -|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| -|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| -|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| -|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| -|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| -|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B| -|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B| -|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| -|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| -|Škoda|Kamiq 2021[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)| -|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)| -|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|Avalon 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|Avalon 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|Avalon Hybrid 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|C-HR 2017-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|Camry 2018-20|All|Stock|0 mph[6](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|Camry 2021-22|All|openpilot|0 mph[6](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|Highlander 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|Highlander Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|Prius 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|Prius Prime 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|RAV4 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Passat 2015-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)| -|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)| -|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)| -|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)| -|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Tiguan 2019-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|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|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| +|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| +|Acura|RDX 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| +|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Cadillac|Escalade ESV 2016[3](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|| +|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|| +|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|| +|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|| +|Chevrolet|Volt 2017-18[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|| +|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| +|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| +|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| +|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| +|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| +|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|| +|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|| +|Genesis|G70 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|| +|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| +|Genesis|G90 2017-18|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| +|Genesis|GV60 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|| +|Genesis|GV70 2022-23[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|| +|GMC|Acadia 2018[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|| +|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|| +|Honda|Accord 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| +|Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| +|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| +|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| +|Honda|Civic 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|| +|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| +|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|| +|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| +|Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| +|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| +|Honda|e 2020|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| +|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| +|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| +|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| +|Honda|Insight 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| +|Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| +|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| +|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| +|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| +|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| +|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|| +|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|| +|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|| +|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|| +|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J|| +|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|| +|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q|| +|Hyundai|Ioniq 5 (with HDA II) 2022-23[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q|| +|Hyundai|Ioniq 5 (without HDA II) 2022-23[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|| +|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| +|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| +|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| +|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| +|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| +|Hyundai|Ioniq Plug-in Hybrid 2020-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| +|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|| +|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|| +|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai O|| +|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai I|| +|Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| +|Hyundai|Santa Cruz 2021-22[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| +|Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai D|| +|Hyundai|Santa Fe 2021-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|| +|Hyundai|Santa Fe Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|| +|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|| +|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|| +|Hyundai|Sonata 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| +|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| +|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|| +|Hyundai|Tucson 2022[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| +|Hyundai|Tucson 2023[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| +|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|| +|Hyundai|Tucson Hybrid 2022[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| +|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|| +|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| +|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| +|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|| +|Kia|EV6 (Southeast Asia only) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P|| +|Kia|EV6 (with HDA II) 2022[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P|| +|Kia|EV6 (without HDA II) 2022[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|| +|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|| +|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| +|Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| +|Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|| +|Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| +|Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| +|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|| +|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| +|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[1](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| +|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|| +|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|| +|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| +|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| +|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|| +|Kia|Sorento 2022-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|| +|Kia|Sorento Plug-in Hybrid 2022-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| +|Kia|Sportage 2023[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| +|Kia|Sportage Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| +|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| +|Kia|Stinger 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|| +|Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| +|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Lexus|ES Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Lexus|ES Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Lexus|NX 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Lexus|NX Hybrid 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Lexus|RX 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Lexus|RX 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Lexus|RX Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|| +|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|| +|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan B|| +|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|| +|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|| +|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|| +|Ram|1500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ram|| +|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|| +|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|| +|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|| +|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|| +|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|| +|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|| +|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B|| +|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B|| +|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|| +|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|| +|Škoda|Kamiq 2021[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| +|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| +|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Toyota|Avalon 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Toyota|Avalon 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Toyota|Avalon Hybrid 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Toyota|C-HR 2017-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Toyota|Camry 2018-20|All|Stock|0 mph[6](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Toyota|Camry 2021-22|All|openpilot|0 mph[6](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Toyota|Highlander 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Toyota|Highlander Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Toyota|Prius 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Toyota|Prius Prime 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Toyota|RAV4 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|Passat 2015-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| +|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| +|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| +|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| +|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|Tiguan 2019-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|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`.
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/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 = '[![star](assets/icon-star-{}.svg)](##)' -%} +{% 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_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): From b68dabb689104ef0819a6c881b800076deb866f6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 11 Jan 2023 23:44:50 -0800 Subject: [PATCH 41/50] Car interface: require fingerprint and FW versions to get params (#26766) * require fingerprint and FW versions * add get_non_essential_params() * comment * all required * classmethod, need to allow subclasses to override _get_params * fix that * fix --- selfdrive/car/docs.py | 2 +- selfdrive/car/interfaces.py | 13 +++++++------ selfdrive/car/tests/test_car_interfaces.py | 2 +- selfdrive/car/tests/test_fw_fingerprint.py | 2 +- selfdrive/controls/lib/tests/test_latcontrol.py | 2 +- selfdrive/controls/lib/tests/test_vehicle_model.py | 2 +- selfdrive/controls/tests/test_state_machine.py | 2 +- selfdrive/debug/cycle_alerts.py | 2 +- selfdrive/debug/internal/test_paramsd.py | 2 +- selfdrive/test/longitudinal_maneuvers/plant.py | 2 +- selfdrive/test/process_replay/process_replay.py | 2 +- 11 files changed, 17 insertions(+), 16 deletions(-) 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/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/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 11e7be7f44..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 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/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/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py index 59cb0e1fe3..bd0556aa07 100755 --- a/selfdrive/test/longitudinal_maneuvers/plant.py +++ b/selfdrive/test/longitudinal_maneuvers/plant.py @@ -49,7 +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): 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) From 97b931a12ae94567062891586496e7a73bd3ebbd Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 13 Jan 2023 03:27:20 +0800 Subject: [PATCH 42/50] cabana: fix chart glitches (#26928) --- tools/cabana/chartswidget.cc | 8 ++++++-- tools/cabana/chartswidget.h | 2 ++ 2 files changed, 8 insertions(+), 2 deletions(-) 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; From f14deae475f32af5b04fc2ef3744a77445ad8177 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 12 Jan 2023 11:28:04 -0800 Subject: [PATCH 43/50] Revert "Car interface: require fingerprint and FW versions to get params (#26766)" This reverts commit b68dabb689104ef0819a6c881b800076deb866f6. --- selfdrive/car/docs.py | 2 +- selfdrive/car/interfaces.py | 13 ++++++------- selfdrive/car/tests/test_car_interfaces.py | 2 +- selfdrive/car/tests/test_fw_fingerprint.py | 2 +- selfdrive/controls/lib/tests/test_latcontrol.py | 2 +- selfdrive/controls/lib/tests/test_vehicle_model.py | 2 +- selfdrive/controls/tests/test_state_machine.py | 2 +- selfdrive/debug/cycle_alerts.py | 2 +- selfdrive/debug/internal/test_paramsd.py | 2 +- selfdrive/test/longitudinal_maneuvers/plant.py | 2 +- selfdrive/test/process_replay/process_replay.py | 2 +- 11 files changed, 16 insertions(+), 17 deletions(-) diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py index bc03619d0d..03313e2ff6 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")], experimental_long=False) + CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")]) if CP.dashcamOnly or car_info is None: continue diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 7192f5252c..ad1fd22b90 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -88,14 +88,13 @@ class CarInterfaceBase(ABC): return ACCEL_MIN, ACCEL_MAX @classmethod - 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) + 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() - @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/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index deb0454b9c..11e7be7f44 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, experimental_long=False) + car_params = CarInterface.get_params(car_name, fingerprints, car_fw) car_interface = CarInterface(car_params, CarController, CarState) assert car_params assert car_interface diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index e9f23145cd..2e43103852 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_non_essential_params(car_model) + CP = interfaces[car_model][0].get_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/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py index 993774f719..f15ab2fa56 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_non_essential_params(car_name) + CP = CarInterface.get_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 03d97a7e3f..3e08cb0aa0 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_non_essential_params(CAR.CIVIC) + CP = CarInterface.get_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 d5f468f214..8f263a98e7 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_non_essential_params("mock") + CP = CarInterface.get_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 71c7b34be5..b40c8e304c 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_non_essential_params("HONDA CIVIC 2016") + CP = CarInterface.get_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 81524496f7..3d8e422c35 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_non_essential_params(CAR.CIVIC) +CP = CarInterface.get_params(CAR.CIVIC) VM = VehicleModel(CP) x, y = 0, 0 # m, m diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py index bd0556aa07..59cb0e1fe3 100755 --- a/selfdrive/test/longitudinal_maneuvers/plant.py +++ b/selfdrive/test/longitudinal_maneuvers/plant.py @@ -49,7 +49,7 @@ class Plant: from selfdrive.car.honda.values import CAR from selfdrive.car.honda.interface import CarInterface - self.planner = LongitudinalPlanner(CarInterface.get_non_essential_params(CAR.CIVIC), init_v=self.speed) + self.planner = LongitudinalPlanner(CarInterface.get_params(CAR.CIVIC), init_v=self.speed) @property def current_time(self): diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 22ec099285..c5465fc025 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_non_essential_params(fingerprint) + CP = CarInterface.get_params(fingerprint) else: can = FakeSocket(wait=False) sendcan = FakeSocket(wait=False) From b00bc4f57e2c9a3acb9e3b10528b7e30cbde43f1 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 12 Jan 2023 12:25:24 -0800 Subject: [PATCH 44/50] Car interface: require fingerprint and FW versions to get params (#26932) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * require fingerprint and FW versions * add get_non_essential_params() * comment * all required * classmethod, need to allow subclasses to override _get_params * fix that * fix * fix * wrong fix 🤦 --- selfdrive/car/docs.py | 2 +- selfdrive/car/interfaces.py | 13 +++++++------ selfdrive/car/tests/test_car_interfaces.py | 2 +- selfdrive/car/tests/test_fw_fingerprint.py | 2 +- selfdrive/car/tests/test_lateral_limits.py | 2 +- selfdrive/controls/lib/tests/test_latcontrol.py | 2 +- selfdrive/controls/lib/tests/test_vehicle_model.py | 2 +- selfdrive/controls/tests/test_state_machine.py | 2 +- selfdrive/debug/cycle_alerts.py | 2 +- selfdrive/debug/internal/test_paramsd.py | 2 +- selfdrive/test/longitudinal_maneuvers/plant.py | 2 +- selfdrive/test/process_replay/process_replay.py | 2 +- 12 files changed, 18 insertions(+), 17 deletions(-) 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/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/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 11e7be7f44..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 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/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/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py index 59cb0e1fe3..bd0556aa07 100755 --- a/selfdrive/test/longitudinal_maneuvers/plant.py +++ b/selfdrive/test/longitudinal_maneuvers/plant.py @@ -49,7 +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): 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) From 66d0d4c7d7035375bc17bdc9da404c2a5e77d453 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 13 Jan 2023 05:27:46 +0800 Subject: [PATCH 45/50] cabana: filtering in both address and msg name (#26929) search in address and name Co-authored-by: Shane Smiskol --- tools/cabana/messageswidget.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index dbf87a3da2..a5224e108b 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -80,11 +80,11 @@ 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(); } From 53ec07edbd591296602658080df71d91e8629540 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 13 Jan 2023 05:39:51 +0800 Subject: [PATCH 46/50] cabana: double click on an item in FindSimilarBitsDlg to open the message in detailView (#26930) * double click to open message * remove qDebug --- tools/cabana/mainwin.cc | 1 + tools/cabana/messageswidget.cc | 11 +++++++---- tools/cabana/messageswidget.h | 2 ++ tools/cabana/tools/findsimilarbits.cc | 8 +++++++- tools/cabana/tools/findsimilarbits.h | 5 +++++ 5 files changed, 22 insertions(+), 5 deletions(-) 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 a5224e108b..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 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 cb5dbc0845..5c9623c7e4 100644 --- a/tools/cabana/tools/findsimilarbits.cc +++ b/tools/cabana/tools/findsimilarbits.cc @@ -59,12 +59,19 @@ 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() { @@ -91,7 +98,6 @@ QList FindSimilarBitsDlg::calcBits(uint8_ QHash> mismatches; QHash msg_count; auto events = can->events(); - qDebug() << bus << selected_address << byte_idx << bit_idx; int bit_to_find = -1; for (auto e : *events) { if (e->which == cereal::Event::Which::CAN) { diff --git a/tools/cabana/tools/findsimilarbits.h b/tools/cabana/tools/findsimilarbits.h index 8083999909..30d78f0dea 100644 --- a/tools/cabana/tools/findsimilarbits.h +++ b/tools/cabana/tools/findsimilarbits.h @@ -7,9 +7,14 @@ #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; From df394004d574d0c9c63216da56bc965da27af508 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 12 Jan 2023 14:58:47 -0800 Subject: [PATCH 47/50] red panda footnote: finish thought (#26933) missing `car` --- docs/CARS.md | 2 +- selfdrive/car/hyundai/values.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 1b76069f6a..1e862a2f45 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -237,7 +237,7 @@ A supported vehicle is one that just works when you install a comma three. All s 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).
42019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
-5Requires a red panda for this CAN FD. All the hardware needed is sold in the CAN FD kit.
+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/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 229ca992d5..34c66623c3 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -125,7 +125,7 @@ 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 for this CAN FD. " + + "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) From 47cca343ec6ae611871d53d7b0660647f816f1c9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 12 Jan 2023 15:07:14 -0800 Subject: [PATCH 48/50] docs: open footnotes in new tab --- docs/CARS.md | 4 ++-- selfdrive/car/gm/values.py | 2 +- selfdrive/car/hyundai/values.py | 4 ++-- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 1e862a2f45..48145d78a9 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -235,9 +235,9 @@ A supported vehicle is one that just works when you install a comma three. All s 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 for this CAN FD car. All the hardware needed is sold in the CAN FD kit.
+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/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/values.py b/selfdrive/car/hyundai/values.py index 34c66623c3..eace661266 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -125,8 +125,8 @@ 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 for this CAN FD car. " + - "All the hardware needed is sold in the CAN FD kit.", + "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) From 8aac07bf86897ff9dee8f82ddd361fe39aed5063 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 12 Jan 2023 15:20:37 -0800 Subject: [PATCH 49/50] model replay: disable nav for now --- Jenkinsfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index f49ccf4315..3b16b3f112 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -190,7 +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"], ]) } } From eb3eb92d5e45695f56a3c1d500a27d7876b7d226 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Thu, 12 Jan 2023 19:35:07 -0500 Subject: [PATCH 50/50] bump submodules --- cereal | 2 +- opendbc | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/cereal b/cereal index c0d9abf6f7..6654e94f0b 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit c0d9abf6f7c7de140c41af10e322e226d900ef99 +Subproject commit 6654e94f0b42114e2460ec8e828972cb279f0da7 diff --git a/opendbc b/opendbc index d585a9bf29..e8ce453227 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit d585a9bf2908b2c83bf02b567b9e1f5bfc587a01 +Subproject commit e8ce453227ece42bdb99b898c98876665373d7ef