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<p class="caption"><span class="caption-text">Getting Started</span></p>
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<li class="toctree-l1"><a class="reference internal" href="../getting-started/what-is-openpilot/">What is openpilot?</a>
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<p class="caption"><span class="caption-text">How-to</span></p>
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<ul>
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<li class="toctree-l1"><a class="reference internal" href="../how-to/turn-the-speed-blue/">Turn the speed blue</a>
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<li class="toctree-l1"><a class="reference internal" href="../how-to/connect-to-comma/">Connect to a comma 3X</a>
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<p class="caption"><span class="caption-text">Concepts</span></p>
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<li class="toctree-l1"><a class="reference internal" href="../concepts/logs/">Logs</a>
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<li class="toctree-l1"><a class="reference internal" href="../concepts/safety/">Safety</a>
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<li class="toctree-l1"><a class="reference internal" href="../concepts/glossary/">Glossary</a>
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<p class="caption"><span class="caption-text">Car Porting</span></p>
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<li class="toctree-l1"><a class="reference internal" href="../car-porting/brand-port/">Porting a car brand</a>
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<li class="toctree-l1"><a class="reference internal" href="../car-porting/model-port/">Porting a car model</a>
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<p class="caption"><span class="caption-text">Contributing</span></p>
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<li class="toctree-l1"><a class="reference internal" href="../contributing/roadmap/">Roadmap</a>
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<li class="toctree-l1"><a class="" href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contributing Guide →</a>
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<li class="toctree-l1"><a class="" href="https://blog.comma.ai">Blog →</a>
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<li class="toctree-l1"><a class="" href="https://comma.ai/bounties">Bounties →</a>
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<li class="toctree-l1"><a class="" href="https://github.com/commaai">GitHub →</a>
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<li class="toctree-l1"><a class="" href="https://discord.comma.ai">Discord →</a>
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<a href="https://github.com/commaai/openpilot/edit/master/docs/CONTRIBUTING.md" class="icon icon-github"> Edit on GitHub</a>
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<h1 id="how-to-contribute">How to contribute</h1>
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<p>Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our <a href="https://blog.comma.ai/a-2020-theme-externalization/">post about externalization</a>.</p>
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<p>Development is coordinated through <a href="https://discord.comma.ai">Discord</a> and GitHub.</p>
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<h3 id="getting-started">Getting Started</h3>
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<ul>
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<li>Set up your <a href="/tools/">development environment</a></li>
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<li>Join our <a href="https://discord.comma.ai">Discord</a></li>
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<li>Docs are at https://docs.comma.ai and https://blog.comma.ai</li>
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</ul>
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<h2 id="what-contributions-are-we-looking-for">What contributions are we looking for?</h2>
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<p><strong>openpilot's priorities are <a href="../SAFETY/">safety</a>, stability, quality, and features, in that order.</strong>
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openpilot is part of comma's mission to <em>solve self-driving cars while delivering shippable intermediaries</em>, and all development is towards that goal. </p>
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<h3 id="what-gets-merged">What gets merged?</h3>
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<p>The probability of a pull request being merged is a function of its value to the project and the effort it will take us to get it merged.
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If a PR offers <em>some</em> value but will take lots of time to get merged, it will be closed.
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Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged. </p>
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<p>All of these are examples of good PRs:
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* typo fix: https://github.com/commaai/openpilot/pull/30678
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* removing unused code: https://github.com/commaai/openpilot/pull/30573
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* simple car model port: https://github.com/commaai/openpilot/pull/30245
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* car brand port: https://github.com/commaai/openpilot/pull/23331</p>
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<h3 id="what-doesnt-get-merged">What doesn't get merged?</h3>
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<ul>
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<li><strong>style changes</strong>: code is art, and it's up to the author to make it beautiful </li>
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<li><strong>500+ line PRs</strong>: clean it up, break it up into smaller PRs, or both</li>
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<li><strong>PRs without a clear goal</strong>: every PR must have a singular and clear goal</li>
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<li><strong>UI design</strong>: we do not have a good review process for this yet</li>
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<li><strong>New features</strong>: We believe openpilot is mostly feature-complete, and the rest is a matter of refinement and fixing bugs. As a result of this, most feature PRs will be immediately closed, however the beauty of open source is that forks can and do offer features that upstream openpilot doesn't.</li>
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<li><strong>Negative expected value</strong>: This a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged.</li>
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</ul>
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<h3 id="first-contribution">First contribution</h3>
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<p><a href="https://github.com/orgs/commaai/projects/26/views/1?pane=info">Projects / openpilot bounties</a> is the best place to get started and goes in-depth on what's expected when working on a bounty.
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There's lot of bounties that don't require a comma 3X or a car.</p>
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<h2 id="pull-requests">Pull Requests</h2>
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<p>Pull requests should be against the master branch.</p>
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<p>A good pull request has all of the following:
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* a clearly stated purpose
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* every line changed directly contributes to the stated purpose
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* verification, i.e. how did you test your PR?
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* justification
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* if you've optimized something, post benchmarks to prove it's better
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* if you've improved your car's tuning, post before and after plots
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* passes the CI tests</p>
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<h2 id="contributing-without-code">Contributing without Code</h2>
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<ul>
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<li>Report bugs in GitHub issues.</li>
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<li>Report driving issues in the <code>#driving-feedback</code> Discord channel.</li>
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<li>Consider opting into driver camera uploads to improve the driver monitoring model.</li>
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<li>Connect your device to Wi-Fi regularly, so that we can pull data for training better driving models.</li>
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<li>Run the <code>nightly</code> branch and report issues. This branch is like <code>master</code> but it's built just like a release.</li>
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<li>Annotate images in the <a href="https://github.com/commaai/comma10k">comma10k dataset</a>.</li>
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</ul>
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<h2 id="contributing-training-data">Contributing Training Data</h2>
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<h3 id="a-guide-for-forks">A guide for forks</h3>
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<p>In order for your fork's data to be eligible for the training set:
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* <strong>Your cereal messaging structs must be <a href="../cereal#custom-forks">compatible</a></strong>
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* <strong>The definitions of all the stock messaging structs must not change</strong>: Do not change how any of the fields are set, including everything from <code>selfdriveState.enabled</code> to <code>carState.steeringAngleDeg</code>. Instead, create your own structs and set them however you'd like.
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* <strong>Do not include cars that are not supported in upstream platforms</strong>: Instead, create new opendbc platforms for cars that you'd like to support outside of upstream, even if it's just a trim-level difference.</p>
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