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openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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openpilot_comma/selfdrive/car/torque_data/override.yaml

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Refactor torque stuff (#24921) * Refactor torque stuff * Add to release * Add substitute and override * Maxlataccel is required * Add to asserts * add ideal car * Need china too * yamls already linted * Fixed some bugs * Fixup * Unreliable data * Add cehck * Better comment * ref commit update old-commit-hash: 2deaf69789fee9a048256a832ffddbda95242815
3 years ago
legend: [LAT_ACCEL_FACTOR, MAX_LAT_ACCEL_MEASURED, FRICTION]
### angle control
# Nissan appears to have torque
EV6: adjust steering thresholds (#24901) * EV6: adjust steering thresholds * Is there any friction * bump panda * no friction Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com> old-commit-hash: 221086857aac770f5d22273119e6175eeb06c729
3 years ago
NISSAN X-TRAIL 2017: [.nan, 1.5, .nan]
Refactor torque stuff (#24921) * Refactor torque stuff * Add to release * Add substitute and override * Maxlataccel is required * Add to asserts * add ideal car * Need china too * yamls already linted * Fixed some bugs * Fixup * Unreliable data * Add cehck * Better comment * ref commit update old-commit-hash: 2deaf69789fee9a048256a832ffddbda95242815
3 years ago
NISSAN ALTIMA 2020: [.nan, 1.5, .nan]
NISSAN LEAF 2018 Instrument Cluster: [.nan, 1.5, .nan]
NISSAN LEAF 2018: [.nan, 1.5, .nan]
NISSAN ROGUE 2019: [.nan, 1.5, .nan]
# Tesla has high torque
TESLA AP1 MODEL S: [.nan, 2.5, .nan]
TESLA AP2 MODEL S: [.nan, 2.5, .nan]
# Guess
Ford: add Bronco Sport 2021-22 (#27092) * cleanup * add Ford Bronco Sport 2021 fw VIN: 3FMCR9B61MRA17853 62241b0c7fea4589|2022-10-25--13-40-05--0 * add test route * add Ford Bronco Sport 2022 fw VIN: 3FMCR9B69NRD15990 54827bf84c38b14f|2023-01-23--14-58-23--0 old-commit-hash: d410206f14fc7a0207464905a1ff2f684bd3ed39
2 years ago
FORD BRONCO SPORT 1ST GEN: [.nan, 1.5, .nan]
Refactor torque stuff (#24921) * Refactor torque stuff * Add to release * Add substitute and override * Maxlataccel is required * Add to asserts * add ideal car * Need china too * yamls already linted * Fixed some bugs * Fixup * Unreliable data * Add cehck * Better comment * ref commit update old-commit-hash: 2deaf69789fee9a048256a832ffddbda95242815
3 years ago
FORD ESCAPE 4TH GEN: [.nan, 1.5, .nan]
Ford Explorer 2020-21 (#25614) * add model years * update Focus steer ratio * Ford: add EU label to Focus Mk4 * add packages * add Ford Explorer 2020 Package: Co-Pilot 360 Assist+ Optional on XLT Standard on Limited, Limited Hybrid, ST and Platinum https://cdn.dealereprocess.org/cdn/brochures/ford/2020-explorer.pdf * Ford: steering control with path angle * Ford: add TJA toggle to buttons * add Ford Explorer 2021 `62241b0c7fea4589|2022-08-30--11-58-24--0` Package: Co-Pilot 360 Assist+ Optional on XLT Standard on Limited, Limited Hybrid, ST and Platinum (same as 2020) https://cdn.dealereprocess.org/cdn/brochures/ford/2021-explorer.pdf * Ford: add shiftByWire ECU fw * angle/steer refactor * try always stop and go for US models * no dashcam * car info * send resume button * skip explorer * escape and focus back in dashcam * passthru buttons * fordcan set bus for button message * toggle off stock traffic jam assist so camera does not enforce driver presence checks * not used * update ramp rate/precision notes * cleanup * bump steering pressed torque to 0.8 Nm * add standstill * bump steer ratio * try increasing delay? * fix docs * add kuga car info * maybe fix tja toggle? * compensate for ford roll compensation?? * oops * better ui * block non-adaptive * add note on ui warning for hands on wheel * try only checking/toggling TJA every 2 seconds * add car test route * dashcam only again * send buttons to camera * add process replay segment * cleanup * bump panda * add extra FW Co-authored-by: Cameron Clough <cameronjclough@gmail.com> old-commit-hash: 9241de221099f6c65fd7ed5ed87d6296c17f668d
3 years ago
FORD EXPLORER 6TH GEN: [.nan, 1.5, .nan]
Refactor torque stuff (#24921) * Refactor torque stuff * Add to release * Add substitute and override * Maxlataccel is required * Add to asserts * add ideal car * Need china too * yamls already linted * Fixed some bugs * Fixup * Unreliable data * Add cehck * Better comment * ref commit update old-commit-hash: 2deaf69789fee9a048256a832ffddbda95242815
3 years ago
FORD FOCUS 4TH GEN: [.nan, 1.5, .nan]
Ford: add Maverick 2022 (#27093) * Ford: add Maverick 2022 VIN: 3FTTW8E36NRA74219 a6427650bff6b419|2022-09-19--10-51-30 * Ford: add missing Maverick 2022 FW VIN: 3FTTW8F98NRA75889 c845bd8c366e6f3d|2022-12-03--18-57-00--0 * steer ratio old-commit-hash: cf69653440a308c6e7abb7d56847b389b64c819f
2 years ago
FORD MAVERICK 1ST GEN: [.nan, 1.5, .nan]
Refactor torque stuff (#24921) * Refactor torque stuff * Add to release * Add substitute and override * Maxlataccel is required * Add to asserts * add ideal car * Need china too * yamls already linted * Fixed some bugs * Fixup * Unreliable data * Add cehck * Better comment * ref commit update old-commit-hash: 2deaf69789fee9a048256a832ffddbda95242815
3 years ago
###
# No steering wheel
COMMA BODY: [.nan, 1000, .nan]
Ram 1500 (#24878) * RamInit * bump submodules * lil cleanup * clean up carstate formatting and platform grouping make tuple * give it a gold torque star (looks around 2.4 from rough data) * Dasm Fault * bump panda * more cleanup * cleanup car state * more cleanup * some fixes * remove more stuff * fix angle signal scaling and fix lkas control bit * bump panda * update those * same limits as pacifica * cleanup hud alert building * better fault logic * fix rate * set ahb * bring that back * update refs Co-authored-by: Jonathan <jraycec@gmail.com> Co-authored-by: Shane Smiskol <shane@smiskol.com> Co-authored-by: Comma Device <device@comma.ai> old-commit-hash: 9b0acacf5e387593ce94dbad88000b5473511e22
3 years ago
# Totally new cars
[RAM 1500 5TH GEN] Disable Live Torque (#27121) * revert ram on live torque * update refs * update refs old-commit-hash: 8d447e8a081e878a55707cc2840a6d08d88102ca
2 years ago
RAM 1500 5TH GEN: [2.0, 2.0, 0.0]
Ram 2500 + 3500 HD support (#25372) * Ram HD Init * Update selfdrive/car/torque_data/override.yaml * Revert FW for 1500 * little cleanup plus test route * bump panda * revert 1500 changes * bump panda * same error max * dashcam + cleanup Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> old-commit-hash: ab227027c339f6169b20e17454ca40afe8b375fd
3 years ago
RAM HD 5TH GEN: [1.4, 1.4, 0.0]
Subaru: 2020 Outback support (#25248) * Subaru: 2020 Outback support * bump panda * bump panda * update refs * update refs old-commit-hash: efa326e20856ff3a8ecff6f53d75a132ee0e4e1e
3 years ago
SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11]
GM: Escalade 2017 support (#27276) * Initial 2017 Escalade values * update docs/CARS.md * revert back to v1 fingerprint & add test route * revert bad merge * update fingerprint * update * update * Update selfdrive/car/gm/values.py * Update selfdrive/car/gm/values.py * no engine * Try global tune * pcm * Driver Assist Package has ACC, and includes LKAS from previous package * update docs * add to releases --------- Co-authored-by: Shane Smiskol <shane@smiskol.com> old-commit-hash: b76795d7f083c956004fefd07dbb406eeeb20584
2 years ago
CADILLAC ESCALADE 2017: [1.899999976158142, 1.842270016670227, 0.1120000034570694]
GM: Bolt EUV 2022-23 port (#24875) * Switch to ECMPRDNL2 for GM gear * Removing manumatic gear # * values.py almost complete * Silverado and Bolt EUV val and CP * GM controller updated * Cam hrns supp done (in theory) * cleanup for new cars * Remove extra constant * WS, etc cleanup * removing the unused * Fix kpBP typo * Updated docs * Skip's PIF tune * Dropped LKA CAN error patch * Add silverado sigmoid ff * CAN Err & LKA latch patch * Remove EPS fault fix (another PR) * Remove Silverado (another PR) * clean up some common params * Remove Escalade FP Remove Escalade FP * comment * Premier is just a trim Premier is just a trim Premier is just a trim * no footnote: new Bolt is like most other cars, older GM were outliers not at the camera * clean up clean up * bump panda * bump panda * bump panda * bump panda * bump panda * remove comments * try spamming buttons on bus 2 * bump panda * bumping opendbc w btn rc * not needed for this port This reverts commit 6af1f0ba799e075f877d7acc8ca0f117d97da361. * add button safety * Send next rc when spamming btns * forward other signals in message * missing DriveModeButton * fill cruiseState.speed * see if resume works without counter * try the whole message * send immediately and at 10Hz * no resume, back to just button signal * even holding random buttons it cancels * Use torque controller with base tune * stock long GM don't auto-resume yet * Testing GM zero min steer speed * Revert latcontrol * revert opendbc * latActive is basically lkas_enabled * Update Bolt torque params * comment * clean up * Add to releases * Add test route * Don't specify segment * bump panda * bump panda * no harness for Bolt just yet * Apply suggestions from code review Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * We support all and 2023 * move safetyParam up to first cam check * Bump panda and update docs * Update RELEASES.md Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Shane Smiskol <shane@smiskol.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> old-commit-hash: 4ffe9e68db8d752d9da45febccfe4c28a6e8a0f9
3 years ago
CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05]
GM: Chevy Silverado 2020-21 support (#25429) * Silverado support Co-authored-by: Jason Shuler <jshuler@gmail.com> * Update docs * Try 2 m/s/s * Should be good torque values * Add Silverado test route * Add to releases * Send counter * can't send multiple or it faults * Send at 33hz, no counter * try 25hz, don't line up exactly with car's buttons * never tried 10hz with same counter * Update selfdrive/car/gm/gmcan.py * Make same as pcmCruise branch * update year and package (different packages needed per-trim) * Update year in releases * Revert to 21 * We can use this package name again * wrong one! Co-authored-by: Shane Smiskol <shane@smiskol.com> old-commit-hash: 1e9fdff6422c4f49702f5de56280241088b2abca
3 years ago
CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112]
GM: Chevy Equinox 2019-22 (#25431) * Chevy Equinox Port * LKAS is not standard on 2019, but it's the same package as ACC. (LKAS standard 2020+) * 2019 here too * clean up * add to untested * not in docs Co-authored-by: Shane Smiskol <shane@smiskol.com> old-commit-hash: 1aa8c0525ea5339eecd82cb08572636ebbaa7034
3 years ago
CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05]
VW PQ: Volkswagen Passat NMS (#24768) * VW PQ: Volkswagen Passat NMS * regen CARS.md * vEgo from Bremse_1 vehicle speed * sync opendbc to master * handle checksums and counters in opendbc * LDW HUD message handling * GRA_Neu_Zaehler -> COUNTER * bump opendbc * stub in till we find platform ACC standstill * bump opendbc * bump opendbc * placeholder lateral accel data * regen CARS.md * counters now directly supported in opendbc * additional door-open signals * add trunk lid state * add doors and trunk lid to signals list * LDW_Status updates and passthrough * bump opendbc for typo fix * update AWV comment * another comment update * regen CARS.md with PQ in dashcam only * don't show NMS footnotes while still in dashcam * polish * add stubbed-out dashcamOnly prep * VW MQB: Cleanup stock ACC button handling * bump opendbc and panda * use controls resume output as trigger * these can wait until taco bell * bump opendbc * pass through of previously fixed value * retry CI * checks already done in carcontroller * don't need these anymore * reduce diff for now * slightly better abstraction * more engine and trans FW * turn signal is instantaneous stalk position * weak sauce :( * better clarity * try torque tune * add test route references * bump opendbc and panda for OP long * don't show steering faults for 3 seconds after start * longitudinal control senders * a little more torque * test hax to torque control * test a little more delay * allow use of manufacturer ramp-up rate * soften wheel-touch threshold * Revert "test hax to torque control" This reverts commit d1af459c29e36264aae406f72b8fcbc9ef22b9e0. * punch it Chewie * better ACC state and mainswitch handling * a little more * tweak max accel gradient * oops * also oops * stuff * srsly * that's not how this works * regen CARS.md * footnotes now properly excluded for dashcam cars * this wasn't a problem * update network location detection * bump submodules for ACC main switch * clean up DBC references and long flag * bump one more time * one more time * follow CANPacker counter refactor * bump opendbc * sync opendbc to master * bump panda to fix Subaru tests * DBC handling cleanup * fix * model-year stretch * cleanup and rate bugfixes * better abstractions * simplify create_lka_hud_control * volkswagencan -> mqbcan * bump panda * fix doc data bug, regen CARS.md * style updates; diff reduction * use common button enable logic * not needed anymore * refactor TSK and HUD enum values * make common button events function * consistency * bump panda * bump panda * dashcam only * don't need process_replay yet * regen CARS.md with Passat NMS in dashcam * can't handle dashcam-orphaned footnotes yet * remove outdated standstill handling * editor tried to be too helpful at some point * don't need to import this anymore * Apply suggestions from code review Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * follow parkingBrake refactor Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> old-commit-hash: c27d7913f2db43ec668dd068199bc568802dd809
3 years ago
VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1]
VW PQ: Volkswagen Sharan Mk2 / SEAT Alhambra Mk2 (#25839) * initial Sharan support * placeholder torque data * oops * add route * min speeds and PQ default delay old-commit-hash: 47b19ff14891947bc5db02f3378b5eceba08ee85
3 years ago
VOLKSWAGEN SHARAN 2ND GEN: [2.5, 2.5, 0.1]
[torqued] Non-zero offline friction (#26513) add non zero friction values old-commit-hash: 3b71a9780dab0eed22dc277ce26a4d95c97f07df
2 years ago
HYUNDAI SANTA CRUZ 1ST GEN: [2.7, 2.7, 0.1]
KIA SPORTAGE 5TH GEN: [2.7, 2.7, 0.1]
KIA SPORTAGE HYBRID 5TH GEN: [2.5, 2.5, 0.1]
GENESIS GV70 1ST GEN: [2.42, 2.42, 0.1]
HKG: Car Port for Kia Sorento Plug-in Hybrid 2022 (#26635) * HKG: Car Port for Kia Sorento Plug-in Hybrid 2022 * Add torque params * Typo * This car has SCC on bus 4, needs radar disable to use openpilot longitudinal :/ * Need to check on bus 4 as well * Different unit signal * Unit signal cleanup * Add test route * Regenerate car docs * Different logic * 2023 should be the same * Fix 0x1a0 check race condition * Update RELEASES.md Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> old-commit-hash: 1adf106da69c7d73d465f41ad2836a562ca64f9c
2 years ago
KIA SORENTO PLUG-IN HYBRID 4TH GEN: [2.5, 2.5, 0.1]
HKG: Car Port for Genesis GV60 2022 (#26777) * HKG: Car Port for Genesis GV60 2022 * Ugh, keeps forgetting torque params * Update docs * Test route * more interesting segment Co-authored-by: Shane Smiskol <shane@smiskol.com> old-commit-hash: 1f774e4ec39d6f1ef7f8cb4224c0dbfd4dd4fe62
2 years ago
GENESIS GV60 ELECTRIC 1ST GEN: [2.5, 2.5, 0.1]
HKG: Car Port for Kia Sorento 2022 (#26874) * HKG: Car Port for Kia Sorento 2022 * Harness K * SCC is on bus 4 * Add test route * seems reasonable * more interesting segment Co-authored-by: Shane Smiskol <shane@smiskol.com> old-commit-hash: 69f8ac0b6508559549e99c5f12b7d9105ce1baa8
2 years ago
KIA SORENTO 4TH GEN: [2.5, 2.5, 0.1]
HKG: Car Port for Kia Niro Hybrid 2023 (HDA1) (#26827) * HKG: Car Port for Kia Niro Hybrid 2023 (HDA1) * bump opendbc * bump * Found gear signal * Only set one flag * bump opendbc * Update CARS.md * Update routes.py * bump opendbc * Update CARS.md * some values cleanup * new route with rlogs * set from data * merge (3854+3391+3227+3336)/4 * fine move back down here for now fine move back down here for now * Update selfdrive/car/hyundai/interface.py --------- Co-authored-by: Shane Smiskol <shane@smiskol.com> old-commit-hash: dae133181701f5f1cc84daa081a8c71d8c7e084a
2 years ago
KIA NIRO HYBRID 2ND GEN: [2.42, 2.5, 0.12]
Refactor torque stuff (#24921) * Refactor torque stuff * Add to release * Add substitute and override * Maxlataccel is required * Add to asserts * add ideal car * Need china too * yamls already linted * Fixed some bugs * Fixup * Unreliable data * Add cehck * Better comment * ref commit update old-commit-hash: 2deaf69789fee9a048256a832ffddbda95242815
3 years ago
# Dashcam or fallback configured as ideal car
mock: [10.0, 10, 0.0]
# Manually checked
HONDA CIVIC 2022: [2.5, 1.2, 0.15]