From fe08e526833f2c820f309814af9ce91f49110be3 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 17 Mar 2025 09:26:52 -0700 Subject: [PATCH 001/115] 0.9.9 soon --- RELEASES.md | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index 071622f89a..ced7e3d4fc 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,6 +1,10 @@ -Version 0.9.9 (2025-04-XX) +Version 0.9.9 (2025-04-30) ======================== +* New driving model * Tesla Model 3 and Y support thanks to lukasloetkolben! +* Coming soon + * New driving model supervised by MLSIM + * An online learner for steering actuator delay Version 0.9.8 (2025-02-28) ======================== From 469b494026fbd23a546cd4ca793545a363a92b0a Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 17 Mar 2025 12:47:49 -0700 Subject: [PATCH 002/115] [bot] Update Python packages (#34893) * Update Python packages * fix ruff --------- Co-authored-by: Vehicle Researcher Co-authored-by: Maxime Desroches --- opendbc_repo | 2 +- panda | 2 +- selfdrive/test/process_replay/migration.py | 2 +- tools/joystick/joystick_control.py | 4 +- uv.lock | 1441 ++++++++++---------- 5 files changed, 721 insertions(+), 730 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index b46e6340c1..3db676c5cc 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit b46e6340c15428ef72435b163ce03ffe66ffe563 +Subproject commit 3db676c5cc509d0141a2cb3dc312765abb4360f7 diff --git a/panda b/panda index 1d5b89956b..998ac9d5d8 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 1d5b89956b32bbda2940724ce70c5166e44668c5 +Subproject commit 998ac9d5d82f10d7dd926ac66800b1efa20ff9b2 diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index fd13c4f239..e1d0352262 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -276,7 +276,7 @@ def migrate_pandaStates(msgs): "KIA_EV6": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CANFD_LKA_STEERING, } # TODO: get new Ford route - safety_param_migration |= {car: FordSafetyFlags.LONG_CONTROL for car in (set(FORD) - FORD.with_flags(FordFlags.CANFD))} + safety_param_migration |= dict.fromkeys((set(FORD) - FORD.with_flags(FordFlags.CANFD)), FordSafetyFlags.LONG_CONTROL) # Migrate safety param base on carParams CP = next((m.carParams for _, m in msgs if m.which() == 'carParams'), None) diff --git a/tools/joystick/joystick_control.py b/tools/joystick/joystick_control.py index 74d034d505..11d17e587e 100755 --- a/tools/joystick/joystick_control.py +++ b/tools/joystick/joystick_control.py @@ -28,7 +28,7 @@ class Keyboard: key = self.kb.getch().lower() self.cancel = False if key == 'r': - self.axes_values = {ax: 0. for ax in self.axes_values} + self.axes_values = dict.fromkeys(self.axes_values, 0.) elif key == 'c': self.cancel = True elif key in self.axes_map: @@ -65,7 +65,7 @@ class 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+187,7 @@ class TestOnroad: def test_manager_starting_time(self): st = self.ts['managerState']['t'][0] - assert (st - self.manager_st) < 10, f"manager.py took {st - self.manager_st}s to publish the first 'managerState' msg" + assert (st - self.manager_st) < 12.5, f"manager.py took {st - self.manager_st}s to publish the first 'managerState' msg" def test_cloudlog_size(self): msgs = self.msgs['logMessage'] From d59e5142097e1b6356361e04982e9eaf420fe2cf Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 18 Mar 2025 09:58:48 -0700 Subject: [PATCH 004/115] missing an --- selfdrive/ui/qt/offroad/firehose.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/qt/offroad/firehose.cc b/selfdrive/ui/qt/offroad/firehose.cc index 2923dbffe5..80de9cfa40 100644 --- a/selfdrive/ui/qt/offroad/firehose.cc +++ b/selfdrive/ui/qt/offroad/firehose.cc @@ -106,7 +106,7 @@ void FirehosePanel::refresh() { toggle_label->setText(tr("ACTIVE")); toggle_label->setStyleSheet("font-size: 60px; font-weight: bold; color: #2ecc71;"); } else { - toggle_label->setText(tr("INACTIVE: connect to unmetered network")); + toggle_label->setText(tr("INACTIVE: connect to an unmetered network")); toggle_label->setStyleSheet("font-size: 60px;"); } } From ed56ac52f4770e5ebe42db2a7b78140f2b07c0da Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Tue, 18 Mar 2025 19:33:15 +0100 Subject: [PATCH 005/115] ci: Add ui previews for new ui elements as well (#34886) * Add previews for new ui elements as well * Actualizar ui_preview.yaml Co-authored-by: Maxime Desroches --------- Co-authored-by: Maxime Desroches --- .github/workflows/ui_preview.yaml | 14 +++++++++++++- 1 file changed, 13 insertions(+), 1 deletion(-) diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml index 75e6249b76..f3fdc270db 100644 --- a/.github/workflows/ui_preview.yaml +++ b/.github/workflows/ui_preview.yaml @@ -93,8 +93,20 @@ jobs: for ((i=0; i<${#A[*]}; i=i+1)); do + # Check if the master file exists + if [ ! -f "${{ github.workspace }}/master_ui/${A[$i]}.png" ]; then + # This is a new file in PR UI that doesn't exist in master + DIFF="${DIFF}
" + DIFF="${DIFF}${A[$i]} : \$\${\\color{cyan}\\text{NEW}}\$\$" + DIFF="${DIFF}" - if ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then + DIFF="${DIFF}" + DIFF="${DIFF} " + DIFF="${DIFF}" + + DIFF="${DIFF}
" + DIFF="${DIFF}
" + elif ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png composite mask.png ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png convert -delay 100 ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif From c3bba7431ab1b6dd1b2e5b0e937a446b606e4e67 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 18 Mar 2025 11:38:27 -0700 Subject: [PATCH 006/115] update to latest userdata partition (#34898) update cache --- system/hardware/tici/all-partitions.json | 26 ++++++++++++------------ 1 file changed, 13 insertions(+), 13 deletions(-) diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json index 4d15e76b0e..3c88e82420 100644 --- a/system/hardware/tici/all-partitions.json +++ b/system/hardware/tici/all-partitions.json @@ -366,35 +366,35 @@ }, { "name": "userdata_90", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-17f46ba0d0eec10cf14804c84d9bcf4f6fa864074f1b90ff2fb4873399d64b1a.img.xz", - "hash": "1442ae218daff960783bc493a32dd489fa787e4025c64fa3132f48b1e627647f", - "hash_raw": "17f46ba0d0eec10cf14804c84d9bcf4f6fa864074f1b90ff2fb4873399d64b1a", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-0cbfcaba867b8c637a297492fe008aac82cea89a479077585faaa62c8bdc4bcf.img.xz", + "hash": "4a48581a9e2e416ae3b695d1fca7a056eeb8b12e7819fee16a3419ba56662ca1", + "hash_raw": "0cbfcaba867b8c637a297492fe008aac82cea89a479077585faaa62c8bdc4bcf", "size": 96636764160, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "a64fea9c3a7bec11b850a55d50ceb30a032742c90aadf0ce35cdbef9349bebba" + "ondevice_hash": "51b690c08c7876d5f6f81c36cdfc64bd7e2326986329923b4eb391dbeb45ced1" }, { "name": "userdata_89", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-69b2404839f87b1de5c05766550ca0217d5ed566c9f2ea41c46b5a301540a3ac.img.xz", - "hash": "332e6cf5c221690a01ebfd0582420e039c7796a8fb2d499e44a8b657dffe4af2", - "hash_raw": "69b2404839f87b1de5c05766550ca0217d5ed566c9f2ea41c46b5a301540a3ac", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-5043e8058de94159e4b36590403120e76bdabe75542743bb41e251158aa14f7c.img.xz", + "hash": "7eca201ce9e6440b389a469eeffe635df50c81c18a7b6af9b73dfe462af7c174", + "hash_raw": "5043e8058de94159e4b36590403120e76bdabe75542743bb41e251158aa14f7c", "size": 95563022336, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "c560c76007fd8997e01e516ab16ff445048945a13bf830bb2a4c7f6e9d2fe5f6" + "ondevice_hash": "2c25fb92c7c7085783b3ea1f96d3919acefafe3b4897529ced30540fdb7dc772" }, { "name": "userdata_30", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-ffc34d8753520e684448185db801c05bb81e23c54a499cc40a2e38b7009cdf36.img.xz", - "hash": "8bfb1fdec9c8f96c97bcce1efbc7d502447bdb3b481cc408b24b5feef66839fd", - "hash_raw": "ffc34d8753520e684448185db801c05bb81e23c54a499cc40a2e38b7009cdf36", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-cf9c15c127fb4e776843e7fce36e545b8c8848991186a7ff2cd0d5c2fffe2a1d.img.xz", + "hash": "c0866a0a8e4eedb9f0f1a4d853ace9c83038c955f88e8bfffbaf441dc103c1a6", + "hash_raw": "cf9c15c127fb4e776843e7fce36e545b8c8848991186a7ff2cd0d5c2fffe2a1d", "size": 32212254720, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "8f840157d73fa4469aa650d668e046c9750304af84248ab83453cbd285918859" + "ondevice_hash": "78086497dd01efd87b491fe16a9abd382f14ec7366c8eb7acfe0ec0c5d192df6" } -] \ No newline at end of file +] From 988fc477eb066a915a10bfdcb2fd97ebe10637a4 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 20 Mar 2025 00:27:23 +0800 Subject: [PATCH 007/115] camerad: remove duplicate include (#34905) remove duplicate include --- system/camerad/cameras/spectra.cc | 1 - 1 file changed, 1 deletion(-) diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index d12dbb2444..4535078771 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -19,7 +19,6 @@ #include "system/camerad/cameras/ife.h" #include "system/camerad/cameras/spectra.h" #include "system/camerad/cameras/bps_blobs.h" -#include "third_party/linux/include/msm_media_info.h" // ************** low level camera helpers **************** From 2fca8451536a21fc6bf1a25bd73985acd934bb52 Mon Sep 17 00:00:00 2001 From: programanichiro <99449198+programanichiro@users.noreply.github.com> Date: Thu, 20 Mar 2025 02:41:44 +0900 Subject: [PATCH 008/115] Multilang: Update JA translations (#34904) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * 日本語訳2025/3/19 * numerusform追加。 --- selfdrive/ui/translations/main_ja.ts | 28 +++++++++++++++------------- 1 file changed, 15 insertions(+), 13 deletions(-) diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 7c67d83020..00f6acbd77 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -315,28 +315,30 @@ openpilot learns to drive by watching humans, like you, drive. Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models, which means better Experimental Mode. - + openpilotは人間であるあなたの運転から学び、AI学習します。 + +Firehoseモードを有効にすると、学習データを最大限アップロードし、openpilotの運転モデルを向上させることができます。より多くのデータはより大きなモデルとなり、Experimentalモードの精度を向上させます。 Firehose Mode: ACTIVE - + Firehoseモード: 作動中 ACTIVE - + 動作中 <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network - + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>動作停止</span>: 大容量のネットワークに接続してください For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - + 最大の効果を得るためにはデバイスを屋内に持ち込み、大容量のUSB-C充電器とWi-Fiに毎週接続してください。<br><br>Firehoseモードは公衆無線LANや大容量契約のSIMカードに接続していれば、運転中でも動作します。<br><br><br><b>よくある質問(FAQ)</b><br><br><i>運転のやり方や走る場所は重要ですか？</i> いいえ、普段どおりに運転するだけで大丈夫です。<br><br><i>Firehoseモードでは全てのデータがアップロードされますか？</i> いいえ、アップロードするデータを選ぶことができます。<br><br><i>大容量のUSB-C充電器とは何ですか？</i> スマートフォンやノートパソコンを高速に充電できるものを使って下さい。<br><br><i>どのフォークを使うかは重要ですか？</i>はい、トレーニングには公式のopenpilot(および特定のフォーク)のみが使用できます。 <b>%n segment(s)</b> of your driving is in the training dataset so far. - - + + あなたの運転の<b>%nセグメント</b>がこれまでのトレーニングデータに含まれています。 @@ -945,7 +947,7 @@ This may take up to a minute. Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. - 警告: これは、GitHub の設定にあるすべての公開鍵への SSH アクセスを許可するものです。自分以外の GitHub のユーザー名を入力しないでください。commaのスタッフが GitHub のユーザー名を追加するようお願いすることはありません。 + 警告: これはGitHubの設定にあるすべての公開鍵への SSH アクセスを許可するものです。自分以外のGitHubユーザー名を入力しないでください。commaのスタッフがGitHubのユーザー名を追加するようお願いすることはありません。 ADD @@ -953,7 +955,7 @@ This may take up to a minute. Enter your GitHub username - GitHub のユーザー名を入力してください + GitHubのユーザー名を入力してください LOADING @@ -995,18 +997,18 @@ This may take up to a minute. Welcome to openpilot - + openpilotへようこそ You must accept the Terms and Conditions to use openpilot. Read the latest terms at <span style='color: #465BEA;'>https://comma.ai/terms</span> before continuing. - + openpilotを使用するには利用規約に同意する必要があります。続行する前に最新の規約を以下でご確認ください: <span style='color: #465BEA;'>https://comma.ai/terms</span> TogglesPanel Enable openpilot - openpilot を有効化 + openpilotを有効化 Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. @@ -1014,7 +1016,7 @@ This may take up to a minute. Enable Lane Departure Warnings - 車線逸脱警報機能の有効化 + 車線逸脱警報の有効化 Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). From e785026a98a8745057a560742fa030c4df14c55a Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Wed, 19 Mar 2025 12:22:54 -0700 Subject: [PATCH 009/115] feat(athenad): priority uploads (#34856) Today, Firehose uploads and user-requested uploads from Connect are treated the same. This is not ideal behavior if the user wants to upload routes immediately for a bug report and the queue is full of uploads for Firehose. The workaround is to clear the queue and retry the upload from Connect. This PR adds an optional `priority` to requested file uploads in `athenad`. By default, all requests are marked `Low`. However, if the caller wishes to mark their uploads as "more important," then the upload queue will prioritize those requests when uploading. The only caveat to this PR is that we won't reorder files currently being uploaded. Most connections are quick enough to finish uploading max 4 files before polling the new high-priority items in the queue. Closes https://github.com/commaai/openpilot/issues/34836 **Verification** Added test case to insert upload tasks with differing priorities. Polling the queue produces items in the correct order (smallest # to largest). PR to mark Connect uploads as high priority: https://github.com/commaai/connect/pull/557 --------- Co-authored-by: Cameron Clough --- system/athena/athenad.py | 23 +++++++++++++++++++---- system/athena/tests/test_athenad.py | 22 +++++++++++++++++++++- 2 files changed, 40 insertions(+), 5 deletions(-) diff --git a/system/athena/athenad.py b/system/athena/athenad.py index b36bdb103d..5813bc90a5 100755 --- a/system/athena/athenad.py +++ b/system/athena/athenad.py @@ -16,7 +16,7 @@ import threading import time from dataclasses import asdict, dataclass, replace from datetime import datetime -from functools import partial +from functools import partial, total_ordering from queue import Queue from typing import cast from collections.abc import Callable @@ -53,6 +53,7 @@ MAX_RETRY_COUNT = 30 # Try for at most 5 minutes if upload fails immediately MAX_AGE = 31 * 24 * 3600 # seconds WS_FRAME_SIZE = 4096 DEVICE_STATE_UPDATE_INTERVAL = 1.0 # in seconds +DEFAULT_UPLOAD_PRIORITY = 99 # higher number = lower priority NetworkType = log.DeviceState.NetworkType @@ -68,13 +69,15 @@ class UploadFile: url: str headers: dict[str, str] allow_cellular: bool + priority: int = DEFAULT_UPLOAD_PRIORITY @classmethod def from_dict(cls, d: dict) -> UploadFile: - return cls(d.get("fn", ""), d.get("url", ""), d.get("headers", {}), d.get("allow_cellular", False)) + return cls(d.get("fn", ""), d.get("url", ""), d.get("headers", {}), d.get("allow_cellular", False), d.get("priority", DEFAULT_UPLOAD_PRIORITY)) @dataclass +@total_ordering class UploadItem: path: str url: str @@ -85,17 +88,28 @@ class UploadItem: current: bool = False progress: float = 0 allow_cellular: bool = False + priority: int = DEFAULT_UPLOAD_PRIORITY @classmethod def from_dict(cls, d: dict) -> UploadItem: return cls(d["path"], d["url"], d["headers"], d["created_at"], d["id"], d["retry_count"], d["current"], - d["progress"], d["allow_cellular"]) + d["progress"], d["allow_cellular"], d["priority"]) + + def __lt__(self, other): + if not isinstance(other, UploadItem): + return NotImplemented + return self.priority < other.priority + + def __eq__(self, other): + if not isinstance(other, UploadItem): + return NotImplemented + return self.priority == other.priority dispatcher["echo"] = lambda s: s recv_queue: Queue[str] = queue.Queue() send_queue: Queue[str] = queue.Queue() -upload_queue: Queue[UploadItem] = queue.Queue() +upload_queue: Queue[UploadItem] = queue.PriorityQueue() low_priority_send_queue: Queue[str] = queue.Queue() log_recv_queue: Queue[str] = queue.Queue() cancelled_uploads: set[str] = set() @@ -398,6 +412,7 @@ def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlRespo created_at=int(time.time() * 1000), id=None, allow_cellular=file.allow_cellular, + priority=file.priority, ) upload_id = hashlib.sha1(str(item).encode()).hexdigest() item = replace(item, id=upload_id) diff --git a/system/athena/tests/test_athenad.py b/system/athena/tests/test_athenad.py index e16e73a7ea..dd82325815 100644 --- a/system/athena/tests/test_athenad.py +++ b/system/athena/tests/test_athenad.py @@ -76,7 +76,7 @@ class TestAthenadMethods: self.params.put(k, v) self.params.put_bool("GsmMetered", True) - athenad.upload_queue = queue.Queue() + athenad.upload_queue = queue.PriorityQueue() athenad.cur_upload_items.clear() athenad.cancelled_uploads.clear() @@ -321,6 +321,26 @@ class TestAthenadMethods: assert len(items) == 1 assert items[0]['current'] + def test_list_upload_queue_priority(self): + priorities = (25, 50, 99, 75, 0) + + for i in priorities: + fn = f'qlog_{i}.zst' + fp = self._create_file(fn) + item = athenad.UploadItem( + path=fp, + url=f"http://localhost:44444/{fn}", + headers={}, + created_at=int(time.time()*1000), + id='', + allow_cellular=True, + priority=i + ) + athenad.upload_queue.put_nowait(item) + + for i in sorted(priorities): + assert athenad.upload_queue.get_nowait().priority == i + def test_list_upload_queue(self): item = athenad.UploadItem(path="qlog.zst", url="http://localhost:44444/qlog.zst", headers={}, created_at=int(time.time()*1000), id='id', allow_cellular=True) From 6d12ade231afcd4854c1dd1ad1c963e01d6031ff Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 20 Mar 2025 04:11:22 +0800 Subject: [PATCH 010/115] python ui: refactor spinner&text (#34897) refactor spinner&text --- system/ui/lib/application.py | 6 +++- system/ui/spinner.py | 67 ++++++++++++++++++------------------ system/ui/text.py | 44 ++++++++++++----------- 3 files changed, 61 insertions(+), 56 deletions(-) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index c7b7a36e5d..fd1ad52068 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -64,11 +64,16 @@ class GuiApplication: return texture def close(self): + if not rl.is_window_ready(): + return + for texture in self._textures: rl.unload_texture(texture) + self._textures = [] for font in self._fonts.values(): rl.unload_font(font) + self._fonts = [] rl.close_window() @@ -120,7 +125,6 @@ class GuiApplication: rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_SIZE, DEFAULT_TEXT_SIZE) rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.BACKGROUND_COLOR, rl.color_to_int(rl.BLACK)) rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.TEXT_COLOR_NORMAL, rl.color_to_int(DEFAULT_TEXT_COLOR)) - rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.BACKGROUND_COLOR, rl.color_to_int(rl.Color(30, 30, 30, 255))) rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.BASE_COLOR_NORMAL, rl.color_to_int(rl.Color(50, 50, 50, 255))) def _monitor_fps(self): diff --git a/system/ui/spinner.py b/system/ui/spinner.py index 639de26744..9809307474 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -1,8 +1,7 @@ #!/usr/bin/env python3 import pyray as rl import os -import select -import sys +import threading from openpilot.common.basedir import BASEDIR from openpilot.system.ui.lib.application import gui_app @@ -20,57 +19,57 @@ def clamp(value, min_value, max_value): return max(min(value, max_value), min_value) -def check_input_non_blocking(): - if sys.stdin in select.select([sys.stdin], [], [], 0)[0]: - return sys.stdin.readline().strip() - return "" +class Spinner: + def __init__(self): + self._comma_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_comma.png"), TEXTURE_SIZE, TEXTURE_SIZE) + self._spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE) + self._rotation = 0.0 + self._text: str = "" + self._lock = threading.Lock() + def set_text(self, text: str) -> None: + with self._lock: + self._text = text -def main(): - gui_app.init_window("Spinner") - - # Load textures - comma_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_comma.png"), TEXTURE_SIZE, TEXTURE_SIZE) - spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE) + def render(self): + center = rl.Vector2(gui_app.width / 2.0, gui_app.height / 2.0) + spinner_origin = rl.Vector2(TEXTURE_SIZE / 2.0, TEXTURE_SIZE / 2.0) + comma_position = rl.Vector2(center.x - TEXTURE_SIZE / 2.0, center.y - TEXTURE_SIZE / 2.0) - # Initial values - rotation = 0.0 - user_input = "" - center = rl.Vector2(gui_app.width / 2.0, gui_app.height / 2.0) - spinner_origin = rl.Vector2(TEXTURE_SIZE / 2.0, TEXTURE_SIZE / 2.0) - comma_position = rl.Vector2(center.x - TEXTURE_SIZE / 2.0, center.y - TEXTURE_SIZE / 2.0) - - for _ in gui_app.render(): fps = rl.get_fps() if fps > 0: degrees_per_frame = 360.0 / (ROTATION_TIME_SECONDS * fps) - rotation = (rotation + degrees_per_frame) % 360.0 + self._rotation = (self._rotation + degrees_per_frame) % 360.0 # Draw rotating spinner and static comma logo - rl.draw_texture_pro(spinner_texture, rl.Rectangle(0, 0, TEXTURE_SIZE, TEXTURE_SIZE), + rl.draw_texture_pro(self._spinner_texture, rl.Rectangle(0, 0, TEXTURE_SIZE, TEXTURE_SIZE), rl.Rectangle(center.x, center.y, TEXTURE_SIZE, TEXTURE_SIZE), - spinner_origin, rotation, rl.WHITE) - rl.draw_texture_v(comma_texture, comma_position, rl.WHITE) - - # Read user input - if input_str := check_input_non_blocking(): - user_input = input_str + spinner_origin, self._rotation, rl.WHITE) + rl.draw_texture_v(self._comma_texture, comma_position, rl.WHITE) # Display progress bar or text based on user input - if user_input: + text = None + with self._lock: + text = self._text + + if text: y_pos = rl.get_screen_height() - MARGIN - PROGRESS_BAR_HEIGHT - if user_input.isdigit(): - progress = clamp(int(user_input), 0, 100) + if text.isdigit(): + progress = clamp(int(text), 0, 100) bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT) rl.draw_rectangle_rounded(bar, 0.5, 10, rl.GRAY) bar.width *= progress / 100.0 rl.draw_rectangle_rounded(bar, 0.5, 10, rl.WHITE) else: - text_size = rl.measure_text_ex(gui_app.font(), user_input, FONT_SIZE, 1.0) - rl.draw_text_ex(gui_app.font(), user_input, + text_size = rl.measure_text_ex(gui_app.font(), text, FONT_SIZE, 1.0) + rl.draw_text_ex(gui_app.font(), text, rl.Vector2(center.x - text_size.x / 2, y_pos), FONT_SIZE, 1.0, rl.WHITE) if __name__ == "__main__": - main() + gui_app.init_window("Spinner") + spinner = Spinner() + spinner.set_text("Spinner text") + for _ in gui_app.render(): + spinner.render() diff --git a/system/ui/text.py b/system/ui/text.py index 33299605d6..97d0ebcce9 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -1,7 +1,5 @@ #!/usr/bin/env python3 -import sys import pyray as rl - from openpilot.system.hardware import HARDWARE from openpilot.system.ui.lib.button import gui_button, ButtonStyle from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel @@ -33,32 +31,36 @@ def wrap_text(text, font_size, max_width): return lines +class TextWindow: + def __init__(self, text: str): + self._textarea_rect = rl.Rectangle(MARGIN, MARGIN, gui_app.width - MARGIN * 2, gui_app.height - MARGIN * 2) + self._wrapped_lines = wrap_text(text, FONT_SIZE, self._textarea_rect.width - 20) + self._content_rect = rl.Rectangle(0, 0, self._textarea_rect.width - 20, len(self._wrapped_lines) * LINE_HEIGHT) + self._scroll_panel = GuiScrollPanel(show_vertical_scroll_bar=True) -def main(): - gui_app.init_window("Text") - - text_content = sys.argv[1] if len(sys.argv) > 1 else DEMO_TEXT - - textarea_rect = rl.Rectangle(MARGIN, MARGIN, gui_app.width - MARGIN * 2, gui_app.height - MARGIN * 2) - wrapped_lines = wrap_text(text_content, FONT_SIZE, textarea_rect.width - 20) - content_rect = rl.Rectangle(0, 0, textarea_rect.width - 20, len(wrapped_lines) * LINE_HEIGHT) - scroll_panel = GuiScrollPanel(show_vertical_scroll_bar=True) - - for _ in gui_app.render(): - scroll = scroll_panel.handle_scroll(textarea_rect, content_rect) - - rl.begin_scissor_mode(int(textarea_rect.x), int(textarea_rect.y), int(textarea_rect.width), int(textarea_rect.height)) - for i, line in enumerate(wrapped_lines): - position = rl.Vector2(textarea_rect.x + scroll.x, textarea_rect.y + scroll.y + i * LINE_HEIGHT) - if position.y + LINE_HEIGHT < textarea_rect.y or position.y > textarea_rect.y + textarea_rect.height: + def render(self): + scroll = self._scroll_panel.handle_scroll(self._textarea_rect, self._content_rect) + rl.begin_scissor_mode(int(self._textarea_rect.x), int(self._textarea_rect.y), int(self._textarea_rect.width), int(self._textarea_rect.height)) + for i, line in enumerate(self._wrapped_lines): + position = rl.Vector2(self._textarea_rect.x + scroll.x, self._textarea_rect.y + scroll.y + i * LINE_HEIGHT) + if position.y + LINE_HEIGHT < self._textarea_rect.y or position.y > self._textarea_rect.y + self._textarea_rect.height: continue rl.draw_text_ex(gui_app.font(), line.strip(), position, FONT_SIZE, 0, rl.WHITE) rl.end_scissor_mode() button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y) - if gui_button(button_bounds, "Reboot", button_style=ButtonStyle.TRANSPARENT): + ret = gui_button(button_bounds, "Reboot", button_style=ButtonStyle.TRANSPARENT) + if ret: HARDWARE.reboot() + return ret + + +def show_text_in_window(text: str): + gui_app.init_window("Text") + text_window = TextWindow(text) + for _ in gui_app.render(): + text_window.render() if __name__ == "__main__": - main() + show_text_in_window(DEMO_TEXT) From a40ab9a69bd96990cb8dc74e161c1717097399e7 Mon Sep 17 00:00:00 2001 From: "github-actions[bot]" <41898282+github-actions[bot]@users.noreply.github.com> Date: Thu, 20 Mar 2025 14:13:07 -0700 Subject: [PATCH 011/115] [bot] Update translations (#34908) Update translations Co-authored-by: Vehicle Researcher --- selfdrive/ui/translations/main_ar.ts | 8 ++++---- selfdrive/ui/translations/main_de.ts | 8 ++++---- selfdrive/ui/translations/main_es.ts | 8 ++++---- selfdrive/ui/translations/main_fr.ts | 8 ++++---- selfdrive/ui/translations/main_ja.ts | 8 ++++---- selfdrive/ui/translations/main_ko.ts | 8 ++++---- selfdrive/ui/translations/main_pt-BR.ts | 8 ++++---- selfdrive/ui/translations/main_th.ts | 8 ++++---- selfdrive/ui/translations/main_tr.ts | 8 ++++---- selfdrive/ui/translations/main_zh-CHS.ts | 8 ++++---- selfdrive/ui/translations/main_zh-CHT.ts | 8 ++++---- 11 files changed, 44 insertions(+), 44 deletions(-) diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index 8f43e64e8a..2afc088b24 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -327,10 +327,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp ACTIVE نشط - - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>غير نشط</span>: اتصل بشبكة غير محسوبة - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. للحصول على أقصى فعالية، أحضر جهازك إلى الداخل واتصل بمحول USB-C جيد وشبكة Wi-Fi أسبوعياً.<br><br>يمكن أن يعمل وضع خرطوم الحريق أيضاً أثناء القيادة إذا كنت متصلاً بنقطة اتصال أو ببطاقة SIM غير محدودة.<br><br><br><b>الأسئلة المتكررة</b><br><br><i>هل يهم كيف أو أين أقود؟</i> لا، فقط قد كما تفعل عادة.<br><br><i>هل يتم سحب كل مقاطع رحلاتي في وضع خرطوم الحريق؟</i> لا، نقوم بسحب مجموعة مختارة من مقاطع رحلاتك.<br><br><i>ما هو محول USB-C الجيد؟</i> أي شاحن سريع للهاتف أو اللابتوب يجب أن يكون مناسباً.<br><br><i>هل يهم أي برنامج أستخدم؟</i> نعم، فقط النسخة الأصلية من openpilot (وأفرع معينة) يمكن استخدامها للتدريب. @@ -346,6 +342,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp حتى الآن، يوجد </b>%n مقطع<b>%n من قيادتك في مجموعة بيانات التدريب. + + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network + + HudRenderer diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index d440e790fc..560e1df2cc 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -325,10 +325,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp ACTIVE - - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. @@ -340,6 +336,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp + + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network + + HudRenderer diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts index 235051bb73..2788c56c4e 100644 --- a/selfdrive/ui/translations/main_es.ts +++ b/selfdrive/ui/translations/main_es.ts @@ -325,10 +325,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp ACTIVE - - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. @@ -340,6 +336,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp + + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network + + HudRenderer diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index 4ed97e2338..673056bf3b 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -325,10 +325,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp ACTIVE - - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. @@ -340,6 +336,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp + + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network + + HudRenderer diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 00f6acbd77..ef504a0855 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -327,10 +327,6 @@ Firehoseモードを有効にすると、学習データを最大限アップロ ACTIVE 動作中 - - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>動作停止</span>: 大容量のネットワークに接続してください - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. 最大の効果を得るためにはデバイスを屋内に持ち込み、大容量のUSB-C充電器とWi-Fiに毎週接続してください。<br><br>Firehoseモードは公衆無線LANや大容量契約のSIMカードに接続していれば、運転中でも動作します。<br><br><br><b>よくある質問(FAQ)</b><br><br><i>運転のやり方や走る場所は重要ですか？</i> いいえ、普段どおりに運転するだけで大丈夫です。<br><br><i>Firehoseモードでは全てのデータがアップロードされますか？</i> いいえ、アップロードするデータを選ぶことができます。<br><br><i>大容量のUSB-C充電器とは何ですか？</i> スマートフォンやノートパソコンを高速に充電できるものを使って下さい。<br><br><i>どのフォークを使うかは重要ですか？</i>はい、トレーニングには公式のopenpilot(および特定のフォーク)のみが使用できます。 @@ -341,6 +337,10 @@ Firehoseモードを有効にすると、学習データを最大限アップロ あなたの運転の<b>%nセグメント</b>がこれまでのトレーニングデータに含まれています。 + + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network + + HudRenderer diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 5abc6ce9b2..c241400286 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -327,10 +327,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp ACTIVE 활성화 - - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>비활성</span>: 무제한 네트워크에 연결 - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. 최대한의 효과를 얻으려면 매주 장치를 실내로 가져와 좋은 USB-C 케이블에 연결하고 Wi-Fi에 연결하세요.<br><br>파이어호스 모드는 핫스팟 또는 무제한 SIM 카드에 연결된 경우에는 운전 중에도 작동할 수 있습니다.<br><br><br><b>자주 묻는 질문</b><br><br><i>운전 방법이나 장소가 중요한가요?</i> 아니요, 평소처럼 운전하시면 됩니다.<br><br><i>파이어호스 모드에서 제 모든 구간을 가져오나요?.<br><br><i> 아니요, 저희는 여러분의 구간 중 일부를 선별적으로 가져옵니다.<br><br><i>좋은 USB-C 케이블은 무엇인가요?</i> 휴대폰이나 노트북 고속 충전기가 있으면 됩니다.<br><br><i>어떤 소프트웨어를 실행하는지가 중요한가요?</i> 예, 오직 공식 openpilot의 특정 포크만 트레이닝에 사용할 수 있습니다. @@ -341,6 +337,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp + + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network + + HudRenderer diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 57b5b4ffa5..7760046d5d 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -327,10 +327,6 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar ACTIVE ATIVO - - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INATIVO</span>: conecte-se a uma rede sem restrição <br> de dados - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. Para maior eficácia, leve seu dispositivo para dentro de casa e conecte-o a um bom adaptador USB-C e Wi-Fi semanalmente.<br><br>O Modo Firehose também pode funcionar enquanto você dirige, se estiver conectado a um hotspot ou a um chip SIM com dados ilimitados.<br><br><br><b>Perguntas Frequentes</b><br><br><i>Importa como ou onde eu dirijo?</i> Não, basta dirigir normalmente.<br><br><i>Todos os meus segmentos são enviados no Modo Firehose?</i> Não, selecionamos apenas um subconjunto dos seus segmentos.<br><br><i>Qual é um bom adaptador USB-C?</i> Qualquer carregador rápido de telefone ou laptop deve ser suficiente.<br><br><i>Importa qual software eu uso?</i> Sim, apenas o openpilot oficial (e alguns forks específicos) podem ser usados para treinamento. @@ -342,6 +338,10 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar <b>%n segmentos</b> da sua direção estão no conjunto de dados de treinamento até agora. + + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network + + HudRenderer diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 6db0085567..f6b9792dc4 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -325,10 +325,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp ACTIVE - - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. @@ -339,6 +335,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp + + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network + + HudRenderer diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index e640eeab4d..0b0e24dcf4 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -325,10 +325,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp ACTIVE - - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. @@ -339,6 +335,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp + + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network + + HudRenderer diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 4cc2d401eb..cbdfeb3988 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -327,10 +327,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp ACTIVE 激活中 - - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>未激活</span>：请连接至不限流量的网络 - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. 为了达到最佳效果，请每周将您的设备带回室内，并连接到优质的 USB-C 充电器和 Wi-Fi。<br><br>Firehose 模式在行驶时也能运行，但需连接到移动热点或使用不限流量的 SIM 卡。<br><br><br><b>常见问题</b><br><br><i>我开车的方式或地点有影响吗？</i>不会，请像平常一样驾驶即可。<br><br><i>Firehose 模式会上传所有的驾驶片段吗？</i>不会，我们会选择性地上传部分片段。<br><br><i>什么是好的 USB-C 充电器？</i>任何快速手机或笔记本电脑充电器都应该适用。<br><br><i>我使用的软件版本有影响吗？</i>有的，只有官方 openpilot（以及特定的分支）可以用于训练。 @@ -341,6 +337,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp <b>目前已有 %n 段</b> 您的驾驶数据被纳入训练数据集。 + + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network + + HudRenderer diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 78519f2647..d023524aea 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -327,10 +327,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp ACTIVE 啟用中 - - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>未啟用</span>：請連接至不限流量的網路 - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. 為了達到最佳效果，請每週將您的裝置帶回室內，並連接至優質的 USB-C 充電器與 Wi-Fi。<br><br>訓練資料上傳模式在行駛時也能運作，但需連接至行動熱點或使用不限流量的 SIM 卡。<br><br><br><b>常見問題</b><br><br><i>我開車的方式或地點有影響嗎？</i> 不會，請像平常一樣駕駛即可。<br><br><i>訓練資料上傳模式會上傳所有的駕駛片段嗎？</i>不會，我們會選擇性地上傳部分片段。<br><br><i>什麼是好的 USB-C 充電器？</i>任何快速手機或筆電充電器都應該適用。<br><br><i>我使用的軟體版本有影響嗎？</i>有的，只有官方 openpilot（以及特定的分支）可以用於訓練。 @@ -341,6 +337,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp <b>目前已有 %n 段</b> 您的駕駛數據被納入訓練資料集。 + + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network + + HudRenderer From 05700433d8e01baf4c051d39f2c75b7898297761 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Thu, 20 Mar 2025 14:28:24 -0700 Subject: [PATCH 012/115] [bot] Update Python packages (#34909) * Update Python packages * update refs --------- Co-authored-by: Vehicle Researcher Co-authored-by: Shane Smiskol --- opendbc_repo | 2 +- 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tools/plotjuggler/layouts/torque-controller.xml | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/tools/plotjuggler/layouts/torque-controller.xml b/tools/plotjuggler/layouts/torque-controller.xml index 5a0a7625e0..606df03611 100644 --- a/tools/plotjuggler/layouts/torque-controller.xml +++ b/tools/plotjuggler/layouts/torque-controller.xml @@ -150,44 +150,44 @@ - - + + - + - + - + - + - + - + From c55ef3ae1b49e69f3452ee3f726a213ce6c374ae Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 20 Mar 2025 17:09:52 -0700 Subject: [PATCH 014/115] Rivian: enable torqued learning (#34912) --- selfdrive/locationd/torqued.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 590b6cc6f7..fcaa19df73 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -32,7 +32,7 @@ MIN_BUCKET_POINTS = np.array([100, 300, 500, 500, 500, 500, 300, 100]) MIN_ENGAGE_BUFFER = 2 # secs VERSION = 1 # bump this to invalidate old parameter caches -ALLOWED_CARS = ['toyota', 'hyundai'] +ALLOWED_CARS = ['toyota', 'hyundai', 'rivian'] def slope2rot(slope): From 5c6c438bcb6e3362eb2b48d5f5bfb1acf7ee79e4 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 20 Mar 2025 18:22:12 -0700 Subject: [PATCH 015/115] Rivian: adjust lateral actuator delay (#34913) * bump * update refs --- opendbc_repo | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 3a4cc39da5..5638a35c8b 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 3a4cc39da5ffdfdc5ed5e68a1a17e7215fccc945 +Subproject commit 5638a35c8b1565728d115a1e4448d73539d1f60f diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 2be0a85ae0..b31d9ffe5d 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -fe27acb9d0249b7d08b2e147ad86b62129569bfb \ No newline at end of file +359b08b1a914d61697e10bbcac22d96dc90699fa \ No newline at end of file From 46e435f124e6e9bd2f4ea66e35d08c39031be6c0 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Thu, 20 Mar 2025 19:23:42 -0700 Subject: [PATCH 016/115] [bot] Update Python packages (#34914) Update Python packages Co-authored-by: Vehicle Researcher --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index 5638a35c8b..0235e0e5d5 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 5638a35c8b1565728d115a1e4448d73539d1f60f +Subproject commit 0235e0e5d54d92f0df689426f79e9ba298b26b77 From b511fb72450714201b5adb926e8d167828bf4a91 Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Thu, 20 Mar 2025 20:45:41 -0700 Subject: [PATCH 017/115] fix: macOS CI (#34911) force brew update --- tools/mac_setup.sh | 2 ++ 1 file changed, 2 insertions(+) diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh index c626ec4561..d23052d0f0 100755 --- a/tools/mac_setup.sh +++ b/tools/mac_setup.sh @@ -28,6 +28,8 @@ if [[ $(command -v brew) == "" ]]; then echo 'eval "$(/opt/homebrew/bin/brew shellenv)"' >> $RC_FILE eval "$(/opt/homebrew/bin/brew shellenv)" fi +else + brew up fi brew bundle --file=- <<-EOS From 2413f73108025a6cad5d0a3de21ef5a781c944c1 Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Fri, 21 Mar 2025 15:38:05 +0900 Subject: [PATCH 018/115] kor translation update (#34915) --- selfdrive/ui/translations/main_ko.ts | 70 ++++++++++++++-------------- 1 file changed, 35 insertions(+), 35 deletions(-) diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index c241400286..1d8d76f219 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -102,7 +102,7 @@ DeclinePage You must accept the Terms and Conditions in order to use openpilot. - openpilot을 사용하려면 이용약관에 동의해야 합니다. + 오픈파일럿을 사용하려면 이용약관에 동의해야 합니다. Back @@ -121,19 +121,19 @@ Longitudinal Maneuver Mode - 롱컨 제어 모드 + 가감속 제어 조작 모드 openpilot Longitudinal Control (Alpha) - openpilot 가감속 제어 (알파) + 오픈파일럿 가감속 제어 (알파) WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - 경고: openpilot 가감속 제어는 알파 기능으로 차량의 자동긴급제동(AEB)기능이 작동하지 않습니다. + 경고: 오픈파일럿 가감속 제어는 알파 기능으로 차량의 자동긴급제동(AEB)기능이 작동하지 않습니다. On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - 이 차량에서 openpilot은 openpilot 가감속 제어 대신 기본적으로 차량의 ACC로 가감속을 제어합니다. openpilot 가감속 제어로 전환하려면 이 기능을 활성화하세요. openpilot 가감속 제어 알파 기능을 활성화하는 경우 실험 모드 활성화를 권장합니다. + 이 차량에서 오픈파일럿은 오픈파일럿 가감속 제어 대신 기본적으로 차량의 ACC로 가감속을 제어합니다. 오픈파일럿 가감속 제어로 전환하려면 이 기능을 활성화하세요. 오픈파일럿 가감속 제어 알파 기능을 활성화하는 경우 실험 모드 활성화를 권장합니다. Enable ADB @@ -192,7 +192,7 @@ Review the rules, features, and limitations of openpilot - openpilot의 규칙, 기능 및 제한 다시 확인 + 오픈파일럿의 규칙, 기능 및 제한 다시 확인 Are you sure you want to review the training guide? @@ -228,7 +228,7 @@ openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. - openpilot 장치는 좌우 4°, 위로 5°, 아래로 9° 이내 각도로 장착되어야 합니다. openpilot은 지속적으로 자동 보정되며 재설정은 거의 필요하지 않습니다. + 오픈파일럿 장치는 좌우 4°, 위로 5°, 아래로 9° 이내 각도로 장착되어야 합니다. 오픈파일럿은 지속적으로 자동 보정되며 재설정은 거의 필요하지 않습니다. Your device is pointed %1° %2 and %3° %4. @@ -317,7 +317,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models, which means better Experimental Mode. 오픈파일럿은 여러분과 같은 사람이 운전하는 모습을 보면서 운전하는 법을 배웁니다. -파이어호스 모드를 사용하면 훈련 데이터 업로드를 최대화하여 오픈파일럿의 주행 모델을 개선할 수 있습니다. 더 많은 데이터는 더 큰 모델을 의미하며, 이는 더 나은 실험 모드를 의미합니다. +파이어호스 모드를 사용하면 학습 데이터 업로드를 최대화하여 오픈파일럿의 주행 모델을 개선할 수 있습니다. 더 많은 데이터는 더 큰 모델을 의미하며, 이는 더 나은 실험 모드를 의미합니다. Firehose Mode: ACTIVE @@ -325,21 +325,21 @@ Firehose Mode allows you to maximize your training data uploads to improve openp ACTIVE - 활성화 + 활성 상태 For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - 최대한의 효과를 얻으려면 매주 장치를 실내로 가져와 좋은 USB-C 케이블에 연결하고 Wi-Fi에 연결하세요.<br><br>파이어호스 모드는 핫스팟 또는 무제한 SIM 카드에 연결된 경우에는 운전 중에도 작동할 수 있습니다.<br><br><br><b>자주 묻는 질문</b><br><br><i>운전 방법이나 장소가 중요한가요?</i> 아니요, 평소처럼 운전하시면 됩니다.<br><br><i>파이어호스 모드에서 제 모든 구간을 가져오나요?.<br><br><i> 아니요, 저희는 여러분의 구간 중 일부를 선별적으로 가져옵니다.<br><br><i>좋은 USB-C 케이블은 무엇인가요?</i> 휴대폰이나 노트북 고속 충전기가 있으면 됩니다.<br><br><i>어떤 소프트웨어를 실행하는지가 중요한가요?</i> 예, 오직 공식 openpilot의 특정 포크만 트레이닝에 사용할 수 있습니다. + 최대한의 효과를 얻으려면 매주 장치를 실내로 가져와 좋은 USB-C 충전기와 Wi-Fi에 연결하세요.<br><br>파이어호스 모드는 핫스팟 또는 무제한 네트워크에 연결된 경우 주행 중에도 작동할 수 있습니다.<br><br><br><b>자주 묻는 질문</b><br><br><i>운전 방법이나 장소가 중요한가요?</i> 아니요, 평소처럼 운전하시면 됩니다.<br><br><i>파이어호스 모드에서 제 모든 구간을 가져오나요?<br><br><i> 아니요, 저희는 여러분의 구간 중 일부를 선별적으로 가져옵니다.<br><br><i>좋은 USB-C 충전기는 무엇인가요?</i> 휴대폰이나 노트북충전이 가능한 고속 충전기이면 괜찮습니다.<br><br><i>어떤 소프트웨어를 실행하는지가 중요한가요?</i> 예, 오직 공식 오픈파일럿의 특정 포크만 트레이닝에 사용할 수 있습니다. <b>%n segment(s)</b> of your driving is in the training dataset so far. - - + + <b>%n 구간</b> 의 운전이 지금까지의 학습 데이터셋에 포함되어 있습니다. <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network - + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>비활성 상태</span>: 무제한 네트워크에 연결 하세요 @@ -411,11 +411,11 @@ Firehose Mode allows you to maximize your training data uploads to improve openp OffroadAlert Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won't engage in %1 - 즉시 인터넷에 연결하여 업데이트를 확인하세요. 인터넷에 연결되어 있지 않으면 %1 이후에는 openpilot이 활성화되지 않습니다. + 즉시 인터넷에 연결하여 업데이트를 확인하세요. 인터넷에 연결되어 있지 않으면 %1 이후에는 오픈파일럿이 활성화되지 않습니다. Connect to internet to check for updates. openpilot won't automatically start until it connects to internet to check for updates. - 업데이트를 확인하려면 인터넷에 연결하세요. openpilot은 업데이트를 확인하기 위해 인터넷에 연결할 때까지 자동으로 시작되지 않습니다. + 업데이트 확인을 위해 인터넷 연결이 필요합니다. 오픈파일럿은 업데이트 확인을 위해 인터넷에 연결될 때까지 자동으로 시작되지 않습니다. Unable to download updates @@ -445,15 +445,15 @@ Firehose Mode allows you to maximize your training data uploads to improve openp openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. - openpilot이 차량을 식별할 수 없습니다. 지원되지 않는 차량이거나 ECU가 인식되지 않습니다. 해당 차량에 맞는 펌웨어 버전을 추가하려면 PR을 제출하세요. 도움이 필요하시면 discord.comma.ai에 가입하세요. + 오픈파일럿이 차량을 식별할 수 없습니다. 지원되지 않는 차량이거나 ECU가 인식되지 않습니다. 해당 차량에 맞는 펌웨어 버전을 추가하려면 PR을 제출하세요. 도움이 필요하시면 discord.comma.ai에 참여하세요. openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield. - openpilot 장치의 장착 위치가 변경되었습니다. 장치가 마운트에 완전히 장착되고 마운트가 앞유리에 단단히 고정되었는지 확인하세요. + 오픈파일럿 장치의 장착 위치가 변경되었습니다. 장치가 마운트에 완전히 장착되고 마운트가 앞유리에 단단히 고정되었는지 확인하세요. Device temperature too high. System cooling down before starting. Current internal component temperature: %1 - 장치의 온도가 너무 높습니다. 시작 전에 온도를 낮춰주세요. 현재 내부 구성 요소 온도: %1 + 장치 온도가 너무 높습니다. 시작하기 전에 시스템을 냉각하고 있습니다. 현재 내부 구성 요소 온도: %1 @@ -536,7 +536,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Become a comma prime member at connect.comma.ai - connect.comma.ai에 접속하여 comma prime 회원으로 등록하세요 + connect.comma.ai에서 comma prime 사용자로 등록하세요 PRIME FEATURES: @@ -552,7 +552,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp 1 year of drive storage - 1년간 드라이브 로그 저장 + 1년간 주행 로그 저장 Remote snapshots @@ -582,7 +582,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp openpilot - openpilot + 오픈파일럿 %n minute(s) ago @@ -767,7 +767,7 @@ This may take up to a minute. openpilot - openpilot + 오픈파일럿 Custom Software @@ -997,7 +997,7 @@ This may take up to a minute. Welcome to openpilot - 오픈 파일럿에 오신 것을 환영합니다. + 오픈파일럿에 오신 것을 환영합니다. You must accept the Terms and Conditions to use openpilot. Read the latest terms at <span style='color: #465BEA;'>https://comma.ai/terms</span> before continuing. @@ -1008,11 +1008,11 @@ This may take up to a minute. TogglesPanel Enable openpilot - openpilot 사용 + 오픈파일럿 사용 Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. - 어댑티브 크루즈 컨트롤 및 차로 유지 보조를 위해 openpilot 시스템을 사용할 수 있습니다. 이 기능을 사용할 때에는 언제나 주의를 기울여야 합니다. 설정을 변경하면 차량 시동이 꺼졌을 때 적용됩니다. + 오픈파일럿 시스템을 사용하여 어댑티브 크루즈 컨트롤과 차로 유지 보조 기능을 활용하십시오. 이 기능을 사용할 때에는 항상 주의를 기울여야 합니다. 설정 변경은 차량을 재시동해야 적용됩니다. Enable Lane Departure Warnings @@ -1044,7 +1044,7 @@ This may take up to a minute. When enabled, pressing the accelerator pedal will disengage openpilot. - 활성화된 경우 가속 페달을 밟으면 openpilot이 해제됩니다. + 활성화된 경우 가속 페달을 밟으면 오픈파일럿이 해제됩니다. Experimental Mode @@ -1052,11 +1052,11 @@ This may take up to a minute. openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: - openpilot은 기본적으로 <b>안정 모드</b>로 주행합니다. 실험 모드는 안정화되지 않은 <b>알파 수준의 기능</b>을 활성화합니다. 실험 모드의 기능은 아래와 같습니다: + 오픈파일럿은 기본적으로 <b>안정 모드</b>로 주행합니다. 실험 모드는 안정화되지 않은 <b>알파 수준의 기능</b>을 활성화합니다. 실험 모드의 기능은 아래와 같습니다: Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected. - openpilot의 주행모델이 가감속을 제어합니다. openpilot은 신호등과 정지 표지판을 보고 멈추는 것을 포함하여 인간이 운전하는 것처럼 생각하고 주행합니다. 주행 모델이 주행할 속도를 결정하므로 설정된 속도는 최대 주행 속도로만 기능합니다. 이 기능은 알파 수준이므로 사용에 각별히 주의해야 합니다. + 주행모델이 가감속을 제어하도록 합니다. 오픈파일럿은 빨간불과 정지신호를 보고 정지하는것을 포함하여 사람이 운전하는 방식대로 작동하며 주행 모델이 속도를 결정하므로 설정 속도는 최대 제한 속도로만 작동합니다. 이는 알파 수준의 기능이며 오류가 발생할수있으니 사용에 주의해야 합니다. New Driving Visualization @@ -1064,11 +1064,11 @@ This may take up to a minute. Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. - 차량에 장착된 ACC로 가감속을 제어하기 때문에 현재 이 차량에서는 실험 모드를 사용할 수 없습니다. + 차량의 ACC가 가감속 제어에 사용되기 때문에, 이 차량에서는 실험 모드를 사용할 수 없습니다. openpilot longitudinal control may come in a future update. - openpilot 가감속 제어는 향후 업데이트에서 지원될 수 있습니다. + 오픈파일럿 가감속 제어는 향후 업데이트에서 지원될 수 있습니다. Aggressive @@ -1088,11 +1088,11 @@ This may take up to a minute. An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - openpilot 가감속 제어 알파 버전은 비 릴리즈 브랜치에서 실험 모드와 함께 테스트할 수 있습니다. + 오픈파일럿 가감속 제어 알파 버전은 비 릴리즈 브랜치에서 실험 모드와 함께 테스트할 수 있습니다. Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. - 실험 모드를 사용하려면 openpilot E2E 가감속 제어 (알파) 토글을 활성화하세요. + 실험 모드를 사용하려면 오픈파일럿 E2E 가감속 제어 (알파) 토글을 활성화하세요. End-to-End Longitudinal Control @@ -1100,7 +1100,7 @@ This may take up to a minute. Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button. - 표준 모드를 권장합니다. 공격적 모드의 openpilot은 선두 차량을 더 가까이 따라가고 가감속제어를 사용하여 더욱 공격적으로 움직입니다. 편안한 모드의 openpilot은 선두 차량으로부터 더 멀리 떨어져 있습니다. 지원되는 차량에서는 스티어링 휠 거리 버튼을 사용하여 이러한 특성을 순환할 수 있습니다. + 표준 모드를 권장합니다. 공격적 모드의 오픈파일럿은 선두 차량을 더 가까이 따라가고 가감속제어를 사용하여 더욱 공격적으로 움직입니다. 편안한 모드의 오픈파일럿은 선두 차량으로부터 더 멀리 떨어져 있습니다. 지원되는 차량에서는 차간거리 버튼을 사용하여 이러한 특성을 순환할 수 있습니다. The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. @@ -1112,7 +1112,7 @@ This may take up to a minute. Enable driver monitoring even when openpilot is not engaged. - openpilot이 활성화되지 않은 경우에도 드라이버 모니터링을 활성화합니다. + 오픈파일럿이 활성화되지 않은 경우에도 드라이버 모니터링을 활성화합니다. @@ -1158,7 +1158,7 @@ This may take up to a minute. Maximize your training data uploads to improve openpilot's driving models. - 훈련 데이터 업로드를 최대화하여 오픈파일럿의 주행 모델을 개선하세요. + 오픈파일럿의 주행 모델 개선을 위해 학습 데이터 업로드를 최대화하세요. <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> From b8229ebca6b04903ac38eb5d60246dc7271687d2 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 22 Mar 2025 05:43:48 +0800 Subject: [PATCH 019/115] logreader: avoid repeated prompts in auto_strategy when rlogs are missing (#34890) * avoid repeated prompts in auto_strategy when rlogs are missing * shorter --------- Co-authored-by: Shane Smiskol --- tools/lib/logreader.py | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 9fe73825a8..df981c6184 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -119,7 +119,14 @@ def default_valid_file(fn: LogPath) -> bool: def auto_strategy(rlog_paths: list[LogPath], qlog_paths: list[LogPath], interactive: bool, valid_file: ValidFileCallable) -> list[LogPath]: # auto select logs based on availability - missing_rlogs = [rlog is None or not valid_file(rlog) for rlog in rlog_paths].count(True) + missing_rlogs = sum(rlog is None or not valid_file(rlog) for rlog in rlog_paths) + # If all rlogs are missing, check qlogs + if missing_rlogs == len(rlog_paths): + missing_qlogs = sum(qlog is None or not valid_file(qlog) for qlog in qlog_paths) + if missing_qlogs == len(qlog_paths): + # Neither rlogs nor qlogs are available, return rlog_paths as-is + return rlog_paths + if missing_rlogs != 0: if interactive: if input(f"{missing_rlogs}/{len(rlog_paths)} rlogs were not found, would you like to fallback to qlogs for those segments? (y/n) ").lower() != "y": From 124c75a94f300b4907cd9ecca36f0ae5c796a5d9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 21 Mar 2025 15:01:59 -0700 Subject: [PATCH 020/115] Remove duplicate radar fault event (#34917) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 🤦 --- selfdrive/selfdrived/selfdrived.py | 1 - 1 file changed, 1 deletion(-) diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index c7320f9350..e09ea9ad56 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -276,7 +276,6 @@ class SelfdriveD: self.events.add(EventName.radarTempUnavailable) else: self.events.add(EventName.radarFault) - self.events.add(EventName.radarFault) if not self.sm.valid['pandaStates']: self.events.add(EventName.usbError) if CS.canTimeout: From 715a38fd6a88e78e376840c7a8a962351af8e95a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 21 Mar 2025 16:16:53 -0700 Subject: [PATCH 021/115] max_lat_accel: support multiple routes --- selfdrive/debug/max_lat_accel.py | 24 ++++++++++++++++-------- 1 file changed, 16 insertions(+), 8 deletions(-) diff --git a/selfdrive/debug/max_lat_accel.py b/selfdrive/debug/max_lat_accel.py index 2369d99d86..a957b512d7 100755 --- a/selfdrive/debug/max_lat_accel.py +++ b/selfdrive/debug/max_lat_accel.py @@ -2,6 +2,7 @@ import argparse import numpy as np import matplotlib.pyplot as plt +from tqdm import tqdm from typing import NamedTuple from openpilot.tools.lib.logreader import LogReader from openpilot.selfdrive.locationd.models.pose_kf import EARTH_G @@ -75,16 +76,23 @@ if __name__ == '__main__': parser = argparse.ArgumentParser(description="Find max lateral acceleration events", formatter_class=argparse.ArgumentDefaultsHelpFormatter) - parser.add_argument("route") + parser.add_argument("route", nargs='+') args = parser.parse_args() - lr = LogReader(args.route, sort_by_time=True) - qlog = args.route.endswith('/q') - if qlog: - print('WARNING: Treating route as qlog!') + events = [] + for route in tqdm(args.route): + try: + lr = LogReader(route, sort_by_time=True) + except: + print(f'Skipping {route}') + continue + + qlog = route.endswith('/q') + if qlog: + print('WARNING: Treating route as qlog!') - print('Finding events...') - events = find_events(lr, qlog=qlog) + print('Finding events...') + events += find_events(lr, qlog=qlog) print() print(f'Found {len(events)} events') @@ -97,7 +105,7 @@ if __name__ == '__main__': plt.ion() plt.clf() plt.suptitle(f'{CP.carFingerprint} - Max lateral acceleration events') - plt.title(args.route) + plt.title(', '.join(args.route)) plt.scatter([ev.speed for ev in events], [ev.lateral_accel for ev in events], label='max lateral accel events') plt.plot([0, 35], [3, 3], c='r', label='ISO 11270 - 3 m/s^2') From 27ce30587a0d5f8c88997063a5258bb11f5060b2 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 21 Mar 2025 16:18:39 -0700 Subject: [PATCH 022/115] fix --- selfdrive/debug/max_lat_accel.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/debug/max_lat_accel.py b/selfdrive/debug/max_lat_accel.py index a957b512d7..889a855356 100755 --- a/selfdrive/debug/max_lat_accel.py +++ b/selfdrive/debug/max_lat_accel.py @@ -83,7 +83,7 @@ if __name__ == '__main__': for route in tqdm(args.route): try: lr = LogReader(route, sort_by_time=True) - except: + except Exception: print(f'Skipping {route}') continue From 65d667e60e698d61fd53ffbd2b0e5101e249af6a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 21 Mar 2025 17:28:19 -0700 Subject: [PATCH 023/115] Revert "logreader: avoid repeated prompts in auto_strategy when rlogs are missing" (#34919) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Revert "logreader: avoid repeated prompts in auto_strategy when rlogs are mis…" This reverts commit b8229ebca6b04903ac38eb5d60246dc7271687d2. --- tools/lib/logreader.py | 9 +-------- 1 file changed, 1 insertion(+), 8 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index df981c6184..9fe73825a8 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -119,14 +119,7 @@ def default_valid_file(fn: LogPath) -> bool: def auto_strategy(rlog_paths: list[LogPath], qlog_paths: list[LogPath], interactive: bool, valid_file: ValidFileCallable) -> list[LogPath]: # auto select logs based on availability - missing_rlogs = sum(rlog is None or not valid_file(rlog) for rlog in rlog_paths) - # If all rlogs are missing, check qlogs - if missing_rlogs == len(rlog_paths): - missing_qlogs = sum(qlog is None or not valid_file(qlog) for qlog in qlog_paths) - if missing_qlogs == len(qlog_paths): - # Neither rlogs nor qlogs are available, return rlog_paths as-is - return rlog_paths - + missing_rlogs = [rlog is None or not valid_file(rlog) for rlog in rlog_paths].count(True) if missing_rlogs != 0: if interactive: if input(f"{missing_rlogs}/{len(rlog_paths)} rlogs were not found, would you like to fallback to qlogs for those segments? (y/n) ").lower() != "y": From 4bbb697998ef075ac5a1673f77fec7e8a2c712b9 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 22 Mar 2025 15:06:25 -0700 Subject: [PATCH 024/115] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 998ac9d5d8..f93c5a7629 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 998ac9d5d82f10d7dd926ac66800b1efa20ff9b2 +Subproject commit f93c5a76292eb71f944c85e0307ecd90b2eaba3f From 76274328301fe29e513283e13854a3607e4e9953 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 24 Mar 2025 10:27:31 -0700 Subject: [PATCH 025/115] [bot] Update Python packages (#34928) Update Python packages Co-authored-by: Vehicle Researcher --- opendbc_repo | 2 +- uv.lock | 116 +++++++++++++++++++++++++-------------------------- 2 files changed, 59 insertions(+), 59 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 0235e0e5d5..30da907846 160000 --- 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Avoid IndexError in max_lat_accel.py due to empty values in dataset (#34926) * Update max_lat_accel.py The error you're encountering is due to the fact that the code is trying to calculate the 90th percentile of lateral acceleration values that are less than 0, but there are no such values in the dataset. This results in an empty list, which causes the np.percentile function to fail with an IndexError * fix * simpler --------- Co-authored-by: Shane Smiskol --- selfdrive/debug/max_lat_accel.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/debug/max_lat_accel.py b/selfdrive/debug/max_lat_accel.py index 889a855356..d562e5d3f3 100755 --- a/selfdrive/debug/max_lat_accel.py +++ b/selfdrive/debug/max_lat_accel.py @@ -97,8 +97,8 @@ if __name__ == '__main__': print() print(f'Found {len(events)} events') - perc_left_accel = -np.percentile([-ev.lateral_accel for ev in events if ev.lateral_accel < 0], 90) - perc_right_accel = np.percentile([ev.lateral_accel for ev in events if ev.lateral_accel > 0], 90) + perc_left_accel = -np.percentile([-ev.lateral_accel for ev in events if ev.lateral_accel < 0] or [0], 90) + perc_right_accel = np.percentile([ev.lateral_accel for ev in events if ev.lateral_accel > 0] or [0], 90) CP = lr.first('carParams') From de8806cdfd9ba681887012bf2715819fec0cb2d2 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 24 Mar 2025 15:21:36 -0700 Subject: [PATCH 028/115] Add extrapolate option to max_lat_accel.py (#34931) * add extrapolate * -e * adjust --- selfdrive/debug/max_lat_accel.py | 20 +++++++++++++------- 1 file changed, 13 insertions(+), 7 deletions(-) diff --git a/selfdrive/debug/max_lat_accel.py b/selfdrive/debug/max_lat_accel.py index d562e5d3f3..a2390833bc 100755 --- a/selfdrive/debug/max_lat_accel.py +++ b/selfdrive/debug/max_lat_accel.py @@ -21,14 +21,15 @@ class Event(NamedTuple): timestamp: float # relative to start of route (s) -def find_events(lr: LogReader, qlog: bool = False) -> list[Event]: +def find_events(lr: LogReader, extrapolate: bool = False, qlog: bool = False) -> list[Event]: min_lat_active = RLOG_MIN_LAT_ACTIVE // QLOG_DECIMATION if qlog else RLOG_MIN_LAT_ACTIVE min_steering_unpressed = RLOG_MIN_STEERING_UNPRESSED // QLOG_DECIMATION if qlog else RLOG_MIN_STEERING_UNPRESSED min_requesting_max = RLOG_MIN_REQUESTING_MAX // QLOG_DECIMATION if qlog else RLOG_MIN_REQUESTING_MAX - events = [] + # if we test with driver torque safety, max torque can be slightly noisy + steer_threshold = 0.7 if extrapolate else 0.95 - start_ts = 0 + events = [] # state tracking steering_unpressed = 0 # frames @@ -39,7 +40,9 @@ def find_events(lr: LogReader, qlog: bool = False) -> list[Event]: curvature = 0 v_ego = 0 roll = 0 + out_torque = 0 + start_ts = 0 for msg in lr: if msg.which() == 'carControl': if start_ts == 0: @@ -48,8 +51,8 @@ def find_events(lr: LogReader, qlog: bool = False) -> list[Event]: lat_active = lat_active + 1 if msg.carControl.latActive else 0 elif msg.which() == 'carOutput': - # if we test with driver torque safety, max torque can be slightly noisy - requesting_max = requesting_max + 1 if abs(msg.carOutput.actuatorsOutput.torque) > 0.95 else 0 + out_torque = msg.carOutput.actuatorsOutput.torque + requesting_max = requesting_max + 1 if abs(out_torque) > steer_threshold else 0 elif msg.which() == 'carState': steering_unpressed = steering_unpressed + 1 if not msg.carState.steeringPressed else 0 @@ -65,7 +68,8 @@ def find_events(lr: LogReader, qlog: bool = False) -> list[Event]: # TODO: record max lat accel at the end of the event, need to use the past lat accel as overriding can happen before we detect it requesting_max = 0 - current_lateral_accel = curvature * v_ego ** 2 - roll * EARTH_G + factor = 1 / abs(out_torque) + current_lateral_accel = (curvature * v_ego ** 2 * factor) - roll * EARTH_G events.append(Event(current_lateral_accel, v_ego, roll, round((msg.logMonoTime - start_ts) * 1e-9, 2))) print(events[-1]) @@ -77,6 +81,8 @@ if __name__ == '__main__': formatter_class=argparse.ArgumentDefaultsHelpFormatter) parser.add_argument("route", nargs='+') + parser.add_argument("-e", "--extrapolate", action="store_true", help="Extrapolates max lateral acceleration events linearly. " + + "This option can be far less accurate.") args = parser.parse_args() events = [] @@ -92,7 +98,7 @@ if __name__ == '__main__': print('WARNING: Treating route as qlog!') print('Finding events...') - events += find_events(lr, qlog=qlog) + events += find_events(lr, extrapolate=args.extrapolate, qlog=qlog) print() print(f'Found {len(events)} events') From e11b239b2eb1103eb78a01cb80c0487edf2ae4b0 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 25 Mar 2025 06:46:42 +0800 Subject: [PATCH 029/115] logreader.py: concurrent file existence checks (#34875) * concurrent file existence checks * upper bound on parallel queries --------- Co-authored-by: Shane Smiskol --- tools/lib/logreader.py | 13 ++++++++++--- 1 file changed, 10 insertions(+), 3 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 9fe73825a8..290171d363 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -13,6 +13,7 @@ import warnings import zstandard as zstd from collections.abc import Callable, Iterable, Iterator +from concurrent.futures import ThreadPoolExecutor, as_completed from urllib.parse import parse_qs, urlparse from cereal import log as capnp_log @@ -201,9 +202,15 @@ def direct_source(file_or_url: str) -> list[LogPath]: def get_invalid_files(files): - for f in files: - if f is None or not file_exists(f): - yield f + if not files: + return + + with ThreadPoolExecutor(max_workers=32) as executor: + future_to_file = {executor.submit(file_exists, file): file for file in files} + for future in as_completed(future_to_file): + file = future_to_file[future] + if not future.result(): + yield file def check_source(source: Source, *args) -> list[LogPath]: From 2382f1cab0cd992941dcbacda5b2533559506667 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 24 Mar 2025 15:54:42 -0700 Subject: [PATCH 030/115] Run DM model twice, prep for bigger models (#34894) * twice * swap * adjust --- selfdrive/modeld/dmonitoringmodeld.py | 5 ++++- selfdrive/test/test_onroad.py | 8 ++++++-- system/hardware/tici/tests/test_power_draw.py | 2 +- 3 files changed, 11 insertions(+), 4 deletions(-) diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py index 9ebdea4c75..94e117bc6a 100755 --- a/selfdrive/modeld/dmonitoringmodeld.py +++ b/selfdrive/modeld/dmonitoringmodeld.py @@ -134,7 +134,7 @@ def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: def main(): setproctitle(PROCESS_NAME) - config_realtime_process([0, 1, 2, 3], 5) + config_realtime_process(7, 5) sentry.set_tag("daemon", PROCESS_NAME) cloudlog.bind(daemon=PROCESS_NAME) @@ -173,6 +173,9 @@ def main(): model_output, gpu_execution_time = model.run(buf, calib, model_transform) t2 = time.perf_counter() + # run one more time, just for the load + model.run(buf, calib, model_transform) + pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, gpu_execution_time)) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 0f8fbce050..de329d85f2 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -391,8 +391,12 @@ class TestOnroad: result += "----------------- Model Timing -----------------\n" result += "------------------------------------------------\n" cfgs = [ - ("modelV2", 0.045, 0.040), # TODO: this should be stricter but it's hard to measure exactly - ("driverStateV2", 0.045, 0.035), + # since multiple processes use the GPU and can preempt each other, + # these numbers are not fully self-contained. + ("modelV2", 0.06, 0.040), + + # can miss cycles here and there, just important the avg frequency is 20Hz + ("driverStateV2", 0.2, 0.05), ] for (s, instant_max, avg_max) in cfgs: ts = [getattr(m, s).modelExecutionTime for m in self.msgs[s]] diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index e1b9845c4c..669889a2ae 100644 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -33,7 +33,7 @@ class Proc: PROCS = [ Proc(['camerad'], 1.75, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']), Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']), - Proc(['dmonitoringmodeld'], 0.6, msgs=['driverStateV2']), + Proc(['dmonitoringmodeld'], 1.4, msgs=['driverStateV2']), Proc(['encoderd'], 0.23, msgs=[]), ] From 3748fdc3557bd95ae223499ab441a43e1a4adab5 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 24 Mar 2025 17:25:17 -0700 Subject: [PATCH 031/115] Rivian: add another EPS query (#34932) * bump * update docs --- docs/CARS.md | 112 +++++++++++++++++++++++++-------------------------- opendbc_repo | 2 +- 2 files changed, 57 insertions(+), 57 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index a3b1fe6351..985a66489e 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -11,12 +11,12 @@ A supported vehicle is one that just works when you install a comma device. All |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Acura|RDX 2019-21|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -28,7 +28,7 @@ A supported vehicle is one that just works when you install a comma device. All |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|| -|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -193,8 +193,8 @@ A supported vehicle is one that just works when you install a comma device. All |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -204,8 +204,8 @@ A supported vehicle is one that just works when you install a comma device. All |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ram connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Rivian A connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Rivian A connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Subaru|Ascent 2019-21|All[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| @@ -216,15 +216,15 @@ A supported vehicle is one that just works when you install a comma device. All |Subaru|Outback 2020-22|All[6](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru B connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Subaru|XV 2018-19|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Subaru|XV 2020-21|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Škoda|Fabia 2022-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| -|Škoda|Kamiq 2021-23[10,12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| -|Škoda|Karoq 2019-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Kodiaq 2017-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Octavia 2015-19[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Octavia RS 2016[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Octavia Scout 2017-19[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Scala 2020-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| -|Škoda|Superb 2015-22[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Fabia 2022-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| +|Škoda|Kamiq 2021-23[10,12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| +|Škoda|Karoq 2019-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Kodiaq 2017-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia 2015-19[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia RS 2016[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia Scout 2017-19[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Scala 2020-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| +|Škoda|Superb 2015-22[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Tesla|Model 3 (with HW3) 2019-23[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Tesla|Model 3 (with HW4) 2024[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Tesla|Model Y (with HW3) 2020-23[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -274,42 +274,42 @@ A supported vehicle is one that just works when you install a comma device. All |Toyota|RAV4 Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Passat 2015-22[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| -|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| -|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| -|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat 2015-22[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| +|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| +|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| +|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| ### Footnotes 1openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`.
diff --git a/opendbc_repo b/opendbc_repo index 5a6f6cf77f..b67460df5e 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 5a6f6cf77f7b2044ba989cdd4b8802a7240c0c87 +Subproject commit b67460df5ea14e5815fab5b3028a6e5238aa9fa8 From 5d8fd36022d637a25b85cef23945face3436d5b3 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Mon, 24 Mar 2025 21:53:52 -0700 Subject: [PATCH 032/115] jenkins looper: new branch for each runs --- scripts/jenkins_loop_test.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/scripts/jenkins_loop_test.sh b/scripts/jenkins_loop_test.sh index 0b242e98dc..8073f4668c 100755 --- a/scripts/jenkins_loop_test.sh +++ b/scripts/jenkins_loop_test.sh @@ -16,7 +16,7 @@ CRUMB=$(curl -s --cookie-jar $COOKIE_JAR 'https://jenkins.comma.life/crumbIssuer FIRST_LOOP=1 function loop() { - JENKINS_BRANCH="__jenkins_loop_${BRANCH}" + JENKINS_BRANCH="__jenkins_loop_${BRANCH}_$(date +%s)" API_ROUTE="https://jenkins.comma.life/job/openpilot/job/$JENKINS_BRANCH" for run in $(seq 1 $((RUNS / 2))); do From e607cbe5a200e9ab886d941d433c9dd754c1e8b6 Mon Sep 17 00:00:00 2001 From: Louis Velez Date: Tue, 25 Mar 2025 02:22:10 -0400 Subject: [PATCH 033/115] ui: spanish translation update (#34933) Translate unfinished strings in main_es.ts to Spanish, including ADB, Firehose Mode, and welcome messages for improved user experience. --- selfdrive/ui/translations/main_es.ts | 34 +++++++++++++++------------- 1 file changed, 18 insertions(+), 16 deletions(-) diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts index 2788c56c4e..207f21cc75 100644 --- a/selfdrive/ui/translations/main_es.ts +++ b/selfdrive/ui/translations/main_es.ts @@ -137,11 +137,11 @@ Enable ADB - + Activar ADB ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info. - + ADB (Android Debug Bridge) permite conectar a su dispositivo por USB o por red. Visite https://docs.comma.ai/how-to/connect-to-comma para más información. @@ -309,36 +309,38 @@ FirehosePanel 🔥 Firehose Mode 🔥 - + 🔥 Modo Firehose 🔥 openpilot learns to drive by watching humans, like you, drive. Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models, which means better Experimental Mode. - + openpilot aprende a conducir observando a humanos, como tú, conducir. + +El Modo Firehose te permite maximizar las subidas de datos de entrenamiento para mejorar los modelos de conducción de openpilot. Más datos significan modelos más grandes, lo que significa un mejor Modo Experimental. Firehose Mode: ACTIVE - + Modo Firehose: ACTIVO ACTIVE - + ACTIVO For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - + Para máxima efectividad, traiga su dispositivo adentro y conéctelo a un buen adaptador USB-C y Wi-Fi semanalmente.<br><br>El Modo Firehose también puede funcionar mientras conduce si está conectado a un punto de acceso o tarjeta SIM ilimitada.<br><br><br><b>Preguntas Frecuentes</b><br><br><i>¿Importa cómo o dónde conduzco?</i> No, solo conduzca como lo haría normalmente.<br><br><i>¿Se extraen todos mis segmentos en el Modo Firehose?</i> No, seleccionamos selectivamente un subconjunto de sus segmentos.<br><br><i>¿Qué es un buen adaptador USB-C?</i> Cualquier cargador rápido de teléfono o portátil debería funcionar.<br><br><i>¿Importa qué software ejecuto?</i> Sí, solo el openpilot original (y forks específicos) pueden usarse para el entrenamiento. <b>%n segment(s)</b> of your driving is in the training dataset so far. - - - + + <b>%n segmento</b> de tu conducción está en el conjunto de datos de entrenamiento hasta ahora. + <b>%n segmentos</b> de tu conducción están en el conjunto de datos de entrenamiento hasta ahora. <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network - + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVO</span>: conéctate a una red sin límite de datos @@ -1000,11 +1002,11 @@ Esto puede tardar un minuto. Welcome to openpilot - + Bienvenido a openpilot You must accept the Terms and Conditions to use openpilot. Read the latest terms at <span style='color: #465BEA;'>https://comma.ai/terms</span> before continuing. - + Debe aceptar los Términos y Condiciones para usar openpilot. Lea los términos más recientes en <span style='color: #465BEA;'>https://comma.ai/terms</span> antes de continuar. @@ -1157,15 +1159,15 @@ Esto puede tardar un minuto. WiFiPromptWidget Open - + Abrir Maximize your training data uploads to improve openpilot's driving models. - + Maximice sus cargas de datos de entrenamiento para mejorar los modelos de conducción de openpilot. <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> - + <span style='font-family: "Noto Color Emoji";'>🔥</span> Modo Firehose <span style='font-family: Noto Color Emoji;'>🔥</span> From e652f435f9e6e5d6ef68ad2c5c077c6a88c74655 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 25 Mar 2025 13:26:16 -0700 Subject: [PATCH 034/115] max_lat_accel.py: use parallel processing (#34936) * use run_across_segments * disable tqdm --- selfdrive/debug/max_lat_accel.py | 3 ++- tools/lib/logreader.py | 4 ++-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/selfdrive/debug/max_lat_accel.py b/selfdrive/debug/max_lat_accel.py index a2390833bc..dc44e8ac40 100755 --- a/selfdrive/debug/max_lat_accel.py +++ b/selfdrive/debug/max_lat_accel.py @@ -2,6 +2,7 @@ import argparse import numpy as np import matplotlib.pyplot as plt +from functools import partial from tqdm import tqdm from typing import NamedTuple from openpilot.tools.lib.logreader import LogReader @@ -98,7 +99,7 @@ if __name__ == '__main__': print('WARNING: Treating route as qlog!') print('Finding events...') - events += find_events(lr, extrapolate=args.extrapolate, qlog=qlog) + events += lr.run_across_segments(8, partial(find_events, extrapolate=args.extrapolate, qlog=qlog), disable_tqdm=True) print() print(f'Found {len(events)} events') diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 290171d363..2a0015e6b0 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -307,11 +307,11 @@ class LogReader: def _run_on_segment(self, func, i): return func(self._get_lr(i)) - def run_across_segments(self, num_processes, func, desc=None): + def run_across_segments(self, num_processes, func, disable_tqdm=False, desc=None): with multiprocessing.Pool(num_processes) as pool: ret = [] num_segs = len(self.logreader_identifiers) - for p in tqdm.tqdm(pool.imap(partial(self._run_on_segment, func), range(num_segs)), total=num_segs, desc=desc): + for p in tqdm.tqdm(pool.imap(partial(self._run_on_segment, func), range(num_segs)), total=num_segs, disable=disable_tqdm, desc=desc): ret.extend(p) return ret From ea4554526e45935f0692bb8516ae28a1f35ac126 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 25 Mar 2025 14:00:24 -0700 Subject: [PATCH 035/115] Keep steering active at standstill (#34918) * Keep steering active at standstill * bump opendbc * bump opendbc * update refs --- docs/CARS.md | 142 +++++++++++------------ opendbc_repo | 2 +- selfdrive/controls/controlsd.py | 7 +- selfdrive/controls/lib/latcontrol.py | 2 - selfdrive/selfdrived/selfdrived.py | 3 +- selfdrive/test/process_replay/ref_commit | 2 +- 6 files changed, 78 insertions(+), 80 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 985a66489e..2892d86bf5 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -11,12 +11,12 @@ A supported vehicle is one that just works when you install a comma device. All |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Acura|RDX 2019-21|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -28,7 +28,7 @@ A supported vehicle is one that just works when you install a comma device. All |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|| -|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -36,8 +36,8 @@ A supported vehicle is one that just works when you install a comma device. All |Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Focus 2018[3](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Focus Hybrid 2018[3](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -47,8 +47,8 @@ A supported vehicle is one that just works when you install a comma device. All |Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Mustang Mach-E 2021-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Mustang Mach-E 2021-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Genesis|G70 2019-21|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Genesis|G70 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -193,19 +193,19 @@ A supported vehicle is one that just works when you install a comma device. All |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ram connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Rivian A connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Rivian A connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Rivian A connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Rivian A connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Subaru|Ascent 2019-21|All[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| @@ -216,19 +216,19 @@ A supported vehicle is one that just works when you install a comma device. All |Subaru|Outback 2020-22|All[6](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru B connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Subaru|XV 2018-19|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Subaru|XV 2020-21|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Škoda|Fabia 2022-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| -|Škoda|Kamiq 2021-23[10,12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| -|Škoda|Karoq 2019-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Kodiaq 2017-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Octavia 2015-19[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Octavia RS 2016[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Octavia Scout 2017-19[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Scala 2020-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| -|Škoda|Superb 2015-22[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Tesla|Model 3 (with HW3) 2019-23[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Tesla|Model 3 (with HW4) 2024[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Tesla|Model Y (with HW3) 2020-23[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Tesla|Model Y (with HW4) 2024[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Fabia 2022-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| +|Škoda|Kamiq 2021-23[10,12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| +|Škoda|Karoq 2019-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Kodiaq 2017-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia 2015-19[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia RS 2016[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia Scout 2017-19[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Scala 2020-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| +|Škoda|Superb 2015-22[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Tesla|Model 3 (with HW3) 2019-23[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Tesla|Model 3 (with HW4) 2024[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Tesla|Model Y (with HW3) 2020-23[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Tesla|Model Y (with HW4) 2024[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -267,49 +267,49 @@ A supported vehicle is one that just works when you install a comma device. All |Toyota|RAV4 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 2023-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 2023-25|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Passat 2015-22[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| -|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| -|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| -|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat 2015-22[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| +|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| +|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| +|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| ### Footnotes 1openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`.
diff --git a/opendbc_repo b/opendbc_repo index b67460df5e..1f65eac3f2 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit b67460df5ea14e5815fab5b3028a6e5238aa9fa8 +Subproject commit 1f65eac3f25079e79e1b702690eb7de33037b969 diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index f6fabfc421..ae5db046e1 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -12,7 +12,7 @@ from openpilot.common.swaglog import cloudlog from opendbc.car.car_helpers import interfaces from opendbc.car.vehicle_model import VehicleModel from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature -from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED +from openpilot.selfdrive.controls.lib.latcontrol import LatControl from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque @@ -87,8 +87,9 @@ class Controls: CC.enabled = self.sm['selfdriveState'].enabled # Check which actuators can be enabled - standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill - CC.latActive = self.sm['selfdriveState'].active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and not standstill + standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, 0.3) or CS.standstill + CC.latActive = self.sm['selfdriveState'].active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \ + (not standstill or self.CP.steerAtStandstill) CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl actuators = CC.actuators diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py index dcf0003430..d67a4aa959 100644 --- a/selfdrive/controls/lib/latcontrol.py +++ b/selfdrive/controls/lib/latcontrol.py @@ -3,8 +3,6 @@ from abc import abstractmethod, ABC from openpilot.common.realtime import DT_CTRL -MIN_LATERAL_CONTROL_SPEED = 0.3 # m/s - class LatControl(ABC): def __init__(self, CP, CI): diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index e09ea9ad56..bb30c4ba9b 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -19,7 +19,6 @@ from openpilot.selfdrive.car.car_specific import CarSpecificEvents from openpilot.selfdrive.selfdrived.events import Events, ET from openpilot.selfdrive.selfdrived.state import StateMachine from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert -from openpilot.selfdrive.controls.lib.latcontrol import MIN_LATERAL_CONTROL_SPEED from openpilot.system.version import get_build_metadata @@ -331,7 +330,7 @@ class SelfdriveD: controlstate = self.sm['controlsState'] lac = getattr(controlstate.lateralControlState, controlstate.lateralControlState.which()) if lac.active and not recent_steer_pressed and not self.CP.notCar: - clipped_speed = max(CS.vEgo, MIN_LATERAL_CONTROL_SPEED) + clipped_speed = max(CS.vEgo, 0.3) actual_lateral_accel = controlstate.curvature * (clipped_speed**2) desired_lateral_accel = self.sm['modelV2'].action.desiredCurvature * (clipped_speed**2) undershooting = abs(desired_lateral_accel) / abs(1e-3 + actual_lateral_accel) > 1.2 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index b31d9ffe5d..20f6d1d069 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -359b08b1a914d61697e10bbcac22d96dc90699fa \ No newline at end of file +e239a1683b7f97c9d8dca74c57ebf4ef8bc416cd \ No newline at end of file From b413f3de478fa2a44299c63f27f67e01897af15a Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Tue, 25 Mar 2025 23:45:06 -0700 Subject: [PATCH 036/115] [bot] Update Python packages (#34934) Update Python packages Co-authored-by: Vehicle Researcher --- docs/CARS.md | 478 +++++++++++++++++++++++++-------------------------- opendbc_repo | 2 +- uv.lock | 98 +++++------ 3 files changed, 289 insertions(+), 289 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 2892d86bf5..9bd26b6564 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -8,9 +8,9 @@ A supported vehicle is one that just works when you install a comma device. All |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| -|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Acura|RDX 2019-21|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Acura|RDX 2019-21|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -22,200 +22,200 @@ A supported vehicle is one that just works when you install a comma device. All |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[1](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|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)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|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)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|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)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|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)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|| |CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Focus 2018[3](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Focus Hybrid 2018[3](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Ford|Mustang Mach-E 2021-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Genesis|G70 2019-21|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Genesis|G70 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai J connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|G90 2017-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Genesis|GV60 (Advanced Trim) 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Genesis|GV60 (Performance Trim) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV70 (2.5T Trim, without HDA II) 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai M connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Genesis|GV70 Electrified (Australia Only) 2022[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV70 Electrified (with HDA II) 2023-24[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Genesis|GV80 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai M connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ford|Focus 2018[3](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ford|Focus Hybrid 2018[3](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ford|Mustang Mach-E 2021-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|G70 2019-21|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|G70 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai J connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|G90 2017-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|GV60 (Advanced Trim) 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|GV60 (Performance Trim) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|GV70 (2.5T Trim, without HDA II) 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai M connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|GV70 Electrified (Australia Only) 2022[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|GV70 Electrified (with HDA II) 2023-24[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|GV80 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai M connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Accord 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Civic 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Civic Hatchback 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|e 2020|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|HR-V 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Insight 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Passport 2019-23|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Azera 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Azera Hybrid 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Azera Hybrid 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Custin 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai B connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai G connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai J connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq 5 (with HDA II) 2022-24[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq 5 (without HDA II) 2022-24[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq 6 (with HDA II) 2023-24[5](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq Electric 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|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)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai B connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Kona 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Kona Electric (with HDA II, Korea only) 2023[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai R connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai I connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Nexo 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Santa Cruz 2022-24[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Santa Fe 2021-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|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)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Sonata 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Staria 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Tucson 2022[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Tucson 2023-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Tucson Hybrid 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Tucson Plug-in Hybrid 2024[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|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)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Carnival 2022-24[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Carnival (China only) 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|EV6 (Southeast Asia only) 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|EV6 (with HDA II) 2022-24[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|EV6 (without HDA II) 2022-24[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai G connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|K8 Hybrid (with HDA II) 2023[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro EV 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|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)](##)|
Parts- 1 Hyundai G connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Sorento 2021-23[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Sorento Hybrid 2021-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Sorento Plug-in Hybrid 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Sportage 2023-24[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Sportage Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Stinger 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|ES 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|ES Hybrid 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|LC 2024|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|NX 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|NX Hybrid 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|RX 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|RX 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|RX Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Accord 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Civic 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Civic Hatchback 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|e 2020|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|HR-V 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Insight 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Passport 2019-23|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Azera 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Azera Hybrid 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Azera Hybrid 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Custin 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai G connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai J connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq 5 (with HDA II) 2022-24[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq 5 (without HDA II) 2022-24[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq 6 (with HDA II) 2023-24[5](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq Electric 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|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)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Kona 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Kona Electric (with HDA II, Korea only) 2023[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai R connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai I connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Nexo 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Santa Cruz 2022-24[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Santa Fe 2021-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|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)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Sonata 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Staria 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Tucson 2022[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Tucson 2023-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Tucson Hybrid 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Tucson Plug-in Hybrid 2024[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|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)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Carnival 2022-24[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Carnival (China only) 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|EV6 (Southeast Asia only) 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|EV6 (with HDA II) 2022-24[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|EV6 (without HDA II) 2022-24[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai G connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|K8 Hybrid (with HDA II) 2023[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro EV 2023-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|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)](##)|
Parts- 1 Hyundai G connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Sorento 2021-23[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Sorento Hybrid 2021-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Sorento Plug-in Hybrid 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Sportage 2023-24[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Sportage Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Stinger 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|ES 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|ES Hybrid 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|LC 2024|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|NX 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|NX Hybrid 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|RX 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|RX 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|RX Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
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|| |MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ram connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Rivian A connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Rivian A connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ram connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Rivian A connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Rivian A connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Subaru|Ascent 2019-21|All[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Forester 2019-21|All[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Impreza 2017-19|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Impreza 2020-22|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Legacy 2020-22|All[6](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru B connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Outback 2020-22|All[6](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru B connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|XV 2018-19|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|XV 2020-21|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Ascent 2019-21|All[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Forester 2019-21|All[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Impreza 2017-19|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Impreza 2020-22|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Legacy 2020-22|All[6](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Outback 2020-22|All[6](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|XV 2018-19|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|XV 2020-21|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Škoda|Fabia 2022-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| |Škoda|Kamiq 2021-23[10,12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| |Škoda|Karoq 2019-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -225,55 +225,55 @@ A supported vehicle is one that just works when you install a comma device. All |Škoda|Octavia Scout 2017-19[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Škoda|Scala 2020-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| |Škoda|Superb 2015-22[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Tesla|Model 3 (with HW3) 2019-23[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Tesla|Model 3 (with HW4) 2024[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Tesla|Model Y (with HW3) 2020-23[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Tesla|Model Y (with HW4) 2024[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Avalon 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Avalon 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Avalon Hybrid 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|C-HR 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|C-HR Hybrid 2021-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Camry 2018-20|All|Stock|0 mph[9](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Camry 2021-24|All|openpilot|0 mph[9](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|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-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Highlander 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Highlander Hybrid 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Prius 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Prius Prime 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|RAV4 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|RAV4 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|RAV4 2023-25|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|RAV4 Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Tesla|Model 3 (with HW3) 2019-23[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Tesla|Model 3 (with HW4) 2024[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Tesla|Model Y (with HW3) 2020-23[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Tesla|Model Y (with HW4) 2024[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Avalon 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Avalon 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Avalon Hybrid 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|C-HR 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|C-HR Hybrid 2021-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Camry 2018-20|All|Stock|0 mph[9](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Camry 2021-24|All|openpilot|0 mph[9](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|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-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Highlander 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Highlander Hybrid 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Prius 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Prius Prime 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|RAV4 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 2023-25|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
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Mar 2025 10:27:54 -0700 Subject: [PATCH 037/115] simple gps layout --- tools/plotjuggler/layouts/gps.xml | 66 +++++++++++++++++++++++++++++++ 1 file changed, 66 insertions(+) create mode 100644 tools/plotjuggler/layouts/gps.xml diff --git a/tools/plotjuggler/layouts/gps.xml b/tools/plotjuggler/layouts/gps.xml new file mode 100644 index 0000000000..c2ec0b4a35 --- /dev/null +++ b/tools/plotjuggler/layouts/gps.xml @@ -0,0 +1,66 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 45de2f7f19ac0cf110ec6611881b1cb59cdb6dc9 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 26 Mar 2025 10:46:16 -0700 Subject: [PATCH 038/115] fix codespell --- tools/plotjuggler/layouts/gps.xml | 4 ---- 1 file changed, 4 deletions(-) diff --git a/tools/plotjuggler/layouts/gps.xml b/tools/plotjuggler/layouts/gps.xml index c2ec0b4a35..8fd3b53f93 100644 --- a/tools/plotjuggler/layouts/gps.xml +++ b/tools/plotjuggler/layouts/gps.xml @@ -52,10 +52,6 @@ - - - - From 27d882cc0aeb3688bcf8c302ea68f316557fa04e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 26 Mar 2025 14:45:35 -0700 Subject: [PATCH 039/115] Revert "logreader.py: concurrent file existence checks" (#34942) Revert "logreader.py: concurrent file existence checks (#34875)" This reverts commit e11b239b2eb1103eb78a01cb80c0487edf2ae4b0. --- tools/lib/logreader.py | 13 +++---------- 1 file changed, 3 insertions(+), 10 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 2a0015e6b0..34d3e5ea9f 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -13,7 +13,6 @@ import warnings import zstandard as zstd from collections.abc import Callable, Iterable, Iterator -from concurrent.futures import ThreadPoolExecutor, as_completed from urllib.parse import parse_qs, urlparse from cereal import log as capnp_log @@ -202,15 +201,9 @@ def direct_source(file_or_url: str) -> list[LogPath]: def get_invalid_files(files): - if not files: - return - - with ThreadPoolExecutor(max_workers=32) as executor: - future_to_file = {executor.submit(file_exists, file): file for file in files} - for future in as_completed(future_to_file): - file = future_to_file[future] - if not future.result(): - yield file + for f in files: + if f is None or not file_exists(f): + yield f def check_source(source: Source, *args) -> list[LogPath]: From ce318e9c401d43accaa2cf36410a7d6f5309360a Mon Sep 17 00:00:00 2001 From: Louis Velez Date: Wed, 26 Mar 2025 19:06:43 -0400 Subject: [PATCH 040/115] ui: update spanish translation (#34944) Update main_es.ts --- selfdrive/ui/translations/main_es.ts | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts index 207f21cc75..a2d095c064 100644 --- a/selfdrive/ui/translations/main_es.ts +++ b/selfdrive/ui/translations/main_es.ts @@ -681,7 +681,7 @@ Esto puede tardar un minuto. Firehose - + Firehose From a6bfb9919d7fafc26835ff82bfe15f903b7d2f3e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 26 Mar 2025 17:10:10 -0700 Subject: [PATCH 041/115] Rivian: increase low speed torque (#34939) * bump opendbc for more torq * bump to master --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index 37a1734d14..9c59c5ac4e 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 37a1734d14839f5932891eb062ca3447f2aa8b53 +Subproject commit 9c59c5ac4ed76ed6b3c20b634c5ccb5d58524d4f From a2859090d835041a0c662809f7549bdc2040af16 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 26 Mar 2025 22:41:26 -0700 Subject: [PATCH 042/115] controls: reset desired curvature while disabled (#34943) * reset curvature while disabled * comment * duplicate line * fix possible iso violation because it was unlimited while disengaged * rename so you can't accidentally use * update refs --- selfdrive/controls/controlsd.py | 14 +++++++++----- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 10 insertions(+), 6 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index ae5db046e1..dfff26d9db 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -41,6 +41,7 @@ class Controls: self.pm = messaging.PubMaster(['carControl', 'controlsState']) self.steer_limited_by_controls = False + self.curvature = 0.0 self.desired_curvature = 0.0 self.pose_calibrator = PoseCalibrator() @@ -73,6 +74,9 @@ class Controls: sr = max(lp.steerRatio, 0.1) self.VM.update_params(x, sr) + steer_angle_without_offset = math.radians(CS.steeringAngleDeg - lp.angleOffsetDeg) + self.curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, lp.roll) + # Update Torque Params if self.CP.lateralTuning.which() == 'torque': torque_params = self.sm['liveTorqueParameters'] @@ -110,7 +114,10 @@ class Controls: actuators.accel = float(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits)) # Steering PID loop and lateral MPC - self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature, lp.roll) + # Reset desired curvature to current to avoid violating the limits on engage + new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature + self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, new_desired_curvature, lp.roll) + actuators.curvature = self.desired_curvature steer, steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp, self.steer_limited_by_controls, self.desired_curvature, @@ -175,10 +182,7 @@ class Controls: dat.valid = CS.canValid cs = dat.controlsState - lp = self.sm['liveParameters'] - steer_angle_without_offset = math.radians(CS.steeringAngleDeg - lp.angleOffsetDeg) - cs.curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, lp.roll) - + cs.curvature = self.curvature cs.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan'] cs.lateralPlanMonoTime = self.sm.logMonoTime['modelV2'] cs.desiredCurvature = self.desired_curvature diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 20f6d1d069..73b2b61245 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -e239a1683b7f97c9d8dca74c57ebf4ef8bc416cd \ No newline at end of file +1904f49bcc97370a842aeee1f831e9ced5a6cad6 \ No newline at end of file From 98a2b8552926b4fb08413dc6508dbbc2a449eacf Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Thu, 27 Mar 2025 01:47:55 -0700 Subject: [PATCH 043/115] [bot] Update Python packages (#34946) Update Python packages Co-authored-by: Vehicle Researcher --- docs/CARS.md | 2 +- opendbc_repo | 2 +- uv.lock | 44 ++++++++++++++++++++++---------------------- 3 files changed, 24 insertions(+), 24 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 9bd26b6564..854273f8f7 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -82,7 +82,7 @@ A supported vehicle is one that just works when you install a comma device. All |Honda|Insight 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Passport 2019-23|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Azera 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/opendbc_repo b/opendbc_repo index 9c59c5ac4e..2ed580d9f5 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 9c59c5ac4ed76ed6b3c20b634c5ccb5d58524d4f +Subproject commit 2ed580d9f58bfe40d73ab5def33ce628e3a85ca3 diff --git a/uv.lock b/uv.lock index 6e6d9f77f6..050bbc1efd 100644 --- a/uv.lock +++ b/uv.lock @@ -620,22 +620,22 @@ wheels = [ [[package]] name = "google-crc32c" -version = "1.7.0" +version = "1.7.1" source = { registry = "https://pypi.org/simple" } -sdist = { url = "https://files.pythonhosted.org/packages/fd/c6/bd09366753b49353895ed73bad74574d9086b26b53bb5b9213962009719a/google_crc32c-1.7.0.tar.gz", hash = "sha256:c8c15a04b290c7556f277acc55ad98503a8bc0893ea6860fd5b5d210f3f558ce", size = 14546 } +sdist = { url = "https://files.pythonhosted.org/packages/19/ae/87802e6d9f9d69adfaedfcfd599266bf386a54d0be058b532d04c794f76d/google_crc32c-1.7.1.tar.gz", hash = "sha256:2bff2305f98846f3e825dbeec9ee406f89da7962accdb29356e4eadc251bd472", size = 14495 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"sha256:4f6c687ae8efae6cf6093389a596548214467778146b7245e886f35e1485315d", size = 316212 }, + { url = "https://files.pythonhosted.org/packages/e5/a1/93c2acf4ade3c5b557d02d500b06798f4ed2c176fa03e3c34973ca92df7f/protobuf-6.30.2-py3-none-any.whl", hash = "sha256:ae86b030e69a98e08c77beab574cbcb9fff6d031d57209f574a5aea1445f4b51", size = 167062 }, ] [[package]] From b8065d31382ac08e197c97fa75fa55ae59e6f9fa Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Fri, 28 Mar 2025 10:26:37 +0100 Subject: [PATCH 044/115] Parse out more ublox sat info (#34947) parse out more sat info --- cereal/log.capnp | 4 ++++ system/ubloxd/ublox_msg.cc | 4 ++++ 2 files changed, 8 insertions(+) diff --git a/cereal/log.capnp b/cereal/log.capnp index 7b6076311f..593399f832 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -1586,6 +1586,10 @@ struct UbloxGnss { svId @0 :UInt8; gnssId @1 :UInt8; flagsBitfield @2 :UInt32; + cno @3 :UInt8; + elevationDeg @4 :Int8; + azimuthDeg @5 :Int16; + pseudorangeResidual @6 :Float32; } } diff --git a/system/ubloxd/ublox_msg.cc b/system/ubloxd/ublox_msg.cc index 22c99501f3..728f3b15fa 100644 --- a/system/ubloxd/ublox_msg.cc +++ b/system/ubloxd/ublox_msg.cc @@ -476,6 +476,10 @@ kj::Array UbloxMsgParser::gen_nav_sat(ubx_t::nav_sat_t *msg) { svs[i].setSvId(svs_data[i]->sv_id()); svs[i].setGnssId(svs_data[i]->gnss_id()); svs[i].setFlagsBitfield(svs_data[i]->flags()); + svs[i].setCno(svs_data[i]->cno()); + svs[i].setElevationDeg(svs_data[i]->elev()); + svs[i].setAzimuthDeg(svs_data[i]->azim()); + svs[i].setPseudorangeResidual(svs_data[i]->pr_res() * 0.1); } return capnp::messageToFlatArray(msg_builder); From b33677c0dce99430d364cc5dacb46a30460d93cb Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Fri, 28 Mar 2025 10:30:56 -0700 Subject: [PATCH 045/115] WORKFLOW.md : remove redundant testing and linting info --- docs/WORKFLOW.md | 10 ---------- 1 file changed, 10 deletions(-) diff --git a/docs/WORKFLOW.md b/docs/WORKFLOW.md index 477c7511ca..1c5bbe9a63 100644 --- a/docs/WORKFLOW.md +++ b/docs/WORKFLOW.md @@ -31,13 +31,3 @@ cd system/loggerd && pytest . # run the linter op lint ``` - -## Testing - -### Automated Testing - -All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions. - -### Code Style and Linting - -Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`. From 05f75196284a359ae6dd1092d92ac2e15497d2ba Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Fri, 28 Mar 2025 10:43:43 -0700 Subject: [PATCH 046/115] Remove T_IDXS from road edges and lanelines (#34950) * Not useful anymore * add type --- selfdrive/modeld/fill_model_msg.py | 24 ++++-------------------- 1 file changed, 4 insertions(+), 20 deletions(-) diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py index 0ea88f9bc1..9dc2641c9b 100644 --- a/selfdrive/modeld/fill_model_msg.py +++ b/selfdrive/modeld/fill_model_msg.py @@ -101,30 +101,14 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D # lateral planning modelV2.action.desiredCurvature = float(net_output_data['desired_curvature'][0,0]) - # times at X_IDXS according to model plan - PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N - PLAN_T_IDXS[0] = 0.0 - plan_x = net_output_data['plan'][0,:,Plan.POSITION][:,0].tolist() - for xidx in range(1, ModelConstants.IDX_N): - tidx = 0 - # increment tidx until we find an element that's further away than the current xidx - while tidx < ModelConstants.IDX_N - 1 and plan_x[tidx+1] < ModelConstants.X_IDXS[xidx]: - tidx += 1 - if tidx == ModelConstants.IDX_N - 1: - # if the Plan doesn't extend far enough, set plan_t to the max value (10s), then break - PLAN_T_IDXS[xidx] = ModelConstants.T_IDXS[ModelConstants.IDX_N - 1] - break - # interpolate to find `t` for the current xidx - current_x_val = plan_x[tidx] - next_x_val = plan_x[tidx+1] - p = (ModelConstants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val) if abs(next_x_val - current_x_val) > 1e-9 else float('nan') - PLAN_T_IDXS[xidx] = p * ModelConstants.T_IDXS[tidx+1] + (1 - p) * ModelConstants.T_IDXS[tidx] + # times at X_IDXS of edges and lines aren't used + LINE_T_IDXS: list[float] = [] # lane lines modelV2.init('laneLines', 4) for i in range(4): lane_line = modelV2.laneLines[i] - fill_xyzt(lane_line, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1]) + fill_xyzt(lane_line, LINE_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1]) modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist() modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist() @@ -134,7 +118,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D modelV2.init('roadEdges', 2) for i in range(2): road_edge = modelV2.roadEdges[i] - fill_xyzt(road_edge, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['road_edges'][0,i,:,0], net_output_data['road_edges'][0,i,:,1]) + fill_xyzt(road_edge, LINE_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['road_edges'][0,i,:,0], net_output_data['road_edges'][0,i,:,1]) modelV2.roadEdgeStds = net_output_data['road_edges_stds'][0,:,0,0].tolist() # leads From 6c046e5aa30181b03fd662db2048347f944b6ce8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Fri, 28 Mar 2025 11:37:03 -0700 Subject: [PATCH 047/115] Update np > 2.0 (#34949) * Update np * Update lock * update rednose * newest numpy has mypy issues * typo * revert --- pyproject.toml | 2 +- uv.lock | 1187 ++++++++++++++++++++++++------------------------ 2 files changed, 600 insertions(+), 589 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 1fb751e2d5..344bf2cfcc 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -26,7 +26,7 @@ dependencies = [ "pycapnp", "Cython", "setuptools", - "numpy < 2.0.0", + "numpy >=2.0, <2.2", # Linting issues with mypy in 2.2 # body / webrtcd "aiohttp", diff --git a/uv.lock b/uv.lock index 050bbc1efd..6ec1367ad4 100644 --- a/uv.lock +++ b/uv.lock @@ -1,13 +1,20 @@ version = 1 -revision = 1 requires-python = ">=3.11, <3.13" resolution-markers = [ - "python_full_version >= '3.12' and sys_platform == 'darwin'", + 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"https://pypi.org/simple" } dependencies = [ - { name = "colorama", marker = "sys_platform == 'win32'" }, + { name = "colorama", marker = "platform_system == 'Windows'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/a8/4b/29b4ef32e036bb34e4ab51796dd745cdba7ed47ad142a9f4a1eb8e0c744d/tqdm-4.67.1.tar.gz", hash = "sha256:f8aef9c52c08c13a65f30ea34f4e5aac3fd1a34959879d7e59e63027286627f2", size = 169737 } wheels = [ @@ -5022,7 +5033,7 @@ name = "yapf" version = "0.43.0" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "platformdirs" }, + { name = "platformdirs", marker = "platform_machine != 'aarch64' or (platform_system != 'Linux' and sys_platform != 'linux')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/23/97/b6f296d1e9cc1ec25c7604178b48532fa5901f721bcf1b8d8148b13e5588/yapf-0.43.0.tar.gz", hash = "sha256:00d3aa24bfedff9420b2e0d5d9f5ab6d9d4268e72afbf59bb3fa542781d5218e", size = 254907 } wheels = [ From e674bc1355a4c85c807b3494b26090f7b7d4c99e Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Fri, 28 Mar 2025 21:06:02 -0700 Subject: [PATCH 048/115] Use Github Actions macOS runners for external contributors (#34956) mac --- .github/workflows/selfdrive_tests.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 67a76a4232..1c290732b8 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -85,7 +85,7 @@ jobs: build_mac: name: build macOS - runs-on: ${{ github.repository == 'commaai/openpilot' && 'namespace-profile-macos-8x14' || 'macos-latest' }} + runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }} steps: - uses: actions/checkout@v4 with: From c4efe2f973bf161db385ce617ebf63d9ac5f81c9 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Mon, 31 Mar 2025 13:06:37 -0700 Subject: [PATCH 049/115] add cache key for macOS runners (#34963) * fix * test * restore * cleanup --- .github/workflows/selfdrive_tests.yaml | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 1c290732b8..b42dc7da26 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -90,21 +90,29 @@ jobs: - uses: actions/checkout@v4 with: submodules: true + - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV - name: Homebrew cache uses: ./.github/workflows/auto-cache with: path: ~/Library/Caches/Homebrew + key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} + restore-keys: | + brew-macos-${{ env.CACHE_COMMIT_DATE }} + brew-macos - name: Install dependencies run: ./tools/mac_setup.sh env: # package install has DeprecationWarnings PYTHONWARNINGS: default - run: git lfs pull - - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV - name: Getting scons cache uses: ./.github/workflows/auto-cache with: path: /tmp/scons_cache + key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} + restore-keys: | + scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }} + scons-${{ runner.arch }}-macos - name: Building openpilot run: . .venv/bin/activate && scons -j$(nproc) From 447f279f83380d9dbed9c70a7994c3da53d1321f Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 31 Mar 2025 13:07:23 -0700 Subject: [PATCH 050/115] [bot] Update Python packages (#34962) Update Python packages Co-authored-by: Vehicle Researcher --- msgq_repo | 2 +- opendbc_repo | 2 +- panda | 2 +- rednose_repo | 2 +- uv.lock | 1251 +++++++++++++++++++++++++------------------------- 5 files changed, 626 insertions(+), 633 deletions(-) diff --git a/msgq_repo b/msgq_repo index ad9020c430..94e738992c 160000 --- a/msgq_repo +++ b/msgq_repo @@ -1 +1 @@ -Subproject commit ad9020c430362d17c0edf97747d344389234be4d +Subproject commit 94e738992ca8a12c2d9bb7bdeeaab4713543773e diff --git a/opendbc_repo b/opendbc_repo index 2ed580d9f5..2c5600f88f 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 2ed580d9f58bfe40d73ab5def33ce628e3a85ca3 +Subproject commit 2c5600f88f16edcf5fedf46922414ad9b1c0feda diff --git a/panda b/panda index f93c5a7629..97e91d6fee 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit f93c5a76292eb71f944c85e0307ecd90b2eaba3f +Subproject commit 97e91d6feefc3e96178e72fff743a8a36132b445 diff --git a/rednose_repo b/rednose_repo index 05fd60278a..8b86052919 160000 --- a/rednose_repo +++ b/rednose_repo @@ -1 +1 @@ -Subproject commit 05fd60278a95190cc5a61f40730c82eaa1d986e1 +Subproject commit 8b860529199569401d5d8e105bc1be600fca49a8 diff --git a/uv.lock b/uv.lock index 6ec1367ad4..7b13fce830 100644 --- a/uv.lock +++ b/uv.lock @@ -1,20 +1,13 @@ version = 1 +revision = 1 requires-python = ">=3.11, <3.13" resolution-markers = [ - "python_full_version >= '3.12' and platform_system == 'Darwin' and sys_platform == 'darwin'", - "python_full_version >= '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux' and sys_platform == 'darwin'", - "(python_full_version >= '3.12' and platform_machine != 'aarch64' and platform_system != 'Darwin' and sys_platform == 'darwin') or (python_full_version >= '3.12' and platform_system != 'Darwin' and platform_system != 'Linux' and sys_platform == 'darwin')", + "python_full_version >= '3.12' and sys_platform == 'darwin'", "python_full_version >= '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "(python_full_version >= '3.12' and platform_machine != 'aarch64' and platform_system == 'Darwin' 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platform_system != 'Darwin' and platform_system != 'Linux' and sys_platform == 'darwin')", + "(python_full_version >= '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version >= '3.12' and sys_platform != 'darwin' and sys_platform != 'linux')", + "python_full_version < '3.12' and sys_platform == 'darwin'", "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "(python_full_version < '3.12' and platform_machine != 'aarch64' and platform_system == 'Darwin' and sys_platform != 'darwin') or (python_full_version < '3.12' and platform_system == 'Darwin' and sys_platform != 'darwin' and sys_platform != 'linux')", - "python_full_version < '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux' and sys_platform != 'darwin' and sys_platform != 'linux'", - "(python_full_version < '3.12' and platform_machine != 'aarch64' and platform_system != 'Darwin' and sys_platform != 'darwin') or 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VehicleParamsLearner (#34955) * Refactor ParamsLearner * Make it VehicleParamsLearner * Fix * Use capnp serialization instead of json * Fix speed * Remove redundant comments * Monitor observed_roll * Just use init_state * Comment * Improve reset * Set globals api * Typing for return value * Redo reset messaging * Remove usages of math * Fix process_replay custom_params * Type ignores for rednose fields * Remove import * Reset previous values too * Update ref_commit * Revert it * Bring it back * Remove more * Add migration for cached params --- selfdrive/locationd/models/car_kf.py | 25 +- selfdrive/locationd/paramsd.py | 337 ++++++++++-------- .../test/process_replay/process_replay.py | 5 +- selfdrive/test/process_replay/ref_commit | 2 +- 4 files changed, 197 insertions(+), 172 deletions(-) diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py index 5f40f19e46..349897f371 100755 --- a/selfdrive/locationd/models/car_kf.py +++ b/selfdrive/locationd/models/car_kf.py @@ -160,19 +160,18 @@ class CarKalman(KalmanFilter): gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state, global_vars=global_vars) - def __init__(self, generated_dir, steer_ratio=15, stiffness_factor=1, angle_offset=0, P_initial=None): - dim_state = self.initial_x.shape[0] - dim_state_err = self.P_initial.shape[0] - x_init = self.initial_x - x_init[States.STEER_RATIO] = steer_ratio - x_init[States.STIFFNESS] = stiffness_factor - x_init[States.ANGLE_OFFSET] = angle_offset - - if P_initial is not None: - self.P_initial = P_initial - # init filter - self.filter = EKF_sym_pyx(generated_dir, self.name, self.Q, self.initial_x, self.P_initial, - dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog) + def __init__(self, generated_dir): + dim_state, dim_state_err = CarKalman.initial_x.shape[0], CarKalman.P_initial.shape[0] + self.filter = EKF_sym_pyx(generated_dir, CarKalman.name, CarKalman.Q, CarKalman.initial_x, CarKalman.P_initial, + dim_state, dim_state_err, global_vars=CarKalman.global_vars, logger=cloudlog) + + def set_globals(self, mass, rotational_inertia, center_to_front, center_to_rear, stiffness_front, stiffness_rear): + self.filter.set_global("mass", mass) + self.filter.set_global("rotational_inertia", rotational_inertia) + self.filter.set_global("center_to_front", center_to_front) + self.filter.set_global("center_to_rear", center_to_rear) + self.filter.set_global("stiffness_front", stiffness_front) + self.filter.set_global("stiffness_rear", stiffness_rear) if __name__ == "__main__": diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index 3819fba080..8daf60d32f 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -1,8 +1,8 @@ #!/usr/bin/env python3 import os -import math import json import numpy as np +import capnp import cereal.messaging as messaging from cereal import car, log @@ -13,12 +13,11 @@ from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose from openpilot.common.swaglog import cloudlog - MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL # Max 20 deg/s -ROLL_MAX_DELTA = math.radians(20.0) * DT_MDL # 20deg in 1 second is well within curvature limits -ROLL_MIN, ROLL_MAX = math.radians(-10), math.radians(10) -ROLL_LOWERED_MAX = math.radians(8) -ROLL_STD_MAX = math.radians(1.5) +ROLL_MAX_DELTA = np.radians(20.0) * DT_MDL # 20deg in 1 second is well within curvature limits +ROLL_MIN, ROLL_MAX = np.radians(-10), np.radians(10) +ROLL_LOWERED_MAX = np.radians(8) +ROLL_STD_MAX = np.radians(1.5) LATERAL_ACC_SENSOR_THRESHOLD = 4.0 OFFSET_MAX = 10.0 OFFSET_LOWERED_MAX = 8.0 @@ -26,40 +25,58 @@ MIN_ACTIVE_SPEED = 1.0 LOW_ACTIVE_SPEED = 10.0 -class ParamsLearner: - def __init__(self, CP, steer_ratio, stiffness_factor, angle_offset, P_initial=None): - self.kf = CarKalman(GENERATED_DIR, steer_ratio, stiffness_factor, angle_offset, P_initial) +class VehicleParamsLearner: + def __init__(self, CP: car.CarParams, steer_ratio: float, stiffness_factor: float, angle_offset: float, P_initial: np.ndarray | None = None): + self.kf = CarKalman(GENERATED_DIR) + + self.x_initial = CarKalman.initial_x.copy() + self.x_initial[States.STEER_RATIO] = steer_ratio + self.x_initial[States.STIFFNESS] = stiffness_factor + self.x_initial[States.ANGLE_OFFSET] = angle_offset + self.P_initial = P_initial or CarKalman.P_initial - self.kf.filter.set_global("mass", CP.mass) - self.kf.filter.set_global("rotational_inertia", CP.rotationalInertia) - self.kf.filter.set_global("center_to_front", CP.centerToFront) - self.kf.filter.set_global("center_to_rear", CP.wheelbase - CP.centerToFront) - self.kf.filter.set_global("stiffness_front", CP.tireStiffnessFront) - self.kf.filter.set_global("stiffness_rear", CP.tireStiffnessRear) + self.kf.set_globals( + mass=CP.mass, + rotational_inertia=CP.rotationalInertia, + center_to_front=CP.centerToFront, + center_to_rear=CP.wheelbase - CP.centerToFront, + stiffness_front=CP.tireStiffnessFront, + stiffness_rear=CP.tireStiffnessRear + ) - self.active = False + self.min_sr, self.max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio self.calibrator = PoseCalibrator() - self.speed = 0.0 - self.yaw_rate = 0.0 - self.yaw_rate_std = 0.0 - self.roll = 0.0 - self.steering_angle = 0.0 + self.observed_speed = 0.0 + self.observed_yaw_rate = 0.0 + self.observed_roll = 0.0 + + self.avg_offset_valid = True + self.total_offset_valid = True + self.roll_valid = True + + self.reset(None) + + def reset(self, t: float | None): + self.kf.init_state(self.x_initial, covs=self.P_initial, filter_time=t) - def handle_log(self, t, which, msg): + self.angle_offset, self.roll, self.active = np.degrees(self.x_initial[States.ANGLE_OFFSET].item()), 0.0, False + self.avg_angle_offset = self.angle_offset + + def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader): if which == 'livePose': device_pose = Pose.from_live_pose(msg) calibrated_pose = self.calibrator.build_calibrated_pose(device_pose) + yaw_rate, yaw_rate_std = calibrated_pose.angular_velocity.z, calibrated_pose.angular_velocity.z_std yaw_rate_valid = msg.angularVelocityDevice.valid - yaw_rate_valid = yaw_rate_valid and 0 < self.yaw_rate_std < 10 # rad/s - yaw_rate_valid = yaw_rate_valid and abs(self.yaw_rate) < 1 # rad/s - if yaw_rate_valid: - self.yaw_rate, self.yaw_rate_std = calibrated_pose.angular_velocity.z, calibrated_pose.angular_velocity.z_std - else: + yaw_rate_valid = yaw_rate_valid and 0 < yaw_rate_std < 10 # rad/s + yaw_rate_valid = yaw_rate_valid and abs(yaw_rate) < 1 # rad/s + if not yaw_rate_valid: # This is done to bound the yaw rate estimate when localizer values are invalid or calibrating - self.yaw_rate, self.yaw_rate_std = 0.0, np.radians(10.0) + yaw_rate, yaw_rate_std = 0.0, np.radians(10.0) + self.observed_yaw_rate = yaw_rate localizer_roll, localizer_roll_std = device_pose.orientation.x, device_pose.orientation.x_std localizer_roll_std = np.radians(1) if np.isnan(localizer_roll_std) else localizer_roll_std @@ -72,18 +89,18 @@ class ParamsLearner: # This is done to bound the road roll estimate when localizer values are invalid roll = 0.0 roll_std = np.radians(10.0) - self.roll = np.clip(roll, self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA) + self.observed_roll = np.clip(roll, self.observed_roll - ROLL_MAX_DELTA, self.observed_roll + ROLL_MAX_DELTA) if self.active: if msg.posenetOK: self.kf.predict_and_observe(t, ObservationKind.ROAD_FRAME_YAW_RATE, - np.array([[-self.yaw_rate]]), - np.array([np.atleast_2d(self.yaw_rate_std**2)])) + np.array([[-self.observed_yaw_rate]]), + np.array([np.atleast_2d(yaw_rate_std**2)])) self.kf.predict_and_observe(t, ObservationKind.ROAD_ROLL, - np.array([[self.roll]]), + np.array([[self.observed_roll]]), np.array([np.atleast_2d(roll_std**2)])) self.kf.predict_and_observe(t, ObservationKind.ANGLE_OFFSET_FAST, np.array([[0]])) @@ -99,20 +116,79 @@ class ParamsLearner: self.calibrator.feed_live_calib(msg) elif which == 'carState': - self.steering_angle = msg.steeringAngleDeg - self.speed = msg.vEgo + steering_angle = msg.steeringAngleDeg - in_linear_region = abs(self.steering_angle) < 45 - self.active = self.speed > MIN_ACTIVE_SPEED and in_linear_region + in_linear_region = abs(steering_angle) < 45 + self.observed_speed = msg.vEgo + self.active = self.observed_speed > MIN_ACTIVE_SPEED and in_linear_region if self.active: - self.kf.predict_and_observe(t, ObservationKind.STEER_ANGLE, np.array([[math.radians(msg.steeringAngleDeg)]])) - self.kf.predict_and_observe(t, ObservationKind.ROAD_FRAME_X_SPEED, np.array([[self.speed]])) + self.kf.predict_and_observe(t, ObservationKind.STEER_ANGLE, np.array([[np.radians(steering_angle)]])) + self.kf.predict_and_observe(t, ObservationKind.ROAD_FRAME_X_SPEED, np.array([[self.observed_speed]])) if not self.active: # Reset time when stopped so uncertainty doesn't grow - self.kf.filter.set_filter_time(t) - self.kf.filter.reset_rewind() + self.kf.filter.set_filter_time(t) # type: ignore + self.kf.filter.reset_rewind() # type: ignore + + def get_msg(self, valid: bool, debug: bool = False) -> capnp._DynamicStructBuilder: + x = self.kf.x + P = np.sqrt(self.kf.P.diagonal()) + if not np.all(np.isfinite(x)): + cloudlog.error("NaN in liveParameters estimate. Resetting to default values") + self.reset(self.kf.t) + x = self.kf.x + + self.avg_angle_offset = np.clip(np.degrees(x[States.ANGLE_OFFSET].item()), + self.avg_angle_offset - MAX_ANGLE_OFFSET_DELTA, self.avg_angle_offset + MAX_ANGLE_OFFSET_DELTA) + self.angle_offset = np.clip(np.degrees(x[States.ANGLE_OFFSET].item() + x[States.ANGLE_OFFSET_FAST].item()), + self.angle_offset - MAX_ANGLE_OFFSET_DELTA, self.angle_offset + MAX_ANGLE_OFFSET_DELTA) + self.roll = np.clip(float(x[States.ROAD_ROLL].item()), self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA) + roll_std = float(P[States.ROAD_ROLL].item()) + if self.active and self.observed_speed > LOW_ACTIVE_SPEED: + # Account for the opposite signs of the yaw rates + # At low speeds, bumping into a curb can cause the yaw rate to be very high + sensors_valid = bool(abs(self.observed_speed * (x[States.YAW_RATE].item() + self.observed_yaw_rate)) < LATERAL_ACC_SENSOR_THRESHOLD) + else: + sensors_valid = True + self.avg_offset_valid = check_valid_with_hysteresis(self.avg_offset_valid, self.avg_angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX) + self.total_offset_valid = check_valid_with_hysteresis(self.total_offset_valid, self.angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX) + self.roll_valid = check_valid_with_hysteresis(self.roll_valid, self.roll, ROLL_MAX, ROLL_LOWERED_MAX) + + msg = messaging.new_message('liveParameters') + + msg.valid = valid + + liveParameters = msg.liveParameters + liveParameters.posenetValid = True + liveParameters.sensorValid = sensors_valid + liveParameters.steerRatio = float(x[States.STEER_RATIO].item()) + liveParameters.stiffnessFactor = float(x[States.STIFFNESS].item()) + liveParameters.roll = float(self.roll) + liveParameters.angleOffsetAverageDeg = float(self.avg_angle_offset) + liveParameters.angleOffsetDeg = float(self.angle_offset) + liveParameters.steerRatioValid = self.min_sr <= liveParameters.steerRatio <= self.max_sr + liveParameters.stiffnessFactorValid = 0.2 <= liveParameters.stiffnessFactor <= 5.0 + liveParameters.angleOffsetAverageValid = bool(self.avg_offset_valid) + liveParameters.angleOffsetValid = bool(self.total_offset_valid) + liveParameters.valid = all(( + liveParameters.angleOffsetAverageValid, + liveParameters.angleOffsetValid , + self.roll_valid, + roll_std < ROLL_STD_MAX, + liveParameters.stiffnessFactorValid, + liveParameters.steerRatioValid, + )) + liveParameters.steerRatioStd = float(P[States.STEER_RATIO].item()) + liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item()) + liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET].item()) + liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST].item()) + if debug: + liveParameters.debugFilterState = log.LiveParametersData.FilterState.new_message() + liveParameters.debugFilterState.value = x.tolist() + liveParameters.debugFilterState.std = P.tolist() + + return msg def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: float, lowered_threshold: float): @@ -123,6 +199,65 @@ def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: floa return current_valid +# TODO: Remove this function after few releases (added in 0.9.9) +def migrate_cached_vehicle_params_if_needed(params_reader: Params): + last_parameters_data = params_reader.get("LiveParameters") + if last_parameters_data is None: + return + + try: + last_parameters_dict = json.loads(last_parameters_data) + last_parameters_msg = messaging.new_message('liveParameters') + last_parameters_msg.liveParameters.valid = True + last_parameters_msg.liveParameters.steerRatio = last_parameters_dict['steerRatio'] + last_parameters_msg.liveParameters.stiffnessFactor = last_parameters_dict['stiffnessFactor'] + last_parameters_msg.liveParameters.angleOffsetAverageDeg = last_parameters_dict['angleOffsetAverageDeg'] + params_reader.put("LiveParameters", last_parameters_msg.to_bytes()) + except (json.JSONDecodeError, KeyError): + pass + + +def retrieve_initial_vehicle_params(params_reader: Params, CP: car.CarParams, replay: bool, debug: bool): + last_parameters_data = params_reader.get("LiveParameters") + last_carparams_data = params_reader.get("CarParamsPrevRoute") + + steer_ratio, stiffness_factor, angle_offset_deg, p_initial = CP.steerRatio, 1.0, 0.0, None + + retrieve_success = False + if last_parameters_data is not None and last_carparams_data is not None: + try: + with log.Event.from_bytes(last_parameters_data) as last_lp_msg, car.CarParams.from_bytes(last_carparams_data) as last_CP: + lp = last_lp_msg.liveParameters + # Check if car model matches + if last_CP.carFingerprint != CP.carFingerprint: + raise Exception("Car model mismatch") + + # Check if starting values are sane + min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio + steer_ratio_sane = min_sr <= lp.steerRatio <= max_sr + if not steer_ratio_sane: + raise Exception(f"Invalid starting values found {lp}") + + initial_filter_std = np.array(lp.debugFilterState.std) + if debug and len(initial_filter_std) != 0: + p_initial = initial_filter_std + + steer_ratio, stiffness_factor, angle_offset_deg = lp.steerRatio, lp.stiffnessFactor, lp.angleOffsetAverageDeg + retrieve_success = True + except Exception as e: + cloudlog.error(f"Failed to retrieve initial values: {e}") + + if not replay: + # When driving in wet conditions the stiffness can go down, and then be too low on the next drive + # Without a way to detect this we have to reset the stiffness every drive + stiffness_factor = 1.0 + + if not retrieve_success: + cloudlog.info("Parameter learner resetting to default values") + + return steer_ratio, stiffness_factor, angle_offset_deg, p_initial + + def main(): config_realtime_process([0, 1, 2, 3], 5) @@ -133,59 +268,12 @@ def main(): sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState'], poll='livePose') params_reader = Params() - # wait for stats about the car to come in from controls - cloudlog.info("paramsd is waiting for CarParams") CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams) - cloudlog.info("paramsd got CarParams") - min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio + migrate_cached_vehicle_params_if_needed(params_reader) - params = params_reader.get("LiveParameters") - - # Check if car model matches - if params is not None: - params = json.loads(params) - if params.get('carFingerprint', None) != CP.carFingerprint: - cloudlog.info("Parameter learner found parameters for wrong car.") - params = None - - # Check if starting values are sane - if params is not None: - try: - steer_ratio_sane = min_sr <= params['steerRatio'] <= max_sr - if not steer_ratio_sane: - cloudlog.info(f"Invalid starting values found {params}") - params = None - except Exception as e: - cloudlog.info(f"Error reading params {params}: {str(e)}") - params = None - - # TODO: cache the params with the capnp struct - if params is None: - params = { - 'carFingerprint': CP.carFingerprint, - 'steerRatio': CP.steerRatio, - 'stiffnessFactor': 1.0, - 'angleOffsetAverageDeg': 0.0, - } - cloudlog.info("Parameter learner resetting to default values") - - if not REPLAY: - # When driving in wet conditions the stiffness can go down, and then be too low on the next drive - # Without a way to detect this we have to reset the stiffness every drive - params['stiffnessFactor'] = 1.0 - - pInitial = None - if DEBUG: - pInitial = np.array(params['debugFilterState']['std']) if 'debugFilterState' in params else None - - learner = ParamsLearner(CP, params['steerRatio'], params['stiffnessFactor'], math.radians(params['angleOffsetAverageDeg']), pInitial) - angle_offset_average = params['angleOffsetAverageDeg'] - angle_offset = angle_offset_average - roll = 0.0 - avg_offset_valid = True - total_offset_valid = True - roll_valid = True + steer_ratio, stiffness_factor, angle_offset_deg, pInitial = retrieve_initial_vehicle_params(params_reader, CP, REPLAY, DEBUG) + learner = VehicleParamsLearner(CP, steer_ratio, stiffness_factor, np.radians(angle_offset_deg), pInitial) while True: sm.update() @@ -196,72 +284,13 @@ def main(): learner.handle_log(t, which, sm[which]) if sm.updated['livePose']: - x = learner.kf.x - P = np.sqrt(learner.kf.P.diagonal()) - if not all(map(math.isfinite, x)): - cloudlog.error("NaN in liveParameters estimate. Resetting to default values") - learner = ParamsLearner(CP, CP.steerRatio, 1.0, 0.0) - x = learner.kf.x - - angle_offset_average = np.clip(math.degrees(x[States.ANGLE_OFFSET].item()), - angle_offset_average - MAX_ANGLE_OFFSET_DELTA, angle_offset_average + MAX_ANGLE_OFFSET_DELTA) - angle_offset = np.clip(math.degrees(x[States.ANGLE_OFFSET].item() + x[States.ANGLE_OFFSET_FAST].item()), - angle_offset - MAX_ANGLE_OFFSET_DELTA, angle_offset + MAX_ANGLE_OFFSET_DELTA) - roll = np.clip(float(x[States.ROAD_ROLL].item()), roll - ROLL_MAX_DELTA, roll + ROLL_MAX_DELTA) - roll_std = float(P[States.ROAD_ROLL].item()) - if learner.active and learner.speed > LOW_ACTIVE_SPEED: - # Account for the opposite signs of the yaw rates - # At low speeds, bumping into a curb can cause the yaw rate to be very high - sensors_valid = bool(abs(learner.speed * (x[States.YAW_RATE].item() + learner.yaw_rate)) < LATERAL_ACC_SENSOR_THRESHOLD) - else: - sensors_valid = True - avg_offset_valid = check_valid_with_hysteresis(avg_offset_valid, angle_offset_average, OFFSET_MAX, OFFSET_LOWERED_MAX) - total_offset_valid = check_valid_with_hysteresis(total_offset_valid, angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX) - roll_valid = check_valid_with_hysteresis(roll_valid, roll, ROLL_MAX, ROLL_LOWERED_MAX) - - msg = messaging.new_message('liveParameters') - - liveParameters = msg.liveParameters - liveParameters.posenetValid = True - liveParameters.sensorValid = sensors_valid - liveParameters.steerRatio = float(x[States.STEER_RATIO].item()) - liveParameters.stiffnessFactor = float(x[States.STIFFNESS].item()) - liveParameters.roll = float(roll) - liveParameters.angleOffsetAverageDeg = float(angle_offset_average) - liveParameters.angleOffsetDeg = float(angle_offset) - liveParameters.steerRatioValid = min_sr <= liveParameters.steerRatio <= max_sr - liveParameters.stiffnessFactorValid = 0.2 <= liveParameters.stiffnessFactor <= 5.0 - liveParameters.angleOffsetAverageValid = bool(avg_offset_valid) - liveParameters.angleOffsetValid = bool(total_offset_valid) - liveParameters.valid = all(( - liveParameters.angleOffsetAverageValid, - liveParameters.angleOffsetValid , - roll_valid, - roll_std < ROLL_STD_MAX, - liveParameters.stiffnessFactorValid, - liveParameters.steerRatioValid, - )) - liveParameters.steerRatioStd = float(P[States.STEER_RATIO].item()) - liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item()) - liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET].item()) - liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST].item()) - if DEBUG: - liveParameters.debugFilterState = log.LiveParametersData.FilterState.new_message() - liveParameters.debugFilterState.value = x.tolist() - liveParameters.debugFilterState.std = P.tolist() - - msg.valid = sm.all_checks() + msg = learner.get_msg(sm.all_checks(), debug=DEBUG) + msg_dat = msg.to_bytes() if sm.frame % 1200 == 0: # once a minute - params = { - 'carFingerprint': CP.carFingerprint, - 'steerRatio': liveParameters.steerRatio, - 'stiffnessFactor': liveParameters.stiffnessFactor, - 'angleOffsetAverageDeg': liveParameters.angleOffsetAverageDeg, - } - params_reader.put_nonblocking("LiveParameters", json.dumps(params)) - - pm.send('liveParameters', msg) + params_reader.put_nonblocking("LiveParameters", msg_dat) + + pm.send('liveParameters', msg_dat) if __name__ == "__main__": diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 16761225d3..13de985c68 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -2,7 +2,6 @@ import os import time import copy -import json import heapq import signal from collections import Counter, OrderedDict @@ -628,9 +627,7 @@ def get_custom_params_from_lr(lr: LogIterable, initial_state: str = "first") -> if len(live_calibration) > 0: custom_params["CalibrationParams"] = live_calibration[msg_index].as_builder().to_bytes() if len(live_parameters) > 0: - lp_dict = live_parameters[msg_index].to_dict() - lp_dict["carFingerprint"] = CP.carFingerprint - custom_params["LiveParameters"] = json.dumps(lp_dict) + custom_params["LiveParameters"] = live_parameters[msg_index].as_builder().to_bytes() if len(live_torque_parameters) > 0: custom_params["LiveTorqueParameters"] = live_torque_parameters[msg_index].as_builder().to_bytes() diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 73b2b61245..58ff170e74 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -1904f49bcc97370a842aeee1f831e9ced5a6cad6 \ No newline at end of file +887623a18d82088dc5ed9ecdced55eb0d3f718b1 \ No newline at end of file From bad6103ce72faf7d71a6d2eedfd1b1842db82cda Mon Sep 17 00:00:00 2001 From: James <91348155+FrogAi@users.noreply.github.com> Date: Mon, 31 Mar 2025 13:09:06 -0700 Subject: [PATCH 052/115] Remove duplicate "edited" type in PR review workflow (#34961) --- .github/workflows/auto_pr_review.yaml | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml index eaaca56060..c6a1cb9821 100644 --- a/.github/workflows/auto_pr_review.yaml +++ b/.github/workflows/auto_pr_review.yaml @@ -1,7 +1,7 @@ name: "PR review" on: pull_request_target: - types: [opened, reopened, synchronize, edited, edited] + types: [opened, reopened, synchronize, edited] jobs: labeler: @@ -50,4 +50,3 @@ jobs: * all the tests are passing * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged) * include a route or your device' dongle ID if relevant - From ffcbdc8c43ea6e1994df87419fd1888a0e0081a4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Mon, 31 Mar 2025 19:59:29 -0400 Subject: [PATCH 053/115] paramsd: catch all exceptions during migration (#34965) Catch all exceptions during migration --- selfdrive/locationd/paramsd.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index 8daf60d32f..33a282da9a 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -213,7 +213,7 @@ def migrate_cached_vehicle_params_if_needed(params_reader: Params): last_parameters_msg.liveParameters.stiffnessFactor = last_parameters_dict['stiffnessFactor'] last_parameters_msg.liveParameters.angleOffsetAverageDeg = last_parameters_dict['angleOffsetAverageDeg'] params_reader.put("LiveParameters", last_parameters_msg.to_bytes()) - except (json.JSONDecodeError, KeyError): + except Exception: pass From 39d4148c709b6ecd1369bc20c22aa28ea05a0aa6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Mon, 31 Mar 2025 21:45:58 -0400 Subject: [PATCH 054/115] paramsd: cache restore unit test (#34966) * Add a test * Fix P_init restore * Add migration to the first test * Reuse the route from lld scenarios test --- selfdrive/locationd/paramsd.py | 4 +- selfdrive/locationd/test/test_paramsd.py | 57 ++++++++++++++++++++++++ 2 files changed, 59 insertions(+), 2 deletions(-) create mode 100644 selfdrive/locationd/test/test_paramsd.py diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index 33a282da9a..243abc5c08 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -33,7 +33,7 @@ class VehicleParamsLearner: self.x_initial[States.STEER_RATIO] = steer_ratio self.x_initial[States.STIFFNESS] = stiffness_factor self.x_initial[States.ANGLE_OFFSET] = angle_offset - self.P_initial = P_initial or CarKalman.P_initial + self.P_initial = P_initial if P_initial is not None else CarKalman.P_initial self.kf.set_globals( mass=CP.mass, @@ -240,7 +240,7 @@ def retrieve_initial_vehicle_params(params_reader: Params, CP: car.CarParams, re initial_filter_std = np.array(lp.debugFilterState.std) if debug and len(initial_filter_std) != 0: - p_initial = initial_filter_std + p_initial = np.diag(initial_filter_std) steer_ratio, stiffness_factor, angle_offset_deg = lp.steerRatio, lp.stiffnessFactor, lp.angleOffsetAverageDeg retrieve_success = True diff --git a/selfdrive/locationd/test/test_paramsd.py b/selfdrive/locationd/test/test_paramsd.py new file mode 100644 index 0000000000..3c2bf9249a --- /dev/null +++ b/selfdrive/locationd/test/test_paramsd.py @@ -0,0 +1,57 @@ +import random +import numpy as np +import json + +from cereal import messaging +from openpilot.selfdrive.locationd.paramsd import retrieve_initial_vehicle_params, migrate_cached_vehicle_params_if_needed +from openpilot.selfdrive.locationd.models.car_kf import CarKalman +from openpilot.selfdrive.locationd.test.test_locationd_scenarios import TEST_ROUTE +from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams +from openpilot.common.params import Params +from openpilot.tools.lib.logreader import LogReader + + +def get_random_live_parameters(CP): + msg = messaging.new_message("liveParameters") + msg.liveParameters.steerRatio = (random.random() + 0.5) * CP.steerRatio + msg.liveParameters.stiffnessFactor = random.random() + msg.liveParameters.angleOffsetAverageDeg = random.random() + msg.liveParameters.debugFilterState.std = [random.random() for _ in range(CarKalman.P_initial.shape[0])] + return msg + + +class TestParamsd: + def test_read_saved_params(self): + params = Params() + + lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams]) + CP = next(m for m in lr if m.which() == "carParams").carParams + + msg = get_random_live_parameters(CP) + params.put("LiveParameters", msg.to_bytes()) + params.put("CarParamsPrevRoute", CP.as_builder().to_bytes()) + + migrate_cached_vehicle_params_if_needed(params) # this is not tested here but should not mess anything up or throw an error + sr, sf, offset, p_init = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True) + np.testing.assert_allclose(sr, msg.liveParameters.steerRatio) + np.testing.assert_allclose(sf, msg.liveParameters.stiffnessFactor) + np.testing.assert_allclose(offset, msg.liveParameters.angleOffsetAverageDeg) + np.testing.assert_equal(p_init.shape, CarKalman.P_initial.shape) + np.testing.assert_allclose(np.diagonal(p_init), msg.liveParameters.debugFilterState.std) + + # TODO Remove this test after the support for old format is removed + def test_read_saved_params_old_format(self): + params = Params() + + lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams]) + CP = next(m for m in lr if m.which() == "carParams").carParams + + msg = get_random_live_parameters(CP) + params.put("LiveParameters", json.dumps(msg.liveParameters.to_dict())) + params.put("CarParamsPrevRoute", CP.as_builder().to_bytes()) + + migrate_cached_vehicle_params_if_needed(params) + sr, sf, offset, _ = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True) + np.testing.assert_allclose(sr, msg.liveParameters.steerRatio) + np.testing.assert_allclose(sf, msg.liveParameters.stiffnessFactor) + np.testing.assert_allclose(offset, msg.liveParameters.angleOffsetAverageDeg) From 1034dbd37c592630727948e5f958bb3898b377f8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Tue, 1 Apr 2025 00:02:02 -0400 Subject: [PATCH 055/115] Online lateral lag learning (#34531) * Add struct and services * Proof of concept * Use vego * Process replay support * Fix issues * Max not min * Remove print * Make lag positive * Points and updates * Sliding cross corr * Stuff * Remove redundant param * Move to lagd * Update alert * Something that works * Report isEstimated * Corr field * Use skimage masked corr * Fixes * Move to lat_accel_loc * Use the delay it in the model * Mark as executable * Add 0.2 to initial * add install line * Back to 5m window * Move the import up * corr window 120 * Show is estimated * Sort messages * New impl * Fix * Params * Set initial_lag elsewhere * Add param * Rename Param * Fix type isues * More blocks * Masked fft NCC implementation * Remove package installation * Use 20hz data and interp the correlation peak * Move ncc code to separate function * steering_saturated support * Constants * Add recovery buffer * Fix static * min_valid_block_count nad liveDelay * lateralDelayEstimate * Fix comm issues. Do estimations at 4hz * Fix * Display the estimate * Increase the block size * Cache every minute * DEBUG flag * Add progress to the alert * Fix crash * points only in debug * Fix BlockAverage restoration * Comment * Move estimators into estimator directory * Remove lagd * Feed only relevant messages * Rewrite as a set literal * np.diag with P_initial * Fix static * Struct renames * Update ref commit * Make it nicer * Some renames --- cereal/log.capnp | 16 + cereal/services.py | 1 + common/params_keys.h | 1 + selfdrive/locationd/estimators/__init__.py | 0 selfdrive/locationd/estimators/lateral_lag.py | 273 ++++++++++++++++++ .../locationd/estimators/vehicle_params.py | 197 +++++++++++++ selfdrive/locationd/paramsd.py | 257 ++++------------- .../test/process_replay/process_replay.py | 4 +- selfdrive/test/process_replay/ref_commit | 2 +- 9 files changed, 545 insertions(+), 206 deletions(-) create mode 100644 selfdrive/locationd/estimators/__init__.py create mode 100644 selfdrive/locationd/estimators/lateral_lag.py create mode 100644 selfdrive/locationd/estimators/vehicle_params.py diff --git a/cereal/log.capnp b/cereal/log.capnp index 593399f832..797c2cd8ac 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -2278,6 +2278,21 @@ struct LiveTorqueParametersData { useParams @12 :Bool; } +struct LiveDelayData { + lateralDelay @0 :Float32; + validBlocks @1 :Int32; + status @2 :Status; + + lateralDelayEstimate @3 :Float32; + points @4 :List(Float32); + + enum Status { + unestimated @0; + estimated @1; + invalid @2; + } +} + struct LiveMapDataDEPRECATED { speedLimitValid @0 :Bool; speedLimit @1 :Float32; @@ -2508,6 +2523,7 @@ struct Event { gnssMeasurements @91 :GnssMeasurements; liveParameters @61 :LiveParametersData; liveTorqueParameters @94 :LiveTorqueParametersData; + liveDelay @146 : LiveDelayData; cameraOdometry @63 :CameraOdometry; thumbnail @66: Thumbnail; onroadEvents @134: List(OnroadEvent); diff --git a/cereal/services.py b/cereal/services.py index aad83177bb..82fc04bd00 100755 --- a/cereal/services.py +++ b/cereal/services.py @@ -36,6 +36,7 @@ _services: dict[str, tuple] = { "errorLogMessage": (True, 0., 1), "liveCalibration": (True, 4., 4), "liveTorqueParameters": (True, 4., 1), + "liveDelay": (True, 4., 1), "androidLog": (True, 0.), "carState": (True, 100., 10), "carControl": (True, 100., 10), diff --git a/common/params_keys.h b/common/params_keys.h index 2b540b744c..c7f0578430 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -71,6 +71,7 @@ inline static std::unordered_map keys = { {"LastPowerDropDetected", CLEAR_ON_MANAGER_START}, {"LastUpdateException", CLEAR_ON_MANAGER_START}, {"LastUpdateTime", PERSISTENT}, + {"LiveLag", PERSISTENT}, {"LiveParameters", PERSISTENT}, {"LiveTorqueParameters", PERSISTENT | DONT_LOG}, {"LocationFilterInitialState", PERSISTENT}, diff --git a/selfdrive/locationd/estimators/__init__.py b/selfdrive/locationd/estimators/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/locationd/estimators/lateral_lag.py b/selfdrive/locationd/estimators/lateral_lag.py new file mode 100644 index 0000000000..87f0b123a7 --- /dev/null +++ b/selfdrive/locationd/estimators/lateral_lag.py @@ -0,0 +1,273 @@ +import numpy as np +from collections import deque +from functools import partial + +import cereal.messaging as messaging +from cereal import log +from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose + +BLOCK_SIZE = 100 +BLOCK_NUM = 50 +BLOCK_NUM_NEEDED = 5 +MOVING_WINDOW_SEC = 300.0 +MIN_OKAY_WINDOW_SEC = 30.0 +MIN_RECOVERY_BUFFER_SEC = 2.0 +MIN_VEGO = 15.0 +MIN_ABS_YAW_RATE = np.radians(1.0) +MIN_NCC = 0.95 + + +def parabolic_peak_interp(R, max_index): + if max_index == 0 or max_index == len(R) - 1: + return max_index + + y_m1, y_0, y_p1 = R[max_index - 1], R[max_index], R[max_index + 1] + offset = 0.5 * (y_p1 - y_m1) / (2 * y_0 - y_p1 - y_m1) + + return max_index + offset + + +def masked_normalized_cross_correlation(expected_sig, actual_sig, mask): + """ + References: + D. Padfield. "Masked FFT registration". In Proc. Computer Vision and + Pattern Recognition, pp. 2918-2925 (2010). + :DOI:`10.1109/CVPR.2010.5540032` + """ + + eps = np.finfo(np.float64).eps + expected_sig = np.asarray(expected_sig, dtype=np.float64) + actual_sig = np.asarray(actual_sig, dtype=np.float64) + + expected_sig[~mask] = 0.0 + actual_sig[~mask] = 0.0 + + rotated_expected_sig = expected_sig[::-1] + rotated_mask = mask[::-1] + + n = len(expected_sig) + len(actual_sig) - 1 + fft = partial(np.fft.fft, n=n) + + actual_sig_fft = fft(actual_sig) + rotated_expected_sig_fft = fft(rotated_expected_sig) + actual_mask_fft = fft(mask.astype(np.float64)) + rotated_mask_fft = fft(rotated_mask.astype(np.float64)) + + number_overlap_masked_samples = np.fft.ifft(rotated_mask_fft * actual_mask_fft).real + number_overlap_masked_samples[:] = np.round(number_overlap_masked_samples) + number_overlap_masked_samples[:] = np.fmax(number_overlap_masked_samples, eps) + masked_correlated_actual_fft = np.fft.ifft(rotated_mask_fft * actual_sig_fft).real + masked_correlated_expected_fft = np.fft.ifft(actual_mask_fft * rotated_expected_sig_fft).real + + numerator = np.fft.ifft(rotated_expected_sig_fft * actual_sig_fft).real + numerator -= masked_correlated_actual_fft * masked_correlated_expected_fft / number_overlap_masked_samples + + actual_squared_fft = fft(actual_sig ** 2) + actual_sig_denom = np.fft.ifft(rotated_mask_fft * actual_squared_fft).real + actual_sig_denom -= masked_correlated_actual_fft ** 2 / number_overlap_masked_samples + actual_sig_denom[:] = np.fmax(actual_sig_denom, 0.0) + + rotated_expected_squared_fft = fft(rotated_expected_sig ** 2) + expected_sig_denom = np.fft.ifft(actual_mask_fft * rotated_expected_squared_fft).real + expected_sig_denom -= masked_correlated_expected_fft ** 2 / number_overlap_masked_samples + expected_sig_denom[:] = np.fmax(expected_sig_denom, 0.0) + + denom = np.sqrt(actual_sig_denom * expected_sig_denom) + + # zero-out samples with very small denominators + tol = 1e3 * eps * np.max(np.abs(denom), keepdims=True) + nonzero_indices = denom > tol + + ncc = np.zeros_like(denom, dtype=np.float64) + ncc[nonzero_indices] = numerator[nonzero_indices] / denom[nonzero_indices] + np.clip(ncc, -1, 1, out=ncc) + + return ncc + + +class Points: + def __init__(self, num_points): + self.times = deque(maxlen=num_points) + self.okay = deque(maxlen=num_points) + self.desired = deque(maxlen=num_points) + self.actual = deque(maxlen=num_points) + + @property + def num_points(self): + return len(self.desired) + + @property + def num_okay(self): + return np.count_nonzero(self.okay) + + def update(self, t, desired, actual, okay): + self.times.append(t) + self.okay.append(okay) + self.desired.append(desired) + self.actual.append(actual) + + def get(self): + return np.array(self.times), np.array(self.desired), np.array(self.actual), np.array(self.okay) + + +class BlockAverage: + def __init__(self, num_blocks, block_size, valid_blocks, initial_value): + self.num_blocks = num_blocks + self.block_size = block_size + self.block_idx = valid_blocks % block_size + self.idx = 0 + + self.values = np.tile(initial_value, (num_blocks, 1)) + self.valid_blocks = valid_blocks + + def update(self, value): + self.values[self.block_idx] = (self.idx * self.values[self.block_idx] + (self.block_size - self.idx) * value) / self.block_size + self.idx = (self.idx + 1) % self.block_size + if self.idx == 0: + self.block_idx = (self.block_idx + 1) % self.num_blocks + self.valid_blocks = min(self.valid_blocks + 1, self.num_blocks) + + def get(self): + valid_block_idx = [i for i in range(self.valid_blocks) if i != self.block_idx] + if not valid_block_idx: + return None + return float(np.mean(self.values[valid_block_idx], axis=0).item()) + + +class LateralLagEstimator: + inputs = {"carControl", "carState", "controlsState", "liveCalibration", "livePose"} + + def __init__(self, CP, dt, + block_count=BLOCK_NUM, min_valid_block_count=BLOCK_NUM_NEEDED, block_size=BLOCK_SIZE, + window_sec=MOVING_WINDOW_SEC, okay_window_sec=MIN_OKAY_WINDOW_SEC, min_recovery_buffer_sec=MIN_RECOVERY_BUFFER_SEC, + min_vego=MIN_VEGO, min_yr=MIN_ABS_YAW_RATE, min_ncc=MIN_NCC): + self.dt = dt + self.window_sec = window_sec + self.okay_window_sec = okay_window_sec + self.min_recovery_buffer_sec = min_recovery_buffer_sec + self.initial_lag = CP.steerActuatorDelay + 0.2 + self.block_size = block_size + self.block_count = block_count + self.min_valid_block_count = min_valid_block_count + self.min_vego = min_vego + self.min_yr = min_yr + self.min_ncc = min_ncc + + self.t = 0 + self.lat_active = False + self.steering_pressed = False + self.steering_saturated = False + self.desired_curvature = 0 + self.v_ego = 0 + self.yaw_rate = 0 + + self.last_lat_inactive_t = 0 + self.last_steering_pressed_t = 0 + self.last_steering_saturated_t = 0 + self.last_estimate_t = 0 + + self.calibrator = PoseCalibrator() + + self.reset(self.initial_lag, 0) + + def reset(self, initial_lag, valid_blocks): + window_len = int(self.window_sec / self.dt) + self.points = Points(window_len) + self.block_avg = BlockAverage(self.block_count, self.block_size, valid_blocks, initial_lag) + + def get_msg(self, valid, debug=False): + msg = messaging.new_message('liveDelay') + + msg.valid = valid + + liveDelay = msg.liveDelay + + estimated_lag = self.block_avg.get() + liveDelay.lateralDelayEstimate = estimated_lag or self.initial_lag + if self.block_avg.valid_blocks >= self.min_valid_block_count and estimated_lag is not None: + liveDelay.status = log.LiveDelayData.Status.estimated + liveDelay.lateralDelay = estimated_lag + else: + liveDelay.status = log.LiveDelayData.Status.unestimated + liveDelay.lateralDelay = self.initial_lag + liveDelay.validBlocks = self.block_avg.valid_blocks + if debug: + liveDelay.points = self.block_avg.values.flatten().tolist() + + return msg + + def handle_log(self, t, which, msg): + if which == "carControl": + self.lat_active = msg.latActive + elif which == "carState": + self.steering_pressed = msg.steeringPressed + self.v_ego = msg.vEgo + elif which == "controlsState": + self.steering_saturated = getattr(msg.lateralControlState, msg.lateralControlState.which()).saturated + self.desired_curvature = msg.desiredCurvature + elif which == "liveCalibration": + self.calibrator.feed_live_calib(msg) + elif which == "livePose": + device_pose = Pose.from_live_pose(msg) + calibrated_pose = self.calibrator.build_calibrated_pose(device_pose) + self.yaw_rate = calibrated_pose.angular_velocity.z + self.t = t + + def points_valid(self): + return self.points.num_okay >= int(self.okay_window_sec / self.dt) + + def update_points(self): + if not self.lat_active: + self.last_lat_inactive_t = self.t + if self.steering_pressed: + self.last_steering_pressed_t = self.t + if self.steering_saturated: + self.last_steering_saturated_t = self.t + + la_desired = self.desired_curvature * self.v_ego * self.v_ego + la_actual_pose = self.yaw_rate * self.v_ego + + fast = self.v_ego > self.min_vego + turning = np.abs(self.yaw_rate) >= self.min_yr + has_recovered = all( # wait for recovery after !lat_active, steering_pressed, steering_saturated + self.t - last_t >= self.min_recovery_buffer_sec + for last_t in [self.last_lat_inactive_t, self.last_steering_pressed_t, self.last_steering_saturated_t] + ) + okay = self.lat_active and not self.steering_pressed and not self.steering_saturated and fast and turning and has_recovered + + self.points.update(self.t, la_desired, la_actual_pose, okay) + + def update_estimate(self): + # check if the points are valid overall + if not self.points_valid(): + return + + times, desired, actual, okay = self.points.get() + # check if there are any new valid data points since the last update + if self.last_estimate_t != 0 and times[0] <= self.last_estimate_t: + new_values_start_idx = next(-i for i, t in enumerate(reversed(times)) if t <= self.last_estimate_t) + if (new_values_start_idx == 0 or not np.any(okay[new_values_start_idx:])): + return + + delay, corr = self.actuator_delay(desired, actual, okay, self.dt) + if corr < self.min_ncc: + return + + self.block_avg.update(delay) + self.last_estimate_t = self.t + + def correlation_lags(self, sig_len, dt): + return np.arange(0, sig_len) * dt + + def actuator_delay(self, expected_sig, actual_sig, mask, dt, max_lag=1.): + ncc = masked_normalized_cross_correlation(expected_sig, actual_sig, mask) + + # only consider lags from 0 to max_lag + max_lag_samples = int(max_lag / dt) + roi_ncc = ncc[len(expected_sig) - 1: len(expected_sig) - 1 + max_lag_samples] + + max_corr_index = np.argmax(roi_ncc) + corr = roi_ncc[max_corr_index] + lag = parabolic_peak_interp(roi_ncc, max_corr_index) * dt + + return lag, corr diff --git a/selfdrive/locationd/estimators/vehicle_params.py b/selfdrive/locationd/estimators/vehicle_params.py new file mode 100644 index 0000000000..025d28dee0 --- /dev/null +++ b/selfdrive/locationd/estimators/vehicle_params.py @@ -0,0 +1,197 @@ +import numpy as np +import capnp + +import cereal.messaging as messaging +from cereal import car, log +from openpilot.common.realtime import DT_MDL +from openpilot.common.swaglog import cloudlog +from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States +from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR +from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose + +MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL # Max 20 deg/s +ROLL_MAX_DELTA = np.radians(20.0) * DT_MDL # 20deg in 1 second is well within curvature limits +ROLL_MIN, ROLL_MAX = np.radians(-10), np.radians(10) +ROLL_LOWERED_MAX = np.radians(8) +ROLL_STD_MAX = np.radians(1.5) +LATERAL_ACC_SENSOR_THRESHOLD = 4.0 +OFFSET_MAX = 10.0 +OFFSET_LOWERED_MAX = 8.0 +MIN_ACTIVE_SPEED = 1.0 +LOW_ACTIVE_SPEED = 10.0 + + +def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: float, lowered_threshold: float): + if current_valid: + current_valid = abs(val) < threshold + else: + current_valid = abs(val) < lowered_threshold + return current_valid + + +class VehicleParamsLearner: + inputs = {'carState', 'liveCalibration', 'livePose'} + + def __init__(self, CP: car.CarParams, steer_ratio: float, stiffness_factor: float, angle_offset: float, P_initial: np.ndarray | None = None): + self.kf = CarKalman(GENERATED_DIR) + + self.x_initial = CarKalman.initial_x.copy() + self.x_initial[States.STEER_RATIO] = steer_ratio + self.x_initial[States.STIFFNESS] = stiffness_factor + self.x_initial[States.ANGLE_OFFSET] = angle_offset + self.P_initial = P_initial if P_initial is not None else CarKalman.P_initial + + self.kf.set_globals( + mass=CP.mass, + rotational_inertia=CP.rotationalInertia, + center_to_front=CP.centerToFront, + center_to_rear=CP.wheelbase - CP.centerToFront, + stiffness_front=CP.tireStiffnessFront, + stiffness_rear=CP.tireStiffnessRear + ) + + self.min_sr, self.max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio + + self.calibrator = PoseCalibrator() + + self.observed_speed = 0.0 + self.observed_yaw_rate = 0.0 + self.observed_roll = 0.0 + + self.avg_offset_valid = True + self.total_offset_valid = True + self.roll_valid = True + + self.reset(None) + + def reset(self, t: float | None): + self.kf.init_state(self.x_initial, covs=self.P_initial, filter_time=t) + + self.angle_offset, self.roll, self.active = np.degrees(self.x_initial[States.ANGLE_OFFSET].item()), 0.0, False + self.avg_angle_offset = self.angle_offset + + def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader): + if which == 'livePose': + device_pose = Pose.from_live_pose(msg) + calibrated_pose = self.calibrator.build_calibrated_pose(device_pose) + + yaw_rate, yaw_rate_std = calibrated_pose.angular_velocity.z, calibrated_pose.angular_velocity.z_std + yaw_rate_valid = msg.angularVelocityDevice.valid + yaw_rate_valid = yaw_rate_valid and 0 < yaw_rate_std < 10 # rad/s + yaw_rate_valid = yaw_rate_valid and abs(yaw_rate) < 1 # rad/s + if not yaw_rate_valid: + # This is done to bound the yaw rate estimate when localizer values are invalid or calibrating + yaw_rate, yaw_rate_std = 0.0, np.radians(10.0) + self.observed_yaw_rate = yaw_rate + + localizer_roll, localizer_roll_std = device_pose.orientation.x, device_pose.orientation.x_std + localizer_roll_std = np.radians(1) if np.isnan(localizer_roll_std) else localizer_roll_std + roll_valid = (localizer_roll_std < ROLL_STD_MAX) and (ROLL_MIN < localizer_roll < ROLL_MAX) and msg.sensorsOK + if roll_valid: + roll = localizer_roll + # Experimentally found multiplier of 2 to be best trade-off between stability and accuracy or similar? + roll_std = 2 * localizer_roll_std + else: + # This is done to bound the road roll estimate when localizer values are invalid + roll = 0.0 + roll_std = np.radians(10.0) + self.observed_roll = np.clip(roll, self.observed_roll - ROLL_MAX_DELTA, self.observed_roll + ROLL_MAX_DELTA) + + if self.active: + if msg.posenetOK: + self.kf.predict_and_observe(t, + ObservationKind.ROAD_FRAME_YAW_RATE, + np.array([[-self.observed_yaw_rate]]), + np.array([np.atleast_2d(yaw_rate_std**2)])) + + self.kf.predict_and_observe(t, + ObservationKind.ROAD_ROLL, + np.array([[self.observed_roll]]), + np.array([np.atleast_2d(roll_std**2)])) + self.kf.predict_and_observe(t, ObservationKind.ANGLE_OFFSET_FAST, np.array([[0]])) + + # We observe the current stiffness and steer ratio (with a high observation noise) to bound + # the respective estimate STD. Otherwise the STDs keep increasing, causing rapid changes in the + # states in longer routes (especially straight stretches). + stiffness = float(self.kf.x[States.STIFFNESS].item()) + steer_ratio = float(self.kf.x[States.STEER_RATIO].item()) + self.kf.predict_and_observe(t, ObservationKind.STIFFNESS, np.array([[stiffness]])) + self.kf.predict_and_observe(t, ObservationKind.STEER_RATIO, np.array([[steer_ratio]])) + + elif which == 'liveCalibration': + self.calibrator.feed_live_calib(msg) + + elif which == 'carState': + steering_angle = msg.steeringAngleDeg + + in_linear_region = abs(steering_angle) < 45 + self.observed_speed = msg.vEgo + self.active = self.observed_speed > MIN_ACTIVE_SPEED and in_linear_region + + if self.active: + self.kf.predict_and_observe(t, ObservationKind.STEER_ANGLE, np.array([[np.radians(steering_angle)]])) + self.kf.predict_and_observe(t, ObservationKind.ROAD_FRAME_X_SPEED, np.array([[self.observed_speed]])) + + if not self.active: + # Reset time when stopped so uncertainty doesn't grow + self.kf.filter.set_filter_time(t) # type: ignore + self.kf.filter.reset_rewind() # type: ignore + + def get_msg(self, valid: bool, debug: bool = False) -> capnp._DynamicStructBuilder: + x = self.kf.x + P = np.sqrt(self.kf.P.diagonal()) + if not np.all(np.isfinite(x)): + cloudlog.error("NaN in liveParameters estimate. Resetting to default values") + self.reset(self.kf.t) + x = self.kf.x + + self.avg_angle_offset = np.clip(np.degrees(x[States.ANGLE_OFFSET].item()), + self.avg_angle_offset - MAX_ANGLE_OFFSET_DELTA, self.avg_angle_offset + MAX_ANGLE_OFFSET_DELTA) + self.angle_offset = np.clip(np.degrees(x[States.ANGLE_OFFSET].item() + x[States.ANGLE_OFFSET_FAST].item()), + self.angle_offset - MAX_ANGLE_OFFSET_DELTA, self.angle_offset + MAX_ANGLE_OFFSET_DELTA) + self.roll = np.clip(float(x[States.ROAD_ROLL].item()), self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA) + roll_std = float(P[States.ROAD_ROLL].item()) + if self.active and self.observed_speed > LOW_ACTIVE_SPEED: + # Account for the opposite signs of the yaw rates + # At low speeds, bumping into a curb can cause the yaw rate to be very high + sensors_valid = bool(abs(self.observed_speed * (x[States.YAW_RATE].item() + self.observed_yaw_rate)) < LATERAL_ACC_SENSOR_THRESHOLD) + else: + sensors_valid = True + self.avg_offset_valid = check_valid_with_hysteresis(self.avg_offset_valid, self.avg_angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX) + self.total_offset_valid = check_valid_with_hysteresis(self.total_offset_valid, self.angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX) + self.roll_valid = check_valid_with_hysteresis(self.roll_valid, self.roll, ROLL_MAX, ROLL_LOWERED_MAX) + + msg = messaging.new_message('liveParameters') + + msg.valid = valid + + liveParameters = msg.liveParameters + liveParameters.posenetValid = True + liveParameters.sensorValid = sensors_valid + liveParameters.steerRatio = float(x[States.STEER_RATIO].item()) + liveParameters.stiffnessFactor = float(x[States.STIFFNESS].item()) + liveParameters.roll = float(self.roll) + liveParameters.angleOffsetAverageDeg = float(self.avg_angle_offset) + liveParameters.angleOffsetDeg = float(self.angle_offset) + liveParameters.steerRatioValid = self.min_sr <= liveParameters.steerRatio <= self.max_sr + liveParameters.stiffnessFactorValid = 0.2 <= liveParameters.stiffnessFactor <= 5.0 + liveParameters.angleOffsetAverageValid = bool(self.avg_offset_valid) + liveParameters.angleOffsetValid = bool(self.total_offset_valid) + liveParameters.valid = all(( + liveParameters.angleOffsetAverageValid, + liveParameters.angleOffsetValid , + self.roll_valid, + roll_std < ROLL_STD_MAX, + liveParameters.stiffnessFactorValid, + liveParameters.steerRatioValid, + )) + liveParameters.steerRatioStd = float(P[States.STEER_RATIO].item()) + liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item()) + liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET].item()) + liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST].item()) + if debug: + liveParameters.debugFilterState = log.LiveParametersData.FilterState.new_message() + liveParameters.debugFilterState.value = x.tolist() + liveParameters.debugFilterState.std = P.tolist() + + return msg diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index 243abc5c08..524319fdee 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -2,201 +2,15 @@ import os import json import numpy as np -import capnp import cereal.messaging as messaging from cereal import car, log +from cereal.services import SERVICE_LIST from openpilot.common.params import Params -from openpilot.common.realtime import config_realtime_process, DT_MDL -from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States -from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR -from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose +from openpilot.common.realtime import config_realtime_process from openpilot.common.swaglog import cloudlog - -MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL # Max 20 deg/s -ROLL_MAX_DELTA = np.radians(20.0) * DT_MDL # 20deg in 1 second is well within curvature limits -ROLL_MIN, ROLL_MAX = np.radians(-10), np.radians(10) -ROLL_LOWERED_MAX = np.radians(8) -ROLL_STD_MAX = np.radians(1.5) -LATERAL_ACC_SENSOR_THRESHOLD = 4.0 -OFFSET_MAX = 10.0 -OFFSET_LOWERED_MAX = 8.0 -MIN_ACTIVE_SPEED = 1.0 -LOW_ACTIVE_SPEED = 10.0 - - -class VehicleParamsLearner: - def __init__(self, CP: car.CarParams, steer_ratio: float, stiffness_factor: float, angle_offset: float, P_initial: np.ndarray | None = None): - self.kf = CarKalman(GENERATED_DIR) - - self.x_initial = CarKalman.initial_x.copy() - self.x_initial[States.STEER_RATIO] = steer_ratio - self.x_initial[States.STIFFNESS] = stiffness_factor - self.x_initial[States.ANGLE_OFFSET] = angle_offset - self.P_initial = P_initial if P_initial is not None else CarKalman.P_initial - - self.kf.set_globals( - mass=CP.mass, - rotational_inertia=CP.rotationalInertia, - center_to_front=CP.centerToFront, - center_to_rear=CP.wheelbase - CP.centerToFront, - stiffness_front=CP.tireStiffnessFront, - stiffness_rear=CP.tireStiffnessRear - ) - - self.min_sr, self.max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio - - self.calibrator = PoseCalibrator() - - self.observed_speed = 0.0 - self.observed_yaw_rate = 0.0 - self.observed_roll = 0.0 - - self.avg_offset_valid = True - self.total_offset_valid = True - self.roll_valid = True - - self.reset(None) - - def reset(self, t: float | None): - self.kf.init_state(self.x_initial, covs=self.P_initial, filter_time=t) - - self.angle_offset, self.roll, self.active = np.degrees(self.x_initial[States.ANGLE_OFFSET].item()), 0.0, False - self.avg_angle_offset = self.angle_offset - - def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader): - if which == 'livePose': - device_pose = Pose.from_live_pose(msg) - calibrated_pose = self.calibrator.build_calibrated_pose(device_pose) - - yaw_rate, yaw_rate_std = calibrated_pose.angular_velocity.z, calibrated_pose.angular_velocity.z_std - yaw_rate_valid = msg.angularVelocityDevice.valid - yaw_rate_valid = yaw_rate_valid and 0 < yaw_rate_std < 10 # rad/s - yaw_rate_valid = yaw_rate_valid and abs(yaw_rate) < 1 # rad/s - if not yaw_rate_valid: - # This is done to bound the yaw rate estimate when localizer values are invalid or calibrating - yaw_rate, yaw_rate_std = 0.0, np.radians(10.0) - self.observed_yaw_rate = yaw_rate - - localizer_roll, localizer_roll_std = device_pose.orientation.x, device_pose.orientation.x_std - localizer_roll_std = np.radians(1) if np.isnan(localizer_roll_std) else localizer_roll_std - roll_valid = (localizer_roll_std < ROLL_STD_MAX) and (ROLL_MIN < localizer_roll < ROLL_MAX) and msg.sensorsOK - if roll_valid: - roll = localizer_roll - # Experimentally found multiplier of 2 to be best trade-off between stability and accuracy or similar? - roll_std = 2 * localizer_roll_std - else: - # This is done to bound the road roll estimate when localizer values are invalid - roll = 0.0 - roll_std = np.radians(10.0) - self.observed_roll = np.clip(roll, self.observed_roll - ROLL_MAX_DELTA, self.observed_roll + ROLL_MAX_DELTA) - - if self.active: - if msg.posenetOK: - self.kf.predict_and_observe(t, - ObservationKind.ROAD_FRAME_YAW_RATE, - np.array([[-self.observed_yaw_rate]]), - np.array([np.atleast_2d(yaw_rate_std**2)])) - - self.kf.predict_and_observe(t, - ObservationKind.ROAD_ROLL, - np.array([[self.observed_roll]]), - np.array([np.atleast_2d(roll_std**2)])) - self.kf.predict_and_observe(t, ObservationKind.ANGLE_OFFSET_FAST, np.array([[0]])) - - # We observe the current stiffness and steer ratio (with a high observation noise) to bound - # the respective estimate STD. Otherwise the STDs keep increasing, causing rapid changes in the - # states in longer routes (especially straight stretches). - stiffness = float(self.kf.x[States.STIFFNESS].item()) - steer_ratio = float(self.kf.x[States.STEER_RATIO].item()) - self.kf.predict_and_observe(t, ObservationKind.STIFFNESS, np.array([[stiffness]])) - self.kf.predict_and_observe(t, ObservationKind.STEER_RATIO, np.array([[steer_ratio]])) - - elif which == 'liveCalibration': - self.calibrator.feed_live_calib(msg) - - elif which == 'carState': - steering_angle = msg.steeringAngleDeg - - in_linear_region = abs(steering_angle) < 45 - self.observed_speed = msg.vEgo - self.active = self.observed_speed > MIN_ACTIVE_SPEED and in_linear_region - - if self.active: - self.kf.predict_and_observe(t, ObservationKind.STEER_ANGLE, np.array([[np.radians(steering_angle)]])) - self.kf.predict_and_observe(t, ObservationKind.ROAD_FRAME_X_SPEED, np.array([[self.observed_speed]])) - - if not self.active: - # Reset time when stopped so uncertainty doesn't grow - self.kf.filter.set_filter_time(t) # type: ignore - self.kf.filter.reset_rewind() # type: ignore - - def get_msg(self, valid: bool, debug: bool = False) -> capnp._DynamicStructBuilder: - x = self.kf.x - P = np.sqrt(self.kf.P.diagonal()) - if not np.all(np.isfinite(x)): - cloudlog.error("NaN in liveParameters estimate. Resetting to default values") - self.reset(self.kf.t) - x = self.kf.x - - self.avg_angle_offset = np.clip(np.degrees(x[States.ANGLE_OFFSET].item()), - self.avg_angle_offset - MAX_ANGLE_OFFSET_DELTA, self.avg_angle_offset + MAX_ANGLE_OFFSET_DELTA) - self.angle_offset = np.clip(np.degrees(x[States.ANGLE_OFFSET].item() + x[States.ANGLE_OFFSET_FAST].item()), - self.angle_offset - MAX_ANGLE_OFFSET_DELTA, self.angle_offset + MAX_ANGLE_OFFSET_DELTA) - self.roll = np.clip(float(x[States.ROAD_ROLL].item()), self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA) - roll_std = float(P[States.ROAD_ROLL].item()) - if self.active and self.observed_speed > LOW_ACTIVE_SPEED: - # Account for the opposite signs of the yaw rates - # At low speeds, bumping into a curb can cause the yaw rate to be very high - sensors_valid = bool(abs(self.observed_speed * (x[States.YAW_RATE].item() + self.observed_yaw_rate)) < LATERAL_ACC_SENSOR_THRESHOLD) - else: - sensors_valid = True - self.avg_offset_valid = check_valid_with_hysteresis(self.avg_offset_valid, self.avg_angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX) - self.total_offset_valid = check_valid_with_hysteresis(self.total_offset_valid, self.angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX) - self.roll_valid = check_valid_with_hysteresis(self.roll_valid, self.roll, ROLL_MAX, ROLL_LOWERED_MAX) - - msg = messaging.new_message('liveParameters') - - msg.valid = valid - - liveParameters = msg.liveParameters - liveParameters.posenetValid = True - liveParameters.sensorValid = sensors_valid - liveParameters.steerRatio = float(x[States.STEER_RATIO].item()) - liveParameters.stiffnessFactor = float(x[States.STIFFNESS].item()) - liveParameters.roll = float(self.roll) - liveParameters.angleOffsetAverageDeg = float(self.avg_angle_offset) - liveParameters.angleOffsetDeg = float(self.angle_offset) - liveParameters.steerRatioValid = self.min_sr <= liveParameters.steerRatio <= self.max_sr - liveParameters.stiffnessFactorValid = 0.2 <= liveParameters.stiffnessFactor <= 5.0 - liveParameters.angleOffsetAverageValid = bool(self.avg_offset_valid) - liveParameters.angleOffsetValid = bool(self.total_offset_valid) - liveParameters.valid = all(( - liveParameters.angleOffsetAverageValid, - liveParameters.angleOffsetValid , - self.roll_valid, - roll_std < ROLL_STD_MAX, - liveParameters.stiffnessFactorValid, - liveParameters.steerRatioValid, - )) - liveParameters.steerRatioStd = float(P[States.STEER_RATIO].item()) - liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item()) - liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET].item()) - liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST].item()) - if debug: - liveParameters.debugFilterState = log.LiveParametersData.FilterState.new_message() - liveParameters.debugFilterState.value = x.tolist() - liveParameters.debugFilterState.std = P.tolist() - - return msg - - -def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: float, lowered_threshold: float): - if current_valid: - current_valid = abs(val) < threshold - else: - current_valid = abs(val) < lowered_threshold - return current_valid +from openpilot.selfdrive.locationd.estimators.vehicle_params import VehicleParamsLearner +from openpilot.selfdrive.locationd.estimators.lateral_lag import LateralLagEstimator # TODO: Remove this function after few releases (added in 0.9.9) @@ -258,22 +72,46 @@ def retrieve_initial_vehicle_params(params_reader: Params, CP: car.CarParams, re return steer_ratio, stiffness_factor, angle_offset_deg, p_initial +def retrieve_initial_lag(params_reader: Params, CP: car.CarParams): + last_lag_data = params_reader.get("LiveLag") + last_carparams_data = params_reader.get("CarParamsPrevRoute") + + if last_lag_data is not None: + try: + with log.Event.from_bytes(last_lag_data) as last_lag_msg, car.CarParams.from_bytes(last_carparams_data) as last_CP: + ld = last_lag_msg.liveDelay + if last_CP.carFingerprint != CP.carFingerprint: + raise Exception("Car model mismatch") + + lag, valid_blocks = ld.lateralDelayEstimate, ld.validBlocks + return lag, valid_blocks + except Exception as e: + cloudlog.error(f"Failed to retrieve initial lag: {e}") + + return None + + def main(): config_realtime_process([0, 1, 2, 3], 5) DEBUG = bool(int(os.getenv("DEBUG", "0"))) REPLAY = bool(int(os.getenv("REPLAY", "0"))) - pm = messaging.PubMaster(['liveParameters']) - sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState'], poll='livePose') + pm = messaging.PubMaster(['liveParameters', 'liveDelay']) + sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState', 'controlsState', 'carControl'], poll='livePose') params_reader = Params() CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams) migrate_cached_vehicle_params_if_needed(params_reader) - steer_ratio, stiffness_factor, angle_offset_deg, pInitial = retrieve_initial_vehicle_params(params_reader, CP, REPLAY, DEBUG) - learner = VehicleParamsLearner(CP, steer_ratio, stiffness_factor, np.radians(angle_offset_deg), pInitial) + steer_ratio, stiffness_factor, angle_offset_deg, p_initial = retrieve_initial_vehicle_params(params_reader, CP, REPLAY, DEBUG) + params_learner = VehicleParamsLearner(CP, steer_ratio, stiffness_factor, np.radians(angle_offset_deg), p_initial) + + lag_learner = LateralLagEstimator(CP, 1. / SERVICE_LIST['livePose'].frequency) + if (initial_lag_params := retrieve_initial_lag(params_reader, CP)) is not None: + lag, valid_blocks = initial_lag_params + lag_learner.reset(lag, valid_blocks) while True: sm.update() @@ -281,17 +119,30 @@ def main(): for which in sorted(sm.updated.keys(), key=lambda x: sm.logMonoTime[x]): if sm.updated[which]: t = sm.logMonoTime[which] * 1e-9 - learner.handle_log(t, which, sm[which]) + if which in params_learner.inputs: + params_learner.handle_log(t, which, sm[which]) + if which in lag_learner.inputs: + lag_learner.handle_log(t, which, sm[which]) + lag_learner.update_points() + params_msg_dat, lag_msg_dat = None, None if sm.updated['livePose']: - msg = learner.get_msg(sm.all_checks(), debug=DEBUG) - - msg_dat = msg.to_bytes() - if sm.frame % 1200 == 0: # once a minute - params_reader.put_nonblocking("LiveParameters", msg_dat) - - pm.send('liveParameters', msg_dat) - + params_msg = params_learner.get_msg(sm.all_checks(), debug=DEBUG) + params_msg_dat = params_msg.to_bytes() + pm.send('liveParameters', params_msg_dat) + + # 4Hz driven by livePose + if sm.frame % 5 == 0: + lag_learner.update_estimate() + lag_msg = lag_learner.get_msg(sm.all_checks(), DEBUG) + lag_msg_dat = lag_msg.to_bytes() + pm.send('liveDelay', lag_msg_dat) + + if sm.frame % 1200 == 0: # cache every 60 seconds + if params_msg_dat is not None: + params_reader.put_nonblocking("LiveParameters", params_msg_dat) + if lag_msg_dat is not None: + params_reader.put_nonblocking("LiveLag", lag_msg_dat) if __name__ == "__main__": main() diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 13de985c68..34b807fcad 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -542,8 +542,8 @@ CONFIGS = [ ), ProcessConfig( proc_name="paramsd", - pubs=["livePose", "liveCalibration", "carState"], - subs=["liveParameters"], + pubs=["livePose", "liveCalibration", "carState", "carControl", "controlsState"], + subs=["liveParameters", "liveDelay"], ignore=["logMonoTime"], init_callback=get_car_params_callback, should_recv_callback=FrequencyBasedRcvCallback("livePose"), diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 58ff170e74..cd31ea53e8 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -887623a18d82088dc5ed9ecdced55eb0d3f718b1 \ No newline at end of file +0ef214e7f4f06d6d591a2257d254f3c00db6a0e9 \ No newline at end of file From 9cb4d3d75e6945fe55dcc640947704734fa22a5f Mon Sep 17 00:00:00 2001 From: Iamz Date: Wed, 2 Apr 2025 01:39:01 +0700 Subject: [PATCH 056/115] Update Thai translations (#34970) --- selfdrive/ui/translations/main_th.ts | 58 ++++++++++++++-------------- 1 file changed, 30 insertions(+), 28 deletions(-) diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index f6b9792dc4..aab2270a01 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -117,31 +117,31 @@ DeveloperPanel Joystick Debug Mode - + โหมดดีบักจอยสติ๊ก Longitudinal Maneuver Mode - + โหมดการควบคุมการเร่ง/เบรค openpilot Longitudinal Control (Alpha) - ระบบควบคุมการเร่ง/เบรคโดย openpilot (Alpha) + ระบบควบคุมการเร่ง/เบรคโดย openpilot (Alpha) WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - คำเตือน: การควบคุมการเร่ง/เบรคโดย openpilot สำหรับรถคันนี้ยังอยู่ในสถานะ alpha และระบบเบรคฉุกเฉินอัตโนมัติ (AEB) จะถูกปิด + คำเตือน: การควบคุมการเร่ง/เบรคโดย openpilot สำหรับรถคันนี้ยังอยู่ในสถานะ alpha และระบบเบรคฉุกเฉินอัตโนมัติ (AEB) จะถูกปิด On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - โดยปกติสำหรับรถคันนี้ openpilot จะควบคุมการเร่ง/เบรคด้วยระบบ ACC จากโรงงาน แทนการควยคุมโดย openpilot เปิดสวิตซ์นี้เพื่อให้ openpilot ควบคุมการเร่ง/เบรค แนะนำให้เปิดโหมดทดลองเมื่อต้องการให้ openpilot ควบคุมการเร่ง/เบรค ซึ่งอยู่ในสถานะ alpha + โดยปกติสำหรับรถคันนี้ openpilot จะควบคุมการเร่ง/เบรคด้วยระบบ ACC จากโรงงาน แทนการควยคุมโดย openpilot เปิดสวิตซ์นี้เพื่อให้ openpilot ควบคุมการเร่ง/เบรค แนะนำให้เปิดโหมดทดลองเมื่อต้องการให้ openpilot ควบคุมการเร่ง/เบรค ซึ่งอยู่ในสถานะ alpha Enable ADB - + เปิด ADB ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info. - + ADB (Android Debug Bridge) อนุญาตให้เชื่อมต่ออุปกรณ์ของคุณผ่าน USB หรือผ่านเครือข่าย ดูข้อมูลเพิ่มเติมที่ https://docs.comma.ai/how-to/connect-to-comma @@ -309,35 +309,37 @@ FirehosePanel 🔥 Firehose Mode 🔥 - + 🔥 โหมดสายยางดับเพลิง 🔥 openpilot learns to drive by watching humans, like you, drive. Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models, which means better Experimental Mode. - + openpilot เรียนรู้วิธีขับรถจากการเฝ้าดูการขับขี่ของมนุษย์เช่นคุณ + +โหมดสายยางดับเพลิงช่วยให้คุณอัปโหลดข้อมูลการฝึกฝนได้มากที่สุด เพื่อนำไปพัฒนาโมเดลการขับขี่ของ openpilot ข้อมูลที่มากขึ้นหมายถึงโมเดลที่ใหญ่ขึ้น และนั่นหมายถึงโหมดทดลองที่ดีขึ้น Firehose Mode: ACTIVE - + โหมดสายยางดับเพลิง: เปิดใช้งาน ACTIVE - + เปิดใช้งาน For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - + เพื่อประสิทธิภาพสูงสุด ควรนำอุปกรณ์เข้ามาข้างใน เชื่อมต่อกับอะแดปเตอร์ USB-C คุณภาพดี และ Wi-Fi สัปดาห์ละครั้ง<br><br>โหมดสายยางดับเพลิงยังสามารถทำงานระหว่างขับรถได้ หากเชื่อมต่อกับฮอตสปอตหรือซิมการ์ดที่มีเน็ตไม่จำกัด<br><br><br><b>คำถามที่พบบ่อย</b><br><br><i>วิธีการขับหรือสถานที่ขับขี่มีผลหรือไม่?</i>ไม่มีผล แค่ขับขี่ตามปกติของคุณ<br><br><i>เซกเมนต์ทั้งหมดของฉันจะถูกดึงข้อมูลในโหมดสายยางดับเพลิงหรือไม่?</i>ไม่ใช่ เราจะเลือกดึงข้อมูลเพียงบางส่วนจากเซกเมนต์ของคุณ<br><br><i>อะแดปเตอร์ USB-C แบบไหนดี?</i>ที่ชาร์จเร็วของโทรศัพท์หรือแล็ปท็อปแบบใดก็ได้ สามารถใช้ได้<br><br><i>ซอฟต์แวร์ที่ใช้มีผลหรือไม่?</i>มีผล เฉพาะ openpilot ตัวหลัก (และ fork เฉพาะบางตัว) เท่านั้น ที่สามารถนำข้อมูลไปใช้ฝึกฝนโมเดลได้ <b>%n segment(s)</b> of your driving is in the training dataset so far. - - + + มีการขับขี่ของคุณ <b>%n เซกเมนต์</b> อยู่ในชุดข้อมูลการฝึกฝนแล้วในขณะนี้ <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network - + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>ไม่เปิดใช้งาน</span>: เชื่อมต่อกับเครือข่ายที่ไม่จำกัดข้อมูล @@ -485,11 +487,11 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Waiting to start - + รอเริ่มทำงาน System Unresponsive - + ระบบไม่ตอบสนอง @@ -512,7 +514,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Please connect to Wi-Fi to complete initial pairing - + กรุณาเชื่อมต่อ Wi-Fi เพื่อทำการจับคู่ครั้งแรกให้เสร็จสิ้น @@ -554,7 +556,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Remote snapshots - + ภาพถ่ายระยะไกล @@ -670,11 +672,11 @@ This may take up to a minute. Developer - + นักพัฒนา Firehose - + สายยางดับเพลิง @@ -995,11 +997,11 @@ This may take up to a minute. Welcome to openpilot - + ยินดีต้อนรับสู่ openpilot You must accept the Terms and Conditions to use openpilot. Read the latest terms at <span style='color: #465BEA;'>https://comma.ai/terms</span> before continuing. - + คุณต้องยอมรับข้อกำหนดและเงื่อนไขเพื่อใช้งาน openpilot อ่านข้อกำหนดล่าสุดได้ที่ <span style='color: #465BEA;'>https://comma.ai/terms</span> ก่อนดำเนินการต่อ @@ -1106,11 +1108,11 @@ This may take up to a minute. Always-On Driver Monitoring - + การเฝ้าระวังผู้ขับขี่ตลอดเวลา Enable driver monitoring even when openpilot is not engaged. - + เปิดใช้งานการเฝ้าระวังผู้ขับขี่แม้เมื่อ openpilot ไม่ได้เข้าควบคุมอยู่ @@ -1152,15 +1154,15 @@ This may take up to a minute. WiFiPromptWidget Open - + เปิด Maximize your training data uploads to improve openpilot's driving models. - + อัปโหลดข้อมูลการฝึกฝนให้ได้มากที่สุด เพื่อพัฒนาโมเดลการขับขี่ของ openpilot <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> - + <span style='font-family: "Noto Color Emoji";'>🔥</span> โหมดสายยางดับเพลิง <span style='font-family: Noto Color Emoji;'>🔥</span> From b4cc9e68d126c2219a7ddf33519e222fe8bfe00d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Tue, 1 Apr 2025 17:44:30 -0400 Subject: [PATCH 057/115] Revert "Online lateral lag learning" (#34974) Revert "Online lateral lag learning (#34531)" This reverts commit 1034dbd37c592630727948e5f958bb3898b377f8. --- cereal/log.capnp | 16 - cereal/services.py | 1 - common/params_keys.h | 1 - selfdrive/locationd/estimators/__init__.py | 0 selfdrive/locationd/estimators/lateral_lag.py | 273 ------------------ .../locationd/estimators/vehicle_params.py | 197 ------------- selfdrive/locationd/paramsd.py | 257 +++++++++++++---- .../test/process_replay/process_replay.py | 4 +- selfdrive/test/process_replay/ref_commit | 2 +- 9 files changed, 206 insertions(+), 545 deletions(-) delete mode 100644 selfdrive/locationd/estimators/__init__.py delete mode 100644 selfdrive/locationd/estimators/lateral_lag.py delete mode 100644 selfdrive/locationd/estimators/vehicle_params.py diff --git a/cereal/log.capnp b/cereal/log.capnp index 797c2cd8ac..593399f832 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -2278,21 +2278,6 @@ struct LiveTorqueParametersData { useParams @12 :Bool; } -struct LiveDelayData { - lateralDelay @0 :Float32; - validBlocks @1 :Int32; - status @2 :Status; - - lateralDelayEstimate @3 :Float32; - points @4 :List(Float32); - - enum Status { - unestimated @0; - estimated @1; - invalid @2; - } -} - struct LiveMapDataDEPRECATED { speedLimitValid @0 :Bool; speedLimit @1 :Float32; @@ -2523,7 +2508,6 @@ struct Event { gnssMeasurements @91 :GnssMeasurements; liveParameters @61 :LiveParametersData; liveTorqueParameters @94 :LiveTorqueParametersData; - liveDelay @146 : LiveDelayData; cameraOdometry @63 :CameraOdometry; thumbnail @66: Thumbnail; onroadEvents @134: List(OnroadEvent); diff --git a/cereal/services.py b/cereal/services.py index 82fc04bd00..aad83177bb 100755 --- a/cereal/services.py +++ b/cereal/services.py @@ -36,7 +36,6 @@ _services: dict[str, tuple] = { "errorLogMessage": (True, 0., 1), "liveCalibration": (True, 4., 4), "liveTorqueParameters": (True, 4., 1), - "liveDelay": (True, 4., 1), "androidLog": (True, 0.), "carState": (True, 100., 10), "carControl": (True, 100., 10), diff --git a/common/params_keys.h b/common/params_keys.h index c7f0578430..2b540b744c 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -71,7 +71,6 @@ inline static std::unordered_map keys = { {"LastPowerDropDetected", CLEAR_ON_MANAGER_START}, {"LastUpdateException", CLEAR_ON_MANAGER_START}, {"LastUpdateTime", PERSISTENT}, - {"LiveLag", PERSISTENT}, {"LiveParameters", PERSISTENT}, {"LiveTorqueParameters", PERSISTENT | DONT_LOG}, {"LocationFilterInitialState", PERSISTENT}, diff --git a/selfdrive/locationd/estimators/__init__.py b/selfdrive/locationd/estimators/__init__.py deleted file mode 100644 index e69de29bb2..0000000000 diff --git a/selfdrive/locationd/estimators/lateral_lag.py b/selfdrive/locationd/estimators/lateral_lag.py deleted file mode 100644 index 87f0b123a7..0000000000 --- a/selfdrive/locationd/estimators/lateral_lag.py +++ /dev/null @@ -1,273 +0,0 @@ -import numpy as np -from collections import deque -from functools import partial - -import cereal.messaging as messaging -from cereal import log -from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose - -BLOCK_SIZE = 100 -BLOCK_NUM = 50 -BLOCK_NUM_NEEDED = 5 -MOVING_WINDOW_SEC = 300.0 -MIN_OKAY_WINDOW_SEC = 30.0 -MIN_RECOVERY_BUFFER_SEC = 2.0 -MIN_VEGO = 15.0 -MIN_ABS_YAW_RATE = np.radians(1.0) -MIN_NCC = 0.95 - - -def parabolic_peak_interp(R, max_index): - if max_index == 0 or max_index == len(R) - 1: - return max_index - - y_m1, y_0, y_p1 = R[max_index - 1], R[max_index], R[max_index + 1] - offset = 0.5 * (y_p1 - y_m1) / (2 * y_0 - y_p1 - y_m1) - - return max_index + offset - - -def masked_normalized_cross_correlation(expected_sig, actual_sig, mask): - """ - References: - D. Padfield. "Masked FFT registration". In Proc. Computer Vision and - Pattern Recognition, pp. 2918-2925 (2010). - :DOI:`10.1109/CVPR.2010.5540032` - """ - - eps = np.finfo(np.float64).eps - expected_sig = np.asarray(expected_sig, dtype=np.float64) - actual_sig = np.asarray(actual_sig, dtype=np.float64) - - expected_sig[~mask] = 0.0 - actual_sig[~mask] = 0.0 - - rotated_expected_sig = expected_sig[::-1] - rotated_mask = mask[::-1] - - n = len(expected_sig) + len(actual_sig) - 1 - fft = partial(np.fft.fft, n=n) - - actual_sig_fft = fft(actual_sig) - rotated_expected_sig_fft = fft(rotated_expected_sig) - actual_mask_fft = fft(mask.astype(np.float64)) - rotated_mask_fft = fft(rotated_mask.astype(np.float64)) - - number_overlap_masked_samples = np.fft.ifft(rotated_mask_fft * actual_mask_fft).real - number_overlap_masked_samples[:] = np.round(number_overlap_masked_samples) - number_overlap_masked_samples[:] = np.fmax(number_overlap_masked_samples, eps) - masked_correlated_actual_fft = np.fft.ifft(rotated_mask_fft * actual_sig_fft).real - masked_correlated_expected_fft = np.fft.ifft(actual_mask_fft * rotated_expected_sig_fft).real - - numerator = np.fft.ifft(rotated_expected_sig_fft * actual_sig_fft).real - numerator -= masked_correlated_actual_fft * masked_correlated_expected_fft / number_overlap_masked_samples - - actual_squared_fft = fft(actual_sig ** 2) - actual_sig_denom = np.fft.ifft(rotated_mask_fft * actual_squared_fft).real - actual_sig_denom -= masked_correlated_actual_fft ** 2 / number_overlap_masked_samples - actual_sig_denom[:] = np.fmax(actual_sig_denom, 0.0) - - rotated_expected_squared_fft = fft(rotated_expected_sig ** 2) - expected_sig_denom = np.fft.ifft(actual_mask_fft * rotated_expected_squared_fft).real - expected_sig_denom -= masked_correlated_expected_fft ** 2 / number_overlap_masked_samples - expected_sig_denom[:] = np.fmax(expected_sig_denom, 0.0) - - denom = np.sqrt(actual_sig_denom * expected_sig_denom) - - # zero-out samples with very small denominators - tol = 1e3 * eps * np.max(np.abs(denom), keepdims=True) - nonzero_indices = denom > tol - - ncc = np.zeros_like(denom, dtype=np.float64) - ncc[nonzero_indices] = numerator[nonzero_indices] / denom[nonzero_indices] - np.clip(ncc, -1, 1, out=ncc) - - return ncc - - -class Points: - def __init__(self, num_points): - self.times = deque(maxlen=num_points) - self.okay = deque(maxlen=num_points) - self.desired = deque(maxlen=num_points) - self.actual = deque(maxlen=num_points) - - @property - def num_points(self): - return len(self.desired) - - @property - def num_okay(self): - return np.count_nonzero(self.okay) - - def update(self, t, desired, actual, okay): - self.times.append(t) - self.okay.append(okay) - self.desired.append(desired) - self.actual.append(actual) - - def get(self): - return np.array(self.times), np.array(self.desired), np.array(self.actual), np.array(self.okay) - - -class BlockAverage: - def __init__(self, num_blocks, block_size, valid_blocks, initial_value): - self.num_blocks = num_blocks - self.block_size = block_size - self.block_idx = valid_blocks % block_size - self.idx = 0 - - self.values = np.tile(initial_value, (num_blocks, 1)) - self.valid_blocks = valid_blocks - - def update(self, value): - self.values[self.block_idx] = (self.idx * self.values[self.block_idx] + (self.block_size - self.idx) * value) / self.block_size - self.idx = (self.idx + 1) % self.block_size - if self.idx == 0: - self.block_idx = (self.block_idx + 1) % self.num_blocks - self.valid_blocks = min(self.valid_blocks + 1, self.num_blocks) - - def get(self): - valid_block_idx = [i for i in range(self.valid_blocks) if i != self.block_idx] - if not valid_block_idx: - return None - return float(np.mean(self.values[valid_block_idx], axis=0).item()) - - -class LateralLagEstimator: - inputs = {"carControl", "carState", "controlsState", "liveCalibration", "livePose"} - - def __init__(self, CP, dt, - block_count=BLOCK_NUM, min_valid_block_count=BLOCK_NUM_NEEDED, block_size=BLOCK_SIZE, - window_sec=MOVING_WINDOW_SEC, okay_window_sec=MIN_OKAY_WINDOW_SEC, min_recovery_buffer_sec=MIN_RECOVERY_BUFFER_SEC, - min_vego=MIN_VEGO, min_yr=MIN_ABS_YAW_RATE, min_ncc=MIN_NCC): - self.dt = dt - self.window_sec = window_sec - self.okay_window_sec = okay_window_sec - self.min_recovery_buffer_sec = min_recovery_buffer_sec - self.initial_lag = CP.steerActuatorDelay + 0.2 - self.block_size = block_size - self.block_count = block_count - self.min_valid_block_count = min_valid_block_count - self.min_vego = min_vego - self.min_yr = min_yr - self.min_ncc = min_ncc - - self.t = 0 - self.lat_active = False - self.steering_pressed = False - self.steering_saturated = False - self.desired_curvature = 0 - self.v_ego = 0 - self.yaw_rate = 0 - - self.last_lat_inactive_t = 0 - self.last_steering_pressed_t = 0 - self.last_steering_saturated_t = 0 - self.last_estimate_t = 0 - - self.calibrator = PoseCalibrator() - - self.reset(self.initial_lag, 0) - - def reset(self, initial_lag, valid_blocks): - window_len = int(self.window_sec / self.dt) - self.points = Points(window_len) - self.block_avg = BlockAverage(self.block_count, self.block_size, valid_blocks, initial_lag) - - def get_msg(self, valid, debug=False): - msg = messaging.new_message('liveDelay') - - msg.valid = valid - - liveDelay = msg.liveDelay - - estimated_lag = self.block_avg.get() - liveDelay.lateralDelayEstimate = estimated_lag or self.initial_lag - if self.block_avg.valid_blocks >= self.min_valid_block_count and estimated_lag is not None: - liveDelay.status = log.LiveDelayData.Status.estimated - liveDelay.lateralDelay = estimated_lag - else: - liveDelay.status = log.LiveDelayData.Status.unestimated - liveDelay.lateralDelay = self.initial_lag - liveDelay.validBlocks = self.block_avg.valid_blocks - if debug: - liveDelay.points = self.block_avg.values.flatten().tolist() - - return msg - - def handle_log(self, t, which, msg): - if which == "carControl": - self.lat_active = msg.latActive - elif which == "carState": - self.steering_pressed = msg.steeringPressed - self.v_ego = msg.vEgo - elif which == "controlsState": - self.steering_saturated = getattr(msg.lateralControlState, msg.lateralControlState.which()).saturated - self.desired_curvature = msg.desiredCurvature - elif which == "liveCalibration": - self.calibrator.feed_live_calib(msg) - elif which == "livePose": - device_pose = Pose.from_live_pose(msg) - calibrated_pose = self.calibrator.build_calibrated_pose(device_pose) - self.yaw_rate = calibrated_pose.angular_velocity.z - self.t = t - - def points_valid(self): - return self.points.num_okay >= int(self.okay_window_sec / self.dt) - - def update_points(self): - if not self.lat_active: - self.last_lat_inactive_t = self.t - if self.steering_pressed: - self.last_steering_pressed_t = self.t - if self.steering_saturated: - self.last_steering_saturated_t = self.t - - la_desired = self.desired_curvature * self.v_ego * self.v_ego - la_actual_pose = self.yaw_rate * self.v_ego - - fast = self.v_ego > self.min_vego - turning = np.abs(self.yaw_rate) >= self.min_yr - has_recovered = all( # wait for recovery after !lat_active, steering_pressed, steering_saturated - self.t - last_t >= self.min_recovery_buffer_sec - for last_t in [self.last_lat_inactive_t, self.last_steering_pressed_t, self.last_steering_saturated_t] - ) - okay = self.lat_active and not self.steering_pressed and not self.steering_saturated and fast and turning and has_recovered - - self.points.update(self.t, la_desired, la_actual_pose, okay) - - def update_estimate(self): - # check if the points are valid overall - if not self.points_valid(): - return - - times, desired, actual, okay = self.points.get() - # check if there are any new valid data points since the last update - if self.last_estimate_t != 0 and times[0] <= self.last_estimate_t: - new_values_start_idx = next(-i for i, t in enumerate(reversed(times)) if t <= self.last_estimate_t) - if (new_values_start_idx == 0 or not np.any(okay[new_values_start_idx:])): - return - - delay, corr = self.actuator_delay(desired, actual, okay, self.dt) - if corr < self.min_ncc: - return - - self.block_avg.update(delay) - self.last_estimate_t = self.t - - def correlation_lags(self, sig_len, dt): - return np.arange(0, sig_len) * dt - - def actuator_delay(self, expected_sig, actual_sig, mask, dt, max_lag=1.): - ncc = masked_normalized_cross_correlation(expected_sig, actual_sig, mask) - - # only consider lags from 0 to max_lag - max_lag_samples = int(max_lag / dt) - roi_ncc = ncc[len(expected_sig) - 1: len(expected_sig) - 1 + max_lag_samples] - - max_corr_index = np.argmax(roi_ncc) - corr = roi_ncc[max_corr_index] - lag = parabolic_peak_interp(roi_ncc, max_corr_index) * dt - - return lag, corr diff --git a/selfdrive/locationd/estimators/vehicle_params.py b/selfdrive/locationd/estimators/vehicle_params.py deleted file mode 100644 index 025d28dee0..0000000000 --- a/selfdrive/locationd/estimators/vehicle_params.py +++ /dev/null @@ -1,197 +0,0 @@ -import numpy as np -import capnp - -import cereal.messaging as messaging -from cereal import car, log -from openpilot.common.realtime import DT_MDL -from openpilot.common.swaglog import cloudlog -from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States -from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR -from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose - -MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL # Max 20 deg/s -ROLL_MAX_DELTA = np.radians(20.0) * DT_MDL # 20deg in 1 second is well within curvature limits -ROLL_MIN, ROLL_MAX = np.radians(-10), np.radians(10) -ROLL_LOWERED_MAX = np.radians(8) -ROLL_STD_MAX = np.radians(1.5) -LATERAL_ACC_SENSOR_THRESHOLD = 4.0 -OFFSET_MAX = 10.0 -OFFSET_LOWERED_MAX = 8.0 -MIN_ACTIVE_SPEED = 1.0 -LOW_ACTIVE_SPEED = 10.0 - - -def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: float, lowered_threshold: float): - if current_valid: - current_valid = abs(val) < threshold - else: - current_valid = abs(val) < lowered_threshold - return current_valid - - -class VehicleParamsLearner: - inputs = {'carState', 'liveCalibration', 'livePose'} - - def __init__(self, CP: car.CarParams, steer_ratio: float, stiffness_factor: float, angle_offset: float, P_initial: np.ndarray | None = None): - self.kf = CarKalman(GENERATED_DIR) - - self.x_initial = CarKalman.initial_x.copy() - self.x_initial[States.STEER_RATIO] = steer_ratio - self.x_initial[States.STIFFNESS] = stiffness_factor - self.x_initial[States.ANGLE_OFFSET] = angle_offset - self.P_initial = P_initial if P_initial is not None else CarKalman.P_initial - - self.kf.set_globals( - mass=CP.mass, - rotational_inertia=CP.rotationalInertia, - center_to_front=CP.centerToFront, - center_to_rear=CP.wheelbase - CP.centerToFront, - stiffness_front=CP.tireStiffnessFront, - stiffness_rear=CP.tireStiffnessRear - ) - - self.min_sr, self.max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio - - self.calibrator = PoseCalibrator() - - self.observed_speed = 0.0 - self.observed_yaw_rate = 0.0 - self.observed_roll = 0.0 - - self.avg_offset_valid = True - self.total_offset_valid = True - self.roll_valid = True - - self.reset(None) - - def reset(self, t: float | None): - self.kf.init_state(self.x_initial, covs=self.P_initial, filter_time=t) - - self.angle_offset, self.roll, self.active = np.degrees(self.x_initial[States.ANGLE_OFFSET].item()), 0.0, False - self.avg_angle_offset = self.angle_offset - - def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader): - if which == 'livePose': - device_pose = Pose.from_live_pose(msg) - calibrated_pose = self.calibrator.build_calibrated_pose(device_pose) - - yaw_rate, yaw_rate_std = calibrated_pose.angular_velocity.z, calibrated_pose.angular_velocity.z_std - yaw_rate_valid = msg.angularVelocityDevice.valid - yaw_rate_valid = yaw_rate_valid and 0 < yaw_rate_std < 10 # rad/s - yaw_rate_valid = yaw_rate_valid and abs(yaw_rate) < 1 # rad/s - if not yaw_rate_valid: - # This is done to bound the yaw rate estimate when localizer values are invalid or calibrating - yaw_rate, yaw_rate_std = 0.0, np.radians(10.0) - self.observed_yaw_rate = yaw_rate - - localizer_roll, localizer_roll_std = device_pose.orientation.x, device_pose.orientation.x_std - localizer_roll_std = np.radians(1) if np.isnan(localizer_roll_std) else localizer_roll_std - roll_valid = (localizer_roll_std < ROLL_STD_MAX) and (ROLL_MIN < localizer_roll < ROLL_MAX) and msg.sensorsOK - if roll_valid: - roll = localizer_roll - # Experimentally found multiplier of 2 to be best trade-off between stability and accuracy or similar? - roll_std = 2 * localizer_roll_std - else: - # This is done to bound the road roll estimate when localizer values are invalid - roll = 0.0 - roll_std = np.radians(10.0) - self.observed_roll = np.clip(roll, self.observed_roll - ROLL_MAX_DELTA, self.observed_roll + ROLL_MAX_DELTA) - - if self.active: - if msg.posenetOK: - self.kf.predict_and_observe(t, - ObservationKind.ROAD_FRAME_YAW_RATE, - np.array([[-self.observed_yaw_rate]]), - np.array([np.atleast_2d(yaw_rate_std**2)])) - - self.kf.predict_and_observe(t, - ObservationKind.ROAD_ROLL, - np.array([[self.observed_roll]]), - np.array([np.atleast_2d(roll_std**2)])) - self.kf.predict_and_observe(t, ObservationKind.ANGLE_OFFSET_FAST, np.array([[0]])) - - # We observe the current stiffness and steer ratio (with a high observation noise) to bound - # the respective estimate STD. Otherwise the STDs keep increasing, causing rapid changes in the - # states in longer routes (especially straight stretches). - stiffness = float(self.kf.x[States.STIFFNESS].item()) - steer_ratio = float(self.kf.x[States.STEER_RATIO].item()) - self.kf.predict_and_observe(t, ObservationKind.STIFFNESS, np.array([[stiffness]])) - self.kf.predict_and_observe(t, ObservationKind.STEER_RATIO, np.array([[steer_ratio]])) - - elif which == 'liveCalibration': - self.calibrator.feed_live_calib(msg) - - elif which == 'carState': - steering_angle = msg.steeringAngleDeg - - in_linear_region = abs(steering_angle) < 45 - self.observed_speed = msg.vEgo - self.active = self.observed_speed > MIN_ACTIVE_SPEED and in_linear_region - - if self.active: - self.kf.predict_and_observe(t, ObservationKind.STEER_ANGLE, np.array([[np.radians(steering_angle)]])) - self.kf.predict_and_observe(t, ObservationKind.ROAD_FRAME_X_SPEED, np.array([[self.observed_speed]])) - - if not self.active: - # Reset time when stopped so uncertainty doesn't grow - self.kf.filter.set_filter_time(t) # type: ignore - self.kf.filter.reset_rewind() # type: ignore - - def get_msg(self, valid: bool, debug: bool = False) -> capnp._DynamicStructBuilder: - x = self.kf.x - P = np.sqrt(self.kf.P.diagonal()) - if not np.all(np.isfinite(x)): - cloudlog.error("NaN in liveParameters estimate. Resetting to default values") - self.reset(self.kf.t) - x = self.kf.x - - self.avg_angle_offset = np.clip(np.degrees(x[States.ANGLE_OFFSET].item()), - self.avg_angle_offset - MAX_ANGLE_OFFSET_DELTA, self.avg_angle_offset + MAX_ANGLE_OFFSET_DELTA) - self.angle_offset = np.clip(np.degrees(x[States.ANGLE_OFFSET].item() + x[States.ANGLE_OFFSET_FAST].item()), - self.angle_offset - MAX_ANGLE_OFFSET_DELTA, self.angle_offset + MAX_ANGLE_OFFSET_DELTA) - self.roll = np.clip(float(x[States.ROAD_ROLL].item()), self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA) - roll_std = float(P[States.ROAD_ROLL].item()) - if self.active and self.observed_speed > LOW_ACTIVE_SPEED: - # Account for the opposite signs of the yaw rates - # At low speeds, bumping into a curb can cause the yaw rate to be very high - sensors_valid = bool(abs(self.observed_speed * (x[States.YAW_RATE].item() + self.observed_yaw_rate)) < LATERAL_ACC_SENSOR_THRESHOLD) - else: - sensors_valid = True - self.avg_offset_valid = check_valid_with_hysteresis(self.avg_offset_valid, self.avg_angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX) - self.total_offset_valid = check_valid_with_hysteresis(self.total_offset_valid, self.angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX) - self.roll_valid = check_valid_with_hysteresis(self.roll_valid, self.roll, ROLL_MAX, ROLL_LOWERED_MAX) - - msg = messaging.new_message('liveParameters') - - msg.valid = valid - - liveParameters = msg.liveParameters - liveParameters.posenetValid = True - liveParameters.sensorValid = sensors_valid - liveParameters.steerRatio = float(x[States.STEER_RATIO].item()) - liveParameters.stiffnessFactor = float(x[States.STIFFNESS].item()) - liveParameters.roll = float(self.roll) - liveParameters.angleOffsetAverageDeg = float(self.avg_angle_offset) - liveParameters.angleOffsetDeg = float(self.angle_offset) - liveParameters.steerRatioValid = self.min_sr <= liveParameters.steerRatio <= self.max_sr - liveParameters.stiffnessFactorValid = 0.2 <= liveParameters.stiffnessFactor <= 5.0 - liveParameters.angleOffsetAverageValid = bool(self.avg_offset_valid) - liveParameters.angleOffsetValid = bool(self.total_offset_valid) - liveParameters.valid = all(( - liveParameters.angleOffsetAverageValid, - liveParameters.angleOffsetValid , - self.roll_valid, - roll_std < ROLL_STD_MAX, - liveParameters.stiffnessFactorValid, - liveParameters.steerRatioValid, - )) - liveParameters.steerRatioStd = float(P[States.STEER_RATIO].item()) - liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item()) - liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET].item()) - liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST].item()) - if debug: - liveParameters.debugFilterState = log.LiveParametersData.FilterState.new_message() - liveParameters.debugFilterState.value = x.tolist() - liveParameters.debugFilterState.std = P.tolist() - - return msg diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index 524319fdee..243abc5c08 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -2,15 +2,201 @@ import os import json import numpy as np +import capnp import cereal.messaging as messaging from cereal import car, log -from cereal.services import SERVICE_LIST from openpilot.common.params import Params -from openpilot.common.realtime import config_realtime_process +from openpilot.common.realtime import config_realtime_process, DT_MDL +from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States +from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR +from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose from openpilot.common.swaglog import cloudlog -from openpilot.selfdrive.locationd.estimators.vehicle_params import VehicleParamsLearner -from openpilot.selfdrive.locationd.estimators.lateral_lag import LateralLagEstimator + +MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL # Max 20 deg/s +ROLL_MAX_DELTA = np.radians(20.0) * DT_MDL # 20deg in 1 second is well within curvature limits +ROLL_MIN, ROLL_MAX = np.radians(-10), np.radians(10) +ROLL_LOWERED_MAX = np.radians(8) +ROLL_STD_MAX = np.radians(1.5) +LATERAL_ACC_SENSOR_THRESHOLD = 4.0 +OFFSET_MAX = 10.0 +OFFSET_LOWERED_MAX = 8.0 +MIN_ACTIVE_SPEED = 1.0 +LOW_ACTIVE_SPEED = 10.0 + + +class VehicleParamsLearner: + def __init__(self, CP: car.CarParams, steer_ratio: float, stiffness_factor: float, angle_offset: float, P_initial: np.ndarray | None = None): + self.kf = CarKalman(GENERATED_DIR) + + self.x_initial = CarKalman.initial_x.copy() + self.x_initial[States.STEER_RATIO] = steer_ratio + self.x_initial[States.STIFFNESS] = stiffness_factor + self.x_initial[States.ANGLE_OFFSET] = angle_offset + self.P_initial = P_initial if P_initial is not None else CarKalman.P_initial + + self.kf.set_globals( + mass=CP.mass, + rotational_inertia=CP.rotationalInertia, + center_to_front=CP.centerToFront, + center_to_rear=CP.wheelbase - CP.centerToFront, + stiffness_front=CP.tireStiffnessFront, + stiffness_rear=CP.tireStiffnessRear + ) + + self.min_sr, self.max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio + + self.calibrator = PoseCalibrator() + + self.observed_speed = 0.0 + self.observed_yaw_rate = 0.0 + self.observed_roll = 0.0 + + self.avg_offset_valid = True + self.total_offset_valid = True + self.roll_valid = True + + self.reset(None) + + def reset(self, t: float | None): + self.kf.init_state(self.x_initial, covs=self.P_initial, filter_time=t) + + self.angle_offset, self.roll, self.active = np.degrees(self.x_initial[States.ANGLE_OFFSET].item()), 0.0, False + self.avg_angle_offset = self.angle_offset + + def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader): + if which == 'livePose': + device_pose = Pose.from_live_pose(msg) + calibrated_pose = self.calibrator.build_calibrated_pose(device_pose) + + yaw_rate, yaw_rate_std = calibrated_pose.angular_velocity.z, calibrated_pose.angular_velocity.z_std + yaw_rate_valid = msg.angularVelocityDevice.valid + yaw_rate_valid = yaw_rate_valid and 0 < yaw_rate_std < 10 # rad/s + yaw_rate_valid = yaw_rate_valid and abs(yaw_rate) < 1 # rad/s + if not yaw_rate_valid: + # This is done to bound the yaw rate estimate when localizer values are invalid or calibrating + yaw_rate, yaw_rate_std = 0.0, np.radians(10.0) + self.observed_yaw_rate = yaw_rate + + localizer_roll, localizer_roll_std = device_pose.orientation.x, device_pose.orientation.x_std + localizer_roll_std = np.radians(1) if np.isnan(localizer_roll_std) else localizer_roll_std + roll_valid = (localizer_roll_std < ROLL_STD_MAX) and (ROLL_MIN < localizer_roll < ROLL_MAX) and msg.sensorsOK + if roll_valid: + roll = localizer_roll + # Experimentally found multiplier of 2 to be best trade-off between stability and accuracy or similar? + roll_std = 2 * localizer_roll_std + else: + # This is done to bound the road roll estimate when localizer values are invalid + roll = 0.0 + roll_std = np.radians(10.0) + self.observed_roll = np.clip(roll, self.observed_roll - ROLL_MAX_DELTA, self.observed_roll + ROLL_MAX_DELTA) + + if self.active: + if msg.posenetOK: + self.kf.predict_and_observe(t, + ObservationKind.ROAD_FRAME_YAW_RATE, + np.array([[-self.observed_yaw_rate]]), + np.array([np.atleast_2d(yaw_rate_std**2)])) + + self.kf.predict_and_observe(t, + ObservationKind.ROAD_ROLL, + np.array([[self.observed_roll]]), + np.array([np.atleast_2d(roll_std**2)])) + self.kf.predict_and_observe(t, ObservationKind.ANGLE_OFFSET_FAST, np.array([[0]])) + + # We observe the current stiffness and steer ratio (with a high observation noise) to bound + # the respective estimate STD. Otherwise the STDs keep increasing, causing rapid changes in the + # states in longer routes (especially straight stretches). + stiffness = float(self.kf.x[States.STIFFNESS].item()) + steer_ratio = float(self.kf.x[States.STEER_RATIO].item()) + self.kf.predict_and_observe(t, ObservationKind.STIFFNESS, np.array([[stiffness]])) + self.kf.predict_and_observe(t, ObservationKind.STEER_RATIO, np.array([[steer_ratio]])) + + elif which == 'liveCalibration': + self.calibrator.feed_live_calib(msg) + + elif which == 'carState': + steering_angle = msg.steeringAngleDeg + + in_linear_region = abs(steering_angle) < 45 + self.observed_speed = msg.vEgo + self.active = self.observed_speed > MIN_ACTIVE_SPEED and in_linear_region + + if self.active: + self.kf.predict_and_observe(t, ObservationKind.STEER_ANGLE, np.array([[np.radians(steering_angle)]])) + self.kf.predict_and_observe(t, ObservationKind.ROAD_FRAME_X_SPEED, np.array([[self.observed_speed]])) + + if not self.active: + # Reset time when stopped so uncertainty doesn't grow + self.kf.filter.set_filter_time(t) # type: ignore + self.kf.filter.reset_rewind() # type: ignore + + def get_msg(self, valid: bool, debug: bool = False) -> capnp._DynamicStructBuilder: + x = self.kf.x + P = np.sqrt(self.kf.P.diagonal()) + if not np.all(np.isfinite(x)): + cloudlog.error("NaN in liveParameters estimate. Resetting to default values") + self.reset(self.kf.t) + x = self.kf.x + + self.avg_angle_offset = np.clip(np.degrees(x[States.ANGLE_OFFSET].item()), + self.avg_angle_offset - MAX_ANGLE_OFFSET_DELTA, self.avg_angle_offset + MAX_ANGLE_OFFSET_DELTA) + self.angle_offset = np.clip(np.degrees(x[States.ANGLE_OFFSET].item() + x[States.ANGLE_OFFSET_FAST].item()), + self.angle_offset - MAX_ANGLE_OFFSET_DELTA, self.angle_offset + MAX_ANGLE_OFFSET_DELTA) + self.roll = np.clip(float(x[States.ROAD_ROLL].item()), self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA) + roll_std = float(P[States.ROAD_ROLL].item()) + if self.active and self.observed_speed > LOW_ACTIVE_SPEED: + # Account for the opposite signs of the yaw rates + # At low speeds, bumping into a curb can cause the yaw rate to be very high + sensors_valid = bool(abs(self.observed_speed * (x[States.YAW_RATE].item() + self.observed_yaw_rate)) < LATERAL_ACC_SENSOR_THRESHOLD) + else: + sensors_valid = True + self.avg_offset_valid = check_valid_with_hysteresis(self.avg_offset_valid, self.avg_angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX) + self.total_offset_valid = check_valid_with_hysteresis(self.total_offset_valid, self.angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX) + self.roll_valid = check_valid_with_hysteresis(self.roll_valid, self.roll, ROLL_MAX, ROLL_LOWERED_MAX) + + msg = messaging.new_message('liveParameters') + + msg.valid = valid + + liveParameters = msg.liveParameters + liveParameters.posenetValid = True + liveParameters.sensorValid = sensors_valid + liveParameters.steerRatio = float(x[States.STEER_RATIO].item()) + liveParameters.stiffnessFactor = float(x[States.STIFFNESS].item()) + liveParameters.roll = float(self.roll) + liveParameters.angleOffsetAverageDeg = float(self.avg_angle_offset) + liveParameters.angleOffsetDeg = float(self.angle_offset) + liveParameters.steerRatioValid = self.min_sr <= liveParameters.steerRatio <= self.max_sr + liveParameters.stiffnessFactorValid = 0.2 <= liveParameters.stiffnessFactor <= 5.0 + liveParameters.angleOffsetAverageValid = bool(self.avg_offset_valid) + liveParameters.angleOffsetValid = bool(self.total_offset_valid) + liveParameters.valid = all(( + liveParameters.angleOffsetAverageValid, + liveParameters.angleOffsetValid , + self.roll_valid, + roll_std < ROLL_STD_MAX, + liveParameters.stiffnessFactorValid, + liveParameters.steerRatioValid, + )) + liveParameters.steerRatioStd = float(P[States.STEER_RATIO].item()) + liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item()) + liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET].item()) + liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST].item()) + if debug: + liveParameters.debugFilterState = log.LiveParametersData.FilterState.new_message() + liveParameters.debugFilterState.value = x.tolist() + liveParameters.debugFilterState.std = P.tolist() + + return msg + + +def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: float, lowered_threshold: float): + if current_valid: + current_valid = abs(val) < threshold + else: + current_valid = abs(val) < lowered_threshold + return current_valid # TODO: Remove this function after few releases (added in 0.9.9) @@ -72,46 +258,22 @@ def retrieve_initial_vehicle_params(params_reader: Params, CP: car.CarParams, re return steer_ratio, stiffness_factor, angle_offset_deg, p_initial -def retrieve_initial_lag(params_reader: Params, CP: car.CarParams): - last_lag_data = params_reader.get("LiveLag") - last_carparams_data = params_reader.get("CarParamsPrevRoute") - - if last_lag_data is not None: - try: - with log.Event.from_bytes(last_lag_data) as last_lag_msg, car.CarParams.from_bytes(last_carparams_data) as last_CP: - ld = last_lag_msg.liveDelay - if last_CP.carFingerprint != CP.carFingerprint: - raise Exception("Car model mismatch") - - lag, valid_blocks = ld.lateralDelayEstimate, ld.validBlocks - return lag, valid_blocks - except Exception as e: - cloudlog.error(f"Failed to retrieve initial lag: {e}") - - return None - - def main(): config_realtime_process([0, 1, 2, 3], 5) DEBUG = bool(int(os.getenv("DEBUG", "0"))) REPLAY = bool(int(os.getenv("REPLAY", "0"))) - pm = messaging.PubMaster(['liveParameters', 'liveDelay']) - sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState', 'controlsState', 'carControl'], poll='livePose') + pm = messaging.PubMaster(['liveParameters']) + sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState'], poll='livePose') params_reader = Params() CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams) migrate_cached_vehicle_params_if_needed(params_reader) - steer_ratio, stiffness_factor, angle_offset_deg, p_initial = retrieve_initial_vehicle_params(params_reader, CP, REPLAY, DEBUG) - params_learner = VehicleParamsLearner(CP, steer_ratio, stiffness_factor, np.radians(angle_offset_deg), p_initial) - - lag_learner = LateralLagEstimator(CP, 1. / SERVICE_LIST['livePose'].frequency) - if (initial_lag_params := retrieve_initial_lag(params_reader, CP)) is not None: - lag, valid_blocks = initial_lag_params - lag_learner.reset(lag, valid_blocks) + steer_ratio, stiffness_factor, angle_offset_deg, pInitial = retrieve_initial_vehicle_params(params_reader, CP, REPLAY, DEBUG) + learner = VehicleParamsLearner(CP, steer_ratio, stiffness_factor, np.radians(angle_offset_deg), pInitial) while True: sm.update() @@ -119,30 +281,17 @@ def main(): for which in sorted(sm.updated.keys(), key=lambda x: sm.logMonoTime[x]): if sm.updated[which]: t = sm.logMonoTime[which] * 1e-9 - if which in params_learner.inputs: - params_learner.handle_log(t, which, sm[which]) - if which in lag_learner.inputs: - lag_learner.handle_log(t, which, sm[which]) - lag_learner.update_points() + learner.handle_log(t, which, sm[which]) - params_msg_dat, lag_msg_dat = None, None if sm.updated['livePose']: - params_msg = params_learner.get_msg(sm.all_checks(), debug=DEBUG) - params_msg_dat = params_msg.to_bytes() - pm.send('liveParameters', params_msg_dat) - - # 4Hz driven by livePose - if sm.frame % 5 == 0: - lag_learner.update_estimate() - lag_msg = lag_learner.get_msg(sm.all_checks(), DEBUG) - lag_msg_dat = lag_msg.to_bytes() - pm.send('liveDelay', lag_msg_dat) - - if sm.frame % 1200 == 0: # cache every 60 seconds - if params_msg_dat is not None: - params_reader.put_nonblocking("LiveParameters", params_msg_dat) - if lag_msg_dat is not None: - params_reader.put_nonblocking("LiveLag", lag_msg_dat) + msg = learner.get_msg(sm.all_checks(), debug=DEBUG) + + msg_dat = msg.to_bytes() + if sm.frame % 1200 == 0: # once a minute + params_reader.put_nonblocking("LiveParameters", msg_dat) + + pm.send('liveParameters', msg_dat) + if __name__ == "__main__": main() diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 34b807fcad..13de985c68 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -542,8 +542,8 @@ CONFIGS = [ ), ProcessConfig( proc_name="paramsd", - pubs=["livePose", "liveCalibration", "carState", "carControl", "controlsState"], - subs=["liveParameters", "liveDelay"], + pubs=["livePose", "liveCalibration", "carState"], + subs=["liveParameters"], ignore=["logMonoTime"], init_callback=get_car_params_callback, should_recv_callback=FrequencyBasedRcvCallback("livePose"), diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index cd31ea53e8..58ff170e74 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -0ef214e7f4f06d6d591a2257d254f3c00db6a0e9 \ No newline at end of file +887623a18d82088dc5ed9ecdced55eb0d3f718b1 \ No newline at end of file From 3707efff6b30a83be60f036c5ea3bced4ca7d72a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 1 Apr 2025 16:54:53 -0700 Subject: [PATCH 058/115] camerad: don't gate first frame on FSIN (#34972) don't wait --- system/camerad/sensors/ox03c10_registers.h | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/system/camerad/sensors/ox03c10_registers.h b/system/camerad/sensors/ox03c10_registers.h index 5c6282942b..bb7a1c5dd6 100644 --- a/system/camerad/sensors/ox03c10_registers.h +++ b/system/camerad/sensors/ox03c10_registers.h @@ -65,7 +65,6 @@ const struct i2c_random_wr_payload init_array_ox03c10[] = { {0x3008, 0x80}, // io_pad_sel // FSIN (frame sync) with external pulses - {0x3822, 0x33}, // wait for pulse before first frame {0x3009, 0x2}, {0x3015, 0x2}, {0x383E, 0x80}, @@ -73,6 +72,9 @@ const struct i2c_random_wr_payload init_array_ox03c10[] = { {0x3882, 0x8}, {0x3883, 0x0D}, {0x3836, 0x1F}, {0x3837, 0x40}, + // causes issues on some devices + //{0x3822, 0x33}, // wait for pulse before first frame + {0x3892, 0x44}, {0x3823, 0x41}, From 6a3d0e090c65c5d7685d1f8c37f3dffaac726071 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 2 Apr 2025 14:38:29 -0400 Subject: [PATCH 059/115] ci: update package management for `ui_preview` (#34967) * ci: update package management for `ui_preview` Add `apt-get update` before installing ImageMagick to ensure the package list is up-to-date. This prevents potential installation issues due to outdated package information. * test commit * try this * revert --- .github/workflows/ui_preview.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml index f3fdc270db..4e8338c483 100644 --- a/.github/workflows/ui_preview.yaml +++ b/.github/workflows/ui_preview.yaml @@ -82,7 +82,7 @@ jobs: if: github.event_name == 'pull_request_target' id: find_diff run: >- - sudo apt-get install -y imagemagick + sudo apt-get update && sudo apt-get install -y imagemagick scenes=$(find ${{ github.workspace }}/pr_ui/*.png -type f -printf "%f\n" | cut -d '.' -f 1 | grep -v 'pair_device') A=($scenes) From 5c4ceb7b39fb480755b58a3d60d52e86a004b1cd Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Wed, 2 Apr 2025 15:12:54 -0400 Subject: [PATCH 060/115] liveDelay message (#34976) Bring back the lag message --- cereal/log.capnp | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) diff --git a/cereal/log.capnp b/cereal/log.capnp index 593399f832..797c2cd8ac 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -2278,6 +2278,21 @@ struct LiveTorqueParametersData { useParams @12 :Bool; } +struct LiveDelayData { + lateralDelay @0 :Float32; + validBlocks @1 :Int32; + status @2 :Status; + + lateralDelayEstimate @3 :Float32; + points @4 :List(Float32); + + enum Status { + unestimated @0; + estimated @1; + invalid @2; + } +} + struct LiveMapDataDEPRECATED { speedLimitValid @0 :Bool; speedLimit @1 :Float32; @@ -2508,6 +2523,7 @@ struct Event { gnssMeasurements @91 :GnssMeasurements; liveParameters @61 :LiveParametersData; liveTorqueParameters @94 :LiveTorqueParametersData; + liveDelay @146 : LiveDelayData; cameraOdometry @63 :CameraOdometry; thumbnail @66: Thumbnail; onroadEvents @134: List(OnroadEvent); From e45fc5e84ba4a78d6c8c535d057f8bd3863fec06 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Thu, 3 Apr 2025 19:51:15 -0700 Subject: [PATCH 061/115] Bump tinygrad to upstream master (#34973) bump tg --- tinygrad_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tinygrad_repo b/tinygrad_repo index 70266e9f94..0e34f9082e 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit 70266e9f94d5a247ccbb2f3a46e72a2fbdaf7a8e +Subproject commit 0e34f9082e9730b5df9c055b094a43e4565e413b From 049193b1785010b49cce9b3796c7c44d21e263b6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Thu, 3 Apr 2025 23:31:55 -0400 Subject: [PATCH 062/115] test_onroad: test liveParameters service timing (#34977) Add live params to test onroad --- selfdrive/test/test_onroad.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index de329d85f2..ebc87800b7 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -95,6 +95,7 @@ TIMINGS = { "modelV2": [2.5, 0.35], "driverStateV2": [2.5, 0.40], "livePose": [2.5, 0.35], + "liveParameters": [2.5, 0.35], "wideRoadCameraState": [1.5, 0.35], } From cab57a00d0b7c86bbd3ffa7421aefe80889543fa Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 4 Apr 2025 09:52:59 -0700 Subject: [PATCH 063/115] selfdrived: remove ignored processes list (#34978) * selfdrived: remove ignored processes list * it's a set --- selfdrive/selfdrived/selfdrived.py | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index bb30c4ba9b..b1399ab43b 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -20,12 +20,12 @@ from openpilot.selfdrive.selfdrived.events import Events, ET from openpilot.selfdrive.selfdrived.state import StateMachine from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert +from openpilot.system.hardware import HARDWARE from openpilot.system.version import get_build_metadata REPLAY = "REPLAY" in os.environ SIMULATION = "SIMULATION" in os.environ TESTING_CLOSET = "TESTING_CLOSET" in os.environ -IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"} LONGITUDINAL_PERSONALITY_MAP = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()} ThermalStatus = log.DeviceState.ThermalStatus @@ -115,6 +115,12 @@ class SelfdriveD: self.state_machine = StateMachine() self.rk = Ratekeeper(100, print_delay_threshold=None) + # some comma three with NVMe experience NVMe dropouts mid-drive that + # cause loggerd to crash on write, so ignore it only on that platform + self.ignored_processes = set() + if HARDWARE.get_device_type() == 'tici' and os.path.exists('/dev/nvme0'): + self.ignored_processes = {'loggerd', } + # Determine startup event self.startup_event = EventName.startup if build_metadata.openpilot.comma_remote and build_metadata.tested_channel else EventName.startupMaster if not car_recognized: @@ -258,7 +264,7 @@ class SelfdriveD: if not_running != self.not_running_prev: cloudlog.event("process_not_running", not_running=not_running, error=True) self.not_running_prev = not_running - if self.sm.recv_frame['managerState'] and (not_running - IGNORE_PROCESSES): + if self.sm.recv_frame['managerState'] and (not_running - self.ignored_processes): self.events.add(EventName.processNotRunning) else: if not SIMULATION and not self.rk.lagging: From 1e3f6599bd57da364a46ffc195320502fe4f9252 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Fri, 4 Apr 2025 19:05:36 -0400 Subject: [PATCH 064/115] calibrationd: read carParams from Params (#34981) * Read CarParams once from Params * Remove it from process replay --- selfdrive/locationd/calibrationd.py | 10 ++++++---- selfdrive/test/process_replay/process_replay.py | 3 ++- 2 files changed, 8 insertions(+), 5 deletions(-) diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 8ce884ae4f..e265b70f1a 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -11,7 +11,7 @@ import capnp import numpy as np from typing import NoReturn -from cereal import log +from cereal import log, car import cereal.messaging as messaging from openpilot.common.conversions import Conversions as CV from openpilot.common.params import Params @@ -258,16 +258,18 @@ def main() -> NoReturn: config_realtime_process([0, 1, 2, 3], 5) pm = messaging.PubMaster(['liveCalibration']) - sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll='cameraOdometry') + sm = messaging.SubMaster(['cameraOdometry', 'carState'], poll='cameraOdometry') + + params_reader = Params() + CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams) calibrator = Calibrator(param_put=True) + calibrator.not_car = CP.notCar while 1: timeout = 0 if sm.frame == -1 else 100 sm.update(timeout) - calibrator.not_car = sm['carParams'].notCar - if sm.updated['cameraOdometry']: calibrator.handle_v_ego(sm['carState'].vEgo) new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans, diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 13de985c68..3ee761ee44 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -516,9 +516,10 @@ CONFIGS = [ ), ProcessConfig( proc_name="calibrationd", - pubs=["carState", "cameraOdometry", "carParams"], + pubs=["carState", "cameraOdometry"], subs=["liveCalibration"], ignore=["logMonoTime"], + init_callback=get_car_params_callback, should_recv_callback=calibration_rcv_callback, ), ProcessConfig( From 490c53e2dcb5e4c88e025bdb20a54a594d51377f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Sat, 5 Apr 2025 01:48:34 -0400 Subject: [PATCH 065/115] locationd: make pose_kf inherit from KalmanFilter (#34982) * Read message not json for initial state * Delete lines * Fix param --- selfdrive/locationd/locationd.py | 20 ++++++------- selfdrive/locationd/models/pose_kf.py | 41 +++++---------------------- 2 files changed, 17 insertions(+), 44 deletions(-) diff --git a/selfdrive/locationd/locationd.py b/selfdrive/locationd/locationd.py index 80789b8886..f6a0935ed9 100755 --- a/selfdrive/locationd/locationd.py +++ b/selfdrive/locationd/locationd.py @@ -1,6 +1,5 @@ #!/usr/bin/env python3 import os -import json import time import capnp import numpy as np @@ -65,7 +64,7 @@ class LocationEstimator: self.observation_errors = {kind: np.zeros(3, dtype=np.float32) for kind in obs_kinds} def reset(self, t: float, x_initial: np.ndarray = PoseKalman.initial_x, P_initial: np.ndarray = PoseKalman.initial_P): - self.kf.reset(t, x_initial, P_initial) + self.kf.init_state(x_initial, covs=P_initial, filter_time=t) def _validate_sensor_source(self, source: log.SensorEventData.SensorSource): # some segments have two IMUs, ignore the second one @@ -186,8 +185,8 @@ class LocationEstimator: rot_device_noise = rot_device_std ** 2 trans_device_noise = trans_device_std ** 2 - cam_odo_rot_res = self.kf.predict_and_observe(t, ObservationKind.CAMERA_ODO_ROTATION, rot_device, rot_device_noise) - cam_odo_trans_res = self.kf.predict_and_observe(t, ObservationKind.CAMERA_ODO_TRANSLATION, trans_device, trans_device_noise) + cam_odo_rot_res = self.kf.predict_and_observe(t, ObservationKind.CAMERA_ODO_ROTATION, rot_device, np.array([np.diag(rot_device_noise)])) + cam_odo_trans_res = self.kf.predict_and_observe(t, ObservationKind.CAMERA_ODO_TRANSLATION, trans_device, np.array([np.diag(trans_device_noise)])) self.camodo_yawrate_distribution = np.array([rot_device[2], rot_device_std[2]]) if cam_odo_rot_res is not None: _, new_x, _, new_P, _, _, (cam_odo_rot_err,), _, _ = cam_odo_rot_res @@ -278,12 +277,13 @@ def main(): input_invalid_threshold = {s: input_invalid_limit[s] - 0.5 for s in critcal_services} input_invalid_decay = {s: calculate_invalid_input_decay(input_invalid_limit[s], INPUT_INVALID_RECOVERY, SERVICE_LIST[s].frequency) for s in critcal_services} - initial_pose = params.get("LocationFilterInitialState") - if initial_pose is not None: - initial_pose = json.loads(initial_pose) - x_initial = np.array(initial_pose["x"], dtype=np.float64) - P_initial = np.diag(np.array(initial_pose["P"], dtype=np.float64)) - estimator.reset(None, x_initial, P_initial) + initial_pose_data = params.get("LocationFilterInitialState") + if initial_pose_data is not None: + with log.Event.from_bytes(initial_pose_data) as lp_msg: + filter_state = lp_msg.livePose.debugFilterState + x_initial = np.array(filter_state.value, dtype=np.float64) if len(filter_state.value) != 0 else PoseKalman.initial_x + P_initial = np.diag(np.array(filter_state.std, dtype=np.float64)) if len(filter_state.std) != 0 else PoseKalman.initial_P + estimator.reset(None, x_initial, P_initial) while True: sm.update() diff --git a/selfdrive/locationd/models/pose_kf.py b/selfdrive/locationd/models/pose_kf.py index df63518441..020e51ad6e 100755 --- a/selfdrive/locationd/models/pose_kf.py +++ b/selfdrive/locationd/models/pose_kf.py @@ -5,6 +5,8 @@ import numpy as np from openpilot.selfdrive.locationd.models.constants import ObservationKind +from rednose.helpers.kalmanfilter import KalmanFilter + if __name__=="__main__": import sympy as sp from rednose.helpers.ekf_sym import gen_code @@ -24,7 +26,7 @@ class States: ACCEL_BIAS = slice(15, 18) # Acceletometer bias in m/s**2 -class PoseKalman: +class PoseKalman(KalmanFilter): name = "pose" # state @@ -50,10 +52,10 @@ class PoseKalman: 3**2, 3**2, 3**2, 0.005**2, 0.005**2, 0.005**2]) - obs_noise = {ObservationKind.PHONE_GYRO: np.array([0.025**2, 0.025**2, 0.025**2]), - ObservationKind.PHONE_ACCEL: np.array([.5**2, .5**2, .5**2]), - ObservationKind.CAMERA_ODO_TRANSLATION: np.array([0.5**2, 0.5**2, 0.5**2]), - ObservationKind.CAMERA_ODO_ROTATION: np.array([0.05**2, 0.05**2, 0.05**2])} + obs_noise = {ObservationKind.PHONE_GYRO: np.diag([0.025**2, 0.025**2, 0.025**2]), + ObservationKind.PHONE_ACCEL: np.diag([.5**2, .5**2, .5**2]), + ObservationKind.CAMERA_ODO_TRANSLATION: np.diag([0.5**2, 0.5**2, 0.5**2]), + ObservationKind.CAMERA_ODO_ROTATION: np.diag([0.05**2, 0.05**2, 0.05**2])} @staticmethod def generate_code(generated_dir): @@ -103,35 +105,6 @@ class PoseKalman: self.filter = EKF_sym_pyx(generated_dir, self.name, PoseKalman.Q, PoseKalman.initial_x, PoseKalman.initial_P, dim_state, dim_state_err, max_rewind_age=max_rewind_age) - @property - def x(self): - return self.filter.state() - - @property - def P(self): - return self.filter.covs() - - @property - def t(self): - return self.filter.get_filter_time() - - def predict_and_observe(self, t, kind, data, obs_noise=None): - data = np.atleast_2d(data) - if obs_noise is None: - obs_noise = self.obs_noise[kind] - R = self._get_R(len(data), obs_noise) - return self.filter.predict_and_update_batch(t, kind, data, R) - - def reset(self, t, x_init, P_init): - self.filter.init_state(x_init, P_init, t) - - def _get_R(self, n, obs_noise): - dim = obs_noise.shape[0] - R = np.zeros((n, dim, dim)) - for i in range(n): - R[i, :, :] = np.diag(obs_noise) - return R - if __name__ == "__main__": generated_dir = sys.argv[2] From f3c14270279133e8387aa65cfbe2ec70d328ec33 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 6 Apr 2025 12:42:09 -0700 Subject: [PATCH 066/115] agnos 11.13 (#34980) * agnos 11.12 * new build --- launch_env.sh | 2 +- system/hardware/tici/agnos.json | 20 +++++------ system/hardware/tici/all-partitions.json | 46 ++++++++++++------------ 3 files changed, 34 insertions(+), 34 deletions(-) diff --git a/launch_env.sh b/launch_env.sh index 9bee47837a..aff451e541 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="11.11" + export AGNOS_VERSION="11.13" fi export STAGING_ROOT="/data/safe_staging" diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 04e5fd3365..1a3cd382a9 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -56,28 +56,28 @@ }, { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-0d0d4d5a32e00b46fa36180b4a96337f2a53302d8bd0faee95f8fe1063d1e24a.img.xz", - "hash": "0d0d4d5a32e00b46fa36180b4a96337f2a53302d8bd0faee95f8fe1063d1e24a", - "hash_raw": "0d0d4d5a32e00b46fa36180b4a96337f2a53302d8bd0faee95f8fe1063d1e24a", + "url": "https://commadist.azureedge.net/agnosupdate/boot-9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892.img.xz", + "hash": "9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892", + "hash_raw": "9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892", "size": 18479104, "sparse": false, "full_check": true, "has_ab": true, - "ondevice_hash": 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"ed2e11f52beb8559223bf9fb989fd4ef5d2ce66eeb11ae0053fff8e41903a533", "alt": { - "hash": "ff2da7bc34a1ad8e2831a13a49685243957a51b762d8f28e14e98ac90e84d211", - "url": "https://commadist.azureedge.net/agnosupdate/system-ff2da7bc34a1ad8e2831a13a49685243957a51b762d8f28e14e98ac90e84d211.img", + "hash": "02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde", + "url": "https://commadist.azureedge.net/agnosupdate/system-02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde.img", "size": 4404019200 } } diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json index 3c88e82420..643b1b2a26 100644 --- a/system/hardware/tici/all-partitions.json +++ b/system/hardware/tici/all-partitions.json @@ -339,62 +339,62 @@ }, { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-0d0d4d5a32e00b46fa36180b4a96337f2a53302d8bd0faee95f8fe1063d1e24a.img.xz", - "hash": "0d0d4d5a32e00b46fa36180b4a96337f2a53302d8bd0faee95f8fe1063d1e24a", 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<66435071+AlexandreSato@users.noreply.github.com> Date: Sun, 6 Apr 2025 18:27:40 -0300 Subject: [PATCH 067/115] Multilang: Update pt-BR translation (#34983) --- selfdrive/ui/translations/main_pt-BR.ts | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 7760046d5d..4971b7fbfa 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -340,7 +340,7 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network - + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INATIVO</span>: conecte-se a uma rede sem limite <br> de dados From d78c9c26f639767320968d96bd9cfd88c4bd2bb8 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 7 Apr 2025 10:52:45 -0700 Subject: [PATCH 068/115] [bot] Update Python packages (#34987) Update Python packages Co-authored-by: Vehicle Researcher --- docs/CARS.md | 2 +- opendbc_repo | 2 +- panda | 2 +- uv.lock | 511 ++++++++++++++++++++++++++------------------------- 4 files changed, 263 insertions(+), 254 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 854273f8f7..648c2cb9d8 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -226,7 +226,7 @@ A supported vehicle is one that just works when you install a comma device. All |Škoda|Scala 2020-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| |Škoda|Superb 2015-22[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Tesla|Model 3 (with HW3) 2019-23[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Tesla|Model 3 (with HW4) 2024[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Tesla|Model 3 (with HW4) 2024-25[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Tesla|Model Y (with HW3) 2020-23[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Tesla|Model Y (with HW4) 2024[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/opendbc_repo b/opendbc_repo index 2c5600f88f..4179672dae 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 2c5600f88f16edcf5fedf46922414ad9b1c0feda +Subproject commit 4179672dae72e29b8ff9072d9be154515312e350 diff --git a/panda b/panda index 97e91d6fee..8a583aaa8c 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 97e91d6feefc3e96178e72fff743a8a36132b445 +Subproject commit 8a583aaa8c1a27a3d13747b7ecead6a3d73a4e81 diff --git a/uv.lock b/uv.lock index 7b13fce830..aa49b605a5 100644 --- a/uv.lock +++ b/uv.lock @@ -21,7 +21,7 @@ wheels = [ [[package]] name = "aiohttp" -version = "3.11.14" +version = "3.11.16" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "aiohappyeyeballs" }, @@ -32,40 +32,40 @@ dependencies = [ { name = "propcache" }, { name = "yarl" }, ] -sdist = { url = "https://files.pythonhosted.org/packages/6c/96/91e93ae5fd04d428c101cdbabce6c820d284d61d2614d00518f4fa52ea24/aiohttp-3.11.14.tar.gz", hash = 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changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index ef504a0855..da99fdd6e7 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -339,7 +339,7 @@ Firehoseモードを有効にすると、学習データを最大限アップロ <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network - + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>動作停止</span>: 大容量のネットワークに接続してください From 9f1a4569d1be03454035747215efc445b2d55957 Mon Sep 17 00:00:00 2001 From: eFini Date: Tue, 8 Apr 2025 01:55:52 +0800 Subject: [PATCH 070/115] Multilang: Update zh translation (#34985) --- selfdrive/ui/translations/main_zh-CHS.ts | 4 ++-- selfdrive/ui/translations/main_zh-CHT.ts | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index cbdfeb3988..963946e4da 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -121,7 +121,7 @@ Longitudinal Maneuver Mode - 纵向机动模式 + 纵向操控测试模式 openpilot Longitudinal Control (Alpha) @@ -339,7 +339,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network - + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>闲置</span>：请连接到不限流量的网络 diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index d023524aea..1946493247 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -121,7 +121,7 @@ Longitudinal Maneuver Mode - 縱向機動模式 + 縱向操控測試模式 openpilot Longitudinal Control (Alpha) @@ -339,7 +339,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network - + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>閒置中</span>：請連接到不按流量計費的網絡 From cdc801c3c1c74cb819cb3a6abef233aad4a0a1d7 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Mon, 7 Apr 2025 11:51:53 -0700 Subject: [PATCH 071/115] update to latest userdata partition (#34990) update --- system/hardware/tici/all-partitions.json | 26 ++++++++++++------------ 1 file changed, 13 insertions(+), 13 deletions(-) diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json index 643b1b2a26..4e24b229d4 100644 --- a/system/hardware/tici/all-partitions.json +++ b/system/hardware/tici/all-partitions.json @@ -366,35 +366,35 @@ }, { "name": "userdata_90", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-344c1f5da1ece113e0f07c1964a95646dbfe96f49cfd64ac7375430c9247ab33.img.xz", - "hash": 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common/params_keys.h | 1 + selfdrive/locationd/paramsd.py | 32 +++++++++++++----------- selfdrive/locationd/test/test_paramsd.py | 13 +++++++++- 3 files changed, 30 insertions(+), 16 deletions(-) diff --git a/common/params_keys.h b/common/params_keys.h index 2b540b744c..fd701cda18 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -72,6 +72,7 @@ inline static std::unordered_map keys = { {"LastUpdateException", CLEAR_ON_MANAGER_START}, {"LastUpdateTime", PERSISTENT}, {"LiveParameters", PERSISTENT}, + {"LiveParametersV2", PERSISTENT}, {"LiveTorqueParameters", PERSISTENT | DONT_LOG}, {"LocationFilterInitialState", PERSISTENT}, {"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index 243abc5c08..a7712ba1d9 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -200,26 +200,28 @@ def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: floa # TODO: Remove this function after few releases (added in 0.9.9) -def migrate_cached_vehicle_params_if_needed(params_reader: Params): - last_parameters_data = params_reader.get("LiveParameters") - if last_parameters_data is None: +def migrate_cached_vehicle_params_if_needed(params: Params): + last_parameters_data_old = params.get("LiveParameters") + last_parameters_data = params.get("LiveParametersV2") + if last_parameters_data_old is None or last_parameters_data is not None: return try: - last_parameters_dict = json.loads(last_parameters_data) + last_parameters_dict = json.loads(last_parameters_data_old) last_parameters_msg = messaging.new_message('liveParameters') last_parameters_msg.liveParameters.valid = True last_parameters_msg.liveParameters.steerRatio = last_parameters_dict['steerRatio'] last_parameters_msg.liveParameters.stiffnessFactor = last_parameters_dict['stiffnessFactor'] last_parameters_msg.liveParameters.angleOffsetAverageDeg = last_parameters_dict['angleOffsetAverageDeg'] - params_reader.put("LiveParameters", last_parameters_msg.to_bytes()) - except Exception: - pass + params.put("LiveParametersV2", last_parameters_msg.to_bytes()) + except Exception as e: + cloudlog.error(f"Failed to perform parameter migration: {e}") + params.remove("LiveParameters") -def retrieve_initial_vehicle_params(params_reader: Params, CP: car.CarParams, replay: bool, debug: bool): - last_parameters_data = params_reader.get("LiveParameters") - last_carparams_data = params_reader.get("CarParamsPrevRoute") +def retrieve_initial_vehicle_params(params: Params, CP: car.CarParams, replay: bool, debug: bool): + last_parameters_data = params.get("LiveParametersV2") + last_carparams_data = params.get("CarParamsPrevRoute") steer_ratio, stiffness_factor, angle_offset_deg, p_initial = CP.steerRatio, 1.0, 0.0, None @@ -267,12 +269,12 @@ def main(): pm = messaging.PubMaster(['liveParameters']) sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState'], poll='livePose') - params_reader = Params() - CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams) + params = Params() + CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams) - migrate_cached_vehicle_params_if_needed(params_reader) + migrate_cached_vehicle_params_if_needed(params) - steer_ratio, stiffness_factor, angle_offset_deg, pInitial = retrieve_initial_vehicle_params(params_reader, CP, REPLAY, DEBUG) + steer_ratio, stiffness_factor, angle_offset_deg, pInitial = retrieve_initial_vehicle_params(params, CP, REPLAY, DEBUG) learner = VehicleParamsLearner(CP, steer_ratio, stiffness_factor, np.radians(angle_offset_deg), pInitial) while True: @@ -288,7 +290,7 @@ def main(): msg_dat = msg.to_bytes() if sm.frame % 1200 == 0: # once a minute - params_reader.put_nonblocking("LiveParameters", msg_dat) + params.put_nonblocking("LiveParametersV2", msg_dat) pm.send('liveParameters', msg_dat) diff --git a/selfdrive/locationd/test/test_paramsd.py b/selfdrive/locationd/test/test_paramsd.py index 3c2bf9249a..2129bf4386 100644 --- a/selfdrive/locationd/test/test_paramsd.py +++ b/selfdrive/locationd/test/test_paramsd.py @@ -28,7 +28,7 @@ class TestParamsd: CP = next(m for m in lr if m.which() == "carParams").carParams msg = get_random_live_parameters(CP) - params.put("LiveParameters", msg.to_bytes()) + params.put("LiveParametersV2", msg.to_bytes()) params.put("CarParamsPrevRoute", CP.as_builder().to_bytes()) migrate_cached_vehicle_params_if_needed(params) # this is not tested here but should not mess anything up or throw an error @@ -49,9 +49,20 @@ class TestParamsd: msg = get_random_live_parameters(CP) params.put("LiveParameters", json.dumps(msg.liveParameters.to_dict())) params.put("CarParamsPrevRoute", CP.as_builder().to_bytes()) + params.remove("LiveParametersV2") migrate_cached_vehicle_params_if_needed(params) sr, sf, offset, _ = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True) np.testing.assert_allclose(sr, msg.liveParameters.steerRatio) np.testing.assert_allclose(sf, msg.liveParameters.stiffnessFactor) np.testing.assert_allclose(offset, msg.liveParameters.angleOffsetAverageDeg) + assert params.get("LiveParametersV2") is not None + + def test_read_saved_params_corrupted_old_format(self): + params = Params() + params.put("LiveParameters", b'\x00\x00\x02\x00\x01\x00:F\xde\xed\xae;') + params.remove("LiveParametersV2") + + migrate_cached_vehicle_params_if_needed(params) + assert params.get("LiveParameters") is None + assert params.get("LiveParametersV2") is None From e4aa346259d9be4713c0d6b7bcd49ac88c277c1f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 8 Apr 2025 10:57:29 -0700 Subject: [PATCH 073/115] hardwared: give stuck LTE connections a kick This reverts commit e3e694096a3a79e663712797e559e729e6818c7c. --- system/hardware/hardwared.py | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py index b6de91818e..7429091336 100755 --- a/system/hardware/hardwared.py +++ b/system/hardware/hardwared.py @@ -99,6 +99,7 @@ def touch_thread(end_event): def hw_state_thread(end_event, hw_queue): """Handles non critical hardware state, and sends over queue""" count = 0 + registered_count = 0 prev_hw_state = None modem_version = None @@ -149,6 +150,16 @@ def hw_state_thread(end_event, hw_queue): except queue.Full: pass + if AGNOS and (hw_state.network_info is not None) and (hw_state.network_info.get('state', None) == "REGISTERED"): + registered_count += 1 + else: + registered_count = 0 + + if registered_count > 10: + cloudlog.warning(f"Modem stuck in registered state {hw_state.network_info}, bringing connection back up") + os.system("nmcli conn up esim") + registered_count = 0 + if not modem_configured and HARDWARE.get_modem_version() is not None: cloudlog.warning("configuring modem") HARDWARE.configure_modem() From 84b0baf68b1fc65924c705cd9c3fc301b3030629 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 8 Apr 2025 11:04:00 -0700 Subject: [PATCH 074/115] Revert "hardwared: give stuck LTE connections a kick" This reverts commit e4aa346259d9be4713c0d6b7bcd49ac88c277c1f. --- system/hardware/hardwared.py | 11 ----------- 1 file changed, 11 deletions(-) diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py index 7429091336..b6de91818e 100755 --- a/system/hardware/hardwared.py +++ b/system/hardware/hardwared.py @@ -99,7 +99,6 @@ def touch_thread(end_event): def hw_state_thread(end_event, hw_queue): """Handles non critical hardware state, and sends over queue""" count = 0 - registered_count = 0 prev_hw_state = None modem_version = None @@ -150,16 +149,6 @@ def hw_state_thread(end_event, hw_queue): except queue.Full: pass - if AGNOS and (hw_state.network_info is not None) and (hw_state.network_info.get('state', None) == "REGISTERED"): - registered_count += 1 - else: - registered_count = 0 - - if registered_count > 10: - cloudlog.warning(f"Modem stuck in registered state {hw_state.network_info}, bringing connection back up") - os.system("nmcli conn up esim") - registered_count = 0 - if not modem_configured and HARDWARE.get_modem_version() is not None: cloudlog.warning("configuring modem") HARDWARE.configure_modem() From 0b72ae3bc2e11290d95e6f2d9e8fac683e9b0a85 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Tue, 8 Apr 2025 20:12:52 -0700 Subject: [PATCH 075/115] process_replay: fix GM and replace TOYOTA3 (#34996) * Add volt and bolt param migration * Remove mazda due to invalid sensor timings * Fix the import * Add mazda to excluded * Bring back mazda, but add todo * New segment for TOYOTA3 * Fix * Update ref commit --- selfdrive/test/process_replay/migration.py | 3 +++ selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/test/process_replay/test_processes.py | 7 ++++--- 3 files changed, 8 insertions(+), 4 deletions(-) diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index e1d0352262..39d5452b6b 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -9,6 +9,7 @@ from opendbc.car.fingerprints import MIGRATION from opendbc.car.toyota.values import EPS_SCALE, ToyotaSafetyFlags from opendbc.car.ford.values import CAR as FORD, FordFlags, FordSafetyFlags from opendbc.car.hyundai.values import HyundaiSafetyFlags +from opendbc.car.gm.values import GMSafetyFlags from openpilot.selfdrive.modeld.constants import ModelConstants from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index @@ -274,6 +275,8 @@ def migrate_pandaStates(msgs): "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | ToyotaSafetyFlags.STOCK_LONGITUDINAL, "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | ToyotaSafetyFlags.ALT_BRAKE, "KIA_EV6": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CANFD_LKA_STEERING, + "CHEVROLET_VOLT": GMSafetyFlags.EV, + "CHEVROLET_BOLT_EUV": GMSafetyFlags.EV | GMSafetyFlags.HW_CAM, } # TODO: get new Ford route safety_param_migration |= dict.fromkeys((set(FORD) - FORD.with_flags(FordFlags.CANFD)), FordSafetyFlags.LONG_CONTROL) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 58ff170e74..d4b02296d6 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -887623a18d82088dc5ed9ecdced55eb0d3f718b1 \ No newline at end of file +37fd7afb99bf188c1e5375d01f011ae35821f640 \ No newline at end of file diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 927f54c0c3..dfa7eb65a8 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -22,7 +22,7 @@ source_segments = [ ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"), # HYUNDAI.HYUNDAI_KIA_EV6 (+ QCOM GPS) ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.TOYOTA_PRIUS ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.TOYOTA_RAV4 - ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"), # TOYOTA.TOYOTA_COROLLA_TSS2 + ("TOYOTA3", "8011d605be1cbb77|000000cc--8e8d8ec716--6"), # TOYOTA.TOYOTA_COROLLA_TSS2 ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"), # HONDA.HONDA_CIVIC (NIDEC) ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"), # HONDA.HONDA_ACCORD (BOSCH) ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"), # CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID @@ -32,6 +32,7 @@ source_segments = [ ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"), # GM.CHEVROLET_BOLT_EUV ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"), # NISSAN.NISSAN_XTRAIL ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"), # VOLKSWAGEN.VOLKSWAGEN_GOLF + # FIXME the sensor timings are bad in mazda segment, we're not fully testing it, but it should be replaced ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"), # MAZDA.MAZDA_CX9_2021 ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.FORD_BRONCO_SPORT_MK1 ("RIVIAN", "bc095dc92e101734|000000db--ee9fe46e57--1"), # RIVIAN.RIVIAN_R1_GEN1 @@ -46,7 +47,7 @@ segments = [ ("HYUNDAI2", "regen306779F6870|2024-10-03--04-03-23--0"), ("TOYOTA", "regen4A5115B248D|2025-03-04--03-21-43--0"), ("TOYOTA2", "regen6E484EDAB96|2024-08-30--02-47-37--0"), - ("TOYOTA3", "regen4CE950B0267|2024-08-30--02-51-30--0"), + ("TOYOTA3", "8011d605be1cbb77|000000cc--8e8d8ec716--6"), ("HONDA", "regenB8CABEC09CC|2025-03-04--03-32-55--0"), ("HONDA2", "regen4B38A7428CD|2024-08-30--02-56-31--0"), ("CHRYSLER", "regenF3DBBA9E8DF|2024-08-30--02-59-03--0"), @@ -62,7 +63,7 @@ segments = [ ] # dashcamOnly makes don't need to be tested until a full port is done -excluded_interfaces = ["mock", "tesla", "rivian"] +excluded_interfaces = ["mock", "tesla"] BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/" REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit") From 4c7d29b907b215a7d50c2be209047726ea0ae4e9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 8 Apr 2025 21:08:04 -0700 Subject: [PATCH 076/115] bump opendbc --- docs/CARS.md | 242 ++++++++++++++++++++++++++------------------------- opendbc_repo | 2 +- 2 files changed, 123 insertions(+), 121 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 648c2cb9d8..1af8974f30 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -11,12 +11,12 @@ A supported vehicle is one that just works when you install a comma device. All |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Acura|RDX 2019-21|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -28,7 +28,7 @@ A supported vehicle is one that just works when you install a comma device. All |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|| -|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -54,20 +54,20 @@ A supported vehicle is one that just works when you install a comma device. All |Genesis|G70 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai J connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Genesis|G90 2017-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV60 (Advanced Trim) 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV60 (Performance Trim) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV70 (2.5T Trim, without HDA II) 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai M connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV70 Electrified (Australia Only) 2022[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV70 Electrified (with HDA II) 2023-24[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV80 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai M connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|GV60 (Advanced Trim) 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|GV60 (Performance Trim) 2022-23[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|GV70 (2.5T Trim, without HDA II) 2022-24[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai M connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|GV70 Electrified (Australia Only) 2022[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|GV70 Electrified (with HDA II) 2023-24[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|GV80 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai M connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Accord 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[5](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Civic 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Civic Hatchback 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -96,10 +96,10 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai J connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Ioniq 5 (with HDA II) 2022-24[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Ioniq 5 (without HDA II) 2022-24[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Ioniq 6 (with HDA II) 2023-24[5](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq 5 (with HDA II) 2022-24[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq 5 (without HDA II) 2022-24[6](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq 6 (with HDA II) 2023-24[6](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Electric 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -110,11 +110,11 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Kona 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Kona Electric (with HDA II, Korea only) 2023[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai R connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Kona Electric (with HDA II, Korea only) 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai R connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai I connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Nexo 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Santa Cruz 2022-24[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Santa Cruz 2022-24[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Santa Fe 2021-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -122,36 +122,36 @@ A supported vehicle is one that just works when you install a comma device. All |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)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Sonata 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Sonata Hybrid 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Staria 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Staria 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Tucson 2022[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Tucson 2023-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Tucson 2022[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Tucson 2023-24[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Tucson Hybrid 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Tucson Plug-in Hybrid 2024[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Tucson Hybrid 2022-24[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Tucson Plug-in Hybrid 2024[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |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)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Carnival 2022-24[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Carnival (China only) 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Carnival 2022-24[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Carnival (China only) 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|EV6 (Southeast Asia only) 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|EV6 (with HDA II) 2022-24[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|EV6 (without HDA II) 2022-24[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|EV6 (Southeast Asia only) 2022-24[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|EV6 (with HDA II) 2022-24[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|EV6 (without HDA II) 2022-24[6](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai G connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|K8 Hybrid (with HDA II) 2023[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|K8 Hybrid (with HDA II) 2023[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro EV 2023-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro EV 2023-24[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro Hybrid 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -162,11 +162,11 @@ A supported vehicle is one that just works when you install a comma device. All |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Sorento 2021-23[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Sorento Hybrid 2021-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Sorento Plug-in Hybrid 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Sportage 2023-24[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Sportage Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Sorento 2021-23[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Sorento Hybrid 2021-23[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Sorento Plug-in Hybrid 2022-23[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Sportage 2023-24[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Sportage Hybrid 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Stinger 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -193,42 +193,42 @@ A supported vehicle is one that just works when you install a comma device. All |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Nissan[7](#footnotes)|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Nissan[7](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Nissan[7](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Nissan[7](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ram connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Rivian A connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Rivian A connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Subaru|Ascent 2019-21|All[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Forester 2019-21|All[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Impreza 2017-19|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Impreza 2020-22|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Legacy 2020-22|All[6](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Outback 2020-22|All[6](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|XV 2018-19|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|XV 2020-21|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Škoda|Fabia 2022-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| -|Škoda|Kamiq 2021-23[10,12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| -|Škoda|Karoq 2019-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Kodiaq 2017-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Octavia 2015-19[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Octavia RS 2016[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Octavia Scout 2017-19[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Scala 2020-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| -|Škoda|Superb 2015-22[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Tesla|Model 3 (with HW3) 2019-23[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Tesla|Model 3 (with HW4) 2024-25[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Tesla|Model Y (with HW3) 2020-23[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Tesla|Model Y (with HW4) 2024[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Subaru|Ascent 2019-21|All[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Forester 2019-21|All[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Impreza 2017-19|EyeSight Driver Assistance[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Impreza 2020-22|EyeSight Driver Assistance[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Legacy 2020-22|All[8](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Outback 2020-22|All[8](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|XV 2018-19|EyeSight Driver Assistance[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|XV 2020-21|EyeSight Driver Assistance[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Škoda|Fabia 2022-23[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[16](#footnotes)|| +|Škoda|Kamiq 2021-23[12,14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[16](#footnotes)|| +|Škoda|Karoq 2019-23[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Kodiaq 2017-23[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia 2015-19[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia RS 2016[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia Scout 2017-19[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Scala 2020-23[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[16](#footnotes)|| +|Škoda|Superb 2015-22[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Tesla|Model 3 (with HW3) 2019-23[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Tesla|Model 3 (with HW4) 2024-25[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Tesla|Model Y (with HW3) 2020-23[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Tesla|Model Y (with HW4) 2024[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -241,8 +241,8 @@ A supported vehicle is one that just works when you install a comma device. All |Toyota|C-HR 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|C-HR Hybrid 2021-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Camry 2018-20|All|Stock|0 mph[9](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Camry 2021-24|All|openpilot|0 mph[9](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Camry 2018-20|All|Stock|0 mph[11](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Camry 2021-24|All|openpilot|0 mph[11](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -274,58 +274,60 @@ A supported vehicle is one that just works when you install a comma device. All |Toyota|RAV4 Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Passat 2015-22[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| -|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| -|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| -|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat 2015-22[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[16](#footnotes)|| +|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[16](#footnotes)|| +|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[16](#footnotes)|| +|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| ### Footnotes 1openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`.
2By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).
3Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia.
-42019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
-5Requires a CAN FD panda kit if not using comma 3X for this CAN FD car.
-6In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance.
-7Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB.
-8Some 2023 model years have HW4. To check which hardware type your vehicle has, look for Autopilot computer under Software -> Additional Vehicle Information on your vehicle's touchscreen. See this page for more information.
-9openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
-10Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
-11Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.
-12Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality.
-13Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC.
-14Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store.
+4See more setup details for GM.
+52019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
+6Requires a CAN FD panda kit if not using comma 3X for this CAN FD car.
+7See more setup details for Nissan.
+8In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance.
+9Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB.
+10Some 2023 model years have HW4. To check which hardware type your vehicle has, look for Autopilot computer under Software -> Additional Vehicle Information on your vehicle's touchscreen. See this page for more information.
+11openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
+12Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
+13Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.
+14Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality.
+15Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC.
+16Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store.
## Community Maintained Cars Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/). diff --git a/opendbc_repo b/opendbc_repo index 4179672dae..81820502a0 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 4179672dae72e29b8ff9072d9be154515312e350 +Subproject commit 81820502a038b64e97caae81377ac65a3b86703e From 2cd0079abef0f654541dfc894e97b02829163577 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 8 Apr 2025 21:11:24 -0700 Subject: [PATCH 077/115] test_models: update relay malfunction check (#34999) relay is checked in fwd hook --- opendbc_repo | 2 +- selfdrive/car/tests/test_models.py | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index 81820502a0..5a24ffee45 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 81820502a038b64e97caae81377ac65a3b86703e +Subproject commit 5a24ffee4549b857837df03a7faaf5f31236f787 diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 906fa99320..fa266328f6 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -240,6 +240,7 @@ class TestCarModelBase(unittest.TestCase): continue to_send = libsafety_py.make_CANPacket(msg.address, msg.src % 4, msg.dat) + self.safety.safety_fwd_hook(msg.src, msg.address) if self.safety.safety_rx_hook(to_send) != 1: failed_addrs[hex(msg.address)] += 1 From dec42839e38db9f09372a3ee4999d791beded1c9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Tue, 8 Apr 2025 21:13:02 -0700 Subject: [PATCH 078/115] process_replay: remove GM (volt) (#35000) Remove volt segment --- selfdrive/test/process_replay/test_processes.py | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index dfa7eb65a8..bb30ab2acd 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -28,8 +28,7 @@ source_segments = [ ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"), # CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID ("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"), # CHRYSLER.RAM_1500_5TH_GEN ("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"), # SUBARU.SUBARU_OUTBACK - ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"), # GM.CHEVROLET_VOLT - ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"), # GM.CHEVROLET_BOLT_EUV + ("GM", "376bf99325883932|2022-10-27--13-41-22--1"), # GM.CHEVROLET_BOLT_EUV ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"), # NISSAN.NISSAN_XTRAIL ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"), # VOLKSWAGEN.VOLKSWAGEN_GOLF # FIXME the sensor timings are bad in mazda segment, we're not fully testing it, but it should be replaced @@ -53,8 +52,7 @@ segments = [ ("CHRYSLER", "regenF3DBBA9E8DF|2024-08-30--02-59-03--0"), ("RAM", "regenDB02684E00A|2024-08-30--03-02-54--0"), ("SUBARU", "regen5E3347D0A0F|2025-03-04--03-23-55--0"), - ("GM", "regen720F2BA4CF6|2024-08-30--03-09-15--0"), - ("GM2", "regen9ADBECBCD1C|2024-08-30--03-13-04--0"), + ("GM", "regen9ADBECBCD1C|2024-08-30--03-13-04--0"), ("NISSAN", "regen58464878D07|2024-08-30--03-15-31--0"), ("VOLKSWAGEN", "regenED976DEB757|2024-08-30--03-18-02--0"), ("MAZDA", "regenACF84CCF482|2024-08-30--03-21-55--0"), From 5d1816e2b8e783405458b2368770138030ef1baf Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 8 Apr 2025 21:27:05 -0700 Subject: [PATCH 079/115] Revert "test_models: update relay malfunction check" (#35002) Revert "test_models: update relay malfunction check (#34999)" This reverts commit 2cd0079abef0f654541dfc894e97b02829163577. --- opendbc_repo | 2 +- selfdrive/car/tests/test_models.py | 1 - 2 files changed, 1 insertion(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 5a24ffee45..81820502a0 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 5a24ffee4549b857837df03a7faaf5f31236f787 +Subproject commit 81820502a038b64e97caae81377ac65a3b86703e diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index fa266328f6..906fa99320 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -240,7 +240,6 @@ class TestCarModelBase(unittest.TestCase): continue to_send = libsafety_py.make_CANPacket(msg.address, msg.src % 4, msg.dat) - self.safety.safety_fwd_hook(msg.src, msg.address) if self.safety.safety_rx_hook(to_send) != 1: failed_addrs[hex(msg.address)] += 1 From f237649a7a281da851187eb3471a2c91f98974fd Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Wed, 9 Apr 2025 15:31:07 -0700 Subject: [PATCH 080/115] Reapply "Online lateral lag learning" (#34975) * Online lateral lag learning (#34974) This reverts commit b4cc9e68d126c2219a7ddf33519e222fe8bfe00d. * pad to the best size for fft * Fix static analysis * Add typing * Fix typing * MAX_LAG * Calculate cross correlation regardless if the points are valid * Back to lagd * Add lagd to process_config * Lagd in test onroad * Move lag estimator for lagd * Remove duplicate entry from test_onroad * Update process replay * pre-fill the data * Update cpu usage * 25sec window * Change the meaning of lateralDelayEstimate * No newline * Fix typing * Prefill * Update ref commit * Add a unit test * Fix static issues * Time limit * Or timeout * Use mocker * Update estimate every time * empty test * DT const * enable RIVIAN again * Update ref commit * Update that again * Improve the tests * Fix static * Add masking test * Increase timeout * Add liveDelay to selfdrived * Add liveDelay to selfdrived in process_replay * Fix block_avg restore after num_blocks * regen most * Update bolt * Update ref commit * Change the key name * Add assert * True weighted average --- cereal/services.py | 1 + common/params_keys.h | 1 + selfdrive/locationd/helpers.py | 38 ++ selfdrive/locationd/lagd.py | 333 ++++++++++++++++++ selfdrive/locationd/test/test_lagd.py | 137 +++++++ selfdrive/selfdrived/selfdrived.py | 2 +- .../test/process_replay/process_replay.py | 11 +- selfdrive/test/process_replay/ref_commit | 2 +- .../test/process_replay/test_processes.py | 34 +- selfdrive/test/test_onroad.py | 3 +- system/manager/process_config.py | 1 + 11 files changed, 542 insertions(+), 21 deletions(-) create mode 100755 selfdrive/locationd/lagd.py create mode 100644 selfdrive/locationd/test/test_lagd.py diff --git a/cereal/services.py b/cereal/services.py index aad83177bb..82fc04bd00 100755 --- a/cereal/services.py +++ b/cereal/services.py @@ -36,6 +36,7 @@ _services: dict[str, tuple] = { "errorLogMessage": (True, 0., 1), "liveCalibration": (True, 4., 4), "liveTorqueParameters": (True, 4., 1), + "liveDelay": (True, 4., 1), "androidLog": (True, 0.), "carState": (True, 100., 10), "carControl": (True, 100., 10), diff --git a/common/params_keys.h b/common/params_keys.h index fd701cda18..e630792357 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -71,6 +71,7 @@ inline static std::unordered_map keys = { {"LastPowerDropDetected", CLEAR_ON_MANAGER_START}, {"LastUpdateException", CLEAR_ON_MANAGER_START}, {"LastUpdateTime", PERSISTENT}, + {"LiveDelay", PERSISTENT}, {"LiveParameters", PERSISTENT}, {"LiveParametersV2", PERSISTENT}, {"LiveTorqueParameters", PERSISTENT | DONT_LOG}, diff --git a/selfdrive/locationd/helpers.py b/selfdrive/locationd/helpers.py index af307b0336..a3e3ae4a8c 100644 --- a/selfdrive/locationd/helpers.py +++ b/selfdrive/locationd/helpers.py @@ -1,10 +1,48 @@ import numpy as np from typing import Any +from functools import cache from cereal import log from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot +@cache +def fft_next_good_size(n: int) -> int: + """ + smallest composite of 2, 3, 5, 7, 11 that is >= n + inspired by pocketfft + """ + if n <= 6: + return n + best, f2 = 2 * n, 1 + while f2 < best: + f23 = f2 + while f23 < best: + f235 = f23 + while f235 < best: + f2357 = f235 + while f2357 < best: + f235711 = f2357 + while f235711 < best: + best = f235711 if f235711 >= n else best + f235711 *= 11 + f2357 *= 7 + f235 *= 5 + f23 *= 3 + f2 *= 2 + return best + + +def parabolic_peak_interp(R, max_index): + if max_index == 0 or max_index == len(R) - 1: + return max_index + + y_m1, y_0, y_p1 = R[max_index - 1], R[max_index], R[max_index + 1] + offset = 0.5 * (y_p1 - y_m1) / (2 * y_0 - y_p1 - y_m1) + + return max_index + offset + + def rotate_cov(rot_matrix, cov_in): return rot_matrix @ cov_in @ rot_matrix.T diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py new file mode 100755 index 0000000000..5ce82309ea --- /dev/null +++ b/selfdrive/locationd/lagd.py @@ -0,0 +1,333 @@ +#!/usr/bin/env python3 +import os +import numpy as np +import capnp +from collections import deque +from functools import partial + +import cereal.messaging as messaging +from cereal import car, log +from cereal.services import SERVICE_LIST +from openpilot.common.params import Params +from openpilot.common.realtime import config_realtime_process +from openpilot.common.swaglog import cloudlog +from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose, fft_next_good_size, parabolic_peak_interp + +BLOCK_SIZE = 100 +BLOCK_NUM = 50 +BLOCK_NUM_NEEDED = 5 +MOVING_WINDOW_SEC = 300.0 +MIN_OKAY_WINDOW_SEC = 25.0 +MIN_RECOVERY_BUFFER_SEC = 2.0 +MIN_VEGO = 15.0 +MIN_ABS_YAW_RATE = np.radians(1.0) +MIN_NCC = 0.95 +MAX_LAG = 1.0 + + +def masked_normalized_cross_correlation(expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, n: int): + """ + References: + D. Padfield. "Masked FFT registration". In Proc. Computer Vision and + Pattern Recognition, pp. 2918-2925 (2010). + :DOI:`10.1109/CVPR.2010.5540032` + """ + + eps = np.finfo(np.float64).eps + expected_sig = np.asarray(expected_sig, dtype=np.float64) + actual_sig = np.asarray(actual_sig, dtype=np.float64) + + expected_sig[~mask] = 0.0 + actual_sig[~mask] = 0.0 + + rotated_expected_sig = expected_sig[::-1] + rotated_mask = mask[::-1] + + fft = partial(np.fft.fft, n=n) + + actual_sig_fft = fft(actual_sig) + rotated_expected_sig_fft = fft(rotated_expected_sig) + actual_mask_fft = fft(mask.astype(np.float64)) + rotated_mask_fft = fft(rotated_mask.astype(np.float64)) + + number_overlap_masked_samples = np.fft.ifft(rotated_mask_fft * actual_mask_fft).real + number_overlap_masked_samples[:] = np.round(number_overlap_masked_samples) + number_overlap_masked_samples[:] = np.fmax(number_overlap_masked_samples, eps) + masked_correlated_actual_fft = np.fft.ifft(rotated_mask_fft * actual_sig_fft).real + masked_correlated_expected_fft = np.fft.ifft(actual_mask_fft * rotated_expected_sig_fft).real + + numerator = np.fft.ifft(rotated_expected_sig_fft * actual_sig_fft).real + numerator -= masked_correlated_actual_fft * masked_correlated_expected_fft / number_overlap_masked_samples + + actual_squared_fft = fft(actual_sig ** 2) + actual_sig_denom = np.fft.ifft(rotated_mask_fft * actual_squared_fft).real + actual_sig_denom -= masked_correlated_actual_fft ** 2 / number_overlap_masked_samples + actual_sig_denom[:] = np.fmax(actual_sig_denom, 0.0) + + rotated_expected_squared_fft = fft(rotated_expected_sig ** 2) + expected_sig_denom = np.fft.ifft(actual_mask_fft * rotated_expected_squared_fft).real + expected_sig_denom -= masked_correlated_expected_fft ** 2 / number_overlap_masked_samples + expected_sig_denom[:] = np.fmax(expected_sig_denom, 0.0) + + denom = np.sqrt(actual_sig_denom * expected_sig_denom) + + # zero-out samples with very small denominators + tol = 1e3 * eps * np.max(np.abs(denom), keepdims=True) + nonzero_indices = denom > tol + + ncc = np.zeros_like(denom, dtype=np.float64) + ncc[nonzero_indices] = numerator[nonzero_indices] / denom[nonzero_indices] + np.clip(ncc, -1, 1, out=ncc) + + return ncc + + +class Points: + def __init__(self, num_points: int): + self.times = deque[float]([0.0] * num_points, maxlen=num_points) + self.okay = deque[bool]([False] * num_points, maxlen=num_points) + self.desired = deque[float]([0.0] * num_points, maxlen=num_points) + self.actual = deque[float]([0.0] * num_points, maxlen=num_points) + + @property + def num_points(self): + return len(self.desired) + + @property + def num_okay(self): + return np.count_nonzero(self.okay) + + def update(self, t: float, desired: float, actual: float, okay: bool): + self.times.append(t) + self.okay.append(okay) + self.desired.append(desired) + self.actual.append(actual) + + def get(self) -> tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray]: + return np.array(self.times), np.array(self.desired), np.array(self.actual), np.array(self.okay) + + +class BlockAverage: + def __init__(self, num_blocks: int, block_size: int, valid_blocks: int, initial_value: float): + self.num_blocks = num_blocks + self.block_size = block_size + self.block_idx = valid_blocks % num_blocks + self.idx = 0 + + self.values = np.tile(initial_value, (num_blocks, 1)) + self.valid_blocks = valid_blocks + + def update(self, value: float): + self.values[self.block_idx] = (self.idx * self.values[self.block_idx] + value) / (self.idx + 1) + self.idx = (self.idx + 1) % self.block_size + if self.idx == 0: + self.block_idx = (self.block_idx + 1) % self.num_blocks + self.valid_blocks = min(self.valid_blocks + 1, self.num_blocks) + + def get(self) -> tuple[float, float]: + valid_block_idx = [i for i in range(self.valid_blocks) if i != self.block_idx] + valid_and_current_idx = valid_block_idx + ([self.block_idx] if self.idx > 0 else []) + + valid_mean = float(np.mean(self.values[valid_block_idx], axis=0).item()) if len(valid_block_idx) > 0 else float('nan') + current_mean = float(np.mean(self.values[valid_and_current_idx], axis=0).item()) if len(valid_and_current_idx) > 0 else float('nan') + return valid_mean, current_mean + + +class LateralLagEstimator: + inputs = {"carControl", "carState", "controlsState", "liveCalibration", "livePose"} + + def __init__(self, CP: car.CarParams, dt: float, + block_count: int = BLOCK_NUM, min_valid_block_count: int = BLOCK_NUM_NEEDED, block_size: int = BLOCK_SIZE, + window_sec: float = MOVING_WINDOW_SEC, okay_window_sec: float = MIN_OKAY_WINDOW_SEC, min_recovery_buffer_sec: float = MIN_RECOVERY_BUFFER_SEC, + min_vego: float = MIN_VEGO, min_yr: float = MIN_ABS_YAW_RATE, min_ncc: float = MIN_NCC): + self.dt = dt + self.window_sec = window_sec + self.okay_window_sec = okay_window_sec + self.min_recovery_buffer_sec = min_recovery_buffer_sec + self.initial_lag = CP.steerActuatorDelay + 0.2 + self.block_size = block_size + self.block_count = block_count + self.min_valid_block_count = min_valid_block_count + self.min_vego = min_vego + self.min_yr = min_yr + self.min_ncc = min_ncc + + self.t = 0.0 + self.lat_active = False + self.steering_pressed = False + self.steering_saturated = False + self.desired_curvature = 0.0 + self.v_ego = 0.0 + self.yaw_rate = 0.0 + + self.last_lat_inactive_t = 0.0 + self.last_steering_pressed_t = 0.0 + self.last_steering_saturated_t = 0.0 + self.last_estimate_t = 0.0 + + self.calibrator = PoseCalibrator() + + self.reset(self.initial_lag, 0) + + def reset(self, initial_lag: float, valid_blocks: int): + window_len = int(self.window_sec / self.dt) + self.points = Points(window_len) + self.block_avg = BlockAverage(self.block_count, self.block_size, valid_blocks, initial_lag) + + def get_msg(self, valid: bool, debug: bool = False) -> capnp._DynamicStructBuilder: + msg = messaging.new_message('liveDelay') + + msg.valid = valid + + liveDelay = msg.liveDelay + + valid_mean_lag, current_mean_lag = self.block_avg.get() + if self.block_avg.valid_blocks >= self.min_valid_block_count and not np.isnan(valid_mean_lag): + liveDelay.status = log.LiveDelayData.Status.estimated + liveDelay.lateralDelay = valid_mean_lag + else: + liveDelay.status = log.LiveDelayData.Status.unestimated + liveDelay.lateralDelay = self.initial_lag + if not np.isnan(current_mean_lag): + liveDelay.lateralDelayEstimate = current_mean_lag + else: + liveDelay.lateralDelayEstimate = self.initial_lag + liveDelay.validBlocks = self.block_avg.valid_blocks + if debug: + liveDelay.points = self.block_avg.values.flatten().tolist() + + return msg + + def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader): + if which == "carControl": + self.lat_active = msg.latActive + elif which == "carState": + self.steering_pressed = msg.steeringPressed + self.v_ego = msg.vEgo + elif which == "controlsState": + self.steering_saturated = getattr(msg.lateralControlState, msg.lateralControlState.which()).saturated + self.desired_curvature = msg.desiredCurvature + elif which == "liveCalibration": + self.calibrator.feed_live_calib(msg) + elif which == "livePose": + device_pose = Pose.from_live_pose(msg) + calibrated_pose = self.calibrator.build_calibrated_pose(device_pose) + self.yaw_rate = calibrated_pose.angular_velocity.z + self.t = t + + def points_enough(self): + return self.points.num_points >= int(self.okay_window_sec / self.dt) + + def points_valid(self): + return self.points.num_okay >= int(self.okay_window_sec / self.dt) + + def update_points(self): + if not self.lat_active: + self.last_lat_inactive_t = self.t + if self.steering_pressed: + self.last_steering_pressed_t = self.t + if self.steering_saturated: + self.last_steering_saturated_t = self.t + + la_desired = self.desired_curvature * self.v_ego * self.v_ego + la_actual_pose = self.yaw_rate * self.v_ego + + fast = self.v_ego > self.min_vego + turning = np.abs(self.yaw_rate) >= self.min_yr + has_recovered = all( # wait for recovery after !lat_active, steering_pressed, steering_saturated + self.t - last_t >= self.min_recovery_buffer_sec + for last_t in [self.last_lat_inactive_t, self.last_steering_pressed_t, self.last_steering_saturated_t] + ) + okay = self.lat_active and not self.steering_pressed and not self.steering_saturated and fast and turning and has_recovered + + self.points.update(self.t, la_desired, la_actual_pose, okay) + + def update_estimate(self): + if not self.points_enough(): + return + + times, desired, actual, okay = self.points.get() + # check if there are any new valid data points since the last update + is_valid = self.points_valid() + if self.last_estimate_t != 0 and times[0] <= self.last_estimate_t: + new_values_start_idx = next(-i for i, t in enumerate(reversed(times)) if t <= self.last_estimate_t) + is_valid = is_valid and not (new_values_start_idx == 0 or not np.any(okay[new_values_start_idx:])) + + delay, corr = self.actuator_delay(desired, actual, okay, self.dt, MAX_LAG) + if corr < self.min_ncc or not is_valid: + return + + self.block_avg.update(delay) + self.last_estimate_t = self.t + + def actuator_delay(self, expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, dt: float, max_lag: float) -> tuple[float, float]: + assert len(expected_sig) == len(actual_sig) + max_lag_samples = int(max_lag / dt) + padded_size = fft_next_good_size(len(expected_sig) + max_lag_samples) + + ncc = masked_normalized_cross_correlation(expected_sig, actual_sig, mask, padded_size) + + # only consider lags from 0 to max_lag + roi_ncc = ncc[len(expected_sig) - 1: len(expected_sig) - 1 + max_lag_samples] + + max_corr_index = np.argmax(roi_ncc) + corr = roi_ncc[max_corr_index] + lag = parabolic_peak_interp(roi_ncc, max_corr_index) * dt + + return lag, corr + + +def retrieve_initial_lag(params_reader: Params, CP: car.CarParams): + last_lag_data = params_reader.get("LiveDelay") + last_carparams_data = params_reader.get("CarParamsPrevRoute") + + if last_lag_data is not None: + try: + with log.Event.from_bytes(last_lag_data) as last_lag_msg, car.CarParams.from_bytes(last_carparams_data) as last_CP: + ld = last_lag_msg.liveDelay + if last_CP.carFingerprint != CP.carFingerprint: + raise Exception("Car model mismatch") + + lag, valid_blocks = ld.lateralDelayEstimate, ld.validBlocks + assert valid_blocks <= BLOCK_NUM, "Invalid number of valid blocks" + return lag, valid_blocks + except Exception as e: + cloudlog.error(f"Failed to retrieve initial lag: {e}") + + return None + + +def main(): + config_realtime_process([0, 1, 2, 3], 5) + + DEBUG = bool(int(os.getenv("DEBUG", "0"))) + + pm = messaging.PubMaster(['liveDelay']) + sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState', 'controlsState', 'carControl'], poll='livePose') + + params_reader = Params() + CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams) + + lag_learner = LateralLagEstimator(CP, 1. / SERVICE_LIST['livePose'].frequency) + if (initial_lag_params := retrieve_initial_lag(params_reader, CP)) is not None: + lag, valid_blocks = initial_lag_params + lag_learner.reset(lag, valid_blocks) + + while True: + sm.update() + if sm.all_checks(): + for which in sorted(sm.updated.keys(), key=lambda x: sm.logMonoTime[x]): + if sm.updated[which]: + t = sm.logMonoTime[which] * 1e-9 + lag_learner.handle_log(t, which, sm[which]) + lag_learner.update_points() + + # 4Hz driven by livePose + if sm.frame % 5 == 0: + lag_learner.update_estimate() + lag_msg = lag_learner.get_msg(sm.all_checks(), DEBUG) + lag_msg_dat = lag_msg.to_bytes() + pm.send('liveDelay', lag_msg_dat) + + if sm.frame % 1200 == 0: # cache every 60 seconds + params_reader.put_nonblocking("LiveDelay", lag_msg_dat) diff --git a/selfdrive/locationd/test/test_lagd.py b/selfdrive/locationd/test/test_lagd.py new file mode 100644 index 0000000000..53af2d2573 --- /dev/null +++ b/selfdrive/locationd/test/test_lagd.py @@ -0,0 +1,137 @@ +import random +import numpy as np +import time +import pytest + +from cereal import messaging +from openpilot.selfdrive.locationd.lagd import LateralLagEstimator, retrieve_initial_lag, masked_normalized_cross_correlation, \ + BLOCK_NUM_NEEDED, BLOCK_SIZE, MIN_OKAY_WINDOW_SEC +from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams +from openpilot.selfdrive.locationd.test.test_locationd_scenarios import TEST_ROUTE +from openpilot.common.params import Params +from openpilot.tools.lib.logreader import LogReader +from openpilot.system.hardware import PC + +MAX_ERR_FRAMES = 1 +DT = 0.05 + + +def process_messages(mocker, estimator, lag_frames, n_frames, vego=20.0, rejection_threshold=0.0): + class ZeroMock(mocker.Mock): + def __getattr__(self, *args): + return 0 + + for i in range(n_frames): + t = i * estimator.dt + desired_la = np.cos(t) + actual_la = np.cos(t - lag_frames * estimator.dt) + + # if sample is masked out, set it to desired value (no lag) + rejected = random.uniform(0, 1) < rejection_threshold + if rejected: + actual_la = desired_la + + desired_cuvature = desired_la / (vego ** 2) + actual_yr = actual_la / vego + msgs = [ + (t, "carControl", mocker.Mock(latActive=not rejected)), + (t, "carState", mocker.Mock(vEgo=vego, steeringPressed=False)), + (t, "controlsState", mocker.Mock(desiredCurvature=desired_cuvature, + lateralControlState=mocker.Mock(which=mocker.Mock(return_value='debugControlState'), debugControlState=ZeroMock()))), + (t, "livePose", mocker.Mock(orientationNED=ZeroMock(), + velocityDevice=ZeroMock(), + accelerationDevice=ZeroMock(), + angularVelocityDevice=ZeroMock(z=actual_yr))), + ] + for t, w, m in msgs: + estimator.handle_log(t, w, m) + estimator.update_points() + estimator.update_estimate() + + +class TestLagd: + def test_read_saved_params(self): + params = Params() + + lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams]) + CP = next(m for m in lr if m.which() == "carParams").carParams + + msg = messaging.new_message('liveDelay') + msg.liveDelay.lateralDelayEstimate = random.random() + msg.liveDelay.validBlocks = random.randint(1, 10) + params.put("LiveDelay", msg.to_bytes()) + params.put("CarParamsPrevRoute", CP.as_builder().to_bytes()) + + saved_lag_params = retrieve_initial_lag(params, CP) + assert saved_lag_params is not None + + lag, valid_blocks = saved_lag_params + assert lag == msg.liveDelay.lateralDelayEstimate + assert valid_blocks == msg.liveDelay.validBlocks + + def test_ncc(self): + lag_frames = random.randint(1, 19) + + desired_sig = np.sin(np.arange(0.0, 10.0, 0.1)) + actual_sig = np.sin(np.arange(0.0, 10.0, 0.1) - lag_frames * 0.1) + mask = np.ones(len(desired_sig), dtype=bool) + + corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20] + assert np.argmax(corr) == lag_frames + + # add some noise + desired_sig += np.random.normal(0, 0.05, len(desired_sig)) + actual_sig += np.random.normal(0, 0.05, len(actual_sig)) + corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20] + assert np.argmax(corr) in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1) + + # mask out 40% of the values, and make them noise + mask = np.random.choice([True, False], size=len(desired_sig), p=[0.6, 0.4]) + desired_sig[~mask] = np.random.normal(0, 1, size=np.sum(~mask)) + actual_sig[~mask] = np.random.normal(0, 1, size=np.sum(~mask)) + corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20] + assert np.argmax(corr) in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1) + + def test_empty_estimator(self, mocker): + mocked_CP = mocker.Mock(steerActuatorDelay=0.8) + estimator = LateralLagEstimator(mocked_CP, DT) + msg = estimator.get_msg(True) + assert msg.liveDelay.status == 'unestimated' + assert np.allclose(msg.liveDelay.lateralDelay, estimator.initial_lag) + assert np.allclose(msg.liveDelay.lateralDelayEstimate, estimator.initial_lag) + assert msg.liveDelay.validBlocks == 0 + + def test_estimator_basics(self, mocker, subtests): + for lag_frames in range(5): + with subtests.test(msg=f"lag_frames={lag_frames}"): + mocked_CP = mocker.Mock(steerActuatorDelay=0.8) + estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0) + process_messages(mocker, estimator, lag_frames, int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_NUM_NEEDED * BLOCK_SIZE) + msg = estimator.get_msg(True) + assert msg.liveDelay.status == 'estimated' + assert np.allclose(msg.liveDelay.lateralDelay, lag_frames * DT, atol=0.01) + assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01) + assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED + + def test_estimator_masking(self, mocker): + mocked_CP, lag_frames = mocker.Mock(steerActuatorDelay=0.8), random.randint(1, 19) + estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, min_valid_block_count=1) + process_messages(mocker, estimator, lag_frames, (int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_SIZE) * 2, rejection_threshold=0.4) + msg = estimator.get_msg(True) + assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01) + + @pytest.mark.skipif(PC, reason="only on device") + @pytest.mark.timeout(60) + def test_estimator_performance(self, mocker): + mocked_CP = mocker.Mock(steerActuatorDelay=0.8) + estimator = LateralLagEstimator(mocked_CP, DT) + + ds = [] + for _ in range(1000): + st = time.perf_counter() + estimator.update_points() + estimator.update_estimate() + d = time.perf_counter() - st + ds.append(d) + + assert np.mean(ds) < DT diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index b1399ab43b..c2e8259135 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -75,7 +75,7 @@ class SelfdriveD: # no vipc in replay will make them ignored anyways ignore += ['roadCameraState', 'wideRoadCameraState'] self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', - 'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', + 'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay', 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'controlsState', 'carControl', 'driverAssistance', 'alertDebug'] + \ self.camera_packets + self.sensor_packets + self.gps_packets, diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 3ee761ee44..9715e48615 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -462,7 +462,7 @@ CONFIGS = [ proc_name="selfdrived", pubs=[ "carState", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState", - "longitudinalPlan", "livePose", "liveParameters", "radarState", + "longitudinalPlan", "livePose", "liveDelay", "liveParameters", "radarState", "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState", "liveTorqueParameters", "accelerometer", "gyroscope", "carOutput", "gpsLocationExternal", "gpsLocation", "controlsState", "carControl", "driverAssistance", "alertDebug", @@ -551,6 +551,15 @@ CONFIGS = [ tolerance=NUMPY_TOLERANCE, processing_time=0.004, ), + ProcessConfig( + proc_name="lagd", + pubs=["livePose", "liveCalibration", "carState", "carControl", "controlsState"], + subs=["liveDelay"], + ignore=["logMonoTime"], + init_callback=get_car_params_callback, + should_recv_callback=MessageBasedRcvCallback("livePose"), + tolerance=NUMPY_TOLERANCE, + ), ProcessConfig( proc_name="ubloxd", pubs=["ubloxRaw"], diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index d4b02296d6..d7eb3686db 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -37fd7afb99bf188c1e5375d01f011ae35821f640 \ No newline at end of file +4576c437dc14bc830956dd272dade4d7f027dab5 \ No newline at end of file diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index bb30ab2acd..d479369693 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -41,23 +41,23 @@ source_segments = [ ] segments = [ - ("BODY", "regenA67A128BCD8|2024-08-30--02-36-22--0"), - ("HYUNDAI", "regenCCD47FEBC0C|2025-03-04--03-21-48--0"), - ("HYUNDAI2", "regen306779F6870|2024-10-03--04-03-23--0"), - ("TOYOTA", "regen4A5115B248D|2025-03-04--03-21-43--0"), - ("TOYOTA2", "regen6E484EDAB96|2024-08-30--02-47-37--0"), - ("TOYOTA3", "8011d605be1cbb77|000000cc--8e8d8ec716--6"), - ("HONDA", "regenB8CABEC09CC|2025-03-04--03-32-55--0"), - ("HONDA2", "regen4B38A7428CD|2024-08-30--02-56-31--0"), - ("CHRYSLER", "regenF3DBBA9E8DF|2024-08-30--02-59-03--0"), - ("RAM", "regenDB02684E00A|2024-08-30--03-02-54--0"), - ("SUBARU", "regen5E3347D0A0F|2025-03-04--03-23-55--0"), - ("GM", "regen9ADBECBCD1C|2024-08-30--03-13-04--0"), - ("NISSAN", "regen58464878D07|2024-08-30--03-15-31--0"), - ("VOLKSWAGEN", "regenED976DEB757|2024-08-30--03-18-02--0"), + ("BODY", "regen2F3C7259F1B|2025-04-08--23-00-23--0"), + ("HYUNDAI", "regenAA0FC4ED71E|2025-04-08--22-57-50--0"), + ("HYUNDAI2", "regenAFB9780D823|2025-04-08--23-00-34--0"), + ("TOYOTA", "regen218A4DCFAA1|2025-04-08--22-57-51--0"), + ("TOYOTA2", "regen107352E20EB|2025-04-08--22-57-46--0"), + ("TOYOTA3", "regen1455E3B4BDF|2025-04-09--03-26-06--0"), + ("HONDA", "regenB328FF8BA0A|2025-04-08--22-57-45--0"), + ("HONDA2", "regen6170C8C9A35|2025-04-08--22-57-46--0"), + ("CHRYSLER", "regen5B28FC2A437|2025-04-08--23-04-24--0"), + ("RAM", "regenBF81EA96E08|2025-04-08--23-06-54--0"), + ("SUBARU", "regen7366F13F6A1|2025-04-08--23-07-07--0"), + ("GM", "regen1271097D038|2025-04-09--03-26-00--0"), + ("NISSAN", "regen15D60604EAB|2025-04-08--23-06-59--0"), + ("VOLKSWAGEN", "regen0F2F06C9539|2025-04-08--23-06-56--0"), ("MAZDA", "regenACF84CCF482|2024-08-30--03-21-55--0"), - ("FORD", "regenA75209BD115|2025-03-04--03-23-53--0"), - ("RIVIAN", "bc095dc92e101734|000000db--ee9fe46e57--1"), + ("FORD", "regen755D8CB1E1F|2025-04-08--23-13-43--0"), + ("RIVIAN", "regen5FCAC896BBE|2025-04-08--23-13-35--0"), ] # dashcamOnly makes don't need to be tested until a full port is done @@ -195,7 +195,7 @@ if __name__ == "__main__": continue # to speed things up, we only test all segments on card - if cfg.proc_name != 'card' and car_brand not in ('HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD'): + if cfg.proc_name != 'card' and car_brand not in ('HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD', 'RIVIAN'): continue cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst") diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index ebc87800b7..4cd952219c 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -44,7 +44,6 @@ PROCS = { "./camerad": 10.0, "selfdrive.controls.plannerd": 9.0, "./ui": 18.0, - "selfdrive.locationd.paramsd": 9.0, "./sensord": 7.0, "selfdrive.controls.radard": 2.0, "selfdrive.modeld.modeld": 22.0, @@ -53,6 +52,8 @@ PROCS = { "selfdrive.locationd.calibrationd": 2.0, "selfdrive.locationd.torqued": 5.0, "selfdrive.locationd.locationd": 25.0, + "selfdrive.locationd.paramsd": 9.0, + "selfdrive.locationd.lagd": 11.0, "selfdrive.ui.soundd": 3.0, "selfdrive.monitoring.dmonitoringd": 4.0, "./proclogd": 2.0, diff --git a/system/manager/process_config.py b/system/manager/process_config.py index 6e048c339e..e25d556037 100644 --- a/system/manager/process_config.py +++ b/system/manager/process_config.py @@ -94,6 +94,7 @@ procs = [ PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI), PythonProcess("pandad", "selfdrive.pandad.pandad", always_run), PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad), + PythonProcess("lagd", "selfdrive.locationd.lagd", only_onroad), NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI), PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI), PythonProcess("plannerd", "selfdrive.controls.plannerd", not_long_maneuver), From 3e6267967b21f2339c98df996644db82765be8d5 Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Thu, 10 Apr 2025 16:33:36 +0200 Subject: [PATCH 081/115] Raise thermal setpoint (#35008) We don't need to control all the way down to 70C --- system/hardware/fan_controller.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/hardware/fan_controller.py b/system/hardware/fan_controller.py index be93d5922a..7d5bec0509 100755 --- a/system/hardware/fan_controller.py +++ b/system/hardware/fan_controller.py @@ -27,7 +27,7 @@ class TiciFanController(BaseFanController): if ignition != self.last_ignition: self.controller.reset() - error = 70 - cur_temp + error = 75 - cur_temp fan_pwr_out = -int(self.controller.update( error=error, feedforward=np.interp(cur_temp, [60.0, 100.0], [0, -100]) From 24c2d9a68a03f3282519c7ffd82241e38df305f5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 10 Apr 2025 15:57:15 -0700 Subject: [PATCH 082/115] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 8a583aaa8c..0dc95a89dd 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 8a583aaa8c1a27a3d13747b7ecead6a3d73a4e81 +Subproject commit 0dc95a89dd7df1e27c36d7560c39666151af81df From b0915db50a464c55803b6bb7695a6fb45129540e Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Fri, 11 Apr 2025 14:55:12 -0700 Subject: [PATCH 083/115] [bot] Update Python packages (#35012) * Update Python packages * update refs --------- Co-authored-by: Vehicle Researcher Co-authored-by: Shane Smiskol --- docs/CARS.md | 4 +- opendbc_repo | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- uv.lock | 146 ++++++++++++----------- 4 files changed, 80 insertions(+), 74 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 1af8974f30..a1b027c51b 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 302 Supported Cars +# 304 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -71,6 +71,8 @@ A supported vehicle is one that just works when you install a comma device. All |Honda|Civic 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Civic Hatchback 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Civic Hatchback Hybrid 2023 (Europe only)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Civic Hatchback Hybrid 2025|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/opendbc_repo b/opendbc_repo index 81820502a0..00e7a69382 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 81820502a038b64e97caae81377ac65a3b86703e +Subproject commit 00e7a69382d37694ab585466c187c814f7de4c56 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index d7eb3686db..632922a8a4 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -4576c437dc14bc830956dd272dade4d7f027dab5 \ No newline at end of file +3d3f875dc211ab0ca8a8e564ecf6dd3f52fcf7d9 \ No newline at end of file diff --git a/uv.lock b/uv.lock index aa49b605a5..7141fa5195 100644 --- a/uv.lock +++ b/uv.lock @@ -70,15 +70,15 @@ wheels = [ [[package]] name = "aioice" -version = "0.9.0" +version = "0.10.0" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "dnspython" }, { name = "ifaddr" }, ] -sdist = { url = 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17:17:59 -0700 Subject: [PATCH 085/115] Rename experimental long (#35011) * now alpha long * fix * rename param * thought i did this * debug * debug * more * more * moar * Revert "moar" This reverts commit e347106246583982e1be206485ad4d8eb944f817. * Revert "more" This reverts commit 0746e6d2e400ce1715614c62af84a9680c4d65c1. * Revert "more" This reverts commit 0db5a8792c01bb2d687f9152e6ba37fb76d4a453. * Revert "debug" This reverts commit 72f235b13727980e4331ff487998ddc7c7f7fb63. * Revert "debug" This reverts commit 7871b69f8c1bdffed386c2baac99542fcc50f7eb. --- common/params_keys.h | 2 +- opendbc_repo | 2 +- selfdrive/car/card.py | 4 ++-- selfdrive/car/tests/test_car_interfaces.py | 2 +- selfdrive/car/tests/test_models.py | 10 +++++----- selfdrive/debug/set_car_params.py | 2 +- selfdrive/selfdrived/selfdrived.py | 4 ++-- selfdrive/test/process_replay/process_replay.py | 4 ++-- selfdrive/ui/qt/offroad/developer_panel.cc | 8 ++++---- selfdrive/ui/qt/offroad/settings.cc | 2 +- selfdrive/ui/qt/util.cc | 4 ++-- selfdrive/ui/tests/test_ui/run.py | 2 +- tools/sim/bridge/common.py | 2 +- 13 files changed, 24 insertions(+), 24 deletions(-) diff --git a/common/params_keys.h b/common/params_keys.h index e630792357..ca779a5b5c 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -34,7 +34,7 @@ inline static std::unordered_map keys = { {"DoReboot", CLEAR_ON_MANAGER_START}, {"DoShutdown", CLEAR_ON_MANAGER_START}, {"DoUninstall", CLEAR_ON_MANAGER_START}, - {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY}, + {"AlphaLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY}, {"ExperimentalMode", PERSISTENT}, {"ExperimentalModeConfirmed", PERSISTENT}, {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, diff --git a/opendbc_repo b/opendbc_repo index d65fa99e2a..3b33a71a2b 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit d65fa99e2aa60a6d98cdfb5acb912665e9e6447e +Subproject commit 3b33a71a2bf08b57dd5b2bf77e26cc376dcd7cc9 diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 607f5590c4..378543164c 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -89,7 +89,7 @@ class Car: if len(can.can) > 0: break - experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled") + alpha_long_allowed = self.params.get_bool("AlphaLongitudinalEnabled") num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates) cached_params = None @@ -98,7 +98,7 @@ class Car: with car.CarParams.from_bytes(cached_params_raw) as _cached_params: cached_params = _cached_params - self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params) + self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, num_pandas, cached_params) self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP) self.CP = self.CI.CP diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index e0cd5a1e91..92c7ff8f1c 100644 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -39,7 +39,7 @@ class TestCarInterfaces: args = get_fuzzy_car_interface_args(data.draw) car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'], - experimental_long=args['experimental_long'], docs=False) + alpha_long=args['alpha_long'], docs=False) car_params = car_params.as_reader() car_interface = CarInterface(car_params) assert car_params diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 906fa99320..53f2bb586d 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -78,7 +78,7 @@ class TestCarModelBase(unittest.TestCase): cls.elm_frame = None cls.car_safety_mode_frame = None cls.fingerprint = gen_empty_fingerprint() - experimental_long = False + alpha_long = False for msg in lr: if msg.which() == "can": can = can_capnp_to_list((msg.as_builder().to_bytes(),))[0] @@ -91,7 +91,7 @@ class TestCarModelBase(unittest.TestCase): elif msg.which() == "carParams": car_fw = msg.carParams.carFw if msg.carParams.openpilotLongitudinalControl: - experimental_long = True + alpha_long = True if cls.platform is None: live_fingerprint = msg.carParams.carFingerprint cls.platform = MIGRATION.get(live_fingerprint, live_fingerprint) @@ -113,7 +113,7 @@ class TestCarModelBase(unittest.TestCase): cls.car_safety_mode_frame = len(can_msgs) assert len(can_msgs) > int(50 / DT_CTRL), "no can data found" - return car_fw, can_msgs, experimental_long + return car_fw, can_msgs, alpha_long @classmethod def get_testing_data(cls): @@ -146,13 +146,13 @@ class TestCarModelBase(unittest.TestCase): raise unittest.SkipTest raise Exception(f"missing test route for {cls.platform}") - car_fw, cls.can_msgs, experimental_long = cls.get_testing_data() + car_fw, cls.can_msgs, alpha_long = cls.get_testing_data() # if relay is expected to be open in the route cls.openpilot_enabled = cls.car_safety_mode_frame is not None cls.CarInterface = interfaces[cls.platform] - cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, experimental_long, docs=False) + cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, alpha_long, docs=False) assert cls.CP assert cls.CP.carFingerprint == cls.platform diff --git a/selfdrive/debug/set_car_params.py b/selfdrive/debug/set_car_params.py index 6060dfbc36..aec30b4d74 100755 --- a/selfdrive/debug/set_car_params.py +++ b/selfdrive/debug/set_car_params.py @@ -15,7 +15,7 @@ if __name__ == "__main__": else: CP = car.CarParams.new_message() CP.openpilotLongitudinalControl = True - CP.experimentalLongitudinalAvailable = False + CP.alphaLongitudinalAvailable = False cp_bytes = CP.to_bytes() for p in ("CarParams", "CarParamsCache", "CarParamsPersistent"): diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index c2e8259135..face7dab29 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -89,8 +89,8 @@ class SelfdriveD: car_recognized = self.CP.brand != 'mock' # cleanup old params - if not self.CP.experimentalLongitudinalAvailable: - self.params.remove("ExperimentalLongitudinalEnabled") + if not self.CP.alphaLongitudinalAvailable: + self.params.remove("AlphaLongitudinalEnabled") if not self.CP.openpilotLongitudinalControl: self.params.remove("ExperimentalMode") diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 9715e48615..6139846322 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -363,7 +363,7 @@ def get_car_params_callback(rc, pm, msgs, fingerprint): with car.CarParams.from_bytes(cached_params_raw) as _cached_params: cached_params = _cached_params - CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"), cached_params=cached_params).CP + CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("AlphaLongitudinalEnabled"), cached_params=cached_params).CP if not params.get_bool("DisengageOnAccelerator"): CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS @@ -777,7 +777,7 @@ def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=Non params_dict["CarParamsCache"] = CP.as_builder().to_bytes() if CP.openpilotLongitudinalControl: - params_dict["ExperimentalLongitudinalEnabled"] = True + params_dict["AlphaLongitudinalEnabled"] = True if CP.notCar: params_dict["JoystickDebugMode"] = True diff --git a/selfdrive/ui/qt/offroad/developer_panel.cc b/selfdrive/ui/qt/offroad/developer_panel.cc index 365aec09c4..a095228da2 100644 --- a/selfdrive/ui/qt/offroad/developer_panel.cc +++ b/selfdrive/ui/qt/offroad/developer_panel.cc @@ -26,7 +26,7 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) { addItem(longManeuverToggle); experimentalLongitudinalToggle = new ParamControl( - "ExperimentalLongitudinalEnabled", + "AlphaLongitudinalEnabled", tr("openpilot Longitudinal Control (Alpha)"), QString("%1

%2") .arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).")) @@ -68,8 +68,8 @@ void DeveloperPanel::updateToggles(bool _offroad) { capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size())); cereal::CarParams::Reader CP = cmsg.getRoot(); - if (!CP.getExperimentalLongitudinalAvailable() || is_release) { - params.remove("ExperimentalLongitudinalEnabled"); + if (!CP.getAlphaLongitudinalAvailable() || is_release) { + params.remove("AlphaLongitudinalEnabled"); experimentalLongitudinalToggle->setEnabled(false); } @@ -78,7 +78,7 @@ void DeveloperPanel::updateToggles(bool _offroad) { * - is not a release branch, and * - the car supports experimental longitudinal control (alpha) */ - experimentalLongitudinalToggle->setVisible(CP.getExperimentalLongitudinalAvailable() && !is_release); + experimentalLongitudinalToggle->setVisible(CP.getAlphaLongitudinalAvailable() && !is_release); longManeuverToggle->setEnabled(hasLongitudinalControl(CP) && _offroad); } else { diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 4d0516bda1..7a79413e2d 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -152,7 +152,7 @@ void TogglesPanel::updateToggles() { QString long_desc = unavailable + " " + \ tr("openpilot longitudinal control may come in a future update."); - if (CP.getExperimentalLongitudinalAvailable()) { + if (CP.getAlphaLongitudinalAvailable()) { if (is_release) { long_desc = unavailable + " " + tr("An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches."); } else { diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index 399a1a98d7..ff381fe39c 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -193,8 +193,8 @@ QPixmap bootstrapPixmap(const QString &id) { bool hasLongitudinalControl(const cereal::CarParams::Reader &car_params) { // Using the experimental longitudinal toggle, returns whether longitudinal control // will be active without needing a restart of openpilot - return car_params.getExperimentalLongitudinalAvailable() - ? Params().getBool("ExperimentalLongitudinalEnabled") + return car_params.getAlphaLongitudinalAvailable() + ? Params().getBool("AlphaLongitudinalEnabled") : car_params.getOpenpilotLongitudinalControl(); } diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py index 35323cf000..c830680aa6 100755 --- a/selfdrive/ui/tests/test_ui/run.py +++ b/selfdrive/ui/tests/test_ui/run.py @@ -56,7 +56,7 @@ def setup_settings_firehose(click, pm: PubMaster): def setup_settings_developer(click, pm: PubMaster): CP = car.CarParams() - CP.experimentalLongitudinalAvailable = True + CP.alphaLongitudinalAvailable = True Params().put("CarParamsPersistent", CP.to_bytes()) setup_settings_device(click, pm) diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py index bf3be5193d..69dec173ca 100644 --- a/tools/sim/bridge/common.py +++ b/tools/sim/bridge/common.py @@ -40,7 +40,7 @@ class SimulatorBridge(ABC): def __init__(self, dual_camera, high_quality): set_params_enabled() self.params = Params() - self.params.put_bool("ExperimentalLongitudinalEnabled", True) + self.params.put_bool("AlphaLongitudinalEnabled", True) self.rk = Ratekeeper(100, None) From 0a401620393798753afb6068b41e9faf630141d4 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Mon, 14 Apr 2025 18:36:55 -0700 Subject: [PATCH 086/115] Temporary disable UI preview from CI (#35018) disable --- .github/workflows/selfdrive_tests.yaml | 1 + .github/workflows/ui_preview.yaml | 3 ++- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index b42dc7da26..25fc258634 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -331,6 +331,7 @@ jobs: runs-on: - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }} - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }} + if: false # FIXME: FrameReader is broken on CI runners steps: - uses: actions/checkout@v4 with: diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml index 4e8338c483..9ec7a59223 100644 --- a/.github/workflows/ui_preview.yaml +++ b/.github/workflows/ui_preview.yaml @@ -19,7 +19,8 @@ env: jobs: preview: - if: github.repository == 'commaai/openpilot' + #if: github.repository == 'commaai/openpilot' + if: false # FIXME: FrameReader is broken on CI runners name: preview runs-on: ubuntu-latest timeout-minutes: 20 From d7a5661ffe214f9f018e2cb889dae2292c1dd7d8 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 14 Apr 2025 21:08:45 -0700 Subject: [PATCH 087/115] Fix possible CAN ignition overlap due to incorrect counter tracking (#35019) * fix-rivian-ign * bump --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 0dc95a89dd..d319ea2bba 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 0dc95a89dd7df1e27c36d7560c39666151af81df +Subproject commit d319ea2bbae4ee0f5dea12d7ca5456cd34288d55 From 60da5dd39a767e1f6515c1adc0ebbe146867acd3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Thu, 17 Apr 2025 00:35:30 -0700 Subject: [PATCH 088/115] lagd: check sensors valid (#35027) * Check if sensors valid * Fix test * Fix static * Constants * time buffer for pose valid * Fix static --- selfdrive/locationd/lagd.py | 38 ++++++++++++++++++++------- selfdrive/locationd/test/test_lagd.py | 10 ++++--- 2 files changed, 34 insertions(+), 14 deletions(-) diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py index 5ce82309ea..b52a658d01 100755 --- a/selfdrive/locationd/lagd.py +++ b/selfdrive/locationd/lagd.py @@ -21,8 +21,11 @@ MIN_OKAY_WINDOW_SEC = 25.0 MIN_RECOVERY_BUFFER_SEC = 2.0 MIN_VEGO = 15.0 MIN_ABS_YAW_RATE = np.radians(1.0) +MAX_YAW_RATE_SANITY_CHECK = 1.0 MIN_NCC = 0.95 MAX_LAG = 1.0 +MAX_LAT_ACCEL = 2.0 +MAX_LAT_ACCEL_DIFF = 0.6 def masked_normalized_cross_correlation(expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, n: int): @@ -139,7 +142,8 @@ class LateralLagEstimator: def __init__(self, CP: car.CarParams, dt: float, block_count: int = BLOCK_NUM, min_valid_block_count: int = BLOCK_NUM_NEEDED, block_size: int = BLOCK_SIZE, window_sec: float = MOVING_WINDOW_SEC, okay_window_sec: float = MIN_OKAY_WINDOW_SEC, min_recovery_buffer_sec: float = MIN_RECOVERY_BUFFER_SEC, - min_vego: float = MIN_VEGO, min_yr: float = MIN_ABS_YAW_RATE, min_ncc: float = MIN_NCC): + min_vego: float = MIN_VEGO, min_yr: float = MIN_ABS_YAW_RATE, min_ncc: float = MIN_NCC, + max_lat_accel: float = MAX_LAT_ACCEL, max_lat_accel_diff: float = MAX_LAT_ACCEL_DIFF): self.dt = dt self.window_sec = window_sec self.okay_window_sec = okay_window_sec @@ -151,6 +155,8 @@ class LateralLagEstimator: self.min_vego = min_vego self.min_yr = min_yr self.min_ncc = min_ncc + self.max_lat_accel = max_lat_accel + self.max_lat_accel_diff = max_lat_accel_diff self.t = 0.0 self.lat_active = False @@ -159,10 +165,13 @@ class LateralLagEstimator: self.desired_curvature = 0.0 self.v_ego = 0.0 self.yaw_rate = 0.0 + self.yaw_rate_std = 0.0 + self.pose_valid = False self.last_lat_inactive_t = 0.0 self.last_steering_pressed_t = 0.0 self.last_steering_saturated_t = 0.0 + self.last_pose_invalid_t = 0.0 self.last_estimate_t = 0.0 self.calibrator = PoseCalibrator() @@ -212,7 +221,9 @@ class LateralLagEstimator: elif which == "livePose": device_pose = Pose.from_live_pose(msg) calibrated_pose = self.calibrator.build_calibrated_pose(device_pose) - self.yaw_rate = calibrated_pose.angular_velocity.z + self.yaw_rate = calibrated_pose.angular_velocity.yaw + self.yaw_rate_std = calibrated_pose.angular_velocity.yaw_std + self.pose_valid = msg.angularVelocityDevice.valid and msg.posenetOK and msg.inputsOK self.t = t def points_enough(self): @@ -222,23 +233,30 @@ class LateralLagEstimator: return self.points.num_okay >= int(self.okay_window_sec / self.dt) def update_points(self): + la_desired = self.desired_curvature * self.v_ego * self.v_ego + la_actual_pose = self.yaw_rate * self.v_ego + + fast = self.v_ego > self.min_vego + turning = np.abs(self.yaw_rate) >= self.min_yr + sensors_valid = self.pose_valid and np.abs(self.yaw_rate) < MAX_YAW_RATE_SANITY_CHECK and self.yaw_rate_std < MAX_YAW_RATE_SANITY_CHECK + la_valid = np.abs(la_actual_pose) <= self.max_lat_accel and np.abs(la_desired - la_actual_pose) <= self.max_lat_accel_diff + calib_valid = self.calibrator.calib_valid + if not self.lat_active: self.last_lat_inactive_t = self.t if self.steering_pressed: self.last_steering_pressed_t = self.t if self.steering_saturated: self.last_steering_saturated_t = self.t + if not sensors_valid or not la_valid: + self.last_pose_invalid_t = self.t - la_desired = self.desired_curvature * self.v_ego * self.v_ego - la_actual_pose = self.yaw_rate * self.v_ego - - fast = self.v_ego > self.min_vego - turning = np.abs(self.yaw_rate) >= self.min_yr - has_recovered = all( # wait for recovery after !lat_active, steering_pressed, steering_saturated + has_recovered = all( # wait for recovery after !lat_active, steering_pressed, steering_saturated, !sensors/la_valid self.t - last_t >= self.min_recovery_buffer_sec - for last_t in [self.last_lat_inactive_t, self.last_steering_pressed_t, self.last_steering_saturated_t] + for last_t in [self.last_lat_inactive_t, self.last_steering_pressed_t, self.last_steering_saturated_t, self.last_pose_invalid_t] ) - okay = self.lat_active and not self.steering_pressed and not self.steering_saturated and fast and turning and has_recovered + okay = self.lat_active and not self.steering_pressed and not self.steering_saturated and \ + fast and turning and has_recovered and calib_valid and sensors_valid and la_valid self.points.update(self.t, la_desired, la_actual_pose, okay) diff --git a/selfdrive/locationd/test/test_lagd.py b/selfdrive/locationd/test/test_lagd.py index 53af2d2573..bd5cfd6201 100644 --- a/selfdrive/locationd/test/test_lagd.py +++ b/selfdrive/locationd/test/test_lagd.py @@ -3,7 +3,7 @@ import numpy as np import time import pytest -from cereal import messaging +from cereal import messaging, log from openpilot.selfdrive.locationd.lagd import LateralLagEstimator, retrieve_initial_lag, masked_normalized_cross_correlation, \ BLOCK_NUM_NEEDED, BLOCK_SIZE, MIN_OKAY_WINDOW_SEC from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams @@ -23,8 +23,8 @@ def process_messages(mocker, estimator, lag_frames, n_frames, vego=20.0, rejecti for i in range(n_frames): t = i * estimator.dt - desired_la = np.cos(t) - actual_la = np.cos(t - lag_frames * estimator.dt) + desired_la = np.cos(t) * 0.1 + actual_la = np.cos(t - lag_frames * estimator.dt) * 0.1 # if sample is masked out, set it to desired value (no lag) rejected = random.uniform(0, 1) < rejection_threshold @@ -41,7 +41,9 @@ def process_messages(mocker, estimator, lag_frames, n_frames, vego=20.0, rejecti (t, "livePose", mocker.Mock(orientationNED=ZeroMock(), velocityDevice=ZeroMock(), accelerationDevice=ZeroMock(), - angularVelocityDevice=ZeroMock(z=actual_yr))), + angularVelocityDevice=ZeroMock(z=actual_yr, valid=True), + posenetOK=True, inputsOK=True)), + (t, "liveCalibration", mocker.Mock(rpyCalib=[0, 0, 0], calStatus=log.LiveCalibrationData.Status.calibrated)), ] for t, w, m in msgs: estimator.handle_log(t, w, m) From c933914f8679836f2b7a5b733a90086b266d5bc7 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 17 Apr 2025 23:11:19 +0100 Subject: [PATCH 089/115] ui(raylib): update spinner progress bar to match Qt (#35028) --- system/ui/spinner.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/system/ui/spinner.py b/system/ui/spinner.py index 9809307474..951c6f697e 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -13,6 +13,7 @@ ROTATION_TIME_SECONDS = 1.0 # Time for one full circle MARGIN = 200 TEXTURE_SIZE = 360 FONT_SIZE = 80 +DARKGRAY = (55, 55, 55, 255) def clamp(value, min_value, max_value): @@ -57,10 +58,10 @@ class Spinner: if text.isdigit(): progress = clamp(int(text), 0, 100) bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT) - rl.draw_rectangle_rounded(bar, 0.5, 10, rl.GRAY) + rl.draw_rectangle_rounded(bar, 1, 10, DARKGRAY) bar.width *= progress / 100.0 - rl.draw_rectangle_rounded(bar, 0.5, 10, rl.WHITE) + rl.draw_rectangle_rounded(bar, 1, 10, rl.WHITE) else: text_size = rl.measure_text_ex(gui_app.font(), text, FONT_SIZE, 1.0) rl.draw_text_ex(gui_app.font(), text, From 06a9483a24d9d5e9fa2b32222d77c89e9ea16148 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Thu, 17 Apr 2025 16:49:30 -0700 Subject: [PATCH 090/115] lagd: estimate std (#35009) * Std * Fix static * Refactor * Assert std zero --- cereal/log.capnp | 1 + selfdrive/locationd/lagd.py | 39 ++++++++++++++++++++------- selfdrive/locationd/test/test_lagd.py | 2 ++ 3 files changed, 33 insertions(+), 9 deletions(-) diff --git a/cereal/log.capnp b/cereal/log.capnp index 797c2cd8ac..c624eb0052 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -2284,6 +2284,7 @@ struct LiveDelayData { status @2 :Status; lateralDelayEstimate @3 :Float32; + lateralDelayEstimateStd @5 :Float32; points @4 :List(Float32); enum Status { diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py index b52a658d01..0a7c71a7ea 100755 --- a/selfdrive/locationd/lagd.py +++ b/selfdrive/locationd/lagd.py @@ -24,6 +24,7 @@ MIN_ABS_YAW_RATE = np.radians(1.0) MAX_YAW_RATE_SANITY_CHECK = 1.0 MIN_NCC = 0.95 MAX_LAG = 1.0 +MAX_LAG_STD = 0.1 MAX_LAT_ACCEL = 2.0 MAX_LAT_ACCEL_DIFF = 0.6 @@ -127,13 +128,23 @@ class BlockAverage: self.block_idx = (self.block_idx + 1) % self.num_blocks self.valid_blocks = min(self.valid_blocks + 1, self.num_blocks) - def get(self) -> tuple[float, float]: + def get(self) -> tuple[float, float, float, float]: valid_block_idx = [i for i in range(self.valid_blocks) if i != self.block_idx] valid_and_current_idx = valid_block_idx + ([self.block_idx] if self.idx > 0 else []) - valid_mean = float(np.mean(self.values[valid_block_idx], axis=0).item()) if len(valid_block_idx) > 0 else float('nan') - current_mean = float(np.mean(self.values[valid_and_current_idx], axis=0).item()) if len(valid_and_current_idx) > 0 else float('nan') - return valid_mean, current_mean + if len(valid_block_idx) > 0: + valid_mean = float(np.mean(self.values[valid_block_idx], axis=0).item()) + valid_std = float(np.std(self.values[valid_block_idx], axis=0).item()) + else: + valid_mean, valid_std = float('nan'), float('nan') + + if len(valid_and_current_idx) > 0: + current_mean = float(np.mean(self.values[valid_and_current_idx], axis=0).item()) + current_std = float(np.std(self.values[valid_and_current_idx], axis=0).item()) + else: + current_mean, current_std = float('nan'), float('nan') + + return valid_mean, valid_std, current_mean, current_std class LateralLagEstimator: @@ -190,17 +201,27 @@ class LateralLagEstimator: liveDelay = msg.liveDelay - valid_mean_lag, current_mean_lag = self.block_avg.get() - if self.block_avg.valid_blocks >= self.min_valid_block_count and not np.isnan(valid_mean_lag): - liveDelay.status = log.LiveDelayData.Status.estimated - liveDelay.lateralDelay = valid_mean_lag + valid_mean_lag, valid_std, current_mean_lag, current_std = self.block_avg.get() + if self.block_avg.valid_blocks >= self.min_valid_block_count and not np.isnan(valid_mean_lag) and not np.isnan(valid_std): + if valid_std > MAX_LAG_STD: + liveDelay.status = log.LiveDelayData.Status.invalid + else: + liveDelay.status = log.LiveDelayData.Status.estimated else: liveDelay.status = log.LiveDelayData.Status.unestimated + + if liveDelay.status == log.LiveDelayData.Status.estimated: + liveDelay.lateralDelay = valid_mean_lag + else: liveDelay.lateralDelay = self.initial_lag - if not np.isnan(current_mean_lag): + + if not np.isnan(current_mean_lag) and not np.isnan(current_std): liveDelay.lateralDelayEstimate = current_mean_lag + liveDelay.lateralDelayEstimateStd = current_std else: liveDelay.lateralDelayEstimate = self.initial_lag + liveDelay.lateralDelayEstimateStd = 0.0 + liveDelay.validBlocks = self.block_avg.valid_blocks if debug: liveDelay.points = self.block_avg.values.flatten().tolist() diff --git a/selfdrive/locationd/test/test_lagd.py b/selfdrive/locationd/test/test_lagd.py index bd5cfd6201..13aea60a26 100644 --- a/selfdrive/locationd/test/test_lagd.py +++ b/selfdrive/locationd/test/test_lagd.py @@ -113,6 +113,7 @@ class TestLagd: assert msg.liveDelay.status == 'estimated' assert np.allclose(msg.liveDelay.lateralDelay, lag_frames * DT, atol=0.01) assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01) + assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01) assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED def test_estimator_masking(self, mocker): @@ -121,6 +122,7 @@ class TestLagd: process_messages(mocker, estimator, lag_frames, (int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_SIZE) * 2, rejection_threshold=0.4) msg = estimator.get_msg(True) assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01) + assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01) @pytest.mark.skipif(PC, reason="only on device") @pytest.mark.timeout(60) From a4cdc96a99be6a2da574d3327f7e76fbd6f63dd3 Mon Sep 17 00:00:00 2001 From: Bruce Wayne Date: Thu, 17 Apr 2025 16:58:00 -0700 Subject: [PATCH 091/115] update --- cereal/log.capnp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/cereal/log.capnp b/cereal/log.capnp index c624eb0052..a5828d61cb 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -1174,6 +1174,8 @@ struct ModelDataV2 { struct Action { desiredCurvature @0 :Float32; + desiredAcceleration @1 :Float32; + shouldStop @2 :Bool; } } From 4f913f0cfba188f95bc565e225c41f842168a982 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Fri, 18 Apr 2025 01:11:22 +0100 Subject: [PATCH 092/115] ui(raylib): fix typos (#35030) --- system/ui/lib/application.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index fd1ad52068..470396bbc7 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -73,7 +73,7 @@ class GuiApplication: for font in self._fonts.values(): rl.unload_font(font) - self._fonts = [] + self._fonts = {} rl.close_window() @@ -90,8 +90,8 @@ class GuiApplication: rl.end_drawing() self._monitor_fps() - def font(self, font_wight: FontWeight=FontWeight.NORMAL): - return self._fonts[font_wight] + def font(self, font_weight: FontWeight=FontWeight.NORMAL): + return self._fonts[font_weight] @property def width(self): From b42ec33a6375e831f11ca88f5d92c1f0d14efa64 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Thu, 17 Apr 2025 17:59:15 -0700 Subject: [PATCH 093/115] Update modeld action logic (#35032) * add action logic * magic numbers * unused * plot accel * more changes --- selfdrive/controls/lib/drive_helpers.py | 18 +++++++- .../controls/lib/longitudinal_planner.py | 21 +--------- selfdrive/modeld/fill_model_msg.py | 9 ++-- selfdrive/modeld/modeld.py | 42 ++++++++++++++++--- selfdrive/test/process_replay/model_replay.py | 1 + 5 files changed, 62 insertions(+), 29 deletions(-) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 41384abae8..9958755577 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -1,7 +1,7 @@ import numpy as np from cereal import log from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY -from openpilot.common.realtime import DT_CTRL +from openpilot.common.realtime import DT_CTRL, DT_MDL MIN_SPEED = 1.0 CONTROL_N = 17 @@ -43,3 +43,19 @@ def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float: vel_err = np.clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR) return float(vel_err) return 0.0 + + +def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.05): + if len(speeds) == len(t_idxs): + v_now = speeds[0] + a_now = accels[0] + v_target = np.interp(action_t, t_idxs, speeds) + a_target = 2 * (v_target - v_now) / (action_t) - a_now + v_target_1sec = np.interp(action_t + 1.0, t_idxs, speeds) + else: + v_target = 0.0 + v_target_1sec = 0.0 + a_target = 0.0 + should_stop = (v_target < vEgoStopping and + v_target_1sec < vEgoStopping) + return a_target, should_stop diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index c7a2295a5f..8cbf0beee9 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -11,7 +11,7 @@ from openpilot.selfdrive.modeld.constants import ModelConstants from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC -from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_error +from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_error, get_accel_from_plan from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET from openpilot.common.swaglog import cloudlog @@ -48,23 +48,6 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP): return [a_target[0], min(a_target[1], a_x_allowed)] -def get_accel_from_plan(speeds, accels, action_t=DT_MDL, vEgoStopping=0.05): - if len(speeds) == CONTROL_N: - v_now = speeds[0] - a_now = accels[0] - - v_target = np.interp(action_t, CONTROL_N_T_IDX, speeds) - a_target = 2 * (v_target - v_now) / (action_t) - a_now - v_target_1sec = np.interp(action_t + 1.0, CONTROL_N_T_IDX, speeds) - else: - v_target = 0.0 - v_target_1sec = 0.0 - a_target = 0.0 - should_stop = (v_target < vEgoStopping and - v_target_1sec < vEgoStopping) - return a_target, should_stop - - class LongitudinalPlanner: def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL): self.CP = CP @@ -176,7 +159,7 @@ class LongitudinalPlanner: self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0 action_t = self.CP.longitudinalActuatorDelay + DT_MDL - output_a_target, self.output_should_stop = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, + output_a_target, self.output_should_stop = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX, action_t=action_t, vEgoStopping=self.CP.vEgoStopping) for idx in range(2): diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py index 9dc2641c9b..a91c6395c7 100644 --- a/selfdrive/modeld/fill_model_msg.py +++ b/selfdrive/modeld/fill_model_msg.py @@ -56,7 +56,7 @@ def fill_lane_line_meta(builder, lane_lines, lane_line_probs): builder.rightProb = lane_line_probs[2] def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder, - net_output_data: dict[str, np.ndarray], v_ego: float, delay: float, + net_output_data: dict[str, np.ndarray], action: log.ModelDataV2.Action, publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float, timestamp_eof: int, model_execution_time: float, valid: bool) -> None: @@ -71,7 +71,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D driving_model_data.frameIdExtra = vipc_frame_id_extra driving_model_data.frameDropPerc = frame_drop_perc driving_model_data.modelExecutionTime = model_execution_time - driving_model_data.action.desiredCurvature = float(net_output_data['desired_curvature'][0,0]) + + driving_model_data.action = action modelV2 = extended_msg.modelV2 modelV2.frameId = vipc_frame_id @@ -98,8 +99,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D # poly path fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T) - # lateral planning - modelV2.action.desiredCurvature = float(net_output_data['desired_curvature'][0,0]) + # action + modelV2.action = action # times at X_IDXS of edges and lines aren't used LINE_T_IDXS: list[float] = [] diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 1e557942fe..f5007273ec 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -21,17 +21,20 @@ from opendbc.car.car_helpers import get_demo_car_params from openpilot.common.swaglog import cloudlog from openpilot.common.params import Params from openpilot.common.filter_simple import FirstOrderFilter -from openpilot.common.realtime import config_realtime_process +from openpilot.common.realtime import config_realtime_process, DT_MDL from openpilot.common.transformations.camera import DEVICE_CAMERAS from openpilot.common.transformations.model import get_warp_matrix from openpilot.system import sentry from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper +from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan from openpilot.selfdrive.modeld.parse_model_outputs import Parser from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState -from openpilot.selfdrive.modeld.constants import ModelConstants +from openpilot.selfdrive.modeld.constants import ModelConstants, Plan from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext + + PROCESS_NAME = "selfdrive.modeld.modeld" SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') @@ -40,6 +43,30 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl' VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl' POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl' +LAT_SMOOTH_SECONDS = 0.0 +LONG_SMOOTH_SECONDS = 0.0 + +def smooth_value(val, prev_val, tau): + alpha = 1 - np.exp(-DT_MDL / tau) if tau > 0 else 1 + return alpha * val + (1 - alpha) * prev_val + + +def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action, + lat_action_t: float, long_action_t: float,) -> log.ModelDataV2.Action: + plan = model_output['plan'][0] + desired_accel, should_stop = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0], + plan[:,Plan.ACCELERATION][:,0], + ModelConstants.T_IDXS, + action_t=long_action_t) + desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS) + + desired_curvature = model_output['desired_curvature'][0, 0] + desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS) + + return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature), + desiredAcceleration=float(desired_accel), + shouldStop=bool(should_stop)) + class FrameMeta: frame_id: int = 0 timestamp_sof: int = 0 @@ -221,7 +248,10 @@ def main(demo=False): cloudlog.info("modeld got CarParams: %s", CP.brand) # TODO this needs more thought, use .2s extra for now to estimate other delays - steer_delay = CP.steerActuatorDelay + .2 + # TODO Move smooth seconds to action function + lat_delay = CP.steerActuatorDelay + .2 + LAT_SMOOTH_SECONDS + long_delay = CP.longitudinalActuatorDelay + LONG_SMOOTH_SECONDS + prev_action = log.ModelDataV2.Action() DH = DesireHelper() @@ -263,7 +293,7 @@ def main(demo=False): is_rhd = sm["driverMonitoringState"].isRHD frame_id = sm["roadCameraState"].frameId v_ego = max(sm["carState"].vEgo, 0.) - lateral_control_params = np.array([v_ego, steer_delay], dtype=np.float32) + lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32) if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']: device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))] @@ -306,7 +336,9 @@ def main(demo=False): modelv2_send = messaging.new_message('modelV2') drivingdata_send = messaging.new_message('drivingModelData') posenet_send = messaging.new_message('cameraOdometry') - fill_model_msg(drivingdata_send, modelv2_send, model_output, v_ego, steer_delay, + + action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL) + fill_model_msg(drivingdata_send, modelv2_send, model_output, action, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen) diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index 36398af8ca..af626e2da9 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -64,6 +64,7 @@ def generate_report(proposed, master, tmp, commit): ModelV2_Plots = zl([ (lambda x: get_idx_if_non_empty(x.velocity.x, 0), "velocity.x"), (lambda x: get_idx_if_non_empty(x.action.desiredCurvature), "desiredCurvature"), + (lambda x: get_idx_if_non_empty(x.action.desiredAcceleration), "desiredAcceleration"), (lambda x: get_idx_if_non_empty(x.leadsV3[0].x, 0), "leadsV3.x"), (lambda x: get_idx_if_non_empty(x.laneLines[1].y, 0), "laneLines.y"), (lambda x: get_idx_if_non_empty(x.meta.desireState, 3), "desireState.laneChangeLeft"), From 15326c2d301427ce525bce464d8d1ca84fd3c4af Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Thu, 17 Apr 2025 18:37:48 -0700 Subject: [PATCH 094/115] lagd: check for validity of the estimate when restoring state (#35034) Do not restore if invalid --- selfdrive/locationd/lagd.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py index 0a7c71a7ea..f4f46b7469 100755 --- a/selfdrive/locationd/lagd.py +++ b/selfdrive/locationd/lagd.py @@ -327,8 +327,9 @@ def retrieve_initial_lag(params_reader: Params, CP: car.CarParams): if last_CP.carFingerprint != CP.carFingerprint: raise Exception("Car model mismatch") - lag, valid_blocks = ld.lateralDelayEstimate, ld.validBlocks + lag, valid_blocks, status = ld.lateralDelayEstimate, ld.validBlocks, ld.status assert valid_blocks <= BLOCK_NUM, "Invalid number of valid blocks" + assert status != log.LiveDelayData.Status.invalid, "Lag estimate is invalid" return lag, valid_blocks except Exception as e: cloudlog.error(f"Failed to retrieve initial lag: {e}") From 65c210265b23ac6ca16a0f5532c880465aa41ab1 Mon Sep 17 00:00:00 2001 From: niko001 Date: Fri, 18 Apr 2025 05:55:32 +0200 Subject: [PATCH 095/115] Multilang: Update de translation (#35025) added missing German translations --- selfdrive/ui/translations/main_de.ts | 598 ++++++++++++++------------- 1 file changed, 301 insertions(+), 297 deletions(-) diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 560e1df2cc..f279a8d9f1 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -3,14 +3,14 @@ AbstractAlert - + Close Schließen - - + + Snooze Update Update pausieren - + Reboot and Update Aktualisieren und neu starten @@ -66,26 +66,26 @@ Prevent large data uploads when on a metered connection Hochladen großer Dateien über getaktete Verbindungen unterbinden - - Hidden Network - - - - CONNECT - CONNECT - - - Enter SSID - SSID eingeben - - - Enter password - Passwort eingeben - - - for "%1" - für "%1" - + + Hidden Network + Verborgenes Netzwerk + + + CONNECT + VERBINDEN + + + Enter SSID + SSID eingeben + + + Enter password + Passwort eingeben + + + for "%1" + für "%1" + ConfirmationDialog @@ -115,34 +115,34 @@ DeveloperPanel - - Joystick Debug Mode - - - - Longitudinal Maneuver Mode - - - - openpilot Longitudinal Control (Alpha) - - - - WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - - - - On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - - - - Enable ADB - - - - ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info. - - + + Joystick Debug Mode + Joystick Debug-Modus + + + Longitudinal Maneuver Mode + Längsmanöver-Modus + + + openpilot Longitudinal Control (Alpha) + openpilot Längsregelung (Alpha) + + + WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). + WARNUNG: Die openpilot Längsregelung befindet sich für dieses Fahrzeug im Alpha-Stadium und deaktiviert das automatische Notbremsen (AEB). + + + On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + Bei diesem Fahrzeug verwendet openpilot standardmäßig den eingebauten Tempomaten anstelle der openpilot Längsregelung. Aktiviere diese Option, um auf die openpilot Längsregelung umzuschalten. Es wird empfohlen, den experimentellen Modus zu aktivieren, wenn die openpilot Längsregelung (Alpha) aktiviert wird. + + + Enable ADB + ADB aktivieren + + + ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info. + ADB (Android Debug Bridge) ermöglicht die Verbindung zu deinem Gerät über USB oder Netzwerk. Siehe https://docs.comma.ai/how-to/connect-to-comma für weitere Informationen. + DevicePanel @@ -278,14 +278,14 @@ Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. Koppele dein Gerät mit Comma Connect (connect.comma.ai) und sichere dir dein Comma Prime Angebot. - - Pair Device - - - - PAIR - - + + Pair Device + Gerät koppeln + + + PAIR + KOPPELN + DriverViewWindow @@ -307,39 +307,41 @@ FirehosePanel - - 🔥 Firehose Mode 🔥 - - - - openpilot learns to drive by watching humans, like you, drive. + + 🔥 Firehose Mode 🔥 + 🔥 Firehose-Modus 🔥 + + + openpilot learns to drive by watching humans, like you, drive. Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models, which means better Experimental Mode. - - - - Firehose Mode: ACTIVE - - - - ACTIVE - - - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - - - - <b>%n segment(s)</b> of your driving is in the training dataset so far. - - - - - - - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network - - + openpilot lernt das Fahren, indem es Menschen wie dir beim Fahren zuschaut. + +Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximieren, um die Fahrmodelle von openpilot zu verbessern. Mehr Daten bedeuten größere Modelle, was zu einem besseren Experimentellen Modus führt. + + + Firehose Mode: ACTIVE + Firehose-Modus: AKTIV + + + ACTIVE + AKTIV + + + For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. + Für maximale Effektivität bring dein Gerät jede Woche nach drinnen und verbinde es mit einem guten USB-C-Adapter und WLAN.<br><br>Der Firehose-Modus funktioniert auch während der Fahrt, wenn das Gerät mit einem Hotspot oder einer ungedrosselten SIM-Karte verbunden ist.<br><br><br><b>Häufig gestellte Fragen</b><br><br><i>Spielt es eine Rolle, wie oder wo ich fahre?</i> Nein, fahre einfach wie gewohnt.<br><br><i>Werden im Firehose-Modus alle meine Segmente hochgeladen?</i> Nein, wir wählen selektiv nur einen Teil deiner Segmente aus.<br><br><i>Welcher USB-C-Adapter ist gut?</i> Jedes Schnellladegerät für Handy oder Laptop sollte ausreichen.<br><br><i>Spielt es eine Rolle, welche Software ich nutze?</i> Ja, nur das offizielle Upstream‑openpilot (und bestimmte Forks) kann für das Training verwendet werden. + + + <b>%n segment(s)</b> of your driving is in the training dataset so far. + + <b>%n Segment</b> deiner Fahrten ist bisher im Trainingsdatensatz. + <b>%n Segmente</b> deiner Fahrten sind bisher im Trainingsdatensatz. + + + + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INAKTIV</span>: Verbinde dich mit einem ungedrosselten Netzwerk + HudRenderer @@ -411,49 +413,50 @@ Firehose Mode allows you to maximize your training data uploads to improve openp OffroadAlert Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won't engage in %1 - + Stelle sofort eine Internetverbindung her, um nach Updates zu suchen. Wenn du keine Verbindung herstellst, kann openpilot in %1 nicht mehr aktiviert werden. Connect to internet to check for updates. openpilot won't automatically start until it connects to internet to check for updates. - + Verbinde dich mit dem Internet, um nach Updates zu suchen. openpilot startet nicht automatisch, bis eine Internetverbindung besteht und nach Updates gesucht wurde. - - Unable to download updates + + Unable to download updates %1 - - - - Taking camera snapshots. System won't start until finished. - - - - An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. - - - - Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. - - - - NVMe drive not mounted. - - - - Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe. - - - - openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. - - - - openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield. - - - - Device temperature too high. System cooling down before starting. Current internal component temperature: %1 - - + Updates konnten nicht heruntergeladen werden +%1 + + + Taking camera snapshots. System won't start until finished. + Kamera-Snapshots werden aufgenommen. Das System startet erst, wenn dies abgeschlossen ist. + + + An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. + Ein Update für das Betriebssystem deines Geräts wird im Hintergrund heruntergeladen. Du wirst aufgefordert, das Update zu installieren, sobald es bereit ist. + + + Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. + Gerät konnte nicht registriert werden. Es wird keine Verbindung zu den comma.ai-Servern herstellen oder Daten hochladen und erhält keinen Support von comma.ai. Wenn dies ein offizielles Gerät ist, besuche https://comma.ai/support. + + + NVMe drive not mounted. + NVMe-Laufwerk nicht gemounted. + + + Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe. + Nicht unterstütztes NVMe-Laufwerk erkannt. Das Gerät kann dadurch deutlich mehr Strom verbrauchen und überhitzen. + + + openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. + openpilot konnte dein Auto nicht identifizieren. Dein Auto wird entweder nicht unterstützt oder die Steuergeräte (ECUs) werden nicht erkannt. Bitte reiche einen Pull Request ein, um die Firmware-Versionen für das richtige Fahrzeug hinzuzufügen. Hilfe findest du auf discord.comma.ai. + + + openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield. + openpilot hat eine Änderung der Montageposition des Geräts erkannt. Stelle sicher, dass das Gerät vollständig in der Halterung sitzt und die Halterung fest an der Windschutzscheibe befestigt ist. + + + Device temperature too high. System cooling down before starting. Current internal component temperature: %1 + Gerätetemperatur zu hoch. Das System kühlt ab, bevor es startet. Aktuelle interne Komponententemperatur: %1 + OffroadHome @@ -472,26 +475,26 @@ Firehose Mode allows you to maximize your training data uploads to improve openp OnroadAlerts - - openpilot Unavailable - - - - TAKE CONTROL IMMEDIATELY - - - - Reboot Device - - - - Waiting to start - - - - System Unresponsive - - + + openpilot Unavailable + openpilot nicht verfügbar + + + TAKE CONTROL IMMEDIATELY + ÜBERNIMM SOFORT DIE KONTROLLE + + + Reboot Device + Gerät neu starten + + + Waiting to start + Warten auf Start + + + System Unresponsive + System reagiert nicht + PairingPopup @@ -511,10 +514,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Bookmark connect.comma.ai to your home screen to use it like an app Füge connect.comma.ai als Lesezeichen auf deinem Homescreen hinzu um es wie eine App zu verwenden - - Please connect to Wi-Fi to complete initial pairing - - + + Please connect to Wi-Fi to complete initial pairing + Bitte verbinde dich mit WLAN, um die Koppelung abzuschließen. + ParamControl @@ -545,18 +548,18 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Remote access Fernzugriff - - 24/7 LTE connectivity - - - - 1 year of drive storage - - - - Remote snapshots - - + + 24/7 LTE connectivity + 24/7 LTE-Verbindung + + + 1 year of drive storage + Fahrdaten-Speicherung für 1 Jahr + + + Remote snapshots + Remote-Snapshots + PrimeUserWidget @@ -604,10 +607,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp vor %n Tagen - - now - - + + now + jetzt + Reset @@ -635,19 +638,20 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Confirm Bestätigen - - Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. - - - - Resetting device... + + Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. + Datenpartition konnte nicht gemounted werden. Die Partition ist möglicherweise beschädigt. Drücke Bestätigen, um das Gerät zu löschen und zurückzusetzen. + + + Resetting device... This may take up to a minute. - - - - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - - + Gerät wird zurückgesetzt... +Dies kann bis zu einer Minute dauern. + + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + System-Reset ausgelöst. Drücke Bestätigen, um alle Inhalte und Einstellungen zu löschen. Drücke Abbrechen, um den Startvorgang fortzusetzen. + SettingsWindow @@ -671,14 +675,14 @@ This may take up to a minute. Software Software - - Developer - - - - Firehose - - + + Developer + Entwickler + + + Firehose + Firehose + Setup @@ -750,30 +754,30 @@ This may take up to a minute. Start over Von neuem beginnen - - No custom software found at this URL. - - - - Something went wrong. Reboot the device. - - + + No custom software found at this URL. + Keine benutzerdefinierte Software unter dieser URL gefunden. + + + Something went wrong. Reboot the device. + Etwas ist schiefgelaufen. Starte das Gerät neu. + Select a language Sprache wählen - - Choose Software to Install - - - - openpilot - openpilot - - - Custom Software - - + + Choose Software to Install + Wähle die zu installierende Software + + + openpilot + openpilot + + + Custom Software + Benutzerdefinierte Software + SetupWidget @@ -921,26 +925,26 @@ This may take up to a minute. Uninstall Deinstallieren - - failed to check for update - - - - up to date, last checked %1 - - - - DOWNLOAD - - - - update available - - - - never - - + + failed to check for update + Update-Prüfung fehlgeschlagen + + + up to date, last checked %1 + Auf dem neuesten Stand, zuletzt geprüft am %1 + + + DOWNLOAD + HERUNTERLADEN + + + update available + Update verfügbar + + + never + nie + SshControl @@ -998,14 +1002,14 @@ This may take up to a minute. Agree Zustimmen - - Welcome to openpilot - - - - You must accept the Terms and Conditions to use openpilot. Read the latest terms at <span style='color: #465BEA;'>https://comma.ai/terms</span> before continuing. - - + + Welcome to openpilot + Willkommen bei openpilot + + + You must accept the Terms and Conditions to use openpilot. Read the latest terms at <span style='color: #465BEA;'>https://comma.ai/terms</span> before continuing. + Du musst die Nutzungsbedingungen akzeptieren, um openpilot zu verwenden. Lies die aktuellen Bedingungen unter <span style='color: #465BEA;'>https://comma.ai/terms</span>, bevor du fortfährst. + TogglesPanel @@ -1069,54 +1073,54 @@ This may take up to a minute. Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. Der experimentelle Modus ist momentan für dieses Auto nicht verfügbar da es den eingebauten adaptiven Tempomaten des Autos benutzt. - - Aggressive - - - - Standard - - - - Relaxed - - - - Driving Personality - - - - End-to-End Longitudinal Control - - - - openpilot longitudinal control may come in a future update. - - - - An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - - - - Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. - - - - Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button. - - - - The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. - - - - Always-On Driver Monitoring - - - - Enable driver monitoring even when openpilot is not engaged. - - + + Aggressive + Aggressiv + + + Standard + Standard + + + Relaxed + Entspannt + + + Driving Personality + Fahrstil + + + End-to-End Longitudinal Control + Ende-zu-Ende Längsregelung + + + openpilot longitudinal control may come in a future update. + Die openpilot Längsregelung könnte in einem zukünftigen Update verfügbar sein. + + + An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. + Eine Alpha-Version der openpilot Längsregelung kann zusammen mit dem Experimentellen Modus auf non-stable Branches getestet werden. + + + Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. + Aktiviere den Schalter für openpilot Längsregelung (Alpha), um den Experimentellen Modus zu erlauben. + + + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button. + Standard wird empfohlen. Im aggressiven Modus folgt openpilot vorausfahrenden Fahrzeugen enger und ist beim Gasgeben und Bremsen aggressiver. Im entspannten Modus hält openpilot mehr Abstand zu vorausfahrenden Fahrzeugen. Bei unterstützten Fahrzeugen kannst du mit der Abstandstaste am Lenkrad zwischen diesen Fahrstilen wechseln. + + + The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. + Die Fahrvisualisierung wechselt bei niedrigen Geschwindigkeiten auf die nach vorne gerichtete Weitwinkelkamera, um Kurven besser darzustellen. Das Logo des Experimentellen Modus wird außerdem oben rechts angezeigt. + + + Always-On Driver Monitoring + Dauerhaft aktive Fahrerüberwachung + + + Enable driver monitoring even when openpilot is not engaged. + Fahrerüberwachung auch aktivieren, wenn openpilot nicht aktiv ist. + Updater @@ -1155,18 +1159,18 @@ This may take up to a minute. WiFiPromptWidget - - Open - - - - Maximize your training data uploads to improve openpilot's driving models. - - - - <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> - - + + Open + Öffnen + + + Maximize your training data uploads to improve openpilot's driving models. + Maximiere deine Trainingsdaten-Uploads, um die Fahrmodelle von openpilot zu verbessern. + + + <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> + <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose-Modus <span style='font-family: Noto Color Emoji;'>🔥</span> + WifiUI From 2c162d9b75ae4e77bdf5bc3225e880d352ec0f5c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Thu, 17 Apr 2025 23:21:25 -0700 Subject: [PATCH 096/115] Tomb raider 2 (#35029) * db56b8fb-9135-4ab6-af18-99b7df7b2245/400 * fixes * linter unhappy * 6dbe0991-baa1-49ad-836a-ab370d1f0d92/400 * This one is good: 19387087-1005-475e-9015-9458dd8e7c5f/400 * Better every day: 39ed911c-0937-417f-97d2-58a8bb3caa53/400 * Actually end-to-end * typo * smooooooth: 94e23541-eb84-4fef-9f51-6a2d82aff314/360 * Revert "smooooooth: 94e23541-eb84-4fef-9f51-6a2d82aff314/360" This reverts commit edd4f02386d83d82dd8a188985cde80ed1646b7f. * 11632ef7-f555-489c-8480-e3bf97d9285e/400 * 08712d27-f6bd-4536-a30e-c729e5f62356/400 * 0a92a35e-1f72-476a-8cb6-c9f103f36822/400 * ee6d2394-2072-420c-a664-b4c0d4ed0b61/400 * no prev curv * No double work * fix bug * smooth * update prev action * whitespace * add little accel * new ref * Update plant.py --- .../controls/lib/longitudinal_planner.py | 20 ++++++++++++++----- selfdrive/modeld/fill_model_msg.py | 10 +++++----- selfdrive/modeld/modeld.py | 7 ++++--- selfdrive/modeld/models/driving_policy.onnx | 4 ++-- selfdrive/modeld/models/driving_vision.onnx | 4 ++-- selfdrive/modeld/parse_model_outputs.py | 13 ++++++------ .../test/longitudinal_maneuvers/plant.py | 1 + selfdrive/test/process_replay/ref_commit | 2 +- 8 files changed, 36 insertions(+), 25 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 8cbf0beee9..104c7c9d49 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -89,14 +89,15 @@ class LongitudinalPlanner: return x, v, a, j, throttle_prob def update(self, sm): - self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc' + self.mpc.mode = 'acc' + self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc' if len(sm['carControl'].orientationNED) == 3: accel_coast = get_coast_accel(sm['carControl'].orientationNED[1]) else: accel_coast = ACCEL_MAX - v_ego = sm['carState'].vEgo + v_ego = sm['modelV2'].velocity.x[0] v_cruise_kph = min(sm['carState'].vCruise, V_CRUISE_MAX) v_cruise = v_cruise_kph * CV.KPH_TO_MS v_cruise_initialized = sm['carState'].vCruise != V_CRUISE_UNSET @@ -112,7 +113,7 @@ class LongitudinalPlanner: # No change cost when user is controlling the speed, or when standstill prev_accel_constraint = not (reset_state or sm['carState'].standstill) - if self.mpc.mode == 'acc': + if self.mode == 'acc': accel_clip = [ACCEL_MIN, get_max_accel(v_ego)] steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP) @@ -128,7 +129,7 @@ class LongitudinalPlanner: self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego)) # Compute model v_ego error self.v_model_error = get_speed_error(sm['modelV2'], v_ego) - x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], self.v_model_error) + x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], 0) # Don't clip at low speeds since throttle_prob doesn't account for creep self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED @@ -159,8 +160,17 @@ class LongitudinalPlanner: self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0 action_t = self.CP.longitudinalActuatorDelay + DT_MDL - output_a_target, self.output_should_stop = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX, + output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX, action_t=action_t, vEgoStopping=self.CP.vEgoStopping) + output_a_target_e2e = sm['modelV2'].action.desiredAcceleration + output_should_stop_e2e = sm['modelV2'].action.shouldStop + + if self.mode == 'acc': + output_a_target = output_a_target_mpc + self.output_should_stop = output_should_stop_mpc + else: + output_a_target = min(output_a_target_mpc, output_a_target_e2e) + self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc for idx in range(2): accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05) diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py index a91c6395c7..36bd724d01 100644 --- a/selfdrive/modeld/fill_model_msg.py +++ b/selfdrive/modeld/fill_model_msg.py @@ -90,11 +90,11 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T) # temporal pose - temporal_pose = modelV2.temporalPose - temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist() - temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist() - temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist() - temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist() + #temporal_pose = modelV2.temporalPose + #temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist() + #temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist() + #temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist() + #temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist() # poly path fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index f5007273ec..0ad629f519 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -43,8 +43,8 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl' VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl' POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl' -LAT_SMOOTH_SECONDS = 0.0 -LONG_SMOOTH_SECONDS = 0.0 +LAT_SMOOTH_SECONDS = 0.3 +LONG_SMOOTH_SECONDS = 0.3 def smooth_value(val, prev_val, tau): alpha = 1 - np.exp(-DT_MDL / tau) if tau > 0 else 1 @@ -174,7 +174,7 @@ class ModelState: # TODO model only uses last value now self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:] self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :] - self.numpy_inputs['prev_desired_curv'][:] = self.full_prev_desired_curv[0, self.temporal_idxs] + self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs] combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict} if SEND_RAW_PRED: @@ -338,6 +338,7 @@ def main(demo=False): posenet_send = messaging.new_message('cameraOdometry') action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL) + prev_action = action fill_model_msg(drivingdata_send, modelv2_send, model_output, action, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen) diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 3601bbb5da..3bf2e01b5e 100644 --- a/selfdrive/modeld/models/driving_policy.onnx +++ b/selfdrive/modeld/models/driving_policy.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:98f0121ccb6f850077b04cc91bd33d370fc6cbdc2bd35f1ab55628a15a813f36 -size 15966721 +oid sha256:fa00a07a4307b0f1638a10ec33b651d8a102e38371289b744f43215c89dfd342 +size 15578328 diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx index aee6d8f1bf..5e08b78472 100644 --- a/selfdrive/modeld/models/driving_vision.onnx +++ b/selfdrive/modeld/models/driving_vision.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:897f80d0388250f99bba69b6a8434560cc0fd83157cbeb0bc134c67fe4e64624 -size 34882971 +oid sha256:f222d2c528f1763828de01bb55e8979b1e4056e1dbb41350f521d2d2bb09d177 +size 46265585 diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 810c44ccb9..783572d436 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -88,6 +88,12 @@ class Parser: self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,)) self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) + self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) + self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) + self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, + out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) + for k in ['lead_prob', 'lane_lines_prob']: + self.parse_binary_crossentropy(k, outs) self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH)) self.parse_binary_crossentropy('meta', outs) return outs @@ -95,17 +101,10 @@ class Parser: def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION, out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) - self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) - self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) - self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) - self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, - out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) if 'lat_planner_solution' in outs: self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH)) if 'desired_curvature' in outs: self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,)) - for k in ['lead_prob', 'lane_lines_prob']: - self.parse_binary_crossentropy(k, outs) self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) return outs diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py index 989b84dee3..b8c6adb436 100755 --- a/selfdrive/test/longitudinal_maneuvers/plant.py +++ b/selfdrive/test/longitudinal_maneuvers/plant.py @@ -107,6 +107,7 @@ class Plant: position = log.XYZTData.new_message() position.x = [float(x) for x in (self.speed + 0.5) * np.array(ModelConstants.T_IDXS)] model.modelV2.position = position + model.modelV2.action.desiredAcceleration = float(self.acceleration + 0.1) velocity = log.XYZTData.new_message() velocity.x = [float(x) for x in (self.speed + 0.5) * np.ones_like(ModelConstants.T_IDXS)] velocity.x[0] = float(self.speed) # always start at current speed diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 632922a8a4..5f89d7802d 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -3d3f875dc211ab0ca8a8e564ecf6dd3f52fcf7d9 \ No newline at end of file +0800e73b5d9c801f161b9559557c0559b0682fec \ No newline at end of file From 3b60b22ceeb090812e5fa948ac6e56442d681dc4 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Fri, 18 Apr 2025 14:29:37 -0700 Subject: [PATCH 097/115] OS04C10: use IFE downscaler for road cameras (#35023) * squashh * wrong * clean up * rename --- system/camerad/cameras/camera_common.cc | 3 -- system/camerad/cameras/camera_common.h | 2 +- system/camerad/cameras/camera_qcom2.cc | 10 ++-- system/camerad/cameras/ife.h | 18 ++++---- system/camerad/cameras/spectra.cc | 40 +++++++++------- system/camerad/sensors/os04c10.cc | 11 +++++ system/camerad/sensors/os04c10_registers.h | 54 ++++++++++++++-------- system/camerad/sensors/sensor.h | 2 + 8 files changed, 87 insertions(+), 53 deletions(-) diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index f6c2681dea..1f6ad9b4be 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -26,9 +26,6 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera * LOGD("allocated %d CL buffers", frame_buf_count); } - out_img_width = sensor->frame_width; - out_img_height = sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height; - // the encoder HW tells us the size it wants after setting it up. // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings? size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*cam->stride; diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index c0426678b6..c26859cbc4 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -32,7 +32,7 @@ public: VisionBuf *cur_yuv_buf; VisionBuf *cur_camera_buf; std::unique_ptr camera_bufs_raw; - int out_img_width, out_img_height; + uint32_t out_img_width, out_img_height; CameraBuf() = default; ~CameraBuf(); diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 18a42f05d8..8c4602bb31 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -73,7 +73,7 @@ void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ct if (!camera.enabled) return; - fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm; + fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm / camera.sensor->out_scale; set_exposure_rect(); dc_gain_weight = camera.sensor->dc_gain_min_weight; @@ -107,10 +107,10 @@ void CameraState::set_exposure_rect() { float fl_ref = ae_target.second; ae_xywh = (Rect){ - std::max(0, camera.buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)), - std::max(0, camera.buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))), - std::min((int)(fl_pix / fl_ref * xywh_ref.w), camera.buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)), - std::min((int)(fl_pix / fl_ref * xywh_ref.h), camera.buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))) + std::max(0, (int)camera.buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)), + std::max(0, (int)camera.buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))), + std::min((int)(fl_pix / fl_ref * xywh_ref.w), (int)camera.buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)), + std::min((int)(fl_pix / fl_ref * xywh_ref.h), (int)camera.buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))) }; } diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h index 49737f2db7..fd87d2baa4 100644 --- a/system/camerad/cameras/ife.h +++ b/system/camerad/cameras/ife.h @@ -105,7 +105,7 @@ int build_update(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std: } -int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector &patches) { +int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector &patches, uint32_t out_width, uint32_t out_height) { uint8_t *start = dst; // start with the every frame config @@ -185,12 +185,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo // output size/scaling dst += write_cont(dst, 0xa3c, { 0x00000003, - ((s->frame_width - 1) << 16) | (s->frame_width - 1), + ((out_width - 1) << 16) | (s->frame_width - 1), 0x30036666, 0x00000000, 0x00000000, s->frame_width - 1, - ((s->frame_height - 1) << 16) | (s->frame_height - 1), + ((out_height - 1) << 16) | (s->frame_height - 1), 0x30036666, 0x00000000, 0x00000000, @@ -198,12 +198,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo }); dst += write_cont(dst, 0xa68, { 0x00000003, - ((s->frame_width/2 - 1) << 16) | (s->frame_width - 1), + ((out_width / 2 - 1) << 16) | (s->frame_width - 1), 0x3006cccc, 0x00000000, 0x00000000, s->frame_width - 1, - ((s->frame_height/2 - 1) << 16) | (s->frame_height - 1), + ((out_height / 2 - 1) << 16) | (s->frame_height - 1), 0x3006cccc, 0x00000000, 0x00000000, @@ -212,12 +212,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo // cropping dst += write_cont(dst, 0xe10, { - s->frame_height - 1, - s->frame_width - 1, + out_height - 1, + out_width - 1, }); dst += write_cont(dst, 0xe30, { - s->frame_height/2 - 1, - s->frame_width - 1, + out_height / 2 - 1, + out_width - 1, }); dst += write_cont(dst, 0xe18, { 0x0ff00000, diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index 4535078771..47ae9061f4 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -281,18 +281,21 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c if (!enabled) return; + buf.out_img_width = sensor->frame_width / sensor->out_scale; + buf.out_img_height = (sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height) / sensor->out_scale; + // size is driven by all the HW that handles frames, // the video encoder has certain alignment requirements in this case - stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, sensor->frame_width); - y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, sensor->frame_height); - uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, sensor->frame_height); + stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, buf.out_img_width); + y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, buf.out_img_height); + uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, buf.out_img_height); uv_offset = stride*y_height; yuv_size = uv_offset + stride*uv_height; if (cc.output_type != ISP_RAW_OUTPUT) { uv_offset = ALIGNED_SIZE(uv_offset, 0x1000); yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000); } - assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, sensor->frame_width)); + assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, buf.out_img_width)); assert(y_height/2 == uv_height); open = true; @@ -645,14 +648,14 @@ void SpectraCamera::config_bps(int idx, int request_id) { io_cfg[1].mem_handle[0] = buf_handle_yuv[idx]; io_cfg[1].mem_handle[1] = buf_handle_yuv[idx]; io_cfg[1].planes[0] = (struct cam_plane_cfg){ - .width = sensor->frame_width, - .height = sensor->frame_height, + .width = buf.out_img_width, + .height = buf.out_img_height, .plane_stride = stride, .slice_height = y_height, }; io_cfg[1].planes[1] = (struct cam_plane_cfg){ - .width = sensor->frame_width, - .height = sensor->frame_height/2, + .width = buf.out_img_width, + .height = buf.out_img_height / 2, .plane_stride = stride, .slice_height = uv_height, }; @@ -737,7 +740,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { bool is_raw = cc.output_type != ISP_IFE_PROCESSED; if (!is_raw) { if (init) { - buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches); + buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches, buf.out_img_width, buf.out_img_height); } else { buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches); } @@ -844,14 +847,14 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { io_cfg[0].mem_handle[0] = buf_handle_yuv[idx]; io_cfg[0].mem_handle[1] = buf_handle_yuv[idx]; io_cfg[0].planes[0] = (struct cam_plane_cfg){ - .width = sensor->frame_width, - .height = sensor->frame_height, + .width = buf.out_img_width, + .height = buf.out_img_height, .plane_stride = stride, .slice_height = y_height, }; io_cfg[0].planes[1] = (struct cam_plane_cfg){ - .width = sensor->frame_width, - .height = sensor->frame_height/2, + .width = buf.out_img_width, + .height = buf.out_img_height / 2, .plane_stride = stride, .slice_height = uv_height, }; @@ -993,6 +996,9 @@ bool SpectraCamera::openSensor() { LOGD("-- Probing sensor %d", cc.camera_num); auto init_sensor_lambda = [this](SensorInfo *s) { + if (s->image_sensor == cereal::FrameData::ImageSensor::OS04C10 && cc.output_type == ISP_IFE_PROCESSED) { + ((OS04C10*)s)->ife_downscale_configure(); + } sensor.reset(s); return (sensors_init() == 0); }; @@ -1065,8 +1071,8 @@ void SpectraCamera::configISP() { .data[0] = (struct cam_isp_out_port_info){ .res_type = CAM_ISP_IFE_OUT_RES_FULL, .format = CAM_FORMAT_NV12, - .width = sensor->frame_width, - .height = sensor->frame_height + sensor->extra_height, + .width = buf.out_img_width, + .height = buf.out_img_height + sensor->extra_height, .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0, }, }; @@ -1141,8 +1147,8 @@ void SpectraCamera::configICP() { }, .out_res[0] = (struct cam_icp_res_info){ .format = 0x3, // YUV420NV12 - .width = sensor->frame_width, - .height = sensor->frame_height, + .width = buf.out_img_width, + .height = buf.out_img_height, .fps = 20, }, }; diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc index d008e1d07b..38be4ecca4 100644 --- a/system/camerad/sensors/os04c10.cc +++ b/system/camerad/sensors/os04c10.cc @@ -20,6 +20,17 @@ const uint32_t os04c10_analog_gains_reg[] = { } // namespace +void OS04C10::ife_downscale_configure() { + out_scale = 2; + + pixel_size_mm = 0.002; + frame_width = 2688; + frame_height = 1520; + exposure_time_max = 2352; + + init_reg_array.insert(init_reg_array.end(), std::begin(ife_downscale_override_array_os04c10), std::end(ife_downscale_override_array_os04c10)); +} + OS04C10::OS04C10() { image_sensor = cereal::FrameData::ImageSensor::OS04C10; bayer_pattern = CAM_ISP_PATTERN_BAYER_BGBGBG; diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h index 8b1c78c69d..b501656090 100644 --- a/system/camerad/sensors/os04c10_registers.h +++ b/system/camerad/sensors/os04c10_registers.h @@ -88,8 +88,6 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x37c7, 0xa8}, {0x37da, 0x11}, {0x381f, 0x08}, - // {0x3829, 0x03}, - // {0x3832, 0x00}, {0x3881, 0x00}, {0x3888, 0x04}, {0x388b, 0x00}, @@ -199,7 +197,6 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x370b, 0x48}, {0x370c, 0x01}, {0x370f, 0x00}, - {0x3714, 0x28}, {0x3716, 0x04}, {0x3719, 0x11}, {0x371a, 0x1e}, @@ -231,7 +228,6 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x37bd, 0x01}, {0x37bf, 0x26}, {0x37c0, 0x11}, - {0x37c2, 0x14}, {0x37cd, 0x19}, {0x37e0, 0x08}, {0x37e6, 0x04}, @@ -241,14 +237,9 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x37d8, 0x02}, {0x37e2, 0x10}, {0x3739, 0x10}, - {0x3662, 0x08}, {0x37e4, 0x20}, {0x37e3, 0x08}, - {0x37d9, 0x04}, {0x4040, 0x00}, - {0x4041, 0x03}, - {0x4008, 0x01}, - {0x4009, 0x06}, // FSIN {0x3002, 0x22}, @@ -269,20 +260,11 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x3802, 0x00}, {0x3803, 0x00}, {0x3804, 0x0a}, {0x3805, 0x8f}, {0x3806, 0x05}, {0x3807, 0xff}, - {0x3808, 0x05}, {0x3809, 0x40}, - {0x380a, 0x02}, {0x380b, 0xf8}, {0x3811, 0x08}, {0x3813, 0x08}, - {0x3814, 0x03}, {0x3815, 0x01}, - {0x3816, 0x03}, {0x3817, 0x01}, - {0x380c, 0x0b}, {0x380d, 0xac}, // HTS - {0x380e, 0x06}, {0x380f, 0x9c}, // VTS - - {0x3820, 0xb3}, - {0x3821, 0x01}, {0x3880, 0x00}, {0x3882, 0x20}, {0x3c91, 0x0b}, @@ -331,4 +313,40 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { // r {0x5104, 0x08}, {0x5105, 0xd6}, {0x5144, 0x08}, {0x5145, 0xd6}, + + {0x3714, 0x28}, + {0x37c2, 0x14}, + {0x3662, 0x08}, + {0x37d9, 0x04}, + {0x4041, 0x03}, + {0x4008, 0x01}, + {0x4009, 0x06}, + {0x3808, 0x05}, {0x3809, 0x40}, + {0x380a, 0x02}, {0x380b, 0xf8}, + {0x3814, 0x03}, + {0x3816, 0x03}, + {0x380c, 0x0b}, {0x380d, 0xac}, // HTS + {0x380e, 0x06}, {0x380f, 0x9c}, // VTS + {0x3820, 0xb3}, + {0x3821, 0x01}, +}; + +const struct i2c_random_wr_payload ife_downscale_override_array_os04c10[] = { + // OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz + {0x3829, 0x03}, + {0x3714, 0x24}, + {0x37c2, 0x04}, + {0x3662, 0x10}, + {0x37d9, 0x08}, + {0x4041, 0x07}, + {0x4008, 0x02}, + {0x4009, 0x0d}, + {0x3808, 0x0a}, {0x3809, 0x80}, + {0x380a, 0x05}, {0x380b, 0xf0}, + {0x3814, 0x01}, + {0x3816, 0x01}, + {0x380c, 0x08}, {0x380d, 0x5c}, // HTS + {0x380e, 0x09}, {0x380f, 0x38}, // VTS + {0x3820, 0xb0}, + {0x3821, 0x00}, }; diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h index c1131aafdf..d4be3cf036 100644 --- a/system/camerad/sensors/sensor.h +++ b/system/camerad/sensors/sensor.h @@ -29,6 +29,7 @@ public: uint32_t frame_stride; uint32_t frame_offset = 0; uint32_t extra_height = 0; + int out_scale = 1; int registers_offset = -1; int stats_offset = -1; int hdr_offset = -1; @@ -109,6 +110,7 @@ public: class OS04C10 : public SensorInfo { public: OS04C10(); + void ife_downscale_configure(); std::vector getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override; float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override; int getSlaveAddress(int port) const override; From 7ceb284d6d3557713ec58f4726f864a0e5f1ebaa Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Fri, 18 Apr 2025 19:21:52 -0700 Subject: [PATCH 098/115] process replay migration: fix longitudinalPlan (#35035) --- selfdrive/test/process_replay/migration.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index 39d5452b6b..02cd9b6d71 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -13,7 +13,7 @@ from opendbc.car.gm.values import GMSafetyFlags from openpilot.selfdrive.modeld.constants import ModelConstants from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index -from openpilot.selfdrive.controls.lib.longitudinal_planner import get_accel_from_plan +from openpilot.selfdrive.controls.lib.longitudinal_planner import get_accel_from_plan, CONTROL_N_T_IDX from openpilot.system.manager.process_config import managed_processes from openpilot.tools.lib.logreader import LogIterable @@ -109,7 +109,7 @@ def migrate_longitudinalPlan(msgs): if msg.which() != 'longitudinalPlan': continue new_msg = msg.as_builder() - a_target, should_stop = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels) + a_target, should_stop = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels, CONTROL_N_T_IDX) new_msg.longitudinalPlan.aTarget, new_msg.longitudinalPlan.shouldStop = float(a_target), bool(should_stop) ops.append((index, new_msg.as_reader())) return ops, [], [] From fb5fa70e78c18566ce79ebdb554d02ceec07d176 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sat, 19 Apr 2025 16:17:18 +0100 Subject: [PATCH 099/115] ui(raylib): update text window font, new lines and indentation (#35031) --- system/ui/text.py | 31 +++++++++++++++++++------------ 1 file changed, 19 insertions(+), 12 deletions(-) diff --git a/system/ui/text.py b/system/ui/text.py index 97d0ebcce9..4ea886ba1e 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -1,4 +1,5 @@ #!/usr/bin/env python3 +import re import pyray as rl from openpilot.system.hardware import HARDWARE from openpilot.system.ui.lib.button import gui_button, ButtonStyle @@ -7,8 +8,8 @@ from openpilot.system.ui.lib.application import gui_app MARGIN = 50 SPACING = 50 -FONT_SIZE = 60 -LINE_HEIGHT = 64 +FONT_SIZE = 72 +LINE_HEIGHT = 80 BUTTON_SIZE = rl.Vector2(310, 160) DEMO_TEXT = """This is a sample text that will be wrapped and scrolled if necessary. @@ -16,18 +17,24 @@ DEMO_TEXT = """This is a sample text that will be wrapped and scrolled if necess def wrap_text(text, font_size, max_width): lines = [] - current_line = "" font = gui_app.font() - for word in text.split(): - test_line = current_line + word + " " - if rl.measure_text_ex(font, test_line, font_size, 0).x <= max_width: - current_line = test_line - else: + for paragraph in text.split("\n"): + if not paragraph.strip(): + lines.append("") + continue + indent = re.match(r"^\s*", paragraph).group() + current_line = indent + for word in paragraph.split(): + test_line = current_line + word + " " + if rl.measure_text_ex(font, test_line, font_size, 0).x <= max_width: + current_line = test_line + else: + lines.append(current_line) + current_line = word + " " + current_line = current_line.rstrip() + if current_line: lines.append(current_line) - current_line = word + " " - if current_line: - lines.append(current_line) return lines @@ -45,7 +52,7 @@ class TextWindow: position = rl.Vector2(self._textarea_rect.x + scroll.x, self._textarea_rect.y + scroll.y + i * LINE_HEIGHT) if position.y + LINE_HEIGHT < self._textarea_rect.y or position.y > self._textarea_rect.y + self._textarea_rect.height: continue - rl.draw_text_ex(gui_app.font(), line.strip(), position, FONT_SIZE, 0, rl.WHITE) + rl.draw_text_ex(gui_app.font(), line, position, FONT_SIZE, 0, rl.WHITE) rl.end_scissor_mode() button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y) From 618b7ccf230d4048f85924c7b1bbd0f9f1b6533a Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sat, 19 Apr 2025 17:08:33 +0100 Subject: [PATCH 100/115] ui(raylib): calculate spinner progress in set_text (#35036) --- system/ui/spinner.py | 32 ++++++++++++++++++-------------- 1 file changed, 18 insertions(+), 14 deletions(-) diff --git a/system/ui/spinner.py b/system/ui/spinner.py index 951c6f697e..edf1fe5ca9 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -26,11 +26,17 @@ class Spinner: self._spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE) self._rotation = 0.0 self._text: str = "" + self._progress: int | None = None self._lock = threading.Lock() def set_text(self, text: str) -> None: with self._lock: - self._text = text + if text.isdigit(): + self._progress = clamp(int(text), 0, 100) + self._text = "" + else: + self._progress = None + self._text = text def render(self): center = rl.Vector2(gui_app.width / 2.0, gui_app.height / 2.0) @@ -49,23 +55,21 @@ class Spinner: rl.draw_texture_v(self._comma_texture, comma_position, rl.WHITE) # Display progress bar or text based on user input - text = None + y_pos = rl.get_screen_height() - MARGIN - PROGRESS_BAR_HEIGHT with self._lock: + progress = self._progress text = self._text - if text: - y_pos = rl.get_screen_height() - MARGIN - PROGRESS_BAR_HEIGHT - if text.isdigit(): - progress = clamp(int(text), 0, 100) - bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT) - rl.draw_rectangle_rounded(bar, 1, 10, DARKGRAY) + if progress is not None: + bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT) + rl.draw_rectangle_rounded(bar, 1, 10, DARKGRAY) - bar.width *= progress / 100.0 - rl.draw_rectangle_rounded(bar, 1, 10, rl.WHITE) - else: - text_size = rl.measure_text_ex(gui_app.font(), text, FONT_SIZE, 1.0) - rl.draw_text_ex(gui_app.font(), text, - rl.Vector2(center.x - text_size.x / 2, y_pos), FONT_SIZE, 1.0, rl.WHITE) + bar.width *= progress / 100.0 + rl.draw_rectangle_rounded(bar, 1, 10, rl.WHITE) + elif text: + text_size = rl.measure_text_ex(gui_app.font(), text, FONT_SIZE, 1.0) + rl.draw_text_ex(gui_app.font(), text, + rl.Vector2(center.x - text_size.x / 2, y_pos), FONT_SIZE, 1.0, rl.WHITE) if __name__ == "__main__": From d56baa0fbb8f99f3ee6dc6ad3f9fbc5aee2b01e2 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sun, 20 Apr 2025 15:03:49 +0100 Subject: [PATCH 101/115] ui(raylib): constant spinner rotation speed (#35037) --- system/ui/spinner.py | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/system/ui/spinner.py b/system/ui/spinner.py index edf1fe5ca9..adfb604de9 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -9,7 +9,7 @@ from openpilot.system.ui.lib.application import gui_app # Constants PROGRESS_BAR_WIDTH = 1000 PROGRESS_BAR_HEIGHT = 20 -ROTATION_TIME_SECONDS = 1.0 # Time for one full circle +DEGREES_PER_SECOND = 360.0 # one full rotation per second MARGIN = 200 TEXTURE_SIZE = 360 FONT_SIZE = 80 @@ -43,10 +43,8 @@ class Spinner: spinner_origin = rl.Vector2(TEXTURE_SIZE / 2.0, TEXTURE_SIZE / 2.0) comma_position = rl.Vector2(center.x - TEXTURE_SIZE / 2.0, center.y - TEXTURE_SIZE / 2.0) - fps = rl.get_fps() - if fps > 0: - degrees_per_frame = 360.0 / (ROTATION_TIME_SECONDS * fps) - self._rotation = (self._rotation + degrees_per_frame) % 360.0 + delta_time = rl.get_frame_time() + self._rotation = (self._rotation + DEGREES_PER_SECOND * delta_time) % 360.0 # Draw rotating spinner and static comma logo rl.draw_texture_pro(self._spinner_texture, rl.Rectangle(0, 0, TEXTURE_SIZE, TEXTURE_SIZE), From ed555cb948ffcfd8a233938a6caba7fa93d30d2d Mon Sep 17 00:00:00 2001 From: "github-actions[bot]" <41898282+github-actions[bot]@users.noreply.github.com> Date: Mon, 21 Apr 2025 12:48:11 -0700 Subject: [PATCH 102/115] [bot] Update translations (#35040) Update translations Co-authored-by: Vehicle Researcher --- selfdrive/ui/translations/main_de.ts | 590 +++++++++++++-------------- 1 file changed, 295 insertions(+), 295 deletions(-) diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index f279a8d9f1..986c0fa54f 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -3,14 +3,14 @@ AbstractAlert - + Close Schließen - - + + Snooze Update Update pausieren - + Reboot and Update Aktualisieren und neu starten @@ -66,26 +66,26 @@ Prevent large data uploads when on a metered connection Hochladen großer Dateien über getaktete Verbindungen unterbinden - - Hidden Network - Verborgenes Netzwerk - - - CONNECT - VERBINDEN - - - Enter SSID - SSID eingeben - - - Enter password - Passwort eingeben - - - for "%1" - für "%1" - + + Hidden Network + Verborgenes Netzwerk + + + CONNECT + VERBINDEN + + + Enter SSID + SSID eingeben + + + Enter password + Passwort eingeben + + + for "%1" + für "%1" + ConfirmationDialog @@ -115,34 +115,34 @@ DeveloperPanel - - Joystick Debug Mode - Joystick Debug-Modus - - - Longitudinal Maneuver Mode - Längsmanöver-Modus - - - openpilot Longitudinal Control (Alpha) - openpilot Längsregelung (Alpha) - - - WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - WARNUNG: Die openpilot Längsregelung befindet sich für dieses Fahrzeug im Alpha-Stadium und deaktiviert das automatische Notbremsen (AEB). - - - On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - Bei diesem Fahrzeug verwendet openpilot standardmäßig den eingebauten Tempomaten anstelle der openpilot Längsregelung. Aktiviere diese Option, um auf die openpilot Längsregelung umzuschalten. Es wird empfohlen, den experimentellen Modus zu aktivieren, wenn die openpilot Längsregelung (Alpha) aktiviert wird. - - - Enable ADB - ADB aktivieren - - - ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info. - ADB (Android Debug Bridge) ermöglicht die Verbindung zu deinem Gerät über USB oder Netzwerk. Siehe https://docs.comma.ai/how-to/connect-to-comma für weitere Informationen. - + + Joystick Debug Mode + Joystick Debug-Modus + + + Longitudinal Maneuver Mode + Längsmanöver-Modus + + + openpilot Longitudinal Control (Alpha) + openpilot Längsregelung (Alpha) + + + WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). + WARNUNG: Die openpilot Längsregelung befindet sich für dieses Fahrzeug im Alpha-Stadium und deaktiviert das automatische Notbremsen (AEB). + + + On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + Bei diesem Fahrzeug verwendet openpilot standardmäßig den eingebauten Tempomaten anstelle der openpilot Längsregelung. Aktiviere diese Option, um auf die openpilot Längsregelung umzuschalten. Es wird empfohlen, den experimentellen Modus zu aktivieren, wenn die openpilot Längsregelung (Alpha) aktiviert wird. + + + Enable ADB + ADB aktivieren + + + ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info. + ADB (Android Debug Bridge) ermöglicht die Verbindung zu deinem Gerät über USB oder Netzwerk. Siehe https://docs.comma.ai/how-to/connect-to-comma für weitere Informationen. + DevicePanel @@ -278,14 +278,14 @@ Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. Koppele dein Gerät mit Comma Connect (connect.comma.ai) und sichere dir dein Comma Prime Angebot. - - Pair Device - Gerät koppeln - - - PAIR - KOPPELN - + + Pair Device + Gerät koppeln + + + PAIR + KOPPELN + DriverViewWindow @@ -307,41 +307,41 @@ FirehosePanel - - 🔥 Firehose Mode 🔥 - 🔥 Firehose-Modus 🔥 - - - openpilot learns to drive by watching humans, like you, drive. + + 🔥 Firehose Mode 🔥 + 🔥 Firehose-Modus 🔥 + + + openpilot learns to drive by watching humans, like you, drive. Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models, which means better Experimental Mode. - openpilot lernt das Fahren, indem es Menschen wie dir beim Fahren zuschaut. + openpilot lernt das Fahren, indem es Menschen wie dir beim Fahren zuschaut. Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximieren, um die Fahrmodelle von openpilot zu verbessern. Mehr Daten bedeuten größere Modelle, was zu einem besseren Experimentellen Modus führt. - - - Firehose Mode: ACTIVE - Firehose-Modus: AKTIV - - - ACTIVE - AKTIV - - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - Für maximale Effektivität bring dein Gerät jede Woche nach drinnen und verbinde es mit einem guten USB-C-Adapter und WLAN.<br><br>Der Firehose-Modus funktioniert auch während der Fahrt, wenn das Gerät mit einem Hotspot oder einer ungedrosselten SIM-Karte verbunden ist.<br><br><br><b>Häufig gestellte Fragen</b><br><br><i>Spielt es eine Rolle, wie oder wo ich fahre?</i> Nein, fahre einfach wie gewohnt.<br><br><i>Werden im Firehose-Modus alle meine Segmente hochgeladen?</i> Nein, wir wählen selektiv nur einen Teil deiner Segmente aus.<br><br><i>Welcher USB-C-Adapter ist gut?</i> Jedes Schnellladegerät für Handy oder Laptop sollte ausreichen.<br><br><i>Spielt es eine Rolle, welche Software ich nutze?</i> Ja, nur das offizielle Upstream‑openpilot (und bestimmte Forks) kann für das Training verwendet werden. - - - <b>%n segment(s)</b> of your driving is in the training dataset so far. - - <b>%n Segment</b> deiner Fahrten ist bisher im Trainingsdatensatz. - <b>%n Segmente</b> deiner Fahrten sind bisher im Trainingsdatensatz. - - - - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INAKTIV</span>: Verbinde dich mit einem ungedrosselten Netzwerk - + + + Firehose Mode: ACTIVE + Firehose-Modus: AKTIV + + + ACTIVE + AKTIV + + + For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. + Für maximale Effektivität bring dein Gerät jede Woche nach drinnen und verbinde es mit einem guten USB-C-Adapter und WLAN.<br><br>Der Firehose-Modus funktioniert auch während der Fahrt, wenn das Gerät mit einem Hotspot oder einer ungedrosselten SIM-Karte verbunden ist.<br><br><br><b>Häufig gestellte Fragen</b><br><br><i>Spielt es eine Rolle, wie oder wo ich fahre?</i> Nein, fahre einfach wie gewohnt.<br><br><i>Werden im Firehose-Modus alle meine Segmente hochgeladen?</i> Nein, wir wählen selektiv nur einen Teil deiner Segmente aus.<br><br><i>Welcher USB-C-Adapter ist gut?</i> Jedes Schnellladegerät für Handy oder Laptop sollte ausreichen.<br><br><i>Spielt es eine Rolle, welche Software ich nutze?</i> Ja, nur das offizielle Upstream‑openpilot (und bestimmte Forks) kann für das Training verwendet werden. + + + <b>%n segment(s)</b> of your driving is in the training dataset so far. + + <b>%n Segment</b> deiner Fahrten ist bisher im Trainingsdatensatz. + <b>%n Segmente</b> deiner Fahrten sind bisher im Trainingsdatensatz. + + + + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INAKTIV</span>: Verbinde dich mit einem ungedrosselten Netzwerk + HudRenderer @@ -419,44 +419,44 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere Connect to internet to check for updates. openpilot won't automatically start until it connects to internet to check for updates. Verbinde dich mit dem Internet, um nach Updates zu suchen. openpilot startet nicht automatisch, bis eine Internetverbindung besteht und nach Updates gesucht wurde. - - Unable to download updates + + Unable to download updates %1 - Updates konnten nicht heruntergeladen werden + Updates konnten nicht heruntergeladen werden %1 - - - Taking camera snapshots. System won't start until finished. - Kamera-Snapshots werden aufgenommen. Das System startet erst, wenn dies abgeschlossen ist. - - - An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. - Ein Update für das Betriebssystem deines Geräts wird im Hintergrund heruntergeladen. Du wirst aufgefordert, das Update zu installieren, sobald es bereit ist. - - - Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. - Gerät konnte nicht registriert werden. Es wird keine Verbindung zu den comma.ai-Servern herstellen oder Daten hochladen und erhält keinen Support von comma.ai. Wenn dies ein offizielles Gerät ist, besuche https://comma.ai/support. - - - NVMe drive not mounted. - NVMe-Laufwerk nicht gemounted. - - - Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe. - Nicht unterstütztes NVMe-Laufwerk erkannt. Das Gerät kann dadurch deutlich mehr Strom verbrauchen und überhitzen. - - - openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. - openpilot konnte dein Auto nicht identifizieren. Dein Auto wird entweder nicht unterstützt oder die Steuergeräte (ECUs) werden nicht erkannt. Bitte reiche einen Pull Request ein, um die Firmware-Versionen für das richtige Fahrzeug hinzuzufügen. Hilfe findest du auf discord.comma.ai. - - - openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield. - openpilot hat eine Änderung der Montageposition des Geräts erkannt. Stelle sicher, dass das Gerät vollständig in der Halterung sitzt und die Halterung fest an der Windschutzscheibe befestigt ist. - - - Device temperature too high. System cooling down before starting. Current internal component temperature: %1 - Gerätetemperatur zu hoch. Das System kühlt ab, bevor es startet. Aktuelle interne Komponententemperatur: %1 - + + + Taking camera snapshots. System won't start until finished. + Kamera-Snapshots werden aufgenommen. Das System startet erst, wenn dies abgeschlossen ist. + + + An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. + Ein Update für das Betriebssystem deines Geräts wird im Hintergrund heruntergeladen. Du wirst aufgefordert, das Update zu installieren, sobald es bereit ist. + + + Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. + Gerät konnte nicht registriert werden. Es wird keine Verbindung zu den comma.ai-Servern herstellen oder Daten hochladen und erhält keinen Support von comma.ai. Wenn dies ein offizielles Gerät ist, besuche https://comma.ai/support. + + + NVMe drive not mounted. + NVMe-Laufwerk nicht gemounted. + + + Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe. + Nicht unterstütztes NVMe-Laufwerk erkannt. Das Gerät kann dadurch deutlich mehr Strom verbrauchen und überhitzen. + + + openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. + openpilot konnte dein Auto nicht identifizieren. Dein Auto wird entweder nicht unterstützt oder die Steuergeräte (ECUs) werden nicht erkannt. Bitte reiche einen Pull Request ein, um die Firmware-Versionen für das richtige Fahrzeug hinzuzufügen. Hilfe findest du auf discord.comma.ai. + + + openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield. + openpilot hat eine Änderung der Montageposition des Geräts erkannt. Stelle sicher, dass das Gerät vollständig in der Halterung sitzt und die Halterung fest an der Windschutzscheibe befestigt ist. + + + Device temperature too high. System cooling down before starting. Current internal component temperature: %1 + Gerätetemperatur zu hoch. Das System kühlt ab, bevor es startet. Aktuelle interne Komponententemperatur: %1 + OffroadHome @@ -475,26 +475,26 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere OnroadAlerts - - openpilot Unavailable - openpilot nicht verfügbar - - - TAKE CONTROL IMMEDIATELY - ÜBERNIMM SOFORT DIE KONTROLLE - - - Reboot Device - Gerät neu starten - - - Waiting to start - Warten auf Start - - - System Unresponsive - System reagiert nicht - + + openpilot Unavailable + openpilot nicht verfügbar + + + TAKE CONTROL IMMEDIATELY + ÜBERNIMM SOFORT DIE KONTROLLE + + + Reboot Device + Gerät neu starten + + + Waiting to start + Warten auf Start + + + System Unresponsive + System reagiert nicht + PairingPopup @@ -514,10 +514,10 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere Bookmark connect.comma.ai to your home screen to use it like an app Füge connect.comma.ai als Lesezeichen auf deinem Homescreen hinzu um es wie eine App zu verwenden - - Please connect to Wi-Fi to complete initial pairing - Bitte verbinde dich mit WLAN, um die Koppelung abzuschließen. - + + Please connect to Wi-Fi to complete initial pairing + Bitte verbinde dich mit WLAN, um die Koppelung abzuschließen. + ParamControl @@ -548,18 +548,18 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere Remote access Fernzugriff - - 24/7 LTE connectivity - 24/7 LTE-Verbindung - - - 1 year of drive storage - Fahrdaten-Speicherung für 1 Jahr - - - Remote snapshots - Remote-Snapshots - + + 24/7 LTE connectivity + 24/7 LTE-Verbindung + + + 1 year of drive storage + Fahrdaten-Speicherung für 1 Jahr + + + Remote snapshots + Remote-Snapshots + PrimeUserWidget @@ -607,10 +607,10 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere vor %n Tagen - - now - jetzt - + + now + jetzt + Reset @@ -638,20 +638,20 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere Confirm Bestätigen - - Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. - Datenpartition konnte nicht gemounted werden. Die Partition ist möglicherweise beschädigt. Drücke Bestätigen, um das Gerät zu löschen und zurückzusetzen. - - - Resetting device... + + Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. + Datenpartition konnte nicht gemounted werden. Die Partition ist möglicherweise beschädigt. Drücke Bestätigen, um das Gerät zu löschen und zurückzusetzen. + + + Resetting device... This may take up to a minute. - Gerät wird zurückgesetzt... + Gerät wird zurückgesetzt... Dies kann bis zu einer Minute dauern. - - - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - System-Reset ausgelöst. Drücke Bestätigen, um alle Inhalte und Einstellungen zu löschen. Drücke Abbrechen, um den Startvorgang fortzusetzen. - + + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + System-Reset ausgelöst. Drücke Bestätigen, um alle Inhalte und Einstellungen zu löschen. Drücke Abbrechen, um den Startvorgang fortzusetzen. + SettingsWindow @@ -675,14 +675,14 @@ Dies kann bis zu einer Minute dauern. Software Software - - Developer - Entwickler - - - Firehose - Firehose - + + Developer + Entwickler + + + Firehose + Firehose + Setup @@ -754,30 +754,30 @@ Dies kann bis zu einer Minute dauern. Start over Von neuem beginnen - - No custom software found at this URL. - Keine benutzerdefinierte Software unter dieser URL gefunden. - - - Something went wrong. Reboot the device. - Etwas ist schiefgelaufen. Starte das Gerät neu. - + + No custom software found at this URL. + Keine benutzerdefinierte Software unter dieser URL gefunden. + + + Something went wrong. Reboot the device. + Etwas ist schiefgelaufen. Starte das Gerät neu. + Select a language Sprache wählen - - Choose Software to Install - Wähle die zu installierende Software - - - openpilot - openpilot - - - Custom Software - Benutzerdefinierte Software - + + Choose Software to Install + Wähle die zu installierende Software + + + openpilot + openpilot + + + Custom Software + Benutzerdefinierte Software + SetupWidget @@ -925,26 +925,26 @@ Dies kann bis zu einer Minute dauern. Uninstall Deinstallieren - - failed to check for update - Update-Prüfung fehlgeschlagen - - - up to date, last checked %1 - Auf dem neuesten Stand, zuletzt geprüft am %1 - - - DOWNLOAD - HERUNTERLADEN - - - update available - Update verfügbar - - - never - nie - + + failed to check for update + Update-Prüfung fehlgeschlagen + + + up to date, last checked %1 + Auf dem neuesten Stand, zuletzt geprüft am %1 + + + DOWNLOAD + HERUNTERLADEN + + + update available + Update verfügbar + + + never + nie + SshControl @@ -1002,14 +1002,14 @@ Dies kann bis zu einer Minute dauern. Agree Zustimmen - - Welcome to openpilot - Willkommen bei openpilot - - - You must accept the Terms and Conditions to use openpilot. Read the latest terms at <span style='color: #465BEA;'>https://comma.ai/terms</span> before continuing. - Du musst die Nutzungsbedingungen akzeptieren, um openpilot zu verwenden. Lies die aktuellen Bedingungen unter <span style='color: #465BEA;'>https://comma.ai/terms</span>, bevor du fortfährst. - + + Welcome to openpilot + Willkommen bei openpilot + + + You must accept the Terms and Conditions to use openpilot. Read the latest terms at <span style='color: #465BEA;'>https://comma.ai/terms</span> before continuing. + Du musst die Nutzungsbedingungen akzeptieren, um openpilot zu verwenden. Lies die aktuellen Bedingungen unter <span style='color: #465BEA;'>https://comma.ai/terms</span>, bevor du fortfährst. + TogglesPanel @@ -1073,54 +1073,54 @@ Dies kann bis zu einer Minute dauern. Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. Der experimentelle Modus ist momentan für dieses Auto nicht verfügbar da es den eingebauten adaptiven Tempomaten des Autos benutzt. - - Aggressive - Aggressiv - - - Standard - Standard - - - Relaxed - Entspannt - - - Driving Personality - Fahrstil - - - End-to-End Longitudinal Control - Ende-zu-Ende Längsregelung - - - openpilot longitudinal control may come in a future update. - Die openpilot Längsregelung könnte in einem zukünftigen Update verfügbar sein. - - - An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - Eine Alpha-Version der openpilot Längsregelung kann zusammen mit dem Experimentellen Modus auf non-stable Branches getestet werden. - - - Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. - Aktiviere den Schalter für openpilot Längsregelung (Alpha), um den Experimentellen Modus zu erlauben. - - - Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button. - Standard wird empfohlen. Im aggressiven Modus folgt openpilot vorausfahrenden Fahrzeugen enger und ist beim Gasgeben und Bremsen aggressiver. Im entspannten Modus hält openpilot mehr Abstand zu vorausfahrenden Fahrzeugen. Bei unterstützten Fahrzeugen kannst du mit der Abstandstaste am Lenkrad zwischen diesen Fahrstilen wechseln. - - - The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. - Die Fahrvisualisierung wechselt bei niedrigen Geschwindigkeiten auf die nach vorne gerichtete Weitwinkelkamera, um Kurven besser darzustellen. Das Logo des Experimentellen Modus wird außerdem oben rechts angezeigt. - - - Always-On Driver Monitoring - Dauerhaft aktive Fahrerüberwachung - - - Enable driver monitoring even when openpilot is not engaged. - Fahrerüberwachung auch aktivieren, wenn openpilot nicht aktiv ist. - + + Aggressive + Aggressiv + + + Standard + Standard + + + Relaxed + Entspannt + + + Driving Personality + Fahrstil + + + End-to-End Longitudinal Control + Ende-zu-Ende Längsregelung + + + openpilot longitudinal control may come in a future update. + Die openpilot Längsregelung könnte in einem zukünftigen Update verfügbar sein. + + + An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. + Eine Alpha-Version der openpilot Längsregelung kann zusammen mit dem Experimentellen Modus auf non-stable Branches getestet werden. + + + Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. + Aktiviere den Schalter für openpilot Längsregelung (Alpha), um den Experimentellen Modus zu erlauben. + + + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button. + Standard wird empfohlen. Im aggressiven Modus folgt openpilot vorausfahrenden Fahrzeugen enger und ist beim Gasgeben und Bremsen aggressiver. Im entspannten Modus hält openpilot mehr Abstand zu vorausfahrenden Fahrzeugen. Bei unterstützten Fahrzeugen kannst du mit der Abstandstaste am Lenkrad zwischen diesen Fahrstilen wechseln. + + + The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. + Die Fahrvisualisierung wechselt bei niedrigen Geschwindigkeiten auf die nach vorne gerichtete Weitwinkelkamera, um Kurven besser darzustellen. Das Logo des Experimentellen Modus wird außerdem oben rechts angezeigt. + + + Always-On Driver Monitoring + Dauerhaft aktive Fahrerüberwachung + + + Enable driver monitoring even when openpilot is not engaged. + Fahrerüberwachung auch aktivieren, wenn openpilot nicht aktiv ist. + Updater @@ -1159,18 +1159,18 @@ Dies kann bis zu einer Minute dauern. WiFiPromptWidget - - Open - Öffnen - - - Maximize your training data uploads to improve openpilot's driving models. - Maximiere deine Trainingsdaten-Uploads, um die Fahrmodelle von openpilot zu verbessern. - - - <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> - <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose-Modus <span style='font-family: Noto Color Emoji;'>🔥</span> - + + Open + Öffnen + + + Maximize your training data uploads to improve openpilot's driving models. + Maximiere deine Trainingsdaten-Uploads, um die Fahrmodelle von openpilot zu verbessern. + + + <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> + <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose-Modus <span style='font-family: Noto Color Emoji;'>🔥</span> + WifiUI From 34514ef1761037127cc009e5e95b7478b5fc1ad6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 21 Apr 2025 14:11:57 -0700 Subject: [PATCH 103/115] Long planner: make work with training (#35043) * revert useless * update ref --- selfdrive/controls/lib/longitudinal_planner.py | 6 +++--- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 104c7c9d49..4219e80f33 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -52,6 +52,7 @@ class LongitudinalPlanner: def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL): self.CP = CP self.mpc = LongitudinalMpc(dt=dt) + self.mpc.mode = 'acc' self.fcw = False self.dt = dt self.allow_throttle = True @@ -89,7 +90,6 @@ class LongitudinalPlanner: return x, v, a, j, throttle_prob def update(self, sm): - self.mpc.mode = 'acc' self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc' if len(sm['carControl'].orientationNED) == 3: @@ -97,7 +97,7 @@ class LongitudinalPlanner: else: accel_coast = ACCEL_MAX - v_ego = sm['modelV2'].velocity.x[0] + v_ego = sm['carState'].vEgo v_cruise_kph = min(sm['carState'].vCruise, V_CRUISE_MAX) v_cruise = v_cruise_kph * CV.KPH_TO_MS v_cruise_initialized = sm['carState'].vCruise != V_CRUISE_UNSET @@ -129,7 +129,7 @@ class LongitudinalPlanner: self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego)) # Compute model v_ego error self.v_model_error = get_speed_error(sm['modelV2'], v_ego) - x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], 0) + x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], self.v_model_error) # Don't clip at low speeds since throttle_prob doesn't account for creep self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 5f89d7802d..4b3ef33407 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -0800e73b5d9c801f161b9559557c0559b0682fec \ No newline at end of file +fcc771b9ceb487a61035885acbd84e592fb316bf \ No newline at end of file From 33a7d853f00d7f6f9d1ffc13160816b6106aec72 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 21 Apr 2025 15:10:41 -0700 Subject: [PATCH 104/115] Modeld: small refactor (#35044) refactor --- selfdrive/controls/lib/drive_helpers.py | 3 +++ selfdrive/modeld/modeld.py | 8 +------- 2 files changed, 4 insertions(+), 7 deletions(-) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 9958755577..038061b7e6 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -19,6 +19,9 @@ def clamp(val, min_val, max_val): clamped_val = float(np.clip(val, min_val, max_val)) return clamped_val, clamped_val != val +def smooth_value(val, prev_val, tau): + alpha = 1 - np.exp(-DT_MDL / tau) if tau > 0 else 1 + return alpha * val + (1 - alpha) * prev_val def clip_curvature(v_ego, prev_curvature, new_curvature, roll): # This function respects ISO lateral jerk and acceleration limits + a max curvature diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 0ad629f519..1060b36d28 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -26,15 +26,13 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS from openpilot.common.transformations.model import get_warp_matrix from openpilot.system import sentry from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper -from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan +from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value from openpilot.selfdrive.modeld.parse_model_outputs import Parser from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState from openpilot.selfdrive.modeld.constants import ModelConstants, Plan from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext - - PROCESS_NAME = "selfdrive.modeld.modeld" SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') @@ -46,10 +44,6 @@ POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.p LAT_SMOOTH_SECONDS = 0.3 LONG_SMOOTH_SECONDS = 0.3 -def smooth_value(val, prev_val, tau): - alpha = 1 - np.exp(-DT_MDL / tau) if tau > 0 else 1 - return alpha * val + (1 - alpha) * prev_val - def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action, lat_action_t: float, long_action_t: float,) -> log.ModelDataV2.Action: From a029d13398c0408b4ebcf7fa916474f5e3d79129 Mon Sep 17 00:00:00 2001 From: Bruce Wayne Date: Mon, 21 Apr 2025 15:44:30 -0700 Subject: [PATCH 105/115] update smooth --- selfdrive/controls/lib/drive_helpers.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 038061b7e6..3f99f1bbbb 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -19,8 +19,8 @@ def clamp(val, min_val, max_val): clamped_val = float(np.clip(val, min_val, max_val)) return clamped_val, clamped_val != val -def smooth_value(val, prev_val, tau): - alpha = 1 - np.exp(-DT_MDL / tau) if tau > 0 else 1 +def smooth_value(val, prev_val, tau, dt=DT_MDL): + alpha = 1 - np.exp(-dt/tau) if tau > 0 else 1 return alpha * val + (1 - alpha) * prev_val def clip_curvature(v_ego, prev_curvature, new_curvature, roll): From a9b9e0bb54dda1613e8347efe146a78d6ce6bc71 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 21 Apr 2025 16:13:55 -0700 Subject: [PATCH 106/115] raylib: init updater (#35045) * raylib: init updater * cleanup --- system/ui/updater.py | 197 +++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 197 insertions(+) create mode 100755 system/ui/updater.py diff --git a/system/ui/updater.py b/system/ui/updater.py new file mode 100755 index 0000000000..eb9d766a16 --- /dev/null +++ b/system/ui/updater.py @@ -0,0 +1,197 @@ +#!/usr/bin/env python3 +import sys +import subprocess +import threading +import pyray as rl +from enum import IntEnum + +from openpilot.system.hardware import HARDWARE +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.button import gui_button, ButtonStyle +from openpilot.system.ui.lib.label import gui_text_box, gui_label + +# Constants +MARGIN = 50 +BUTTON_HEIGHT = 160 +BUTTON_WIDTH = 400 +PROGRESS_BAR_HEIGHT = 72 +TITLE_FONT_SIZE = 80 +BODY_FONT_SIZE = 65 +BACKGROUND_COLOR = rl.BLACK +PROGRESS_BG_COLOR = rl.Color(41, 41, 41, 255) +PROGRESS_COLOR = rl.Color(54, 77, 239, 255) + + +class Screen(IntEnum): + PROMPT = 0 + WIFI = 1 + PROGRESS = 2 + + +class Updater: + def __init__(self, updater_path, manifest_path): + self.updater = updater_path + self.manifest = manifest_path + self.current_screen = Screen.PROMPT + + self.progress_value = 0 + self.progress_text = "Loading..." + self.show_reboot_button = False + self.process = None + self.update_thread = None + + def install_update(self): + self.current_screen = Screen.PROGRESS + self.progress_value = 0 + self.progress_text = "Downloading..." + self.show_reboot_button = False + + # Start the update process in a separate thread + self.update_thread = threading.Thread(target=self._run_update_process) + self.update_thread.daemon = True + self.update_thread.start() + + def _run_update_process(self): + # TODO: just import it and run in a thread without a subprocess + cmd = [self.updater, "--swap", self.manifest] + self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE, + text=True, bufsize=1, universal_newlines=True) + + for line in self.process.stdout: + parts = line.strip().split(":") + if len(parts) == 2: + self.progress_text = parts[0] + try: + self.progress_value = int(float(parts[1])) + except ValueError: + pass + + exit_code = self.process.wait() + if exit_code == 0: + HARDWARE.reboot() + else: + self.progress_text = "Update failed" + self.show_reboot_button = True + + def render_prompt_screen(self): + # Title + title_rect = rl.Rectangle(MARGIN + 50, 250, gui_app.width - MARGIN * 2 - 100, TITLE_FONT_SIZE) + gui_label(title_rect, "Update Required", TITLE_FONT_SIZE, font_weight=FontWeight.BOLD) + + # Description + desc_text = "An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. \ + The download size is approximately 1GB." + desc_rect = rl.Rectangle(MARGIN + 50, 250 + TITLE_FONT_SIZE + 75, gui_app.width - MARGIN * 2 - 100, BODY_FONT_SIZE * 3) + gui_text_box(desc_rect, desc_text, BODY_FONT_SIZE) + + # Buttons at the bottom + button_y = gui_app.height - MARGIN - BUTTON_HEIGHT + button_width = (gui_app.width - MARGIN * 3) // 2 + + # WiFi button + wifi_button_rect = rl.Rectangle(MARGIN, button_y, button_width, BUTTON_HEIGHT) + if gui_button(wifi_button_rect, "Connect to Wi-Fi"): + self.current_screen = Screen.WIFI + return # Return to avoid processing other buttons after screen change + + # Install button + install_button_rect = rl.Rectangle(MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT) + if gui_button(install_button_rect, "Install", button_style=ButtonStyle.PRIMARY): + self.install_update() + return # Return to avoid further processing after action + + def render_wifi_screen(self): + # Title and back button + title_rect = rl.Rectangle(MARGIN + 50, MARGIN, gui_app.width - MARGIN * 2 - 100, 60) + gui_label(title_rect, "Wi-Fi Networks", 60, font_weight=FontWeight.BOLD) + + back_button_rect = rl.Rectangle(MARGIN, gui_app.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT) + if gui_button(back_button_rect, "Back"): + self.current_screen = Screen.PROMPT + return # Return to avoid processing other interactions after screen change + + # Draw placeholder for WiFi implementation + placeholder_rect = rl.Rectangle( + MARGIN, + title_rect.y + title_rect.height + MARGIN, + gui_app.width - MARGIN * 2, + gui_app.height - title_rect.height - MARGIN * 3 - BUTTON_HEIGHT + ) + + # Draw rounded rectangle background + rl.draw_rectangle_rounded( + placeholder_rect, + 0.1, + 10, + rl.Color(41, 41, 41, 255) + ) + + # Draw placeholder text + placeholder_text = "WiFi Implementation Placeholder" + text_size = rl.measure_text_ex(gui_app.font(), placeholder_text, 80, 1) + text_pos = rl.Vector2( + placeholder_rect.x + (placeholder_rect.width - text_size.x) / 2, + placeholder_rect.y + (placeholder_rect.height - text_size.y) / 2 + ) + rl.draw_text_ex(gui_app.font(), placeholder_text, text_pos, 80, 1, rl.WHITE) + + # Draw instructions + instructions_text = "Real WiFi functionality would be implemented here" + instructions_size = rl.measure_text_ex(gui_app.font(), instructions_text, 40, 1) + instructions_pos = rl.Vector2( + placeholder_rect.x + (placeholder_rect.width - instructions_size.x) / 2, + text_pos.y + text_size.y + 20 + ) + rl.draw_text_ex(gui_app.font(), instructions_text, instructions_pos, 40, 1, rl.GRAY) + + def render_progress_screen(self): + title_rect = rl.Rectangle(MARGIN + 100, 330, gui_app.width - MARGIN * 2 - 200, 100) + gui_label(title_rect, self.progress_text, 90, font_weight=FontWeight.SEMI_BOLD) + + # Progress bar + bar_rect = rl.Rectangle(MARGIN + 100, 330 + 100 + 100, gui_app.width - MARGIN * 2 - 200, PROGRESS_BAR_HEIGHT) + rl.draw_rectangle_rounded(bar_rect, 0.5, 10, PROGRESS_BG_COLOR) + + # Calculate the width of the progress chunk + progress_width = (bar_rect.width * self.progress_value) / 100 + if progress_width > 0: + progress_rect = rl.Rectangle(bar_rect.x, bar_rect.y, progress_width, bar_rect.height) + rl.draw_rectangle_rounded(progress_rect, 0.5, 10, PROGRESS_COLOR) + + # Show reboot button if needed + if self.show_reboot_button: + reboot_rect = rl.Rectangle(MARGIN + 100, gui_app.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT) + if gui_button(reboot_rect, "Reboot"): + # Return True to signal main loop to exit before rebooting + HARDWARE.reboot() + return + + def render(self): + if self.current_screen == Screen.PROMPT: + self.render_prompt_screen() + elif self.current_screen == Screen.WIFI: + self.render_wifi_screen() + elif self.current_screen == Screen.PROGRESS: + self.render_progress_screen() + + +def main(): + if len(sys.argv) < 3: + print("Usage: updater.py ") + sys.exit(1) + + updater_path = sys.argv[1] + manifest_path = sys.argv[2] + + try: + gui_app.init_window("System Update") + updater = Updater(updater_path, manifest_path) + for _ in gui_app.render(): + updater.render() + finally: + # Make sure we clean up even if there's an error + gui_app.close() + + +if __name__ == "__main__": + main() From aaaa2d0dd064364d647fb381cc488fe6fe4d44e2 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Mon, 21 Apr 2025 17:02:36 -0700 Subject: [PATCH 107/115] Revert "OS04C10: use IFE downscaler for road cameras" (#35046) Revert "OS04C10: use IFE downscaler for road cameras (#35023)" This reverts commit 3b60b22ceeb090812e5fa948ac6e56442d681dc4. --- system/camerad/cameras/camera_common.cc | 3 ++ system/camerad/cameras/camera_common.h | 2 +- system/camerad/cameras/camera_qcom2.cc | 10 ++-- system/camerad/cameras/ife.h | 18 ++++---- system/camerad/cameras/spectra.cc | 40 +++++++--------- system/camerad/sensors/os04c10.cc | 11 ----- system/camerad/sensors/os04c10_registers.h | 54 ++++++++-------------- system/camerad/sensors/sensor.h | 2 - 8 files changed, 53 insertions(+), 87 deletions(-) diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 1f6ad9b4be..f6c2681dea 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -26,6 +26,9 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera * LOGD("allocated %d CL buffers", frame_buf_count); } + out_img_width = sensor->frame_width; + out_img_height = sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height; + // the encoder HW tells us the size it wants after setting it up. // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings? size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*cam->stride; diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index c26859cbc4..c0426678b6 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -32,7 +32,7 @@ public: VisionBuf *cur_yuv_buf; VisionBuf *cur_camera_buf; std::unique_ptr camera_bufs_raw; - uint32_t out_img_width, out_img_height; + int out_img_width, out_img_height; CameraBuf() = default; ~CameraBuf(); diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 8c4602bb31..18a42f05d8 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -73,7 +73,7 @@ void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ct if (!camera.enabled) return; - fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm / camera.sensor->out_scale; + fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm; set_exposure_rect(); dc_gain_weight = camera.sensor->dc_gain_min_weight; @@ -107,10 +107,10 @@ void CameraState::set_exposure_rect() { float fl_ref = ae_target.second; ae_xywh = (Rect){ - std::max(0, (int)camera.buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)), - std::max(0, (int)camera.buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))), - std::min((int)(fl_pix / fl_ref * xywh_ref.w), (int)camera.buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)), - std::min((int)(fl_pix / fl_ref * xywh_ref.h), (int)camera.buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))) + std::max(0, camera.buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)), + std::max(0, camera.buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))), + std::min((int)(fl_pix / fl_ref * xywh_ref.w), camera.buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)), + std::min((int)(fl_pix / fl_ref * xywh_ref.h), camera.buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))) }; } diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h index fd87d2baa4..49737f2db7 100644 --- a/system/camerad/cameras/ife.h +++ b/system/camerad/cameras/ife.h @@ -105,7 +105,7 @@ int build_update(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std: } -int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector &patches, uint32_t out_width, uint32_t out_height) { +int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector &patches) { uint8_t *start = dst; // start with the every frame config @@ -185,12 +185,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo // output size/scaling dst += write_cont(dst, 0xa3c, { 0x00000003, - ((out_width - 1) << 16) | (s->frame_width - 1), + ((s->frame_width - 1) << 16) | (s->frame_width - 1), 0x30036666, 0x00000000, 0x00000000, s->frame_width - 1, - ((out_height - 1) << 16) | (s->frame_height - 1), + ((s->frame_height - 1) << 16) | (s->frame_height - 1), 0x30036666, 0x00000000, 0x00000000, @@ -198,12 +198,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo }); dst += write_cont(dst, 0xa68, { 0x00000003, - ((out_width / 2 - 1) << 16) | (s->frame_width - 1), + ((s->frame_width/2 - 1) << 16) | (s->frame_width - 1), 0x3006cccc, 0x00000000, 0x00000000, s->frame_width - 1, - ((out_height / 2 - 1) << 16) | (s->frame_height - 1), + ((s->frame_height/2 - 1) << 16) | (s->frame_height - 1), 0x3006cccc, 0x00000000, 0x00000000, @@ -212,12 +212,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo // cropping dst += write_cont(dst, 0xe10, { - out_height - 1, - out_width - 1, + s->frame_height - 1, + s->frame_width - 1, }); dst += write_cont(dst, 0xe30, { - out_height / 2 - 1, - out_width - 1, + s->frame_height/2 - 1, + s->frame_width - 1, }); dst += write_cont(dst, 0xe18, { 0x0ff00000, diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index 47ae9061f4..4535078771 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -281,21 +281,18 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c if (!enabled) return; - buf.out_img_width = sensor->frame_width / sensor->out_scale; - buf.out_img_height = (sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height) / sensor->out_scale; - // size is driven by all the HW that handles frames, // the video encoder has certain alignment requirements in this case - stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, buf.out_img_width); - y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, buf.out_img_height); - uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, buf.out_img_height); + stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, sensor->frame_width); + y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, sensor->frame_height); + uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, sensor->frame_height); uv_offset = stride*y_height; yuv_size = uv_offset + stride*uv_height; if (cc.output_type != ISP_RAW_OUTPUT) { uv_offset = ALIGNED_SIZE(uv_offset, 0x1000); yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000); } - assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, buf.out_img_width)); + assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, sensor->frame_width)); assert(y_height/2 == uv_height); open = true; @@ -648,14 +645,14 @@ void SpectraCamera::config_bps(int idx, int request_id) { io_cfg[1].mem_handle[0] = buf_handle_yuv[idx]; io_cfg[1].mem_handle[1] = buf_handle_yuv[idx]; io_cfg[1].planes[0] = (struct cam_plane_cfg){ - .width = buf.out_img_width, - .height = buf.out_img_height, + .width = sensor->frame_width, + .height = sensor->frame_height, .plane_stride = stride, .slice_height = y_height, }; io_cfg[1].planes[1] = (struct cam_plane_cfg){ - .width = buf.out_img_width, - .height = buf.out_img_height / 2, + .width = sensor->frame_width, + .height = sensor->frame_height/2, .plane_stride = stride, .slice_height = uv_height, }; @@ -740,7 +737,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { bool is_raw = cc.output_type != ISP_IFE_PROCESSED; if (!is_raw) { if (init) { - buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches, buf.out_img_width, buf.out_img_height); + buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches); } else { buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches); } @@ -847,14 +844,14 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { io_cfg[0].mem_handle[0] = buf_handle_yuv[idx]; io_cfg[0].mem_handle[1] = buf_handle_yuv[idx]; io_cfg[0].planes[0] = (struct cam_plane_cfg){ - .width = buf.out_img_width, - .height = buf.out_img_height, + .width = sensor->frame_width, + .height = sensor->frame_height, .plane_stride = stride, .slice_height = y_height, }; io_cfg[0].planes[1] = (struct cam_plane_cfg){ - .width = buf.out_img_width, - .height = buf.out_img_height / 2, + .width = sensor->frame_width, + .height = sensor->frame_height/2, .plane_stride = stride, .slice_height = uv_height, }; @@ -996,9 +993,6 @@ bool SpectraCamera::openSensor() { LOGD("-- Probing sensor %d", cc.camera_num); auto init_sensor_lambda = [this](SensorInfo *s) { - if (s->image_sensor == cereal::FrameData::ImageSensor::OS04C10 && cc.output_type == ISP_IFE_PROCESSED) { - ((OS04C10*)s)->ife_downscale_configure(); - } sensor.reset(s); return (sensors_init() == 0); }; @@ -1071,8 +1065,8 @@ void SpectraCamera::configISP() { .data[0] = (struct cam_isp_out_port_info){ .res_type = CAM_ISP_IFE_OUT_RES_FULL, .format = CAM_FORMAT_NV12, - .width = buf.out_img_width, - .height = buf.out_img_height + sensor->extra_height, + .width = sensor->frame_width, + .height = sensor->frame_height + sensor->extra_height, .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0, }, }; @@ -1147,8 +1141,8 @@ void SpectraCamera::configICP() { }, .out_res[0] = (struct cam_icp_res_info){ .format = 0x3, // YUV420NV12 - .width = buf.out_img_width, - .height = buf.out_img_height, + .width = sensor->frame_width, + .height = sensor->frame_height, .fps = 20, }, }; diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc index 38be4ecca4..d008e1d07b 100644 --- a/system/camerad/sensors/os04c10.cc +++ b/system/camerad/sensors/os04c10.cc @@ -20,17 +20,6 @@ const uint32_t os04c10_analog_gains_reg[] = { } // namespace -void OS04C10::ife_downscale_configure() { - out_scale = 2; - - pixel_size_mm = 0.002; - frame_width = 2688; - frame_height = 1520; - exposure_time_max = 2352; - - init_reg_array.insert(init_reg_array.end(), std::begin(ife_downscale_override_array_os04c10), std::end(ife_downscale_override_array_os04c10)); -} - OS04C10::OS04C10() { image_sensor = cereal::FrameData::ImageSensor::OS04C10; bayer_pattern = CAM_ISP_PATTERN_BAYER_BGBGBG; diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h index b501656090..8b1c78c69d 100644 --- a/system/camerad/sensors/os04c10_registers.h +++ b/system/camerad/sensors/os04c10_registers.h @@ -88,6 +88,8 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x37c7, 0xa8}, {0x37da, 0x11}, {0x381f, 0x08}, + // {0x3829, 0x03}, + // {0x3832, 0x00}, {0x3881, 0x00}, {0x3888, 0x04}, {0x388b, 0x00}, @@ -197,6 +199,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x370b, 0x48}, {0x370c, 0x01}, {0x370f, 0x00}, + {0x3714, 0x28}, {0x3716, 0x04}, {0x3719, 0x11}, {0x371a, 0x1e}, @@ -228,6 +231,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x37bd, 0x01}, {0x37bf, 0x26}, {0x37c0, 0x11}, + {0x37c2, 0x14}, {0x37cd, 0x19}, {0x37e0, 0x08}, {0x37e6, 0x04}, @@ -237,9 +241,14 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x37d8, 0x02}, {0x37e2, 0x10}, {0x3739, 0x10}, + {0x3662, 0x08}, {0x37e4, 0x20}, {0x37e3, 0x08}, + {0x37d9, 0x04}, {0x4040, 0x00}, + {0x4041, 0x03}, + {0x4008, 0x01}, + {0x4009, 0x06}, // FSIN {0x3002, 0x22}, @@ -260,11 +269,20 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x3802, 0x00}, {0x3803, 0x00}, {0x3804, 0x0a}, {0x3805, 0x8f}, {0x3806, 0x05}, {0x3807, 0xff}, + {0x3808, 0x05}, {0x3809, 0x40}, + {0x380a, 0x02}, {0x380b, 0xf8}, {0x3811, 0x08}, {0x3813, 0x08}, + {0x3814, 0x03}, {0x3815, 0x01}, + {0x3816, 0x03}, {0x3817, 0x01}, + {0x380c, 0x0b}, {0x380d, 0xac}, // HTS + {0x380e, 0x06}, {0x380f, 0x9c}, // VTS + + {0x3820, 0xb3}, + {0x3821, 0x01}, {0x3880, 0x00}, {0x3882, 0x20}, {0x3c91, 0x0b}, @@ -313,40 +331,4 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { // r {0x5104, 0x08}, {0x5105, 0xd6}, {0x5144, 0x08}, {0x5145, 0xd6}, - - {0x3714, 0x28}, - {0x37c2, 0x14}, - {0x3662, 0x08}, - {0x37d9, 0x04}, - {0x4041, 0x03}, - {0x4008, 0x01}, - {0x4009, 0x06}, - {0x3808, 0x05}, {0x3809, 0x40}, - {0x380a, 0x02}, {0x380b, 0xf8}, - {0x3814, 0x03}, - {0x3816, 0x03}, - {0x380c, 0x0b}, {0x380d, 0xac}, // HTS - {0x380e, 0x06}, {0x380f, 0x9c}, // VTS - {0x3820, 0xb3}, - {0x3821, 0x01}, -}; - -const struct i2c_random_wr_payload ife_downscale_override_array_os04c10[] = { - // OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz - {0x3829, 0x03}, - {0x3714, 0x24}, - {0x37c2, 0x04}, - {0x3662, 0x10}, - {0x37d9, 0x08}, - {0x4041, 0x07}, - {0x4008, 0x02}, - {0x4009, 0x0d}, - {0x3808, 0x0a}, {0x3809, 0x80}, - {0x380a, 0x05}, {0x380b, 0xf0}, - {0x3814, 0x01}, - {0x3816, 0x01}, - {0x380c, 0x08}, {0x380d, 0x5c}, // HTS - {0x380e, 0x09}, {0x380f, 0x38}, // VTS - {0x3820, 0xb0}, - {0x3821, 0x00}, }; diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h index d4be3cf036..c1131aafdf 100644 --- a/system/camerad/sensors/sensor.h +++ b/system/camerad/sensors/sensor.h @@ -29,7 +29,6 @@ public: uint32_t frame_stride; uint32_t frame_offset = 0; uint32_t extra_height = 0; - int out_scale = 1; int registers_offset = -1; int stats_offset = -1; int hdr_offset = -1; @@ -110,7 +109,6 @@ public: class OS04C10 : public SensorInfo { public: OS04C10(); - void ife_downscale_configure(); std::vector getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override; float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override; int getSlaveAddress(int port) const override; From 8cefc00a6e67499eddf4fadb8eb4f1f491a50bd7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 21 Apr 2025 17:06:53 -0700 Subject: [PATCH 108/115] Tomb Raider 3 (#35042) * 92b64884-4506-4a03-87ad-33e1a177fe73/400 * faster lat --- selfdrive/modeld/modeld.py | 2 +- selfdrive/modeld/models/driving_policy.onnx | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 1060b36d28..1d0facd133 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -41,7 +41,7 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl' VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl' POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl' -LAT_SMOOTH_SECONDS = 0.3 +LAT_SMOOTH_SECONDS = 0.1 LONG_SMOOTH_SECONDS = 0.3 diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 3bf2e01b5e..df11e590dd 100644 --- a/selfdrive/modeld/models/driving_policy.onnx +++ b/selfdrive/modeld/models/driving_policy.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fa00a07a4307b0f1638a10ec33b651d8a102e38371289b744f43215c89dfd342 +oid sha256:84061882148485dabfdd23ee7e0925284a4370d0ae5be804d6099ae847352891 size 15578328 From 23524e203826ca944ffbff9789ec9765ba2b6c8e Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 22 Apr 2025 15:28:54 +0100 Subject: [PATCH 109/115] ui(raylib): reduce spinner rotation artifact (#35048) * ui(raylib): reduce spinner rotation artifact A visual artifact (white pixels) appeared on the edge of the rotating spinner track texture, likely due to RGB color bleed during bilinear filtering in Raylib. Pre-multiplying the alpha channel of the spinner track image using `rl.image_alpha_premultiply` significantly reduces the visibility of the artifact. * lint --- system/ui/lib/application.py | 4 +++- system/ui/spinner.py | 3 ++- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 470396bbc7..23f9316c3a 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -50,9 +50,11 @@ class GuiApplication: self._set_styles() self._load_fonts() - def load_texture_from_image(self, file_name: str, width: int, height: int): + def load_texture_from_image(self, file_name: str, width: int, height: int, alpha_premultiply = False): """Load and resize a texture, storing it for later automatic unloading.""" image = rl.load_image(file_name) + if alpha_premultiply: + rl.image_alpha_premultiply(image) rl.image_resize(image, width, height) texture = rl.load_texture_from_image(image) # Set texture filtering to smooth the result diff --git a/system/ui/spinner.py b/system/ui/spinner.py index adfb604de9..f3724cbd1e 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -23,7 +23,8 @@ def clamp(value, min_value, max_value): class Spinner: def __init__(self): self._comma_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_comma.png"), TEXTURE_SIZE, TEXTURE_SIZE) - self._spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE) + self._spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE, + alpha_premultiply=True) self._rotation = 0.0 self._text: str = "" self._progress: int | None = None From 651ff78cb051280513c297ac1ab356eb164116e8 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 22 Apr 2025 16:07:05 +0100 Subject: [PATCH 110/115] ui(raylib): increase font size and wrap text in spinner (#35049) - Wrap text onto separate lines - Increase font size to be closer to Qt - Remove extra letter spacing - 0.0 should use font default spacing, and this is used in `wrap_text` Will fix vertical alignment separately, as both the text and progress bar layouts need to be considered --- system/ui/spinner.py | 26 +++++++++++++++----------- 1 file changed, 15 insertions(+), 11 deletions(-) diff --git a/system/ui/spinner.py b/system/ui/spinner.py index f3724cbd1e..fd4264be6c 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -5,14 +5,17 @@ import threading from openpilot.common.basedir import BASEDIR from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.text import wrap_text # Constants PROGRESS_BAR_WIDTH = 1000 PROGRESS_BAR_HEIGHT = 20 DEGREES_PER_SECOND = 360.0 # one full rotation per second -MARGIN = 200 +MARGIN_H = 100 +MARGIN_V = 200 TEXTURE_SIZE = 360 -FONT_SIZE = 80 +FONT_SIZE = 88 +LINE_HEIGHT = 96 DARKGRAY = (55, 55, 55, 255) @@ -26,18 +29,18 @@ class Spinner: self._spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE, alpha_premultiply=True) self._rotation = 0.0 - self._text: str = "" self._progress: int | None = None + self._wrapped_lines: list[str] = [] self._lock = threading.Lock() def set_text(self, text: str) -> None: with self._lock: if text.isdigit(): self._progress = clamp(int(text), 0, 100) - self._text = "" + self._wrapped_lines = [] else: self._progress = None - self._text = text + self._wrapped_lines = wrap_text(text, FONT_SIZE, gui_app.width - MARGIN_H) def render(self): center = rl.Vector2(gui_app.width / 2.0, gui_app.height / 2.0) @@ -54,10 +57,10 @@ class Spinner: rl.draw_texture_v(self._comma_texture, comma_position, rl.WHITE) # Display progress bar or text based on user input - y_pos = rl.get_screen_height() - MARGIN - PROGRESS_BAR_HEIGHT + y_pos = rl.get_screen_height() - MARGIN_V - PROGRESS_BAR_HEIGHT with self._lock: progress = self._progress - text = self._text + wrapped_lines = self._wrapped_lines if progress is not None: bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT) @@ -65,10 +68,11 @@ class Spinner: bar.width *= progress / 100.0 rl.draw_rectangle_rounded(bar, 1, 10, rl.WHITE) - elif text: - text_size = rl.measure_text_ex(gui_app.font(), text, FONT_SIZE, 1.0) - rl.draw_text_ex(gui_app.font(), text, - rl.Vector2(center.x - text_size.x / 2, y_pos), FONT_SIZE, 1.0, rl.WHITE) + elif wrapped_lines: + for i, line in enumerate(wrapped_lines): + text_size = rl.measure_text_ex(gui_app.font(), line, FONT_SIZE, 0.0) + rl.draw_text_ex(gui_app.font(), line, rl.Vector2(center.x - text_size.x / 2, y_pos + i * LINE_HEIGHT), + FONT_SIZE, 0.0, rl.WHITE) if __name__ == "__main__": From c9259a9bcfd86f77c0d336b470c1f72cbfd073e8 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 22 Apr 2025 20:54:36 +0100 Subject: [PATCH 111/115] ui(raylib): update spinner vertical pos (#35051) Adjust the spinner vertical position when displaying text or a progress bar - When displaying the progress bar, center the comma logo and spinner in the middle of the screen - When displaying text, center the entire content vertically Also updated `wrap_text` to not include an empty line in the array if it's the first line, so that `wrap_text("")` always returns `[]` --- system/ui/spinner.py | 23 ++++++++++++++++------- system/ui/text.py | 4 +++- 2 files changed, 19 insertions(+), 8 deletions(-) diff --git a/system/ui/spinner.py b/system/ui/spinner.py index fd4264be6c..9c1882cf5f 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -12,7 +12,6 @@ PROGRESS_BAR_WIDTH = 1000 PROGRESS_BAR_HEIGHT = 20 DEGREES_PER_SECOND = 360.0 # one full rotation per second MARGIN_H = 100 -MARGIN_V = 200 TEXTURE_SIZE = 360 FONT_SIZE = 88 LINE_HEIGHT = 96 @@ -43,7 +42,22 @@ class Spinner: self._wrapped_lines = wrap_text(text, FONT_SIZE, gui_app.width - MARGIN_H) def render(self): - center = rl.Vector2(gui_app.width / 2.0, gui_app.height / 2.0) + with self._lock: + progress = self._progress + wrapped_lines = self._wrapped_lines + + if wrapped_lines: + # Calculate total height required for spinner and text + spacing = 50 + total_height = TEXTURE_SIZE + spacing + len(wrapped_lines) * LINE_HEIGHT + center_y = (gui_app.height - total_height) / 2.0 + TEXTURE_SIZE / 2.0 + else: + # Center spinner vertically + spacing = 150 + center_y = gui_app.height / 2.0 + y_pos = center_y + TEXTURE_SIZE / 2.0 + spacing + + center = rl.Vector2(gui_app.width / 2.0, center_y) spinner_origin = rl.Vector2(TEXTURE_SIZE / 2.0, TEXTURE_SIZE / 2.0) comma_position = rl.Vector2(center.x - TEXTURE_SIZE / 2.0, center.y - TEXTURE_SIZE / 2.0) @@ -57,11 +71,6 @@ class Spinner: rl.draw_texture_v(self._comma_texture, comma_position, rl.WHITE) # Display progress bar or text based on user input - y_pos = rl.get_screen_height() - MARGIN_V - PROGRESS_BAR_HEIGHT - with self._lock: - progress = self._progress - wrapped_lines = self._wrapped_lines - if progress is not None: bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT) rl.draw_rectangle_rounded(bar, 1, 10, DARKGRAY) diff --git a/system/ui/text.py b/system/ui/text.py index 4ea886ba1e..79c20ce8dc 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -21,7 +21,9 @@ def wrap_text(text, font_size, max_width): for paragraph in text.split("\n"): if not paragraph.strip(): - lines.append("") + # Don't add empty lines first, ensuring wrap_text("") returns [] + if lines: + lines.append("") continue indent = re.match(r"^\s*", paragraph).group() current_line = indent From f9767d265010101f123dcdc261206cb7be8bb5d8 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 22 Apr 2025 22:07:47 +0100 Subject: [PATCH 112/115] ui(raylib): "exit" btn in text window on PC (#35052) * ui(raylib): "exit" btn in text window on PC * unused import --- system/ui/text.py | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/system/ui/text.py b/system/ui/text.py index 79c20ce8dc..9c7101dfe8 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import re import pyray as rl -from openpilot.system.hardware import HARDWARE +from openpilot.system.hardware import HARDWARE, PC from openpilot.system.ui.lib.button import gui_button, ButtonStyle from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel from openpilot.system.ui.lib.application import gui_app @@ -58,9 +58,12 @@ class TextWindow: rl.end_scissor_mode() button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y) - ret = gui_button(button_bounds, "Reboot", button_style=ButtonStyle.TRANSPARENT) + ret = gui_button(button_bounds, "Exit" if PC else "Reboot", button_style=ButtonStyle.TRANSPARENT) if ret: - HARDWARE.reboot() + if PC: + gui_app.close() + else: + HARDWARE.reboot() return ret From 754f5aa95590f7bc98c8f4f8fbe3f7f2a0a18e96 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 22 Apr 2025 22:30:20 +0100 Subject: [PATCH 113/115] Revert "ui(raylib): "exit" btn in text window on PC (#35052)" This reverts commit f9767d265010101f123dcdc261206cb7be8bb5d8. --- system/ui/text.py | 9 +++------ 1 file changed, 3 insertions(+), 6 deletions(-) diff --git a/system/ui/text.py b/system/ui/text.py index 9c7101dfe8..79c20ce8dc 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import re import pyray as rl -from openpilot.system.hardware import HARDWARE, PC +from openpilot.system.hardware import HARDWARE from openpilot.system.ui.lib.button import gui_button, ButtonStyle from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel from openpilot.system.ui.lib.application import gui_app @@ -58,12 +58,9 @@ class TextWindow: rl.end_scissor_mode() button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y) - ret = gui_button(button_bounds, "Exit" if PC else "Reboot", button_style=ButtonStyle.TRANSPARENT) + ret = gui_button(button_bounds, "Reboot", button_style=ButtonStyle.TRANSPARENT) if ret: - if PC: - gui_app.close() - else: - HARDWARE.reboot() + HARDWARE.reboot() return ret From 7b5468b2e8457856acbf3213be9ef0379a10597e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Tue, 22 Apr 2025 14:50:03 -0700 Subject: [PATCH 114/115] plotjuggler: support relative paths (#35054) * Support relative paths * Abspath for rlog too --- tools/plotjuggler/juggle.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py index f66782d6f3..34f33d1959 100755 --- a/tools/plotjuggler/juggle.py +++ b/tools/plotjuggler/juggle.py @@ -61,13 +61,15 @@ def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None, pl env["BASEDIR"] = BASEDIR env["PATH"] = f"{INSTALL_DIR}:{os.getenv('PATH', '')}" if dbc: + if os.path.exists(dbc): + dbc = os.path.abspath(dbc) env["DBC_NAME"] = dbc extra_args = "" if fn is not None: - extra_args += f" -d {fn}" + extra_args += f" -d {os.path.abspath(fn)}" if layout is not None: - extra_args += f" -l {layout}" + extra_args += f" -l {os.path.abspath(layout)}" if route_or_segment_name is not None: extra_args += f" --window_title \"{route_or_segment_name}{f' ({platform})' if platform is not None else ''}\"" From 281a72780b8e8b97fb12d983a29edc1f4f242aeb Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Wed, 23 Apr 2025 14:06:09 +0100 Subject: [PATCH 115/115] Reapply "ui(raylib): "exit" btn in text window on PC" (#35053) * ui(raylib): "exit" btn in text window on PC * unused import * request close * this was missing --- system/ui/lib/application.py | 6 +++++- system/ui/text.py | 10 +++++++--- 2 files changed, 12 insertions(+), 4 deletions(-) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 23f9316c3a..f5a238b81e 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -38,6 +38,10 @@ class GuiApplication: self._textures: list[rl.Texture] = [] self._target_fps: int = DEFAULT_FPS self._last_fps_log_time: float = time.monotonic() + self._window_close_requested = False + + def request_close(self): + self._window_close_requested = True def init_window(self, title: str, fps: int=DEFAULT_FPS): atexit.register(self.close) # Automatically call close() on exit @@ -80,7 +84,7 @@ class GuiApplication: rl.close_window() def render(self): - while not rl.window_should_close(): + while not (self._window_close_requested or rl.window_should_close()): rl.begin_drawing() rl.clear_background(rl.BLACK) diff --git a/system/ui/text.py b/system/ui/text.py index 79c20ce8dc..1337887d9b 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import re import pyray as rl -from openpilot.system.hardware import HARDWARE +from openpilot.system.hardware import HARDWARE, PC from openpilot.system.ui.lib.button import gui_button, ButtonStyle from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel from openpilot.system.ui.lib.application import gui_app @@ -58,9 +58,12 @@ class TextWindow: rl.end_scissor_mode() button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y) - ret = gui_button(button_bounds, "Reboot", button_style=ButtonStyle.TRANSPARENT) + ret = gui_button(button_bounds, "Exit" if PC else "Reboot", button_style=ButtonStyle.TRANSPARENT) if ret: - HARDWARE.reboot() + if PC: + gui_app.request_close() + else: + HARDWARE.reboot() return ret @@ -69,6 +72,7 @@ def show_text_in_window(text: str): text_window = TextWindow(text) for _ in gui_app.render(): text_window.render() + gui_app.close() if __name__ == "__main__":