Merge remote-tracking branch 'comma/master' into mqb-a3

# Conflicts:
#	selfdrive/car/volkswagen/values.py

README.md

@@ -172,6 +172,7 @@ Community Maintained Cars and Features
 | SEAT      | Ateca 2018                    | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Škoda     | Kodiaq 2018                   | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Škoda     | Scala 2020                    | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Superb 2018                   | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Subaru    | Ascent 2019                   | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Forester 2019-20              | EyeSight          | Stock            | 0mph               | 0mph         |

RELEASES.md

@@ -1,4 +1,4 @@
-Version 0.8.3 (2021-XX-XX)
+Version 0.8.3 (2021-04-01)
 ========================
  * New model
    * Trained on new diverse dataset from 2000+ users from 30+ countries
@@ -10,9 +10,7 @@ Version 0.8.3 (2021-XX-XX)
  * Default SSH key only used for setup
  * Kia Ceed 2019 support thanks to ZanZaD13!
  * Kia Seltos 2021 support thanks to speedking456!
- * Škoda Kodiaq 2018 support thanks to jyoung8607!
- * Volkswagen Tiguan 2020 support thanks to jyoung8607!
- * Volkswagen Jetta 2018-2021 support thanks to jyoung8607!
+ * Added support for many Volkswagen and Škoda models thanks to jyoung8607!
 
 Version 0.8.2 (2021-02-26)
 ========================

selfdrive/assets/training/step0.jpg

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8c6c04843346495360f87d7378f6b92d1284f26876e4c61772391c4239eabb9a
-size 187644

selfdrive/assets/training/step1.jpg

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:e7ad4506e6e81e7b374676767be0037b1d27a5a6ba7e2354a639fe72510621c7
-size 251834

selfdrive/assets/training/step10.jpg

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:25b8ed39ca149b5083c61765951cef34ebbd94ed70d6111250f1f21f89c92170
-size 263592

selfdrive/assets/training/step11.jpg

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:01932662ce154ae0456aa5adf42e604df3342dad03651c7dfe596a982bc10de2
-size 220853

selfdrive/assets/training/step12.jpg

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:de067b0da7f676428a82d445a29d386f135081c53fd6203437bc7abeef941301
-size 297138

selfdrive/assets/training/step13.jpg

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3a89702a4b25a5dd8431689cb06125780c30642613ac11d88dd245e1e8924cd7
-size 376601

selfdrive/assets/training/step14.jpg

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c9f2b6fa133b102f2008a60dda0b344826ecfa57127ba43c7551d14c1b213d3b
-size 234676

selfdrive/assets/training/step2.jpg

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:bd1b7ea05bdadba70f1aa12af9e044224ff751a9feb7336b0868dda99876c4ae
-size 199105

selfdrive/assets/training/step3.jpg

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4ef49a4dde1309ca0e44de41ded5bf70a5e3dbf0cd503c50f03769c93c07e998
-size 259261

selfdrive/assets/training/step4.jpg

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:10cc7c1a0515dcef8ae840d8d18cdfb6b60cbede409d25cfc8375c190763d7bc
-size 269618

selfdrive/assets/training/step5.jpg

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:58d340534194a7ba03466ce0f1eefaf2431d50ad6651702cb438b22d87b276bd
-size 178004

selfdrive/assets/training/step6.jpg

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0d67cbc355c1f22e0ce20ff952a02df9b238774ebaf3076acfcc0f10944779aa
-size 257768

selfdrive/assets/training/step7.jpg

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:21de74ca3ca3723c8d9e8e8671f07fede2a444c4ad1aeeb53dd91d25175a0d70
-size 294373

selfdrive/assets/training/step8.jpg

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:441de6705aba7218327cb49866bf00927d2d8b6b724e91c9006b20a88f32c71a
-size 216384

selfdrive/assets/training/step9.jpg

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8a7bfa7d4f48753409dd125d6a48b6b2d7e42a62b4b6fb1f2a7f5f11b212665a
-size 200923

selfdrive/car/volkswagen/interface.py

@@ -97,6 +97,11 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 1192 + STD_CARGO_KG
       ret.wheelbase = 2.65
 
+    elif candidate == CAR.SKODA_SUPERB_MK3:
+      # Averages of all 3V/NP Scala variants
+      ret.mass = 1505 + STD_CARGO_KG
+      ret.wheelbase = 2.84
+
     ret.centerToFront = ret.wheelbase * 0.45
 
     ret.enableCamera = True  # Stock camera detection doesn't apply to VW

selfdrive/car/volkswagen/values.py

@@ -63,6 +63,7 @@ class CAR:
   SEAT_ATECA_MK1 = "SEAT ATECA 1ST GEN"       # Chassis 5F, Mk1 SEAT Ateca and CUPRA Ateca
   SKODA_KODIAQ_MK1 = "SKODA KODIAQ 1ST GEN"   # Chassis NS, Mk1 Skoda Kodiaq
   SKODA_SCALA_MK1 = "SKODA SCALA 1ST GEN"     # Chassis NW, Mk1 Skoda Scala and Skoda Kamiq
+  SKODA_SUPERB_MK3 = "SKODA SUPERB 3RD GEN"   # Chassis 3V/NP, Mk3 Skoda Superb and variants
 
 FINGERPRINTS = {
   CAR.GOLF: [{
@@ -89,9 +90,12 @@ FINGERPRINTS = {
   CAR.SKODA_SCALA_MK1: [{
     64: 8, 134: 8, 159: 8, 173: 8, 178: 8, 253: 8, 257: 8, 262: 8, 278: 8, 279: 8, 283: 8, 286: 8, 288: 8, 289: 8, 290: 8, 294: 8, 299: 8, 302: 8, 346: 8, 418: 8, 427: 8, 506: 8, 568: 8, 569: 8, 572: 8, 573: 8, 679: 8, 681: 8, 684: 8, 695: 8, 779: 8, 780: 8, 783: 8, 787: 8, 788: 8, 789: 8, 792: 8, 795: 8, 804: 8, 806: 8, 807: 8, 808: 8, 809: 8, 826: 8, 827: 8, 828: 8, 870: 8, 879: 8, 884: 8, 888: 8, 891: 8, 901: 8, 913: 8, 917: 8, 919: 8, 949: 8, 958: 8, 960: 4, 981: 8, 987: 8, 988: 8, 991: 8, 997: 8, 1000: 8, 1019: 8, 1122: 8, 1123: 8, 1124: 8, 1153: 8, 1156: 8, 1157: 8, 1158: 8, 1162: 8, 1175: 8, 1312: 8, 1343: 8, 1385: 8, 1413: 8, 1440: 5, 1514: 8, 1515: 8, 1520: 8, 1600: 8, 1601: 8, 1603: 8, 1605: 8, 1624: 8, 1626: 8, 1629: 8, 1631: 8, 1635: 8, 1646: 8, 1648: 8, 1712: 6, 1714: 8, 1716: 8, 1717: 8, 1719: 8, 1720: 8, 1721: 8, 1792: 8, 1872: 8, 1879: 8, 1976: 8, 1977: 8, 1982: 8, 1985: 8
   }],
+  CAR.SKODA_SUPERB_MK3: [{
+    64: 8, 134: 8, 159: 8, 178: 8, 253: 8, 257: 8, 260: 8, 262: 8, 278: 8, 279: 8, 283: 8, 286: 8, 288: 8, 289: 8, 290: 8, 294: 8, 295: 8, 299: 8, 302: 8, 346: 8, 418: 8, 427: 8, 679: 8, 681: 8, 695: 8, 779: 8, 780: 8, 783: 8, 791: 8, 792: 8, 795: 8, 799: 8, 804: 8, 806: 8, 807: 8, 808: 8, 809: 8, 838: 8, 839: 8, 840: 8, 841: 8, 842: 8, 843: 8, 844: 8, 845: 8, 870: 8, 896: 8, 897: 8, 898: 8, 901: 8, 917: 8, 919: 8, 949: 8, 958: 8, 960: 4, 981: 8, 987: 8, 988: 8, 991: 8, 997: 8, 1000: 8, 1019: 8, 1153: 8, 1162: 8, 1175: 8, 1312: 8, 1385: 8, 1413: 8, 1440: 5, 1514: 8, 1515: 8, 1520: 8, 1600: 8, 1601: 8, 1603: 8, 1624: 8, 1626: 8, 1629: 8, 1631: 8, 1646: 8, 1648: 8, 1712: 6, 1714: 8, 1716: 8, 1717: 8, 1719: 8, 1720: 8, 1792: 8, 1872: 8, 1879: 8, 1976: 8, 1977: 8, 1985: 8, 2017: 8
+  }],
 }
 
-IGNORED_FINGERPRINTS = [CAR.JETTA_MK7, CAR.PASSAT_MK8, CAR.TIGUAN_MK2, CAR.SEAT_ATECA_MK1, CAR.SKODA_KODIAQ_MK1, CAR.SKODA_SCALA_MK1]
+IGNORED_FINGERPRINTS = [CAR.JETTA_MK7, CAR.PASSAT_MK8, CAR.TIGUAN_MK2, CAR.SEAT_ATECA_MK1, CAR.SKODA_KODIAQ_MK1, CAR.SKODA_SCALA_MK1, CAR.SKODA_SUPERB_MK3]
 
 FW_VERSIONS = {
   CAR.GOLF: {
@@ -257,6 +261,21 @@ FW_VERSIONS = {
       b'\xf1\x872Q0907572R \xf1\x890372',
     ],
   },
+  CAR.SKODA_SUPERB_MK3: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704L906026KB\xf1\x894071',
+    ],
+    # Only onboarded Superb so far is a manual (Ecu.transmission, 0x7e1, None): [],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\00563UZ060700',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x873Q0907572C \xf1\x890195',
+    ],
+  },
 }
 
 DBC = {
@@ -268,4 +287,5 @@ DBC = {
   CAR.SEAT_ATECA_MK1: dbc_dict('vw_mqb_2010', None),
   CAR.SKODA_KODIAQ_MK1: dbc_dict('vw_mqb_2010', None),
   CAR.SKODA_SCALA_MK1: dbc_dict('vw_mqb_2010', None),
+  CAR.SKODA_SUPERB_MK3: dbc_dict('vw_mqb_2010', None),
 }

selfdrive/test/test_car_models.py

@@ -469,6 +469,10 @@ routes = {
     'carFingerprint': VOLKSWAGEN.SKODA_SCALA_MK1,
     'enableCamera': True,
   },
+  "b2e9858e29db492b|2021-03-26--16-58-42": {
+    'carFingerprint': VOLKSWAGEN.SKODA_SUPERB_MK3,
+    'enableCamera': True,
+  },
   "3c8f0c502e119c1c|2020-06-30--12-58-02": {
     'carFingerprint': SUBARU.ASCENT,
     'enableCamera': True,

selfdrive/ui/qt/offroad/onboarding.cc

@@ -12,30 +12,28 @@
 
 
 void TrainingGuide::mouseReleaseEvent(QMouseEvent *e) {
-  int leftOffset = (geometry().width()-1620)/2;
-  int mousex = e->x()-leftOffset;
-  int mousey = e->y();
+  //qDebug() << e->x() << ", " << e->y();
 
   // Check for restart
-  if (currentIndex == (boundingBox.size() - 1) && 1050 <= mousex && mousex <= 1500 &&
-      773 <= mousey && mousey <= 954) {
+  if (currentIndex == (boundingBox.size() - 1) && 200 <= e->x() && e->x() <= 920 &&
+      760 <= e->y() && e->y() <= 960) {
     currentIndex = 0;
-  } else if (boundingBox[currentIndex][0] <= mousex && mousex <= boundingBox[currentIndex][1] &&
-             boundingBox[currentIndex][2] <= mousey && mousey <= boundingBox[currentIndex][3]) {
+  } else if (boundingBox[currentIndex][0] <= e->x() && e->x() <= boundingBox[currentIndex][1] &&
+             boundingBox[currentIndex][2] <= e->y() && e->y() <= boundingBox[currentIndex][3]) {
     currentIndex += 1;
   }
 
   if (currentIndex >= boundingBox.size()) {
     emit completedTraining();
   } else {
-    image.load("../assets/training/step" + QString::number(currentIndex) + ".jpg");
+    image.load("../assets/training/step" + QString::number(currentIndex) + ".png");
     update();
   }
 }
 
 void TrainingGuide::showEvent(QShowEvent *event) {
   currentIndex = 0;
-  image.load("../assets/training/step0.jpg");
+  image.load("../assets/training/step0.png");
 }
 
 void TrainingGuide::paintEvent(QPaintEvent *event) {

selfdrive/ui/qt/offroad/onboarding.hpp

@@ -26,8 +26,26 @@ private:
 
   // Bounding boxes for the a given training guide step
   // (minx, maxx, miny, maxy)
-  QVector<QVector<int>> boundingBox {{250, 930, 750, 900}, {280, 1280, 650, 950}, {330, 1130, 590, 900}, {910, 1580, 500, 1000}, {1180, 1300, 630, 720}, {290, 1050, 590, 960}, 
-  {1090, 1240, 550, 660}, {1050, 1580, 250, 900}, {320, 1130, 670, 1020}, {1010, 1580, 410, 750}, {1040, 1500, 230, 1030}, {300, 1190, 590, 920}, {1050, 1310, 170, 870}, {950, 1530, 460, 770}, {190, 970, 750, 970}};
+  QVector<QVector<int>> boundingBox {
+    {650, 1375, 700, 900},
+    {1600, 1920, 0, 1080},
+    {1600, 1920, 0, 1080},
+    {1240, 1750, 480, 1080},
+    {1570, 1780, 620, 750},
+    {1600, 1920, 0, 1080},
+    {1630, 1740, 620, 780},
+    {1200, 1920, 0, 1080},
+    {1455, 1850, 400, 660},
+    {1460, 1800, 195, 520},
+    {1600, 1920, 0, 1080},
+    {1350, 1920, 65, 1080},
+    {1600, 1920, 0, 1080},
+    {1570, 1900, 130, 1000},
+    {1350, 1770, 500, 700},
+    {1600, 1920, 0, 1080},
+    {1600, 1920, 0, 1080},
+    {1000, 1800, 760, 954},
+  };
 
 signals:
   void completedTraining();