mirror of
https://github.com/sunnypilot/sunnypilot.git
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Merge remote-tracking branch 'origin/navigationd-init' into navigationd-service
This commit is contained in:
discountchubbs
+7
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@@ -1,3 +1,6 @@
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sunnypilot Version 2025.002.000 (2025-xx-xx)
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========================
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sunnypilot Version 2025.001.000 (2025-10-25)
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========================
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* 🛠️ Major rewrite
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@@ -17,10 +20,12 @@ sunnypilot Version 2025.001.000 (2025-10-25)
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* Intelligent longitudinal control adaptation
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* Speed Limit Assist (SLA)
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* Comprehensive speed limit integration featuring @pfeiferj's `mapd` for offline map limits downloads, a Speed Limit Resolver for sourcing data (from car, map, combined, etc), on-screen UI for Speed Limit Information/Warning, and Speed Limit Assist (SLA) to adjust cruise speed automatically.
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* Currently disabled for Tesla with sunnypilot Longitudinal Control in release and Rivian with sunnypilot Longitudinal Control in all branches
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* May return in future releases
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* Intelligent Cruise Button Management (ICBM)
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* System designed to manage the vehicle’s speed by sending cruise control button commands to the car’s ECU.
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* Smart Cruise Control Map & Vision (SCC-M / SCC-V)
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* When using any form of long control (openpilot longitudinal or ICBM) it will control the speed at which you enter and perform a turn by leveraging map data (SCC-M) and/or by leveraging what the model sees about the curve ahead (SCC-V)
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* When using any form of long control (sunnypilot longitudinal control or ICBM) it will control the speed at which you enter and perform a turn by leveraging map data (SCC-M) and/or by leveraging what the model sees about the curve ahead (SCC-V)
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* Vehicle Selector
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* If your vehicle isn’t fingerprinted automatically, you can still use the vehicle selector to get it working
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* sunnylink Integration
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@@ -132,6 +137,7 @@ sunnypilot Version 2025.001.000 (2025-10-25)
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* @michael-was-taken made their first contribution in "Reorder README tables: show -new branches first (#1191)"
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* @dzid26 made their first contribution in "params: Fix loading delay on startup (#1297)"
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* @HazZelnutz made their first contribution in "Visuals: Turn signals on screen when blinker is used (#1291)"
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* @sirmuskrat made their first contribution in "ui: openpilot Longitudinal Control → sunnypilot Longitudinal Control (#1422)"
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* New Contributors (sunnypilot/opendbc)
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* @chrispypatt made their first contribution in "Toyota: SecOC Longitudinal Control (sunnypilot/opendbc#93)"
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* @Discountchubbs made their first contribution in "Hyundai: EPS FW For 2022 KIA_NIRO_EV SCC (sunnypilot/opendbc#118)"
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@@ -4,7 +4,7 @@
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A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
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# 337 Supported Cars
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# 339 Supported Cars
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|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br> |Video|Setup Video|
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|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
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@@ -21,7 +21,10 @@ A supported vehicle is one that just works when you install a comma device. All
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|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
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|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
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|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
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|Chevrolet|Bolt EV Non-ACC 2017|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2017">Buy Here</a></sub></details>|||
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|Chevrolet|Bolt EV Non-ACC 2018-21|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2018-21">Buy Here</a></sub></details>|||
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|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
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|Chevrolet|Malibu Non-ACC 2016-23|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu Non-ACC 2016-23">Buy Here</a></sub></details>|||
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|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
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|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Trailblazer 2021-22">Buy Here</a></sub></details>|||
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|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2017-18">Buy Here</a></sub></details>|||
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@@ -236,20 +239,20 @@ A supported vehicle is one that just works when you install a comma device. All
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|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
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|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
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|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
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|Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
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|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
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|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
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|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
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|Subaru|Forester 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
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|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
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|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
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|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
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|Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
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|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
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|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
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|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
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|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Škoda|Fabia 2022-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Škoda|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
|
||||
@@ -308,7 +311,6 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Wildlander PHEV 2021|All|openpilot|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Wildlander PHEV 2021">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|
||||
+1
-1
Submodule opendbc_repo updated: 0a2315efd1...efe4ff137f
@@ -88,6 +88,7 @@ class Car:
|
||||
self.can_callbacks = can_comm_callbacks(self.can_sock, self.pm.sock['sendcan'])
|
||||
|
||||
is_release = self.params.get_bool("IsReleaseBranch")
|
||||
is_release_sp = self.params.get_bool("IsReleaseSpBranch")
|
||||
|
||||
if CI is None:
|
||||
# wait for one pandaState and one CAN packet
|
||||
@@ -110,7 +111,7 @@ class Car:
|
||||
init_params_list_sp = sunnypilot_interfaces.initialize_params(self.params)
|
||||
|
||||
self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params,
|
||||
fixed_fingerprint, init_params_list_sp)
|
||||
fixed_fingerprint, init_params_list_sp, is_release_sp)
|
||||
sunnypilot_interfaces.setup_interfaces(self.CI, self.params)
|
||||
self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
|
||||
self.CP = self.CI.CP
|
||||
|
||||
@@ -151,7 +151,7 @@ class TestCarModelBase(unittest.TestCase):
|
||||
|
||||
cls.CarInterface = interfaces[cls.platform]
|
||||
cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, alpha_long, False, docs=False)
|
||||
cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform, cls.fingerprint, car_fw, alpha_long, docs=False)
|
||||
cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform, cls.fingerprint, car_fw, alpha_long, False, docs=False)
|
||||
assert cls.CP
|
||||
assert cls.CP_SP
|
||||
assert cls.CP.carFingerprint == cls.platform
|
||||
|
||||
@@ -51,12 +51,12 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
|
||||
|
||||
|
||||
class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
|
||||
def __init__(self, CP, CP_SP, init_v=0.0, init_a=0.0, dt=DT_MDL):
|
||||
self.CP = CP
|
||||
self.mpc = LongitudinalMpc(dt=dt)
|
||||
# TODO remove mpc modes when TR released
|
||||
self.mpc.mode = 'acc'
|
||||
LongitudinalPlannerSP.__init__(self, self.CP, self.mpc)
|
||||
LongitudinalPlannerSP.__init__(self, self.CP, CP_SP, self.mpc)
|
||||
self.fcw = False
|
||||
self.dt = dt
|
||||
self.allow_throttle = True
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
#!/usr/bin/env python3
|
||||
from cereal import car
|
||||
from cereal import car, custom
|
||||
from openpilot.common.gps import get_gps_location_service
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import Priority, config_realtime_process
|
||||
@@ -17,10 +17,14 @@ def main():
|
||||
CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
|
||||
cloudlog.info("plannerd got CarParams: %s", CP.brand)
|
||||
|
||||
cloudlog.info("plannerd is waiting for CarParamsSP")
|
||||
CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP)
|
||||
cloudlog.info("plannerd got CarParamsSP")
|
||||
|
||||
gps_location_service = get_gps_location_service(params)
|
||||
|
||||
ldw = LaneDepartureWarning()
|
||||
longitudinal_planner = LongitudinalPlanner(CP)
|
||||
longitudinal_planner = LongitudinalPlanner(CP, CP_SP)
|
||||
pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
|
||||
sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
|
||||
'liveMapDataSP', 'carStateSP', gps_location_service],
|
||||
|
||||
@@ -51,7 +51,9 @@ class Plant:
|
||||
from opendbc.car.honda.values import CAR
|
||||
from opendbc.car.honda.interface import CarInterface
|
||||
|
||||
self.planner = LongitudinalPlanner(CarInterface.get_non_essential_params(CAR.HONDA_CIVIC), init_v=self.speed)
|
||||
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
|
||||
CP_SP = CarInterface.get_non_essential_params_sp(CP, CAR.HONDA_CIVIC)
|
||||
self.planner = LongitudinalPlanner(CP, CP_SP, init_v=self.speed)
|
||||
|
||||
@property
|
||||
def current_time(self):
|
||||
|
||||
@@ -32,11 +32,11 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
|
||||
|
||||
experimentalLongitudinalToggle = new ParamControl(
|
||||
"AlphaLongitudinalEnabled",
|
||||
tr("openpilot Longitudinal Control (Alpha)"),
|
||||
tr("sunnypilot Longitudinal Control (Alpha)"),
|
||||
QString("<b>%1</b><br><br>%2")
|
||||
.arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
|
||||
.arg(tr("On this car, sunnypilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. "
|
||||
"Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")),
|
||||
.arg(tr("WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
|
||||
.arg(tr("On this car, sunnypilot defaults to the car's built-in ACC instead of sunnypilot's longitudinal control. "
|
||||
"Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.")),
|
||||
""
|
||||
);
|
||||
experimentalLongitudinalToggle->setConfirmation(true, false);
|
||||
|
||||
@@ -188,7 +188,7 @@ void TogglesPanel::updateToggles() {
|
||||
const QString unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.");
|
||||
|
||||
QString long_desc = unavailable + " " + \
|
||||
tr("openpilot longitudinal control may come in a future update.");
|
||||
tr("sunnypilot longitudinal control may come in a future update.");
|
||||
if (CP.getAlphaLongitudinalAvailable()) {
|
||||
if (is_release) {
|
||||
long_desc = unavailable + " " + tr("An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.");
|
||||
|
||||
+18
-11
@@ -105,13 +105,13 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
|
||||
}
|
||||
|
||||
void SpeedLimitSettings::refresh() {
|
||||
bool is_release = params.getBool("IsReleaseSpBranch");
|
||||
bool is_metric_param = params.getBool("IsMetric");
|
||||
SpeedLimitMode speed_limit_mode_param = static_cast<SpeedLimitMode>(std::atoi(params.get("SpeedLimitMode").c_str()));
|
||||
SpeedLimitOffsetType offset_type_param = static_cast<SpeedLimitOffsetType>(std::atoi(params.get("SpeedLimitOffsetType").c_str()));
|
||||
QString offsetLabel = QString::fromStdString(params.get("SpeedLimitValueOffset"));
|
||||
|
||||
bool has_longitudinal_control;
|
||||
bool has_icbm;
|
||||
bool sla_available;
|
||||
auto cp_bytes = params.get("CarParamsPersistent");
|
||||
auto cp_sp_bytes = params.get("CarParamsSPPersistent");
|
||||
if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
|
||||
@@ -122,17 +122,24 @@ void SpeedLimitSettings::refresh() {
|
||||
cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
|
||||
cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();
|
||||
|
||||
has_longitudinal_control = hasLongitudinalControl(CP);
|
||||
has_icbm = hasIntelligentCruiseButtonManagement(CP_SP);
|
||||
bool has_longitudinal_control = hasLongitudinalControl(CP);
|
||||
bool has_icbm = hasIntelligentCruiseButtonManagement(CP_SP);
|
||||
|
||||
if (!has_longitudinal_control && !has_icbm) {
|
||||
if (speed_limit_mode_param == SpeedLimitMode::ASSIST) {
|
||||
params.put("SpeedLimitMode", std::to_string(static_cast<int>(SpeedLimitMode::WARNING)));
|
||||
}
|
||||
/*
|
||||
* Speed Limit Assist is available when:
|
||||
* - has_longitudinal_control or has_icbm, and
|
||||
* - is not a release branch or not a disallowed brand, and
|
||||
* - is not always disallowed
|
||||
*/
|
||||
bool sla_disallow_in_release = CP.getBrand() == "tesla" && is_release;
|
||||
bool sla_always_disallow = CP.getBrand() == "rivian";
|
||||
sla_available = (has_longitudinal_control || has_icbm) && !sla_disallow_in_release && !sla_always_disallow;
|
||||
|
||||
if (!sla_available && speed_limit_mode_param == SpeedLimitMode::ASSIST) {
|
||||
params.put("SpeedLimitMode", std::to_string(static_cast<int>(SpeedLimitMode::WARNING)));
|
||||
}
|
||||
} else {
|
||||
has_longitudinal_control = false;
|
||||
has_icbm = false;
|
||||
sla_available = false;
|
||||
}
|
||||
|
||||
speed_limit_mode_settings->setDescription(modeDescription(speed_limit_mode_param));
|
||||
@@ -152,7 +159,7 @@ void SpeedLimitSettings::refresh() {
|
||||
speed_limit_offset->showDescription();
|
||||
}
|
||||
|
||||
if (has_longitudinal_control || has_icbm) {
|
||||
if (sla_available) {
|
||||
speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues(getSpeedLimitModeValues()));
|
||||
} else {
|
||||
speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues(
|
||||
|
||||
@@ -38,7 +38,7 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
|
||||
intelligentCruiseButtonManagement = new ParamControlSP(
|
||||
"IntelligentCruiseButtonManagement",
|
||||
tr("Intelligent Cruise Button Management (ICBM) (Alpha)"),
|
||||
tr("When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control."),
|
||||
"",
|
||||
"",
|
||||
this
|
||||
);
|
||||
@@ -104,6 +104,8 @@ void LongitudinalPanel::hideEvent(QHideEvent *event) {
|
||||
}
|
||||
|
||||
void LongitudinalPanel::refresh(bool _offroad) {
|
||||
const QString icbm_description = tr("When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control.");
|
||||
|
||||
auto cp_bytes = params.get("CarParamsPersistent");
|
||||
auto cp_sp_bytes = params.get("CarParamsSPPersistent");
|
||||
if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
|
||||
@@ -120,9 +122,24 @@ void LongitudinalPanel::refresh(bool _offroad) {
|
||||
|
||||
if (CP_SP.getIntelligentCruiseButtonManagementAvailable() && !has_longitudinal_control) {
|
||||
intelligentCruiseButtonManagement->setEnabled(offroad);
|
||||
intelligentCruiseButtonManagement->setDescription(icbm_description);
|
||||
} else {
|
||||
params.remove("IntelligentCruiseButtonManagement");
|
||||
intelligentCruiseButtonManagement->setEnabled(false);
|
||||
|
||||
const QString icbm_unavaialble = tr("Intelligent Cruise Button Management is currently unavailable on this platform.");
|
||||
|
||||
QString long_desc = icbm_unavaialble;
|
||||
if (has_longitudinal_control) {
|
||||
if (CP.getAlphaLongitudinalAvailable()) {
|
||||
long_desc = icbm_unavaialble + " " + tr("Disable the sunnypilot Longitudinal Control (alpha) toggle to allow Intelligent Cruise Button Management.");
|
||||
} else {
|
||||
long_desc = icbm_unavaialble + " " + tr("sunnypilot Longitudinal Control is the default longitudinal control for this platform.");
|
||||
}
|
||||
}
|
||||
|
||||
intelligentCruiseButtonManagement->setDescription("<b>" + long_desc + "</b><br><br>" + icbm_description);
|
||||
intelligentCruiseButtonManagement->showDescription();
|
||||
}
|
||||
|
||||
if (has_longitudinal_control || has_icbm) {
|
||||
@@ -151,10 +168,11 @@ void LongitudinalPanel::refresh(bool _offroad) {
|
||||
has_longitudinal_control = false;
|
||||
is_pcm_cruise = false;
|
||||
has_icbm = false;
|
||||
intelligentCruiseButtonManagement->setDescription("<b>" + tr("Start the vehicle to check vehicle compatibility.") + "</br><b><b>" + icbm_description);
|
||||
}
|
||||
|
||||
QString accEnabledDescription = tr("Enable custom Short & Long press increments for cruise speed increase/decrease.");
|
||||
QString accNoLongDescription = tr("This feature can only be used with openpilot longitudinal control enabled.");
|
||||
QString accNoLongDescription = tr("This feature can only be used with sunnypilot longitudinal control enabled.");
|
||||
QString accPcmCruiseDisabledDescription = tr("This feature is not supported on this platform due to vehicle limitations.");
|
||||
QString onroadOnlyDescription = tr("Start the vehicle to check vehicle compatibility.");
|
||||
|
||||
|
||||
@@ -33,7 +33,7 @@ private:
|
||||
|
||||
static QString toggleDisableMsg(bool _offroad, bool _has_longitudinal_control) {
|
||||
if (!_has_longitudinal_control) {
|
||||
return tr("This feature can only be used with openpilot longitudinal control enabled.");
|
||||
return tr("This feature can only be used with sunnypilot longitudinal control enabled.");
|
||||
}
|
||||
|
||||
if (!_offroad) {
|
||||
@@ -57,7 +57,7 @@ private:
|
||||
}
|
||||
|
||||
return QString("%1<br><br>%2<br>%3<br>%4<br>")
|
||||
.arg(tr("Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control."))
|
||||
.arg(tr("Fine-tune your driving experience by adjusting acceleration smoothness with sunnypilot longitudinal control."))
|
||||
.arg(off_str)
|
||||
.arg(dynamic_str)
|
||||
.arg(predictive_str);
|
||||
|
||||
@@ -119,7 +119,7 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
|
||||
// Visuals: Display Metrics below Chevron
|
||||
std::vector<QString> chevron_info_settings_texts{tr("Off"), tr("Distance"), tr("Speed"), tr("Time"), tr("All")};
|
||||
chevron_info_settings = new ButtonParamControlSP(
|
||||
"ChevronInfo", tr("Display Metrics Below Chevron"), tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control)."),
|
||||
"ChevronInfo", tr("Display Metrics Below Chevron"), tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with sunnypilot longitudinal control)."),
|
||||
"",
|
||||
chevron_info_settings_texts,
|
||||
200);
|
||||
@@ -159,8 +159,8 @@ void VisualsPanel::refreshLongitudinalStatus() {
|
||||
}
|
||||
|
||||
if (chevron_info_settings) {
|
||||
QString chevronEnabledDescription = tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).");
|
||||
QString chevronNoLongDescription = tr("This feature requires openpilot longitudinal control to be available.");
|
||||
QString chevronEnabledDescription = tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with sunnypilot longitudinal control).");
|
||||
QString chevronNoLongDescription = tr("This feature requires sunnypilot longitudinal control to be available.");
|
||||
|
||||
if (has_longitudinal_control) {
|
||||
chevron_info_settings->setDescription(chevronEnabledDescription);
|
||||
|
||||
@@ -390,7 +390,7 @@ class ButtonParamControlSP : public MultiButtonControlSP {
|
||||
Q_OBJECT
|
||||
public:
|
||||
ButtonParamControlSP(const QString ¶m, const QString &title, const QString &desc, const QString &icon,
|
||||
const std::vector<QString> &button_texts, const int minimum_button_width = 225, const bool inline_layout = false, bool advancedControl = false) : MultiButtonControlSP(title, desc, icon,
|
||||
const std::vector<QString> &button_texts, const int minimum_button_width = 380, const bool inline_layout = false, bool advancedControl = false) : MultiButtonControlSP(title, desc, icon,
|
||||
button_texts, minimum_button_width, inline_layout, advancedControl) {
|
||||
key = param.toStdString();
|
||||
int value = atoi(params.get(key).c_str());
|
||||
|
||||
@@ -1 +1 @@
|
||||
#define SUNNYPILOT_VERSION "2025.001.000"
|
||||
#define SUNNYPILOT_VERSION "2025.002.000"
|
||||
|
||||
@@ -116,7 +116,7 @@ class ModelCache:
|
||||
|
||||
class ModelFetcher:
|
||||
"""Handles fetching and caching of model data from remote source"""
|
||||
MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v7.json"
|
||||
MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v8.json"
|
||||
|
||||
def __init__(self, params: Params):
|
||||
self.params = params
|
||||
|
||||
@@ -83,7 +83,7 @@ class NavigationInstructions:
|
||||
'maneuver': step['maneuver'],
|
||||
'location': location,
|
||||
'cumulative_distance': cumulative_distances[closest_idx],
|
||||
'maxspeed': maxspeed[min(closest_idx, len(maxspeed) - 1)],
|
||||
'maxspeed': maxspeed[min(closest_idx, len(maxspeed) - 1)] if len(maxspeed) > 0 else (0, 'kmh'),
|
||||
'modifier': string_to_direction(step['modifier']),
|
||||
'instruction': step['instruction'],
|
||||
})
|
||||
|
||||
@@ -11,7 +11,7 @@ from opendbc.car.interfaces import CarInterfaceBase
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import get_nn_model_path
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode as SpeedLimitMode
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import set_speed_limit_assist_availability
|
||||
|
||||
import openpilot.system.sentry as sentry
|
||||
|
||||
@@ -87,8 +87,7 @@ def _cleanup_unsupported_params(CP: structs.CarParams, CP_SP: structs.CarParamsS
|
||||
params.remove("SmartCruiseControlVision")
|
||||
params.remove("SmartCruiseControlMap")
|
||||
|
||||
if params.get("SpeedLimitMode", return_default=True) == SpeedLimitMode.assist:
|
||||
params.put("SpeedLimitMode", int(SpeedLimitMode.warning))
|
||||
set_speed_limit_assist_availability(CP, CP_SP, params)
|
||||
|
||||
|
||||
def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
|
||||
|
||||
@@ -22,13 +22,13 @@ LongitudinalPlanSource = custom.LongitudinalPlanSP.LongitudinalPlanSource
|
||||
|
||||
|
||||
class LongitudinalPlannerSP:
|
||||
def __init__(self, CP: structs.CarParams, mpc):
|
||||
def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP, mpc):
|
||||
self.events_sp = EventsSP()
|
||||
self.resolver = SpeedLimitResolver()
|
||||
self.dec = DynamicExperimentalController(CP, mpc)
|
||||
self.scc = SmartCruiseControl()
|
||||
self.resolver = SpeedLimitResolver()
|
||||
self.sla = SpeedLimitAssist(CP)
|
||||
self.sla = SpeedLimitAssist(CP, CP_SP)
|
||||
self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
|
||||
self.source = LongitudinalPlanSource.cruise
|
||||
self.e2e_alerts_helper = E2EAlertsHelper()
|
||||
|
||||
@@ -5,7 +5,10 @@ This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
from cereal import custom, car
|
||||
from openpilot.common.constants import CV
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode as SpeedLimitMode
|
||||
|
||||
|
||||
def compare_cluster_target(v_cruise_cluster: float, target_set_speed: float, is_metric: bool) -> tuple[bool, bool]:
|
||||
@@ -17,3 +20,25 @@ def compare_cluster_target(v_cruise_cluster: float, target_set_speed: float, is_
|
||||
req_minus = v_cruise_cluster_conv > target_set_speed_conv
|
||||
|
||||
return req_plus, req_minus
|
||||
|
||||
|
||||
def set_speed_limit_assist_availability(CP: car.CarParams, CP_SP: custom.CarParamsSP, params: Params = None) -> bool:
|
||||
if params is None:
|
||||
params = Params()
|
||||
|
||||
is_release = params.get_bool("IsReleaseSpBranch")
|
||||
disallow_in_release = CP.brand == "tesla" and is_release
|
||||
always_disallow = CP.brand == "rivian"
|
||||
allowed = True
|
||||
|
||||
if disallow_in_release or always_disallow:
|
||||
allowed = False
|
||||
|
||||
if not CP.openpilotLongitudinalControl and CP_SP.pcmCruiseSpeed:
|
||||
allowed = False
|
||||
|
||||
if not allowed:
|
||||
if params.get("SpeedLimitMode", return_default=True) == SpeedLimitMode.assist:
|
||||
params.put("SpeedLimitMode", int(SpeedLimitMode.warning))
|
||||
|
||||
return allowed
|
||||
|
||||
@@ -10,13 +10,13 @@ from cereal import custom, car
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.constants import CV
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
|
||||
from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants
|
||||
from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
|
||||
from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED, CONFIRM_SPEED_THRESHOLD
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import compare_cluster_target
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import compare_cluster_target, set_speed_limit_assist_availability
|
||||
|
||||
ButtonType = car.CarState.ButtonEvent.Type
|
||||
EventNameSP = custom.OnroadEventSP.EventName
|
||||
@@ -38,7 +38,7 @@ LIMIT_MIN_ACC = -1.5 # m/s^2 Maximum deceleration allowed for limit controllers
|
||||
LIMIT_MAX_ACC = 1.0 # m/s^2 Maximum acceleration allowed for limit controllers to provide while active.
|
||||
LIMIT_MIN_SPEED = 8.33 # m/s, Minimum speed limit to provide as solution on limit controllers.
|
||||
LIMIT_SPEED_OFFSET_TH = -1. # m/s Maximum offset between speed limit and current speed for adapting state.
|
||||
V_CRUISE_UNSET = 255
|
||||
V_CRUISE_UNSET = 255.
|
||||
|
||||
CRUISE_BUTTONS_PLUS = (ButtonType.accelCruise, ButtonType.resumeCruise)
|
||||
CRUISE_BUTTONS_MINUS = (ButtonType.decelCruise, ButtonType.setCruise)
|
||||
@@ -52,13 +52,15 @@ class SpeedLimitAssist:
|
||||
a_ego: float
|
||||
v_offset: float
|
||||
|
||||
def __init__(self, CP):
|
||||
def __init__(self, CP: car.CarParams, CP_SP: custom.CarParamsSP):
|
||||
self.params = Params()
|
||||
self.CP = CP
|
||||
self.CP_SP = CP_SP
|
||||
self.frame = -1
|
||||
self.long_engaged_timer = 0
|
||||
self.pre_active_timer = 0
|
||||
self.is_metric = self.params.get_bool("IsMetric")
|
||||
set_speed_limit_assist_availability(self.CP, self.CP_SP, self.params)
|
||||
self.enabled = self.params.get("SpeedLimitMode", return_default=True) == Mode.assist
|
||||
self.long_enabled = False
|
||||
self.long_enabled_prev = False
|
||||
@@ -140,6 +142,7 @@ class SpeedLimitAssist:
|
||||
def update_params(self) -> None:
|
||||
if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
|
||||
self.is_metric = self.params.get_bool("IsMetric")
|
||||
set_speed_limit_assist_availability(self.CP, self.CP_SP, self.params)
|
||||
self.enabled = self.params.get("SpeedLimitMode", return_default=True) == Mode.assist
|
||||
|
||||
def update_car_state(self, CS: car.CarState) -> None:
|
||||
|
||||
@@ -4,17 +4,22 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
from cereal import custom
|
||||
|
||||
import pytest
|
||||
|
||||
from cereal import custom
|
||||
from opendbc.car.car_helpers import interfaces
|
||||
from opendbc.car.rivian.values import CAR as RIVIAN
|
||||
from opendbc.car.tesla.values import CAR as TESLA
|
||||
from opendbc.car.toyota.values import CAR as TOYOTA
|
||||
from openpilot.common.constants import CV
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
|
||||
from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
|
||||
from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import SpeedLimitAssist, \
|
||||
PRE_ACTIVE_GUARD_PERIOD, ACTIVE_STATES
|
||||
from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
|
||||
@@ -30,15 +35,29 @@ SPEED_LIMITS = {
|
||||
'freeway': 80 * CV.MPH_TO_MS, # 80 mph
|
||||
}
|
||||
|
||||
DEFAULT_CAR = TOYOTA.TOYOTA_RAV4_TSS2
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def car_name(request):
|
||||
return getattr(request, "param", DEFAULT_CAR)
|
||||
|
||||
|
||||
@pytest.fixture(autouse=True)
|
||||
def set_car_name_on_instance(request, car_name):
|
||||
instance = getattr(request, "instance", None)
|
||||
if instance:
|
||||
instance.car_name = car_name
|
||||
|
||||
|
||||
class TestSpeedLimitAssist:
|
||||
|
||||
def setup_method(self):
|
||||
def setup_method(self, method):
|
||||
self.params = Params()
|
||||
self.reset_custom_params()
|
||||
self.events_sp = EventsSP()
|
||||
CI = self._setup_platform(TOYOTA.TOYOTA_RAV4_TSS2)
|
||||
self.sla = SpeedLimitAssist(CI.CP)
|
||||
CI = self._setup_platform(self.car_name)
|
||||
self.sla = SpeedLimitAssist(CI.CP, CI.CP_SP)
|
||||
self.sla.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.sla.pcm_op_long] / DT_MDL)
|
||||
self.pcm_long_max_set_speed = PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric][1] # use 80 MPH for now
|
||||
self.speed_conv = CV.MS_TO_KPH if self.sla.is_metric else CV.MS_TO_MPH
|
||||
@@ -51,10 +70,12 @@ class TestSpeedLimitAssist:
|
||||
CP = CarInterface.get_non_essential_params(car_name)
|
||||
CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
|
||||
CI = CarInterface(CP, CP_SP)
|
||||
CI.CP.openpilotLongitudinalControl = True # always assume it's openpilot longitudinal
|
||||
sunnypilot_interfaces.setup_interfaces(CI, self.params)
|
||||
return CI
|
||||
|
||||
def reset_custom_params(self):
|
||||
self.params.put("IsReleaseSpBranch", True)
|
||||
self.params.put("SpeedLimitMode", int(Mode.assist))
|
||||
self.params.put_bool("IsMetric", False)
|
||||
self.params.put("SpeedLimitOffsetType", 0)
|
||||
@@ -84,6 +105,22 @@ class TestSpeedLimitAssist:
|
||||
assert not self.sla.is_active
|
||||
assert V_CRUISE_UNSET == self.sla.get_v_target_from_control()
|
||||
|
||||
@pytest.mark.parametrize("car_name", [RIVIAN.RIVIAN_R1_GEN1, TESLA.TESLA_MODEL_Y], indirect=True)
|
||||
def test_disallowed_brands(self, car_name):
|
||||
"""
|
||||
Speed Limit Assist is disabled for the following brands and conditions:
|
||||
- All Tesla and is a release branch;
|
||||
- All Rivian
|
||||
"""
|
||||
assert not self.sla.enabled
|
||||
|
||||
# stay disallowed even when the param may have changed from somewhere else
|
||||
self.params.put("SpeedLimitMode", int(Mode.assist))
|
||||
for _ in range(int(PARAMS_UPDATE_PERIOD / DT_MDL)):
|
||||
self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'],
|
||||
SPEED_LIMITS['city'], True, 0, self.events_sp)
|
||||
assert not self.sla.enabled
|
||||
|
||||
def test_disabled(self):
|
||||
self.params.put("SpeedLimitMode", int(Mode.off))
|
||||
for _ in range(int(10. / DT_MDL)):
|
||||
|
||||
@@ -1,4 +1,5 @@
|
||||
import pytest
|
||||
import platform
|
||||
import json
|
||||
import random
|
||||
import time
|
||||
@@ -12,6 +13,10 @@ from openpilot.common.transformations.coordinates import ecef2geodetic
|
||||
from openpilot.system.manager.process_config import managed_processes
|
||||
|
||||
|
||||
if platform.system() == 'Darwin':
|
||||
pytest.skip("Skipping locationd test on macOS due to unsupported msgq.", allow_module_level=True)
|
||||
|
||||
|
||||
class TestLocationdProc:
|
||||
LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration',
|
||||
'accelerometer', 'gyroscope', 'magnetometer']
|
||||
|
||||
+1
-1
@@ -10,7 +10,7 @@ from openpilot.common.basedir import BASEDIR
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.common.git import get_commit, get_origin, get_branch, get_short_branch, get_commit_date
|
||||
|
||||
RELEASE_SP_BRANCHES = ['release-c3', 'release']
|
||||
RELEASE_SP_BRANCHES = ['release-c3', 'release', 'release-tizi', 'release-tici', 'release-tizi-staging', 'release-tici-staging']
|
||||
TESTED_SP_BRANCHES = ['staging-c3', 'staging-c3-new', 'staging']
|
||||
MASTER_SP_BRANCHES = ['master']
|
||||
RELEASE_BRANCHES = ['release3-staging', 'release3', 'release-tici', 'nightly']
|
||||
|
||||
Reference in New Issue
Block a user