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Merge remote-tracking branch 'upstream/master' into big-test-models

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pull/29291/head
Shane Smiskol 3 years ago
parent 12d591b888 e4ec1d7c4c
commit 35ff84a119
34 changed files with 426 additions and 349 deletions
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  1. 10
      Jenkinsfile
  2. 207
      docs/CARS.md
  3. 2
      opendbc
  4. 2
      panda
  5. 7
      selfdrive/car/docs.py
  6. 26
      selfdrive/car/docs_definitions.py
  7. 18
      selfdrive/car/gm/carcontroller.py
  8. 2
      selfdrive/car/gm/carstate.py
  9. 10
      selfdrive/car/gm/gmcan.py
  10. 38
      selfdrive/car/gm/interface.py
  11. 38
      selfdrive/car/gm/values.py
  12. 5
      selfdrive/car/tests/test_docs.py
  13. 5
      selfdrive/car/toyota/carcontroller.py
  14. 8
      selfdrive/car/toyota/carstate.py
  15. 12
      selfdrive/car/toyota/interface.py
  16. 55
      selfdrive/car/toyota/values.py
  17. 1
      selfdrive/manager/process_config.py
  18. 66
      selfdrive/navd/map_renderer.cc
  19. 1
      selfdrive/navd/map_renderer.h
  20. 3
      selfdrive/navd/map_renderer.py
  21. 2
      selfdrive/test/process_replay/ref_commit
  22. 6
      selfdrive/test/test_onroad.py
  23. 2
      system/camerad/cameras/real_debayer.cl
  24. 11
      tools/cabana/binaryview.cc
  25. 1
      tools/cabana/binaryview.h
  26. 22
      tools/cabana/chartswidget.cc
  27. 4
      tools/cabana/chartswidget.h
  28. 87
      tools/cabana/detailwidget.cc
  29. 27
      tools/cabana/detailwidget.h
  30. 21
      tools/cabana/historylog.cc
  31. 4
      tools/cabana/historylog.h
  32. 2
      tools/cabana/settings.cc
  33. 2
      tools/cabana/settings.h
  34. 50
      tools/plotjuggler/layouts/longitudinal.xml

10
Jenkinsfile vendored
Unescape View File

@ -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') { stage('replay') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
steps { steps {

207
docs/CARS.md
Unescape View File

@ -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|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Acura|RDX 2019-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Audi|Q3 2020-21|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Audi|Q3 2020-21|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| |Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
|Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| |Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| |Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| |Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None| |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| |Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Genesis|G70 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| |Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Genesis|G90 2017-18|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| |GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
|GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
|Honda|Accord 2018-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Accord Hybrid 2018-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Civic 2019-21|All|openpilot|0 mph|2 mph[<sup>2</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Civic 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B| |Honda|Civic 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B| |Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|
|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|CR-V 2017-22|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|e 2020|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Insight 2019-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Inspire 2018|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| |Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Hyundai|Elantra 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| |Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J| |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J|
|Hyundai|i30 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| |Hyundai|i30 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Hyundai|Ioniq 5 (with HDA II) 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q| |Hyundai|Ioniq 5 (with HDA II) 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Hyundai|Ioniq Plug-in Hybrid 2020-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Hyundai|Ioniq Plug-in Hybrid 2020-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G| |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai O| |Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai O|
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai I| |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai I|
|Hyundai|Palisade 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Hyundai|Santa Fe 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai D| |Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai D|
|Hyundai|Santa Fe 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| |Hyundai|Santa Fe 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Santa Fe Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| |Hyundai|Santa Fe Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| |Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| |Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Hyundai|Sonata 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| |Hyundai|Sonata 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Hyundai|Sonata Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| |Hyundai|Sonata Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Tucson Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| |Hyundai|Tucson Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| |Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Kia|EV6 (with HDA II) 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P| |Kia|EV6 (with HDA II) 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P|
|Kia|EV6 (without HDA II) 2022|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| |Kia|EV6 (without HDA II) 2022|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G| |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| |Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Kia|Niro EV 2019|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Kia|Niro EV 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| |Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Kia|Niro EV 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Kia|Niro EV 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| |Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G| |Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| |Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Kia|Telluride 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Kia|Telluride 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|ES Hybrid 2017-18|Lexus Safety System+|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Lexus|ES Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|ES Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Lexus|ES Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|NX 2018-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|NX Hybrid 2018-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|RX 2016|Lexus Safety System+|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|RX 2017-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|RX Hybrid 2016|Lexus Safety System+|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|RX Hybrid 2017-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda| |Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B| |Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B|
|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| |Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| |Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
|Škoda|Kamiq 2021[<sup>5</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Škoda|Kamiq 2021[<sup>6</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Škoda|Karoq 2019-21[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Škoda|Karoq 2019-21[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Škoda|Superb 2015-18|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Avalon 2016|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Avalon 2017-18|All|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Avalon 2019-21|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Avalon Hybrid 2019-21|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|C-HR 2017-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|C-HR 2017-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>4</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|Camry 2018-20|All|Stock|0 mph[<sup>5</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Camry 2021-22|All|openpilot|0 mph[<sup>4</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Camry 2021-22|All|openpilot|0 mph[<sup>5</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Camry Hybrid 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Camry Hybrid 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Corolla 2017-19|All|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Corolla Cross (Non-US only) 2020-21|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Corolla Cross (Non-US only) 2020-21|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Highlander 2017-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Highlander 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Highlander 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Highlander Hybrid 2017-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Highlander Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Highlander Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Prius 2016|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Prius 2017-20|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Prius Prime 2017-20|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Prius v 2017|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|RAV4 2016|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|RAV4 2017-18|All|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|RAV4 Hybrid 2017-18|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Sienna 2018-20|All|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Volkswagen|Arteon 2018-22[<sup>7,8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Volkswagen|Arteon 2018-22[<sup>8,9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Arteon eHybrid 2020-22[<sup>7,8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Volkswagen|Arteon eHybrid 2020-22[<sup>8,9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Arteon R 2020-22[<sup>7,8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Volkswagen|Arteon R 2020-22[<sup>8,9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Atlas 2018-23[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Volkswagen|Atlas 2018-23[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Atlas Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Volkswagen|Atlas Cross Sport 2021-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|California 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Volkswagen|California 2021[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Caravelle 2020[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Volkswagen|Caravelle 2020[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|CC 2018-22[<sup>7,8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Volkswagen|CC 2018-22[<sup>8,9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Volkswagen|Golf 2015-20[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Volkswagen|Golf 2015-20[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Volkswagen|Golf R 2015-19[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Volkswagen|Golf R 2015-19[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Volkswagen|Jetta 2018-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Volkswagen|Jetta 2018-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Jetta GLI 2021-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Volkswagen|Jetta GLI 2021-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Passat 2015-22[<sup>6,7,8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Volkswagen|Passat 2015-22[<sup>7,8,9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Passat Alltrack 2015-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Volkswagen|Passat Alltrack 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Passat GTE 2015-22[<sup>7,8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Volkswagen|Passat GTE 2015-22[<sup>8,9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Polo 2020-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Volkswagen|Polo 2020-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Polo GTI 2020-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Volkswagen|Polo GTI 2020-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|T-Cross 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Volkswagen|T-Cross 2021[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|T-Roc 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Volkswagen|T-Roc 2021[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Taos 2022[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Volkswagen|Taos 2022[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Teramont 2018-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Volkswagen|Teramont 2018-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Teramont Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Volkswagen|Teramont Cross Sport 2021-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Teramont X 2021-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Volkswagen|Teramont X 2021-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Tiguan 2019-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Volkswagen|Tiguan 2019-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
<a id="footnotes"></a> <a id="footnotes"></a>
<sup>1</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br /> <sup>1</sup>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). <br />
<sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br /> <sup>2</sup>When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
<sup>3</sup>When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br /> <sup>3</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
<sup>4</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br /> <sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
<sup>5</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br /> <sup>5</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
<sup>6</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br /> <sup>6</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
<sup>7</sup>Model-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.) <br /> <sup>7</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
<sup>8</sup>Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.) <br /> <sup>8</sup>Model-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.) <br />
<sup>9</sup>Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.) <br />
## Community Maintained Cars ## 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/). 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/).

2
opendbc

@ -1 +1 @@
Subproject commit b3dc569994fd10e4de04afd650980c51ddfce5e1 Subproject commit 296f190000a2e71408e207ba21a2257cc853ec15

2
panda

@ -1 +1 @@
Subproject commit 0ca6d9d9248f2cea4ef2292671b6980b416c3f4b Subproject commit 9147cba1af0a8d72379242eb1ce0bfd42ab8075e

7
selfdrive/car/docs.py
Unescape View File

@ -7,14 +7,15 @@ from enum import Enum
from natsort import natsorted from natsort import natsorted
from typing import Dict, List from typing import Dict, List
from cereal import car
from common.basedir import BASEDIR from common.basedir import BASEDIR
from selfdrive.car import gen_empty_fingerprint 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 from selfdrive.car.car_helpers import interfaces, get_interface_attr
def get_all_footnotes() -> Dict[Enum, int]: def get_all_footnotes() -> Dict[Enum, int]:
all_footnotes = [] all_footnotes = list(CommonFootnote)
for footnotes in get_interface_attr("Footnote", ignore_none=True).values(): for footnotes in get_interface_attr("Footnote", ignore_none=True).values():
all_footnotes.extend(footnotes) all_footnotes.extend(footnotes)
return {fn: idx + 1 for idx, fn in enumerate(all_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] = [] all_car_info: List[CarInfo] = []
footnotes = get_all_footnotes() footnotes = get_all_footnotes()
for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items(): 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: if CP.dashcamOnly or car_info is None:
continue continue

26
selfdrive/car/docs_definitions.py
Unescape View File

@ -68,7 +68,18 @@ class Harness(Enum):
none = "None" 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). <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b>",
Column.LONGITUDINAL)
def get_footnotes(footnotes: List[Enum], column: Column) -> List[Enum]: def get_footnotes(footnotes: List[Enum], column: Column) -> List[Enum]:
@ -128,11 +139,22 @@ class CarInfo:
self.car_name = CP.carName self.car_name = CP.carName
self.car_fingerprint = CP.carFingerprint self.car_fingerprint = CP.carFingerprint
self.make, self.model, self.years = split_name(self.name) 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 = { self.row = {
Column.MAKE: self.make, Column.MAKE: self.make,
Column.MODEL: self.model, Column.MODEL: self.model,
Column.PACKAGE: self.package, 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_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.FSR_STEERING: f"{max(self.min_steer_speed * CV.MS_TO_MPH, 0):.0f} mph",
Column.STEERING_TORQUE: Star.EMPTY, Column.STEERING_TORQUE: Star.EMPTY,

18
selfdrive/car/gm/carcontroller.py
Unescape View File

@ -5,10 +5,11 @@ from common.realtime import DT_CTRL
from opendbc.can.packer import CANPacker from opendbc.can.packer import CANPacker
from selfdrive.car import apply_std_steer_torque_limits from selfdrive.car import apply_std_steer_torque_limits
from selfdrive.car.gm import gmcan 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 VisualAlert = car.CarControl.HUDControl.VisualAlert
NetworkLocation = car.CarParams.NetworkLocation NetworkLocation = car.CarParams.NetworkLocation
LongCtrlState = car.CarControl.Actuators.LongControlState
# Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s # Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s
CAMERA_CANCEL_DELAY_FRAMES = 10 CAMERA_CANCEL_DELAY_FRAMES = 10
@ -30,7 +31,7 @@ class CarController:
self.sent_lka_steering_cmd = False self.sent_lka_steering_cmd = False
self.lka_icon_status_last = (False, 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_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar']) self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
@ -82,10 +83,6 @@ class CarController:
# ASCM sends max regen when not enabled # ASCM sends max regen when not enabled
self.apply_gas = self.params.INACTIVE_REGEN self.apply_gas = self.params.INACTIVE_REGEN
self.apply_brake = 0 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: else:
self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_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))) self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
@ -94,9 +91,16 @@ class CarController:
at_full_stop = CC.longActive and CS.out.standstill at_full_stop = CC.longActive and CS.out.standstill
near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE) 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 # 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_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 dashboard UI commands (ACC status)
send_fcw = hud_alert == VisualAlert.fcw send_fcw = hud_alert == VisualAlert.fcw

2
selfdrive/car/gm/carstate.py
Unescape View File

@ -28,6 +28,7 @@ class CarState(CarStateBase):
self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"] self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"] self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"]) self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
self.moving_backward = pt_cp.vl["EBCMWheelSpdRear"]["MovingBackward"] != 0
# Variables used for avoiding LKAS faults # Variables used for avoiding LKAS faults
self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0 self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
@ -139,6 +140,7 @@ class CarState(CarStateBase):
("FRWheelSpd", "EBCMWheelSpdFront"), ("FRWheelSpd", "EBCMWheelSpdFront"),
("RLWheelSpd", "EBCMWheelSpdRear"), ("RLWheelSpd", "EBCMWheelSpdRear"),
("RRWheelSpd", "EBCMWheelSpdRear"), ("RRWheelSpd", "EBCMWheelSpdRear"),
("MovingBackward", "EBCMWheelSpdRear"),
("PRNDL2", "ECMPRDNL2"), ("PRNDL2", "ECMPRDNL2"),
("ManualMode", "ECMPRDNL2"), ("ManualMode", "ECMPRDNL2"),
("LKADriverAppldTrq", "PSCMStatus"), ("LKADriverAppldTrq", "PSCMStatus"),

10
selfdrive/car/gm/gmcan.py
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@ -1,4 +1,5 @@
from selfdrive.car import make_can_msg from selfdrive.car import make_can_msg
from selfdrive.car.gm.values import CAR
def create_buttons(packer, bus, idx, button): 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) 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 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: if apply_brake > 0:
mode = 0xa mode = 0xa
if at_full_stop: if at_full_stop:
mode = 0xd mode = 0xd
# TODO: this is to have GM bringing the car to complete stop, # 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: #elif near_stop:
# mode = 0xb # mode = 0xb

38
selfdrive/car/gm/interface.py
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@ -20,8 +20,7 @@ BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.D
class CarInterface(CarInterfaceBase): class CarInterface(CarInterfaceBase):
@staticmethod @staticmethod
def get_pid_accel_limits(CP, current_speed, cruise_speed): def get_pid_accel_limits(CP, current_speed, cruise_speed):
params = CarControllerParams() return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
return params.ACCEL_MIN, params.ACCEL_MAX
# Determined by iteratively plotting and minimizing error for f(angle, speed) = steer. # Determined by iteratively plotting and minimizing error for f(angle, speed) = steer.
@staticmethod @staticmethod
@ -56,13 +55,34 @@ class CarInterface(CarInterfaceBase):
else: else:
ret.transmissionType = TransmissionType.automatic 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: if candidate in CAMERA_ACC_CAR:
ret.openpilotLongitudinalControl = False ret.experimentalLongitudinalAvailable = True
ret.networkLocation = NetworkLocation.fwdCamera ret.networkLocation = NetworkLocation.fwdCamera
ret.radarOffCan = True # no radar ret.radarOffCan = True # no radar
ret.pcmCruise = True ret.pcmCruise = True
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
ret.minEnableSpeed = 5 * CV.KPH_TO_MS 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 else: # ASCM, OBD-II harness
ret.openpilotLongitudinalControl = True ret.openpilotLongitudinalControl = True
ret.networkLocation = NetworkLocation.gateway ret.networkLocation = NetworkLocation.gateway
@ -71,6 +91,10 @@ class CarInterface(CarInterfaceBase):
# supports stop and go, but initial engage must (conservatively) be above 18mph # supports stop and go, but initial engage must (conservatively) be above 18mph
ret.minEnableSpeed = 18 * CV.MPH_TO_MS 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 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 # 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. # 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 ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
tire_stiffness_factor = 0.444 # not optimized 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.steerLimitTimer = 0.4
ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
@ -206,7 +225,8 @@ class CarInterface(CarInterfaceBase):
# Enabling at a standstill with brake is allowed # 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 # 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 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): self.CP.networkLocation == NetworkLocation.fwdCamera):
events.add(EventName.belowEngageSpeed) events.add(EventName.belowEngageSpeed)
if ret.cruiseState.standstill: if ret.cruiseState.standstill:

38
selfdrive/car/gm/values.py
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@ -24,15 +24,6 @@ class CarControllerParams:
ADAS_KEEPALIVE_STEP = 100 ADAS_KEEPALIVE_STEP = 100
CAMERA_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 # Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
# perform the closed loop control, and might need some # perform the closed loop control, and might need some
# to apply some more braking if we're on a downhill slope. # 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_MAX = 2. # m/s^2
ACCEL_MIN = -4. # m/s^2 ACCEL_MIN = -4. # m/s^2
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, # ICE has much less engine braking force compared to regen in EVs,
# lower threshold removes some braking deadzone # lower threshold removes some braking deadzone
GAS_LOOKUP_BP = [-0.1, 0., ACCEL_MAX] max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
EV_GAS_LOOKUP_BP = [-1., 0., ACCEL_MAX]
GAS_LOOKUP_V = [MAX_ACC_REGEN, ZERO_GAS, MAX_GAS] 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]
BRAKE_LOOKUP_BP = [ACCEL_MIN, -0.1] self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, max_regen_acceleration]
EV_BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.] self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
BRAKE_LOOKUP_V = [MAX_BRAKE, 0.]
class CAR: class CAR:

5
selfdrive/car/tests/test_docs.py
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@ -10,8 +10,9 @@ from selfdrive.car.honda.values import CAR as HONDA
class TestCarDocs(unittest.TestCase): class TestCarDocs(unittest.TestCase):
def setUp(self): @classmethod
self.all_cars = get_all_car_info() def setUpClass(cls):
cls.all_cars = get_all_car_info()
def test_generator(self): def test_generator(self):
generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE) generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)

5
selfdrive/car/toyota/carcontroller.py
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@ -5,7 +5,8 @@ from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_comma
create_accel_command, create_acc_cancel_command, \ create_accel_command, create_acc_cancel_command, \
create_fcw_command, create_lta_steer_command create_fcw_command, create_lta_steer_command
from selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \ 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 from opendbc.can.packer import CANPacker
VisualAlert = car.CarControl.HUDControl.VisualAlert 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 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 # 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)) can_sends.append(create_acc_cancel_command(self.packer))
elif self.CP.openpilotLongitudinalControl: 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)) can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type))

8
selfdrive/car/toyota/carstate.py
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@ -6,7 +6,7 @@ from common.realtime import DT_CTRL
from opendbc.can.can_define import CANDefine from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser from opendbc.can.parser import CANParser
from selfdrive.car.interfaces import CarStateBase 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): class CarState(CarStateBase):
@ -87,7 +87,7 @@ class CarState(CarStateBase):
# 17 is a fault from a prolonged high torque delta between cmd and user # 17 is a fault from a prolonged high torque delta between cmd and user
ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] == 17 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.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0
ret.cruiseState.speed = cp.vl["DSU_CRUISE"]["SET_SPEED"] * CV.KPH_TO_MS ret.cruiseState.speed = cp.vl["DSU_CRUISE"]["SET_SPEED"] * CV.KPH_TO_MS
cluster_set_speed = cp.vl["PCM_CRUISE_ALT"]["UI_SET_SPEED"] 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. # 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 # 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 # 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.CP.carFingerprint in TSS2_CAR and self.acc_type == 1):
self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]["LOW_SPEED_LOCKOUT"] == 2 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")) signals.append(("GAS_PEDAL", "GAS_PEDAL"))
checks.append(("GAS_PEDAL", 33)) 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(("MAIN_ON", "DSU_CRUISE"))
signals.append(("SET_SPEED", "DSU_CRUISE")) signals.append(("SET_SPEED", "DSU_CRUISE"))
signals.append(("UI_SET_SPEED", "PCM_CRUISE_ALT")) signals.append(("UI_SET_SPEED", "PCM_CRUISE_ALT"))

12
selfdrive/car/toyota/interface.py
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@ -2,7 +2,7 @@
from cereal import car from cereal import car
from common.conversions import Conversions as CV from common.conversions import Conversions as CV
from panda import Panda 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 import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.interfaces import CarInterfaceBase
@ -189,13 +189,13 @@ class CarInterface(CarInterfaceBase):
smartDsu = 0x2FF in fingerprint[0] smartDsu = 0x2FF in fingerprint[0]
# In TSS2 cars the camera does long control # In TSS2 cars the camera does long control
found_ecus = [fw.ecu for fw in car_fw] 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] 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") # 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.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: if not ret.openpilotLongitudinalControl:
ret.autoResumeSng = False
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL
# we can't use the fingerprint to detect this reliably, since # we can't use the fingerprint to detect this reliably, since
@ -208,9 +208,9 @@ class CarInterface(CarInterfaceBase):
ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED
tune = ret.longitudinalTuning tune = ret.longitudinalTuning
tune.deadzoneBP = [0., 9.]
tune.deadzoneV = [.0, .15]
if candidate in TSS2_CAR or ret.enableGasInterceptor: if candidate in TSS2_CAR or ret.enableGasInterceptor:
tune.deadzoneBP = [0., 8.05]
tune.deadzoneV = [.0, .14]
tune.kpBP = [0., 5., 20.] tune.kpBP = [0., 5., 20.]
tune.kpV = [1.3, 1.0, 0.7] tune.kpV = [1.3, 1.0, 0.7]
tune.kiBP = [0., 5., 12., 20., 27.] tune.kiBP = [0., 5., 12., 20., 27.]
@ -218,8 +218,6 @@ class CarInterface(CarInterfaceBase):
if candidate in TSS2_CAR: if candidate in TSS2_CAR:
ret.stoppingDecelRate = 0.3 # reach stopping target smoothly ret.stoppingDecelRate = 0.3 # reach stopping target smoothly
else: else:
tune.deadzoneBP = [0., 9.]
tune.deadzoneV = [.0, .15]
tune.kpBP = [0., 5., 35.] tune.kpBP = [0., 5., 35.]
tune.kiBP = [0., 35.] tune.kiBP = [0., 35.]
tune.kpV = [3.6, 2.4, 1.5] tune.kpV = [3.6, 2.4, 1.5]

55
selfdrive/car/toyota/values.py
Unescape View File

@ -87,10 +87,6 @@ class CAR:
class Footnote(Enum): 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). <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b>",
Column.LONGITUDINAL)
CAMRY = CarFootnote( 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.", "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) Column.FSR_LONGITUDINAL)
@ -107,11 +103,11 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
CAR.ALPHARD_TSS2: ToyotaCarInfo("Toyota Alphard 2019-20"), CAR.ALPHARD_TSS2: ToyotaCarInfo("Toyota Alphard 2019-20"),
CAR.ALPHARDH_TSS2: ToyotaCarInfo("Toyota Alphard Hybrid 2021"), CAR.ALPHARDH_TSS2: ToyotaCarInfo("Toyota Alphard Hybrid 2021"),
CAR.AVALON: [ CAR.AVALON: [
ToyotaCarInfo("Toyota Avalon 2016", "Toyota Safety Sense P", footnotes=[Footnote.DSU]), ToyotaCarInfo("Toyota Avalon 2016", "Toyota Safety Sense P"),
ToyotaCarInfo("Toyota Avalon 2017-18", footnotes=[Footnote.DSU]), ToyotaCarInfo("Toyota Avalon 2017-18"),
], ],
CAR.AVALON_2019: ToyotaCarInfo("Toyota Avalon 2019-21", footnotes=[Footnote.DSU]), CAR.AVALON_2019: ToyotaCarInfo("Toyota Avalon 2019-21"),
CAR.AVALONH_2019: ToyotaCarInfo("Toyota Avalon Hybrid 2019-21", footnotes=[Footnote.DSU]), CAR.AVALONH_2019: ToyotaCarInfo("Toyota Avalon Hybrid 2019-21"),
CAR.AVALON_TSS2: ToyotaCarInfo("Toyota Avalon 2022"), CAR.AVALON_TSS2: ToyotaCarInfo("Toyota Avalon 2022"),
CAR.AVALONH_TSS2: ToyotaCarInfo("Toyota Avalon Hybrid 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]), 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.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-22"),
CAR.CHR: ToyotaCarInfo("Toyota C-HR 2017-21"), CAR.CHR: ToyotaCarInfo("Toyota C-HR 2017-21"),
CAR.CHRH: ToyotaCarInfo("Toyota C-HR Hybrid 2017-19"), 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: [ CAR.COROLLA_TSS2: [
ToyotaCarInfo("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"), 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), 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("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5),
ToyotaCarInfo("Lexus UX Hybrid 2019-22"), 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.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.HIGHLANDERH_TSS2: ToyotaCarInfo("Toyota Highlander Hybrid 2020-22"),
CAR.PRIUS: [ CAR.PRIUS: [
ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", "https://www.youtube.com/watch?v=8zopPJI8XQ0", [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", footnotes=[Footnote.DSU]), 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", footnotes=[Footnote.DSU]), 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: [ CAR.PRIUS_TSS2: [
ToyotaCarInfo("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"), 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"), ToyotaCarInfo("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
], ],
CAR.RAV4: [ CAR.RAV4: [
ToyotaCarInfo("Toyota RAV4 2016", "Toyota Safety Sense P", footnotes=[Footnote.DSU]), ToyotaCarInfo("Toyota RAV4 2016", "Toyota Safety Sense P"),
ToyotaCarInfo("Toyota RAV4 2017-18", footnotes=[Footnote.DSU]) ToyotaCarInfo("Toyota RAV4 2017-18")
], ],
CAR.RAV4H: [ CAR.RAV4H: [
ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", "https://youtu.be/LhT5VzJVfNI?t=26", [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", footnotes=[Footnote.DSU]) 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: ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
CAR.RAV4_TSS2_2022: ToyotaCarInfo("Toyota RAV4 2022"), CAR.RAV4_TSS2_2022: ToyotaCarInfo("Toyota RAV4 2022"),
CAR.RAV4H_TSS2: ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"), 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.RAV4H_TSS2_2022: ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"),
CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"), 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 # Lexus
CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT 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+", footnotes=[Footnote.DSU]), CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18", "Lexus Safety System+"),
CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-22"), 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_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_IS: ToyotaCarInfo("Lexus IS 2017-19"),
CAR.LEXUS_NX: ToyotaCarInfo("Lexus NX 2018-19", footnotes=[Footnote.DSU]), CAR.LEXUS_NX: ToyotaCarInfo("Lexus NX 2018-19"),
CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19", footnotes=[Footnote.DSU]), CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19"),
CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020-21"), CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020-21"),
CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020-21"), CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020-21"),
CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2017-20"), CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2017-20"),
CAR.LEXUS_RX: [ CAR.LEXUS_RX: [
ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+", footnotes=[Footnote.DSU]), ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"),
ToyotaCarInfo("Lexus RX 2017-19", footnotes=[Footnote.DSU]), ToyotaCarInfo("Lexus RX 2017-19"),
], ],
CAR.LEXUS_RXH: [ CAR.LEXUS_RXH: [
ToyotaCarInfo("Lexus RX Hybrid 2016", "Lexus Safety System+", footnotes=[Footnote.DSU]), ToyotaCarInfo("Lexus RX Hybrid 2016", "Lexus Safety System+"),
ToyotaCarInfo("Lexus RX Hybrid 2017-19", footnotes=[Footnote.DSU]), ToyotaCarInfo("Lexus RX Hybrid 2017-19"),
], ],
CAR.LEXUS_RX_TSS2: ToyotaCarInfo("Lexus RX 2020-22"), CAR.LEXUS_RX_TSS2: ToyotaCarInfo("Lexus RX 2020-22"),
CAR.LEXUS_RXH_TSS2: ToyotaCarInfo("Lexus RX Hybrid 2020-21"), CAR.LEXUS_RXH_TSS2: ToyotaCarInfo("Lexus RX Hybrid 2020-21"),
@ -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} 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 # these cars have a radar which sends ACC messages instead of the camera
RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022} RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022}

1
selfdrive/manager/process_config.py
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@ -31,6 +31,7 @@ procs = [
NativeProcess("encoderd", "selfdrive/loggerd", ["./encoderd"]), NativeProcess("encoderd", "selfdrive/loggerd", ["./encoderd"]),
NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], onroad=False, callback=logging), NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], onroad=False, callback=logging),
NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]), NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]),
# NativeProcess("mapsd", "selfdrive/navd", ["./map_renderer"]),
NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC), NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC),
NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=(not PC or WEBCAM)), 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)), NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)),

66
selfdrive/navd/map_renderer.cc
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@ -1,5 +1,6 @@
#include "selfdrive/navd/map_renderer.h" #include "selfdrive/navd/map_renderer.h"
#include <cmath>
#include <string> #include <string>
#include <QApplication> #include <QApplication>
#include <QBuffer> #include <QBuffer>
@ -10,11 +11,34 @@
#include "selfdrive/ui/qt/maps/map_helpers.h" #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 float DEFAULT_ZOOM = 13.5; // Don't go below 13 or features will start to disappear
const int WIDTH = 512; const int RENDER_HEIGHT = 512, RENDER_WIDTH = 512;
const int HEIGHT = WIDTH; const int HEIGHT = 256, WIDTH = 256;
const int NUM_VIPC_BUFFERS = 4; 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) { MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_settings(settings) {
QSurfaceFormat fmt; QSurfaceFormat fmt;
fmt.setRenderableType(QSurfaceFormat::OpenGLES); fmt.setRenderableType(QSurfaceFormat::OpenGLES);
@ -35,7 +59,7 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set
gl_functions->initializeOpenGLFunctions(); gl_functions->initializeOpenGLFunctions();
QOpenGLFramebufferObjectFormat fbo_format; 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); std::string style = util::read_file(STYLE_PATH);
m_map.reset(new QMapboxGL(nullptr, m_settings, fbo->size(), 1)); 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->resize(fbo->size());
m_map->setFramebufferObject(fbo->handle(), 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) { if (online) {
vipc_server.reset(new VisionIpcServer("navd")); 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) { void MapRenderer::updatePosition(QMapbox::Coordinate position, float bearing) {
if (m_map.isNull()) { if (m_map.isNull()) {
return; 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->setCoordinate(position);
m_map->setBearing(bearing); m_map->setBearing(bearing);
m_map->setZoom(zoom);
update(); update();
} }
@ -130,15 +150,13 @@ void MapRenderer::sendVipc() {
.timestamp_eof = ts, .timestamp_eof = ts,
}; };
assert(cap.sizeInBytes() >= buf->len); assert(cap.sizeInBytes() >= buf->len*4);
uint8_t* dst = (uint8_t*)buf->addr; uint8_t* dst = (uint8_t*)buf->addr;
uint8_t* src = cap.bits(); uint8_t* src = cap.bits();
// RGB to greyscale // 2x downsample + rgb to grayscale
memset(dst, 128, buf->len); memset(dst, 128, buf->len);
for (int i = 0; i < WIDTH * HEIGHT; i++) { downsample(src, dst);
dst[i] = src[i * 3];
}
vipc_server->send(buf, &extra); vipc_server->send(buf, &extra);
@ -169,9 +187,8 @@ uint8_t* MapRenderer::getImage() {
uint8_t* src = cap.bits(); uint8_t* src = cap.bits();
uint8_t* dst = new uint8_t[WIDTH * HEIGHT]; uint8_t* dst = new uint8_t[WIDTH * HEIGHT];
for (int i = 0; i < WIDTH * HEIGHT; i++) { // 2x downsample + rgb to grayscale
dst[i] = src[i * 3]; downsample(src, dst);
}
return dst; return dst;
} }
@ -222,11 +239,6 @@ extern "C" {
return new MapRenderer(settings, false); 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) { void map_renderer_update_position(MapRenderer *inst, float lat, float lon, float bearing) {
inst->updatePosition({lat, lon}, bearing); inst->updatePosition({lat, lon}, bearing);
QApplication::processEvents(); QApplication::processEvents();

1
selfdrive/navd/map_renderer.h
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@ -47,7 +47,6 @@ private:
QTimer* timer; QTimer* timer;
public slots: public slots:
void updateZoom(float zoom);
void updatePosition(QMapbox::Coordinate position, float bearing); void updatePosition(QMapbox::Coordinate position, float bearing);
void updateRoute(QList<QGeoCoordinate> coordinates); void updateRoute(QList<QGeoCoordinate> coordinates);
void msgUpdate(); void msgUpdate();

3
selfdrive/navd/map_renderer.py
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@ -9,7 +9,7 @@ from cffi import FFI
from common.ffi_wrapper import suffix from common.ffi_wrapper import suffix
from common.basedir import BASEDIR from common.basedir import BASEDIR
HEIGHT = WIDTH = 512 HEIGHT = WIDTH = 256
def get_ffi(): def get_ffi():
@ -18,7 +18,6 @@ def get_ffi():
ffi = FFI() ffi = FFI()
ffi.cdef(""" ffi.cdef("""
void* map_renderer_init(char *maps_host, char *token); 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_position(void *inst, float lat, float lon, float bearing);
void map_renderer_update_route(void *inst, char *polyline); void map_renderer_update_route(void *inst, char *polyline);
void map_renderer_update(void *inst); void map_renderer_update(void *inst);

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
dd41df756253a9e711eb0fd0c3e007284f600ee8 01b24beff6855e8c4d2fb0efeeefafb46343e013

6
selfdrive/test/test_onroad.py
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@ -21,7 +21,7 @@ from tools.lib.logreader import LogReader
# Baseline CPU usage by process # Baseline CPU usage by process
PROCS = { PROCS = {
"selfdrive.controls.controlsd": 35.0, "selfdrive.controls.controlsd": 39.0,
"./loggerd": 10.0, "./loggerd": 10.0,
"./encoderd": 17.0, "./encoderd": 17.0,
"./camerad": 14.5, "./camerad": 14.5,
@ -202,9 +202,9 @@ class TestOnroad(unittest.TestCase):
print(result) print(result)
self.assertGreater(len(ts), 20*50, "insufficient samples") 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.mean(ts), 10.)
self.assertLess(np.std(ts), 5.) #self.assertLess(np.std(ts), 5.)
def test_cpu_usage(self): def test_cpu_usage(self):
proclogs = [m for m in self.lr if m.which() == 'procLog'] proclogs = [m for m in self.lr if m.which() == 'procLog']

2
system/camerad/cameras/real_debayer.cl
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@ -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]}; 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 // 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 #else // AR
// normalize and scale // normalize and scale
float4 pv = (convert_float4(parsed) - 168.0) / (4096.0 - 168.0); float4 pv = (convert_float4(parsed) - 168.0) / (4096.0 - 168.0);

11
tools/cabana/binaryview.cc
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@ -20,15 +20,12 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) {
setItemDelegate(delegate); setItemDelegate(delegate);
horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch); horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch);
horizontalHeader()->hide(); horizontalHeader()->hide();
verticalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents);
setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
setMouseTracking(true); setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
setSizeAdjustPolicy(QAbstractScrollArea::AdjustToContents);
setFrameShape(QFrame::NoFrame);
setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Minimum); setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Minimum);
} setMouseTracking(true);
QSize BinaryView::sizeHint() const {
QSize sz = QTableView::sizeHint();
return {sz.width(), model->rowCount() <= 8 ? ((CELL_HEIGHT + 1) * model->rowCount() + 2) : sz.height()};
} }
void BinaryView::highlight(const Signal *sig) { void BinaryView::highlight(const Signal *sig) {

1
tools/cabana/binaryview.h
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@ -61,7 +61,6 @@ public:
void highlight(const Signal *sig); void highlight(const Signal *sig);
const Signal *hoveredSignal() const { return hovered_sig; } const Signal *hoveredSignal() const { return hovered_sig; }
QSet<const Signal*> getOverlappingSignals() const; QSet<const Signal*> getOverlappingSignals() const;
QSize sizeHint() const override;
signals: signals:
void signalHovered(const Signal *sig); void signalHovered(const Signal *sig);

22
tools/cabana/chartswidget.cc
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@ -1,11 +1,13 @@
#include "tools/cabana/chartswidget.h" #include "tools/cabana/chartswidget.h"
#include <QFutureSynchronizer>
#include <QGraphicsLayout> #include <QGraphicsLayout>
#include <QGridLayout> #include <QGridLayout>
#include <QRubberBand> #include <QRubberBand>
#include <QTimer> #include <QTimer>
#include <QtCharts/QLineSeries> #include <QtCharts/QLineSeries>
#include <QtCharts/QValueAxis> #include <QtCharts/QValueAxis>
#include <QtConcurrent>
// ChartsWidget // ChartsWidget
@ -116,8 +118,9 @@ void ChartsWidget::updateState() {
display_range.first = std::max(display_range.first, event_range.first); 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); display_range.second = std::min(display_range.first + settings.max_chart_x_range, event_range.second);
if (prev_range != display_range) { if (prev_range != display_range) {
QFutureSynchronizer<void> future_synchronizer;
for (auto c : charts) 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()); chart()->plotArea().width() * (current_sec - axis_x->min()) / (axis_x->max() - axis_x->min());
if (int(line_marker->line().x1()) != x) { if (int(line_marker->line().x1()) != x) {
line_marker->setLine(x, 0, x, height()); line_marker->setLine(x, 0, x, height());
chart()->update();
} }
} }
void ChartView::updateSeries(const std::pair<double, double> &range) { void ChartView::updateSeries(const std::pair<double, double> range) {
auto events = can->events(); auto events = can->events();
if (!events) return; if (!events) return;
@ -338,7 +340,7 @@ void ChartView::updateSeries(const std::pair<double, double> &range) {
uint32_t address = l[1].toUInt(nullptr, 16); uint32_t address = l[1].toUInt(nullptr, 16);
vals.clear(); 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(); double route_start_time = can->routeStartTime();
Event begin_event(cereal::Event::Which::INIT_DATA, (route_start_time + range.first) * 1e9); 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()); 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(); }); 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(); }); 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) if (max->y() == min->y()) {
: axis_y->setRange(min->y(), max->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) { void ChartView::enterEvent(QEvent *event) {
@ -410,6 +417,7 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) {
} else { } else {
QGraphicsView::mouseReleaseEvent(event); QGraphicsView::mouseReleaseEvent(event);
} }
setViewportUpdateMode(QGraphicsView::MinimalViewportUpdate);
} }
void ChartView::mouseMoveEvent(QMouseEvent *ev) { void ChartView::mouseMoveEvent(QMouseEvent *ev) {
@ -436,6 +444,8 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) {
track_line->setVisible(value != vals.end()); track_line->setVisible(value != vals.end());
value_text->setVisible(value != vals.end()); value_text->setVisible(value != vals.end());
track_ellipse->setVisible(value != vals.end()); track_ellipse->setVisible(value != vals.end());
} else {
setViewportUpdateMode(QGraphicsView::FullViewportUpdate);
} }
QChartView::mouseMoveEvent(ev); QChartView::mouseMoveEvent(ev);
} }

4
tools/cabana/chartswidget.h
Unescape View File

@ -21,7 +21,7 @@ class ChartView : public QChartView {
public: public:
ChartView(const QString &id, const Signal *sig, QWidget *parent = nullptr); ChartView(const QString &id, const Signal *sig, QWidget *parent = nullptr);
void updateSeries(const std::pair<double, double> &range); void updateSeries(const std::pair<double, double> range);
void setRange(double min, double max, bool force_update = false); void setRange(double min, double max, bool force_update = false);
void updateLineMarker(double current_sec); void updateLineMarker(double current_sec);
void updateFromSettings(); void updateFromSettings();
@ -42,7 +42,7 @@ private:
QGraphicsEllipseItem *track_ellipse; QGraphicsEllipseItem *track_ellipse;
QGraphicsTextItem *value_text; QGraphicsTextItem *value_text;
QGraphicsLineItem *line_marker; QGraphicsLineItem *line_marker;
QList<QPointF> vals; QVector<QPointF> vals;
QString id; QString id;
const Signal *signal; const Signal *signal;
}; };

87
tools/cabana/detailwidget.cc
Unescape View File

@ -4,7 +4,9 @@
#include <QFormLayout> #include <QFormLayout>
#include <QMenu> #include <QMenu>
#include <QMessageBox> #include <QMessageBox>
#include <QScrollBar>
#include <QTimer> #include <QTimer>
#include <QVBoxLayout>
#include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/util.h"
#include "tools/cabana/canmessages.h" #include "tools/cabana/canmessages.h"
@ -13,18 +15,10 @@
// DetailWidget // DetailWidget
DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(charts), QWidget(parent) { 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->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 = new QTabBar(this);
tabbar->setTabsClosable(true); tabbar->setTabsClosable(true);
@ -32,19 +26,15 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
tabbar->setUsesScrollButtons(true); tabbar->setUsesScrollButtons(true);
tabbar->setAutoHide(true); tabbar->setAutoHide(true);
tabbar->setContextMenuPolicy(Qt::CustomContextMenu); 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->setFrameShape(QFrame::StyledPanel);
title_frame->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed); title_frame->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed);
QVBoxLayout *frame_layout = new QVBoxLayout(title_frame);
// message title // message title
QHBoxLayout *title_layout = new QHBoxLayout(); 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:")); title_layout->addWidget(new QLabel("time:"));
time_label = new QLabel(this); time_label = new QLabel(this);
time_label->setStyleSheet("font-weight:bold"); time_label->setStyleSheet("font-weight:bold");
@ -62,6 +52,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
// warning // warning
warning_widget = new QWidget(this); warning_widget = new QWidget(this);
QHBoxLayout *warning_hlayout = new QHBoxLayout(warning_widget); QHBoxLayout *warning_hlayout = new QHBoxLayout(warning_widget);
warning_hlayout->setContentsMargins(0, 0, 0, 0);
QLabel *warning_icon = new QLabel(this); QLabel *warning_icon = new QLabel(this);
warning_icon->setPixmap(style()->standardPixmap(QStyle::SP_MessageBoxWarning)); warning_icon->setPixmap(style()->standardPixmap(QStyle::SP_MessageBoxWarning));
warning_hlayout->addWidget(warning_icon, 0, Qt::AlignTop); 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_hlayout->addWidget(warning_label, 1, Qt::AlignLeft);
warning_widget->hide(); warning_widget->hide();
frame_layout->addWidget(warning_widget); 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
binary_view = new BinaryView(this); binary_view = new BinaryView(this);
bin_layout->addWidget(binary_view); container_layout->addWidget(binary_view);
right_column->addWidget(binary_view_container);
// signals // signals
signals_container = new QWidget(this); signals_container = new QWidget(this);
signals_container->setLayout(new QVBoxLayout); signals_container->setLayout(new QVBoxLayout);
signals_container->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Maximum); signals_container->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Maximum);
container_layout->addWidget(signals_container);
scroll = new ScrollArea(this);
scroll->setWidget(signals_container);
scroll->setWidgetResizable(true);
scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
right_column->addWidget(scroll);
// history log // history log
history_log = new HistoryLog(this); 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(edit_btn, &QPushButton::clicked, this, &DetailWidget::editMsg);
QObject::connect(binary_view, &BinaryView::resizeSignal, this, &DetailWidget::resizeSignal); QObject::connect(binary_view, &BinaryView::resizeSignal, this, &DetailWidget::resizeSignal);
QObject::connect(binary_view, &BinaryView::addSignal, this, &DetailWidget::addSignal); QObject::connect(binary_view, &BinaryView::addSignal, this, &DetailWidget::addSignal);
@ -146,6 +140,8 @@ void DetailWidget::setMessage(const QString &message_id) {
tabbar->setCurrentIndex(index); tabbar->setCurrentIndex(index);
msg_id = message_id; msg_id = message_id;
dbcMsgChanged(); dbcMsgChanged();
scroll->verticalScrollBar()->setValue(0);
} }
void DetailWidget::dbcMsgChanged(int show_form_idx) { void DetailWidget::dbcMsgChanged(int show_form_idx) {
@ -201,29 +197,14 @@ void DetailWidget::updateState() {
history_log->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() { void DetailWidget::showForm() {
SignalEdit *sender = qobject_cast<SignalEdit *>(QObject::sender()); SignalEdit *sender = qobject_cast<SignalEdit *>(QObject::sender());
for (auto f : signals_container->findChildren<SignalEdit *>()) { for (auto f : signals_container->findChildren<SignalEdit *>()) {
f->setFormVisible(f == sender && !f->isFormVisible()); f->setFormVisible(f == sender && !f->isFormVisible());
if (f == sender) { if (f == sender)
QTimer::singleShot(0, [=]() { scroll->ensureWidgetVisible(f); }); QTimer::singleShot(0, [=]() { scroll->ensureWidgetVisible(f); });
} }
} }
}
void DetailWidget::updateChartState(const QString &id, const Signal *sig, bool opened) { void DetailWidget::updateChartState(const QString &id, const Signal *sig, bool opened) {
if (id == msg_id) { if (id == msg_id) {
@ -322,19 +303,3 @@ EditMessageDialog::EditMessageDialog(const QString &msg_id, const QString &title
connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept); connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept);
connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); 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);
}

27
tools/cabana/detailwidget.h
Unescape View File

@ -2,22 +2,12 @@
#include <QScrollArea> #include <QScrollArea>
#include <QTabBar> #include <QTabBar>
#include <QVBoxLayout>
#include "tools/cabana/binaryview.h" #include "tools/cabana/binaryview.h"
#include "tools/cabana/chartswidget.h" #include "tools/cabana/chartswidget.h"
#include "tools/cabana/historylog.h" #include "tools/cabana/historylog.h"
#include "tools/cabana/signaledit.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 { class EditMessageDialog : public QDialog {
Q_OBJECT Q_OBJECT
@ -28,15 +18,6 @@ public:
QSpinBox *size_spin; 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 { class DetailWidget : public QWidget {
Q_OBJECT Q_OBJECT
@ -58,7 +39,6 @@ private:
void editMsg(); void editMsg();
void showForm(); void showForm();
void updateState(); void updateState();
void moveBinaryView();
QString msg_id; QString msg_id;
QLabel *name_label, *time_label, *warning_label; QLabel *name_label, *time_label, *warning_label;
@ -66,13 +46,8 @@ private:
QPushButton *edit_btn; QPushButton *edit_btn;
QWidget *signals_container; QWidget *signals_container;
QTabBar *tabbar; QTabBar *tabbar;
QHBoxLayout *main_layout;
QVBoxLayout *right_column;
bool binview_in_left_col = false;
QWidget *binary_view_container;
QPushButton *split_btn;
HistoryLog *history_log; HistoryLog *history_log;
BinaryView *binary_view; BinaryView *binary_view;
ScrollArea *scroll; QScrollArea *scroll;
ChartsWidget *charts; ChartsWidget *charts;
}; };

21
tools/cabana/historylog.cc
Unescape View File

@ -64,16 +64,15 @@ void HistoryLogModel::updateState() {
} }
} }
HistoryLog::HistoryLog(QWidget *parent) : QWidget(parent) { HistoryLog::HistoryLog(QWidget *parent) : QTableView(parent) {
QVBoxLayout *main_layout = new QVBoxLayout(this);
main_layout->setContentsMargins(0, 0, 0, 0);
model = new HistoryLogModel(this); model = new HistoryLogModel(this);
table = new QTableView(this); setModel(model);
table->setModel(model); horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch);
table->horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch); horizontalHeader()->setSectionResizeMode(0, QHeaderView::ResizeToContents);
table->horizontalHeader()->setSectionResizeMode(0, QHeaderView::ResizeToContents); verticalHeader()->setVisible(false);
table->setColumnWidth(0, 60); setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
table->verticalHeader()->setVisible(false); setSizeAdjustPolicy(QAbstractScrollArea::AdjustToContents);
table->setStyleSheet("QTableView::item { border:0px; padding-left:5px; padding-right:5px; }"); setFrameShape(QFrame::NoFrame);
main_layout->addWidget(table); setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
setStyleSheet("QTableView::item { border:0px; padding-left:5px; padding-right:5px; }");
} }

4
tools/cabana/historylog.h
Unescape View File

@ -25,15 +25,13 @@ private:
std::deque<CanData> messages; std::deque<CanData> messages;
}; };
class HistoryLog : public QWidget { class HistoryLog : public QTableView {
Q_OBJECT Q_OBJECT
public: public:
HistoryLog(QWidget *parent); HistoryLog(QWidget *parent);
void setMessage(const QString &message_id) { model->setMessage(message_id); } void setMessage(const QString &message_id) { model->setMessage(message_id); }
void updateState() { model->updateState(); } void updateState() { model->updateState(); }
private: private:
QTableView *table;
HistoryLogModel *model; HistoryLogModel *model;
}; };

2
tools/cabana/settings.cc
Unescape View File

@ -25,7 +25,7 @@ void Settings::save() {
void Settings::load() { void Settings::load() {
QSettings s("settings", QSettings::IniFormat); QSettings s("settings", QSettings::IniFormat);
fps = s.value("fps", 10).toInt(); 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(); cached_segment_limit = s.value("cached_segment", 3).toInt();
chart_height = s.value("chart_height", 200).toInt(); chart_height = s.value("chart_height", 200).toInt();
chart_theme = s.value("chart_theme", 0).toInt(); chart_theme = s.value("chart_theme", 0).toInt();

2
tools/cabana/settings.h
Unescape View File

@ -13,7 +13,7 @@ public:
void load(); void load();
int fps = 10; int fps = 10;
int can_msg_log_size = 100; int can_msg_log_size = 50;
int cached_segment_limit = 3; int cached_segment_limit = 3;
int chart_height = 200; int chart_height = 200;
int chart_theme = 0; int chart_theme = 0;

50
tools/plotjuggler/layouts/longitudinal.xml
Unescape View File

@ -0,0 +1,50 @@
<?xml version='1.0' encoding='UTF-8'?>
<root>
<tabbed_widget name="Main Window" parent="main_window">
<Tab tab_name="tab1" containers="1">
<Container>
<DockSplitter orientation="-" sizes="0.333601;0.332799;0.333601" count="3">
<DockArea name="...">
<plot flip_y="false" flip_x="false" mode="TimeSeries" style="Lines">
<range right="60.000002" top="2.131164" left="0.000000" bottom="-3.377712"/>
<limitY/>
<curve name="/carState/aEgo" color="#f14cc1"/>
<curve name="/longitudinalPlan/accels/0" color="#9467bd"/>
<curve name="/carControl/actuators/accel" color="#17becf"/>
</plot>
</DockArea>
<DockArea name="...">
<plot flip_y="false" flip_x="false" mode="TimeSeries" style="Lines">
<range right="60.000002" top="19.304051" left="0.000000" bottom="-0.538805"/>
<limitY/>
<curve name="/carState/vEgo" color="#1ac938"/>
<curve name="/longitudinalPlan/speeds/0" color="#ff7f0e"/>
</plot>
</DockArea>
<DockArea name="...">
<plot flip_y="false" flip_x="false" mode="TimeSeries" style="Lines">
<range right="60.000002" top="1.025000" left="0.000000" bottom="-0.025000"/>
<limitY/>
<curve name="/carControl/longActive" color="#1f77b4"/>
<curve name="/carState/gasPressed" color="#d62728"/>
</plot>
</DockArea>
</DockSplitter>
</Container>
</Tab>
<currentTabIndex index="0"/>
</tabbed_widget>
<use_relative_time_offset enabled="1"/>
<!-- - - - - - - - - - - - - - - -->
<!-- - - - - - - - - - - - - - - -->
<Plugins>
<plugin ID="DataLoad Rlog"/>
<plugin ID="Cereal Subscriber"/>
</Plugins>
<!-- - - - - - - - - - - - - - - -->
<!-- - - - - - - - - - - - - - - -->
<customMathEquations/>
<snippets/>
<!-- - - - - - - - - - - - - - - -->
</root>
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