mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-08-19 20:13:49 +08:00
Jason Wen
7461f70fdb
# Conflicts: # README.md # SConstruct # conftest.py # docs/CARS.md # msgq_repo # opendbc_repo # openpilot/common/params_keys.h # openpilot/common/params_pyx.pyx # openpilot/common/tests/test_swaglog.cc # openpilot/selfdrive/car/card.py # openpilot/selfdrive/car/tests/test_car_interfaces.py # openpilot/selfdrive/car/tests/test_cruise_speed.py # openpilot/selfdrive/car/tests/test_models.py # openpilot/selfdrive/controls/controlsd.py # openpilot/selfdrive/controls/lib/latcontrol_torque.py # openpilot/selfdrive/controls/lib/longitudinal_planner.py # openpilot/selfdrive/controls/plannerd.py # openpilot/selfdrive/controls/radard.py # openpilot/selfdrive/controls/tests/test_longcontrol.py # openpilot/selfdrive/locationd/torqued.py # openpilot/selfdrive/modeld/modeld.py # openpilot/selfdrive/monitoring/dmonitoringd.py # openpilot/selfdrive/monitoring/test_monitoring.py # openpilot/selfdrive/selfdrived/selfdrived.py # openpilot/selfdrive/selfdrived/tests/test_alertmanager.py # openpilot/selfdrive/test/longitudinal_maneuvers/plant.py # openpilot/selfdrive/test/process_replay/migration.py # openpilot/selfdrive/test/process_replay/process_replay.py # openpilot/selfdrive/ui/feedback/feedbackd.py # openpilot/selfdrive/ui/layouts/settings/device.py # openpilot/selfdrive/ui/layouts/settings/toggles.py # openpilot/selfdrive/ui/mici/layouts/onboarding.py # openpilot/selfdrive/ui/onroad/augmented_road_view.py # openpilot/selfdrive/ui/tests/test_soundd.py # openpilot/selfdrive/ui/translations/app.pot # openpilot/selfdrive/ui/translations/app_de.po # openpilot/selfdrive/ui/translations/app_en.po # openpilot/selfdrive/ui/translations/app_es.po # openpilot/selfdrive/ui/translations/app_fr.po # openpilot/selfdrive/ui/translations/app_ja.po # openpilot/selfdrive/ui/translations/app_ko.po # openpilot/selfdrive/ui/translations/app_pt-BR.po # openpilot/selfdrive/ui/translations/app_th.po # openpilot/selfdrive/ui/translations/app_tr.po # openpilot/selfdrive/ui/translations/app_uk.po # openpilot/selfdrive/ui/translations/app_zh-CHS.po # openpilot/selfdrive/ui/translations/app_zh-CHT.po # openpilot/system/athena/athenad.py # openpilot/system/hardware/hardwared.py # openpilot/system/loggerd/deleter.py # openpilot/system/manager/process_config.py # openpilot/system/ui/lib/application.py # panda # pyproject.toml # tinygrad_repo # uv.lock
77 lines
4.4 KiB
Markdown
77 lines
4.4 KiB
Markdown
> sunnypilot follows [commaai/openpilot](https://github.com/commaai/openpilot)'s contributing guidelines. The following applies to all contributions here.
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# How to contribute
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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 [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/).
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Development is coordinated through [Discord](https://discord.comma.ai) and GitHub.
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### Getting Started
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* Set up your [development environment](/tools/)
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* Join our [Discord](https://discord.comma.ai)
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* Docs are at https://docs.comma.ai and https://blog.comma.ai
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## What contributions are we looking for?
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**openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.**
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openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal.
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### What gets merged?
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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 *some* 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.
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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
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### What doesn't get merged?
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* **style changes**: code is art, and it's up to the author to make it beautiful
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* **500+ line PRs**: clean it up, break it up into smaller PRs, or both
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* **PRs without a clear goal**: every PR must have a singular and clear goal
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* **UI design**: we do not have a good review process for this yet
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* **New features**: 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.
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* **Negative expected value**: This is 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.
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* **AI-generated contributions**: see our [AI policy](AI_POLICY.md)
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### First contribution
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[Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) 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 are a lot of bounties that don't require a comma four or a car.
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## Pull Requests
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Pull requests should be against the master branch.
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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
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## Contributing without Code
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* Report bugs in GitHub issues.
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* Report driving issues in the `#driving-feedback` Discord channel.
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* Consider opting into cabin camera uploads to improve the driver monitoring model.
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* Connect your device to Wi-Fi regularly, so that we can pull data for training better driving models.
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* Run the `nightly` branch and report issues. This branch is like `master` but it's built just like a release.
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* Annotate images in the [comma10k dataset](https://github.com/commaai/comma10k).
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## Contributing Training Data
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### A guide for forks
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In order for your fork's data to be eligible for the training set:
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* **Your cereal messaging structs must be [compatible](../openpilot/cereal#custom-forks)**
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* **The definitions of all the stock messaging structs must not change**: Do not change how any of the fields are set, including everything from `selfdriveState.enabled` to `carState.steeringAngleDeg`. Instead, create your own structs and set them however you'd like.
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* **Do not include cars that are not supported in upstream platforms**: 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.
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