diff --git a/Jenkinsfile b/Jenkinsfile
index b9b9eda667..ea62ff3c49 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -148,6 +148,16 @@ pipeline {
}
}
+ stage('sensord (LSM-C)') {
+ agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+ steps {
+ phone_steps("tici-lsmc", [
+ ["build", "cd selfdrive/manager && ./build.py"],
+ ["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"],
+ ])
+ }
+ }
+
stage('replay') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
steps {
diff --git a/docs/CARS.md b/docs/CARS.md
index 2df2b96e24..ad288a1cc6 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -10,17 +10,17 @@ A supported vehicle is one that just works when you install a comma three. All s
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[](##)|[](##)|Honda Nidec|
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
-|Acura|RDX 2019-22|All|openpilot|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
+|Acura|RDX 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|Audi|Q3 2020-21|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
-|Cadillac|Escalade ESV 2016[1](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
-|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|3 mph|6 mph|[](##)|[](##)|GM|
-|Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|3 mph|6 mph|[](##)|[](##)|GM|
-|Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
+|Cadillac|Escalade ESV 2016[3](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
+|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[](##)|[](##)|GM|
+|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[](##)|[](##)|GM|
+|Chevrolet|Volt 2017-18[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|FCA|
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
@@ -28,35 +28,35 @@ A supported vehicle is one that just works when you install a comma three. All s
|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
|comma|body|All|openpilot|0 mph|0 mph|[](##)|[](##)|None|
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai F|
-|Genesis|G70 2020|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai F|
+|Genesis|G70 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai F|
|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H|
-|Genesis|G90 2017-18|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai C|
-|GMC|Acadia 2018[1](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
-|GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|3 mph|6 mph|[](##)|[](##)|GM|
-|Honda|Accord 2018-22|All|openpilot|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
-|Honda|Accord Hybrid 2018-22|All|openpilot|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
+|Genesis|G90 2017-18|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai C|
+|GMC|Acadia 2018[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
+|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[](##)|[](##)|GM|
+|Honda|Accord 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
+|Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|Honda Nidec|
-|Honda|Civic 2019-21|All|openpilot|0 mph|2 mph[2](#footnotes)|[](##)|[](##)|Honda Bosch A|
+|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[4](#footnotes)|[](##)|[](##)|Honda Bosch A|
|Honda|Civic 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Honda Bosch B|
-|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|Honda Bosch A|
+|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[](##)|[](##)|Honda Bosch A|
|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Honda Bosch B|
|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
-|Honda|CR-V 2017-22|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|Honda Bosch A|
-|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|Honda Bosch A|
-|Honda|e 2020|All|openpilot|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
+|Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[](##)|[](##)|Honda Bosch A|
+|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[](##)|[](##)|Honda Bosch A|
+|Honda|e 2020|All|openpilot available[1](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
-|Honda|Insight 2019-22|All|openpilot|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
-|Honda|Inspire 2018|All|openpilot|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
+|Honda|Insight 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
+|Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[](##)|[](##)|Honda Nidec|
|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|Hyundai B|
-|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai K|
+|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai K|
|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai E|
-|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai K|
+|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai K|
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[](##)|[](##)|Hyundai J|
|Hyundai|i30 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai E|
|Hyundai|Ioniq 5 (with HDA II) 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai Q|
@@ -65,22 +65,22 @@ A supported vehicle is one that just works when you install a comma three. All s
|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai C|
|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H|
-|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot|0 mph|32 mph|[](##)|[](##)|Hyundai C|
+|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[](##)|[](##)|Hyundai C|
|Hyundai|Ioniq Plug-in Hybrid 2020-21|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H|
-|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai B|
+|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai B|
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai G|
|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai O|
-|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai I|
-|Hyundai|Palisade 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai H|
-|Hyundai|Santa Fe 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai D|
-|Hyundai|Santa Fe 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai L|
-|Hyundai|Santa Fe Hybrid 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai L|
-|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai L|
+|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai I|
+|Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai H|
+|Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai D|
+|Hyundai|Santa Fe 2021-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai L|
+|Hyundai|Santa Fe Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai L|
+|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai L|
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai E|
-|Hyundai|Sonata 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai A|
-|Hyundai|Sonata Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai A|
-|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot|19 mph|0 mph|[](##)|[](##)|Hyundai L|
-|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai L|
+|Hyundai|Sonata 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai A|
+|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai A|
+|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[](##)|[](##)|Hyundai L|
+|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai L|
|Hyundai|Tucson Hybrid 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai N|
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[](##)|[](##)|Hyundai E|
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|FCA|
@@ -88,38 +88,38 @@ A supported vehicle is one that just works when you install a comma three. All s
|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai E|
|Kia|EV6 (with HDA II) 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai P|
|Kia|EV6 (without HDA II) 2022|Highway Driving Assist|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai L|
-|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai G|
-|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai A|
-|Kia|Niro EV 2019|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai H|
-|Kia|Niro EV 2020|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai F|
-|Kia|Niro EV 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai C|
-|Kia|Niro EV 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai H|
-|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai F|
-|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai H|
-|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot|10 mph|32 mph|[](##)|[](##)|Hyundai C|
+|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai G|
+|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai A|
+|Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai H|
+|Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai F|
+|Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai C|
+|Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai H|
+|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai F|
+|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai H|
+|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[1](#footnotes)|10 mph|32 mph|[](##)|[](##)|Hyundai C|
|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai B|
|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai G|
-|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai A|
+|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai A|
|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai C|
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai E|
|Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai N|
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai C|
-|Kia|Telluride 2020|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai H|
-|Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Kia|Telluride 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai H|
+|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Lexus|ES Hybrid 2017-18|Lexus Safety System+|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Lexus|ES Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|Lexus|ES Hybrid 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|Toyota|
-|Lexus|NX 2018-19|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Lexus|NX 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Lexus|NX Hybrid 2018-19|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Lexus|NX Hybrid 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[](##)|[](##)|Toyota|
-|Lexus|RX 2016|Lexus Safety System+|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Lexus|RX 2017-19|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Lexus|RX 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Lexus|RX 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Lexus|RX Hybrid 2016|Lexus Safety System+|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Lexus|RX Hybrid 2017-19|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Lexus|RX Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[](##)|[](##)|Mazda|
@@ -141,8 +141,8 @@ A supported vehicle is one that just works when you install a comma three. All s
|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|Subaru B|
|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
-|Škoda|Kamiq 2021[5](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
-|Škoda|Karoq 2019-21[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
+|Škoda|Kamiq 2021[6](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
+|Škoda|Karoq 2019-21[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
@@ -150,85 +150,86 @@ A supported vehicle is one that just works when you install a comma three. All s
|Škoda|Superb 2015-18|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Avalon 2016|Toyota Safety Sense P|Stock[3](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Avalon 2017-18|All|Stock[3](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Avalon 2019-21|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Avalon 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Avalon 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Avalon Hybrid 2019-21|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Avalon Hybrid 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|C-HR 2017-21|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Camry 2018-20|All|Stock|0 mph[4](#footnotes)|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Camry 2021-22|All|openpilot|0 mph[4](#footnotes)|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Camry 2018-20|All|Stock|0 mph[5](#footnotes)|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Camry 2021-22|All|openpilot|0 mph[5](#footnotes)|0 mph|[](##)|[](##)|Toyota|
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|Camry Hybrid 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Corolla 2017-19|All|Stock[3](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|Corolla Cross (Non-US only) 2020-21|All|openpilot|17 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Highlander 2017-19|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Highlander 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|Highlander 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Highlander Hybrid 2017-19|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Highlander Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|Highlander Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Prius 2016|Toyota Safety Sense P|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Prius 2017-20|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Prius 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Prius Prime 2017-20|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Prius Prime 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Prius v 2017|Toyota Safety Sense P|Stock[3](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|RAV4 2016|Toyota Safety Sense P|Stock[3](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|RAV4 2017-18|All|Stock[3](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|RAV4 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|RAV4 Hybrid 2017-18|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Sienna 2018-20|All|Stock[3](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
-|Volkswagen|Arteon 2018-22[7,8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Arteon eHybrid 2020-22[7,8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Arteon R 2020-22[7,8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Atlas 2018-23[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Atlas Cross Sport 2021-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|California 2021[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|31 mph|[](##)|[](##)|J533|
-|Volkswagen|Caravelle 2020[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|31 mph|[](##)|[](##)|J533|
-|Volkswagen|CC 2018-22[7,8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
+|Volkswagen|Arteon 2018-22[8,9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Arteon eHybrid 2020-22[8,9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Arteon R 2020-22[8,9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Atlas 2018-23[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Atlas Cross Sport 2021-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|California 2021[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|31 mph|[](##)|[](##)|J533|
+|Volkswagen|Caravelle 2020[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|31 mph|[](##)|[](##)|J533|
+|Volkswagen|CC 2018-22[8,9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
-|Volkswagen|Golf 2015-20[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
+|Volkswagen|Golf 2015-20[9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
-|Volkswagen|Golf R 2015-19[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
+|Volkswagen|Golf R 2015-19[9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
-|Volkswagen|Jetta 2018-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Jetta GLI 2021-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Passat 2015-22[6,7,8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Passat Alltrack 2015-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Passat GTE 2015-22[7,8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Polo 2020-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Polo GTI 2020-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|T-Cross 2021[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|T-Roc 2021[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Taos 2022[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Teramont 2018-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Teramont Cross Sport 2021-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Teramont X 2021-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Tiguan 2019-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Jetta 2018-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Jetta GLI 2021-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Passat 2015-22[7,8,9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Passat Alltrack 2015-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Passat GTE 2015-22[8,9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Polo 2020-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Polo GTI 2020-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|T-Cross 2021[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|T-Roc 2021[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Taos 2022[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Teramont 2018-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Teramont Cross Sport 2021-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Teramont X 2021-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Tiguan 2019-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
-1Requires a community built ASCM harness. NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).
-22019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
-3When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).
-4openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
-5Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
-6Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.
-7Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). In the interim, if your car has a J533 connector CAN gateway inside the dashboard, choose "VW J533 Development" from the vehicle drop-down for a suitable harness. (Some newer models are also observed to not have a J533 connector.)
-8Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.)
+1Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `master-ci`. Using openpilot longitudinal may disable Automatic Emergency Braking (AEB).
+2When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).
+3Requires a community built ASCM harness. NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).
+42019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
+5openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
+6Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
+7Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.
+8Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). In the interim, if your car has a J533 connector CAN gateway inside the dashboard, choose "VW J533 Development" from the vehicle drop-down for a suitable harness. (Some newer models are also observed to not have a J533 connector.)
+9Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.)
## 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/).
diff --git a/opendbc b/opendbc
index b3dc569994..296f190000 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit b3dc569994fd10e4de04afd650980c51ddfce5e1
+Subproject commit 296f190000a2e71408e207ba21a2257cc853ec15
diff --git a/panda b/panda
index 0ca6d9d924..9147cba1af 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 0ca6d9d9248f2cea4ef2292671b6980b416c3f4b
+Subproject commit 9147cba1af0a8d72379242eb1ce0bfd42ab8075e
diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py
index e948698cb4..58afed27eb 100755
--- a/selfdrive/car/docs.py
+++ b/selfdrive/car/docs.py
@@ -7,14 +7,15 @@ from enum import Enum
from natsort import natsorted
from typing import Dict, List
+from cereal import car
from common.basedir import BASEDIR
from selfdrive.car import gen_empty_fingerprint
-from selfdrive.car.docs_definitions import CarInfo, Column
+from selfdrive.car.docs_definitions import CarInfo, Column, CommonFootnote
from selfdrive.car.car_helpers import interfaces, get_interface_attr
def get_all_footnotes() -> Dict[Enum, int]:
- all_footnotes = []
+ all_footnotes = list(CommonFootnote)
for footnotes in get_interface_attr("Footnote", ignore_none=True).values():
all_footnotes.extend(footnotes)
return {fn: idx + 1 for idx, fn in enumerate(all_footnotes)}
@@ -28,7 +29,7 @@ def get_all_car_info() -> List[CarInfo]:
all_car_info: List[CarInfo] = []
footnotes = get_all_footnotes()
for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items():
- CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), experimental_long=True)
+ CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")])
if CP.dashcamOnly or car_info is None:
continue
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index 015877dcb4..8e057a1563 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -68,7 +68,18 @@ class Harness(Enum):
none = "None"
-CarFootnote = namedtuple("CarFootnote", ["text", "column"], defaults=[None])
+CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only"], defaults=(None, False))
+
+
+class CommonFootnote(Enum):
+ EXP_LONG_AVAIL = CarFootnote(
+ "Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `master-ci`. " +
+ "Using openpilot longitudinal may disable Automatic Emergency Braking (AEB).",
+ Column.LONGITUDINAL, docs_only=True)
+ EXP_LONG_DSU = CarFootnote(
+ "When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace " +
+ "stock Adaptive Cruise Control (ACC). NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).",
+ Column.LONGITUDINAL)
def get_footnotes(footnotes: List[Enum], column: Column) -> List[Enum]:
@@ -128,11 +139,22 @@ class CarInfo:
self.car_name = CP.carName
self.car_fingerprint = CP.carFingerprint
self.make, self.model, self.years = split_name(self.name)
+
+ op_long = "Stock"
+ if CP.openpilotLongitudinalControl and not CP.enableDsu:
+ op_long = "openpilot"
+ elif CP.experimentalLongitudinalAvailable or CP.enableDsu:
+ op_long = "openpilot available"
+ if CP.enableDsu:
+ self.footnotes.append(CommonFootnote.EXP_LONG_DSU)
+ else:
+ self.footnotes.append(CommonFootnote.EXP_LONG_AVAIL)
+
self.row = {
Column.MAKE: self.make,
Column.MODEL: self.model,
Column.PACKAGE: self.package,
- Column.LONGITUDINAL: "openpilot" if CP.openpilotLongitudinalControl or CP.experimentalLongitudinalAvailable else "Stock",
+ Column.LONGITUDINAL: op_long,
Column.FSR_LONGITUDINAL: f"{max(self.min_enable_speed * CV.MS_TO_MPH, 0):.0f} mph",
Column.FSR_STEERING: f"{max(self.min_steer_speed * CV.MS_TO_MPH, 0):.0f} mph",
Column.STEERING_TORQUE: Star.EMPTY,
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index a75eb89f25..a6cd2f19b9 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -5,10 +5,11 @@ from common.realtime import DT_CTRL
from opendbc.can.packer import CANPacker
from selfdrive.car import apply_std_steer_torque_limits
from selfdrive.car.gm import gmcan
-from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, EV_CAR
+from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
VisualAlert = car.CarControl.HUDControl.VisualAlert
NetworkLocation = car.CarParams.NetworkLocation
+LongCtrlState = car.CarControl.Actuators.LongControlState
# Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s
CAMERA_CANCEL_DELAY_FRAMES = 10
@@ -30,7 +31,7 @@ class CarController:
self.sent_lka_steering_cmd = False
self.lka_icon_status_last = (False, False)
- self.params = CarControllerParams()
+ self.params = CarControllerParams(self.CP)
self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
@@ -83,20 +84,23 @@ class CarController:
self.apply_gas = self.params.INACTIVE_REGEN
self.apply_brake = 0
else:
- if self.CP.carFingerprint in EV_CAR:
- self.apply_gas = int(round(interp(actuators.accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
- self.apply_brake = int(round(interp(actuators.accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
- else:
- self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
- self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
+ self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+ self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
idx = (self.frame // 4) % 4
at_full_stop = CC.longActive and CS.out.standstill
near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
+ friction_brake_bus = CanBus.CHASSIS
+ # GM Camera exceptions
+ # TODO: can we always check the longControlState?
+ if self.CP.networkLocation == NetworkLocation.fwdCamera:
+ at_full_stop = at_full_stop and actuators.longControlState == LongCtrlState.stopping
+ friction_brake_bus = CanBus.POWERTRAIN
+
# GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop))
- can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, self.apply_brake, idx, near_stop, at_full_stop))
+ can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake, idx, CC.enabled, near_stop, at_full_stop, self.CP))
# Send dashboard UI commands (ACC status)
send_fcw = hud_alert == VisualAlert.fcw
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index 7cb2274674..af69307a2c 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -28,6 +28,7 @@ class CarState(CarStateBase):
self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
+ self.moving_backward = pt_cp.vl["EBCMWheelSpdRear"]["MovingBackward"] != 0
# Variables used for avoiding LKAS faults
self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
@@ -139,6 +140,7 @@ class CarState(CarStateBase):
("FRWheelSpd", "EBCMWheelSpdFront"),
("RLWheelSpd", "EBCMWheelSpdRear"),
("RRWheelSpd", "EBCMWheelSpdRear"),
+ ("MovingBackward", "EBCMWheelSpdRear"),
("PRNDL2", "ECMPRDNL2"),
("ManualMode", "ECMPRDNL2"),
("LKADriverAppldTrq", "PSCMStatus"),
diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py
index 42df2c6afd..56c981326f 100644
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@@ -1,4 +1,5 @@
from selfdrive.car import make_can_msg
+from selfdrive.car.gm.values import CAR
def create_buttons(packer, bus, idx, button):
@@ -52,15 +53,20 @@ def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
return packer.make_can_msg("ASCMGasRegenCmd", bus, values)
-def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_full_stop):
+def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_stop, at_full_stop, CP):
mode = 0x1
+
+ # TODO: Understand this better. Volts and ICE Camera ACC cars are 0x1 when enabled with no brake
+ if enabled and CP.carFingerprint in (CAR.BOLT_EUV,):
+ mode = 0x9
+
if apply_brake > 0:
mode = 0xa
if at_full_stop:
mode = 0xd
# TODO: this is to have GM bringing the car to complete stop,
- # but currently it conflicts with OP controls, so turned off.
+ # but currently it conflicts with OP controls, so turned off. Not set by all cars
#elif near_stop:
# mode = 0xb
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index e25f203772..2420098b4a 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -20,8 +20,7 @@ BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.D
class CarInterface(CarInterfaceBase):
@staticmethod
def get_pid_accel_limits(CP, current_speed, cruise_speed):
- params = CarControllerParams()
- return params.ACCEL_MIN, params.ACCEL_MAX
+ return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
# Determined by iteratively plotting and minimizing error for f(angle, speed) = steer.
@staticmethod
@@ -56,13 +55,34 @@ class CarInterface(CarInterfaceBase):
else:
ret.transmissionType = TransmissionType.automatic
+ ret.longitudinalTuning.deadzoneBP = [0.]
+ ret.longitudinalTuning.deadzoneV = [0.15]
+
+ ret.longitudinalTuning.kpBP = [5., 35.]
+ ret.longitudinalTuning.kiBP = [0.]
+
if candidate in CAMERA_ACC_CAR:
- ret.openpilotLongitudinalControl = False
+ ret.experimentalLongitudinalAvailable = True
ret.networkLocation = NetworkLocation.fwdCamera
ret.radarOffCan = True # no radar
ret.pcmCruise = True
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
ret.minEnableSpeed = 5 * CV.KPH_TO_MS
+
+ if experimental_long:
+ ret.pcmCruise = False
+ ret.openpilotLongitudinalControl = True
+ ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
+
+ # Tuning
+ ret.longitudinalTuning.kpV = [2.0, 1.5]
+ ret.longitudinalTuning.kiV = [0.72]
+ ret.stopAccel = -2.0
+ ret.stoppingDecelRate = 2.0 # reach brake quickly after enabling
+ ret.vEgoStopping = 0.25
+ ret.vEgoStarting = 0.25
+ ret.longitudinalActuatorDelayUpperBound = 0.5
+
else: # ASCM, OBD-II harness
ret.openpilotLongitudinalControl = True
ret.networkLocation = NetworkLocation.gateway
@@ -71,6 +91,10 @@ class CarInterface(CarInterfaceBase):
# supports stop and go, but initial engage must (conservatively) be above 18mph
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
+ # Tuning
+ ret.longitudinalTuning.kpV = [2.4, 1.5]
+ ret.longitudinalTuning.kiV = [0.36]
+
# These cars have been put into dashcam only due to both a lack of users and test coverage.
# These cars likely still work fine. Once a user confirms each car works and a test route is
# added to selfdrive/car/tests/routes.py, we can remove it from this list.
@@ -85,11 +109,6 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
tire_stiffness_factor = 0.444 # not optimized yet
- ret.longitudinalTuning.kpBP = [5., 35.]
- ret.longitudinalTuning.kpV = [2.4, 1.5]
- ret.longitudinalTuning.kiBP = [0.]
- ret.longitudinalTuning.kiV = [0.36]
-
ret.steerLimitTimer = 0.4
ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
@@ -206,8 +225,9 @@ class CarInterface(CarInterfaceBase):
# Enabling at a standstill with brake is allowed
# TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
- if ret.vEgo < self.CP.minEnableSpeed and not (ret.standstill and ret.brake >= 20 and
- self.CP.networkLocation == NetworkLocation.fwdCamera):
+ below_min_enable_speed = ret.vEgo < self.CP.minEnableSpeed or self.CS.moving_backward
+ if below_min_enable_speed and not (ret.standstill and ret.brake >= 20 and
+ self.CP.networkLocation == NetworkLocation.fwdCamera):
events.add(EventName.belowEngageSpeed)
if ret.cruiseState.standstill:
events.add(EventName.resumeRequired)
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index 85e291aaf6..eace6b6aca 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -24,15 +24,6 @@ class CarControllerParams:
ADAS_KEEPALIVE_STEP = 100
CAMERA_KEEPALIVE_STEP = 100
- # Volt gas/brake lookups
- # TODO: These values should be confirmed on non-Volt vehicles.
- # MAX_GAS should achieve 2 m/s^2 and MAX_BRAKE with regen should achieve -4.0 m/s^2
- MAX_GAS = 3072 # Safety limit, not ACC max. Stock ACC >4096 from standstill.
- ZERO_GAS = 2048 # Coasting
- MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen
- MAX_ACC_REGEN = 1404 # Max ACC regen is slightly less than max paddle regen
- INACTIVE_REGEN = 1404
-
# Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
# perform the closed loop control, and might need some
# to apply some more braking if we're on a downhill slope.
@@ -41,15 +32,32 @@ class CarControllerParams:
ACCEL_MAX = 2. # m/s^2
ACCEL_MIN = -4. # m/s^2
- # ICE has much less engine braking force compared to regen in EVs,
- # lower threshold removes some braking deadzone
- GAS_LOOKUP_BP = [-0.1, 0., ACCEL_MAX]
- EV_GAS_LOOKUP_BP = [-1., 0., ACCEL_MAX]
- GAS_LOOKUP_V = [MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
-
- BRAKE_LOOKUP_BP = [ACCEL_MIN, -0.1]
- EV_BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.]
- BRAKE_LOOKUP_V = [MAX_BRAKE, 0.]
+ def __init__(self, CP):
+ # Gas/brake lookups
+ self.ZERO_GAS = 2048 # Coasting
+ self.MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen
+
+ if CP.carFingerprint in CAMERA_ACC_CAR:
+ self.MAX_GAS = 3400
+ self.MAX_ACC_REGEN = 1514
+ self.INACTIVE_REGEN = 1554
+ # Camera ACC vehicles have no regen while enabled.
+ # Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
+ max_regen_acceleration = 0.
+
+ else:
+ self.MAX_GAS = 3072 # Safety limit, not ACC max. Stock ACC >4096 from standstill.
+ self.MAX_ACC_REGEN = 1404 # Max ACC regen is slightly less than max paddle regen
+ self.INACTIVE_REGEN = 1404
+ # ICE has much less engine braking force compared to regen in EVs,
+ # lower threshold removes some braking deadzone
+ max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
+
+ self.GAS_LOOKUP_BP = [max_regen_acceleration, 0., self.ACCEL_MAX]
+ self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS]
+
+ self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, max_regen_acceleration]
+ self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
class CAR:
diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py
index b7056df5b3..e56f98f7a8 100755
--- a/selfdrive/car/tests/test_docs.py
+++ b/selfdrive/car/tests/test_docs.py
@@ -10,8 +10,9 @@ from selfdrive.car.honda.values import CAR as HONDA
class TestCarDocs(unittest.TestCase):
- def setUp(self):
- self.all_cars = get_all_car_info()
+ @classmethod
+ def setUpClass(cls):
+ cls.all_cars = get_all_car_info()
def test_generator(self):
generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index faea08ed3f..4ec9500171 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -5,7 +5,8 @@ from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_comma
create_accel_command, create_acc_cancel_command, \
create_fcw_command, create_lta_steer_command
from selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
- MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams
+ MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams, \
+ UNSUPPORTED_DSU_CAR
from opendbc.can.packer import CANPacker
VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -112,7 +113,7 @@ class CarController:
lead = hud_control.leadVisible or CS.out.vEgo < 12. # at low speed we always assume the lead is present so ACC can be engaged
# Lexus IS uses a different cancellation message
- if pcm_cancel_cmd and self.CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC):
+ if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
can_sends.append(create_acc_cancel_command(self.packer))
elif self.CP.openpilotLongitudinalControl:
can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type))
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 0cfba2b09f..4758149916 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -6,7 +6,7 @@ from common.realtime import DT_CTRL
from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE
+from selfdrive.car.toyota.values import ToyotaFlags, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
class CarState(CarStateBase):
@@ -87,7 +87,7 @@ class CarState(CarStateBase):
# 17 is a fault from a prolonged high torque delta between cmd and user
ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] == 17
- if self.CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC):
+ if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0
ret.cruiseState.speed = cp.vl["DSU_CRUISE"]["SET_SPEED"] * CV.KPH_TO_MS
cluster_set_speed = cp.vl["PCM_CRUISE_ALT"]["UI_SET_SPEED"]
@@ -112,7 +112,7 @@ class CarState(CarStateBase):
# these cars are identified by an ACC_TYPE value of 2.
# TODO: it is possible to avoid the lockout and gain stop and go if you
# send your own ACC_CONTROL msg on startup with ACC_TYPE set to 1
- if (self.CP.carFingerprint not in TSS2_CAR and self.CP.carFingerprint not in (CAR.LEXUS_IS, CAR.LEXUS_RC)) or \
+ if (self.CP.carFingerprint not in TSS2_CAR and self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR) or \
(self.CP.carFingerprint in TSS2_CAR and self.acc_type == 1):
self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]["LOW_SPEED_LOCKOUT"] == 2
@@ -196,7 +196,7 @@ class CarState(CarStateBase):
signals.append(("GAS_PEDAL", "GAS_PEDAL"))
checks.append(("GAS_PEDAL", 33))
- if CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC):
+ if CP.carFingerprint in UNSUPPORTED_DSU_CAR:
signals.append(("MAIN_ON", "DSU_CRUISE"))
signals.append(("SET_SPEED", "DSU_CRUISE"))
signals.append(("UI_SET_SPEED", "PCM_CRUISE_ALT"))
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 0d5acbfff4..02e4caa9d6 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -2,7 +2,7 @@
from cereal import car
from common.conversions import Conversions as CV
from panda import Panda
-from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams
+from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, CarControllerParams, NO_STOP_TIMER_CAR
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
@@ -189,13 +189,13 @@ class CarInterface(CarInterfaceBase):
smartDsu = 0x2FF in fingerprint[0]
# In TSS2 cars the camera does long control
found_ecus = [fw.ecu for fw in car_fw]
- ret.enableDsu = (len(found_ecus) > 0) and (Ecu.dsu not in found_ecus) and (candidate not in NO_DSU_CAR) and (not smartDsu)
+ ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) and not smartDsu
ret.enableGasInterceptor = 0x201 in fingerprint[0]
# if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected")
ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR)
+ ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
if not ret.openpilotLongitudinalControl:
- ret.autoResumeSng = False
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL
# we can't use the fingerprint to detect this reliably, since
@@ -208,18 +208,16 @@ class CarInterface(CarInterfaceBase):
ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED
tune = ret.longitudinalTuning
+ tune.deadzoneBP = [0., 9.]
+ tune.deadzoneV = [.0, .15]
if candidate in TSS2_CAR or ret.enableGasInterceptor:
- tune.deadzoneBP = [0., 8.05]
- tune.deadzoneV = [.0, .14]
tune.kpBP = [0., 5., 20.]
tune.kpV = [1.3, 1.0, 0.7]
tune.kiBP = [0., 5., 12., 20., 27.]
tune.kiV = [.35, .23, .20, .17, .1]
if candidate in TSS2_CAR:
- ret.stoppingDecelRate = 0.3 # reach stopping target smoothly
+ ret.stoppingDecelRate = 0.3 # reach stopping target smoothly
else:
- tune.deadzoneBP = [0., 9.]
- tune.deadzoneV = [.0, .15]
tune.kpBP = [0., 5., 35.]
tune.kiBP = [0., 35.]
tune.kpV = [3.6, 2.4, 1.5]
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 07c33d0173..9e96118085 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -87,10 +87,6 @@ class CAR:
class Footnote(Enum):
- DSU = CarFootnote(
- "When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace " +
- "stock Adaptive Cruise Control (ACC). NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).",
- Column.LONGITUDINAL)
CAMRY = CarFootnote(
"openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.",
Column.FSR_LONGITUDINAL)
@@ -107,11 +103,11 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
CAR.ALPHARD_TSS2: ToyotaCarInfo("Toyota Alphard 2019-20"),
CAR.ALPHARDH_TSS2: ToyotaCarInfo("Toyota Alphard Hybrid 2021"),
CAR.AVALON: [
- ToyotaCarInfo("Toyota Avalon 2016", "Toyota Safety Sense P", footnotes=[Footnote.DSU]),
- ToyotaCarInfo("Toyota Avalon 2017-18", footnotes=[Footnote.DSU]),
+ ToyotaCarInfo("Toyota Avalon 2016", "Toyota Safety Sense P"),
+ ToyotaCarInfo("Toyota Avalon 2017-18"),
],
- CAR.AVALON_2019: ToyotaCarInfo("Toyota Avalon 2019-21", footnotes=[Footnote.DSU]),
- CAR.AVALONH_2019: ToyotaCarInfo("Toyota Avalon Hybrid 2019-21", footnotes=[Footnote.DSU]),
+ CAR.AVALON_2019: ToyotaCarInfo("Toyota Avalon 2019-21"),
+ CAR.AVALONH_2019: ToyotaCarInfo("Toyota Avalon Hybrid 2019-21"),
CAR.AVALON_TSS2: ToyotaCarInfo("Toyota Avalon 2022"),
CAR.AVALONH_TSS2: ToyotaCarInfo("Toyota Avalon Hybrid 2022"),
CAR.CAMRY: ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
@@ -120,7 +116,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-22"),
CAR.CHR: ToyotaCarInfo("Toyota C-HR 2017-21"),
CAR.CHRH: ToyotaCarInfo("Toyota C-HR Hybrid 2017-19"),
- CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19", footnotes=[Footnote.DSU]),
+ CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19"),
CAR.COROLLA_TSS2: [
ToyotaCarInfo("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
ToyotaCarInfo("Toyota Corolla Cross (Non-US only) 2020-21", min_enable_speed=7.5),
@@ -131,53 +127,53 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
ToyotaCarInfo("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5),
ToyotaCarInfo("Lexus UX Hybrid 2019-22"),
],
- CAR.HIGHLANDER: ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo", footnotes=[Footnote.DSU]),
+ CAR.HIGHLANDER: ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"),
CAR.HIGHLANDER_TSS2: ToyotaCarInfo("Toyota Highlander 2020-22"),
- CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19", footnotes=[Footnote.DSU]),
+ CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"),
CAR.HIGHLANDERH_TSS2: ToyotaCarInfo("Toyota Highlander Hybrid 2020-22"),
CAR.PRIUS: [
- ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", "https://www.youtube.com/watch?v=8zopPJI8XQ0", [Footnote.DSU]),
- ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]),
- ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]),
+ ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", "https://www.youtube.com/watch?v=8zopPJI8XQ0"),
+ ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
+ ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
],
- CAR.PRIUS_V: ToyotaCarInfo("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED, footnotes=[Footnote.DSU]),
+ CAR.PRIUS_V: ToyotaCarInfo("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED),
CAR.PRIUS_TSS2: [
ToyotaCarInfo("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
ToyotaCarInfo("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
],
CAR.RAV4: [
- ToyotaCarInfo("Toyota RAV4 2016", "Toyota Safety Sense P", footnotes=[Footnote.DSU]),
- ToyotaCarInfo("Toyota RAV4 2017-18", footnotes=[Footnote.DSU])
+ ToyotaCarInfo("Toyota RAV4 2016", "Toyota Safety Sense P"),
+ ToyotaCarInfo("Toyota RAV4 2017-18")
],
CAR.RAV4H: [
- ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", "https://youtu.be/LhT5VzJVfNI?t=26", [Footnote.DSU]),
- ToyotaCarInfo("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26", footnotes=[Footnote.DSU])
+ ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", "https://youtu.be/LhT5VzJVfNI?t=26"),
+ ToyotaCarInfo("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26")
],
CAR.RAV4_TSS2: ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
CAR.RAV4_TSS2_2022: ToyotaCarInfo("Toyota RAV4 2022"),
CAR.RAV4H_TSS2: ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"),
CAR.RAV4H_TSS2_2022: ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"),
CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"),
- CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", footnotes=[Footnote.DSU], min_enable_speed=MIN_ACC_SPEED),
+ CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED),
# Lexus
- CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+", footnotes=[Footnote.DSU]),
- CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18", "Lexus Safety System+", footnotes=[Footnote.DSU]),
+ CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"),
+ CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18", "Lexus Safety System+"),
CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-22"),
CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-22", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"),
- CAR.LEXUS_NX: ToyotaCarInfo("Lexus NX 2018-19", footnotes=[Footnote.DSU]),
- CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19", footnotes=[Footnote.DSU]),
+ CAR.LEXUS_NX: ToyotaCarInfo("Lexus NX 2018-19"),
+ CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19"),
CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020-21"),
CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020-21"),
CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2017-20"),
CAR.LEXUS_RX: [
- ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+", footnotes=[Footnote.DSU]),
- ToyotaCarInfo("Lexus RX 2017-19", footnotes=[Footnote.DSU]),
+ ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"),
+ ToyotaCarInfo("Lexus RX 2017-19"),
],
CAR.LEXUS_RXH: [
- ToyotaCarInfo("Lexus RX Hybrid 2016", "Lexus Safety System+", footnotes=[Footnote.DSU]),
- ToyotaCarInfo("Lexus RX Hybrid 2017-19", footnotes=[Footnote.DSU]),
+ ToyotaCarInfo("Lexus RX Hybrid 2016", "Lexus Safety System+"),
+ ToyotaCarInfo("Lexus RX Hybrid 2017-19"),
],
CAR.LEXUS_RX_TSS2: ToyotaCarInfo("Lexus RX 2020-22"),
CAR.LEXUS_RXH_TSS2: ToyotaCarInfo("Lexus RX Hybrid 2020-21"),
@@ -1363,7 +1359,7 @@ FW_VERSIONS = {
],
(Ecu.engine, 0x700, None): [
b'\x01896634AA0000\x00\x00\x00\x00',
- b'\x01896634AA0100\x00\x00\x00\x00',
+ b'\x01896634AA0100\x00\x00\x00\x00',
b'\x01896634AA1000\x00\x00\x00\x00',
b'\x01896634A88000\x00\x00\x00\x00',
b'\x01896634A89000\x00\x00\x00\x00',
@@ -2032,6 +2028,9 @@ TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.COROLLA_TSS2, CAR.COROLLAH_TS
NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}
+# the DSU uses the AEB message for longitudinal on these cars
+UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC}
+
# these cars have a radar which sends ACC messages instead of the camera
RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022}
diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py
index 3f63fbb959..dbccb8d4a9 100644
--- a/selfdrive/manager/process_config.py
+++ b/selfdrive/manager/process_config.py
@@ -31,6 +31,7 @@ procs = [
NativeProcess("encoderd", "selfdrive/loggerd", ["./encoderd"]),
NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], onroad=False, callback=logging),
NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]),
+ # NativeProcess("mapsd", "selfdrive/navd", ["./map_renderer"]),
NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC),
NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=(not PC or WEBCAM)),
NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)),
diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc
index f85916a4ca..daf89b2636 100644
--- a/selfdrive/navd/map_renderer.cc
+++ b/selfdrive/navd/map_renderer.cc
@@ -1,5 +1,6 @@
#include "selfdrive/navd/map_renderer.h"
+#include
#include
#include
#include
@@ -10,11 +11,34 @@
#include "selfdrive/ui/qt/maps/map_helpers.h"
const float DEFAULT_ZOOM = 13.5; // Don't go below 13 or features will start to disappear
-const int WIDTH = 512;
-const int HEIGHT = WIDTH;
-
+const int RENDER_HEIGHT = 512, RENDER_WIDTH = 512;
+const int HEIGHT = 256, WIDTH = 256;
const int NUM_VIPC_BUFFERS = 4;
+const int EARTH_CIRCUMFERENCE_METERS = 40075000;
+const int PIXELS_PER_TILE = 256;
+
+float get_meters_per_pixel(float lat, float zoom) {
+ float num_tiles = pow(2, zoom+1);
+ float meters_per_tile = cos(DEG2RAD(lat)) * EARTH_CIRCUMFERENCE_METERS / num_tiles;
+ return meters_per_tile / PIXELS_PER_TILE;
+}
+
+float get_zoom_level_for_scale(float lat, float meters_per_pixel) {
+ float meters_per_tile = meters_per_pixel * PIXELS_PER_TILE;
+ float num_tiles = cos(DEG2RAD(lat)) * EARTH_CIRCUMFERENCE_METERS / meters_per_tile;
+ return log2(num_tiles) - 1;
+}
+
+void downsample(uint8_t *src, uint8_t *dst) {
+ for (int r = 0; r < HEIGHT; r++) {
+ for (int c = 0; c < WIDTH; c++) {
+ dst[r*WIDTH + c] = src[(r*2*RENDER_WIDTH + c*2) * 3];
+ }
+ }
+}
+
+
MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_settings(settings) {
QSurfaceFormat fmt;
fmt.setRenderableType(QSurfaceFormat::OpenGLES);
@@ -35,7 +59,7 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set
gl_functions->initializeOpenGLFunctions();
QOpenGLFramebufferObjectFormat fbo_format;
- fbo.reset(new QOpenGLFramebufferObject(WIDTH, HEIGHT, fbo_format));
+ fbo.reset(new QOpenGLFramebufferObject(RENDER_WIDTH, RENDER_HEIGHT, fbo_format));
std::string style = util::read_file(STYLE_PATH);
m_map.reset(new QMapboxGL(nullptr, m_settings, fbo->size(), 1));
@@ -45,7 +69,7 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set
m_map->resize(fbo->size());
m_map->setFramebufferObject(fbo->handle(), fbo->size());
- gl_functions->glViewport(0, 0, WIDTH, HEIGHT);
+ gl_functions->glViewport(0, 0, RENDER_WIDTH, RENDER_HEIGHT);
if (online) {
vipc_server.reset(new VisionIpcServer("navd"));
@@ -85,22 +109,18 @@ void MapRenderer::msgUpdate() {
}
}
-void MapRenderer::updateZoom(float zoom) {
- if (m_map.isNull()) {
- return;
- }
-
- m_map->setZoom(zoom);
- update();
-}
-
void MapRenderer::updatePosition(QMapbox::Coordinate position, float bearing) {
if (m_map.isNull()) {
return;
}
+ // Choose a zoom level that matches the scale of zoom level 13 at latitude 80deg
+ float scale_lat80 = get_meters_per_pixel(80, 13);
+ float zoom = get_zoom_level_for_scale(position.first, scale_lat80);
+
m_map->setCoordinate(position);
m_map->setBearing(bearing);
+ m_map->setZoom(zoom);
update();
}
@@ -130,15 +150,13 @@ void MapRenderer::sendVipc() {
.timestamp_eof = ts,
};
- assert(cap.sizeInBytes() >= buf->len);
+ assert(cap.sizeInBytes() >= buf->len*4);
uint8_t* dst = (uint8_t*)buf->addr;
uint8_t* src = cap.bits();
- // RGB to greyscale
+ // 2x downsample + rgb to grayscale
memset(dst, 128, buf->len);
- for (int i = 0; i < WIDTH * HEIGHT; i++) {
- dst[i] = src[i * 3];
- }
+ downsample(src, dst);
vipc_server->send(buf, &extra);
@@ -169,9 +187,8 @@ uint8_t* MapRenderer::getImage() {
uint8_t* src = cap.bits();
uint8_t* dst = new uint8_t[WIDTH * HEIGHT];
- for (int i = 0; i < WIDTH * HEIGHT; i++) {
- dst[i] = src[i * 3];
- }
+ // 2x downsample + rgb to grayscale
+ downsample(src, dst);
return dst;
}
@@ -222,11 +239,6 @@ extern "C" {
return new MapRenderer(settings, false);
}
- void map_renderer_update_zoom(MapRenderer *inst, float zoom) {
- inst->updateZoom(zoom);
- QApplication::processEvents();
- }
-
void map_renderer_update_position(MapRenderer *inst, float lat, float lon, float bearing) {
inst->updatePosition({lat, lon}, bearing);
QApplication::processEvents();
diff --git a/selfdrive/navd/map_renderer.h b/selfdrive/navd/map_renderer.h
index 921d871632..855dc91894 100644
--- a/selfdrive/navd/map_renderer.h
+++ b/selfdrive/navd/map_renderer.h
@@ -47,7 +47,6 @@ private:
QTimer* timer;
public slots:
- void updateZoom(float zoom);
void updatePosition(QMapbox::Coordinate position, float bearing);
void updateRoute(QList coordinates);
void msgUpdate();
diff --git a/selfdrive/navd/map_renderer.py b/selfdrive/navd/map_renderer.py
index 079bb028ce..9000622928 100755
--- a/selfdrive/navd/map_renderer.py
+++ b/selfdrive/navd/map_renderer.py
@@ -9,7 +9,7 @@ from cffi import FFI
from common.ffi_wrapper import suffix
from common.basedir import BASEDIR
-HEIGHT = WIDTH = 512
+HEIGHT = WIDTH = 256
def get_ffi():
@@ -18,7 +18,6 @@ def get_ffi():
ffi = FFI()
ffi.cdef("""
void* map_renderer_init(char *maps_host, char *token);
-void map_renderer_update_zoom(void *inst, float zoom);
void map_renderer_update_position(void *inst, float lat, float lon, float bearing);
void map_renderer_update_route(void *inst, char *polyline);
void map_renderer_update(void *inst);
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 44594d12e6..68bd35c38c 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-dd41df756253a9e711eb0fd0c3e007284f600ee8
\ No newline at end of file
+01b24beff6855e8c4d2fb0efeeefafb46343e013
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 0d3d7b367a..4021e27de3 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -21,7 +21,7 @@ from tools.lib.logreader import LogReader
# Baseline CPU usage by process
PROCS = {
- "selfdrive.controls.controlsd": 35.0,
+ "selfdrive.controls.controlsd": 39.0,
"./loggerd": 10.0,
"./encoderd": 17.0,
"./camerad": 14.5,
@@ -202,9 +202,9 @@ class TestOnroad(unittest.TestCase):
print(result)
self.assertGreater(len(ts), 20*50, "insufficient samples")
- self.assertLess(max(ts), 30.)
+ #self.assertLess(max(ts), 30.)
self.assertLess(np.mean(ts), 10.)
- self.assertLess(np.std(ts), 5.)
+ #self.assertLess(np.std(ts), 5.)
def test_cpu_usage(self):
proclogs = [m for m in self.lr if m.which() == 'procLog']
diff --git a/system/camerad/cameras/real_debayer.cl b/system/camerad/cameras/real_debayer.cl
index 59aa488653..cff5ae455b 100644
--- a/system/camerad/cameras/real_debayer.cl
+++ b/system/camerad/cameras/real_debayer.cl
@@ -72,7 +72,7 @@ float4 val4_from_12(uchar8 pvs, float gain) {
float4 pv = {ox03c10_lut[parsed.s0], ox03c10_lut[parsed.s1], ox03c10_lut[parsed.s2], ox03c10_lut[parsed.s3]};
// it's a 24 bit signal, center in the middle 8 bits
- return pv*256.0;
+ return clamp(pv*gain*256.0, 0.0, 1.0);
#else // AR
// normalize and scale
float4 pv = (convert_float4(parsed) - 168.0) / (4096.0 - 168.0);
diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc
index 91353e9726..875bd034ec 100644
--- a/tools/cabana/binaryview.cc
+++ b/tools/cabana/binaryview.cc
@@ -20,15 +20,12 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) {
setItemDelegate(delegate);
horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch);
horizontalHeader()->hide();
- verticalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents);
setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
- setMouseTracking(true);
+ setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+ setSizeAdjustPolicy(QAbstractScrollArea::AdjustToContents);
+ setFrameShape(QFrame::NoFrame);
setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Minimum);
-}
-
-QSize BinaryView::sizeHint() const {
- QSize sz = QTableView::sizeHint();
- return {sz.width(), model->rowCount() <= 8 ? ((CELL_HEIGHT + 1) * model->rowCount() + 2) : sz.height()};
+ setMouseTracking(true);
}
void BinaryView::highlight(const Signal *sig) {
diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h
index 060a2eef7f..0f58e9ed20 100644
--- a/tools/cabana/binaryview.h
+++ b/tools/cabana/binaryview.h
@@ -61,7 +61,6 @@ public:
void highlight(const Signal *sig);
const Signal *hoveredSignal() const { return hovered_sig; }
QSet getOverlappingSignals() const;
- QSize sizeHint() const override;
signals:
void signalHovered(const Signal *sig);
diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc
index 72c9c40570..5bf66ebb2d 100644
--- a/tools/cabana/chartswidget.cc
+++ b/tools/cabana/chartswidget.cc
@@ -1,11 +1,13 @@
#include "tools/cabana/chartswidget.h"
+#include
#include
#include
#include
#include
#include
#include
+#include
// ChartsWidget
@@ -116,8 +118,9 @@ void ChartsWidget::updateState() {
display_range.first = std::max(display_range.first, event_range.first);
display_range.second = std::min(display_range.first + settings.max_chart_x_range, event_range.second);
if (prev_range != display_range) {
+ QFutureSynchronizer future_synchronizer;
for (auto c : charts)
- c->chart_view->updateSeries(display_range);
+ future_synchronizer.addFuture(QtConcurrent::run(c->chart_view, &ChartView::updateSeries, display_range));
}
}
@@ -325,11 +328,10 @@ void ChartView::updateLineMarker(double current_sec) {
chart()->plotArea().width() * (current_sec - axis_x->min()) / (axis_x->max() - axis_x->min());
if (int(line_marker->line().x1()) != x) {
line_marker->setLine(x, 0, x, height());
- chart()->update();
}
}
-void ChartView::updateSeries(const std::pair &range) {
+void ChartView::updateSeries(const std::pair range) {
auto events = can->events();
if (!events) return;
@@ -338,7 +340,7 @@ void ChartView::updateSeries(const std::pair &range) {
uint32_t address = l[1].toUInt(nullptr, 16);
vals.clear();
- vals.reserve((range.second - range.first) * 100); // [n]minutes * 100hz
+ vals.reserve((range.second - range.first) * 1000); // [n]seconds * 1000hz
double route_start_time = can->routeStartTime();
Event begin_event(cereal::Event::Which::INIT_DATA, (route_start_time + range.first) * 1e9);
auto begin = std::lower_bound(events->begin(), events->end(), &begin_event, Event::lessThan());
@@ -369,8 +371,13 @@ void ChartView::updateAxisY() {
auto end = std::upper_bound(vals.begin(), vals.end(), axis_x->max(), [](double x, auto &p) { return x < p.x(); });
const auto [min, max] = std::minmax_element(begin, end, [](auto &p1, auto &p2) { return p1.y() < p2.y(); });
- (min->y() == max->y()) ? axis_y->setRange(min->y() - 1, max->y() + 1)
- : axis_y->setRange(min->y(), max->y());
+ if (max->y() == min->y()) {
+ axis_y->setRange(min->y() - 1, max->y() + 1);
+ } else {
+ double range = max->y() - min->y();
+ axis_y->setRange(min->y() - range * 0.05, max->y() + range * 0.05);
+ axis_y->applyNiceNumbers();
+ }
}
void ChartView::enterEvent(QEvent *event) {
@@ -410,6 +417,7 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) {
} else {
QGraphicsView::mouseReleaseEvent(event);
}
+ setViewportUpdateMode(QGraphicsView::MinimalViewportUpdate);
}
void ChartView::mouseMoveEvent(QMouseEvent *ev) {
@@ -436,6 +444,8 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) {
track_line->setVisible(value != vals.end());
value_text->setVisible(value != vals.end());
track_ellipse->setVisible(value != vals.end());
+ } else {
+ setViewportUpdateMode(QGraphicsView::FullViewportUpdate);
}
QChartView::mouseMoveEvent(ev);
}
diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h
index 602d50ca0a..ff56008e7d 100644
--- a/tools/cabana/chartswidget.h
+++ b/tools/cabana/chartswidget.h
@@ -21,7 +21,7 @@ class ChartView : public QChartView {
public:
ChartView(const QString &id, const Signal *sig, QWidget *parent = nullptr);
- void updateSeries(const std::pair &range);
+ void updateSeries(const std::pair range);
void setRange(double min, double max, bool force_update = false);
void updateLineMarker(double current_sec);
void updateFromSettings();
@@ -42,7 +42,7 @@ private:
QGraphicsEllipseItem *track_ellipse;
QGraphicsTextItem *value_text;
QGraphicsLineItem *line_marker;
- QList vals;
+ QVector vals;
QString id;
const Signal *signal;
};
diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc
index 57a3910303..9bbc442154 100644
--- a/tools/cabana/detailwidget.cc
+++ b/tools/cabana/detailwidget.cc
@@ -4,7 +4,9 @@
#include
#include
#include
+#include
#include
+#include
#include "selfdrive/ui/qt/util.h"
#include "tools/cabana/canmessages.h"
@@ -13,38 +15,26 @@
// DetailWidget
DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(charts), QWidget(parent) {
- main_layout = new QHBoxLayout(this);
+ QVBoxLayout *main_layout = new QVBoxLayout(this);
main_layout->setContentsMargins(0, 0, 0, 0);
+ main_layout->setSpacing(0);
- right_column = new QVBoxLayout();
- main_layout->addLayout(right_column);
-
- binary_view_container = new QWidget(this);
- binary_view_container->setMinimumWidth(500);
- binary_view_container->setSizePolicy(QSizePolicy::Minimum, QSizePolicy::Preferred);
- QVBoxLayout *bin_layout = new QVBoxLayout(binary_view_container);
- bin_layout->setContentsMargins(0, 0, 0, 0);
- bin_layout->setSpacing(0);
- // tabbar
+ // tabbar
tabbar = new QTabBar(this);
tabbar->setTabsClosable(true);
tabbar->setDrawBase(false);
tabbar->setUsesScrollButtons(true);
tabbar->setAutoHide(true);
tabbar->setContextMenuPolicy(Qt::CustomContextMenu);
- bin_layout->addWidget(tabbar);
+ main_layout->addWidget(tabbar);
- TitleFrame *title_frame = new TitleFrame(this);
+ QFrame *title_frame = new QFrame(this);
+ QVBoxLayout *frame_layout = new QVBoxLayout(title_frame);
title_frame->setFrameShape(QFrame::StyledPanel);
title_frame->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed);
- QVBoxLayout *frame_layout = new QVBoxLayout(title_frame);
// message title
QHBoxLayout *title_layout = new QHBoxLayout();
- split_btn = new QPushButton("⬅", this);
- split_btn->setFixedSize(20, 20);
- split_btn->setToolTip(tr("Split to two columns"));
- title_layout->addWidget(split_btn);
title_layout->addWidget(new QLabel("time:"));
time_label = new QLabel(this);
time_label->setStyleSheet("font-weight:bold");
@@ -62,6 +52,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
// warning
warning_widget = new QWidget(this);
QHBoxLayout *warning_hlayout = new QHBoxLayout(warning_widget);
+ warning_hlayout->setContentsMargins(0, 0, 0, 0);
QLabel *warning_icon = new QLabel(this);
warning_icon->setPixmap(style()->standardPixmap(QStyle::SP_MessageBoxWarning));
warning_hlayout->addWidget(warning_icon, 0, Qt::AlignTop);
@@ -69,30 +60,33 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
warning_hlayout->addWidget(warning_label, 1, Qt::AlignLeft);
warning_widget->hide();
frame_layout->addWidget(warning_widget);
- bin_layout->addWidget(title_frame);
+ main_layout->addWidget(title_frame);
+
+ QWidget *container = new QWidget(this);
+ QVBoxLayout *container_layout = new QVBoxLayout(container);
+ container_layout->setSpacing(0);
+ container_layout->setContentsMargins(0, 0, 0, 0);
+
+ scroll = new QScrollArea(this);
+ scroll->setWidget(container);
+ scroll->setWidgetResizable(true);
+ scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+ main_layout->addWidget(scroll);
// binary view
binary_view = new BinaryView(this);
- bin_layout->addWidget(binary_view);
- right_column->addWidget(binary_view_container);
+ container_layout->addWidget(binary_view);
// signals
signals_container = new QWidget(this);
signals_container->setLayout(new QVBoxLayout);
signals_container->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Maximum);
-
- scroll = new ScrollArea(this);
- scroll->setWidget(signals_container);
- scroll->setWidgetResizable(true);
- scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
- right_column->addWidget(scroll);
+ container_layout->addWidget(signals_container);
// history log
history_log = new HistoryLog(this);
- right_column->addWidget(history_log);
+ container_layout->addWidget(history_log);
- QObject::connect(split_btn, &QPushButton::clicked, this, &DetailWidget::moveBinaryView);
- QObject::connect(title_frame, &TitleFrame::doubleClicked, this, &DetailWidget::moveBinaryView);
QObject::connect(edit_btn, &QPushButton::clicked, this, &DetailWidget::editMsg);
QObject::connect(binary_view, &BinaryView::resizeSignal, this, &DetailWidget::resizeSignal);
QObject::connect(binary_view, &BinaryView::addSignal, this, &DetailWidget::addSignal);
@@ -146,6 +140,8 @@ void DetailWidget::setMessage(const QString &message_id) {
tabbar->setCurrentIndex(index);
msg_id = message_id;
dbcMsgChanged();
+
+ scroll->verticalScrollBar()->setValue(0);
}
void DetailWidget::dbcMsgChanged(int show_form_idx) {
@@ -201,27 +197,12 @@ void DetailWidget::updateState() {
history_log->updateState();
}
-void DetailWidget::moveBinaryView() {
- if (binview_in_left_col) {
- right_column->insertWidget(0, binary_view_container);
- emit binaryViewMoved(true);
- } else {
- main_layout->insertWidget(0, binary_view_container);
- emit binaryViewMoved(false);
- }
- split_btn->setText(binview_in_left_col ? "⬅" : "➡");
- split_btn->setToolTip(binview_in_left_col ? tr("Split to two columns") : tr("Move back"));
- binary_view->updateGeometry();
- binview_in_left_col = !binview_in_left_col;
-}
-
void DetailWidget::showForm() {
SignalEdit *sender = qobject_cast(QObject::sender());
for (auto f : signals_container->findChildren()) {
f->setFormVisible(f == sender && !f->isFormVisible());
- if (f == sender) {
+ if (f == sender)
QTimer::singleShot(0, [=]() { scroll->ensureWidgetVisible(f); });
- }
}
}
@@ -322,19 +303,3 @@ EditMessageDialog::EditMessageDialog(const QString &msg_id, const QString &title
connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept);
connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
}
-
-// ScrollArea
-
-bool ScrollArea::eventFilter(QObject *obj, QEvent *ev) {
- if (obj == widget() && ev->type() == QEvent::Resize) {
- int height = widget()->height() + 4;
- setMinimumHeight(height > 480 ? 480 : height);
- setMaximumHeight(height);
- }
- return QScrollArea::eventFilter(obj, ev);
-}
-
-void ScrollArea::setWidget(QWidget *w) {
- QScrollArea::setWidget(w);
- w->installEventFilter(this);
-}
diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h
index 656aacb106..d8784f3f14 100644
--- a/tools/cabana/detailwidget.h
+++ b/tools/cabana/detailwidget.h
@@ -2,22 +2,12 @@
#include
#include
-#include
#include "tools/cabana/binaryview.h"
#include "tools/cabana/chartswidget.h"
#include "tools/cabana/historylog.h"
#include "tools/cabana/signaledit.h"
-class TitleFrame : public QFrame {
- Q_OBJECT
-public:
- TitleFrame(QWidget *parent) : QFrame(parent) {}
- void mouseDoubleClickEvent(QMouseEvent *e) { emit doubleClicked(); }
-signals:
- void doubleClicked();
-};
-
class EditMessageDialog : public QDialog {
Q_OBJECT
@@ -28,15 +18,6 @@ public:
QSpinBox *size_spin;
};
-class ScrollArea : public QScrollArea {
- Q_OBJECT
-
-public:
- ScrollArea(QWidget *parent) : QScrollArea(parent) {}
- bool eventFilter(QObject *obj, QEvent *ev) override;
- void setWidget(QWidget *w);
-};
-
class DetailWidget : public QWidget {
Q_OBJECT
@@ -58,7 +39,6 @@ private:
void editMsg();
void showForm();
void updateState();
- void moveBinaryView();
QString msg_id;
QLabel *name_label, *time_label, *warning_label;
@@ -66,13 +46,8 @@ private:
QPushButton *edit_btn;
QWidget *signals_container;
QTabBar *tabbar;
- QHBoxLayout *main_layout;
- QVBoxLayout *right_column;
- bool binview_in_left_col = false;
- QWidget *binary_view_container;
- QPushButton *split_btn;
HistoryLog *history_log;
BinaryView *binary_view;
- ScrollArea *scroll;
+ QScrollArea *scroll;
ChartsWidget *charts;
};
diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc
index 8136d0577c..5737421f28 100644
--- a/tools/cabana/historylog.cc
+++ b/tools/cabana/historylog.cc
@@ -64,16 +64,15 @@ void HistoryLogModel::updateState() {
}
}
-HistoryLog::HistoryLog(QWidget *parent) : QWidget(parent) {
- QVBoxLayout *main_layout = new QVBoxLayout(this);
- main_layout->setContentsMargins(0, 0, 0, 0);
+HistoryLog::HistoryLog(QWidget *parent) : QTableView(parent) {
model = new HistoryLogModel(this);
- table = new QTableView(this);
- table->setModel(model);
- table->horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch);
- table->horizontalHeader()->setSectionResizeMode(0, QHeaderView::ResizeToContents);
- table->setColumnWidth(0, 60);
- table->verticalHeader()->setVisible(false);
- table->setStyleSheet("QTableView::item { border:0px; padding-left:5px; padding-right:5px; }");
- main_layout->addWidget(table);
+ setModel(model);
+ horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch);
+ horizontalHeader()->setSectionResizeMode(0, QHeaderView::ResizeToContents);
+ verticalHeader()->setVisible(false);
+ setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+ setSizeAdjustPolicy(QAbstractScrollArea::AdjustToContents);
+ setFrameShape(QFrame::NoFrame);
+ setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
+ setStyleSheet("QTableView::item { border:0px; padding-left:5px; padding-right:5px; }");
}
diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h
index d39bcf9f1d..0bfc409fe1 100644
--- a/tools/cabana/historylog.h
+++ b/tools/cabana/historylog.h
@@ -25,15 +25,13 @@ private:
std::deque messages;
};
-class HistoryLog : public QWidget {
+class HistoryLog : public QTableView {
Q_OBJECT
public:
HistoryLog(QWidget *parent);
void setMessage(const QString &message_id) { model->setMessage(message_id); }
void updateState() { model->updateState(); }
-
private:
- QTableView *table;
HistoryLogModel *model;
};
diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc
index 17299ebca4..bba59c0d74 100644
--- a/tools/cabana/settings.cc
+++ b/tools/cabana/settings.cc
@@ -25,7 +25,7 @@ void Settings::save() {
void Settings::load() {
QSettings s("settings", QSettings::IniFormat);
fps = s.value("fps", 10).toInt();
- can_msg_log_size = s.value("log_size", 100).toInt();
+ can_msg_log_size = s.value("log_size", 50).toInt();
cached_segment_limit = s.value("cached_segment", 3).toInt();
chart_height = s.value("chart_height", 200).toInt();
chart_theme = s.value("chart_theme", 0).toInt();
diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h
index 88eeebc722..cb858de873 100644
--- a/tools/cabana/settings.h
+++ b/tools/cabana/settings.h
@@ -13,7 +13,7 @@ public:
void load();
int fps = 10;
- int can_msg_log_size = 100;
+ int can_msg_log_size = 50;
int cached_segment_limit = 3;
int chart_height = 200;
int chart_theme = 0;
diff --git a/tools/plotjuggler/layouts/longitudinal.xml b/tools/plotjuggler/layouts/longitudinal.xml
new file mode 100644
index 0000000000..ff8f3ad193
--- /dev/null
+++ b/tools/plotjuggler/layouts/longitudinal.xml
@@ -0,0 +1,50 @@
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