sunnypilot v2026.003.000

version: sunnypilot v2026.003.000 (staging)
date: 2026-10-23T05:54:51
master commit: 9d029d683d

opendbc_repo/opendbc/safety/safety.h

@@ -340,7 +340,7 @@ void safety_tick(void) {
     }
 
     // enforce minimum frequency for safety-relevant messages
-    bool frequency_invalid = !current_safety_config.rx_checks[i].msg[current_safety_config.rx_checks[i].status.index].ignore_frequency_check && (frequency < 10U);
+    bool frequency_invalid = frequency < 10U;
     if (lagging || frequency_invalid || !is_msg_valid(current_safety_config.rx_checks, i)) {
       rx_checks_invalid = true;
       controls_allowed = false;

opendbc_repo/opendbc/safety/tests/common.py

@@ -12,7 +12,6 @@ from opendbc.safety.tests.libsafety import libsafety_py
 from opendbc.car.lateral import MAX_LATERAL_ACCEL, MAX_LATERAL_JERK
 
 from opendbc.safety.tests.mads_common import MadsSafetyTestBase
-from opendbc.safety.tests.rx_checks_common import RxChecksSafetyTestBase
 
 MAX_WRONG_COUNTERS = 5
 MAX_SAMPLE_VALS = 6
@@ -1041,7 +1040,7 @@ class SafetyTest(SafetyTestBase):
 
 
 @add_regen_tests
-class CarSafetyTest(SafetyTest, MadsSafetyTestBase, RxChecksSafetyTestBase):
+class CarSafetyTest(SafetyTest, MadsSafetyTestBase):
   STANDSTILL_THRESHOLD: float = 0.0
   GAS_PRESSED_THRESHOLD = 0
   RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = None

opendbc_repo/opendbc/safety/tests/libsafety/safety.c

@@ -46,46 +46,6 @@ void tick_mads_state(bool vm, bool acc_main, bool op_allowed, bool braking, bool
   mads_state_update(vm, acc_main, op_allowed, braking, steering_disengage);
 }
 
-void set_unseen_rx_checks_valid(void){
-  for (int i = 0; i < current_safety_config.rx_checks_len; i++) {
-    RxStatus *status = &current_safety_config.rx_checks[i].status;
-    if (!status->msg_seen) {
-      status->msg_seen = true;
-      status->index = 0;
-      status->valid_checksum = true;
-      status->wrong_counters = 0;
-      status->valid_quality_flag = true;
-      status->last_timestamp = microsecond_timer_get();
-      status->lagging = false;
-    }
-  }
-}
-
-int get_ignore_frequency_check_count(void){
-  int count = 0;
-  for (int i = 0; i < current_safety_config.rx_checks_len; i++) {
-    for (uint8_t j = 0U; (j < MAX_ADDR_CHECK_MSGS) && (current_safety_config.rx_checks[i].msg[j].addr != 0); j++) {
-      if (current_safety_config.rx_checks[i].msg[j].ignore_frequency_check) {
-        count++;
-      }
-    }
-  }
-  return count;
-}
-
-bool get_rx_check_ignore_frequency(int addr, int bus){
-  bool ignore = false;
-  for (int i = 0; i < current_safety_config.rx_checks_len; i++) {
-    for (uint8_t j = 0U; (j < MAX_ADDR_CHECK_MSGS) && (current_safety_config.rx_checks[i].msg[j].addr != 0); j++) {
-      const CanMsgCheck *msg = &current_safety_config.rx_checks[i].msg[j];
-      if ((msg->addr == addr) && ((int)msg->bus == bus) && msg->ignore_frequency_check) {
-        ignore = true;
-      }
-    }
-  }
-  return ignore;
-}
-
 void set_relay_malfunction(bool c){
   relay_malfunction = c;
 }

opendbc_repo/opendbc/safety/tests/rx_checks_common.py

@@ -1,29 +0,0 @@
-"""
-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.
-"""
-import unittest
-
-from opendbc.safety.tests.libsafety import libsafety_py
-
-
-class RxChecksSafetyTestBase(unittest.TestCase):
-  safety: libsafety_py.LibSafety
-
-  def _ignore_frequency_check_msgs(self):
-    return []
-
-  def test_ignore_frequency_check(self):
-    msgs = self._ignore_frequency_check_msgs()
-    self.assertEqual(len(msgs), self.safety.get_ignore_frequency_check_count())
-
-    for msg in msgs:
-      self.assertTrue(self._rx(msg))
-      self.assertTrue(self.safety.get_rx_check_ignore_frequency(msg[0].addr, msg[0].bus))
-
-    self.safety.set_unseen_rx_checks_valid()
-    self.safety.set_controls_allowed(True)
-    self.safety.safety_tick()
-    self.assertTrue(self.safety.get_controls_allowed())

opendbc_repo/opendbc/safety/tests/test_chrysler.py

@@ -89,11 +89,6 @@ class TestChryslerSafety(common.CarSafetyTest, common.MotorTorqueSteeringSafetyT
   def _lkas_button_msg(self, enabled):
     values = {"TOGGLE_LKAS": enabled}
     return self.packer.make_can_msg_safety("TRACTION_BUTTON", 0, values)
-
-  def _ignore_frequency_check_msgs(self):
-    return [self._lkas_button_msg(False)]
-
-
 class TestChryslerRamDTSafety(TestChryslerSafety):
   DBC = "chrysler_ram_dt_generated"
 

opendbc_repo/opendbc/safety/tests/test_tesla.py

@@ -489,9 +489,6 @@ class TestTeslaVehicleBusSafety(TestTeslaSafetyBase):
     values = {"UI_activeTouchPoints": 3 if enabled else 0}
     return self.packer_adas.make_can_msg_safety("UI_status2", CANBUS.vehicle, values)
 
-  def _ignore_frequency_check_msgs(self):
-    return [self._lkas_button_msg(False)]
-
   def _set_mads_screen_button_config(self, finger_flag):
     param_sp = TeslaSafetyFlagsSP.HAS_VEHICLE_BUS
     if finger_flag is not None:

opendbc_repo/opendbc/safety/tests/test_toyota.py

@@ -37,10 +37,6 @@ class TestToyotaSafetyBase(common.CarSafetyTest, common.LongitudinalAccelSafetyT
 
   SAFETY_PARAM_SP: int = 0
 
-  def setUp(self):
-    libsafety_py.libsafety.set_current_safety_param_sp(self.SAFETY_PARAM_SP)
-    super().setUp()
-
   packer: CANPackerSafety
   safety: libsafety_py.LibSafety
 
@@ -99,9 +95,6 @@ class TestToyotaSafetyBase(common.CarSafetyTest, common.LongitudinalAccelSafetyT
     values = {"MAIN_ON": enabled}
     return self.packer.make_can_msg_safety(msg, 0, values)
 
-  def _ignore_frequency_check_msgs(self):
-    return [self._acc_state_msg(False)] if self.SAFETY_PARAM_SP & ToyotaSafetyFlagsSP.UNSUPPORTED_DSU else []
-
   def test_diagnostics(self, stock_longitudinal: bool = False, ecu_disabled: bool = True):
     for should_tx, msg in ((False, b"\x6D\x02\x3E\x00\x00\x00\x00\x00"),  # fwdCamera tester present
                            (False, b"\x0F\x03\xAA\xAA\x00\x00\x00\x00"),  # non-tester present

openpilot/sunnypilot/common/version.h

@@ -1 +1 @@
-#define SUNNYPILOT_VERSION "2026.10.23-4973"
+#define SUNNYPILOT_VERSION "2026.003.000"