safety standards for forks (#36077)

standards for forks

docs/SAFETY.md

@@ -16,7 +16,7 @@ industry standards of safety for Level 2 Driver Assistance Systems. In particula
 ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
 released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/what-is-misra/))
 on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
-hardware-in-the-loop and in-vehicle tests before each software release.
+hardware-in-the-loop, and in-vehicle tests before each software release.
 
 Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
 ensuring two main safety requirements.
@@ -29,8 +29,18 @@ ensuring two main safety requirements.
 
 For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [opendbc/safety/safety](https://github.com/commaai/opendbc/tree/master/opendbc/safety/safety).
 
-**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
-  not fully meeting the above requirements.
+[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation.
 
-[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation. 
+---
 
+### Forks of openpilot
+
+* Do not disable or nerf [driver monitoring](https://github.com/commaai/openpilot/tree/master/selfdrive/monitoring)
+* Do not disable or nerf [excessive actuation checks](https://github.com/commaai/openpilot/tree/master/selfdrive/selfdrived/helpers.py)
+* If your fork modifies any of the code in `opendbc/safety/`:
+   * your fork cannot use the openpilot trademark
+   * your fork must preserve the full [safety test suite](https://github.com/commaai/opendbc/tree/master/opendbc/safety/tests) and all tests must pass, including any new coverage required by the fork's changes
+
+Failure to comply with these standards will get you and your users banned from comma.ai servers.
+
+**comma.ai strongly discourages the use of openpilot forks with safety code either missing or not fully meeting the above requirements.**