invoke platform selector on show event

* ui: Display default driving model if in use

* add ref commit and tests

* fix commit

* update msg

* update msg

* fix lint

* use sha256 hash instead

.github/workflows/ui_preview.yaml

@@ -86,7 +86,7 @@ jobs:
         run: >-
           sudo apt-get install -y imagemagick
 
-          scenes="homescreen settings_device settings_network settings_network_advanced settings_software settings_sunnylink settings_toggles settings_sunnypilot settings_sunnypilot_mads settings_trips settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard keyboard_uppercase"
+          scenes="homescreen settings_device settings_network settings_network_advanced settings_software settings_sunnylink settings_toggles settings_sunnypilot settings_sunnypilot_mads settings_trips settings_vehicle settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard keyboard_uppercase"
           A=($scenes)
 
           DIFF=""

cereal/messaging/bridge.cc

@@ -6,12 +6,12 @@
 
 ExitHandler do_exit;
 
-static std::vector<std::string> get_services(std::string whitelist_str, bool zmq_to_msgq) {
+static std::vector<std::string> get_services(const std::string &whitelist_str, bool zmq_to_msgq) {
   std::vector<std::string> service_list;
   for (const auto& it : services) {
     std::string name = it.second.name;
     bool in_whitelist = whitelist_str.find(name) != std::string::npos;
-    if (name == "plusFrame" || name == "uiLayoutState" || (zmq_to_msgq && !in_whitelist)) {
+    if (zmq_to_msgq && !in_whitelist) {
       continue;
     }
     service_list.push_back(name);

common/model.h

@@ -0,0 +1 @@
+#define DEFAULT_MODEL "Notre Dame (Default)"

common/params.cc

@@ -206,6 +206,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CarParamsSP", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"CarParamsSPCache", CLEAR_ON_MANAGER_START},
     {"CarParamsSPPersistent", PERSISTENT},
+    {"CarPlatformBundle", PERSISTENT},
     {"EnableGithubRunner", PERSISTENT | BACKUP},
     {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
     {"OffroadMode", CLEAR_ON_MANAGER_START},

docs/how-to/connect-to-comma.md

@@ -29,6 +29,22 @@ Here's an example command for connecting to your device using its tethered conne
 
 For doing development work on device, it's recommended to use [SSH agent forwarding](https://docs.github.com/en/developers/overview/using-ssh-agent-forwarding).
 
+
+## ADB
+
+In order to use ADB on your device, you'll need to enable it in the device's settings.
+
+* Enable ADB in your device's settings
+* Connect to your device
+    * `adb shell` over USB
+    * `adb connect` over WiFi
+    * Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
+
+> [!NOTE]
+> The default port for ADB is 5555 on the comma 3/3X.
+
+For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
+
 ### Notes
 
 The public keys are only fetched from your GitHub account once. In order to update your device's authorized keys, you'll need to re-enter your GitHub username.

selfdrive/car/car_specific.py

@@ -42,19 +42,19 @@ class CarSpecificEvents:
     self.cruise_buttons: deque = deque([], maxlen=HYUNDAI_PREV_BUTTON_SAMPLES)
 
   def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
-    if self.CP.carName in ('body', 'mock'):
+    if self.CP.brand in ('body', 'mock'):
       events = Events()
 
-    elif self.CP.carName in ('subaru', 'mazda'):
+    elif self.CP.brand in ('subaru', 'mazda'):
       events = self.create_common_events(CS, CS_prev)
 
-    elif self.CP.carName == 'ford':
+    elif self.CP.brand == 'ford':
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.manumatic])
 
-    elif self.CP.carName == 'nissan':
+    elif self.CP.brand == 'nissan':
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.brake])
 
-    elif self.CP.carName == 'chrysler':
+    elif self.CP.brand == 'chrysler':
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low])
 
       # Low speed steer alert hysteresis logic
@@ -65,7 +65,7 @@ class CarSpecificEvents:
       if self.low_speed_alert:
         events.add(EventName.belowSteerSpeed)
 
-    elif self.CP.carName == 'honda':
+    elif self.CP.brand == 'honda':
       events = self.create_common_events(CS, CS_prev, pcm_enable=False)
 
       if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
@@ -86,7 +86,7 @@ class CarSpecificEvents:
       if self.CP.minEnableSpeed > 0 and CS.vEgo < 0.001:
         events.add(EventName.manualRestart)
 
-    elif self.CP.carName == 'toyota':
+    elif self.CP.brand == 'toyota':
       events = self.create_common_events(CS, CS_prev)
 
       if self.CP.openpilotLongitudinalControl:
@@ -101,7 +101,7 @@ class CarSpecificEvents:
             # while in standstill, send a user alert
             events.add(EventName.manualRestart)
 
-    elif self.CP.carName == 'gm':
+    elif self.CP.brand == 'gm':
       # The ECM allows enabling on falling edge of set, but only rising edge of resume
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
                                                                    GearShifter.eco, GearShifter.manumatic],
@@ -120,7 +120,7 @@ class CarSpecificEvents:
       if CS.vEgo < self.CP.minSteerSpeed:
         events.add(EventName.belowSteerSpeed)
 
-    elif self.CP.carName == 'volkswagen':
+    elif self.CP.brand == 'volkswagen':
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
                                          pcm_enable=self.CP.pcmCruise,
                                          enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
@@ -143,7 +143,7 @@ class CarSpecificEvents:
       # if CC.eps_timer_soft_disable_alert:  # type: ignore[attr-defined]
       #   events.add(EventName.steerTimeLimit)
 
-    elif self.CP.carName == 'hyundai':
+    elif self.CP.brand == 'hyundai':
       # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
       # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
       # Main button also can trigger an engagement on these cars
@@ -160,7 +160,7 @@ class CarSpecificEvents:
         events.add(EventName.belowSteerSpeed)
 
     else:
-      raise ValueError(f"Unsupported car: {self.CP.carName}")
+      raise ValueError(f"Unsupported car: {self.CP.brand}")
 
     return events
 

selfdrive/car/card.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import json
 import os
 import time
 import threading
@@ -104,7 +105,9 @@ class Car:
         with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
           cached_params = _cached_params
 
-      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
+      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)
       interfaces.setup_car_interface_sp(self.CI.CP, self.CI.CP_SP, self.params)
       self.RI = get_radar_interface(self.CI.CP, self.CI.CP_SP)
       self.CP = self.CI.CP
@@ -199,7 +202,7 @@ class Car:
 
     # Update carState from CAN
     CS = self.CI.update(can_list)
-    if self.CP.carName == 'mock':
+    if self.CP.brand == 'mock':
       CS = self.mock_carstate.update(CS)
 
     # Update radar tracks from CAN

selfdrive/car/tests/test_models.py

@@ -367,11 +367,11 @@ class TestCarModelBase(unittest.TestCase):
       if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving:
         self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving())
 
-      if not (self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH)):
+      if not (self.CP.brand == "honda" and not (self.CP.flags & HondaFlags.BOSCH)):
         if self.safety.get_cruise_engaged_prev() != prev_panda_cruise_engaged:
           self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev())
 
-      if self.CP.carName == "honda":
+      if self.CP.brand == "honda":
         if self.safety.get_acc_main_on() != prev_panda_acc_main_on:
           self.assertEqual(CS.cruiseState.available, self.safety.get_acc_main_on())
 
@@ -426,7 +426,7 @@ class TestCarModelBase(unittest.TestCase):
         # On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state.
         # On Honda Nidec, we always engage on the rising edge of the PCM cruise state, but
         # openpilot brakes to zero even if the min ACC speed is non-zero (i.e. the PCM disengages).
-        if self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH):
+        if self.CP.brand == "honda" and not (self.CP.flags & HondaFlags.BOSCH):
           # only the rising edges are expected to match
           if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled:
             checks['controlsAllowed'] += not self.safety.get_controls_allowed()
@@ -448,7 +448,7 @@ class TestCarModelBase(unittest.TestCase):
         if button_enable and not mismatch:
           self.safety.set_controls_allowed(False)
 
-      if self.CP.carName == "honda":
+      if self.CP.brand == "honda":
         checks['mainOn'] += CS.cruiseState.available != self.safety.get_acc_main_on()
 
       CS_prev = CS

selfdrive/controls/plannerd.py

@@ -14,7 +14,7 @@ def main():
   cloudlog.info("plannerd is waiting for CarParams")
   params = Params()
   CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
-  cloudlog.info("plannerd got CarParams: %s", CP.carName)
+  cloudlog.info("plannerd got CarParams: %s", CP.brand)
 
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP)

selfdrive/debug/adb.sh

@@ -1,11 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-PORT=5555
-
-setprop service.adb.tcp.port $PORT
-sudo systemctl start adbd
-
-IP=$(echo $SSH_CONNECTION | awk '{ print $3}')
-echo "then, connect on your computer:"
-echo "adb connect $IP:$PORT"

selfdrive/locationd/locationd.py

@@ -24,14 +24,16 @@ MIN_STD_SANITY_CHECK = 1e-5  # m or rad
 MAX_FILTER_REWIND_TIME = 0.8  # s
 MAX_SENSOR_TIME_DIFF = 0.1  # s
 YAWRATE_CROSS_ERR_CHECK_FACTOR = 30
-INPUT_INVALID_THRESHOLD = 0.5  # 0 bad inputs ignored
-TIMING_INVALID_THRESHOLD = 2.5  # 2 bad timings ignored
-INPUT_INVALID_DECAY = 0.9993  # ~10 secs to resume after exceeding allowed bad inputs by one (at 100hz)
-TIMING_INVALID_DECAY = 0.9990  # ~2 secs to resume after exceeding allowed bad timings by one (at 100hz)
+INPUT_INVALID_LIMIT = 2.0 # 1 (camodo) / 9 (sensor) bad input[s] ignored
+INPUT_INVALID_RECOVERY = 10.0 # ~10 secs to resume after exceeding allowed bad inputs by one
 POSENET_STD_INITIAL_VALUE = 10.0
 POSENET_STD_HIST_HALF = 20
 
 
+def calculate_invalid_input_decay(invalid_limit, recovery_time, frequency):
+  return (1 - 1 / (2 * invalid_limit)) ** (1 / (recovery_time * frequency))
+
+
 def init_xyz_measurement(measurement: capnp._DynamicStructBuilder, values: np.ndarray, stds: np.ndarray, valid: bool):
   assert len(values) == len(stds) == 3
   measurement.x, measurement.y, measurement.z = map(float, values)
@@ -269,11 +271,11 @@ def main():
 
   filter_initialized = False
   critcal_services = ["accelerometer", "gyroscope", "cameraOdometry"]
-  observation_timing_invalid = defaultdict(int)
   observation_input_invalid = defaultdict(int)
 
-  input_invalid_decay = {s: INPUT_INVALID_DECAY ** (100. / SERVICE_LIST[s].frequency) for s in critcal_services}
-  timing_invalid_decay = {s: TIMING_INVALID_DECAY ** (100. / SERVICE_LIST[s].frequency) for s in critcal_services}
+  input_invalid_limit = {s: round(INPUT_INVALID_LIMIT * (SERVICE_LIST[s].frequency / 20.)) for s in critcal_services}
+  input_invalid_threshold = {s: input_invalid_limit[s] - 0.5 for s in critcal_services}
+  input_invalid_decay = {s: calculate_invalid_input_decay(input_invalid_limit[s], INPUT_INVALID_RECOVERY, SERVICE_LIST[s].frequency) for s in critcal_services}
 
   initial_pose = params.get("LocationFilterInitialState")
   if initial_pose is not None:
@@ -306,19 +308,20 @@ def main():
             continue
 
           if res == HandleLogResult.TIMING_INVALID:
-            observation_timing_invalid[which] += 1
+            print(f"Observation {which} ignored due to failed timing check")
+            observation_input_invalid[which] += 1
+            print(observation_input_invalid[which])
           elif res == HandleLogResult.INPUT_INVALID:
+            print(f"Observation {which} ignored due to failed sanity check")
             observation_input_invalid[which] += 1
           else:
             observation_input_invalid[which] *= input_invalid_decay[which]
-            observation_timing_invalid[which] *= timing_invalid_decay[which]
     else:
       filter_initialized = sm.all_checks() and sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, SIMULATION)
 
     if sm.updated["cameraOdometry"]:
-      critical_service_inputs_valid = all(observation_input_invalid[s] < INPUT_INVALID_THRESHOLD for s in critcal_services)
-      critical_service_timing_valid = all(observation_timing_invalid[s] < TIMING_INVALID_THRESHOLD for s in critcal_services)
-      inputs_valid = sm.all_valid() and critical_service_inputs_valid and critical_service_timing_valid
+      critical_service_inputs_valid = all(observation_input_invalid[s] < input_invalid_threshold[s] for s in critcal_services)
+      inputs_valid = sm.all_valid() and critical_service_inputs_valid
       sensors_valid = sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, SIMULATION)
 
       msg = estimator.get_msg(sensors_valid, inputs_valid, filter_initialized)

selfdrive/locationd/test/test_locationd.py

@@ -1,56 +0,0 @@
-import capnp
-
-import cereal.messaging as messaging
-from openpilot.common.params import Params
-
-from openpilot.system.manager.process_config import managed_processes
-
-
-class TestLocationdProc:
-  LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration',
-              'accelerometer', 'gyroscope', 'magnetometer']
-
-  def setup_method(self):
-    self.pm = messaging.PubMaster(self.LLD_MSGS)
-
-    self.params = Params()
-    self.params.put_bool("UbloxAvailable", True)
-    managed_processes['locationd'].prepare()
-    managed_processes['locationd'].start()
-
-  def teardown_method(self):
-    managed_processes['locationd'].stop()
-
-  def get_msg(self, name, t):
-    try:
-      msg = messaging.new_message(name)
-    except capnp.lib.capnp.KjException:
-      msg = messaging.new_message(name, 0)
-
-    if name == "gpsLocationExternal":
-      msg.gpsLocationExternal.flags = 1
-      msg.gpsLocationExternal.hasFix = True
-      msg.gpsLocationExternal.verticalAccuracy = 1.0
-      msg.gpsLocationExternal.speedAccuracy = 1.0
-      msg.gpsLocationExternal.bearingAccuracyDeg = 1.0
-      msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0]
-      msg.gpsLocationExternal.latitude = float(self.lat)
-      msg.gpsLocationExternal.longitude = float(self.lon)
-      msg.gpsLocationExternal.unixTimestampMillis = t * 1e6
-      msg.gpsLocationExternal.altitude = float(self.alt)
-    #if name == "gnssMeasurements":
-    #  msg.gnssMeasurements.measTime = t
-    #  msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z]
-    #  msg.gnssMeasurements.positionECEF.std = [0,0,0]
-    #  msg.gnssMeasurements.positionECEF.valid = True
-    #  msg.gnssMeasurements.velocityECEF.value = []
-    #  msg.gnssMeasurements.velocityECEF.std = [0,0,0]
-    #  msg.gnssMeasurements.velocityECEF.valid = True
-    elif name == 'cameraOdometry':
-      msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.rotStd = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.transStd = [0.0, 0.0, 0.0]
-    msg.logMonoTime = t
-    msg.valid = True
-    return msg

selfdrive/locationd/test/test_locationd_scenarios.py

@@ -23,8 +23,10 @@ class Scenario(Enum):
   BASE = 'base'
   GYRO_OFF = 'gyro_off'
   GYRO_SPIKE_MIDWAY = 'gyro_spike_midway'
+  GYRO_CONSISTENT_SPIKES = 'gyro_consistent_spikes'
   ACCEL_OFF = 'accel_off'
   ACCEL_SPIKE_MIDWAY = 'accel_spike_midway'
+  ACCEL_CONSISTENT_SPIKES = 'accel_consistent_spikes'
   SENSOR_TIMING_SPIKE_MIDWAY = 'timing_spikes'
   SENSOR_TIMING_CONSISTENT_SPIKES = 'timing_consistent_spikes'
 
@@ -63,18 +65,20 @@ def run_scenarios(scenario, logs):
   elif scenario == Scenario.GYRO_OFF:
     logs = sorted([x for x in logs if x.which() != 'gyroscope'], key=lambda x: x.logMonoTime)
 
-  elif scenario == Scenario.GYRO_SPIKE_MIDWAY:
+  elif scenario == Scenario.GYRO_SPIKE_MIDWAY or scenario == Scenario.GYRO_CONSISTENT_SPIKES:
     def gyro_spike(msg):
       msg.gyroscope.gyroUncalibrated.v[0] += 3.0
-    logs = modify_logs_midway(logs, 'gyroscope', 1, gyro_spike)
+    count = 1 if scenario == Scenario.GYRO_SPIKE_MIDWAY else CONSISTENT_SPIKES_COUNT
+    logs = modify_logs_midway(logs, 'gyroscope', count, gyro_spike)
 
   elif scenario == Scenario.ACCEL_OFF:
     logs = sorted([x for x in logs if x.which() != 'accelerometer'], key=lambda x: x.logMonoTime)
 
-  elif scenario == Scenario.ACCEL_SPIKE_MIDWAY:
+  elif scenario == Scenario.ACCEL_SPIKE_MIDWAY or scenario == Scenario.ACCEL_CONSISTENT_SPIKES:
     def acc_spike(msg):
-      msg.accelerometer.acceleration.v[0] += 10.0
-    logs = modify_logs_midway(logs, 'accelerometer', 1, acc_spike)
+      msg.accelerometer.acceleration.v[0] += 100.0
+    count = 1 if scenario == Scenario.ACCEL_SPIKE_MIDWAY else CONSISTENT_SPIKES_COUNT
+    logs = modify_logs_midway(logs, 'accelerometer', count, acc_spike)
 
   elif scenario == Scenario.SENSOR_TIMING_SPIKE_MIDWAY or scenario == Scenario.SENSOR_TIMING_CONSISTENT_SPIKES:
     def timing_spike(msg):
@@ -121,7 +125,7 @@ class TestLocationdScenarios:
     assert np.allclose(replayed_data['roll'], 0.0)
     assert np.all(replayed_data['sensors_flag'] == 0.0)
 
-  def test_gyro_spikes(self):
+  def test_gyro_spike(self):
     """
     Test: a gyroscope spike in the middle of the segment
     Expected Result:
@@ -132,8 +136,17 @@ class TestLocationdScenarios:
     orig_data, replayed_data = run_scenarios(Scenario.GYRO_SPIKE_MIDWAY, self.logs)
     assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
     assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
-    assert np.diff(replayed_data['inputs_flag'])[499] == -1.0
-    assert np.diff(replayed_data['inputs_flag'])[704] == 1.0
+    assert np.all(replayed_data['inputs_flag'] == orig_data['inputs_flag'])
+    assert np.all(replayed_data['sensors_flag'] == orig_data['sensors_flag'])
+
+  def test_consistent_gyro_spikes(self):
+    """
+    Test: consistent timing spikes for N gyroscope messages in the middle of the segment
+    Expected Result: inputsOK becomes False after N of bad measurements
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.GYRO_CONSISTENT_SPIKES, self.logs)
+    assert np.diff(replayed_data['inputs_flag'])[501] == -1.0
+    assert np.diff(replayed_data['inputs_flag'])[708] == 1.0
 
   def test_accel_off(self):
     """
@@ -148,7 +161,7 @@ class TestLocationdScenarios:
     assert np.allclose(replayed_data['roll'], 0.0)
     assert np.all(replayed_data['sensors_flag'] == 0.0)
 
-  def test_accel_spikes(self):
+  def test_accel_spike(self):
     """
     ToDo:
     Test: an accelerometer spike in the middle of the segment
@@ -173,5 +186,5 @@ class TestLocationdScenarios:
     Expected Result: inputsOK becomes False after N of bad measurements
     """
     orig_data, replayed_data = run_scenarios(Scenario.SENSOR_TIMING_CONSISTENT_SPIKES, self.logs)
-    assert np.diff(replayed_data['inputs_flag'])[500] == -1.0
-    assert np.diff(replayed_data['inputs_flag'])[787] == 1.0
+    assert np.diff(replayed_data['inputs_flag'])[501] == -1.0
+    assert np.diff(replayed_data['inputs_flag'])[707] == 1.0

selfdrive/locationd/torqued.py

@@ -71,7 +71,7 @@ class TorqueEstimator(ParameterEstimator):
     self.offline_friction = 0.0
     self.offline_latAccelFactor = 0.0
     self.resets = 0.0
-    self.use_params = CP.carName in ALLOWED_CARS and CP.lateralTuning.which() == 'torque'
+    self.use_params = CP.brand in ALLOWED_CARS and CP.lateralTuning.which() == 'torque'
 
     if CP.lateralTuning.which() == 'torque':
       self.offline_friction = CP.lateralTuning.torque.friction

selfdrive/modeld/modeld.py

@@ -194,7 +194,7 @@ def main(demo=False):
     CP = get_demo_car_params()
   else:
     CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
-  cloudlog.info("modeld got CarParams: %s", CP.carName)
+  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

selfdrive/pandad/pandad.cc

@@ -202,7 +202,7 @@ void fill_panda_can_state(cereal::PandaState::PandaCanState::Builder &cs, const
   cs.setCanCoreResetCnt(can_health.can_core_reset_cnt);
 }
 
-std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started, PandaSafety *panda_safety) {
+std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started, bool always_offroad) {
   bool ignition_local = false;
   const uint32_t pandas_cnt = pandas.size();
 
@@ -250,7 +250,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
       health.ignition_line_pkt = 0;
     }
 
-    ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0)) && !panda_safety->getOffroadMode();
+    ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0)) && !always_offroad;
 
     pandaStates.push_back(health);
   }
@@ -337,15 +337,14 @@ void send_peripheral_state(Panda *panda, PubMaster *pm) {
   pm->send("peripheralState", msg);
 }
 
-void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool engaged, bool engaged_mads, bool spoofing_started,
-                         PandaSafety *panda_safety) {
+void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool engaged, bool engaged_mads, bool spoofing_started, bool always_offroad) {
   std::vector<std::string> connected_serials;
   for (Panda *p : pandas) {
     connected_serials.push_back(p->hw_serial());
   }
 
   {
-    auto ignition_opt = send_panda_states(pm, pandas, spoofing_started, panda_safety);
+    auto ignition_opt = send_panda_states(pm, pandas, spoofing_started, always_offroad);
     if (!ignition_opt) {
       LOGE("Failed to get ignition_opt");
       return;
@@ -445,6 +444,7 @@ void pandad_run(std::vector<Panda *> &pandas) {
   Panda *peripheral_panda = pandas[0];
   bool engaged = false;
   bool engaged_mads = false;
+  bool always_offroad = false;
 
   // Main loop: receive CAN data and process states
   while (!do_exit && check_all_connected(pandas)) {
@@ -460,7 +460,8 @@ void pandad_run(std::vector<Panda *> &pandas) {
       sm.update(0);
       engaged = sm.allAliveAndValid({"selfdriveState"}) && sm["selfdriveState"].getSelfdriveState().getEnabled();
       engaged_mads = process_mads_heartbeat(&sm);
-      process_panda_state(pandas, &pm, engaged, engaged_mads, spoofing_started, &panda_safety);
+      always_offroad = panda_safety.getOffroadMode();
+      process_panda_state(pandas, &pm, engaged, engaged_mads, spoofing_started, always_offroad);
       panda_safety.configureSafetyMode();
     }
 

selfdrive/selfdrived/events.py

@@ -154,7 +154,7 @@ def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
 
 def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   text = "Enable Adaptive Cruise to Engage"
-  if CP.carName == "honda":
+  if CP.brand == "honda":
     text = "Enable Main Switch to Engage"
   return NoEntryAlert(text)
 

selfdrive/selfdrived/selfdrived.py

@@ -99,7 +99,7 @@ class SelfdriveD(CruiseHelper):
     self.is_metric = self.params.get_bool("IsMetric")
     self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
 
-    car_recognized = self.CP.carName != 'mock'
+    car_recognized = self.CP.brand != 'mock'
 
     # cleanup old params
     if not self.CP.experimentalLongitudinalAvailable:

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