mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-06-27 00:52:05 +08:00
Compare commits
76 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Jason Wen
|
83c18209c8 | ||
|
Jason Wen
|
0ffa2f846b | ||
|
Jason Wen
|
a7114fad7c | ||
|
DevTekVE
|
be168d14e9 | ||
|
Jason Wen
|
1e5408f58f | ||
|
Jason Wen
|
b8b29a210a | ||
|
Warren Togami
|
63a188d2e0 | ||
|
Harald Schäfer
|
a38dcbb3fe | ||
|
Cameron Clough
|
281a72780b | ||
|
Jason Wen
|
52843834ba | ||
|
Jason Wen
|
b9385a2368 | ||
|
Kacper Rączy
|
7b5468b2e8 | ||
|
Cameron Clough
|
754f5aa955 | ||
|
Cameron Clough
|
f9767d2650 | ||
|
Cameron Clough
|
c9259a9bcf | ||
|
Cameron Clough
|
651ff78cb0 | ||
|
Cameron Clough
|
23524e2038 | ||
|
DevTekVE
|
fd0d4a5aab | ||
|
Jason Wen
|
0102a1c704 | ||
|
Harald Schäfer
|
8cefc00a6e | ||
|
ZwX1616
|
aaaa2d0dd0 | ||
|
Adeeb Shihadeh
|
a9b9e0bb54 | ||
|
Bruce Wayne
|
a029d13398 | ||
|
Harald Schäfer
|
33a7d853f0 | ||
|
Harald Schäfer
|
34514ef176 | ||
|
github-actions[bot]
|
ed555cb948 | ||
|
DevTekVE
|
b64ceb41ed | ||
|
Cameron Clough
|
d56baa0fbb | ||
|
DevTekVE
|
9a1e420fa7 | ||
|
DevTekVE
|
d0c209575e | ||
|
DevTekVE
|
511e4c5919 | ||
|
DevTekVE
|
898f30744f | ||
|
DevTekVE
|
4ea982ca37 | ||
|
Tim Wilson
|
a87986dd82 | ||
|
Jason Wen
|
2fe3c2748e | ||
|
Kumar
|
1bf752fc79 | ||
|
Cameron Clough
|
618b7ccf23 | ||
|
Tim Wilson
|
bcdb546638 | ||
|
Cameron Clough
|
fb5fa70e78 | ||
|
DevTekVE
|
1db91d6257 | ||
|
YassineYousfi
|
7ceb284d6d | ||
|
ZwX1616
|
3b60b22cee | ||
|
Kumar
|
65431f4e2f | ||
|
Harald Schäfer
|
2c162d9b75 | ||
|
niko001
|
65c210265b | ||
|
Kacper Rączy
|
15326c2d30 | ||
|
Harald Schäfer
|
b42ec33a63 | ||
|
Cameron Clough
|
4f913f0cfb | ||
|
Bruce Wayne
|
a4cdc96a99 | ||
|
Kacper Rączy
|
06a9483a24 | ||
|
Cameron Clough
|
c933914f86 | ||
|
Jason Wen
|
86a390780e | ||
|
Jason Wen
|
bdcc9d579f | ||
|
Kacper Rączy
|
60da5dd39a | ||
|
DevTekVE
|
702a755307 | ||
|
DevTekVE
|
224f43b6fa | ||
|
Nayan
|
a867dea681 | ||
|
Shane Smiskol
|
d7a5661ffe | ||
|
Maxime Desroches
|
0a40162039 | ||
|
Shane Smiskol
|
abad7649d6 | ||
|
commaci-public
|
dced8d7f87 | ||
|
commaci-public
|
b0915db50a | ||
|
DP
|
810a067e24 | ||
|
Adeeb Shihadeh
|
24c2d9a68a | ||
|
Robbe Derks
|
3e6267967b | ||
|
Kacper Rączy
|
f237649a7a | ||
|
Shane Smiskol
|
5d1816e2b8 | ||
|
Kacper Rączy
|
dec42839e3 | ||
|
Shane Smiskol
|
2cd0079abe | ||
|
Shane Smiskol
|
4c7d29b907 | ||
|
Kacper Rączy
|
0b72ae3bc2 | ||
|
Adeeb Shihadeh
|
84b0baf68b | ||
|
Adeeb Shihadeh
|
e4aa346259 | ||
|
Kacper Rączy
|
fc65a8ea8f | ||
|
DP
|
0d4f363aa0 | ||
|
DP
|
09cf8ef734 |
@@ -1,3 +1,4 @@
|
||||
Wen
|
||||
REGIST
|
||||
PullRequest
|
||||
cancelled
|
||||
|
||||
@@ -1,7 +1,11 @@
|
||||
CI / testing:
|
||||
ci:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: "{.github/**,**/test_*,Jenkinsfile}"
|
||||
|
||||
chore:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: "{.github/**}"
|
||||
|
||||
car:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'
|
||||
|
||||
@@ -9,6 +9,7 @@ jobs:
|
||||
permissions:
|
||||
contents: read
|
||||
pull-requests: write
|
||||
issues: write
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
@@ -28,25 +29,63 @@ jobs:
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
with:
|
||||
target: /^(?!master$).*/
|
||||
exclude: /commaai:.*/
|
||||
target: /^(?!master-new$).*/
|
||||
exclude: /sunnypilot:.*/
|
||||
change-to: ${{ github.base_ref }}
|
||||
already-exists-action: close_this
|
||||
already-exists-comment: "Your PR should be made against the `master` branch"
|
||||
already-exists-comment: "Your PR should be made against the `master-new` branch"
|
||||
|
||||
# Welcome comment
|
||||
- name: "First timers PR"
|
||||
uses: actions/first-interaction@v1
|
||||
if: github.event.pull_request.head.repo.full_name != 'sunnypilot/sunnypilot'
|
||||
with:
|
||||
repo-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
pr-message: |
|
||||
<!-- _(run_id **${{ github.run_id }}**)_ -->
|
||||
Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
|
||||
* Convert your PR to a draft unless it's ready to review
|
||||
* Read the [contributing docs](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CONTRIBUTING.md)
|
||||
* Before marking as "ready for review", ensure:
|
||||
* the goal is clearly stated in the description
|
||||
* all the tests are passing
|
||||
* the change is [something we merge](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
|
||||
* include a route or your device' dongle ID if relevant
|
||||
update-pr-labels:
|
||||
name: Update fork's PR Labels
|
||||
runs-on: ubuntu-latest
|
||||
if: (github.event.pull_request.head.repo.fork && (contains(github.event_name, 'pull_request') && github.event.action == 'synchronize'))
|
||||
env:
|
||||
PR_LABEL: 'dev-c3'
|
||||
TRUST_FORK_PR_LABEL: 'trust-fork-pr'
|
||||
steps:
|
||||
- name: Check if PR has dev-c3 label
|
||||
id: check-labels
|
||||
uses: actions/github-script@v7
|
||||
with:
|
||||
github-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
script: |
|
||||
const prNumber = context.payload.pull_request.number;
|
||||
const { data: labels } = await github.rest.issues.listLabelsOnIssue({
|
||||
owner: context.repo.owner,
|
||||
repo: context.repo.repo,
|
||||
issue_number: prNumber
|
||||
});
|
||||
|
||||
const hasDevC3Label = labels.some(label => label.name === process.env.PR_LABEL);
|
||||
const hasTrustLabel = labels.some(label => label.name === process.env.TRUST_FORK_PR_LABEL);
|
||||
|
||||
console.log(`PR #${prNumber} has ${process.env.PR_LABEL} label: ${hasDevC3Label}`);
|
||||
console.log(`PR #${prNumber} has ${process.env.TRUST_FORK_PR_LABEL} label: ${hasTrustLabel}`);
|
||||
|
||||
core.setOutput('has-dev-c3', hasDevC3Label ? 'true' : 'false');
|
||||
core.setOutput('has-trust', hasTrustLabel ? 'true' : 'false');
|
||||
|
||||
- name: Remove trust-fork-pr label if present
|
||||
if: steps.check-labels.outputs.has-dev-c3 == 'true' && steps.check-labels.outputs.has-trust == 'true'
|
||||
uses: actions/github-script@v7
|
||||
with:
|
||||
github-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
script: |
|
||||
const prNumber = context.payload.pull_request.number;
|
||||
|
||||
await github.rest.issues.removeLabel({
|
||||
owner: context.repo.owner,
|
||||
repo: context.repo.repo,
|
||||
issue_number: prNumber,
|
||||
name: process.env.TRUST_FORK_PR_LABEL
|
||||
});
|
||||
|
||||
console.log(`Removed '${process.env.TRUST_FORK_PR_LABEL}' label from PR #${prNumber} as it received new commits`);
|
||||
|
||||
// Add a comment to the PR
|
||||
await github.rest.issues.createComment({
|
||||
owner: context.repo.owner,
|
||||
repo: context.repo.repo,
|
||||
issue_number: prNumber,
|
||||
body: `The \`${process.env.TRUST_FORK_PR_LABEL}\` label has been automatically removed because new commits were pushed to this PR. This PR will need to be re-reviewed before the label can be applied again.`
|
||||
});
|
||||
|
||||
@@ -21,15 +21,30 @@ on:
|
||||
push:
|
||||
branches: [ master, master-new, master-dev-c3-new ]
|
||||
tags: [ '*' ]
|
||||
pull_request_target:
|
||||
types: [ labeled ]
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
extra_version:
|
||||
description: 'Extra version identifier'
|
||||
wait_for_tests:
|
||||
description: 'Wait for selfdrive_tests to finish'
|
||||
required: false
|
||||
default: ''
|
||||
type: boolean
|
||||
default: false
|
||||
|
||||
jobs:
|
||||
validate_tests:
|
||||
runs-on: ubuntu-24.04
|
||||
if: ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) || contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- name: Wait for Tests
|
||||
uses: ./.github/workflows/wait-for-action # Path to where you place the action
|
||||
with:
|
||||
workflow: selfdrive_tests.yaml # The workflow file to monitor
|
||||
github-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
build:
|
||||
needs: [ validate_tests ]
|
||||
concurrency:
|
||||
group: build-${{ github.head_ref || github.ref_name }}
|
||||
cancel-in-progress: false
|
||||
@@ -39,10 +54,13 @@ jobs:
|
||||
version: ${{ steps.set-env.outputs.version }}
|
||||
extra_version_identifier: ${{ steps.set-env.outputs.extra_version_identifier }}
|
||||
commit_sha: ${{ steps.set-env.outputs.commit_sha }}
|
||||
if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: recursive
|
||||
ref: ${{ github.head_ref || github.ref_name }}
|
||||
repository: ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.head.repo.full_name || github.repository }}
|
||||
- run: git lfs pull
|
||||
|
||||
- name: Cache SCons
|
||||
@@ -59,15 +77,16 @@ jobs:
|
||||
scons-${{ runner.os }}-${{ runner.arch }}
|
||||
|
||||
- name: Set Configuration
|
||||
if: (!github.event.pull_request.head.repo.fork)
|
||||
run: |
|
||||
if [[ "${{ github.ref_name }}" == "${{ env.DEV_C3_SOURCE_BRANCH }}" ]]; then
|
||||
if [[ "${{ github.head_ref || github.ref_name }}" == "${{ env.DEV_C3_SOURCE_BRANCH }}" ]]; then
|
||||
# Dev configuration
|
||||
echo "BRANCH_TYPE=dev" >> $GITHUB_ENV
|
||||
echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV
|
||||
echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
|
||||
echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV
|
||||
|
||||
elif [[ "${{ github.ref_name }}" == "${{ env.MASTER_BRANCH }}" || "${{ github.ref_name }}" == "${{ env.MASTER_NEW_BRANCH }}" ]]; then
|
||||
elif [[ "${{ github.head_ref || github.ref_name }}" == "${{ env.MASTER_BRANCH }}" || "${{ github.ref_name }}" == "${{ env.MASTER_NEW_BRANCH }}" ]]; then
|
||||
# Master configuration
|
||||
echo "BRANCH_TYPE=master" >> $GITHUB_ENV
|
||||
echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV
|
||||
@@ -87,6 +106,13 @@ jobs:
|
||||
echo "NEW_BRANCH=${{ github.head_ref || github.ref_name }}-prebuilt" >> $GITHUB_ENV
|
||||
echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
|
||||
fi
|
||||
|
||||
- name: Set Configuration (only forks)
|
||||
if: (github.event.pull_request.head.repo.fork)
|
||||
run: |
|
||||
echo "BRANCH_TYPE=dispatch" >> $GITHUB_ENV
|
||||
echo "NEW_BRANCH=${{ github.head_ref || github.ref_name }}-fork-prebuilt" >> $GITHUB_ENV
|
||||
echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
|
||||
|
||||
- name: Set environment variables
|
||||
id: set-env
|
||||
@@ -190,14 +216,15 @@ jobs:
|
||||
run: |
|
||||
PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
|
||||
|
||||
|
||||
publish:
|
||||
concurrency:
|
||||
group: publish-${{ github.head_ref || github.ref_name }}
|
||||
cancel-in-progress: true
|
||||
if: ${{ github.event_name != 'pull_request' || github.event_name == 'pull_request' && github.event.pull_request.draft }}
|
||||
needs: build
|
||||
if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
|
||||
needs: [ build ]
|
||||
runs-on: ubuntu-24.04
|
||||
environment: ${{ contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) && 'auto-deploy' || 'feature-branch' }}
|
||||
environment: ${{ (contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) || contains(github.event.pull_request.labels.*.name, 'prebuilt')) && 'auto-deploy' || 'feature-branch' }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
|
||||
@@ -241,7 +268,7 @@ jobs:
|
||||
notify:
|
||||
needs: [ build, publish ]
|
||||
runs-on: ubuntu-24.04
|
||||
if: success()
|
||||
if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- name: Setup Alpine Linux environment
|
||||
@@ -268,4 +295,27 @@ jobs:
|
||||
echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/DEV_FEEDBACK_NOTIFICATION_BRANCHES"
|
||||
echo "2. Current value: ${{ vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES }}"
|
||||
echo "3. Update as needed (JSON array with no spaces)"
|
||||
shell: alpine.sh {0}
|
||||
shell: alpine.sh {0}
|
||||
|
||||
manage-pr-labels:
|
||||
name: Remove prebuilt label
|
||||
runs-on: ubuntu-latest
|
||||
if: (always() && contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
|
||||
env:
|
||||
LABEL: prebuilt
|
||||
steps:
|
||||
- name: Remove trust-fork-pr label if present
|
||||
uses: actions/github-script@v7
|
||||
with:
|
||||
github-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
script: |
|
||||
const prNumber = context.payload.pull_request.number;
|
||||
|
||||
await github.rest.issues.removeLabel({
|
||||
owner: context.repo.owner,
|
||||
repo: context.repo.repo,
|
||||
issue_number: prNumber,
|
||||
name: process.env.LABEL
|
||||
});
|
||||
|
||||
console.log(`Removed '${process.env.LABEL}' label from PR #${prNumber}`);
|
||||
|
||||
@@ -1,13 +1,22 @@
|
||||
name: Nightly Branch Reset and PR Squash
|
||||
name: Build dev-c3-new
|
||||
|
||||
env:
|
||||
DEFAULT_SOURCE_BRANCH: "master-new"
|
||||
DEFAULT_TARGET_BRANCH: "nightly"
|
||||
DEFAULT_TARGET_BRANCH: "master-dev-c3-new"
|
||||
PR_LABEL: "dev-c3"
|
||||
LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
|
||||
LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- master
|
||||
- master-new
|
||||
pull_request_target:
|
||||
types: [ labeled ]
|
||||
branches:
|
||||
- 'master'
|
||||
- 'master-new'
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
source_branch:
|
||||
@@ -20,18 +29,40 @@ on:
|
||||
required: true
|
||||
default: 'master-dev-c3-new'
|
||||
type: string
|
||||
# schedule:
|
||||
# - cron: '0 0 * * *' # Run at midnight UTC for nightly
|
||||
cancel_in_progress:
|
||||
description: 'Cancel any in-progress runs of this workflow'
|
||||
required: false
|
||||
default: true
|
||||
type: boolean
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}
|
||||
cancel-in-progress: ${{ inputs.cancel_in_progress || github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch) }}
|
||||
|
||||
jobs:
|
||||
reset-and-squash:
|
||||
runs-on: ubuntu-latest
|
||||
if: (
|
||||
(github.event_name == 'workflow_dispatch')
|
||||
|| (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
|
||||
|| (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
|
||||
)
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0 # Fetch all history for all branches
|
||||
token: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
- name: Wait for Tests
|
||||
uses: ./.github/workflows/wait-for-action # Path to where you place the action
|
||||
if: (
|
||||
(github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
|
||||
|| (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
|
||||
)
|
||||
with:
|
||||
workflow: selfdrive_tests.yaml # The workflow file to monitor
|
||||
github-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
- name: Configure Git
|
||||
run: |
|
||||
git config --global user.name 'github-actions[bot]'
|
||||
@@ -120,7 +151,7 @@ jobs:
|
||||
}
|
||||
}
|
||||
}
|
||||
}' -F label="is:pr is:open label:${PR_LABEL} sort:created-asc")
|
||||
}' -F label="is:pr is:open label:${PR_LABEL} draft:false sort:created-asc")
|
||||
|
||||
echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT
|
||||
env:
|
||||
|
||||
@@ -0,0 +1,44 @@
|
||||
name: 'Wait for Tests'
|
||||
description: 'Action to wait for workflow tests to start and complete'
|
||||
inputs:
|
||||
workflow:
|
||||
description: 'The workflow file name to monitor'
|
||||
required: true
|
||||
default: 'selfdrive_tests.yaml'
|
||||
branch:
|
||||
description: 'The branch to monitor (defaults to current branch)'
|
||||
required: false
|
||||
default: ''
|
||||
github-token:
|
||||
description: 'GitHub token for API access'
|
||||
required: true
|
||||
wait-time:
|
||||
description: 'Initial sleep time in seconds before monitoring starts'
|
||||
required: false
|
||||
default: '30'
|
||||
should-wait-for-start:
|
||||
description: 'Whether to wait for tests to start'
|
||||
required: false
|
||||
default: false
|
||||
|
||||
runs:
|
||||
using: 'composite'
|
||||
steps:
|
||||
- name: Wait for tests to start
|
||||
if: inputs.should-wait-for-start == 'true'
|
||||
shell: bash
|
||||
run: |
|
||||
echo "Sleeping for ${{ inputs.wait-time }} seconds to give some time for the action to start and then we'll wait"
|
||||
sleep ${{ inputs.wait-time }}
|
||||
|
||||
- name: Wait for tests to finish
|
||||
shell: bash
|
||||
run: |
|
||||
BRANCH="${{ inputs.branch || github.head_ref || github.ref_name }}"
|
||||
|
||||
echo "Looking for workflow runs of ${{ inputs.workflow }} on branch $BRANCH"
|
||||
RUN_ID=$(gh run list --workflow=${{ inputs.workflow }} --branch="$BRANCH" --limit=1 --json databaseId --jq '.[0].databaseId')
|
||||
echo "Watching run ID: $RUN_ID"
|
||||
gh run watch "$RUN_ID"
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ inputs.github-token }}
|
||||
@@ -60,6 +60,7 @@ ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
|
||||
ENV QTWEBENGINE_DISABLE_SANDBOX=1
|
||||
|
||||
RUN dbus-uuidgen > /etc/machine-id
|
||||
RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji
|
||||
|
||||
ARG USER=batman
|
||||
ARG USER_UID=1001
|
||||
|
||||
@@ -1174,6 +1174,8 @@ struct ModelDataV2 {
|
||||
|
||||
struct Action {
|
||||
desiredCurvature @0 :Float32;
|
||||
desiredAcceleration @1 :Float32;
|
||||
shouldStop @2 :Bool;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -2284,6 +2286,7 @@ struct LiveDelayData {
|
||||
status @2 :Status;
|
||||
|
||||
lateralDelayEstimate @3 :Float32;
|
||||
lateralDelayEstimateStd @5 :Float32;
|
||||
points @4 :List(Float32);
|
||||
|
||||
enum Status {
|
||||
|
||||
@@ -36,6 +36,7 @@ _services: dict[str, tuple] = {
|
||||
"errorLogMessage": (True, 0., 1),
|
||||
"liveCalibration": (True, 4., 4),
|
||||
"liveTorqueParameters": (True, 4., 1),
|
||||
"liveDelay": (True, 4., 1),
|
||||
"androidLog": (True, 0.),
|
||||
"carState": (True, 100., 10),
|
||||
"carControl": (True, 100., 10),
|
||||
|
||||
+1
-1
@@ -1 +1 @@
|
||||
#define DEFAULT_MODEL "Filet o Fish (Default)"
|
||||
#define DEFAULT_MODEL "Tomb Raider 3 (Default)"
|
||||
|
||||
@@ -34,7 +34,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
|
||||
{"DoReboot", CLEAR_ON_MANAGER_START},
|
||||
{"DoShutdown", CLEAR_ON_MANAGER_START},
|
||||
{"DoUninstall", CLEAR_ON_MANAGER_START},
|
||||
{"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY | BACKUP},
|
||||
{"AlphaLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY | BACKUP},
|
||||
{"ExperimentalMode", PERSISTENT | BACKUP},
|
||||
{"ExperimentalModeConfirmed", PERSISTENT | BACKUP},
|
||||
{"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
@@ -71,7 +71,9 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
|
||||
{"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
|
||||
{"LastUpdateException", CLEAR_ON_MANAGER_START},
|
||||
{"LastUpdateTime", PERSISTENT},
|
||||
{"LiveDelay", PERSISTENT},
|
||||
{"LiveParameters", PERSISTENT},
|
||||
{"LiveParametersV2", PERSISTENT},
|
||||
{"LiveTorqueParameters", PERSISTENT | DONT_LOG},
|
||||
{"LocationFilterInitialState", PERSISTENT},
|
||||
{"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
|
||||
+125
-121
@@ -4,19 +4,19 @@
|
||||
|
||||
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.
|
||||
|
||||
# 302 Supported Cars
|
||||
# 304 Supported Cars
|
||||
|
||||
|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|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|26 mph|25 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec 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.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec 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.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
|
||||
|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch 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.html?make=Acura&model=RDX 2019-21">Buy Here</a></sub></details>||
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
|
||||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
|
||||
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
|
||||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
|
||||
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
|
||||
|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.html?make=Chevrolet&model=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>|
|
||||
|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.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
|
||||
|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.html?make=Chevrolet&model=Equinox 2019-22">Buy Here</a></sub></details>||
|
||||
@@ -28,7 +28,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Chrysler|Pacifica Hybrid 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.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
|
||||
|Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 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.html?make=Chrysler&model=Pacifica Hybrid 2019-24">Buy Here</a></sub></details>||
|
||||
|comma|body|All|openpilot|0 mph|0 mph|[](##)|[](##)|None||
|
||||
|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
|
||||
|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
|
||||
|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 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.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
|
||||
|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-24">Buy Here</a></sub></details>||
|
||||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 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.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
|
||||
@@ -54,23 +54,25 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L 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.html?make=Genesis&model=G70 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|G80 2017|All|Stock|19 mph|37 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J 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.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
|
||||
|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H 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.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
|
||||
|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P 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.html?make=Genesis&model=G80 (2.5T Advanced Trim, with HDA II) 2024">Buy Here</a></sub></details>||
|
||||
|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P 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.html?make=Genesis&model=G80 (2.5T Advanced Trim, with HDA II) 2024">Buy Here</a></sub></details>||
|
||||
|Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C 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.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
|
||||
|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
|
||||
|Genesis|GV60 (Performance Trim) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K 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.html?make=Genesis&model=GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 (2.5T Trim, without HDA II) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L 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.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-24">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M 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.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 Electrified (Australia Only) 2022[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q 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.html?make=Genesis&model=GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 Electrified (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q 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.html?make=Genesis&model=GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>||
|
||||
|Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M 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.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
|
||||
|Genesis|GV60 (Advanced Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
|
||||
|Genesis|GV60 (Performance Trim) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K 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.html?make=Genesis&model=GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 (2.5T Trim, without HDA II) 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L 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.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-24">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M 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.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 Electrified (Australia Only) 2022[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q 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.html?make=Genesis&model=GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 Electrified (with HDA II) 2023-24[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q 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.html?make=Genesis&model=GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>||
|
||||
|Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M 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.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert 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.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch 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.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch 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.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec 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.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch 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.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch 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.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch 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.html?make=Honda&model=Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch 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.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
|
||||
|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch 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.html?make=Honda&model=Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic Hatchback Hybrid 2023 (Europe only)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch 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.html?make=Honda&model=Civic Hatchback Hybrid 2023 (Europe only)">Buy Here</a></sub></details>||
|
||||
|Honda|Civic Hatchback Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch 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.html?make=Honda&model=Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>||
|
||||
|Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec 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.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
|
||||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch 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.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
|
||||
|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch 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.html?make=Honda&model=CR-V Hybrid 2017-22">Buy Here</a></sub></details>||
|
||||
@@ -96,10 +98,10 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K 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.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J 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.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
|
||||
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E 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.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q 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.html?make=Hyundai&model=Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q 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.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K 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.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P 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.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q 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.html?make=Hyundai&model=Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (with HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q 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.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (without HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K 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.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>6</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P 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.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C 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.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H 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.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C 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.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
|
||||
@@ -110,11 +112,11 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Kona 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O 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.html?make=Hyundai&model=Kona 2022">Buy Here</a></sub></details>||
|
||||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G 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.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
|
||||
|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O 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.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R 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.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R 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.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I 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.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>||
|
||||
|Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H 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.html?make=Hyundai&model=Nexo 2021">Buy Here</a></sub></details>||
|
||||
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H 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.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Santa Cruz 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N 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.html?make=Hyundai&model=Santa Cruz 2022-24">Buy Here</a></sub></details>||
|
||||
|Hyundai|Santa Cruz 2022-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N 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.html?make=Hyundai&model=Santa Cruz 2022-24">Buy Here</a></sub></details>||
|
||||
|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D 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.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L 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.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L 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.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
|
||||
@@ -122,36 +124,36 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E 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.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
|
||||
|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Staria 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K 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.html?make=Hyundai&model=Staria 2023">Buy Here</a></sub></details>||
|
||||
|Hyundai|Staria 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K 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.html?make=Hyundai&model=Staria 2023">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L 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.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N 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.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson 2023-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N 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.html?make=Hyundai&model=Tucson 2023-24">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson 2022[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N 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.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson 2023-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N 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.html?make=Hyundai&model=Tucson 2023-24">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L 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.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson Hybrid 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N 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.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson Plug-in Hybrid 2024[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N 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.html?make=Hyundai&model=Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson Hybrid 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N 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.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson Plug-in Hybrid 2024[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N 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.html?make=Hyundai&model=Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>||
|
||||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E 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.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
|
||||
|Jeep|Grand Cherokee 2016-18|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.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 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.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Carnival 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
|
||||
|Kia|Carnival (China only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K 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.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Carnival 2022-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
|
||||
|Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K 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.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E 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.html?make=Kia&model=Ceed 2019-21">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (Southeast Asia only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P 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.html?make=Kia&model=EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P 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.html?make=Kia&model=EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L 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.html?make=Kia&model=EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (Southeast Asia only) 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P 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.html?make=Kia&model=EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (with HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P 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.html?make=Kia&model=EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (without HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L 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.html?make=Kia&model=EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>||
|
||||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G 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.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
|
||||
|Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E 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.html?make=Kia&model=Forte 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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.html?make=Kia&model=K5 2021-24">Buy Here</a></sub></details>||
|
||||
|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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.html?make=Kia&model=K5 Hybrid 2020-22">Buy Here</a></sub></details>||
|
||||
|Kia|K8 Hybrid (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q 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.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
|
||||
|Kia|K8 Hybrid (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q 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.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H 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.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F 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.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C 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.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H 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.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2023-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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.html?make=Kia&model=Niro EV 2023-24">Buy Here</a></sub></details>||
|
||||
|Kia|Niro EV 2023-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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.html?make=Kia&model=Niro EV 2023-24">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C 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.html?make=Kia&model=Niro Hybrid 2018">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D 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.html?make=Kia&model=Niro Hybrid 2021">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F 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.html?make=Kia&model=Niro Hybrid 2022">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C 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.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D 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.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D 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.html?make=Kia&model=Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>||
|
||||
@@ -162,11 +164,11 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
|
||||
|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E 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.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E 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.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Sorento 2021-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K 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.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
|
||||
|Kia|Sorento Hybrid 2021-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>||
|
||||
|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|Sportage 2023-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N 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.html?make=Kia&model=Sportage 2023-24">Buy Here</a></sub></details>||
|
||||
|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N 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.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Sorento 2021-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K 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.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
|
||||
|Kia|Sorento Hybrid 2021-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>||
|
||||
|Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|Sportage 2023-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N 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.html?make=Kia&model=Sportage 2023-24">Buy Here</a></sub></details>||
|
||||
|Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N 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.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C 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.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K 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.html?make=Kia&model=Stinger 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H 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.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
|
||||
@@ -193,42 +195,42 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Lexus|UX Hybrid 2019-24|All|openpilot|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.html?make=Lexus&model=UX Hybrid 2019-24">Buy Here</a></sub></details>||
|
||||
|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 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.html?make=Lincoln&model=Aviator 2020-24">Buy Here</a></sub></details>||
|
||||
|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 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.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>||
|
||||
|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<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.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<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.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<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.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<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.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda 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.html?make=Mazda&model=CX-5 2022-25">Buy Here</a></sub></details>||
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda 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.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
|
||||
|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
|
||||
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
|
||||
|Nissan[<sup>7</sup>](#footnotes)|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
|
||||
|Nissan[<sup>7</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Nissan[<sup>7</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
|
||||
|Nissan[<sup>7</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
|
||||
|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ram 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.html?make=Ram&model=1500 2019-24">Buy Here</a></sub></details>||
|
||||
|Rivian|R1S 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.html?make=Rivian&model=R1S 2022-24">Buy Here</a></sub></details>||
|
||||
|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.html?make=Rivian&model=R1T 2022-24">Buy Here</a></sub></details>||
|
||||
|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
|
||||
|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</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.html?make=Subaru&model=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>||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</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.html?make=Subaru&model=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>|
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</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.html?make=Subaru&model=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>||
|
||||
|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</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.html?make=Subaru&model=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>||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</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.html?make=Subaru&model=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>6</sup>](#footnotes)|openpilot available[<sup>1,7</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.html?make=Subaru&model=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 2020-22|All[<sup>6</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.html?make=Subaru&model=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 2020-22|All[<sup>6</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.html?make=Subaru&model=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>6</sup>](#footnotes)|openpilot available[<sup>1,7</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.html?make=Subaru&model=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>6</sup>](#footnotes)|openpilot available[<sup>1,7</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.html?make=Subaru&model=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>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
|
||||
|Škoda|Kamiq 2021-23[<sup>10,12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
|
||||
|Škoda|Karoq 2019-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
|
||||
|Škoda|Kodiaq 2017-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia 2015-19[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia RS 2016[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia Scout 2017-19[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
|
||||
|Škoda|Scala 2020-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
|
||||
|Škoda|Superb 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
|
||||
|Tesla|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Tesla&model=Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>||
|
||||
|Tesla|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Tesla&model=Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>||
|
||||
|Tesla|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Tesla&model=Model Y (with HW3) 2020-23">Buy Here</a></sub></details>||
|
||||
|Tesla|Model Y (with HW4) 2024[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Tesla&model=Model Y (with HW4) 2024">Buy Here</a></sub></details>||
|
||||
|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
|
||||
|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.html?make=Subaru&model=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>||
|
||||
|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.html?make=Subaru&model=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>|
|
||||
|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.html?make=Subaru&model=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>||
|
||||
|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.html?make=Subaru&model=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>||
|
||||
|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.html?make=Subaru&model=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.html?make=Subaru&model=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 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.html?make=Subaru&model=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 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.html?make=Subaru&model=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.html?make=Subaru&model=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.html?make=Subaru&model=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>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)||
|
||||
|Škoda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)||
|
||||
|Škoda|Karoq 2019-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
|
||||
|Škoda|Kodiaq 2017-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia 2015-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia RS 2016[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia Scout 2017-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
|
||||
|Škoda|Scala 2020-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)||
|
||||
|Škoda|Superb 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
|
||||
|Tesla|Model 3 (with HW3) 2019-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Tesla&model=Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>||
|
||||
|Tesla|Model 3 (with HW4) 2024-25[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Tesla&model=Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>||
|
||||
|Tesla|Model Y (with HW3) 2020-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Tesla&model=Model Y (with HW3) 2020-23">Buy Here</a></sub></details>||
|
||||
|Tesla|Model Y (with HW4) 2024[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Tesla&model=Model Y (with HW4) 2024">Buy Here</a></sub></details>||
|
||||
|Toyota|Alphard 2019-20|All|openpilot|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.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
|
||||
|Toyota|Alphard Hybrid 2021|All|openpilot|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.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
|
||||
|Toyota|Avalon 2016|Toyota Safety Sense P|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.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
|
||||
@@ -241,8 +243,8 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Toyota|C-HR 2021|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.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
|
||||
|Toyota|C-HR Hybrid 2017-20|All|Stock|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.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
|
||||
|Toyota|C-HR Hybrid 2021-22|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.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>9</sup>](#footnotes)|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.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>9</sup>](#footnotes)|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.html?make=Toyota&model=Camry 2021-24">Buy Here</a></sub></details>||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>11</sup>](#footnotes)|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.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>11</sup>](#footnotes)|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.html?make=Toyota&model=Camry 2021-24">Buy Here</a></sub></details>||
|
||||
|Toyota|Camry Hybrid 2018-20|All|Stock|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.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Camry Hybrid 2021-24|All|openpilot|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.html?make=Toyota&model=Camry Hybrid 2021-24">Buy Here</a></sub></details>||
|
||||
|Toyota|Corolla 2017-19|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.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
|
||||
@@ -274,58 +276,60 @@ 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.html?make=Toyota&model=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.html?make=Toyota&model=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.html?make=Toyota&model=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>|
|
||||
|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Volkswagen&model=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>1,13</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.html?make=Volkswagen&model=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>1,13</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.html?make=Volkswagen&model=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>|
|
||||
|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Volkswagen&model=Arteon Shooting Brake 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|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<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.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<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.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
|
||||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<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.html?make=Volkswagen&model=Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<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.html?make=Volkswagen&model=e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<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.html?make=Volkswagen&model=Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Volkswagen&model=Jetta 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Volkswagen&model=Jetta GLI 2021-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
|
||||
|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Volkswagen&model=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>1,15</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.html?make=Volkswagen&model=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>1,15</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.html?make=Volkswagen&model=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>|
|
||||
|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Volkswagen&model=Arteon Shooting Brake 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|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<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.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<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.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
|
||||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<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.html?make=Volkswagen&model=Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<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.html?make=Volkswagen&model=e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<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.html?make=Volkswagen&model=Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Volkswagen&model=Jetta 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Volkswagen&model=Jetta GLI 2021-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)||
|
||||
|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
|
||||
|
||||
### Footnotes
|
||||
<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <br />
|
||||
<sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
|
||||
<sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
|
||||
<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
|
||||
<sup>5</sup>Requires a <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> if not using comma 3X for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
|
||||
<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
|
||||
<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
|
||||
<sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
|
||||
<sup>9</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>10</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>11</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
<sup>12</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
|
||||
<sup>13</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
|
||||
<sup>14</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
|
||||
<sup>4</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
|
||||
<sup>5</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
|
||||
<sup>6</sup>Requires a <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> if not using comma 3X for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
|
||||
<sup>7</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
|
||||
<sup>8</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
|
||||
<sup>9</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
|
||||
<sup>10</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
|
||||
<sup>11</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>12</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>13</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
<sup>14</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
|
||||
<sup>15</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
|
||||
<sup>16</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
|
||||
|
||||
## Community Maintained Cars
|
||||
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
|
||||
|
||||
+1
-1
Submodule opendbc_repo updated: d2002787f6...2e30aa37b3
+1
-1
Submodule panda updated: 4fab184d5f...57f9ca1d14
@@ -76,9 +76,36 @@ def validate_pr(pr):
|
||||
if not commits:
|
||||
return False, "no commit data found"
|
||||
|
||||
# First check if we have the rollup status
|
||||
status = commits[0].get('commit', {}).get('statusCheckRollup', {})
|
||||
|
||||
# If status is not SUCCESS, we need to check individual check runs
|
||||
if not status or status.get('state') != 'SUCCESS':
|
||||
return False, "not all checks have passed"
|
||||
# Get detailed check runs for this PR
|
||||
checks_output = subprocess.run(
|
||||
['gh', 'pr', 'checks', str(pr_number), '--json', 'name,state'],
|
||||
capture_output=True, text=True
|
||||
)
|
||||
|
||||
try:
|
||||
checks_data = json.loads(checks_output.stdout)
|
||||
|
||||
# Check if all checks are successful except for our reset-and-squash check
|
||||
for check in checks_data:
|
||||
check_name = check.get('name', '')
|
||||
check_state = check.get('state', '')
|
||||
|
||||
# Skip our own check and any skipped checks
|
||||
if check_name == 'reset-and-squash' or check_state == 'SKIPPED':
|
||||
continue
|
||||
|
||||
# If any other check is not successful, the PR is not valid
|
||||
if check_state != 'SUCCESS':
|
||||
return False, f"check '{check_name}' has state '{check_state}'"
|
||||
|
||||
except json.JSONDecodeError:
|
||||
# If we can't parse the JSON, fall back to the original check
|
||||
return False, "unable to verify check status"
|
||||
|
||||
# Check for merge conflicts
|
||||
merge_status = subprocess.run(['gh', 'pr', 'view', str(pr_number), '--json', 'mergeable,mergeStateStatus'],
|
||||
@@ -87,9 +114,6 @@ def validate_pr(pr):
|
||||
if not merge_data.get('mergeable'):
|
||||
return False, "merge conflicts detected"
|
||||
|
||||
# if (mergeStateStatus := merge_data.get('mergeStateStatus')) == "BEHIND":
|
||||
# return False, f"branch is `{mergeStateStatus}`"
|
||||
|
||||
return True, None
|
||||
|
||||
|
||||
@@ -118,19 +142,9 @@ def process_pr(pr_data, source_branch, target_branch, squash_script_path):
|
||||
origin = "origin" if not head_repository.get('isFork', False) else head_repository.get('nameWithOwner', 'origin')
|
||||
|
||||
if is_fork and trust_fork:
|
||||
print(f"Removing label `{TRUST_FORK_LABEL}` from PR #{pr_number} as it is being processed")
|
||||
subprocess.run(['gh', 'pr', 'edit', str(pr_number), '--remove-label', TRUST_FORK_LABEL], check=True)
|
||||
pr_comments.append(f"ℹ️️ This PR is from a fork. The `{TRUST_FORK_LABEL}` label was removed as it is being processed right now.")
|
||||
print(f"Adding remote {origin} for PR #{pr_number}")
|
||||
subprocess.run(['git', 'remote', 'add', origin, head_repository.get('url')], check=False)
|
||||
|
||||
if is_fork and not trust_fork:
|
||||
pr_comments.append(
|
||||
f"⚠️ This PR is from a fork. Please add the `{TRUST_FORK_LABEL}` label to include it in the squash." +
|
||||
"\n**Note**: The label is removed after the squash is done and must be added again for the next execution for security reasons."
|
||||
)
|
||||
continue
|
||||
|
||||
if not is_valid:
|
||||
print(f"Warning: {skip_reason} for PR #{pr_number}, skipping")
|
||||
pr_comments.append(f"⚠️ This PR was skipped in the automated `{target_branch}` squash because **{skip_reason}**.")
|
||||
|
||||
@@ -96,7 +96,7 @@ class Car:
|
||||
if len(can.can) > 0:
|
||||
break
|
||||
|
||||
experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled")
|
||||
alpha_long_allowed = self.params.get_bool("AlphaLongitudinalEnabled")
|
||||
num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
|
||||
|
||||
cached_params = None
|
||||
@@ -107,7 +107,7 @@ class Car:
|
||||
|
||||
fixed_fingerprint = json.loads(self.params.get("CarPlatformBundle", encoding='utf-8') or "{}").get("platform", None)
|
||||
|
||||
self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params, fixed_fingerprint)
|
||||
self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, num_pandas, cached_params, fixed_fingerprint)
|
||||
sunnypilot_interfaces.setup_interfaces(self.CI.CP, self.CI.CP_SP, self.params)
|
||||
self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
|
||||
self.CP = self.CI.CP
|
||||
|
||||
@@ -42,9 +42,9 @@ class TestCarInterfaces:
|
||||
args = get_fuzzy_car_interface_args(data.draw)
|
||||
|
||||
car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
|
||||
experimental_long=args['experimental_long'], docs=False)
|
||||
alpha_long=args['alpha_long'], docs=False)
|
||||
car_params_sp = CarInterface.get_params_sp(car_params, car_name, args['fingerprints'], args['car_fw'],
|
||||
experimental_long=args['experimental_long'], docs=False)
|
||||
alpha_long=args['alpha_long'], docs=False)
|
||||
sunnypilot_interfaces.setup_interfaces(car_params, car_params_sp)
|
||||
car_params = car_params.as_reader()
|
||||
car_interface = CarInterface(car_params, car_params_sp)
|
||||
|
||||
@@ -79,7 +79,7 @@ class TestCarModelBase(unittest.TestCase):
|
||||
cls.elm_frame = None
|
||||
cls.car_safety_mode_frame = None
|
||||
cls.fingerprint = gen_empty_fingerprint()
|
||||
experimental_long = False
|
||||
alpha_long = False
|
||||
for msg in lr:
|
||||
if msg.which() == "can":
|
||||
can = can_capnp_to_list((msg.as_builder().to_bytes(),))[0]
|
||||
@@ -92,7 +92,7 @@ class TestCarModelBase(unittest.TestCase):
|
||||
elif msg.which() == "carParams":
|
||||
car_fw = msg.carParams.carFw
|
||||
if msg.carParams.openpilotLongitudinalControl:
|
||||
experimental_long = True
|
||||
alpha_long = True
|
||||
if cls.platform is None:
|
||||
live_fingerprint = msg.carParams.carFingerprint
|
||||
cls.platform = MIGRATION.get(live_fingerprint, live_fingerprint)
|
||||
@@ -114,7 +114,7 @@ class TestCarModelBase(unittest.TestCase):
|
||||
cls.car_safety_mode_frame = len(can_msgs)
|
||||
|
||||
assert len(can_msgs) > int(50 / DT_CTRL), "no can data found"
|
||||
return car_fw, can_msgs, experimental_long
|
||||
return car_fw, can_msgs, alpha_long
|
||||
|
||||
@classmethod
|
||||
def get_testing_data(cls):
|
||||
@@ -147,14 +147,14 @@ class TestCarModelBase(unittest.TestCase):
|
||||
raise unittest.SkipTest
|
||||
raise Exception(f"missing test route for {cls.platform}")
|
||||
|
||||
car_fw, cls.can_msgs, experimental_long = cls.get_testing_data()
|
||||
car_fw, cls.can_msgs, alpha_long = cls.get_testing_data()
|
||||
|
||||
# if relay is expected to be open in the route
|
||||
cls.openpilot_enabled = cls.car_safety_mode_frame is not None
|
||||
|
||||
cls.CarInterface = interfaces[cls.platform]
|
||||
cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, experimental_long, docs=False)
|
||||
cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform, cls.fingerprint, car_fw, experimental_long, docs=False)
|
||||
cls.CP = cls.CarInterface.get_params(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, docs=False)
|
||||
assert cls.CP
|
||||
assert cls.CP_SP
|
||||
assert cls.CP.carFingerprint == cls.platform
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
from cereal import log
|
||||
from openpilot.common.conversions import Conversions as CV
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode
|
||||
|
||||
LaneChangeState = log.LaneChangeState
|
||||
LaneChangeDirection = log.LaneChangeDirection
|
||||
@@ -48,7 +48,7 @@ class DesireHelper:
|
||||
one_blinker = carstate.leftBlinker != carstate.rightBlinker
|
||||
below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
|
||||
|
||||
if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
|
||||
if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX or self.alc.lane_change_set_timer == AutoLaneChangeMode.OFF:
|
||||
self.lane_change_state = LaneChangeState.off
|
||||
self.lane_change_direction = LaneChangeDirection.none
|
||||
else:
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
import numpy as np
|
||||
from cereal import log
|
||||
from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
|
||||
from openpilot.common.realtime import DT_CTRL
|
||||
from openpilot.common.realtime import DT_CTRL, DT_MDL
|
||||
|
||||
MIN_SPEED = 1.0
|
||||
CONTROL_N = 17
|
||||
@@ -19,6 +19,9 @@ def clamp(val, min_val, max_val):
|
||||
clamped_val = float(np.clip(val, min_val, max_val))
|
||||
return clamped_val, clamped_val != val
|
||||
|
||||
def smooth_value(val, prev_val, tau, dt=DT_MDL):
|
||||
alpha = 1 - np.exp(-dt/tau) if tau > 0 else 1
|
||||
return alpha * val + (1 - alpha) * prev_val
|
||||
|
||||
def clip_curvature(v_ego, prev_curvature, new_curvature, roll):
|
||||
# This function respects ISO lateral jerk and acceleration limits + a max curvature
|
||||
@@ -43,3 +46,19 @@ def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:
|
||||
vel_err = np.clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
|
||||
return float(vel_err)
|
||||
return 0.0
|
||||
|
||||
|
||||
def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.05):
|
||||
if len(speeds) == len(t_idxs):
|
||||
v_now = speeds[0]
|
||||
a_now = accels[0]
|
||||
v_target = np.interp(action_t, t_idxs, speeds)
|
||||
a_target = 2 * (v_target - v_now) / (action_t) - a_now
|
||||
v_target_1sec = np.interp(action_t + 1.0, t_idxs, speeds)
|
||||
else:
|
||||
v_target = 0.0
|
||||
v_target_1sec = 0.0
|
||||
a_target = 0.0
|
||||
should_stop = (v_target < vEgoStopping and
|
||||
v_target_1sec < vEgoStopping)
|
||||
return a_target, should_stop
|
||||
|
||||
@@ -80,7 +80,8 @@ class LatControlTorque(LatControl):
|
||||
# Lateral acceleration torque controller extension updates
|
||||
# Overrides stock ff and pid_log.error
|
||||
ff, pid_log = self.extension.update(CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
|
||||
desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel)
|
||||
desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
|
||||
desired_curvature, actual_curvature)
|
||||
|
||||
freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5
|
||||
output_torque = self.pid.update(pid_log.error,
|
||||
|
||||
@@ -11,7 +11,7 @@ from openpilot.selfdrive.modeld.constants import ModelConstants
|
||||
from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
|
||||
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
|
||||
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
|
||||
from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_error
|
||||
from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_error, get_accel_from_plan
|
||||
from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
|
||||
@@ -50,27 +50,11 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
|
||||
return [a_target[0], min(a_target[1], a_x_allowed)]
|
||||
|
||||
|
||||
def get_accel_from_plan(speeds, accels, action_t=DT_MDL, vEgoStopping=0.05):
|
||||
if len(speeds) == CONTROL_N:
|
||||
v_now = speeds[0]
|
||||
a_now = accels[0]
|
||||
|
||||
v_target = np.interp(action_t, CONTROL_N_T_IDX, speeds)
|
||||
a_target = 2 * (v_target - v_now) / (action_t) - a_now
|
||||
v_target_1sec = np.interp(action_t + 1.0, CONTROL_N_T_IDX, speeds)
|
||||
else:
|
||||
v_target = 0.0
|
||||
v_target_1sec = 0.0
|
||||
a_target = 0.0
|
||||
should_stop = (v_target < vEgoStopping and
|
||||
v_target_1sec < vEgoStopping)
|
||||
return a_target, should_stop
|
||||
|
||||
|
||||
class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
|
||||
self.CP = CP
|
||||
self.mpc = LongitudinalMpc(dt=dt)
|
||||
self.mpc.mode = 'acc'
|
||||
LongitudinalPlannerSP.__init__(self, self.CP, self.mpc)
|
||||
self.fcw = False
|
||||
self.dt = dt
|
||||
@@ -110,9 +94,9 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
|
||||
def update(self, sm):
|
||||
LongitudinalPlannerSP.update(self, sm)
|
||||
self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
|
||||
self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
|
||||
if dec_mpc_mode := self.get_mpc_mode():
|
||||
self.mpc.mode = dec_mpc_mode
|
||||
self.mode = dec_mpc_mode
|
||||
|
||||
if len(sm['carControl'].orientationNED) == 3:
|
||||
accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
|
||||
@@ -135,7 +119,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
# No change cost when user is controlling the speed, or when standstill
|
||||
prev_accel_constraint = not (reset_state or sm['carState'].standstill)
|
||||
|
||||
if self.mpc.mode == 'acc':
|
||||
if self.mode == 'acc':
|
||||
accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
|
||||
steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
|
||||
accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
|
||||
@@ -182,8 +166,17 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0
|
||||
|
||||
action_t = self.CP.longitudinalActuatorDelay + DT_MDL
|
||||
output_a_target, self.output_should_stop = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory,
|
||||
output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
|
||||
action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
|
||||
output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
|
||||
output_should_stop_e2e = sm['modelV2'].action.shouldStop
|
||||
|
||||
if self.mode == 'acc':
|
||||
output_a_target = output_a_target_mpc
|
||||
self.output_should_stop = output_should_stop_mpc
|
||||
else:
|
||||
output_a_target = min(output_a_target_mpc, output_a_target_e2e)
|
||||
self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
|
||||
|
||||
for idx in range(2):
|
||||
accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05)
|
||||
|
||||
@@ -15,7 +15,7 @@ if __name__ == "__main__":
|
||||
else:
|
||||
CP = car.CarParams.new_message()
|
||||
CP.openpilotLongitudinalControl = True
|
||||
CP.experimentalLongitudinalAvailable = False
|
||||
CP.alphaLongitudinalAvailable = False
|
||||
|
||||
cp_bytes = CP.to_bytes()
|
||||
for p in ("CarParams", "CarParamsCache", "CarParamsPersistent"):
|
||||
|
||||
@@ -1,10 +1,48 @@
|
||||
import numpy as np
|
||||
from typing import Any
|
||||
from functools import cache
|
||||
|
||||
from cereal import log
|
||||
from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot
|
||||
|
||||
|
||||
@cache
|
||||
def fft_next_good_size(n: int) -> int:
|
||||
"""
|
||||
smallest composite of 2, 3, 5, 7, 11 that is >= n
|
||||
inspired by pocketfft
|
||||
"""
|
||||
if n <= 6:
|
||||
return n
|
||||
best, f2 = 2 * n, 1
|
||||
while f2 < best:
|
||||
f23 = f2
|
||||
while f23 < best:
|
||||
f235 = f23
|
||||
while f235 < best:
|
||||
f2357 = f235
|
||||
while f2357 < best:
|
||||
f235711 = f2357
|
||||
while f235711 < best:
|
||||
best = f235711 if f235711 >= n else best
|
||||
f235711 *= 11
|
||||
f2357 *= 7
|
||||
f235 *= 5
|
||||
f23 *= 3
|
||||
f2 *= 2
|
||||
return best
|
||||
|
||||
|
||||
def parabolic_peak_interp(R, max_index):
|
||||
if max_index == 0 or max_index == len(R) - 1:
|
||||
return max_index
|
||||
|
||||
y_m1, y_0, y_p1 = R[max_index - 1], R[max_index], R[max_index + 1]
|
||||
offset = 0.5 * (y_p1 - y_m1) / (2 * y_0 - y_p1 - y_m1)
|
||||
|
||||
return max_index + offset
|
||||
|
||||
|
||||
def rotate_cov(rot_matrix, cov_in):
|
||||
return rot_matrix @ cov_in @ rot_matrix.T
|
||||
|
||||
|
||||
Executable
+373
@@ -0,0 +1,373 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
import numpy as np
|
||||
import capnp
|
||||
from collections import deque
|
||||
from functools import partial
|
||||
|
||||
import cereal.messaging as messaging
|
||||
from cereal import car, log
|
||||
from cereal.services import SERVICE_LIST
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import config_realtime_process
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose, fft_next_good_size, parabolic_peak_interp
|
||||
|
||||
BLOCK_SIZE = 100
|
||||
BLOCK_NUM = 50
|
||||
BLOCK_NUM_NEEDED = 5
|
||||
MOVING_WINDOW_SEC = 300.0
|
||||
MIN_OKAY_WINDOW_SEC = 25.0
|
||||
MIN_RECOVERY_BUFFER_SEC = 2.0
|
||||
MIN_VEGO = 15.0
|
||||
MIN_ABS_YAW_RATE = np.radians(1.0)
|
||||
MAX_YAW_RATE_SANITY_CHECK = 1.0
|
||||
MIN_NCC = 0.95
|
||||
MAX_LAG = 1.0
|
||||
MAX_LAG_STD = 0.1
|
||||
MAX_LAT_ACCEL = 2.0
|
||||
MAX_LAT_ACCEL_DIFF = 0.6
|
||||
|
||||
|
||||
def masked_normalized_cross_correlation(expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, n: int):
|
||||
"""
|
||||
References:
|
||||
D. Padfield. "Masked FFT registration". In Proc. Computer Vision and
|
||||
Pattern Recognition, pp. 2918-2925 (2010).
|
||||
:DOI:`10.1109/CVPR.2010.5540032`
|
||||
"""
|
||||
|
||||
eps = np.finfo(np.float64).eps
|
||||
expected_sig = np.asarray(expected_sig, dtype=np.float64)
|
||||
actual_sig = np.asarray(actual_sig, dtype=np.float64)
|
||||
|
||||
expected_sig[~mask] = 0.0
|
||||
actual_sig[~mask] = 0.0
|
||||
|
||||
rotated_expected_sig = expected_sig[::-1]
|
||||
rotated_mask = mask[::-1]
|
||||
|
||||
fft = partial(np.fft.fft, n=n)
|
||||
|
||||
actual_sig_fft = fft(actual_sig)
|
||||
rotated_expected_sig_fft = fft(rotated_expected_sig)
|
||||
actual_mask_fft = fft(mask.astype(np.float64))
|
||||
rotated_mask_fft = fft(rotated_mask.astype(np.float64))
|
||||
|
||||
number_overlap_masked_samples = np.fft.ifft(rotated_mask_fft * actual_mask_fft).real
|
||||
number_overlap_masked_samples[:] = np.round(number_overlap_masked_samples)
|
||||
number_overlap_masked_samples[:] = np.fmax(number_overlap_masked_samples, eps)
|
||||
masked_correlated_actual_fft = np.fft.ifft(rotated_mask_fft * actual_sig_fft).real
|
||||
masked_correlated_expected_fft = np.fft.ifft(actual_mask_fft * rotated_expected_sig_fft).real
|
||||
|
||||
numerator = np.fft.ifft(rotated_expected_sig_fft * actual_sig_fft).real
|
||||
numerator -= masked_correlated_actual_fft * masked_correlated_expected_fft / number_overlap_masked_samples
|
||||
|
||||
actual_squared_fft = fft(actual_sig ** 2)
|
||||
actual_sig_denom = np.fft.ifft(rotated_mask_fft * actual_squared_fft).real
|
||||
actual_sig_denom -= masked_correlated_actual_fft ** 2 / number_overlap_masked_samples
|
||||
actual_sig_denom[:] = np.fmax(actual_sig_denom, 0.0)
|
||||
|
||||
rotated_expected_squared_fft = fft(rotated_expected_sig ** 2)
|
||||
expected_sig_denom = np.fft.ifft(actual_mask_fft * rotated_expected_squared_fft).real
|
||||
expected_sig_denom -= masked_correlated_expected_fft ** 2 / number_overlap_masked_samples
|
||||
expected_sig_denom[:] = np.fmax(expected_sig_denom, 0.0)
|
||||
|
||||
denom = np.sqrt(actual_sig_denom * expected_sig_denom)
|
||||
|
||||
# zero-out samples with very small denominators
|
||||
tol = 1e3 * eps * np.max(np.abs(denom), keepdims=True)
|
||||
nonzero_indices = denom > tol
|
||||
|
||||
ncc = np.zeros_like(denom, dtype=np.float64)
|
||||
ncc[nonzero_indices] = numerator[nonzero_indices] / denom[nonzero_indices]
|
||||
np.clip(ncc, -1, 1, out=ncc)
|
||||
|
||||
return ncc
|
||||
|
||||
|
||||
class Points:
|
||||
def __init__(self, num_points: int):
|
||||
self.times = deque[float]([0.0] * num_points, maxlen=num_points)
|
||||
self.okay = deque[bool]([False] * num_points, maxlen=num_points)
|
||||
self.desired = deque[float]([0.0] * num_points, maxlen=num_points)
|
||||
self.actual = deque[float]([0.0] * num_points, maxlen=num_points)
|
||||
|
||||
@property
|
||||
def num_points(self):
|
||||
return len(self.desired)
|
||||
|
||||
@property
|
||||
def num_okay(self):
|
||||
return np.count_nonzero(self.okay)
|
||||
|
||||
def update(self, t: float, desired: float, actual: float, okay: bool):
|
||||
self.times.append(t)
|
||||
self.okay.append(okay)
|
||||
self.desired.append(desired)
|
||||
self.actual.append(actual)
|
||||
|
||||
def get(self) -> tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray]:
|
||||
return np.array(self.times), np.array(self.desired), np.array(self.actual), np.array(self.okay)
|
||||
|
||||
|
||||
class BlockAverage:
|
||||
def __init__(self, num_blocks: int, block_size: int, valid_blocks: int, initial_value: float):
|
||||
self.num_blocks = num_blocks
|
||||
self.block_size = block_size
|
||||
self.block_idx = valid_blocks % num_blocks
|
||||
self.idx = 0
|
||||
|
||||
self.values = np.tile(initial_value, (num_blocks, 1))
|
||||
self.valid_blocks = valid_blocks
|
||||
|
||||
def update(self, value: float):
|
||||
self.values[self.block_idx] = (self.idx * self.values[self.block_idx] + value) / (self.idx + 1)
|
||||
self.idx = (self.idx + 1) % self.block_size
|
||||
if self.idx == 0:
|
||||
self.block_idx = (self.block_idx + 1) % self.num_blocks
|
||||
self.valid_blocks = min(self.valid_blocks + 1, self.num_blocks)
|
||||
|
||||
def get(self) -> tuple[float, float, float, float]:
|
||||
valid_block_idx = [i for i in range(self.valid_blocks) if i != self.block_idx]
|
||||
valid_and_current_idx = valid_block_idx + ([self.block_idx] if self.idx > 0 else [])
|
||||
|
||||
if len(valid_block_idx) > 0:
|
||||
valid_mean = float(np.mean(self.values[valid_block_idx], axis=0).item())
|
||||
valid_std = float(np.std(self.values[valid_block_idx], axis=0).item())
|
||||
else:
|
||||
valid_mean, valid_std = float('nan'), float('nan')
|
||||
|
||||
if len(valid_and_current_idx) > 0:
|
||||
current_mean = float(np.mean(self.values[valid_and_current_idx], axis=0).item())
|
||||
current_std = float(np.std(self.values[valid_and_current_idx], axis=0).item())
|
||||
else:
|
||||
current_mean, current_std = float('nan'), float('nan')
|
||||
|
||||
return valid_mean, valid_std, current_mean, current_std
|
||||
|
||||
|
||||
class LateralLagEstimator:
|
||||
inputs = {"carControl", "carState", "controlsState", "liveCalibration", "livePose"}
|
||||
|
||||
def __init__(self, CP: car.CarParams, dt: float,
|
||||
block_count: int = BLOCK_NUM, min_valid_block_count: int = BLOCK_NUM_NEEDED, block_size: int = BLOCK_SIZE,
|
||||
window_sec: float = MOVING_WINDOW_SEC, okay_window_sec: float = MIN_OKAY_WINDOW_SEC, min_recovery_buffer_sec: float = MIN_RECOVERY_BUFFER_SEC,
|
||||
min_vego: float = MIN_VEGO, min_yr: float = MIN_ABS_YAW_RATE, min_ncc: float = MIN_NCC,
|
||||
max_lat_accel: float = MAX_LAT_ACCEL, max_lat_accel_diff: float = MAX_LAT_ACCEL_DIFF):
|
||||
self.dt = dt
|
||||
self.window_sec = window_sec
|
||||
self.okay_window_sec = okay_window_sec
|
||||
self.min_recovery_buffer_sec = min_recovery_buffer_sec
|
||||
self.initial_lag = CP.steerActuatorDelay + 0.2
|
||||
self.block_size = block_size
|
||||
self.block_count = block_count
|
||||
self.min_valid_block_count = min_valid_block_count
|
||||
self.min_vego = min_vego
|
||||
self.min_yr = min_yr
|
||||
self.min_ncc = min_ncc
|
||||
self.max_lat_accel = max_lat_accel
|
||||
self.max_lat_accel_diff = max_lat_accel_diff
|
||||
|
||||
self.t = 0.0
|
||||
self.lat_active = False
|
||||
self.steering_pressed = False
|
||||
self.steering_saturated = False
|
||||
self.desired_curvature = 0.0
|
||||
self.v_ego = 0.0
|
||||
self.yaw_rate = 0.0
|
||||
self.yaw_rate_std = 0.0
|
||||
self.pose_valid = False
|
||||
|
||||
self.last_lat_inactive_t = 0.0
|
||||
self.last_steering_pressed_t = 0.0
|
||||
self.last_steering_saturated_t = 0.0
|
||||
self.last_pose_invalid_t = 0.0
|
||||
self.last_estimate_t = 0.0
|
||||
|
||||
self.calibrator = PoseCalibrator()
|
||||
|
||||
self.reset(self.initial_lag, 0)
|
||||
|
||||
def reset(self, initial_lag: float, valid_blocks: int):
|
||||
window_len = int(self.window_sec / self.dt)
|
||||
self.points = Points(window_len)
|
||||
self.block_avg = BlockAverage(self.block_count, self.block_size, valid_blocks, initial_lag)
|
||||
|
||||
def get_msg(self, valid: bool, debug: bool = False) -> capnp._DynamicStructBuilder:
|
||||
msg = messaging.new_message('liveDelay')
|
||||
|
||||
msg.valid = valid
|
||||
|
||||
liveDelay = msg.liveDelay
|
||||
|
||||
valid_mean_lag, valid_std, current_mean_lag, current_std = self.block_avg.get()
|
||||
if self.block_avg.valid_blocks >= self.min_valid_block_count and not np.isnan(valid_mean_lag) and not np.isnan(valid_std):
|
||||
if valid_std > MAX_LAG_STD:
|
||||
liveDelay.status = log.LiveDelayData.Status.invalid
|
||||
else:
|
||||
liveDelay.status = log.LiveDelayData.Status.estimated
|
||||
else:
|
||||
liveDelay.status = log.LiveDelayData.Status.unestimated
|
||||
|
||||
if liveDelay.status == log.LiveDelayData.Status.estimated:
|
||||
liveDelay.lateralDelay = valid_mean_lag
|
||||
else:
|
||||
liveDelay.lateralDelay = self.initial_lag
|
||||
|
||||
if not np.isnan(current_mean_lag) and not np.isnan(current_std):
|
||||
liveDelay.lateralDelayEstimate = current_mean_lag
|
||||
liveDelay.lateralDelayEstimateStd = current_std
|
||||
else:
|
||||
liveDelay.lateralDelayEstimate = self.initial_lag
|
||||
liveDelay.lateralDelayEstimateStd = 0.0
|
||||
|
||||
liveDelay.validBlocks = self.block_avg.valid_blocks
|
||||
if debug:
|
||||
liveDelay.points = self.block_avg.values.flatten().tolist()
|
||||
|
||||
return msg
|
||||
|
||||
def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader):
|
||||
if which == "carControl":
|
||||
self.lat_active = msg.latActive
|
||||
elif which == "carState":
|
||||
self.steering_pressed = msg.steeringPressed
|
||||
self.v_ego = msg.vEgo
|
||||
elif which == "controlsState":
|
||||
self.steering_saturated = getattr(msg.lateralControlState, msg.lateralControlState.which()).saturated
|
||||
self.desired_curvature = msg.desiredCurvature
|
||||
elif which == "liveCalibration":
|
||||
self.calibrator.feed_live_calib(msg)
|
||||
elif which == "livePose":
|
||||
device_pose = Pose.from_live_pose(msg)
|
||||
calibrated_pose = self.calibrator.build_calibrated_pose(device_pose)
|
||||
self.yaw_rate = calibrated_pose.angular_velocity.yaw
|
||||
self.yaw_rate_std = calibrated_pose.angular_velocity.yaw_std
|
||||
self.pose_valid = msg.angularVelocityDevice.valid and msg.posenetOK and msg.inputsOK
|
||||
self.t = t
|
||||
|
||||
def points_enough(self):
|
||||
return self.points.num_points >= int(self.okay_window_sec / self.dt)
|
||||
|
||||
def points_valid(self):
|
||||
return self.points.num_okay >= int(self.okay_window_sec / self.dt)
|
||||
|
||||
def update_points(self):
|
||||
la_desired = self.desired_curvature * self.v_ego * self.v_ego
|
||||
la_actual_pose = self.yaw_rate * self.v_ego
|
||||
|
||||
fast = self.v_ego > self.min_vego
|
||||
turning = np.abs(self.yaw_rate) >= self.min_yr
|
||||
sensors_valid = self.pose_valid and np.abs(self.yaw_rate) < MAX_YAW_RATE_SANITY_CHECK and self.yaw_rate_std < MAX_YAW_RATE_SANITY_CHECK
|
||||
la_valid = np.abs(la_actual_pose) <= self.max_lat_accel and np.abs(la_desired - la_actual_pose) <= self.max_lat_accel_diff
|
||||
calib_valid = self.calibrator.calib_valid
|
||||
|
||||
if not self.lat_active:
|
||||
self.last_lat_inactive_t = self.t
|
||||
if self.steering_pressed:
|
||||
self.last_steering_pressed_t = self.t
|
||||
if self.steering_saturated:
|
||||
self.last_steering_saturated_t = self.t
|
||||
if not sensors_valid or not la_valid:
|
||||
self.last_pose_invalid_t = self.t
|
||||
|
||||
has_recovered = all( # wait for recovery after !lat_active, steering_pressed, steering_saturated, !sensors/la_valid
|
||||
self.t - last_t >= self.min_recovery_buffer_sec
|
||||
for last_t in [self.last_lat_inactive_t, self.last_steering_pressed_t, self.last_steering_saturated_t, self.last_pose_invalid_t]
|
||||
)
|
||||
okay = self.lat_active and not self.steering_pressed and not self.steering_saturated and \
|
||||
fast and turning and has_recovered and calib_valid and sensors_valid and la_valid
|
||||
|
||||
self.points.update(self.t, la_desired, la_actual_pose, okay)
|
||||
|
||||
def update_estimate(self):
|
||||
if not self.points_enough():
|
||||
return
|
||||
|
||||
times, desired, actual, okay = self.points.get()
|
||||
# check if there are any new valid data points since the last update
|
||||
is_valid = self.points_valid()
|
||||
if self.last_estimate_t != 0 and times[0] <= self.last_estimate_t:
|
||||
new_values_start_idx = next(-i for i, t in enumerate(reversed(times)) if t <= self.last_estimate_t)
|
||||
is_valid = is_valid and not (new_values_start_idx == 0 or not np.any(okay[new_values_start_idx:]))
|
||||
|
||||
delay, corr = self.actuator_delay(desired, actual, okay, self.dt, MAX_LAG)
|
||||
if corr < self.min_ncc or not is_valid:
|
||||
return
|
||||
|
||||
self.block_avg.update(delay)
|
||||
self.last_estimate_t = self.t
|
||||
|
||||
def actuator_delay(self, expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, dt: float, max_lag: float) -> tuple[float, float]:
|
||||
assert len(expected_sig) == len(actual_sig)
|
||||
max_lag_samples = int(max_lag / dt)
|
||||
padded_size = fft_next_good_size(len(expected_sig) + max_lag_samples)
|
||||
|
||||
ncc = masked_normalized_cross_correlation(expected_sig, actual_sig, mask, padded_size)
|
||||
|
||||
# only consider lags from 0 to max_lag
|
||||
roi_ncc = ncc[len(expected_sig) - 1: len(expected_sig) - 1 + max_lag_samples]
|
||||
|
||||
max_corr_index = np.argmax(roi_ncc)
|
||||
corr = roi_ncc[max_corr_index]
|
||||
lag = parabolic_peak_interp(roi_ncc, max_corr_index) * dt
|
||||
|
||||
return lag, corr
|
||||
|
||||
|
||||
def retrieve_initial_lag(params_reader: Params, CP: car.CarParams):
|
||||
last_lag_data = params_reader.get("LiveDelay")
|
||||
last_carparams_data = params_reader.get("CarParamsPrevRoute")
|
||||
|
||||
if last_lag_data is not None:
|
||||
try:
|
||||
with log.Event.from_bytes(last_lag_data) as last_lag_msg, car.CarParams.from_bytes(last_carparams_data) as last_CP:
|
||||
ld = last_lag_msg.liveDelay
|
||||
if last_CP.carFingerprint != CP.carFingerprint:
|
||||
raise Exception("Car model mismatch")
|
||||
|
||||
lag, valid_blocks, status = ld.lateralDelayEstimate, ld.validBlocks, ld.status
|
||||
assert valid_blocks <= BLOCK_NUM, "Invalid number of valid blocks"
|
||||
assert status != log.LiveDelayData.Status.invalid, "Lag estimate is invalid"
|
||||
return lag, valid_blocks
|
||||
except Exception as e:
|
||||
cloudlog.error(f"Failed to retrieve initial lag: {e}")
|
||||
|
||||
return None
|
||||
|
||||
|
||||
def main():
|
||||
config_realtime_process([0, 1, 2, 3], 5)
|
||||
|
||||
DEBUG = bool(int(os.getenv("DEBUG", "0")))
|
||||
|
||||
pm = messaging.PubMaster(['liveDelay'])
|
||||
sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState', 'controlsState', 'carControl'], poll='livePose')
|
||||
|
||||
params_reader = Params()
|
||||
CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams)
|
||||
|
||||
lag_learner = LateralLagEstimator(CP, 1. / SERVICE_LIST['livePose'].frequency)
|
||||
if (initial_lag_params := retrieve_initial_lag(params_reader, CP)) is not None:
|
||||
lag, valid_blocks = initial_lag_params
|
||||
lag_learner.reset(lag, valid_blocks)
|
||||
|
||||
while True:
|
||||
sm.update()
|
||||
if sm.all_checks():
|
||||
for which in sorted(sm.updated.keys(), key=lambda x: sm.logMonoTime[x]):
|
||||
if sm.updated[which]:
|
||||
t = sm.logMonoTime[which] * 1e-9
|
||||
lag_learner.handle_log(t, which, sm[which])
|
||||
lag_learner.update_points()
|
||||
|
||||
# 4Hz driven by livePose
|
||||
if sm.frame % 5 == 0:
|
||||
lag_learner.update_estimate()
|
||||
lag_msg = lag_learner.get_msg(sm.all_checks(), DEBUG)
|
||||
lag_msg_dat = lag_msg.to_bytes()
|
||||
pm.send('liveDelay', lag_msg_dat)
|
||||
|
||||
if sm.frame % 1200 == 0: # cache every 60 seconds
|
||||
params_reader.put_nonblocking("LiveDelay", lag_msg_dat)
|
||||
@@ -200,26 +200,28 @@ def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: floa
|
||||
|
||||
|
||||
# TODO: Remove this function after few releases (added in 0.9.9)
|
||||
def migrate_cached_vehicle_params_if_needed(params_reader: Params):
|
||||
last_parameters_data = params_reader.get("LiveParameters")
|
||||
if last_parameters_data is None:
|
||||
def migrate_cached_vehicle_params_if_needed(params: Params):
|
||||
last_parameters_data_old = params.get("LiveParameters")
|
||||
last_parameters_data = params.get("LiveParametersV2")
|
||||
if last_parameters_data_old is None or last_parameters_data is not None:
|
||||
return
|
||||
|
||||
try:
|
||||
last_parameters_dict = json.loads(last_parameters_data)
|
||||
last_parameters_dict = json.loads(last_parameters_data_old)
|
||||
last_parameters_msg = messaging.new_message('liveParameters')
|
||||
last_parameters_msg.liveParameters.valid = True
|
||||
last_parameters_msg.liveParameters.steerRatio = last_parameters_dict['steerRatio']
|
||||
last_parameters_msg.liveParameters.stiffnessFactor = last_parameters_dict['stiffnessFactor']
|
||||
last_parameters_msg.liveParameters.angleOffsetAverageDeg = last_parameters_dict['angleOffsetAverageDeg']
|
||||
params_reader.put("LiveParameters", last_parameters_msg.to_bytes())
|
||||
except Exception:
|
||||
pass
|
||||
params.put("LiveParametersV2", last_parameters_msg.to_bytes())
|
||||
except Exception as e:
|
||||
cloudlog.error(f"Failed to perform parameter migration: {e}")
|
||||
params.remove("LiveParameters")
|
||||
|
||||
|
||||
def retrieve_initial_vehicle_params(params_reader: Params, CP: car.CarParams, replay: bool, debug: bool):
|
||||
last_parameters_data = params_reader.get("LiveParameters")
|
||||
last_carparams_data = params_reader.get("CarParamsPrevRoute")
|
||||
def retrieve_initial_vehicle_params(params: Params, CP: car.CarParams, replay: bool, debug: bool):
|
||||
last_parameters_data = params.get("LiveParametersV2")
|
||||
last_carparams_data = params.get("CarParamsPrevRoute")
|
||||
|
||||
steer_ratio, stiffness_factor, angle_offset_deg, p_initial = CP.steerRatio, 1.0, 0.0, None
|
||||
|
||||
@@ -267,12 +269,12 @@ def main():
|
||||
pm = messaging.PubMaster(['liveParameters'])
|
||||
sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState'], poll='livePose')
|
||||
|
||||
params_reader = Params()
|
||||
CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams)
|
||||
params = Params()
|
||||
CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
|
||||
|
||||
migrate_cached_vehicle_params_if_needed(params_reader)
|
||||
migrate_cached_vehicle_params_if_needed(params)
|
||||
|
||||
steer_ratio, stiffness_factor, angle_offset_deg, pInitial = retrieve_initial_vehicle_params(params_reader, CP, REPLAY, DEBUG)
|
||||
steer_ratio, stiffness_factor, angle_offset_deg, pInitial = retrieve_initial_vehicle_params(params, CP, REPLAY, DEBUG)
|
||||
learner = VehicleParamsLearner(CP, steer_ratio, stiffness_factor, np.radians(angle_offset_deg), pInitial)
|
||||
|
||||
while True:
|
||||
@@ -288,7 +290,7 @@ def main():
|
||||
|
||||
msg_dat = msg.to_bytes()
|
||||
if sm.frame % 1200 == 0: # once a minute
|
||||
params_reader.put_nonblocking("LiveParameters", msg_dat)
|
||||
params.put_nonblocking("LiveParametersV2", msg_dat)
|
||||
|
||||
pm.send('liveParameters', msg_dat)
|
||||
|
||||
|
||||
@@ -0,0 +1,141 @@
|
||||
import random
|
||||
import numpy as np
|
||||
import time
|
||||
import pytest
|
||||
|
||||
from cereal import messaging, log
|
||||
from openpilot.selfdrive.locationd.lagd import LateralLagEstimator, retrieve_initial_lag, masked_normalized_cross_correlation, \
|
||||
BLOCK_NUM_NEEDED, BLOCK_SIZE, MIN_OKAY_WINDOW_SEC
|
||||
from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams
|
||||
from openpilot.selfdrive.locationd.test.test_locationd_scenarios import TEST_ROUTE
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.tools.lib.logreader import LogReader
|
||||
from openpilot.system.hardware import PC
|
||||
|
||||
MAX_ERR_FRAMES = 1
|
||||
DT = 0.05
|
||||
|
||||
|
||||
def process_messages(mocker, estimator, lag_frames, n_frames, vego=20.0, rejection_threshold=0.0):
|
||||
class ZeroMock(mocker.Mock):
|
||||
def __getattr__(self, *args):
|
||||
return 0
|
||||
|
||||
for i in range(n_frames):
|
||||
t = i * estimator.dt
|
||||
desired_la = np.cos(t) * 0.1
|
||||
actual_la = np.cos(t - lag_frames * estimator.dt) * 0.1
|
||||
|
||||
# if sample is masked out, set it to desired value (no lag)
|
||||
rejected = random.uniform(0, 1) < rejection_threshold
|
||||
if rejected:
|
||||
actual_la = desired_la
|
||||
|
||||
desired_cuvature = desired_la / (vego ** 2)
|
||||
actual_yr = actual_la / vego
|
||||
msgs = [
|
||||
(t, "carControl", mocker.Mock(latActive=not rejected)),
|
||||
(t, "carState", mocker.Mock(vEgo=vego, steeringPressed=False)),
|
||||
(t, "controlsState", mocker.Mock(desiredCurvature=desired_cuvature,
|
||||
lateralControlState=mocker.Mock(which=mocker.Mock(return_value='debugControlState'), debugControlState=ZeroMock()))),
|
||||
(t, "livePose", mocker.Mock(orientationNED=ZeroMock(),
|
||||
velocityDevice=ZeroMock(),
|
||||
accelerationDevice=ZeroMock(),
|
||||
angularVelocityDevice=ZeroMock(z=actual_yr, valid=True),
|
||||
posenetOK=True, inputsOK=True)),
|
||||
(t, "liveCalibration", mocker.Mock(rpyCalib=[0, 0, 0], calStatus=log.LiveCalibrationData.Status.calibrated)),
|
||||
]
|
||||
for t, w, m in msgs:
|
||||
estimator.handle_log(t, w, m)
|
||||
estimator.update_points()
|
||||
estimator.update_estimate()
|
||||
|
||||
|
||||
class TestLagd:
|
||||
def test_read_saved_params(self):
|
||||
params = Params()
|
||||
|
||||
lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams])
|
||||
CP = next(m for m in lr if m.which() == "carParams").carParams
|
||||
|
||||
msg = messaging.new_message('liveDelay')
|
||||
msg.liveDelay.lateralDelayEstimate = random.random()
|
||||
msg.liveDelay.validBlocks = random.randint(1, 10)
|
||||
params.put("LiveDelay", msg.to_bytes())
|
||||
params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
|
||||
|
||||
saved_lag_params = retrieve_initial_lag(params, CP)
|
||||
assert saved_lag_params is not None
|
||||
|
||||
lag, valid_blocks = saved_lag_params
|
||||
assert lag == msg.liveDelay.lateralDelayEstimate
|
||||
assert valid_blocks == msg.liveDelay.validBlocks
|
||||
|
||||
def test_ncc(self):
|
||||
lag_frames = random.randint(1, 19)
|
||||
|
||||
desired_sig = np.sin(np.arange(0.0, 10.0, 0.1))
|
||||
actual_sig = np.sin(np.arange(0.0, 10.0, 0.1) - lag_frames * 0.1)
|
||||
mask = np.ones(len(desired_sig), dtype=bool)
|
||||
|
||||
corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
|
||||
assert np.argmax(corr) == lag_frames
|
||||
|
||||
# add some noise
|
||||
desired_sig += np.random.normal(0, 0.05, len(desired_sig))
|
||||
actual_sig += np.random.normal(0, 0.05, len(actual_sig))
|
||||
corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
|
||||
assert np.argmax(corr) in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1)
|
||||
|
||||
# mask out 40% of the values, and make them noise
|
||||
mask = np.random.choice([True, False], size=len(desired_sig), p=[0.6, 0.4])
|
||||
desired_sig[~mask] = np.random.normal(0, 1, size=np.sum(~mask))
|
||||
actual_sig[~mask] = np.random.normal(0, 1, size=np.sum(~mask))
|
||||
corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
|
||||
assert np.argmax(corr) in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1)
|
||||
|
||||
def test_empty_estimator(self, mocker):
|
||||
mocked_CP = mocker.Mock(steerActuatorDelay=0.8)
|
||||
estimator = LateralLagEstimator(mocked_CP, DT)
|
||||
msg = estimator.get_msg(True)
|
||||
assert msg.liveDelay.status == 'unestimated'
|
||||
assert np.allclose(msg.liveDelay.lateralDelay, estimator.initial_lag)
|
||||
assert np.allclose(msg.liveDelay.lateralDelayEstimate, estimator.initial_lag)
|
||||
assert msg.liveDelay.validBlocks == 0
|
||||
|
||||
def test_estimator_basics(self, mocker, subtests):
|
||||
for lag_frames in range(5):
|
||||
with subtests.test(msg=f"lag_frames={lag_frames}"):
|
||||
mocked_CP = mocker.Mock(steerActuatorDelay=0.8)
|
||||
estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0)
|
||||
process_messages(mocker, estimator, lag_frames, int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_NUM_NEEDED * BLOCK_SIZE)
|
||||
msg = estimator.get_msg(True)
|
||||
assert msg.liveDelay.status == 'estimated'
|
||||
assert np.allclose(msg.liveDelay.lateralDelay, lag_frames * DT, atol=0.01)
|
||||
assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
|
||||
assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
|
||||
assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED
|
||||
|
||||
def test_estimator_masking(self, mocker):
|
||||
mocked_CP, lag_frames = mocker.Mock(steerActuatorDelay=0.8), random.randint(1, 19)
|
||||
estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, min_valid_block_count=1)
|
||||
process_messages(mocker, estimator, lag_frames, (int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_SIZE) * 2, rejection_threshold=0.4)
|
||||
msg = estimator.get_msg(True)
|
||||
assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
|
||||
assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
|
||||
|
||||
@pytest.mark.skipif(PC, reason="only on device")
|
||||
@pytest.mark.timeout(60)
|
||||
def test_estimator_performance(self, mocker):
|
||||
mocked_CP = mocker.Mock(steerActuatorDelay=0.8)
|
||||
estimator = LateralLagEstimator(mocked_CP, DT)
|
||||
|
||||
ds = []
|
||||
for _ in range(1000):
|
||||
st = time.perf_counter()
|
||||
estimator.update_points()
|
||||
estimator.update_estimate()
|
||||
d = time.perf_counter() - st
|
||||
ds.append(d)
|
||||
|
||||
assert np.mean(ds) < DT
|
||||
@@ -28,7 +28,7 @@ class TestParamsd:
|
||||
CP = next(m for m in lr if m.which() == "carParams").carParams
|
||||
|
||||
msg = get_random_live_parameters(CP)
|
||||
params.put("LiveParameters", msg.to_bytes())
|
||||
params.put("LiveParametersV2", msg.to_bytes())
|
||||
params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
|
||||
|
||||
migrate_cached_vehicle_params_if_needed(params) # this is not tested here but should not mess anything up or throw an error
|
||||
@@ -49,9 +49,20 @@ class TestParamsd:
|
||||
msg = get_random_live_parameters(CP)
|
||||
params.put("LiveParameters", json.dumps(msg.liveParameters.to_dict()))
|
||||
params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
|
||||
params.remove("LiveParametersV2")
|
||||
|
||||
migrate_cached_vehicle_params_if_needed(params)
|
||||
sr, sf, offset, _ = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True)
|
||||
np.testing.assert_allclose(sr, msg.liveParameters.steerRatio)
|
||||
np.testing.assert_allclose(sf, msg.liveParameters.stiffnessFactor)
|
||||
np.testing.assert_allclose(offset, msg.liveParameters.angleOffsetAverageDeg)
|
||||
assert params.get("LiveParametersV2") is not None
|
||||
|
||||
def test_read_saved_params_corrupted_old_format(self):
|
||||
params = Params()
|
||||
params.put("LiveParameters", b'\x00\x00\x02\x00\x01\x00:F\xde\xed\xae;')
|
||||
params.remove("LiveParametersV2")
|
||||
|
||||
migrate_cached_vehicle_params_if_needed(params)
|
||||
assert params.get("LiveParameters") is None
|
||||
assert params.get("LiveParametersV2") is None
|
||||
|
||||
@@ -56,7 +56,7 @@ def fill_lane_line_meta(builder, lane_lines, lane_line_probs):
|
||||
builder.rightProb = lane_line_probs[2]
|
||||
|
||||
def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
|
||||
net_output_data: dict[str, np.ndarray], v_ego: float, delay: float,
|
||||
net_output_data: dict[str, np.ndarray], action: log.ModelDataV2.Action,
|
||||
publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int,
|
||||
frame_id: int, frame_drop: float, timestamp_eof: int, model_execution_time: float,
|
||||
valid: bool) -> None:
|
||||
@@ -71,7 +71,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
|
||||
driving_model_data.frameIdExtra = vipc_frame_id_extra
|
||||
driving_model_data.frameDropPerc = frame_drop_perc
|
||||
driving_model_data.modelExecutionTime = model_execution_time
|
||||
driving_model_data.action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
|
||||
|
||||
driving_model_data.action = action
|
||||
|
||||
modelV2 = extended_msg.modelV2
|
||||
modelV2.frameId = vipc_frame_id
|
||||
@@ -105,8 +106,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
|
||||
# poly path
|
||||
fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
|
||||
|
||||
# lateral planning
|
||||
modelV2.action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
|
||||
# action
|
||||
modelV2.action = action
|
||||
|
||||
# times at X_IDXS of edges and lines aren't used
|
||||
LINE_T_IDXS: list[float] = []
|
||||
|
||||
@@ -21,14 +21,15 @@ from opendbc.car.car_helpers import get_demo_car_params
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
from openpilot.common.realtime import config_realtime_process
|
||||
from openpilot.common.realtime import config_realtime_process, DT_MDL
|
||||
from openpilot.common.transformations.camera import DEVICE_CAMERAS
|
||||
from openpilot.common.transformations.model import get_warp_matrix
|
||||
from openpilot.system import sentry
|
||||
from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
|
||||
from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
|
||||
from openpilot.selfdrive.modeld.parse_model_outputs import Parser
|
||||
from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
|
||||
from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
|
||||
|
||||
|
||||
@@ -40,6 +41,30 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl'
|
||||
VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl'
|
||||
POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl'
|
||||
|
||||
LAT_SMOOTH_SECONDS = 0.1
|
||||
LONG_SMOOTH_SECONDS = 0.3
|
||||
MIN_LAT_CONTROL_SPEED = 0.3
|
||||
|
||||
|
||||
def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
|
||||
lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
|
||||
plan = model_output['plan'][0]
|
||||
desired_accel, should_stop = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0],
|
||||
plan[:,Plan.ACCELERATION][:,0],
|
||||
ModelConstants.T_IDXS,
|
||||
action_t=long_action_t)
|
||||
desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
|
||||
|
||||
desired_curvature = model_output['desired_curvature'][0, 0]
|
||||
if v_ego > MIN_LAT_CONTROL_SPEED:
|
||||
desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
|
||||
else:
|
||||
desired_curvature = prev_action.desiredCurvature
|
||||
|
||||
return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),
|
||||
desiredAcceleration=float(desired_accel),
|
||||
shouldStop=bool(should_stop))
|
||||
|
||||
class FrameMeta:
|
||||
frame_id: int = 0
|
||||
timestamp_sof: int = 0
|
||||
@@ -147,7 +172,7 @@ class ModelState:
|
||||
# TODO model only uses last value now
|
||||
self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
|
||||
self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :]
|
||||
self.numpy_inputs['prev_desired_curv'][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
|
||||
self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]
|
||||
|
||||
combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
|
||||
if SEND_RAW_PRED:
|
||||
@@ -221,7 +246,10 @@ def main(demo=False):
|
||||
cloudlog.info("modeld got CarParams: %s", CP.brand)
|
||||
|
||||
# TODO this needs more thought, use .2s extra for now to estimate other delays
|
||||
steer_delay = CP.steerActuatorDelay + .2
|
||||
# TODO Move smooth seconds to action function
|
||||
lat_delay = CP.steerActuatorDelay + .2 + LAT_SMOOTH_SECONDS
|
||||
long_delay = CP.longitudinalActuatorDelay + LONG_SMOOTH_SECONDS
|
||||
prev_action = log.ModelDataV2.Action()
|
||||
|
||||
DH = DesireHelper()
|
||||
|
||||
@@ -263,7 +291,7 @@ def main(demo=False):
|
||||
is_rhd = sm["driverMonitoringState"].isRHD
|
||||
frame_id = sm["roadCameraState"].frameId
|
||||
v_ego = max(sm["carState"].vEgo, 0.)
|
||||
lateral_control_params = np.array([v_ego, steer_delay], dtype=np.float32)
|
||||
lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32)
|
||||
if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
|
||||
device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
|
||||
dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
|
||||
@@ -306,7 +334,10 @@ def main(demo=False):
|
||||
modelv2_send = messaging.new_message('modelV2')
|
||||
drivingdata_send = messaging.new_message('drivingModelData')
|
||||
posenet_send = messaging.new_message('cameraOdometry')
|
||||
fill_model_msg(drivingdata_send, modelv2_send, model_output, v_ego, steer_delay,
|
||||
|
||||
action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
|
||||
prev_action = action
|
||||
fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
|
||||
publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
|
||||
frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen)
|
||||
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:98f0121ccb6f850077b04cc91bd33d370fc6cbdc2bd35f1ab55628a15a813f36
|
||||
size 15966721
|
||||
oid sha256:84061882148485dabfdd23ee7e0925284a4370d0ae5be804d6099ae847352891
|
||||
size 15578328
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:897f80d0388250f99bba69b6a8434560cc0fd83157cbeb0bc134c67fe4e64624
|
||||
size 34882971
|
||||
oid sha256:f222d2c528f1763828de01bb55e8979b1e4056e1dbb41350f521d2d2bb09d177
|
||||
size 46265585
|
||||
|
||||
@@ -88,6 +88,12 @@ class Parser:
|
||||
self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
|
||||
self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
|
||||
self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
|
||||
self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
|
||||
self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
|
||||
self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
|
||||
out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
|
||||
for k in ['lead_prob', 'lane_lines_prob']:
|
||||
self.parse_binary_crossentropy(k, outs)
|
||||
self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
|
||||
self.parse_binary_crossentropy('meta', outs)
|
||||
return outs
|
||||
@@ -95,17 +101,10 @@ class Parser:
|
||||
def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
|
||||
self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
|
||||
out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
|
||||
self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
|
||||
self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
|
||||
self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
|
||||
self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
|
||||
out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
|
||||
if 'lat_planner_solution' in outs:
|
||||
self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
|
||||
if 'desired_curvature' in outs:
|
||||
self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
|
||||
for k in ['lead_prob', 'lane_lines_prob']:
|
||||
self.parse_binary_crossentropy(k, outs)
|
||||
self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
|
||||
return outs
|
||||
|
||||
|
||||
@@ -11,7 +11,7 @@ def dmonitoringd_thread():
|
||||
params = Params()
|
||||
pm = messaging.PubMaster(['driverMonitoringState'])
|
||||
sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'selfdriveState', 'modelV2',
|
||||
'selfdriveStateSP'], poll='driverStateV2')
|
||||
'carControl'], poll='driverStateV2')
|
||||
|
||||
DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
|
||||
|
||||
|
||||
@@ -403,13 +403,13 @@ class DriverMonitoring:
|
||||
driver_state=sm['driverStateV2'],
|
||||
cal_rpy=sm['liveCalibration'].rpyCalib,
|
||||
car_speed=sm['carState'].vEgo,
|
||||
op_engaged=sm['selfdriveState'].enabled or sm['selfdriveStateSP'].mads.enabled
|
||||
op_engaged=sm['selfdriveState'].enabled or sm['carControl'].latActive
|
||||
)
|
||||
|
||||
# Update distraction events
|
||||
self._update_events(
|
||||
driver_engaged=sm['carState'].steeringPressed or sm['carState'].gasPressed,
|
||||
op_engaged=sm['selfdriveState'].enabled or sm['selfdriveStateSP'].mads.enabled,
|
||||
op_engaged=sm['selfdriveState'].enabled or sm['carControl'].latActive,
|
||||
standstill=sm['carState'].standstill,
|
||||
wrong_gear=sm['carState'].gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park],
|
||||
car_speed=sm['carState'].vEgo
|
||||
|
||||
@@ -87,7 +87,7 @@ class SelfdriveD(CruiseHelper):
|
||||
# no vipc in replay will make them ignored anyways
|
||||
ignore += ['roadCameraState', 'wideRoadCameraState']
|
||||
self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
|
||||
'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose',
|
||||
'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
|
||||
'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
|
||||
'controlsState', 'carControl', 'driverAssistance', 'alertDebug'] + \
|
||||
self.camera_packets + self.sensor_packets + self.gps_packets,
|
||||
@@ -101,8 +101,8 @@ class SelfdriveD(CruiseHelper):
|
||||
car_recognized = self.CP.brand != 'mock'
|
||||
|
||||
# cleanup old params
|
||||
if not self.CP.experimentalLongitudinalAvailable:
|
||||
self.params.remove("ExperimentalLongitudinalEnabled")
|
||||
if not self.CP.alphaLongitudinalAvailable:
|
||||
self.params.remove("AlphaLongitudinalEnabled")
|
||||
if not self.CP.openpilotLongitudinalControl:
|
||||
self.params.remove("ExperimentalMode")
|
||||
|
||||
@@ -198,7 +198,7 @@ class SelfdriveD(CruiseHelper):
|
||||
car_events = self.car_events.update(CS, self.CS_prev, self.sm['carControl']).to_msg()
|
||||
self.events.add_from_msg(car_events)
|
||||
|
||||
car_events_sp = self.car_events_sp.update().to_msg()
|
||||
car_events_sp = self.car_events_sp.update(CS, self.events).to_msg()
|
||||
self.events_sp.add_from_msg(car_events_sp)
|
||||
|
||||
if self.CP.notCar:
|
||||
|
||||
@@ -107,6 +107,7 @@ class Plant:
|
||||
position = log.XYZTData.new_message()
|
||||
position.x = [float(x) for x in (self.speed + 0.5) * np.array(ModelConstants.T_IDXS)]
|
||||
model.modelV2.position = position
|
||||
model.modelV2.action.desiredAcceleration = float(self.acceleration + 0.1)
|
||||
velocity = log.XYZTData.new_message()
|
||||
velocity.x = [float(x) for x in (self.speed + 0.5) * np.ones_like(ModelConstants.T_IDXS)]
|
||||
velocity.x[0] = float(self.speed) # always start at current speed
|
||||
|
||||
@@ -9,10 +9,11 @@ from opendbc.car.fingerprints import MIGRATION
|
||||
from opendbc.car.toyota.values import EPS_SCALE, ToyotaSafetyFlags
|
||||
from opendbc.car.ford.values import CAR as FORD, FordFlags, FordSafetyFlags
|
||||
from opendbc.car.hyundai.values import HyundaiSafetyFlags
|
||||
from opendbc.car.gm.values import GMSafetyFlags
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants
|
||||
from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta
|
||||
from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
|
||||
from openpilot.selfdrive.controls.lib.longitudinal_planner import get_accel_from_plan
|
||||
from openpilot.selfdrive.controls.lib.longitudinal_planner import get_accel_from_plan, CONTROL_N_T_IDX
|
||||
from openpilot.system.manager.process_config import managed_processes
|
||||
from openpilot.tools.lib.logreader import LogIterable
|
||||
|
||||
@@ -108,7 +109,7 @@ def migrate_longitudinalPlan(msgs):
|
||||
if msg.which() != 'longitudinalPlan':
|
||||
continue
|
||||
new_msg = msg.as_builder()
|
||||
a_target, should_stop = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels)
|
||||
a_target, should_stop = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels, CONTROL_N_T_IDX)
|
||||
new_msg.longitudinalPlan.aTarget, new_msg.longitudinalPlan.shouldStop = float(a_target), bool(should_stop)
|
||||
ops.append((index, new_msg.as_reader()))
|
||||
return ops, [], []
|
||||
@@ -274,6 +275,8 @@ def migrate_pandaStates(msgs):
|
||||
"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_LKA_STEERING,
|
||||
"CHEVROLET_VOLT": GMSafetyFlags.EV,
|
||||
"CHEVROLET_BOLT_EUV": GMSafetyFlags.EV | GMSafetyFlags.HW_CAM,
|
||||
}
|
||||
# TODO: get new Ford route
|
||||
safety_param_migration |= dict.fromkeys((set(FORD) - FORD.with_flags(FordFlags.CANFD)), FordSafetyFlags.LONG_CONTROL)
|
||||
|
||||
@@ -64,6 +64,7 @@ def generate_report(proposed, master, tmp, commit):
|
||||
ModelV2_Plots = zl([
|
||||
(lambda x: get_idx_if_non_empty(x.velocity.x, 0), "velocity.x"),
|
||||
(lambda x: get_idx_if_non_empty(x.action.desiredCurvature), "desiredCurvature"),
|
||||
(lambda x: get_idx_if_non_empty(x.action.desiredAcceleration), "desiredAcceleration"),
|
||||
(lambda x: get_idx_if_non_empty(x.leadsV3[0].x, 0), "leadsV3.x"),
|
||||
(lambda x: get_idx_if_non_empty(x.laneLines[1].y, 0), "laneLines.y"),
|
||||
(lambda x: get_idx_if_non_empty(x.meta.desireState, 3), "desireState.laneChangeLeft"),
|
||||
|
||||
@@ -364,7 +364,7 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
|
||||
with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
|
||||
cached_params = _cached_params
|
||||
|
||||
_CI = get_car(*can_callbacks, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"), cached_params=cached_params)
|
||||
_CI = get_car(*can_callbacks, lambda obd: None, Params().get_bool("AlphaLongitudinalEnabled"), cached_params=cached_params)
|
||||
CP, CP_SP = _CI.CP, _CI.CP_SP
|
||||
|
||||
if not params.get_bool("DisengageOnAccelerator"):
|
||||
@@ -465,7 +465,7 @@ CONFIGS = [
|
||||
proc_name="selfdrived",
|
||||
pubs=[
|
||||
"carState", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState",
|
||||
"longitudinalPlan", "livePose", "liveParameters", "radarState",
|
||||
"longitudinalPlan", "livePose", "liveDelay", "liveParameters", "radarState",
|
||||
"modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState",
|
||||
"liveTorqueParameters", "accelerometer", "gyroscope", "carOutput",
|
||||
"gpsLocationExternal", "gpsLocation", "controlsState", "carControl", "driverAssistance", "alertDebug",
|
||||
@@ -554,6 +554,15 @@ CONFIGS = [
|
||||
tolerance=NUMPY_TOLERANCE,
|
||||
processing_time=0.004,
|
||||
),
|
||||
ProcessConfig(
|
||||
proc_name="lagd",
|
||||
pubs=["livePose", "liveCalibration", "carState", "carControl", "controlsState"],
|
||||
subs=["liveDelay"],
|
||||
ignore=["logMonoTime"],
|
||||
init_callback=get_car_params_callback,
|
||||
should_recv_callback=MessageBasedRcvCallback("livePose"),
|
||||
tolerance=NUMPY_TOLERANCE,
|
||||
),
|
||||
ProcessConfig(
|
||||
proc_name="ubloxd",
|
||||
pubs=["ubloxRaw"],
|
||||
@@ -771,7 +780,7 @@ def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=Non
|
||||
params_dict["CarParamsCache"] = CP.as_builder().to_bytes()
|
||||
|
||||
if CP.openpilotLongitudinalControl:
|
||||
params_dict["ExperimentalLongitudinalEnabled"] = True
|
||||
params_dict["AlphaLongitudinalEnabled"] = True
|
||||
|
||||
if CP.notCar:
|
||||
params_dict["JoystickDebugMode"] = True
|
||||
|
||||
@@ -1 +1 @@
|
||||
887623a18d82088dc5ed9ecdced55eb0d3f718b1
|
||||
fcc771b9ceb487a61035885acbd84e592fb316bf
|
||||
@@ -24,16 +24,16 @@ source_segments = [
|
||||
("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"), # HYUNDAI.HYUNDAI_KIA_EV6 (+ QCOM GPS)
|
||||
("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.TOYOTA_PRIUS
|
||||
("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.TOYOTA_RAV4
|
||||
("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"), # TOYOTA.TOYOTA_COROLLA_TSS2
|
||||
("TOYOTA3", "8011d605be1cbb77|000000cc--8e8d8ec716--6"), # TOYOTA.TOYOTA_COROLLA_TSS2
|
||||
("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"), # HONDA.HONDA_CIVIC (NIDEC)
|
||||
("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"), # HONDA.HONDA_ACCORD (BOSCH)
|
||||
("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"), # CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID
|
||||
("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"), # CHRYSLER.RAM_1500_5TH_GEN
|
||||
("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"), # SUBARU.SUBARU_OUTBACK
|
||||
("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"), # GM.CHEVROLET_VOLT
|
||||
("GM2", "376bf99325883932|2022-10-27--13-41-22--1"), # GM.CHEVROLET_BOLT_EUV
|
||||
("GM", "376bf99325883932|2022-10-27--13-41-22--1"), # GM.CHEVROLET_BOLT_EUV
|
||||
("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"), # NISSAN.NISSAN_XTRAIL
|
||||
("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"), # VOLKSWAGEN.VOLKSWAGEN_GOLF
|
||||
# FIXME the sensor timings are bad in mazda segment, we're not fully testing it, but it should be replaced
|
||||
("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"), # MAZDA.MAZDA_CX9_2021
|
||||
("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.FORD_BRONCO_SPORT_MK1
|
||||
("RIVIAN", "bc095dc92e101734|000000db--ee9fe46e57--1"), # RIVIAN.RIVIAN_R1_GEN1
|
||||
@@ -43,28 +43,27 @@ source_segments = [
|
||||
]
|
||||
|
||||
segments = [
|
||||
("BODY", "regenA67A128BCD8|2024-08-30--02-36-22--0"),
|
||||
("HYUNDAI", "regenCCD47FEBC0C|2025-03-04--03-21-48--0"),
|
||||
("HYUNDAI2", "regen306779F6870|2024-10-03--04-03-23--0"),
|
||||
("TOYOTA", "regen4A5115B248D|2025-03-04--03-21-43--0"),
|
||||
("TOYOTA2", "regen6E484EDAB96|2024-08-30--02-47-37--0"),
|
||||
("TOYOTA3", "regen4CE950B0267|2024-08-30--02-51-30--0"),
|
||||
("HONDA", "regenB8CABEC09CC|2025-03-04--03-32-55--0"),
|
||||
("HONDA2", "regen4B38A7428CD|2024-08-30--02-56-31--0"),
|
||||
("CHRYSLER", "regenF3DBBA9E8DF|2024-08-30--02-59-03--0"),
|
||||
("RAM", "regenDB02684E00A|2024-08-30--03-02-54--0"),
|
||||
("SUBARU", "regen5E3347D0A0F|2025-03-04--03-23-55--0"),
|
||||
("GM", "regen720F2BA4CF6|2024-08-30--03-09-15--0"),
|
||||
("GM2", "regen9ADBECBCD1C|2024-08-30--03-13-04--0"),
|
||||
("NISSAN", "regen58464878D07|2024-08-30--03-15-31--0"),
|
||||
("VOLKSWAGEN", "regenED976DEB757|2024-08-30--03-18-02--0"),
|
||||
("BODY", "regen2F3C7259F1B|2025-04-08--23-00-23--0"),
|
||||
("HYUNDAI", "regenAA0FC4ED71E|2025-04-08--22-57-50--0"),
|
||||
("HYUNDAI2", "regenAFB9780D823|2025-04-08--23-00-34--0"),
|
||||
("TOYOTA", "regen218A4DCFAA1|2025-04-08--22-57-51--0"),
|
||||
("TOYOTA2", "regen107352E20EB|2025-04-08--22-57-46--0"),
|
||||
("TOYOTA3", "regen1455E3B4BDF|2025-04-09--03-26-06--0"),
|
||||
("HONDA", "regenB328FF8BA0A|2025-04-08--22-57-45--0"),
|
||||
("HONDA2", "regen6170C8C9A35|2025-04-08--22-57-46--0"),
|
||||
("CHRYSLER", "regen5B28FC2A437|2025-04-08--23-04-24--0"),
|
||||
("RAM", "regenBF81EA96E08|2025-04-08--23-06-54--0"),
|
||||
("SUBARU", "regen7366F13F6A1|2025-04-08--23-07-07--0"),
|
||||
("GM", "regen1271097D038|2025-04-09--03-26-00--0"),
|
||||
("NISSAN", "regen15D60604EAB|2025-04-08--23-06-59--0"),
|
||||
("VOLKSWAGEN", "regen0F2F06C9539|2025-04-08--23-06-56--0"),
|
||||
("MAZDA", "regenACF84CCF482|2024-08-30--03-21-55--0"),
|
||||
("FORD", "regenA75209BD115|2025-03-04--03-23-53--0"),
|
||||
("RIVIAN", "bc095dc92e101734|000000db--ee9fe46e57--1"),
|
||||
("FORD", "regen755D8CB1E1F|2025-04-08--23-13-43--0"),
|
||||
("RIVIAN", "regen5FCAC896BBE|2025-04-08--23-13-35--0"),
|
||||
]
|
||||
|
||||
# dashcamOnly makes don't need to be tested until a full port is done
|
||||
excluded_interfaces = ["mock", "tesla", "rivian"]
|
||||
excluded_interfaces = ["mock", "tesla"]
|
||||
|
||||
BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
|
||||
REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
|
||||
@@ -252,7 +251,7 @@ if __name__ == "__main__":
|
||||
continue
|
||||
|
||||
# to speed things up, we only test all segments on card
|
||||
if cfg.proc_name != 'card' and car_brand not in ('HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD'):
|
||||
if cfg.proc_name != 'card' and car_brand not in ('HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD', 'RIVIAN'):
|
||||
continue
|
||||
|
||||
cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst")
|
||||
|
||||
@@ -44,7 +44,6 @@ PROCS = {
|
||||
"./camerad": 10.0,
|
||||
"selfdrive.controls.plannerd": 9.0,
|
||||
"./ui": 18.0,
|
||||
"selfdrive.locationd.paramsd": 9.0,
|
||||
"./sensord": 7.0,
|
||||
"selfdrive.controls.radard": 2.0,
|
||||
"selfdrive.modeld.modeld": 22.0,
|
||||
@@ -53,6 +52,8 @@ PROCS = {
|
||||
"selfdrive.locationd.calibrationd": 2.0,
|
||||
"selfdrive.locationd.torqued": 5.0,
|
||||
"selfdrive.locationd.locationd": 25.0,
|
||||
"selfdrive.locationd.paramsd": 9.0,
|
||||
"selfdrive.locationd.lagd": 11.0,
|
||||
"selfdrive.ui.soundd": 3.0,
|
||||
"selfdrive.monitoring.dmonitoringd": 4.0,
|
||||
"./proclogd": 2.0,
|
||||
|
||||
@@ -31,12 +31,12 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
|
||||
addItem(longManeuverToggle);
|
||||
|
||||
experimentalLongitudinalToggle = new ParamControl(
|
||||
"ExperimentalLongitudinalEnabled",
|
||||
tr("sunnypilot Longitudinal Control (Alpha)"),
|
||||
"AlphaLongitudinalEnabled",
|
||||
tr("openpilot Longitudinal Control (Alpha)"),
|
||||
QString("<b>%1</b><br><br>%2")
|
||||
.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.")),
|
||||
.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.")),
|
||||
""
|
||||
);
|
||||
experimentalLongitudinalToggle->setConfirmation(true, false);
|
||||
@@ -99,8 +99,8 @@ void DeveloperPanel::updateToggles(bool _offroad) {
|
||||
auto hyundai = CP.getBrand() == "hyundai";
|
||||
auto hyundai_mando_radar = hyundai && (CP.getFlags() & 4096);
|
||||
|
||||
if (!CP.getExperimentalLongitudinalAvailable() || is_release) {
|
||||
params.remove("ExperimentalLongitudinalEnabled");
|
||||
if (!CP.getAlphaLongitudinalAvailable() || is_release) {
|
||||
params.remove("AlphaLongitudinalEnabled");
|
||||
experimentalLongitudinalToggle->setEnabled(false);
|
||||
}
|
||||
|
||||
@@ -109,7 +109,7 @@ void DeveloperPanel::updateToggles(bool _offroad) {
|
||||
* - is not a release branch, and
|
||||
* - the car supports experimental longitudinal control (alpha)
|
||||
*/
|
||||
experimentalLongitudinalToggle->setVisible(CP.getExperimentalLongitudinalAvailable() && !is_release);
|
||||
experimentalLongitudinalToggle->setVisible(CP.getAlphaLongitudinalAvailable() && !is_release);
|
||||
|
||||
longManeuverToggle->setEnabled(hasLongitudinalControl(CP) && _offroad);
|
||||
hyundaiRadarTracksToggle->setVisible(hyundai_mando_radar && hasLongitudinalControl(CP));
|
||||
|
||||
@@ -159,8 +159,8 @@ 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("sunnypilot longitudinal control may come in a future update.");
|
||||
if (CP.getExperimentalLongitudinalAvailable()) {
|
||||
tr("openpilot 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.");
|
||||
} else {
|
||||
|
||||
@@ -193,8 +193,8 @@ QPixmap bootstrapPixmap(const QString &id) {
|
||||
bool hasLongitudinalControl(const cereal::CarParams::Reader &car_params) {
|
||||
// Using the experimental longitudinal toggle, returns whether longitudinal control
|
||||
// will be active without needing a restart of openpilot
|
||||
return car_params.getExperimentalLongitudinalAvailable()
|
||||
? Params().getBool("ExperimentalLongitudinalEnabled")
|
||||
return car_params.getAlphaLongitudinalAvailable()
|
||||
? Params().getBool("AlphaLongitudinalEnabled")
|
||||
: car_params.getOpenpilotLongitudinalControl();
|
||||
}
|
||||
|
||||
|
||||
@@ -418,12 +418,12 @@ class OptionControlSP : public AbstractControlSP_SELECTOR {
|
||||
private:
|
||||
bool isInlineLayout;
|
||||
QHBoxLayout *optionSelectorLayout = isInlineLayout ? new QHBoxLayout() : hlayout;
|
||||
|
||||
|
||||
struct MinMaxValue {
|
||||
int min_value;
|
||||
int max_value;
|
||||
};
|
||||
|
||||
|
||||
int getParamValue() {
|
||||
const auto param_value = QString::fromStdString(params.get(key));
|
||||
const auto result = valueMap != nullptr ? valueMap->key(param_value) : param_value;
|
||||
@@ -490,6 +490,8 @@ public:
|
||||
if (i == 0) {
|
||||
optionSelectorLayout->addWidget(&label, 0, Qt::AlignCenter);
|
||||
}
|
||||
button->setEnabled((i == 0) ? !(value <= range.min_value) : !(value >= range.max_value));
|
||||
button->setFocusPolicy(Qt::NoFocus); // This prevents unintended scroll due to loss of focus when the button gets disabled based on min/max values
|
||||
button_group->addButton(button, i);
|
||||
|
||||
QObject::connect(button, &QPushButton::clicked, [=]() {
|
||||
|
||||
@@ -66,7 +66,7 @@ def setup_settings_firehose(click, pm: PubMaster, scroll=None):
|
||||
|
||||
def setup_settings_developer(click, pm: PubMaster, scroll=None):
|
||||
CP = car.CarParams()
|
||||
CP.experimentalLongitudinalAvailable = True
|
||||
CP.alphaLongitudinalAvailable = True
|
||||
Params().put("CarParamsPersistent", CP.to_bytes())
|
||||
|
||||
setup_settings_device(click, pm)
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1 +1 @@
|
||||
dec34c57c4131f6fca5d1035201d1afbf43e5250cede7bfdc798371af008afad
|
||||
c11a4a1d02e57e5f470c28e24d3db19426a92d20b65e6b3b3b6028439520c247
|
||||
Submodule sunnypilot/neural_network_data updated: 61dbe23f5d...16946bfd9c
@@ -5,12 +5,16 @@ 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
|
||||
from cereal import log, custom
|
||||
from opendbc.car import structs
|
||||
|
||||
from opendbc.car.chrysler.values import RAM_DT
|
||||
from openpilot.selfdrive.selfdrived.events import Events
|
||||
from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
|
||||
|
||||
EventName = log.OnroadEvent.EventName
|
||||
EventNameSP = custom.OnroadEventSP.EventName
|
||||
GearShifter = structs.CarState.GearShifter
|
||||
|
||||
|
||||
class CarSpecificEventsSP:
|
||||
@@ -18,6 +22,7 @@ class CarSpecificEventsSP:
|
||||
self.CP = CP
|
||||
self.params = params
|
||||
|
||||
self.low_speed_alert = False
|
||||
self.hyundai_radar_tracks = self.params.get_bool("HyundaiRadarTracks")
|
||||
self.hyundai_radar_tracks_confirmed = self.params.get_bool("HyundaiRadarTracksConfirmed")
|
||||
|
||||
@@ -25,10 +30,24 @@ class CarSpecificEventsSP:
|
||||
self.hyundai_radar_tracks = self.params.get_bool("HyundaiRadarTracks")
|
||||
self.hyundai_radar_tracks_confirmed = self.params.get_bool("HyundaiRadarTracksConfirmed")
|
||||
|
||||
def update(self):
|
||||
events = EventsSP()
|
||||
def update(self, CS: structs.CarState, events: Events):
|
||||
events_sp = EventsSP()
|
||||
|
||||
if self.CP.brand == 'chrysler':
|
||||
if self.CP.carFingerprint in RAM_DT:
|
||||
# remove belowSteerSpeed event from CarSpecificEvents as RAM_DT uses a different logic
|
||||
if events.has(EventName.belowSteerSpeed):
|
||||
events.remove(EventName.belowSteerSpeed)
|
||||
|
||||
if CS.vEgo >= self.CP.minEnableSpeed:
|
||||
self.low_speed_alert = False
|
||||
if (self.CP.minEnableSpeed >= 14.5) and (CS.gearShifter != GearShifter.drive):
|
||||
self.low_speed_alert = True
|
||||
if self.low_speed_alert:
|
||||
events.add(EventNameSP.belowSteerSpeed)
|
||||
|
||||
if self.CP.brand == 'hyundai':
|
||||
if self.hyundai_radar_tracks and not self.hyundai_radar_tracks_confirmed:
|
||||
events.add(EventNameSP.hyundaiRadarTracksConfirmed)
|
||||
events_sp.add(EventNameSP.hyundaiRadarTracksConfirmed)
|
||||
|
||||
return events
|
||||
return events_sp
|
||||
|
||||
@@ -2,12 +2,11 @@ class WMACConstants:
|
||||
LEAD_WINDOW_SIZE = 5
|
||||
LEAD_PROB = 0.5
|
||||
|
||||
SLOW_DOWN_WINDOW_SIZE = 4
|
||||
SLOW_DOWN_WINDOW_SIZE = 5
|
||||
SLOW_DOWN_PROB = 0.6
|
||||
|
||||
SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55., 60.]
|
||||
#SLOW_DOWN_DIST = [25., 38., 55., 75., 95., 115., 130., 150.]
|
||||
SLOW_DOWN_DIST = [30., 45., 60., 80., 100., 120., 135., 150.]
|
||||
SLOW_DOWN_DIST = [25., 38., 55., 75., 95., 115., 130., 150.]
|
||||
|
||||
SLOWNESS_WINDOW_SIZE = 12
|
||||
SLOWNESS_PROB = 0.5
|
||||
|
||||
@@ -164,7 +164,7 @@ class DynamicExperimentalController:
|
||||
"""
|
||||
Adapts the slow-down threshold based on vehicle speed and recent behavior.
|
||||
"""
|
||||
slowdown_scaling_factor: float = (1.0 + 0.05 * np.log(1 + len(self._slow_down_gmac.data)))
|
||||
slowdown_scaling_factor: float = (1.0 + 0.03 * np.log(1 + len(self._slow_down_gmac.data)))
|
||||
adaptive_threshold: float = float(
|
||||
interp(self._v_ego_kph, WMACConstants.SLOW_DOWN_BP, WMACConstants.SLOW_DOWN_DIST) * slowdown_scaling_factor
|
||||
)
|
||||
|
||||
@@ -13,7 +13,8 @@ class LatControlTorqueExt(NeuralNetworkLateralControl):
|
||||
super().__init__(lac_torque, CP, CP_SP)
|
||||
|
||||
def update(self, CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
|
||||
desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel):
|
||||
desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
|
||||
desired_curvature, actual_curvature):
|
||||
self._ff = ff
|
||||
self._pid_log = pid_log
|
||||
self._setpoint = setpoint
|
||||
@@ -21,6 +22,8 @@ class LatControlTorqueExt(NeuralNetworkLateralControl):
|
||||
self._lateral_accel_deadzone = lateral_accel_deadzone
|
||||
self._desired_lateral_accel = desired_lateral_accel
|
||||
self._actual_lateral_accel = actual_lateral_accel
|
||||
self._desired_curvature = desired_curvature
|
||||
self._actual_curvature = actual_curvature
|
||||
|
||||
self.update_calculations(CS, VM, desired_lateral_accel)
|
||||
self.update_neural_network_feedforward(CS, params, calibrated_pose)
|
||||
|
||||
@@ -62,6 +62,8 @@ class LatControlTorqueExtBase:
|
||||
self._lateral_accel_deadzone = 0.0
|
||||
self._desired_lateral_accel = 0.0
|
||||
self._actual_lateral_accel = 0.0
|
||||
self._desired_curvature = 0.0
|
||||
self._actual_curvature = 0.0
|
||||
|
||||
# twilsonco's Lateral Neural Network Feedforward
|
||||
# Instantaneous lateral jerk changes very rapidly, making it not useful on its own,
|
||||
|
||||
@@ -7,6 +7,8 @@ See the LICENSE.md file in the root directory for more details.
|
||||
from json import load
|
||||
import numpy as np
|
||||
|
||||
from openpilot.selfdrive.modeld.parse_model_outputs import safe_exp
|
||||
|
||||
# dict used to rename activation functions whose names aren't valid python identifiers
|
||||
ACTIVATION_FUNCTION_NAMES = {'σ': 'sigmoid'}
|
||||
|
||||
@@ -40,7 +42,7 @@ class NNTorqueModel:
|
||||
# These are called by name using the keys in the model json file
|
||||
@staticmethod
|
||||
def sigmoid(x):
|
||||
return 1 / (1 + np.exp(-x))
|
||||
return 1 / (1 + safe_exp(-x))
|
||||
|
||||
@staticmethod
|
||||
def identity(x):
|
||||
|
||||
@@ -12,10 +12,13 @@ from opendbc.car.interfaces import LatControlInputs
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import LatControlTorqueExtBase
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import LatControlTorqueExtBase, sign
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import MOCK_MODEL_PATH
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.model import NNTorqueModel
|
||||
|
||||
LOW_SPEED_X = [0, 10, 20, 30]
|
||||
LOW_SPEED_Y = [12, 3, 1, 0]
|
||||
|
||||
|
||||
# At a given roll, if pitch magnitude increases, the
|
||||
# gravitational acceleration component starts pointing
|
||||
@@ -59,6 +62,10 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
|
||||
if not self.enabled or not self.model_valid or not self.has_nn_model:
|
||||
return
|
||||
|
||||
low_speed_factor = float(np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)) ** 2
|
||||
self._setpoint = self._desired_lateral_accel + low_speed_factor * self._desired_curvature
|
||||
self._measurement = self._actual_lateral_accel + low_speed_factor * self._actual_curvature
|
||||
|
||||
# update past data
|
||||
roll = params.roll
|
||||
if calibrated_pose is not None:
|
||||
@@ -92,6 +99,22 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
|
||||
torque_from_measurement = self.model.evaluate(nnff_measurement_input)
|
||||
self._pid_log.error = torque_from_setpoint - torque_from_measurement
|
||||
|
||||
# The "pure" NNLC error response can be too weak for cars whose models were trained
|
||||
# with a lack of high-magnitude lateral acceleration data, for which the NNLC model
|
||||
# torque response flattens out at high lateral accelerations.
|
||||
# This workaround blends in a guaranteed stronger error response only when the
|
||||
# desired lateral acceleration is high enough to warrant it, by using the lateral acceleration
|
||||
# error as the input to the NNLC model. This is not ideal, and potentially degrades the NNLC
|
||||
# accuracy for cars that don't have this issue, but it's necessary until a better NNLC model
|
||||
# structure is used that doesn't create this issue when high-magnitude data is missing.
|
||||
error_blend_factor = float(np.interp(abs(self._desired_lateral_accel), [1.0, 2.0], [0.0, 1.0]))
|
||||
if error_blend_factor > 0.0: # blend in stronger error response when in high lat accel
|
||||
# NNFF inputs 5+ are optional, and if left out are replaced with 0.0 inside the NNFF class
|
||||
nnff_error_input = [CS.vEgo, self._setpoint - self._measurement, self.lateral_jerk_setpoint - self.lateral_jerk_measurement, 0.0]
|
||||
torque_from_error = self.model.evaluate(nnff_error_input)
|
||||
if sign(self._pid_log.error) == sign(torque_from_error) and abs(self._pid_log.error) < abs(torque_from_error):
|
||||
self._pid_log.error = self._pid_log.error * (1.0 - error_blend_factor) + torque_from_error * error_blend_factor
|
||||
|
||||
# compute feedforward (same as nn setpoint output)
|
||||
friction_input = self.update_friction_input(self._setpoint, self._measurement)
|
||||
nn_input = [CS.vEgo, self._desired_lateral_accel, friction_input, roll] \
|
||||
|
||||
@@ -0,0 +1,89 @@
|
||||
import numpy as np
|
||||
from parameterized import parameterized
|
||||
|
||||
from cereal import car, log, messaging
|
||||
from opendbc.car.car_helpers import interfaces
|
||||
from opendbc.car.honda.values import CAR as HONDA
|
||||
from opendbc.car.hyundai.values import CAR as HYUNDAI
|
||||
from opendbc.car.toyota.values import CAR as TOYOTA
|
||||
from opendbc.car.vehicle_model import VehicleModel
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.selfdrive.car.helpers import convert_to_capnp
|
||||
from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
|
||||
from openpilot.selfdrive.locationd.helpers import Pose
|
||||
from openpilot.common.mock.generators import generate_livePose
|
||||
from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants
|
||||
|
||||
|
||||
def generate_modelV2():
|
||||
model = messaging.new_message('modelV2')
|
||||
position = log.XYZTData.new_message()
|
||||
speed = 30
|
||||
position.x = [float(x) for x in (speed + 0.5) * np.array(ModelConstants.T_IDXS)]
|
||||
model.modelV2.position = position
|
||||
orientation = log.XYZTData.new_message()
|
||||
curvature = 0.05
|
||||
orientation.x = [float(curvature) for _ in ModelConstants.T_IDXS]
|
||||
orientation.y = [0.0 for _ in ModelConstants.T_IDXS]
|
||||
model.modelV2.orientation = orientation
|
||||
velocity = log.XYZTData.new_message()
|
||||
velocity.x = [float(x) for x in (speed + 0.5) * np.ones_like(ModelConstants.T_IDXS)]
|
||||
velocity.x[0] = float(speed) # always start at current speed
|
||||
model.modelV2.velocity = velocity
|
||||
acceleration = log.XYZTData.new_message()
|
||||
acceleration.x = [float(x) for x in np.zeros_like(ModelConstants.T_IDXS)]
|
||||
acceleration.y = [float(y) for y in np.zeros_like(ModelConstants.T_IDXS)]
|
||||
model.modelV2.acceleration = acceleration
|
||||
|
||||
return model
|
||||
|
||||
|
||||
class TestNeuralNetworkLateralControl:
|
||||
|
||||
@parameterized.expand([HONDA.HONDA_CIVIC, TOYOTA.TOYOTA_RAV4, HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN])
|
||||
def test_saturation(self, car_name):
|
||||
params = Params()
|
||||
params.put_bool("NeuralNetworkLateralControl", True)
|
||||
|
||||
CarInterface = interfaces[car_name]
|
||||
CP = CarInterface.get_non_essential_params(car_name)
|
||||
CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
|
||||
CI = CarInterface(CP, CP_SP)
|
||||
|
||||
sunnypilot_interfaces.setup_interfaces(CP, CP_SP, params)
|
||||
|
||||
CP_SP = convert_to_capnp(CP_SP)
|
||||
VM = VehicleModel(CP)
|
||||
|
||||
controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI)
|
||||
|
||||
CS = car.CarState.new_message()
|
||||
CS.vEgo = 30
|
||||
CS.steeringPressed = False
|
||||
|
||||
params = log.LiveParametersData.new_message()
|
||||
|
||||
lp = generate_livePose()
|
||||
pose = Pose.from_live_pose(lp.livePose)
|
||||
|
||||
mdl = generate_modelV2()
|
||||
sm = {'modelV2': mdl.modelV2}
|
||||
model_v2 = sm['modelV2']
|
||||
controller.extension.model_v2 = model_v2
|
||||
|
||||
# Saturate for curvature limited and controller limited
|
||||
for _ in range(1000):
|
||||
controller.extension.update_model_v2(model_v2)
|
||||
_, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True)
|
||||
assert lac_log.saturated
|
||||
|
||||
for _ in range(1000):
|
||||
controller.extension.update_model_v2(model_v2)
|
||||
_, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, False)
|
||||
assert not lac_log.saturated
|
||||
|
||||
for _ in range(1000):
|
||||
controller.extension.update_model_v2(model_v2)
|
||||
_, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose, False)
|
||||
assert lac_log.saturated
|
||||
@@ -51,6 +51,7 @@ class TestAutoLaneChangeController:
|
||||
assert not self.alc.prev_brake_pressed
|
||||
|
||||
@parameterized.expand([(AutoLaneChangeMode.OFF, ), (AutoLaneChangeMode.NUDGE, )])
|
||||
|
||||
def test_off_and_nudge_mode(self, timer_state):
|
||||
"""Test the default OFF and NUDGE mode behavior."""
|
||||
self._reset_states()
|
||||
@@ -196,3 +197,17 @@ class TestAutoLaneChangeController:
|
||||
self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
|
||||
|
||||
assert not self.alc.auto_lane_change_allowed
|
||||
|
||||
def test_auto_lane_change_mode_off_disallows_lane_change(self):
|
||||
"""Test that OFF mode never allows auto lane change."""
|
||||
self._reset_states()
|
||||
self.alc.lane_change_bsm_delay = False
|
||||
self.alc.lane_change_set_timer = AutoLaneChangeMode.OFF
|
||||
|
||||
# Simulate updates for a long period of time (e.g., 10 seconds)
|
||||
num_updates = int(10.0 / DT_MDL)
|
||||
for _ in range(num_updates):
|
||||
self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
|
||||
|
||||
# Lane change should never be allowed
|
||||
assert not self.alc.auto_lane_change_allowed
|
||||
|
||||
@@ -10,11 +10,12 @@ import threading
|
||||
import time
|
||||
|
||||
from jsonrpc import dispatcher
|
||||
from functools import partial
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import set_core_affinity
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.system.athena.athenad import ws_send, jsonrpc_handler, \
|
||||
recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler
|
||||
recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim
|
||||
from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
|
||||
create_connection)
|
||||
|
||||
@@ -50,7 +51,7 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
|
||||
# threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
|
||||
# threading.Thread(target=stat_handler, args=(end_event,), name='stat_handler'),
|
||||
] + [
|
||||
threading.Thread(target=jsonrpc_handler, args=(end_event,), name=f'worker_{x}')
|
||||
threading.Thread(target=jsonrpc_handler, args=(end_event, partial(startLocalProxy, end_event),), name=f'worker_{x}')
|
||||
for x in range(HANDLER_THREADS)
|
||||
]
|
||||
|
||||
@@ -201,6 +202,18 @@ def saveParams(params_to_update: dict[str, str], compression: bool = False) -> N
|
||||
cloudlog.error(f"sunnylinkd.saveParams.exception {e}")
|
||||
|
||||
|
||||
def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> dict[str, int]:
|
||||
cloudlog.debug("athena.startLocalProxy.starting")
|
||||
ws = create_connection(
|
||||
remote_ws_uri,
|
||||
header={"Authorization": f"Bearer {sunnylink_api.get_token()}"},
|
||||
enable_multithread=True,
|
||||
sslopt={"cert_reqs": ssl.CERT_NONE}
|
||||
)
|
||||
|
||||
return start_local_proxy_shim(global_end_event, local_port, ws)
|
||||
|
||||
|
||||
def main(exit_event: threading.Event = None):
|
||||
try:
|
||||
set_core_affinity([0, 1, 2, 3])
|
||||
|
||||
@@ -46,3 +46,12 @@ def register_sunnylink():
|
||||
|
||||
sunnylink_id = SunnylinkApi(None).register_device(None, **extra_args)
|
||||
print(f"SunnyLinkId: {sunnylink_id}")
|
||||
|
||||
|
||||
def get_api_token():
|
||||
"""Get the API token for the device."""
|
||||
params = Params()
|
||||
sunnylink_dongle_id = params.get("SunnylinkDongleId", encoding='utf-8')
|
||||
sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
|
||||
token = sunnylink_api.get_token()
|
||||
print(f"API Token: {token}")
|
||||
|
||||
+14
-10
@@ -184,8 +184,8 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
|
||||
thread.join()
|
||||
|
||||
|
||||
def jsonrpc_handler(end_event: threading.Event) -> None:
|
||||
dispatcher["startLocalProxy"] = partial(startLocalProxy, end_event)
|
||||
def jsonrpc_handler(end_event: threading.Event, localProxyHandler = None) -> None:
|
||||
dispatcher["startLocalProxy"] = localProxyHandler or partial(startLocalProxy, end_event)
|
||||
while not end_event.is_set():
|
||||
try:
|
||||
data = recv_queue.get(timeout=1)
|
||||
@@ -480,7 +480,19 @@ def setRouteViewed(route: str) -> dict[str, int | str]:
|
||||
|
||||
|
||||
def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> dict[str, int]:
|
||||
cloudlog.debug("athena.startLocalProxy.starting")
|
||||
dongle_id = Params().get("DongleId").decode('utf8')
|
||||
identity_token = Api(dongle_id).get_token()
|
||||
ws = create_connection(remote_ws_uri, cookie="jwt=" + identity_token, enable_multithread=True)
|
||||
|
||||
return start_local_proxy_shim(global_end_event, local_port, ws)
|
||||
|
||||
|
||||
def start_local_proxy_shim(global_end_event: threading.Event, local_port: int, ws: WebSocket) -> dict[str, int]:
|
||||
try:
|
||||
if ws.sock is None:
|
||||
raise Exception("WebSocket is not connected")
|
||||
|
||||
# migration, can be removed once 0.9.8 is out for a while
|
||||
if local_port == 8022:
|
||||
local_port = 22
|
||||
@@ -488,14 +500,6 @@ def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local
|
||||
if local_port not in LOCAL_PORT_WHITELIST:
|
||||
raise Exception("Requested local port not whitelisted")
|
||||
|
||||
cloudlog.debug("athena.startLocalProxy.starting")
|
||||
|
||||
dongle_id = Params().get("DongleId").decode('utf8')
|
||||
identity_token = Api(dongle_id).get_token()
|
||||
ws = create_connection(remote_ws_uri,
|
||||
cookie="jwt=" + identity_token,
|
||||
enable_multithread=True)
|
||||
|
||||
# Set TOS to keep connection responsive while under load.
|
||||
# DSCP of 36/HDD_LINUX_AC_VI with the minimum delay flag
|
||||
ws.sock.setsockopt(socket.IPPROTO_IP, socket.IP_TOS, 0x90)
|
||||
|
||||
@@ -27,7 +27,7 @@ class TiciFanController(BaseFanController):
|
||||
if ignition != self.last_ignition:
|
||||
self.controller.reset()
|
||||
|
||||
error = 70 - cur_temp
|
||||
error = 75 - cur_temp
|
||||
fan_pwr_out = -int(self.controller.update(
|
||||
error=error,
|
||||
feedforward=np.interp(cur_temp, [60.0, 100.0], [0, -100])
|
||||
|
||||
@@ -124,6 +124,7 @@ procs = [
|
||||
PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
|
||||
PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
|
||||
PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
|
||||
PythonProcess("lagd", "selfdrive.locationd.lagd", only_onroad),
|
||||
NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
|
||||
PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
|
||||
PythonProcess("plannerd", "selfdrive.controls.plannerd", not_long_maneuver),
|
||||
|
||||
@@ -38,6 +38,10 @@ class GuiApplication:
|
||||
self._textures: list[rl.Texture] = []
|
||||
self._target_fps: int = DEFAULT_FPS
|
||||
self._last_fps_log_time: float = time.monotonic()
|
||||
self._window_close_requested = False
|
||||
|
||||
def request_close(self):
|
||||
self._window_close_requested = True
|
||||
|
||||
def init_window(self, title: str, fps: int=DEFAULT_FPS):
|
||||
atexit.register(self.close) # Automatically call close() on exit
|
||||
@@ -50,9 +54,11 @@ class GuiApplication:
|
||||
self._set_styles()
|
||||
self._load_fonts()
|
||||
|
||||
def load_texture_from_image(self, file_name: str, width: int, height: int):
|
||||
def load_texture_from_image(self, file_name: str, width: int, height: int, alpha_premultiply = False):
|
||||
"""Load and resize a texture, storing it for later automatic unloading."""
|
||||
image = rl.load_image(file_name)
|
||||
if alpha_premultiply:
|
||||
rl.image_alpha_premultiply(image)
|
||||
rl.image_resize(image, width, height)
|
||||
texture = rl.load_texture_from_image(image)
|
||||
# Set texture filtering to smooth the result
|
||||
@@ -73,12 +79,12 @@ class GuiApplication:
|
||||
|
||||
for font in self._fonts.values():
|
||||
rl.unload_font(font)
|
||||
self._fonts = []
|
||||
self._fonts = {}
|
||||
|
||||
rl.close_window()
|
||||
|
||||
def render(self):
|
||||
while not rl.window_should_close():
|
||||
while not (self._window_close_requested or rl.window_should_close()):
|
||||
rl.begin_drawing()
|
||||
rl.clear_background(rl.BLACK)
|
||||
|
||||
@@ -90,8 +96,8 @@ class GuiApplication:
|
||||
rl.end_drawing()
|
||||
self._monitor_fps()
|
||||
|
||||
def font(self, font_wight: FontWeight=FontWeight.NORMAL):
|
||||
return self._fonts[font_wight]
|
||||
def font(self, font_weight: FontWeight=FontWeight.NORMAL):
|
||||
return self._fonts[font_weight]
|
||||
|
||||
@property
|
||||
def width(self):
|
||||
|
||||
+44
-27
@@ -5,14 +5,17 @@ import threading
|
||||
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.system.ui.text import wrap_text
|
||||
|
||||
# Constants
|
||||
PROGRESS_BAR_WIDTH = 1000
|
||||
PROGRESS_BAR_HEIGHT = 20
|
||||
ROTATION_TIME_SECONDS = 1.0 # Time for one full circle
|
||||
MARGIN = 200
|
||||
DEGREES_PER_SECOND = 360.0 # one full rotation per second
|
||||
MARGIN_H = 100
|
||||
TEXTURE_SIZE = 360
|
||||
FONT_SIZE = 80
|
||||
FONT_SIZE = 88
|
||||
LINE_HEIGHT = 96
|
||||
DARKGRAY = (55, 55, 55, 255)
|
||||
|
||||
|
||||
def clamp(value, min_value, max_value):
|
||||
@@ -22,24 +25,44 @@ def clamp(value, min_value, max_value):
|
||||
class Spinner:
|
||||
def __init__(self):
|
||||
self._comma_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_comma.png"), TEXTURE_SIZE, TEXTURE_SIZE)
|
||||
self._spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE)
|
||||
self._spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE,
|
||||
alpha_premultiply=True)
|
||||
self._rotation = 0.0
|
||||
self._text: str = ""
|
||||
self._progress: int | None = None
|
||||
self._wrapped_lines: list[str] = []
|
||||
self._lock = threading.Lock()
|
||||
|
||||
def set_text(self, text: str) -> None:
|
||||
with self._lock:
|
||||
self._text = text
|
||||
if text.isdigit():
|
||||
self._progress = clamp(int(text), 0, 100)
|
||||
self._wrapped_lines = []
|
||||
else:
|
||||
self._progress = None
|
||||
self._wrapped_lines = wrap_text(text, FONT_SIZE, gui_app.width - MARGIN_H)
|
||||
|
||||
def render(self):
|
||||
center = rl.Vector2(gui_app.width / 2.0, gui_app.height / 2.0)
|
||||
with self._lock:
|
||||
progress = self._progress
|
||||
wrapped_lines = self._wrapped_lines
|
||||
|
||||
if wrapped_lines:
|
||||
# Calculate total height required for spinner and text
|
||||
spacing = 50
|
||||
total_height = TEXTURE_SIZE + spacing + len(wrapped_lines) * LINE_HEIGHT
|
||||
center_y = (gui_app.height - total_height) / 2.0 + TEXTURE_SIZE / 2.0
|
||||
else:
|
||||
# Center spinner vertically
|
||||
spacing = 150
|
||||
center_y = gui_app.height / 2.0
|
||||
y_pos = center_y + TEXTURE_SIZE / 2.0 + spacing
|
||||
|
||||
center = rl.Vector2(gui_app.width / 2.0, center_y)
|
||||
spinner_origin = rl.Vector2(TEXTURE_SIZE / 2.0, TEXTURE_SIZE / 2.0)
|
||||
comma_position = rl.Vector2(center.x - TEXTURE_SIZE / 2.0, center.y - TEXTURE_SIZE / 2.0)
|
||||
|
||||
fps = rl.get_fps()
|
||||
if fps > 0:
|
||||
degrees_per_frame = 360.0 / (ROTATION_TIME_SECONDS * fps)
|
||||
self._rotation = (self._rotation + degrees_per_frame) % 360.0
|
||||
delta_time = rl.get_frame_time()
|
||||
self._rotation = (self._rotation + DEGREES_PER_SECOND * delta_time) % 360.0
|
||||
|
||||
# Draw rotating spinner and static comma logo
|
||||
rl.draw_texture_pro(self._spinner_texture, rl.Rectangle(0, 0, TEXTURE_SIZE, TEXTURE_SIZE),
|
||||
@@ -48,23 +71,17 @@ class Spinner:
|
||||
rl.draw_texture_v(self._comma_texture, comma_position, rl.WHITE)
|
||||
|
||||
# Display progress bar or text based on user input
|
||||
text = None
|
||||
with self._lock:
|
||||
text = self._text
|
||||
if progress is not None:
|
||||
bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT)
|
||||
rl.draw_rectangle_rounded(bar, 1, 10, DARKGRAY)
|
||||
|
||||
if text:
|
||||
y_pos = rl.get_screen_height() - MARGIN - PROGRESS_BAR_HEIGHT
|
||||
if text.isdigit():
|
||||
progress = clamp(int(text), 0, 100)
|
||||
bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT)
|
||||
rl.draw_rectangle_rounded(bar, 0.5, 10, rl.GRAY)
|
||||
|
||||
bar.width *= progress / 100.0
|
||||
rl.draw_rectangle_rounded(bar, 0.5, 10, rl.WHITE)
|
||||
else:
|
||||
text_size = rl.measure_text_ex(gui_app.font(), text, FONT_SIZE, 1.0)
|
||||
rl.draw_text_ex(gui_app.font(), text,
|
||||
rl.Vector2(center.x - text_size.x / 2, y_pos), FONT_SIZE, 1.0, rl.WHITE)
|
||||
bar.width *= progress / 100.0
|
||||
rl.draw_rectangle_rounded(bar, 1, 10, rl.WHITE)
|
||||
elif wrapped_lines:
|
||||
for i, line in enumerate(wrapped_lines):
|
||||
text_size = rl.measure_text_ex(gui_app.font(), line, FONT_SIZE, 0.0)
|
||||
rl.draw_text_ex(gui_app.font(), line, rl.Vector2(center.x - text_size.x / 2, y_pos + i * LINE_HEIGHT),
|
||||
FONT_SIZE, 0.0, rl.WHITE)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
+28
-15
@@ -1,14 +1,15 @@
|
||||
#!/usr/bin/env python3
|
||||
import re
|
||||
import pyray as rl
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
from openpilot.system.hardware import HARDWARE, PC
|
||||
from openpilot.system.ui.lib.button import gui_button, ButtonStyle
|
||||
from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
|
||||
MARGIN = 50
|
||||
SPACING = 50
|
||||
FONT_SIZE = 60
|
||||
LINE_HEIGHT = 64
|
||||
FONT_SIZE = 72
|
||||
LINE_HEIGHT = 80
|
||||
BUTTON_SIZE = rl.Vector2(310, 160)
|
||||
|
||||
DEMO_TEXT = """This is a sample text that will be wrapped and scrolled if necessary.
|
||||
@@ -16,18 +17,26 @@ DEMO_TEXT = """This is a sample text that will be wrapped and scrolled if necess
|
||||
|
||||
def wrap_text(text, font_size, max_width):
|
||||
lines = []
|
||||
current_line = ""
|
||||
font = gui_app.font()
|
||||
|
||||
for word in text.split():
|
||||
test_line = current_line + word + " "
|
||||
if rl.measure_text_ex(font, test_line, font_size, 0).x <= max_width:
|
||||
current_line = test_line
|
||||
else:
|
||||
for paragraph in text.split("\n"):
|
||||
if not paragraph.strip():
|
||||
# Don't add empty lines first, ensuring wrap_text("") returns []
|
||||
if lines:
|
||||
lines.append("")
|
||||
continue
|
||||
indent = re.match(r"^\s*", paragraph).group()
|
||||
current_line = indent
|
||||
for word in paragraph.split():
|
||||
test_line = current_line + word + " "
|
||||
if rl.measure_text_ex(font, test_line, font_size, 0).x <= max_width:
|
||||
current_line = test_line
|
||||
else:
|
||||
lines.append(current_line)
|
||||
current_line = word + " "
|
||||
current_line = current_line.rstrip()
|
||||
if current_line:
|
||||
lines.append(current_line)
|
||||
current_line = word + " "
|
||||
if current_line:
|
||||
lines.append(current_line)
|
||||
|
||||
return lines
|
||||
|
||||
@@ -45,13 +54,16 @@ class TextWindow:
|
||||
position = rl.Vector2(self._textarea_rect.x + scroll.x, self._textarea_rect.y + scroll.y + i * LINE_HEIGHT)
|
||||
if position.y + LINE_HEIGHT < self._textarea_rect.y or position.y > self._textarea_rect.y + self._textarea_rect.height:
|
||||
continue
|
||||
rl.draw_text_ex(gui_app.font(), line.strip(), position, FONT_SIZE, 0, rl.WHITE)
|
||||
rl.draw_text_ex(gui_app.font(), line, position, FONT_SIZE, 0, rl.WHITE)
|
||||
rl.end_scissor_mode()
|
||||
|
||||
button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y)
|
||||
ret = gui_button(button_bounds, "Reboot", button_style=ButtonStyle.TRANSPARENT)
|
||||
ret = gui_button(button_bounds, "Exit" if PC else "Reboot", button_style=ButtonStyle.TRANSPARENT)
|
||||
if ret:
|
||||
HARDWARE.reboot()
|
||||
if PC:
|
||||
gui_app.request_close()
|
||||
else:
|
||||
HARDWARE.reboot()
|
||||
return ret
|
||||
|
||||
|
||||
@@ -60,6 +72,7 @@ def show_text_in_window(text: str):
|
||||
text_window = TextWindow(text)
|
||||
for _ in gui_app.render():
|
||||
text_window.render()
|
||||
gui_app.close()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
Executable
+197
@@ -0,0 +1,197 @@
|
||||
#!/usr/bin/env python3
|
||||
import sys
|
||||
import subprocess
|
||||
import threading
|
||||
import pyray as rl
|
||||
from enum import IntEnum
|
||||
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.lib.button import gui_button, ButtonStyle
|
||||
from openpilot.system.ui.lib.label import gui_text_box, gui_label
|
||||
|
||||
# Constants
|
||||
MARGIN = 50
|
||||
BUTTON_HEIGHT = 160
|
||||
BUTTON_WIDTH = 400
|
||||
PROGRESS_BAR_HEIGHT = 72
|
||||
TITLE_FONT_SIZE = 80
|
||||
BODY_FONT_SIZE = 65
|
||||
BACKGROUND_COLOR = rl.BLACK
|
||||
PROGRESS_BG_COLOR = rl.Color(41, 41, 41, 255)
|
||||
PROGRESS_COLOR = rl.Color(54, 77, 239, 255)
|
||||
|
||||
|
||||
class Screen(IntEnum):
|
||||
PROMPT = 0
|
||||
WIFI = 1
|
||||
PROGRESS = 2
|
||||
|
||||
|
||||
class Updater:
|
||||
def __init__(self, updater_path, manifest_path):
|
||||
self.updater = updater_path
|
||||
self.manifest = manifest_path
|
||||
self.current_screen = Screen.PROMPT
|
||||
|
||||
self.progress_value = 0
|
||||
self.progress_text = "Loading..."
|
||||
self.show_reboot_button = False
|
||||
self.process = None
|
||||
self.update_thread = None
|
||||
|
||||
def install_update(self):
|
||||
self.current_screen = Screen.PROGRESS
|
||||
self.progress_value = 0
|
||||
self.progress_text = "Downloading..."
|
||||
self.show_reboot_button = False
|
||||
|
||||
# Start the update process in a separate thread
|
||||
self.update_thread = threading.Thread(target=self._run_update_process)
|
||||
self.update_thread.daemon = True
|
||||
self.update_thread.start()
|
||||
|
||||
def _run_update_process(self):
|
||||
# TODO: just import it and run in a thread without a subprocess
|
||||
cmd = [self.updater, "--swap", self.manifest]
|
||||
self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE,
|
||||
text=True, bufsize=1, universal_newlines=True)
|
||||
|
||||
for line in self.process.stdout:
|
||||
parts = line.strip().split(":")
|
||||
if len(parts) == 2:
|
||||
self.progress_text = parts[0]
|
||||
try:
|
||||
self.progress_value = int(float(parts[1]))
|
||||
except ValueError:
|
||||
pass
|
||||
|
||||
exit_code = self.process.wait()
|
||||
if exit_code == 0:
|
||||
HARDWARE.reboot()
|
||||
else:
|
||||
self.progress_text = "Update failed"
|
||||
self.show_reboot_button = True
|
||||
|
||||
def render_prompt_screen(self):
|
||||
# Title
|
||||
title_rect = rl.Rectangle(MARGIN + 50, 250, gui_app.width - MARGIN * 2 - 100, TITLE_FONT_SIZE)
|
||||
gui_label(title_rect, "Update Required", TITLE_FONT_SIZE, font_weight=FontWeight.BOLD)
|
||||
|
||||
# Description
|
||||
desc_text = "An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. \
|
||||
The download size is approximately 1GB."
|
||||
desc_rect = rl.Rectangle(MARGIN + 50, 250 + TITLE_FONT_SIZE + 75, gui_app.width - MARGIN * 2 - 100, BODY_FONT_SIZE * 3)
|
||||
gui_text_box(desc_rect, desc_text, BODY_FONT_SIZE)
|
||||
|
||||
# Buttons at the bottom
|
||||
button_y = gui_app.height - MARGIN - BUTTON_HEIGHT
|
||||
button_width = (gui_app.width - MARGIN * 3) // 2
|
||||
|
||||
# WiFi button
|
||||
wifi_button_rect = rl.Rectangle(MARGIN, button_y, button_width, BUTTON_HEIGHT)
|
||||
if gui_button(wifi_button_rect, "Connect to Wi-Fi"):
|
||||
self.current_screen = Screen.WIFI
|
||||
return # Return to avoid processing other buttons after screen change
|
||||
|
||||
# Install button
|
||||
install_button_rect = rl.Rectangle(MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT)
|
||||
if gui_button(install_button_rect, "Install", button_style=ButtonStyle.PRIMARY):
|
||||
self.install_update()
|
||||
return # Return to avoid further processing after action
|
||||
|
||||
def render_wifi_screen(self):
|
||||
# Title and back button
|
||||
title_rect = rl.Rectangle(MARGIN + 50, MARGIN, gui_app.width - MARGIN * 2 - 100, 60)
|
||||
gui_label(title_rect, "Wi-Fi Networks", 60, font_weight=FontWeight.BOLD)
|
||||
|
||||
back_button_rect = rl.Rectangle(MARGIN, gui_app.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT)
|
||||
if gui_button(back_button_rect, "Back"):
|
||||
self.current_screen = Screen.PROMPT
|
||||
return # Return to avoid processing other interactions after screen change
|
||||
|
||||
# Draw placeholder for WiFi implementation
|
||||
placeholder_rect = rl.Rectangle(
|
||||
MARGIN,
|
||||
title_rect.y + title_rect.height + MARGIN,
|
||||
gui_app.width - MARGIN * 2,
|
||||
gui_app.height - title_rect.height - MARGIN * 3 - BUTTON_HEIGHT
|
||||
)
|
||||
|
||||
# Draw rounded rectangle background
|
||||
rl.draw_rectangle_rounded(
|
||||
placeholder_rect,
|
||||
0.1,
|
||||
10,
|
||||
rl.Color(41, 41, 41, 255)
|
||||
)
|
||||
|
||||
# Draw placeholder text
|
||||
placeholder_text = "WiFi Implementation Placeholder"
|
||||
text_size = rl.measure_text_ex(gui_app.font(), placeholder_text, 80, 1)
|
||||
text_pos = rl.Vector2(
|
||||
placeholder_rect.x + (placeholder_rect.width - text_size.x) / 2,
|
||||
placeholder_rect.y + (placeholder_rect.height - text_size.y) / 2
|
||||
)
|
||||
rl.draw_text_ex(gui_app.font(), placeholder_text, text_pos, 80, 1, rl.WHITE)
|
||||
|
||||
# Draw instructions
|
||||
instructions_text = "Real WiFi functionality would be implemented here"
|
||||
instructions_size = rl.measure_text_ex(gui_app.font(), instructions_text, 40, 1)
|
||||
instructions_pos = rl.Vector2(
|
||||
placeholder_rect.x + (placeholder_rect.width - instructions_size.x) / 2,
|
||||
text_pos.y + text_size.y + 20
|
||||
)
|
||||
rl.draw_text_ex(gui_app.font(), instructions_text, instructions_pos, 40, 1, rl.GRAY)
|
||||
|
||||
def render_progress_screen(self):
|
||||
title_rect = rl.Rectangle(MARGIN + 100, 330, gui_app.width - MARGIN * 2 - 200, 100)
|
||||
gui_label(title_rect, self.progress_text, 90, font_weight=FontWeight.SEMI_BOLD)
|
||||
|
||||
# Progress bar
|
||||
bar_rect = rl.Rectangle(MARGIN + 100, 330 + 100 + 100, gui_app.width - MARGIN * 2 - 200, PROGRESS_BAR_HEIGHT)
|
||||
rl.draw_rectangle_rounded(bar_rect, 0.5, 10, PROGRESS_BG_COLOR)
|
||||
|
||||
# Calculate the width of the progress chunk
|
||||
progress_width = (bar_rect.width * self.progress_value) / 100
|
||||
if progress_width > 0:
|
||||
progress_rect = rl.Rectangle(bar_rect.x, bar_rect.y, progress_width, bar_rect.height)
|
||||
rl.draw_rectangle_rounded(progress_rect, 0.5, 10, PROGRESS_COLOR)
|
||||
|
||||
# Show reboot button if needed
|
||||
if self.show_reboot_button:
|
||||
reboot_rect = rl.Rectangle(MARGIN + 100, gui_app.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT)
|
||||
if gui_button(reboot_rect, "Reboot"):
|
||||
# Return True to signal main loop to exit before rebooting
|
||||
HARDWARE.reboot()
|
||||
return
|
||||
|
||||
def render(self):
|
||||
if self.current_screen == Screen.PROMPT:
|
||||
self.render_prompt_screen()
|
||||
elif self.current_screen == Screen.WIFI:
|
||||
self.render_wifi_screen()
|
||||
elif self.current_screen == Screen.PROGRESS:
|
||||
self.render_progress_screen()
|
||||
|
||||
|
||||
def main():
|
||||
if len(sys.argv) < 3:
|
||||
print("Usage: updater.py <updater_path> <manifest_path>")
|
||||
sys.exit(1)
|
||||
|
||||
updater_path = sys.argv[1]
|
||||
manifest_path = sys.argv[2]
|
||||
|
||||
try:
|
||||
gui_app.init_window("System Update")
|
||||
updater = Updater(updater_path, manifest_path)
|
||||
for _ in gui_app.render():
|
||||
updater.render()
|
||||
finally:
|
||||
# Make sure we clean up even if there's an error
|
||||
gui_app.close()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -61,13 +61,15 @@ def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None, pl
|
||||
env["BASEDIR"] = BASEDIR
|
||||
env["PATH"] = f"{INSTALL_DIR}:{os.getenv('PATH', '')}"
|
||||
if dbc:
|
||||
if os.path.exists(dbc):
|
||||
dbc = os.path.abspath(dbc)
|
||||
env["DBC_NAME"] = dbc
|
||||
|
||||
extra_args = ""
|
||||
if fn is not None:
|
||||
extra_args += f" -d {fn}"
|
||||
extra_args += f" -d {os.path.abspath(fn)}"
|
||||
if layout is not None:
|
||||
extra_args += f" -l {layout}"
|
||||
extra_args += f" -l {os.path.abspath(layout)}"
|
||||
if route_or_segment_name is not None:
|
||||
extra_args += f" --window_title \"{route_or_segment_name}{f' ({platform})' if platform is not None else ''}\""
|
||||
|
||||
|
||||
@@ -40,7 +40,7 @@ class SimulatorBridge(ABC):
|
||||
def __init__(self, dual_camera, high_quality):
|
||||
set_params_enabled()
|
||||
self.params = Params()
|
||||
self.params.put_bool("ExperimentalLongitudinalEnabled", True)
|
||||
self.params.put_bool("AlphaLongitudinalEnabled", True)
|
||||
|
||||
self.rk = Ratekeeper(100, None)
|
||||
|
||||
|
||||
@@ -70,15 +70,15 @@ wheels = [
|
||||
|
||||
[[package]]
|
||||
name = "aioice"
|
||||
version = "0.9.0"
|
||||
version = "0.10.1"
|
||||
source = { registry = "https://pypi.org/simple" }
|
||||
dependencies = [
|
||||
{ name = "dnspython" },
|
||||
{ name = "ifaddr" },
|
||||
]
|
||||
sdist = { url = "https://files.pythonhosted.org/packages/33/b6/e2b0e48ccb5b04fe29265e93f14a0915f416e359c897ae87d570566c430b/aioice-0.9.0.tar.gz", hash = "sha256:fc2401b1c4b6e19372eaaeaa28fd1bd9cbf6b0e412e48625297c53b495eebd1e", size = 40324 }
|
||||
sdist = { url = "https://files.pythonhosted.org/packages/95/a2/45dfab1d5a7f96c48595a5770379acf406cdf02a2cd1ac1729b599322b08/aioice-0.10.1.tar.gz", hash = "sha256:5c8e1422103448d171925c678fb39795e5fe13d79108bebb00aa75a899c2094a", size = 44304 }
|
||||
wheels = [
|
||||
{ url = "https://files.pythonhosted.org/packages/b6/35/d21e48d3ba25d32aba5d142d54c4491376c659dd74d052a30dd25198007b/aioice-0.9.0-py3-none-any.whl", hash = "sha256:b609597a3a5a611e0004ff04772e16aceb881d51c25c0afc4ceac05d5e50024e", size = 24177 },
|
||||
{ url = "https://files.pythonhosted.org/packages/3b/58/af07dda649c22a1ae954ffb7aaaf4d4a57f1bf00ebdf62307affc0b8552f/aioice-0.10.1-py3-none-any.whl", hash = "sha256:f31ae2abc8608b1283ed5f21aebd7b6bd472b152ff9551e9b559b2d8efed79e9", size = 24872 },
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@@ -877,11 +877,11 @@ wheels = [
|
||||
|
||||
[[package]]
|
||||
name = "markdown"
|
||||
version = "3.7"
|
||||
version = "3.8"
|
||||
source = { registry = "https://pypi.org/simple" }
|
||||
sdist = { url = "https://files.pythonhosted.org/packages/54/28/3af612670f82f4c056911fbbbb42760255801b3068c48de792d354ff4472/markdown-3.7.tar.gz", hash = "sha256:2ae2471477cfd02dbbf038d5d9bc226d40def84b4fe2986e49b59b6b472bbed2", size = 357086 }
|
||||
sdist = { url = "https://files.pythonhosted.org/packages/2f/15/222b423b0b88689c266d9eac4e61396fe2cc53464459d6a37618ac863b24/markdown-3.8.tar.gz", hash = "sha256:7df81e63f0df5c4b24b7d156eb81e4690595239b7d70937d0409f1b0de319c6f", size = 360906 }
|
||||
wheels = [
|
||||
{ url = "https://files.pythonhosted.org/packages/3f/08/83871f3c50fc983b88547c196d11cf8c3340e37c32d2e9d6152abe2c61f7/Markdown-3.7-py3-none-any.whl", hash = "sha256:7eb6df5690b81a1d7942992c97fad2938e956e79df20cbc6186e9c3a77b1c803", size = 106349 },
|
||||
{ url = "https://files.pythonhosted.org/packages/51/3f/afe76f8e2246ffbc867440cbcf90525264df0e658f8a5ca1f872b3f6192a/markdown-3.8-py3-none-any.whl", hash = "sha256:794a929b79c5af141ef5ab0f2f642d0f7b1872981250230e72682346f7cc90dc", size = 106210 },
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@@ -1092,41 +1092,45 @@ wheels = [
|
||||
|
||||
[[package]]
|
||||
name = "multidict"
|
||||
version = "6.3.2"
|
||||
version = "6.4.3"
|
||||
source = { registry = "https://pypi.org/simple" }
|
||||
sdist = { url = "https://files.pythonhosted.org/packages/fa/2d/6e0d6771cadd5ad14d13193cc8326dc0b341cc1659c306cbfce7a5058fff/multidict-6.3.2.tar.gz", hash = "sha256:c1035eea471f759fa853dd6e76aaa1e389f93b3e1403093fa0fd3ab4db490678", size = 88060 }
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||||
sdist = { url = "https://files.pythonhosted.org/packages/da/2c/e367dfb4c6538614a0c9453e510d75d66099edf1c4e69da1b5ce691a1931/multidict-6.4.3.tar.gz", hash = "sha256:3ada0b058c9f213c5f95ba301f922d402ac234f1111a7d8fd70f1b99f3c281ec", size = 89372 }
|
||||
wheels = [
|
||||
{ url = "https://files.pythonhosted.org/packages/b1/e3/443e682e42eaddad0b217b7a59627927fa42b6cd7ba7174f0a01eb3fe6b8/multidict-6.3.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:45a034f41fcd16968c0470d8912d293d7b0d0822fc25739c5c2ff7835b85bc56", size = 62734 },
|
||||
{ url = "https://files.pythonhosted.org/packages/b1/4f/2126e9bc37f5be2fdfa36cc192e7ef10b3e9c58eec75a4468706aca96891/multidict-6.3.2-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:352585cec45f5d83d886fc522955492bb436fca032b11d487b12d31c5a81b9e3", size = 37115 },
|
||||
{ url = "https://files.pythonhosted.org/packages/6a/af/5aae0c05a66fdf8bf015ee6903d3a250a7d9c6cc75c9478d04995e6ff1e2/multidict-6.3.2-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:da9d89d293511fd0a83a90559dc131f8b3292b6975eb80feff19e5f4663647e2", size = 36371 },
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||||
{ url = "https://files.pythonhosted.org/packages/94/27/42390b75c20ff63f43fce44f36f9f66be466cd9ee05326051e4caacdb75b/multidict-6.3.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:79fa716592224aa652b9347a586cfe018635229074565663894eb4eb21f8307f", size = 243444 },
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{ url = "https://files.pythonhosted.org/packages/21/55/77077af851d7678fe0845c4050a537321d82fb12a04d4f6db334a1cc6ff7/multidict-6.3.2-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:0326278a44c56e94792475268e5cd3d47fbc0bd41ee56928c3bbb103ba7f58fe", size = 256750 },
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||||
{ url = "https://files.pythonhosted.org/packages/f1/09/4c5bfeb2fc8a1e14002239bd6a4d9ba2963fb148889d444b05a20db32a41/multidict-6.3.2-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:bb1ea87f7fe45e5079f6315e95d64d4ca8b43ef656d98bed63a02e3756853a22", size = 251630 },
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||||
{ url = "https://files.pythonhosted.org/packages/24/a9/286756a1afb8648772de851f8f39d2dd4076506f0c0fc2b751259fcbf0dd/multidict-6.3.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7cff3c5a98d037024a9065aafc621a8599fad7b423393685dc83cf7a32f8b691", size = 238522 },
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{ url = "https://files.pythonhosted.org/packages/c2/03/4bb17df70742aae786fcbc27e89e2e49c322134698cd0739aec93e91c669/multidict-6.3.2-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ed99834b053c655d980fb98029003cb24281e47a796052faad4543aa9e01b8e8", size = 230230 },
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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Reference in New Issue
Block a user