test

selfdrive/thermald/thermald.py

@@ -330,7 +330,7 @@ def thermald_thread(end_event, hw_queue) -> None:
             pass
 
     # Handle offroad/onroad transition
-    should_start = all(onroad_conditions.values())
+    should_start = all(onroad_conditions.values()) or True
     if started_ts is None:
       should_start = should_start and all(startup_conditions.values())
 

selfdrive/ui/ui.cc

@@ -207,6 +207,7 @@ static void update_state(UIState *s) {
     scene.light_sensor = std::max(100.0f - scale * cam_state.getExposureValPercent(), 0.0f);
   }
   scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition;
+  scene.started = true;
 }
 
 void ui_update_params(UIState *s) {

selfdrive/ui/ui.h

@@ -67,10 +67,6 @@ struct Alert {
       // Handle controls timeout
       if (controls_frame < started_frame) {
         // car is started, but controlsState hasn't been seen at all
-        alert = {"openpilot Unavailable", "Waiting for controls to start",
-                 "controlsWaiting", cereal::ControlsState::AlertSize::MID,
-                 cereal::ControlsState::AlertStatus::NORMAL,
-                 AudibleAlert::NONE};
       } else if (controls_missing > CONTROLS_TIMEOUT && !Hardware::PC()) {
         // car is started, but controls is lagging or died
         if (cs.getEnabled() && (controls_missing - CONTROLS_TIMEOUT) < 10) {

system/camerad/cameras/real_debayer.cl

@@ -144,33 +144,36 @@ __kernel void debayer10(const __global uchar * in, __global uchar * out)
   rgb.x = (k02*vb.s2+k04*vb.s0)/(k02+k04); // R_G1
   rgb.y = vb.s1; // G1(R)
   rgb.z = (k01*va.s1+k03*vc.s1)/(k01+k03); // B_G1
+  rgb.x = 0.0;
+  rgb.y = 1.0;
+  rgb.z = 0.0;
   rgb_out[0] = convert_uchar3_sat(color_correct(clamp(rgb, 0.0, 1.0)) * 255.0);
 
   const float k11 = get_k(va.s1, vc.s1, va.s3, vc.s3);
   const float k12 = get_k(va.s2, vb.s1, vb.s3, vc.s2);
   const float k13 = get_k(va.s1, va.s3, vc.s1, vc.s3);
   const float k14 = get_k(va.s2, vb.s3, vc.s2, vb.s1);
-  rgb.x = vb.s2; // R
-  rgb.y = (k11*(va.s2+vc.s2)*0.5+k13*(vb.s3+vb.s1)*0.5)/(k11+k13); // G_R
-  rgb.z = (k12*(va.s3+vc.s1)*0.5+k14*(va.s1+vc.s3)*0.5)/(k12+k14); // B_R
+  // rgb.x = vb.s2; // R
+  // rgb.y = (k11*(va.s2+vc.s2)*0.5+k13*(vb.s3+vb.s1)*0.5)/(k11+k13); // G_R
+  // rgb.z = (k12*(va.s3+vc.s1)*0.5+k14*(va.s1+vc.s3)*0.5)/(k12+k14); // B_R
   rgb_out[1] = convert_uchar3_sat(color_correct(clamp(rgb, 0.0, 1.0)) * 255.0);
 
   const float k21 = get_k(vb.s0, vd.s0, vb.s2, vd.s2);
   const float k22 = get_k(vb.s1, vc.s0, vc.s2, vd.s1);
   const float k23 = get_k(vb.s0, vb.s2, vd.s0, vd.s2);
   const float k24 = get_k(vb.s1, vc.s2, vd.s1, vc.s0);
-  rgb.x = (k22*(vb.s2+vd.s0)*0.5+k24*(vb.s0+vd.s2)*0.5)/(k22+k24); // R_B
-  rgb.y = (k21*(vb.s1+vd.s1)*0.5+k23*(vc.s2+vc.s0)*0.5)/(k21+k23); // G_B
-  rgb.z = vc.s1; // B
+  // rgb.x = (k22*(vb.s2+vd.s0)*0.5+k24*(vb.s0+vd.s2)*0.5)/(k22+k24); // R_B
+  // rgb.y = (k21*(vb.s1+vd.s1)*0.5+k23*(vc.s2+vc.s0)*0.5)/(k21+k23); // G_B
+  // rgb.z = vc.s1; // B
   rgb_out[2] = convert_uchar3_sat(color_correct(clamp(rgb, 0.0, 1.0)) * 255.0);
 
   const float k31 = get_k(vb.s1, vc.s2, vb.s3, vc.s2);
   const float k32 = get_k(vb.s3, vc.s2, vd.s3, vc.s2);
   const float k33 = get_k(vd.s1, vc.s2, vd.s3, vc.s2);
   const float k34 = get_k(vb.s1, vc.s2, vd.s1, vc.s2);
-  rgb.x = (k31*vb.s2+k33*vd.s2)/(k31+k33); // R_G2
-  rgb.y = vc.s2; // G2(B)
-  rgb.z = (k32*vc.s3+k34*vc.s1)/(k32+k34); // B_G2
+  // rgb.x = (k31*vb.s2+k33*vd.s2)/(k31+k33); // R_G2
+  // rgb.y = vc.s2; // G2(B)
+  // rgb.z = (k32*vc.s3+k34*vc.s1)/(k32+k34); // B_G2
   rgb_out[3] = convert_uchar3_sat(color_correct(clamp(rgb, 0.0, 1.0)) * 255.0);
 
   // write ys