Update HKG Angle Smoothing Factor description in Developer Panel

Enhanced the description to clarify its effect on steering behavior. Included details on how the smoothing factor impacts steering smoothness using EMA, aiding user understanding.

cereal/custom.capnp

@@ -10,13 +10,6 @@ $Cxx.namespace("cereal");
 # DO rename the structs
 # DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
 
-enum LongitudinalPersonalitySP {
-  aggressive @0;
-  standard @1;
-  relaxed @2;
-  overtake @3;
-}
-
 struct ModularAssistiveDrivingSystem {
   state @0 :ModularAssistiveDrivingSystemState;
   enabled @1 :Bool;
@@ -34,7 +27,6 @@ struct ModularAssistiveDrivingSystem {
 
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
   mads @0 :ModularAssistiveDrivingSystem;
-  personality @1 :LongitudinalPersonalitySP;
 }
 
 struct ModelManagerSP @0xaedffd8f31e7b55d {
@@ -97,8 +89,6 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
 struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
   dec @0 :DynamicExperimentalControl;
 
-  personalityDEPRECATED @1 :LongitudinalPersonalitySP;
-
   struct DynamicExperimentalControl {
     state @0 :DynamicExperimentalControlState;
     enabled @1 :Bool;

common/params_keys.h

@@ -167,4 +167,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"HyundaiRadarTracksToggle", PERSISTENT},
 
     {"DynamicExperimentalControl", PERSISTENT},
+
+    // Tuning keys
+    {"HkgTuningAngleSmoothingFactor", PERSISTENT | BACKUP}
 };

pyproject.toml

@@ -58,7 +58,7 @@ dependencies = [
   "future-fstrings",
 
   # joystickd
-  "inputs",
+  "pygame",
 
   # these should be removed
   "psutil",
@@ -105,7 +105,6 @@ dev = [
   "matplotlib",
   "parameterized >=0.8, <0.9",
   "pyautogui",
-  "pygame",
   "pyopencl; platform_machine != 'aarch64'", # broken on arm64
   "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
   "pywinctl",

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -2,7 +2,7 @@
 import os
 import time
 import numpy as np
-from cereal import custom
+from cereal import log
 from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.swaglog import cloudlog
@@ -58,23 +58,23 @@ STOP_DISTANCE = 6.0
 CRUISE_MIN_ACCEL = -1.2
 CRUISE_MAX_ACCEL = 1.6
 
-def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard):
-  if personality==custom.LongitudinalPersonalitySP.relaxed:
+def get_jerk_factor(personality=log.LongitudinalPersonality.standard):
+  if personality==log.LongitudinalPersonality.relaxed:
     return 1.0
-  elif personality==custom.LongitudinalPersonalitySP.standard:
+  elif personality==log.LongitudinalPersonality.standard:
     return 1.0
-  elif personality==custom.LongitudinalPersonalitySP.aggressive:
+  elif personality==log.LongitudinalPersonality.aggressive:
     return 0.5
   else:
     raise NotImplementedError("Longitudinal personality not supported")
 
 
-def get_T_FOLLOW(personality=custom.LongitudinalPersonalitySP.standard):
-  if personality==custom.LongitudinalPersonalitySP.relaxed:
+def get_T_FOLLOW(personality=log.LongitudinalPersonality.standard):
+  if personality==log.LongitudinalPersonality.relaxed:
     return 1.75
-  elif personality==custom.LongitudinalPersonalitySP.standard:
+  elif personality==log.LongitudinalPersonality.standard:
     return 1.45
-  elif personality==custom.LongitudinalPersonalitySP.aggressive:
+  elif personality==log.LongitudinalPersonality.aggressive:
     return 1.25
   else:
     raise NotImplementedError("Longitudinal personality not supported")
@@ -274,7 +274,7 @@ class LongitudinalMpc:
     for i in range(N):
       self.solver.cost_set(i, 'Zl', Zl)
 
-  def set_weights(self, prev_accel_constraint=True, personality=custom.LongitudinalPersonalitySP.standard):
+  def set_weights(self, prev_accel_constraint=True, personality=log.LongitudinalPersonality.standard):
     jerk_factor = get_jerk_factor(personality)
     if self.mode == 'acc':
       a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0
@@ -327,7 +327,7 @@ class LongitudinalMpc:
     lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau)
     return lead_xv
 
-  def update(self, radarstate, v_cruise, x, v, a, j, personality=custom.LongitudinalPersonalitySP.standard):
+  def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard):
     t_follow = get_T_FOLLOW(personality)
     v_ego = self.x0[1]
     self.status = radarstate.leadOne.status or radarstate.leadTwo.status

selfdrive/controls/lib/longitudinal_planner.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import math
 import numpy as np
+
 import cereal.messaging as messaging
 from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
 from openpilot.common.conversions import Conversions as CV
@@ -162,11 +163,9 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     if force_slow_decel:
       v_cruise = 0.0
 
-    self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveStateSP'].personality)
+    self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
-    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['selfdriveStateSP'].personality)
-
-
+    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['selfdriveState'].personality)
 
     self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
     self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)
@@ -194,7 +193,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
   def publish(self, sm, pm):
     plan_send = messaging.new_message('longitudinalPlan')
 
-    plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'selfdriveState', 'selfdriveStateSP'])
+    plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'selfdriveState'])
 
     longitudinalPlan = plan_send.longitudinalPlan
     longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']

selfdrive/controls/plannerd.py

@@ -19,7 +19,7 @@ def main():
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP)
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
-  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState', 'selfdriveStateSP'],
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
                            poll='modelV2')
 
   while True:

selfdrive/selfdrived/selfdrived.py

@@ -32,7 +32,7 @@ REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
 TESTING_CLOSET = "TESTING_CLOSET" in os.environ
 IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"}
-LONGITUDINAL_PERSONALITY_MAP = {v: k for k, v in custom.LongitudinalPersonalitySP.schema.enumerants.items()}
+LONGITUDINAL_PERSONALITY_MAP = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()}
 
 ThermalStatus = log.DeviceState.ThermalStatus
 State = log.SelfdriveState.OpenpilotState
@@ -475,6 +475,7 @@ class SelfdriveD(CruiseHelper):
     ss.state = self.state_machine.state
     ss.engageable = not self.events.contains(ET.NO_ENTRY)
     ss.experimentalMode = self.experimental_mode
+    ss.personality = self.personality
 
     ss.alertText1 = self.AM.current_alert.alert_text_1
     ss.alertText2 = self.AM.current_alert.alert_text_2
@@ -503,7 +504,6 @@ class SelfdriveD(CruiseHelper):
     mads.enabled = self.mads.enabled
     mads.active = self.mads.active
     mads.available = self.mads.enabled_toggle
-    ss_sp.personality = self.personality
 
     self.pm.send('selfdriveStateSP', ss_sp_msg)
 
@@ -532,7 +532,7 @@ class SelfdriveD(CruiseHelper):
     try:
       return int(self.params.get('LongitudinalPersonality'))
     except (ValueError, TypeError):
-      return custom.LongitudinalPersonalitySP.standard
+      return log.LongitudinalPersonality.standard
 
   def params_thread(self, evt):
     while not evt.is_set():

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -25,7 +25,6 @@ class Plant:
       Plant.car_state = messaging.pub_sock('carState')
       Plant.plan = messaging.sub_sock('longitudinalPlan')
       Plant.messaging_initialized = True
-      Plant.selfdrive_state_sp = messaging.pub_sock('selfdriveStateSP')
 
     self.v_lead_prev = 0.0
 
@@ -64,7 +63,6 @@ class Plant:
     radar = messaging.new_message('radarState')
     control = messaging.new_message('controlsState')
     ss = messaging.new_message('selfdriveState')
-    ss_sp = messaging.new_message('selfdriveStateSP')
     car_state = messaging.new_message('carState')
     lp = messaging.new_message('liveParameters')
     car_control = messaging.new_message('carControl')
@@ -120,7 +118,7 @@ class Plant:
 
     control.controlsState.longControlState = LongCtrlState.pid if self.enabled else LongCtrlState.off
     ss.selfdriveState.experimentalMode = self.e2e
-    ss_sp.selfdriveStateSP.personality = self.personality
+    ss.selfdriveState.personality = self.personality
     control.controlsState.forceDecel = self.force_decel
     car_state.carState.vEgo = float(self.speed)
     car_state.carState.standstill = bool(self.speed < 0.01)
@@ -133,7 +131,6 @@ class Plant:
           'carControl': car_control.carControl,
           'controlsState': control.controlsState,
           'selfdriveState': ss.selfdriveState,
-          'selfdriveStateSP': ss_sp.selfdriveStateSP,
           'liveParameters': lp.liveParameters,
           'modelV2': model.modelV2}
     self.planner.update(sm)

selfdrive/ui/qt/offroad/developer_panel.cc

@@ -68,6 +68,15 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
   });
   addItem(errorLogBtn);
 
+#ifdef SUNNYPILOT
+  hkgAngleSmoothingFactor = new OptionControlSP("HkgTuningAngleSmoothingFactor", tr("HKG Angle Smoothing Factor"), tr("Applies EMA (Exponential Moving Average) to the desired angle steering.<br/>A value closer to 1 means no smoothing.<br/>A value closer to 0 means very smooth (and thus likely too 'soft' steering)."), "../assets/offroad/icon_blank.png", {0, 10}, 1);
+  connect(hkgAngleSmoothingFactor, &OptionControlSP::updateLabels, hkgAngleSmoothingFactor, [=]() {
+    this->updateToggles(offroad);
+  });
+  addItem(hkgAngleSmoothingFactor);
+#endif
+  
+
   // Joystick and longitudinal maneuvers should be hidden on release branches
   is_release = params.getBool("IsReleaseBranch");
 
@@ -87,6 +96,9 @@ void DeveloperPanel::updateToggles(bool _offroad) {
     if (btn != experimentalLongitudinalToggle) {
       btn->setEnabled(_offroad);
     }
+
+    auto HkgAngleSmoothingFactorValue = QString::fromStdString(params.get("HkgTuningAngleSmoothingFactor")).toDouble();
+    hkgAngleSmoothingFactor->setLabel(QString::number(HkgAngleSmoothingFactorValue / 10, 'f', 1));
   }
 
   // longManeuverToggle and experimentalLongitudinalToggle should not be toggleable if the car does not have longitudinal control

selfdrive/ui/qt/offroad/developer_panel.h

@@ -21,6 +21,10 @@ private:
   ParamControl* experimentalLongitudinalToggle;
   ParamControl* hyundaiRadarTracksToggle;
   ParamControl* enableGithubRunner;
+#ifdef SUNNYPILOT
+  OptionControlSP* hkgAngleSmoothingFactor;
+#endif
+  
   bool is_release;
   bool offroad = false;
 

system/manager/manager.py

@@ -54,6 +54,7 @@ def manager_init() -> None:
     ("ModelManager_ModelsCache", ""),
     ("NeuralNetworkLateralControl", "0"),
     ("QuietMode", "0"),
+    ("HkgTuningAngleSmoothingFactor", "6")
   ]
 
   if params.get_bool("RecordFrontLock"):

system/manager/process_config.py

@@ -110,7 +110,7 @@ procs = [
 
   NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
   NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
-  PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
+  PythonProcess("soundd", "selfdrive.ui.soundd", and_(only_onroad, not_joystick)),
   PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
   NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
   PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),

tools/joystick/README.md

@@ -5,6 +5,10 @@
 With joystick_control, you can connect your laptop to your comma device over the network and debug controls using a joystick or keyboard.
 joystick_control uses [inputs](https://pypi.org/project/inputs) which supports many common gamepads and joysticks.
 
+## Note
+You might need to install [xow](https://github.com/medusalix/xow) to use the Xbox One controller on comma device. 
+Even though **xone** is recommended on the xow page, **xow** is the one that works with the comma device.
+
 ## Usage
 
 The car must be off, and openpilot must be offroad before starting `joystick_control`.

tools/joystick/joystick_control.py

@@ -3,7 +3,10 @@ import os
 import argparse
 import threading
 import numpy as np
-from inputs import UnpluggedError, get_gamepad
+try:
+  import pygame as pg
+except ImportError:
+  print("pygame is not installed. Please install it with 'uv pip install pygame'")
 
 from cereal import messaging
 from openpilot.common.params import Params
@@ -11,7 +14,10 @@ from openpilot.common.realtime import Ratekeeper
 from openpilot.system.hardware import HARDWARE
 from openpilot.tools.lib.kbhit import KBHit
 
-EXPO = 0.4
+# Set SDL environment variable to avoid using a video driver for headless operation
+os.environ["SDL_VIDEODRIVER"] = "dummy"
+
+EXPO = 0.4  # Exponential factor for joystick response curve
 
 
 class Keyboard:
@@ -40,60 +46,122 @@ class Keyboard:
     return True
 
 
-class Joystick:
+class PyGameJoystick:
   def __init__(self):
-    # This class supports a PlayStation 5 DualSense controller on the comma 3X
-    # TODO: find a way to get this from API or detect gamepad/PC, perhaps "inputs" doesn't support it
-    self.cancel_button = 'BTN_NORTH'  # BTN_NORTH=X/triangle
-    if HARDWARE.get_device_type() == 'pc':
-      accel_axis = 'ABS_Z'
-      steer_axis = 'ABS_RX'
-      # TODO: once the longcontrol API is finalized, we can replace this with outputting gas/brake and steering
-      self.flip_map = {'ABS_RZ': accel_axis}
-    else:
-      accel_axis = 'ABS_RX'
-      steer_axis = 'ABS_Z'
-      self.flip_map = {'ABS_RY': accel_axis}
+    # Initialize pygame and joystick subsystem
+    pg.init()
+    if not pg.joystick.get_init():
+      pg.joystick.init()
 
-    self.min_axis_value = {accel_axis: 0., steer_axis: 0.}
-    self.max_axis_value = {accel_axis: 255., steer_axis: 255.}
-    self.axes_values = {accel_axis: 0., steer_axis: 0.}
-    self.axes_order = [accel_axis, steer_axis]
+    # Find connected joysticks
+    joystick_count = pg.joystick.get_count()
+    if joystick_count == 0:
+      print("No joysticks found. Please connect a controller.")
+      exit(1)
+
+    # Initialize the first joystick
+    self.joystick = pg.joystick.Joystick(0)
+    self.joystick.init()
+
+    print(f"Using joystick: {self.joystick.get_name()}")
+    print(f"Number of axes: {self.joystick.get_numaxes()}")
+    print(f"Number of buttons: {self.joystick.get_numbuttons()}")
+    print(f"Number of hats: {self.joystick.get_numhats()}")
+
+    # This supports PlayStation and Xbox controllers on different platforms
+    if HARDWARE.get_device_type() == 'pc':
+      # Xbox mapping on PC
+      self.accel_axis = 5  # Right trigger
+      self.brake_axis = 4  # Left trigger
+      self.steer_axis = 0  # Left stick horizontal
+      self.cancel_button = 3  # Y/Triangle button
+    else:
+      # PlayStation mapping on comma device
+      self.accel_axis = 5  # R2
+      self.brake_axis = 4  # L2
+      self.steer_axis = 0  # Left stick horizontal
+      self.cancel_button = 3  # Triangle button
+
+    # Configure for adaptive mappings based on detected controller
+    controller_name = self.joystick.get_name().lower()
+    if "xbox" in controller_name:
+      print("Xbox controller detected, using Xbox mappings")
+      self.accel_axis = 5  # Right trigger (RT)
+      self.brake_axis = 4  # Left trigger (LT)
+      self.cancel_button = 3  # Y button
+    elif "playstation" in controller_name or "dual" in controller_name:
+      print("PlayStation controller detected, using PlayStation mappings")
+      self.accel_axis = 5  # R2
+      self.brake_axis = 4  # L2
+      self.cancel_button = 3  # Triangle
+
+    # Initialize values
+    self.axes_values = {'gb': 0., 'steer': 0.}  # Maintain same keys as Keyboard class
+    self.axes_order = ['gb', 'steer']  # Match expected format
     self.cancel = False
+    self.deadzone = 0.03  # 3% deadzone for noisy joysticks
+
+    # Process events once to clear the event queue
+    pg.event.pump()
 
   def update(self):
+    # Process pygame events
     try:
-      joystick_event = get_gamepad()[0]
-    except (OSError, UnpluggedError):
-      self.axes_values = {ax: 0. for ax in self.axes_values}
+      for event in pg.event.get():
+        if event.type == pg.JOYDEVICEREMOVED:
+          if event.instance_id == self.joystick.get_instance_id():
+            print("Joystick disconnected!")
+            self.axes_values = {'gb': 0., 'steer': 0.}
+            return False
+
+        elif event.type == pg.JOYBUTTONDOWN:
+          if event.button == self.cancel_button:
+            self.cancel = True
+
+        elif event.type == pg.JOYBUTTONUP:
+          if event.button == self.cancel_button:
+            self.cancel = False
+    except Exception as e:
+      print(f"Error processing events: {e}")
       return False
 
-    event = (joystick_event.code, joystick_event.state)
+    # Read current joystick state directly
+    try:
+      if not self.joystick.get_init():
+        print("Joystick not initialized")
+        return False
 
-    # flip left trigger to negative accel
-    if event[0] in self.flip_map:
-      event = (self.flip_map[event[0]], -event[1])
+      # Read steering (left stick horizontal)
+      steer_raw = self.joystick.get_axis(self.steer_axis) * -1
+      steer = steer_raw if abs(steer_raw) > self.deadzone else 0.0
 
-    if event[0] == self.cancel_button:
-      if event[1] == 1:
-        self.cancel = True
-      elif event[1] == 0:   # state 0 is falling edge
-        self.cancel = False
-    elif event[0] in self.axes_values:
-      self.max_axis_value[event[0]] = max(event[1], self.max_axis_value[event[0]])
-      self.min_axis_value[event[0]] = min(event[1], self.min_axis_value[event[0]])
+      # Read gas (right trigger)
+      accel_raw = self.joystick.get_axis(self.accel_axis)
+      # Convert from [-1, 1] to [0, 1] range (triggers often start at -1 when not pressed)
+      accel = (accel_raw + 1) / 2 if self.accel_axis in [4, 5] else accel_raw
+      accel = accel if accel > self.deadzone else 0.0
 
-      norm = -float(np.interp(event[1], [self.min_axis_value[event[0]], self.max_axis_value[event[0]]], [-1., 1.]))
-      norm = norm if abs(norm) > 0.03 else 0.  # center can be noisy, deadzone of 3%
-      self.axes_values[event[0]] = EXPO * norm ** 3 + (1 - EXPO) * norm  # less action near center for fine control
-    else:
+      # Read brake (left trigger)
+      brake_raw = self.joystick.get_axis(self.brake_axis)
+      # Convert from [-1, 1] to [0, 1] range (triggers often start at -1 when not pressed)
+      brake = (brake_raw + 1) / 2 if self.brake_axis in [4, 5] else brake_raw
+      brake = brake if brake > self.deadzone else 0.0
+
+      # Apply expo for steering
+      self.axes_values['steer'] = EXPO * steer**3 + (1 - EXPO) * steer  # Apply expo for fine control
+
+      # Calculate combined gas/brake value for output [-1, 1] where negative is brake
+      self.axes_values['gb'] = accel - brake
+
+    except Exception as e:
+      print(f"Error reading joystick: {e}")
+      self.axes_values = {'gb': 0., 'steer': 0.}
       return False
     return True
 
 
 def send_thread(joystick):
   pm = messaging.PubMaster(['testJoystick'])
-
   rk = Ratekeeper(100, print_delay_threshold=None)
 
   while True:
@@ -105,7 +173,6 @@ def send_thread(joystick):
     joystick_msg.testJoystick.axes = [joystick.axes_values[ax] for ax in joystick.axes_order]
 
     pm.send('testJoystick', joystick_msg)
-
     rk.keep_time()
 
 
@@ -117,13 +184,12 @@ def joystick_control_thread(joystick):
 
 
 def main():
-  joystick_control_thread(Joystick())
-
+  joystick_control_thread(PyGameJoystick())
 
 if __name__ == '__main__':
   parser = argparse.ArgumentParser(description='Publishes events from your joystick to control your car.\n' +
                                                'openpilot must be offroad before starting joystick_control. This tool supports ' +
-                                               'a PlayStation 5 DualSense controller on the comma 3X.',
+                                               'PlayStation and Xbox controllers on various platforms.',
                                    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
   parser.add_argument('--keyboard', action='store_true', help='Use your keyboard instead of a joystick')
   args = parser.parse_args()
@@ -139,9 +205,14 @@ if __name__ == '__main__':
     print('Buttons')
     print('- `R`: Resets axes')
     print('- `C`: Cancel cruise control')
+    joystick = Keyboard()
   else:
-    print('Using joystick, make sure to run cereal/messaging/bridge on your device if running over the network!')
-    print('If not running on a comma device, the mapping may need to be adjusted.')
+    print('Using pygame joystick')
+    print('Standard controller mapping:')
+    print('- Left stick: Steering')
+    print('- Right trigger (R2): Gas')
+    print('- Left trigger (L2): Brake')
+    print('- Triangle/Y button: Cancel')
+    joystick = PyGameJoystick()
 
-  joystick = Keyboard() if args.keyboard else Joystick()
   joystick_control_thread(joystick)

tools/joystick/joystickd.py

@@ -19,18 +19,24 @@ def joystickd_thread():
   CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   VM = VehicleModel(CP)
 
-  sm = messaging.SubMaster(['carState', 'onroadEvents', 'liveParameters', 'selfdriveState', 'testJoystick'], frequency=1. / DT_CTRL)
+  sm = messaging.SubMaster(['carState', 'onroadEvents', 'liveParameters', 'selfdriveState', 'testJoystick', 'selfdriveStateSP'], frequency=1. / DT_CTRL)
   pm = messaging.PubMaster(['carControl', 'controlsState'])
 
   rk = Ratekeeper(100, print_delay_threshold=None)
   while 1:
     sm.update(0)
+    ss_sp = sm['selfdriveStateSP']
+    _lat_active = False
+    if ss_sp.mads.available:
+      _lat_active = ss_sp.mads.active
+    else:
+      _lat_active = sm['selfdriveState'].active
 
     cc_msg = messaging.new_message('carControl')
     cc_msg.valid = True
     CC = cc_msg.carControl
     CC.enabled = sm['selfdriveState'].enabled
-    CC.latActive = sm['selfdriveState'].active and not sm['carState'].steerFaultTemporary and not sm['carState'].steerFaultPermanent
+    CC.latActive = _lat_active and not sm['carState'].steerFaultTemporary and not sm['carState'].steerFaultPermanent
     CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in sm['onroadEvents']) and CP.openpilotLongitudinalControl
     CC.cruiseControl.cancel = sm['carState'].cruiseState.enabled and (not CC.enabled or not CP.pcmCruise)
     CC.hudControl.leadDistanceBars = 2

uv.lock

@@ -690,15 +690,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/ef/a6/62565a6e1cf69e10f5727360368e451d4b7f58beeac6173dc9db836a5b46/iniconfig-2.0.0-py3-none-any.whl", hash = "sha256:b6a85871a79d2e3b22d2d1b94ac2824226a63c6b741c88f7ae975f18b6778374", size = 5892 },
 ]
 
-[[package]]
-name = "inputs"
-version = "0.5"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/d1/cd/5f434220920f76eb73d19bb7aab8d857445f40aa642718e6e51e850cd663/inputs-0.5.tar.gz", hash = "sha256:a31d5b96a3525f1232f326be9e7ce8ccaf873c6b1fb84d9f3c9bc3d79b23eae4", size = 33393 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/d0/94/040a0d9c81f018c39bd887b7b825013b024deb0a6c795f9524797e2cd41b/inputs-0.5-py2.py3-none-any.whl", hash = "sha256:13f894564e52134cf1e3862b1811da034875eb1f2b62e6021e3776e9669a96ec", size = 33630 },
-]
-
 [[package]]
 name = "isodate"
 version = "0.7.2"
@@ -1245,7 +1236,6 @@ dependencies = [
     { name = "crcmod" },
     { name = "cython" },
     { name = "future-fstrings" },
-    { name = "inputs" },
     { name = "json-rpc" },
     { name = "libusb1" },
     { name = "llvmlite" },
@@ -1255,6 +1245,7 @@ dependencies = [
     { name = "pyaudio" },
     { name = "pycapnp" },
     { name = "pycryptodome" },
+    { name = "pygame" },
     { name = "pyjwt" },
     { name = "pyopenssl" },
     { name = "pyserial" },
@@ -1284,7 +1275,6 @@ dev = [
     { name = "matplotlib" },
     { name = "parameterized" },
     { name = "pyautogui" },
-    { name = "pygame" },
     { name = "pyopencl", marker = "platform_machine != 'aarch64'" },
     { name = "pyprof2calltree" },
     { name = "pytools", marker = "platform_machine != 'aarch64'" },
@@ -1339,7 +1329,6 @@ requires-dist = [
     { name = "dictdiffer", marker = "extra == 'dev'" },
     { name = "future-fstrings" },
     { name = "hypothesis", marker = "extra == 'testing'", specifier = "==6.47.*" },
-    { name = "inputs" },
     { name = "jinja2", marker = "extra == 'docs'" },
     { name = "json-rpc" },
     { name = "libusb1" },
@@ -1359,7 +1348,7 @@ requires-dist = [
     { name = "pyautogui", marker = "extra == 'dev'" },
     { name = "pycapnp" },
     { name = "pycryptodome" },
-    { name = "pygame", marker = "extra == 'dev'" },
+    { name = "pygame" },
     { name = "pyjwt" },
     { name = "pyopencl", marker = "platform_machine != 'aarch64' and extra == 'dev'" },
     { name = "pyopenssl", specifier = "<24.3.0" },