Merge remote-tracking branch 'upstream/master' into ui_accel_gradient

3 years ago · 5530c56a98
parent 2c2cef7858 3ab8645d3a
commit 5530c56a98
15 changed files with 71 additions and 61 deletions
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit bdd29394dc1548f13b227d9ba10a85be8c7cb309
+Subproject commit 42f84fd85d06c0fc85371daa2b4820fca49d763e
--- a/docs/CARS.md
+++ b/docs/CARS.md
@ -181,7 +181,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2017-20">Toyota</a>||
 |Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2021-22">Toyota</a>||
 |Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2018-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Camry 2021-22|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2021-22">Toyota</a>||
+|Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2021-23">Toyota</a>||
 |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2018-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2021-23">Toyota</a>||
 |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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2017-19">Toyota</a>||
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 278b44ba8c2dec28adc5b30cce13dabc195f15fc
+Subproject commit b740b71c82a748e3520b1599487d9a7aaf728670
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@ -135,7 +135,7 @@ FINGERPRINTS = {
  }],
  CAR.JEEP_CHEROKEE_2019: [{
    # Jeep Grand Cherokee 2019, including most 2020 models
-    55: 8, 168: 8, 179: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 341: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 960: 4, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
+    55: 8, 168: 8, 179: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 341: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 960: 4, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1538: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
  }],
 }

--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@ -368,10 +368,12 @@ FW_VERSIONS = {
      b'57114-TWA-A050\x00\x00',
      b'57114-TWA-A530\x00\x00',
      b'57114-TWA-B520\x00\x00',
+      b'57114-TWB-H030\x00\x00',
    ],
    (Ecu.srs, 0x18da53f1, None): [
      b'77959-TWA-A440\x00\x00',
      b'77959-TWA-L420\x00\x00',
+      b'77959-TWB-H220\x00\x00',
    ],
    (Ecu.combinationMeter, 0x18da60f1, None): [
      b'78109-TWA-A010\x00\x00',
@ -385,6 +387,7 @@ FW_VERSIONS = {
      b'78109-TWA-A230\x00\x00',
      b'78109-TWA-L010\x00\x00',
      b'78109-TWA-L210\x00\x00',
+      b'78109-TWA-H210\x00\x00',
    ],
    (Ecu.shiftByWire, 0x18da0bf1, None): [
      b'54008-TWA-A910\x00\x00',
@ -396,16 +399,19 @@ FW_VERSIONS = {
    (Ecu.fwdCamera, 0x18dab5f1, None): [
      b'36161-TWA-A070\x00\x00',
      b'36161-TWA-A330\x00\x00',
+      b'36161-TWB-H040\x00\x00',
    ],
    (Ecu.fwdRadar, 0x18dab0f1, None): [
      b'36802-TWA-A070\x00\x00',
      b'36802-TWA-A080\x00\x00',
      b'36802-TWA-A330\x00\x00',
+      b'36802-TWB-H060\x00\x00',
    ],
    (Ecu.eps, 0x18da30f1, None): [
      b'39990-TVA-A160\x00\x00',
      b'39990-TVA-A150\x00\x00',
      b'39990-TVA-A340\x00\x00',
+      b'39990-TWB-H120\x00\x00',
    ],
  },
  CAR.CIVIC: {
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@ -512,7 +512,6 @@ FW_VERSIONS = {
      b'\xf1\x00DN8_ SCC FHCUP      1.00 1.01 99110-L1000         ',
      b'\xf1\x00DN89110-L0000         \xaa\xaa\xaa\xaa\xaa\xaa\xaa     ',
      b'\xf1\x8799110L0000\xf1\x00DN8_ SCC F-CUP      1.00 1.00 99110-L0000         ',
-      b'\xf1\x8799110L0000\xf1\x00DN8_ SCC FHCUP      1.00 1.00 99110-L0000         ',
    ],
    (Ecu.abs, 0x7d1, None): [
      b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100',
@ -525,7 +524,6 @@ FW_VERSIONS = {
      b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100',
      b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100',
      b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100',
-      b'\xf1\x8758910-L0300\xf1\x00DN ESC \x03 100 \x08\x01 58910-L0300',
      b'\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100',
    ],
    (Ecu.engine, 0x7e0, None): [
@ -587,6 +585,7 @@ FW_VERSIONS = {
      b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB4\x00\x00\x00\x00\x00\x00g!l[',
      b'\xf1\x00T02601BL  T02730A1  VDN8T25XXX730NS5\xf7_\x92\xf5',
      b'\xf1\x00T02601BL  T02832A1  VDN8T25XXX832NS8G\x0e\xfeE',
+      b'\xf1\x00T02601BL  T02900A1  VDN8T25XXX900NSCF\xe4!Y',
      b'\xf1\x87954A02N060\x00\x00\x00\x00\x00\xf1\x81T02730A1  \xf1\x00T02601BL  T02730A1  VDN8T25XXX730NS5\xf7_\x92\xf5',
      b'\xf1\x87SAKFBA2926554GJ2VefVww\x87xwwwww\x88\x87xww\x87wTo\xfb\xffvUo\xff\x8d\x16\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
      b'\xf1\x87SAKFBA3030524GJ2UVugww\x97yx\x88\x87\x88vw\x87gww\x87wto\xf9\xfffUo\xff\xa2\x0c\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
@ -1566,6 +1565,7 @@ FW_VERSIONS = {
      b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.01 99211-GI010 211007',
      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.01 99211-GI010 211007',
      b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.02 99211-GI010 211206',
+      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.03 99211-GI010 220401',
    ],
  },
  CAR.TUCSON_4TH_GEN: {
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@ -115,7 +115,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
  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.CAMRYH: ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"),
-  CAR.CAMRY_TSS2: ToyotaCarInfo("Toyota Camry 2021-22", footnotes=[Footnote.CAMRY]),
+  CAR.CAMRY_TSS2: ToyotaCarInfo("Toyota Camry 2021-23", footnotes=[Footnote.CAMRY]),
  CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-23"),
  CAR.CHR: ToyotaCarInfo("Toyota C-HR 2017-20"),
  CAR.CHR_TSS2: ToyotaCarInfo("Toyota C-HR 2021"),
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@ -739,12 +739,14 @@ FW_VERSIONS = {
      b'\xf1\x8783A907115B \xf1\x890005',
      b'\xf1\x8783A907115F \xf1\x890002',
      b'\xf1\x8783A907115G \xf1\x890001',
+      b'\xf1\x8783A907115K \xf1\x890001',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'\xf1\x8709G927158DT\xf1\x893698',
      b'\xf1\x8709G927158FM\xf1\x893757',
      b'\xf1\x8709G927158GC\xf1\x893821',
      b'\xf1\x8709G927158GD\xf1\x893820',
+      b'\xf1\x8709G927158GM\xf1\x893936',
      b'\xf1\x870D9300043  \xf1\x895202',
      b'\xf1\x870DL300011N \xf1\x892001',
      b'\xf1\x870DL300011N \xf1\x892012',
@ -775,6 +777,7 @@ FW_VERSIONS = {
      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60604A1',
      b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A60604A1',
      b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A60804A1',
+      b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002SA6092SOM',
    ],
    (Ecu.fwdRadar, 0x757, None): [
      b'\xf1\x872Q0907572AA\xf1\x890396',
@ -1049,6 +1052,7 @@ FW_VERSIONS = {
    (Ecu.engine, 0x7e0, None): [
      b'\xf1\x8704E906027DD\xf1\x893123',
      b'\xf1\x8704L906026DE\xf1\x895418',
+      b'\xf1\x8704L906026HT\xf1\x893617',
      b'\xf1\x875NA907115E \xf1\x890003',
      b'\xf1\x875NA907115E \xf1\x890005',
    ],
@ -1060,17 +1064,20 @@ FW_VERSIONS = {
    ],
    (Ecu.srs, 0x715, None): [
      b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e1213001211001205212111052100',
+      b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1213001211001244212111442100',
      b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e1213001211001205212112052100',
      b'\xf1\x873Q0959655CQ\xf1\x890720\xf1\x82\x0e1213111211001205212112052111',
    ],
    (Ecu.eps, 0x712, None): [
      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6050405',
      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6060405',
+      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6070405',
      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G600',
    ],
    (Ecu.fwdRadar, 0x757, None): [
      b'\xf1\x872Q0907572Q \xf1\x890342',
      b'\xf1\x872Q0907572R \xf1\x890372',
+      b'\xf1\x872Q0907572AA\xf1\x890396',
    ],
  },
  CAR.SKODA_OCTAVIA_MK3: {
--- a/selfdrive/debug/test_fw_query_on_routes.py
+++ b/selfdrive/debug/test_fw_query_on_routes.py
@ -74,7 +74,7 @@ if __name__ == "__main__":

        elif msg.which() == "carParams":
          CP = msg.carParams
-          car_fw = CP.carFw
+          car_fw = [fw for fw in CP.carFw if not fw.logging]
          if len(car_fw) == 0:
            print("no fw")
            break
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@ -97,19 +97,25 @@ class Laikad:

  def get_lsq_fix(self, t, measurements):
    if self.last_fix_t is None or abs(self.last_fix_t - t) > 0:
-      min_measurements = 7 if any(p.constellation_id == ConstellationId.GLONASS for p in measurements) else 6
-      position_solution, pr_residuals = calc_pos_fix(measurements, self.posfix_functions, min_measurements=min_measurements)
+      min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in measurements) else 4
+      position_solution, pr_residuals, pos_std = calc_pos_fix(measurements, self.posfix_functions, min_measurements=min_measurements)
      if len(position_solution) < 3:
        return None
      position_estimate = position_solution[:3]
-      #TODO median abs residual is decent estimate of std, can be improved with measurements stds and/or DOP
-      position_std = np.median(np.abs(pr_residuals)) * np.ones(3)
-      velocity_solution, prr_residuals = calc_vel_fix(measurements, position_estimate, self.velfix_function, min_measurements=min_measurements)
+
+      position_std_residual = np.median(np.abs(pr_residuals))
+      position_std = np.median(np.abs(pos_std))/10
+      position_std = max(position_std_residual, position_std) * np.ones(3)
+
+      velocity_solution, prr_residuals, vel_std = calc_vel_fix(measurements, position_estimate, self.velfix_function, min_measurements=min_measurements)
      if len(velocity_solution) < 3:
        return None
-
      velocity_estimate = velocity_solution[:3]
-      velocity_std = np.median(np.abs(prr_residuals)) * np.ones(3)
+
+      velocity_std_residual = np.median(np.abs(prr_residuals))
+      velocity_std = np.median(np.abs(vel_std))/10
+      velocity_std = max(velocity_std, velocity_std_residual) * np.ones(3)
+
      return position_estimate, position_std, velocity_estimate, velocity_std

  def is_good_report(self, gnss_msg):
@ -187,10 +193,10 @@ class Laikad:
    elif self.is_good_report(gnss_msg):

      week, tow, new_meas = self.read_report(gnss_msg)
+      self.gps_week = week
      if len(new_meas) == 0:
        return None

-      self.gps_week = week
      t = gnss_mono_time * 1e-9
      if week > 0:
        self.got_first_gnss_msg = True
--- a/selfdrive/locationd/test/test_laikad.py
+++ b/selfdrive/locationd/test/test_laikad.py
@ -160,7 +160,7 @@ class TestLaikad(unittest.TestCase):
    laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT)
    correct_msgs = verify_messages(self.logs, laikad)

-    correct_msgs_expected = 554
+    correct_msgs_expected = 559
    self.assertEqual(correct_msgs_expected, len(correct_msgs))
    self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))

@ -180,7 +180,7 @@ class TestLaikad(unittest.TestCase):
    laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV)
    # Disable fetch_orbits to test NAV only
    correct_msgs = verify_messages(self.logs, laikad)
-    correct_msgs_expected = 554
+    correct_msgs_expected = 559
    self.assertEqual(correct_msgs_expected, len(correct_msgs))
    self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))

@ -195,8 +195,8 @@ class TestLaikad(unittest.TestCase):
    downloader_mock.side_effect = DownloadFailed
    laikad = Laikad(auto_update=False)
    correct_msgs = verify_messages(self.logs, laikad)
-    self.assertEqual(0, len(correct_msgs))
-    self.assertEqual(0, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
+    self.assertEqual(255, len(correct_msgs))
+    self.assertEqual(255, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))

  def test_laika_get_orbits(self):
    laikad = Laikad(auto_update=False)
@ -282,7 +282,7 @@ class TestLaikad(unittest.TestCase):
      gm = msg.gnssMeasurements
      if len(gm.correctedMeasurements) != 0 and gm.positionECEF.valid:
        cnt += 1
-    self.assertEqual(cnt, 554)
+    self.assertEqual(cnt, 559)

  def dict_has_values(self, dct):
    self.assertGreater(len(dct), 0)
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@ -36,7 +36,7 @@ def manager_init() -> None:

  default_params: List[Tuple[str, Union[str, bytes]]] = [
    ("CompletedTrainingVersion", "0"),
-    ("DisengageOnAccelerator", "1"),
+    ("DisengageOnAccelerator", "0"),
    ("GsmMetered", "1"),
    ("HasAcceptedTerms", "0"),
    ("LanguageSetting", "main_en"),
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-772f30de36fc7f8421dabb779cc02f45eb83d7bb
+f9c7e05b836c4bff364978752e82d64b90f9d6e6
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@ -311,18 +311,6 @@
        <source>Installing...</source>
        <translation>กำลังติดตั้ง...</translation>
    </message>
-    <message>
-        <source>Receiving objects: </source>
-        <translation>กำลังรับข้อมูล: </translation>
-    </message>
-    <message>
-        <source>Resolving deltas: </source>
-        <translation>การแก้ไขเดลต้า: </translation>
-    </message>
-    <message>
-        <source>Updating files: </source>
-        <translation>กำลังอัปเดตไฟล์: </translation>
-    </message>
 </context>
 <context>
    <name>MapETA</name>
@ -586,18 +574,10 @@ location set</source>
        <source>Are you sure you want to reset your device?</source>
        <translation>คุณแน่ใจหรือไม่ว่าต้องการรีเซ็ตอุปกรณ์?</translation>
    </message>
-    <message>
-        <source>Resetting device...</source>
-        <translation>กำลังรีเซ็ตอุปกรณ์...</translation>
-    </message>
    <message>
        <source>System Reset</source>
        <translation>รีเซ็ตระบบ</translation>
    </message>
-    <message>
-        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>มีการสั่งรีเซ็ตระบบ กดยืนยันเพื่อลบข้อมูลและการตั้งค่าทั้งหมด กดยกเลิกเพื่อบูตเข้าระบบตามปกติ</translation>
-    </message>
    <message>
        <source>Cancel</source>
        <translation>ยกเลิก</translation>
@ -611,8 +591,18 @@ location set</source>
        <translation>ยืนยัน</translation>
    </message>
    <message>
-        <source>Unable to mount data partition. Press confirm to reset your device.</source>
-        <translation>ไม่สามารถเมานต์พาร์ติชั่นข้อมูล กดยืนยันเพื่อรีเซ็ตอุปกรณ์ของคุณ</translation>
+        <source>Resetting device...
+This may take up to a minute.</source>
+        <translation>กำลังรีเซ็ตอุปกรณ์...
+อาจใช้เวลาถึงหนึ่งนาที</translation>
+    </message>
+    <message>
+        <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation>กดยืนยันเพื่อลบข้อมูลและการตั้งค่าทั้งหมด กดยกเลิกเพื่อบูตต่อ</translation>
+    </message>
+    <message>
+        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
+        <translation>ไม่สามารถเมานต์พาร์ติชั่นข้อมูลได้ พาร์ติชั่นอาจเสียหาย กดยืนยันเพื่อลบและรีเซ็ตอุปกรณ์ของคุณ</translation>
    </message>
 </context>
 <context>
@ -684,18 +674,6 @@ location set</source>
        <source>Waiting for internet</source>
        <translation>กำลังรอสัญญาณอินเตอร์เน็ต</translation>
    </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation>เลือกซอฟต์แวร์ที่จะติดตั้ง</translation>
-    </message>
-    <message>
-        <source>Dashcam</source>
-        <translation>กล้องติดรถยนต์</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation>ซอฟต์แวร์ที่กำหนดเอง</translation>
-    </message>
    <message>
        <source>Enter URL</source>
        <translation>ป้อน URL</translation>
@ -724,6 +702,14 @@ location set</source>
        <source>Start over</source>
        <translation>เริ่มต้นใหม่</translation>
    </message>
+    <message>
+        <source>Something went wrong. Reboot the device.</source>
+        <translation>มีบางอย่างผิดพลาด รีบูตอุปกรณ์</translation>
+    </message>
+    <message>
+        <source>No custom software found at this URL.</source>
+        <translation>ไม่พบซอฟต์แวร์ที่กำหนดเองที่ URL นี้</translation>
+    </message>
 </context>
 <context>
    <name>SetupWidget</name>
--- a/tools/cabana/chartswidget.cc
+++ b/tools/cabana/chartswidget.cc
@ -591,11 +591,14 @@ void ChartView::updateAxisY() {
      if (it->y() > max) max = it->y();
    }
  }
-  axis_y->setTitleText(unit);
-
  if (min == std::numeric_limits<double>::max()) min = 0;
  if (max == std::numeric_limits<double>::lowest()) max = 0;

+  if (axis_y->titleText() != unit) {
+    axis_y->setTitleText(unit);
+    y_label_width = 0;// recalc width
+  }
+
  double delta = std::abs(max - min) < 1e-3 ? 1 : (max - min) * 0.05;
  auto [min_y, max_y, tick_count] = getNiceAxisNumbers(min - delta, max + delta, axis_y->tickCount());
  if (min_y != axis_y->min() || max_y != axis_y->max() || y_label_width == 0) {
@ -705,14 +708,16 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) {
      if (!s.series->isVisible()) continue;

      // use reverse iterator to find last item <= sec.
+      double value = 0;
      auto it = std::lower_bound(s.vals.rbegin(), s.vals.rend(), sec, [](auto &p, double x) { return p.x() > x; });
      if (it != s.vals.rend() && it->x() >= axis_x->min()) {
+        value = it->y();
        s.track_pt = chart()->mapToPosition(*it);
        x = std::max(x, s.track_pt.x());
      }
      text_list.push_back(QString("<span style=\"color:%1;\">■ </span>%2: <b>%3</b>")
                              .arg(s.series->color().name(), s.sig->name,
-                                   s.track_pt.isNull() ? "--" : QString::number(s.track_pt.y())));
+                                   s.track_pt.isNull() ? "--" : QString::number(value)));
    }
    if (x < 0) {
      x = ev->pos().x();
@ -776,7 +781,7 @@ void ChartView::drawForeground(QPainter *painter, const QRectF &rect) {
  painter->setPen(Qt::NoPen);
  qreal track_line_x = -1;
  for (auto &s : sigs) {
-    if (!s.track_pt.isNull() && s.series->isVisible()) {
+    if (!s.track_pt.isNull() && s.series->isVisible()) {  
      painter->setBrush(s.series->color().darker(125));
      painter->drawEllipse(s.track_pt, 5.5, 5.5);
      track_line_x = std::max(track_line_x, s.track_pt.x());