From 9cb4d3d75e6945fe55dcc640947704734fa22a5f Mon Sep 17 00:00:00 2001 From: Iamz Date: Wed, 2 Apr 2025 01:39:01 +0700 Subject: [PATCH 01/25] 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 02/25] 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 03/25] 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 04/25] 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 05/25] 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 06/25] 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 07/25] 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 08/25] 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 09/25] 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 10/25] 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 11/25] 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": "47b2096995578a5078e393c33108b42756009dbb361c43c508fc93cd8bda99cc" + "ondevice_hash": "41d31b862fec1b87879b508c405adb9d7b5c0a3324f7350bd904f451605b06cf" }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-ff2da7bc34a1ad8e2831a13a49685243957a51b762d8f28e14e98ac90e84d211.img.xz", - "hash": "fbda983c40e75d8c4784a45c687f27dd27f97f7f0e9a71b4981ec2092ff68a72", - "hash_raw": "ff2da7bc34a1ad8e2831a13a49685243957a51b762d8f28e14e98ac90e84d211", + "url": "https://commadist.azureedge.net/agnosupdate/system-02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde.img.xz", + "hash": "c56256a64e6d7e16886e39a4263ffb686ed0f03d3a665c3552f54a39723f8824", + "hash_raw": "02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde", "size": 4404019200, "sparse": true, "full_check": false, "has_ab": true, - "ondevice_hash": "428c744458d5f35199aab96a0928876c9deeff3e753e95044291408ba244f0af", + "ondevice_hash": "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", - "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": "47b2096995578a5078e393c33108b42756009dbb361c43c508fc93cd8bda99cc" + "ondevice_hash": "41d31b862fec1b87879b508c405adb9d7b5c0a3324f7350bd904f451605b06cf" }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-ff2da7bc34a1ad8e2831a13a49685243957a51b762d8f28e14e98ac90e84d211.img.xz", - "hash": "fbda983c40e75d8c4784a45c687f27dd27f97f7f0e9a71b4981ec2092ff68a72", - "hash_raw": "ff2da7bc34a1ad8e2831a13a49685243957a51b762d8f28e14e98ac90e84d211", + "url": "https://commadist.azureedge.net/agnosupdate/system-02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde.img.xz", + "hash": "c56256a64e6d7e16886e39a4263ffb686ed0f03d3a665c3552f54a39723f8824", + "hash_raw": "02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde", "size": 4404019200, "sparse": true, "full_check": false, "has_ab": true, - "ondevice_hash": "428c744458d5f35199aab96a0928876c9deeff3e753e95044291408ba244f0af", + "ondevice_hash": "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 } }, { "name": "userdata_90", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-0cbfcaba867b8c637a297492fe008aac82cea89a479077585faaa62c8bdc4bcf.img.xz", - "hash": "4a48581a9e2e416ae3b695d1fca7a056eeb8b12e7819fee16a3419ba56662ca1", - "hash_raw": "0cbfcaba867b8c637a297492fe008aac82cea89a479077585faaa62c8bdc4bcf", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-344c1f5da1ece113e0f07c1964a95646dbfe96f49cfd64ac7375430c9247ab33.img.xz", + "hash": "f94d635a74d1b7a7a6774f7673be0672219f253025406d0b2595ff3ef41b68f8", + "hash_raw": "344c1f5da1ece113e0f07c1964a95646dbfe96f49cfd64ac7375430c9247ab33", "size": 96636764160, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "51b690c08c7876d5f6f81c36cdfc64bd7e2326986329923b4eb391dbeb45ced1" + "ondevice_hash": "96e376ed61e8604adce6fea4b3a7302b966c1975f768f66e4a81428dce7e78f0" }, { "name": "userdata_89", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-5043e8058de94159e4b36590403120e76bdabe75542743bb41e251158aa14f7c.img.xz", - "hash": "7eca201ce9e6440b389a469eeffe635df50c81c18a7b6af9b73dfe462af7c174", - "hash_raw": "5043e8058de94159e4b36590403120e76bdabe75542743bb41e251158aa14f7c", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-a2840d1aeac1b2229a82d91be1b1546b3ec294cb185b6ad5ca502848d1c9c8fb.img.xz", + "hash": "d86482e90ac0e08e31d0b699b6728043dc3db2ab0feaec99a6a393085824424a", + "hash_raw": "a2840d1aeac1b2229a82d91be1b1546b3ec294cb185b6ad5ca502848d1c9c8fb", "size": 95563022336, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "2c25fb92c7c7085783b3ea1f96d3919acefafe3b4897529ced30540fdb7dc772" + "ondevice_hash": "b6754cf40297e4a924315aa81d062ea108b86c93e6ad3c3c98559863a297e2b1" }, { "name": "userdata_30", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-cf9c15c127fb4e776843e7fce36e545b8c8848991186a7ff2cd0d5c2fffe2a1d.img.xz", - "hash": "c0866a0a8e4eedb9f0f1a4d853ace9c83038c955f88e8bfffbaf441dc103c1a6", - "hash_raw": "cf9c15c127fb4e776843e7fce36e545b8c8848991186a7ff2cd0d5c2fffe2a1d", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-1f4a795d4c7d052e94326e668be84929856fa2945ddbdf097e1ee722defeabd1.img.xz", + "hash": "2df53cb6d115bcb58998a7346e53030ae89683c215f1c28aaa1b524cb145ac65", + "hash_raw": "1f4a795d4c7d052e94326e668be84929856fa2945ddbdf097e1ee722defeabd1", "size": 32212254720, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "78086497dd01efd87b491fe16a9abd382f14ec7366c8eb7acfe0ec0c5d192df6" + "ondevice_hash": "585e9a650d53be65600589ce0b6c71edf8e6678f65d16dc6ac2dd75f900bc6cc" } -] +] \ No newline at end of file From 05ba480e021d961b1eba0905d694a79a9c4cf19b Mon Sep 17 00:00:00 2001 From: Alexandre Nobuharu Sato <66435071+AlexandreSato@users.noreply.github.com> Date: Sun, 6 Apr 2025 18:27:40 -0300 Subject: [PATCH 12/25] 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 13/25] [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 15/25] 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 16/25] 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 18/25] 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 19/25] 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 20/25] 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 21/25] 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 22/25] 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 23/25] 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 24/25] 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 25/25] 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),