Merge remote-tracking branch 'commaai/openpilot/master' into ev9-new

# Conflicts:
#	opendbc_repo

.github/workflows/repo-maintenance.yaml

@@ -2,7 +2,7 @@ name: repo maintenance
 
 on:
   schedule:
-    - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
+    - cron: "0 * * * *"  # every hour for COMMA_HACK 5
   workflow_dispatch:
 
 jobs:

Jenkinsfile

@@ -31,7 +31,7 @@ export CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
 export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
 export AZURE_TOKEN='${env.AZURE_TOKEN}'
 # only use 1 thread for tici tests since most require HIL
-export PYTEST_ADDOPTS="-n 0"
+export PYTEST_ADDOPTS="-n0 -s"
 
 
 export GIT_SSH_COMMAND="ssh -i /data/gitkey"

selfdrive/test/process_replay/migration.py

@@ -271,7 +271,7 @@ def migrate_pandaStates(msgs):
   safety_param_migration = {
     "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | ToyotaSafetyFlags.STOCK_LONGITUDINAL,
     "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | ToyotaSafetyFlags.ALT_BRAKE,
-    "KIA_EV6": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CANFD_HDA2,
+    "KIA_EV6": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CANFD_LKA_STEERING,
   }
   # TODO: get new Ford route
   safety_param_migration |= {car: FordSafetyFlags.LONG_CONTROL for car in (set(FORD) - FORD.with_flags(FordFlags.CANFD))}

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-6e9bd57a7a2bbf2aeeb610acafbf3c2f4fd7023f
+e0ef36686433e563d0a9b9127d680a1d8c6ebdc1

tools/joystick/joystickd.py

@@ -62,6 +62,11 @@ def joystickd_thread():
     cs_msg.valid = True
     controlsState = cs_msg.controlsState
     controlsState.lateralControlState.init('debugState')
+
+    lp = sm['liveParameters']
+    steer_angle_without_offset = math.radians(sm['carState'].steeringAngleDeg - lp.angleOffsetDeg)
+    controlsState.curvature = -VM.calc_curvature(steer_angle_without_offset, sm['carState'].vEgo, lp.roll)
+
     pm.send('controlsState', cs_msg)
 
     rk.keep_time()