openpilot v0.5.5 release

old-commit-hash: 8f3539a27b
7 years ago · cda78d7547
parent 596adf8228
commit cda78d7547
25 changed files with 713 additions and 581 deletions
--- a/README.md
+++ b/README.md
@ -1,9 +1,9 @@
-[![](https://i.imgur.com/VlKV6V8.png)](#)
+[![](https://i.imgur.com/UetIFyH.jpg)](#)

 Welcome to openpilot
 ======

-[openpilot](http://github.com/commaai/openpilot) is an open source driving agent. Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for Hondas, Acuras, Toyotas, and a Chevy. It's about on par with Tesla Autopilot and GM Super Cruise, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
+[openpilot](http://github.com/commaai/openpilot) is an open source driving agent. Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for selected Honda, Toyota, Acura, Lexus, Chevrolet, Hyundai, Kia. It's about on par with Tesla Autopilot and GM Super Cruise, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).

 The openpilot codebase has been written to be concise and enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.

@ -14,7 +14,7 @@ openpilot is developed by [comma.ai](https://comma.ai/) and users like you.

 We have a [Twitter you should follow](https://twitter.com/comma_ai).

-Also, we have a 3500+ person [community on slack](https://slack.comma.ai).
+Also, we have a several thousand people community on [slack](https://slack.comma.ai).

 <table>
  <tr>
@ -42,12 +42,12 @@ Supported Cars
 ------

 | Make                 | Model                 | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below |
-| -------------------| ----------------------| ---------------------| --------| ---------------| -----------------| ---------------|
+| ---------------------| ----------------------| ---------------------| --------| ---------------| -----------------| ---------------|
 | Acura                | ILX 2016              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          |
 | Acura                | ILX 2017              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          |
 | Acura                | RDX 2018              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| GM<sup>3</sup>     | Volt 2017             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           |
-| GM<sup>3</sup>     | Volt 2018             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           |
+| Chevrolet<sup>3</sup>| Volt 2017             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           |
+| Chevrolet<sup>3</sup>| Volt 2018             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           |
 | Honda                | Accord 2018           | All                  | Yes     | Stock          | 0mph             | 3mph           |
 | Honda                | Civic 2016            | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
 | Honda                | Civic 2017            | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
@ -103,8 +103,11 @@ Community Maintained Cars
 | Make          | Model                     | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below |
 | -------       | ----------------------    | -------------------- | ------- | ------------   | --------------   | -------------- |
 | Honda         | Fit 2018                  | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Tesla         | Model S 2012              | All                  | Yes     | Not yet        | Not applicable   | 0mph           |
+| Tesla         | Model S 2013              | All                  | Yes     | Not yet        | Not applicable   | 0mph           |

 [[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266).
+[[Tesla Model S Pull Request]](https://github.com/commaai/openpilot/pull/246)

 Community Maintained Cars are not confirmed by comma.ai to meet our [safety model](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Be extra cautious using them.

--- a/RELEASES.md
+++ b/RELEASES.md
@ -1,3 +1,9 @@
+Version 0.5.5 (2018-10-20)
+========================
+ * Increase allowed Honda positive accelerations
+ * Fix sporadic unexpected braking when passing semi-trucks in Toyota
+ * Fix gear reading bug in Hyundai Elantra thanks to emmertex!
+
 Version 0.5.4 (2018-09-25)
 ========================
 * New Driving Model
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@ -410,6 +410,7 @@ struct Live100Data {
  alertStatus @38 :AlertStatus;
  alertSize @39 :AlertSize;
  alertBlinkingRate @42 :Float32;
+  alertType @44 :Text;
  awarenessStatus @26 :Float32;
  angleOffset @27 :Float32;
  gpsPlannerActive @40 :Bool;
@ -1558,6 +1559,13 @@ struct Boot {
  lastPmsg @2 :Data;
 }

+struct LiveParametersData {
+  valid @0 :Bool;
+  gyroBias @1 :Float32;
+  angleOffset @2 :Float32;
+}
+
+
 struct Event {
  # in nanoseconds?
  logMonoTime @0 :UInt64;
@ -1623,5 +1631,6 @@ struct Event {
    orbFeaturesSummary @58 :OrbFeaturesSummary;
    driverMonitoring @59 :DriverMonitoring;
    boot @60 :Boot;
+    liveParameters @61 :LiveParametersData;
  }
 }
--- a/common/ffi_wrapper.py
+++ b/common/ffi_wrapper.py
@ -6,7 +6,7 @@ from cffi import FFI

 TMPDIR = "/tmp/ccache"

-def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR):
+def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR, cflags="", libraries=[]):
  cache = name + "_" + hashlib.sha1(c_code).hexdigest()
  try:
    os.mkdir(tmpdir)
@ -21,19 +21,19 @@ def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR):
      mod = __import__(cache)
    except Exception:
      print "cache miss", cache
-      compile_code(cache, c_code, c_header, tmpdir)
+      compile_code(cache, c_code, c_header, tmpdir, cflags, libraries)
      mod = __import__(cache)
  finally:
    os.close(fd)

  return mod.ffi, mod.lib

-def compile_code(name, c_code, c_header, directory):
+def compile_code(name, c_code, c_header, directory, cflags="", libraries=[]):
  ffibuilder = FFI()
-  ffibuilder.set_source(name, c_code, source_extension='.cpp')
+  ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
  ffibuilder.cdef(c_header)
  os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++11"
-  os.environ['CFLAGS'] = ""
+  os.environ['CFLAGS'] = cflags
  ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)

 def wrap_compiled(name, directory):
--- a/selfdrive/assets/sounds/Icon
+++ b/selfdrive/assets/sounds/Icon
--- a/selfdrive/assets/sounds/hq_disengaged.mp3
+++ b/selfdrive/assets/sounds/hq_disengaged.mp3
@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27d907bc15d51415a0e7efa45cb4aeea7990fa315996a60a8e6620e69872d275
+size 30966
--- a/selfdrive/assets/sounds/hq_engaged.mp3
+++ b/selfdrive/assets/sounds/hq_engaged.mp3
@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eebdb5490ebd2bddd1b93a863820068bc4d591e2cdcda823d946ba3fcde984b4
+size 30963
--- a/selfdrive/assets/sounds/hq_warning_0.mp3
+++ b/selfdrive/assets/sounds/hq_warning_0.mp3
@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e1f296234cdfeeb3d1e318c5b6a097fd27cc29baf4cb0d5d60929e26fef7f95
+size 30965
--- a/selfdrive/assets/sounds/hq_warning_1.mp3
+++ b/selfdrive/assets/sounds/hq_warning_1.mp3
@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62525ebc394905b0a02580d69afbf51fabf0f4f78c837a7b360acba88d93b7fa
+size 31592
--- a/selfdrive/assets/sounds/hq_warning_2.mp3
+++ b/selfdrive/assets/sounds/hq_warning_2.mp3
@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e417442f9d38b99fc0be9ab21e1d56c4f7c3f723a7563241c26208b799f64b1
+size 30965
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@ -10,7 +10,6 @@ from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET,
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.car.honda.carstate import CarState, get_can_parser
 from selfdrive.car.honda.values import CruiseButtons, CM, BP, AH, CAR, HONDA_BOSCH
-from selfdrive.controls.lib.planner import A_ACC_MAX

 try:
  from selfdrive.car.honda.carcontroller import CarController
@ -128,7 +127,7 @@ class CarInterface(object):
    # accelOverride is more or less the max throttle allowed to pcm: usually set to a constant
    # unless aTargetMax is very high and then we scale with it; this help in quicker restart

-    return float(max(0.714, a_target / A_ACC_MAX)) * min(speedLimiter, accelLimiter)
+    return float(min(speedLimiter, accelLimiter))

  @staticmethod
  def get_params(candidate, fingerprint):
--- a/selfdrive/car/toyota/radar_interface.py
+++ b/selfdrive/car/toyota/radar_interface.py
@ -10,24 +10,30 @@ import selfdrive.messaging as messaging
 from selfdrive.car.toyota.values import NO_DSU_CAR


-RADAR_MSGS = list(range(0x210, 0x220))
+RADAR_A_MSGS = list(range(0x210, 0x220))
+RADAR_B_MSGS = list(range(0x220, 0x230))

 def _create_radard_can_parser():
  dbc_f = 'toyota_prius_2017_adas.dbc'
-  msg_n = len(RADAR_MSGS)
-  signals = zip(['LONG_DIST'] * msg_n + ['NEW_TRACK'] * msg_n + ['LAT_DIST'] * msg_n +
-                ['REL_SPEED'] * msg_n + ['VALID'] * msg_n,
-                RADAR_MSGS * 5,
-                [255] * msg_n + [1] * msg_n + [0] * msg_n + [0] * msg_n + [0] * msg_n)
-  checks = zip(RADAR_MSGS, [20]*msg_n)
+
+  msg_a_n = len(RADAR_A_MSGS)
+  msg_b_n = len(RADAR_B_MSGS)
+
+  signals = zip(['LONG_DIST'] * msg_a_n + ['NEW_TRACK'] * msg_a_n + ['LAT_DIST'] * msg_a_n +
+                ['REL_SPEED'] * msg_a_n + ['VALID'] * msg_a_n + ['SCORE'] * msg_b_n,
+                RADAR_A_MSGS * 5 + RADAR_B_MSGS,
+                [255] * msg_a_n + [1] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_b_n)
+
+  checks = zip(RADAR_A_MSGS + RADAR_B_MSGS, [20]*(msg_a_n + msg_b_n))

  return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)

+
 class RadarInterface(object):
  def __init__(self, CP):
    # radar
    self.pts = {}
-    self.validCnt = {key: 0 for key in RADAR_MSGS}
+    self.seen_valid = {key: False for key in RADAR_A_MSGS}
    self.track_id = 0

    self.delay = 0.0  # Delay of radar
@ -52,7 +58,7 @@ class RadarInterface(object):
      tm = int(sec_since_boot() * 1e9)
      updated_messages.update(self.rcp.update(tm, True))
      # TODO: do not hardcode last msg
-      if 0x21f in updated_messages:
+      if 0x22f in updated_messages:
        break

    errors = []
@ -62,19 +68,20 @@ class RadarInterface(object):
    ret.canMonoTimes = canMonoTimes

    for ii in updated_messages:
+      if ii in RADAR_A_MSGS:
        cpt = self.rcp.vl[ii]

        if cpt['LONG_DIST'] >= 255 or cpt['NEW_TRACK']:
-        self.validCnt[ii] = 0    # reset counter
+          self.seen_valid[ii] = False    # reset validity

-      if cpt['VALID'] and cpt['LONG_DIST'] < 255:
-        self.validCnt[ii] += 1
-      else:
-        self.validCnt[ii] = max(self.validCnt[ii] -1, 0)
-      #print ii, self.validCnt[ii], cpt['VALID'], cpt['LONG_DIST'], cpt['LAT_DIST']
+        if cpt['LONG_DIST'] < 255 and cpt['VALID']:
+          self.seen_valid[ii] = True
+
+        score = self.rcp.vl[ii+16]['SCORE']
+        # print ii, score, cpt['VALID'], cpt['LONG_DIST'], cpt['LAT_DIST']

-      # radar point only valid if there have been enough valid measurements
-      if self.validCnt[ii] > 0:
+        # radar point only valid if it's a valid measurement and score is above 50
+        if (cpt['VALID'] or score > 50) and cpt['LONG_DIST'] < 255 and self.seen_valid[ii]:
          if ii not in self.pts or cpt['NEW_TRACK']:
            self.pts[ii] = car.RadarState.RadarPoint.new_message()
            self.pts[ii].trackId = self.track_id
--- a/selfdrive/common/version.h
+++ b/selfdrive/common/version.h
@ -1 +1 @@
-#define COMMA_VERSION "0.5.4-release"
+#define COMMA_VERSION "0.5.5-release"
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@ -352,6 +352,7 @@ def data_send(perception_state, plan, plan_ts, CS, CI, CP, VM, state, events, ac
    "alertSize": AM.alert_size,
    "alertStatus": AM.alert_status,
    "alertBlinkingRate": AM.alert_rate,
+    "alertType": AM.alert_type,
    "awarenessStatus": max(driver_status.awareness, 0.0) if isEnabled(state) else 0.0,
    "driverMonitoringOn": bool(driver_status.monitor_on),
    "canMonoTimes": list(CS.canMonoTimes),
--- a/selfdrive/controls/lib/alertmanager.py
+++ b/selfdrive/controls/lib/alertmanager.py
@ -18,6 +18,7 @@ AlertStatus = log.Live100Data.AlertStatus

 class Alert(object):
  def __init__(self,
+               alert_type,
               alert_text_1,
               alert_text_2,
               alert_status,
@ -30,6 +31,7 @@ class Alert(object):
               duration_text,
               alert_rate=0.):

+    self.alert_type = alert_type
    self.alert_text_1 = alert_text_1
    self.alert_text_2 = alert_text_2
    self.alert_status = alert_status
@ -60,475 +62,554 @@ class Alert(object):

 class AlertManager(object):
  alerts = {
-
+    alert.alert_type: alert
+    for alert in [
        # Miscellaneous alerts
-    "enable": Alert(
+        Alert(
+            "enable",
            "",
            "",
            AlertStatus.normal, AlertSize.none,
            Priority.MID, None, "beepSingle", .2, 0., 0.),

-    "disable": Alert(
+        Alert(
+            "disable",
            "",
            "",
            AlertStatus.normal, AlertSize.none,
            Priority.MID, None, "beepSingle", .2, 0., 0.),

-    "fcw": Alert(
+        Alert(
+            "fcw",
            "BRAKE!",
            "Risk of Collision",
            AlertStatus.critical, AlertSize.full,
            Priority.HIGHEST, "fcw", "chimeRepeated", 1., 2., 2.),

-    "steerSaturated": Alert(
+        Alert(
+            "steerSaturated",
            "TAKE CONTROL",
            "Turn Exceeds Steering Limit",
            AlertStatus.userPrompt, AlertSize.mid,
            Priority.LOW, "steerRequired", "chimeSingle", 1., 2., 3.),

-    "steerTempUnavailable": Alert(
+        Alert(
+            "steerTempUnavailable",
            "TAKE CONTROL",
            "Steering Temporarily Unavailable",
            AlertStatus.userPrompt, AlertSize.mid,
            Priority.LOW, "steerRequired", "chimeDouble", .4, 2., 3.),

-    "steerTempUnavailableMute": Alert(
+        Alert(
+            "steerTempUnavailableMute",
            "TAKE CONTROL",
            "Steering Temporarily Unavailable",
            AlertStatus.userPrompt, AlertSize.mid,
            Priority.LOW, None, None, .2, .2, .2),

-    "preDriverDistracted": Alert(
+        Alert(
+            "preDriverDistracted",
            "KEEP EYES ON ROAD: User Appears Distracted",
            "",
            AlertStatus.normal, AlertSize.small,
            Priority.LOW, "steerRequired", None, 0., .1, .1, alert_rate=0.75),

-    "promptDriverDistracted": Alert(
+        Alert(
+            "promptDriverDistracted",
            "KEEP EYES ON ROAD",
            "User Appears Distracted",
            AlertStatus.userPrompt, AlertSize.mid,
            Priority.MID, "steerRequired", "chimeRepeated", .1, .1, .1),

-    "driverDistracted": Alert(
+        Alert(
+            "driverDistracted",
            "DISENGAGE IMMEDIATELY",
            "User Was Distracted",
            AlertStatus.critical, AlertSize.full,
            Priority.HIGH, "steerRequired", "chimeRepeated", .1, .1, .1),

-    "preDriverUnresponsive": Alert(
+        Alert(
+            "preDriverUnresponsive",
            "TOUCH STEERING WHEEL: No Driver Monitoring",
            "",
            AlertStatus.normal, AlertSize.small,
            Priority.LOW, "steerRequired", None, 0., .1, .1, alert_rate=0.75),

-    "promptDriverUnresponsive": Alert(
+        Alert(
+            "promptDriverUnresponsive",
            "TOUCH STEERING WHEEL",
            "User Is Unresponsive",
            AlertStatus.userPrompt, AlertSize.mid,
            Priority.MID, "steerRequired", "chimeRepeated", .1, .1, .1),

-    "driverUnresponsive": Alert(
+        Alert(
+            "driverUnresponsive",
            "DISENGAGE IMMEDIATELY",
            "User Was Unresponsive",
            AlertStatus.critical, AlertSize.full,
            Priority.HIGH, "steerRequired", "chimeRepeated", .1, .1, .1),

-    "driverMonitorOff": Alert(
+        Alert(
+            "driverMonitorOff",
            "DRIVER MONITOR IS UNAVAILABLE",
            "Accuracy Is Low",
            AlertStatus.normal, AlertSize.mid,
            Priority.LOW, None, None, .4, 0., 4.),

-    "driverMonitorOn": Alert(
+        Alert(
+            "driverMonitorOn",
            "DRIVER MONITOR IS AVAILABLE",
            "Accuracy Is High",
            AlertStatus.normal, AlertSize.mid,
            Priority.LOW, None, None, .4, 0., 4.),

-    "geofence": Alert(
+        Alert(
+            "geofence",
            "DISENGAGEMENT REQUIRED",
            "Not in Geofenced Area",
            AlertStatus.userPrompt, AlertSize.mid,
            Priority.HIGH, "steerRequired", "chimeRepeated", .1, .1, .1),

-    "startup": Alert(
+        Alert(
+            "startup",
            "Be ready to take over at any time",
            "Always keep hands on wheel and eyes on road",
            AlertStatus.normal, AlertSize.mid,
            Priority.LOW_LOWEST, None, None, 0., 0., 15.),

-    "ethicalDilemma": Alert(
+        Alert(
+            "ethicalDilemma",
            "TAKE CONTROL IMMEDIATELY",
            "Ethical Dilemma Detected",
            AlertStatus.critical, AlertSize.full,
            Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 3.),

-    "steerTempUnavailableNoEntry": Alert(
+        Alert(
+            "steerTempUnavailableNoEntry",
            "openpilot Unavailable",
            "Steering Temporarily Unavailable",
            AlertStatus.normal, AlertSize.mid,
            Priority.LOW, None, "chimeDouble", .4, 0., 3.),

-    "manualRestart": Alert(
+        Alert(
+            "manualRestart",
            "TAKE CONTROL",
            "Resume Driving Manually",
            AlertStatus.userPrompt, AlertSize.mid,
            Priority.LOW, None, None, 0., 0., .2),

-    "resumeRequired": Alert(
+        Alert(
+            "resumeRequired",
            "STOPPED",
            "Press Resume to Move",
            AlertStatus.userPrompt, AlertSize.mid,
            Priority.LOW, None, None, 0., 0., .2),

-    "belowSteerSpeed": Alert(
+        Alert(
+            "belowSteerSpeed",
            "TAKE CONTROL",
            "Steer Unavailable Below ",
            AlertStatus.userPrompt, AlertSize.mid,
            Priority.MID, "steerRequired", None, 0., 0., .1),

-    "debugAlert": Alert(
+        Alert(
+            "debugAlert",
            "DEBUG ALERT",
            "",
            AlertStatus.userPrompt, AlertSize.mid,
            Priority.LOW, None, None, .1, .1, .1),

        # Non-entry only alerts
-    "wrongCarModeNoEntry": Alert(
+        Alert(
+            "wrongCarModeNoEntry",
            "openpilot Unavailable",
            "Main Switch Off",
            AlertStatus.normal, AlertSize.mid,
            Priority.LOW, None, "chimeDouble", .4, 0., 3.),

-    "dataNeededNoEntry": Alert(
+        Alert(
+            "dataNeededNoEntry",
            "openpilot Unavailable",
            "Data Needed for Calibration. Upload Drive, Try Again",
            AlertStatus.normal, AlertSize.mid,
            Priority.LOW, None, "chimeDouble", .4, 0., 3.),

-    "outOfSpaceNoEntry": Alert(
+        Alert(
+            "outOfSpaceNoEntry",
            "openpilot Unavailable",
            "Out of Storage Space",
            AlertStatus.normal, AlertSize.mid,
            Priority.LOW, None, "chimeDouble", .4, 0., 3.),

-    "pedalPressedNoEntry": Alert(
+        Alert(
+            "pedalPressedNoEntry",
            "openpilot Unavailable",
            "Pedal Pressed During Attempt",
            AlertStatus.normal, AlertSize.mid,
            Priority.LOW, "brakePressed", "chimeDouble", .4, 2., 3.),

-    "speedTooLowNoEntry": Alert(
+        Alert(
+            "speedTooLowNoEntry",
            "openpilot Unavailable",
            "Speed Too Low",
            AlertStatus.normal, AlertSize.mid,
            Priority.LOW, None, "chimeDouble", .4, 2., 3.),

-    "brakeHoldNoEntry": Alert(
+        Alert(
+            "brakeHoldNoEntry",
            "openpilot Unavailable",
            "Brake Hold Active",
            AlertStatus.normal, AlertSize.mid,
            Priority.LOW, None, "chimeDouble", .4, 2., 3.),

-    "parkBrakeNoEntry": Alert(
+        Alert(
+            "parkBrakeNoEntry",
            "openpilot Unavailable",
            "Park Brake Engaged",
            AlertStatus.normal, AlertSize.mid,
            Priority.LOW, None, "chimeDouble", .4, 2., 3.),

-    "lowSpeedLockoutNoEntry": Alert(
+        Alert(
+            "lowSpeedLockoutNoEntry",
            "openpilot Unavailable",
            "Cruise Fault: Restart the Car",
            AlertStatus.normal, AlertSize.mid,
            Priority.LOW, None, "chimeDouble", .4, 2., 3.),

-    "lowBatteryNoEntry": Alert(
+        Alert(
+            "lowBatteryNoEntry",
            "openpilot Unavailable",
            "Low Battery",
            AlertStatus.normal, AlertSize.mid,
            Priority.LOW, None, "chimeDouble", .4, 2., 3.),

        # Cancellation alerts causing soft disabling
-    "overheat": Alert(
+        Alert(
+            "overheat",
            "TAKE CONTROL IMMEDIATELY",
            "System Overheated",
            AlertStatus.critical, AlertSize.full,
            Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),

-    "wrongGear": Alert(
+        Alert(
+            "wrongGear",
            "TAKE CONTROL IMMEDIATELY",
            "Gear not D",
            AlertStatus.critical, AlertSize.full,
            Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),

-    "calibrationInvalid": Alert(
+        Alert(
+            "calibrationInvalid",
            "TAKE CONTROL IMMEDIATELY",
            "Calibration Invalid: Reposition EON and Recalibrate",
            AlertStatus.critical, AlertSize.full,
            Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),

-    "calibrationIncomplete": Alert(
+        Alert(
+            "calibrationIncomplete",
            "TAKE CONTROL IMMEDIATELY",
            "Calibration in Progress",
            AlertStatus.critical, AlertSize.full,
            Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),

-    "doorOpen": Alert(
+        Alert(
+            "doorOpen",
            "TAKE CONTROL IMMEDIATELY",
            "Door Open",
            AlertStatus.critical, AlertSize.full,
            Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),

-    "seatbeltNotLatched": Alert(
+        Alert(
+            "seatbeltNotLatched",
            "TAKE CONTROL IMMEDIATELY",
            "Seatbelt Unlatched",
            AlertStatus.critical, AlertSize.full,
            Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),

-    "espDisabled": Alert(
+        Alert(
+            "espDisabled",
            "TAKE CONTROL IMMEDIATELY",
            "ESP Off",
            AlertStatus.critical, AlertSize.full,
            Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),

-    "lowBattery": Alert(
+        Alert(
+            "lowBattery",
            "TAKE CONTROL IMMEDIATELY",
            "Low Battery",
            AlertStatus.critical, AlertSize.full,
            Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),

        # Cancellation alerts causing immediate disabling
-    "radarCommIssue": Alert(
+        Alert(
+            "radarCommIssue",
            "TAKE CONTROL IMMEDIATELY",
            "Radar Error: Restart the Car",
            AlertStatus.critical, AlertSize.full,
            Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),

-    "radarFault": Alert(
+        Alert(
+            "radarFault",
            "TAKE CONTROL IMMEDIATELY",
            "Radar Error: Restart the Car",
            AlertStatus.critical, AlertSize.full,
            Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),

-    "modelCommIssue": Alert(
+        Alert(
+            "modelCommIssue",
            "TAKE CONTROL IMMEDIATELY",
            "Model Error: Check Internet Connection",
            AlertStatus.critical, AlertSize.full,
            Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),

-    "controlsFailed": Alert(
+        Alert(
+            "controlsFailed",
            "TAKE CONTROL IMMEDIATELY",
            "Controls Failed",
            AlertStatus.critical, AlertSize.full,
            Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),

-    "controlsMismatch": Alert(
+        Alert(
+            "controlsMismatch",
            "TAKE CONTROL IMMEDIATELY",
            "Controls Mismatch",
            AlertStatus.critical, AlertSize.full,
            Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),

-    "commIssue": Alert(
+        Alert(
+            "commIssue",
            "TAKE CONTROL IMMEDIATELY",
            "CAN Error: Check Connections",
            AlertStatus.critical, AlertSize.full,
            Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),

-    "steerUnavailable": Alert(
+        Alert(
+            "steerUnavailable",
            "TAKE CONTROL IMMEDIATELY",
            "LKAS Fault: Restart the Car",
            AlertStatus.critical, AlertSize.full,
            Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),

-    "brakeUnavailable": Alert(
+        Alert(
+            "brakeUnavailable",
            "TAKE CONTROL IMMEDIATELY",
            "Cruise Fault: Restart the Car",
            AlertStatus.critical, AlertSize.full,
            Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),

-    "gasUnavailable": Alert(
+        Alert(
+            "gasUnavailable",
            "TAKE CONTROL IMMEDIATELY",
            "Gas Fault: Restart the Car",
            AlertStatus.critical, AlertSize.full,
            Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),

-    "reverseGear": Alert(
+        Alert(
+            "reverseGear",
            "TAKE CONTROL IMMEDIATELY",
            "Reverse Gear",
            AlertStatus.critical, AlertSize.full,
            Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),

-    "cruiseDisabled": Alert(
+        Alert(
+            "cruiseDisabled",
            "TAKE CONTROL IMMEDIATELY",
            "Cruise Is Off",
            AlertStatus.critical, AlertSize.full,
            Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),

-    "plannerError": Alert(
+        Alert(
+            "plannerError",
            "TAKE CONTROL IMMEDIATELY",
            "Planner Solution Error",
            AlertStatus.critical, AlertSize.full,
            Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),

        # not loud cancellations (user is in control)
-    "noTarget": Alert(
+        Alert(
+            "noTarget",
            "openpilot Canceled",
            "No close lead car",
            AlertStatus.normal, AlertSize.mid,
            Priority.HIGH, None, "chimeDouble", .4, 2., 3.),

-    "speedTooLow": Alert(
+        Alert(
+            "speedTooLow",
            "openpilot Canceled",
            "Speed too low",
            AlertStatus.normal, AlertSize.mid,
            Priority.HIGH, None, "chimeDouble", .4, 2., 3.),

        # Cancellation alerts causing non-entry
-    "overheatNoEntry": Alert(
+        Alert(
+            "overheatNoEntry",
            "openpilot Unavailable",
            "System overheated",
            AlertStatus.normal, AlertSize.mid,
            Priority.LOW, None, "chimeDouble", .4, 2., 3.),

-    "wrongGearNoEntry": Alert(
+        Alert(
+            "wrongGearNoEntry",
            "openpilot Unavailable",
            "Gear not D",
            AlertStatus.normal, AlertSize.mid,
            Priority.LOW, None, "chimeDouble", .4, 2., 3.),

-    "calibrationInvalidNoEntry": Alert(
+        Alert(
+            "calibrationInvalidNoEntry",
            "openpilot Unavailable",
            "Calibration Invalid: Reposition EON and Recalibrate",
            AlertStatus.normal, AlertSize.mid,
            Priority.LOW, None, "chimeDouble", .4, 2., 3.),

-    "calibrationIncompleteNoEntry": Alert(
+        Alert(
+            "calibrationIncompleteNoEntry",
            "openpilot Unavailable",
            "Calibration in Progress",
            AlertStatus.normal, AlertSize.mid,
            Priority.LOW, None, "chimeDouble", .4, 2., 3.),

-    "doorOpenNoEntry": Alert(
+        Alert(
+            "doorOpenNoEntry",
            "openpilot Unavailable",
            "Door open",
            AlertStatus.normal, AlertSize.mid,
            Priority.LOW, None, "chimeDouble", .4, 2., 3.),

-    "seatbeltNotLatchedNoEntry": Alert(
+        Alert(
+            "seatbeltNotLatchedNoEntry",
            "openpilot Unavailable",
            "Seatbelt unlatched",
            AlertStatus.normal, AlertSize.mid,
            Priority.LOW, None, "chimeDouble", .4, 2., 3.),

-    "espDisabledNoEntry": Alert(
+        Alert(
+            "espDisabledNoEntry",
            "openpilot Unavailable",
            "ESP Off",
            AlertStatus.normal, AlertSize.mid,
            Priority.LOW, None, "chimeDouble", .4, 2., 3.),

-    "geofenceNoEntry": Alert(
+        Alert(
+            "geofenceNoEntry",
            "openpilot Unavailable",
            "Not in Geofenced Area",
            AlertStatus.normal, AlertSize.mid,
            Priority.MID, None, "chimeDouble", .4, 2., 3.),

-    "radarCommIssueNoEntry": Alert(
+        Alert(
+            "radarCommIssueNoEntry",
            "openpilot Unavailable",
            "Radar Error: Restart the Car",
            AlertStatus.normal, AlertSize.mid,
            Priority.LOW, None, "chimeDouble", .4, 2., 3.),

-    "radarFaultNoEntry": Alert(
+        Alert(
+            "radarFaultNoEntry",
            "openpilot Unavailable",
            "Radar Error: Restart the Car",
            AlertStatus.normal, AlertSize.mid,
            Priority.LOW, None, "chimeDouble", .4, 2., 3.),

-    "modelCommIssueNoEntry": Alert(
+        Alert(
+            "modelCommIssueNoEntry",
            "openpilot Unavailable",
            "Model Error: Check Internet Connection",
            AlertStatus.normal, AlertSize.mid,
            Priority.LOW, None, "chimeDouble", .4, 2., 3.),

-    "controlsFailedNoEntry": Alert(
+        Alert(
+            "controlsFailedNoEntry",
            "openpilot Unavailable",
            "Controls Failed",
            AlertStatus.normal, AlertSize.mid,
            Priority.LOW, None, "chimeDouble", .4, 2., 3.),

-    "commIssueNoEntry": Alert(
+        Alert(
+            "commIssueNoEntry",
            "openpilot Unavailable",
            "CAN Error: Check Connections",
            AlertStatus.normal, AlertSize.mid,
            Priority.LOW, None, "chimeDouble", .4, 2., 3.),

-    "steerUnavailableNoEntry": Alert(
+        Alert(
+            "steerUnavailableNoEntry",
            "openpilot Unavailable",
            "LKAS Fault: Restart the Car",
            AlertStatus.normal, AlertSize.mid,
            Priority.LOW, None, "chimeDouble", .4, 2., 3.),

-    "brakeUnavailableNoEntry": Alert(
+        Alert(
+            "brakeUnavailableNoEntry",
            "openpilot Unavailable",
            "Cruise Fault: Restart the Car",
            AlertStatus.normal, AlertSize.mid,
            Priority.LOW, None, "chimeDouble", .4, 2., 3.),

-    "gasUnavailableNoEntry": Alert(
+        Alert(
+            "gasUnavailableNoEntry",
            "openpilot Unavailable",
            "Gas Error: Restart the Car",
            AlertStatus.normal, AlertSize.mid,
            Priority.LOW, None, "chimeDouble", .4, 2., 3.),

-    "reverseGearNoEntry": Alert(
+        Alert(
+            "reverseGearNoEntry",
            "openpilot Unavailable",
            "Reverse Gear",
            AlertStatus.normal, AlertSize.mid,
            Priority.LOW, None, "chimeDouble", .4, 2., 3.),

-    "cruiseDisabledNoEntry": Alert(
+        Alert(
+            "cruiseDisabledNoEntry",
            "openpilot Unavailable",
            "Cruise is Off",
            AlertStatus.normal, AlertSize.mid,
            Priority.LOW, None, "chimeDouble", .4, 2., 3.),

-    "noTargetNoEntry": Alert(
+        Alert(
+            "noTargetNoEntry",
            "openpilot Unavailable",
            "No Close Lead Car",
            AlertStatus.normal, AlertSize.mid,
            Priority.LOW, None, "chimeDouble", .4, 2., 3.),

-    "plannerErrorNoEntry": Alert(
+        Alert(
+            "plannerErrorNoEntry",
            "openpilot Unavailable",
            "Planner Solution Error",
            AlertStatus.normal, AlertSize.mid,
            Priority.LOW, None, "chimeDouble", .4, 2., 3.),

        # permanent alerts
-    "steerUnavailablePermanent": Alert(
+        Alert(
+            "steerUnavailablePermanent",
            "LKAS Fault: Restart the car to engage",
            "",
            AlertStatus.normal, AlertSize.small,
            Priority.LOW_LOWEST, None, None, 0., 0., .2),

-    "brakeUnavailablePermanent": Alert(
+        Alert(
+            "brakeUnavailablePermanent",
            "Cruise Fault: Restart the car to engage",
            "",
            AlertStatus.normal, AlertSize.small,
            Priority.LOW_LOWEST, None, None, 0., 0., .2),

-    "lowSpeedLockoutPermanent": Alert(
+        Alert(
+            "lowSpeedLockoutPermanent",
            "Cruise Fault: Restart the car to engage",
            "",
            AlertStatus.normal, AlertSize.small,
            Priority.LOW_LOWEST, None, None, 0., 0., .2),

-    "calibrationIncompletePermanent": Alert(
+        Alert(
+            "calibrationIncompletePermanent",
            "Calibration in Progress: ",
            "Drive Above ",
            AlertStatus.normal, AlertSize.mid,
            Priority.LOWEST, None, None, 0., 0., .2),
+    ]
  }

  def __init__(self):
@ -565,6 +646,7 @@ class AlertManager(object):
    ca = self.activealerts[0] if self.alertPresent() else None

    # start with assuming no alerts
+    self.alert_type = ""
    self.alert_text_1 = ""
    self.alert_text_2 = ""
    self.alert_status = AlertStatus.normal
@ -581,6 +663,7 @@ class AlertManager(object):
        self.visual_alert = ca.visual_alert

      if ca.start_time + ca.duration_text > cur_time:
+        self.alert_type = ca.alert_type
        self.alert_text_1 = ca.alert_text_1
        self.alert_text_2 = ca.alert_text_2
        self.alert_status = ca.alert_status
--- a/selfdrive/controls/lib/lateral_mpc/Makefile
+++ b/selfdrive/controls/lib/lateral_mpc/Makefile
@ -4,6 +4,7 @@ CXX = clang++

 PHONELIBS = ../../../../phonelibs

+UNAME_S := $(shell uname -s)
 UNAME_M := $(shell uname -m)

 CFLAGS = -O3 -fPIC -I.
@ -13,7 +14,9 @@ QPOASES_FLAGS = -I$(PHONELIBS)/qpoases -I$(PHONELIBS)/qpoases/INCLUDE -I$(PHONEL

 ACADO_FLAGS = -I$(PHONELIBS)/acado/include -I$(PHONELIBS)/acado/include/acado

-ifeq ($(UNAME_M),aarch64)
+ifeq ($(UNAME_S),Darwin)
+	ACADO_LIBS := -lacado_toolkit_s
+else ifeq ($(UNAME_M),aarch64)
 	ACADO_LIBS := -L $(PHONELIBS)/acado/aarch64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
 else
 	ACADO_LIBS := -L $(PHONELIBS)/acado/x64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
@ -67,7 +70,7 @@ lib_qp/%.o: $(PHONELIBS)/qpoases/SRC/%.cpp
           -c -o '$@' '$<'

 generator: generator.cpp
-	$(CXX) -Wall -std=c++11 \
+	$(CXX) -v -Wall -std=c++11 \
         generator.cpp \
         -o generator \
         $(ACADO_FLAGS) \
--- a/selfdrive/controls/lib/longitudinal_mpc/Makefile
+++ b/selfdrive/controls/lib/longitudinal_mpc/Makefile
@ -3,6 +3,7 @@ CXX = clang++

 PHONELIBS = ../../../../phonelibs

+UNAME_S := $(shell uname -s)
 UNAME_M := $(shell uname -m)

 CFLAGS = -O3 -fPIC -I.
@ -12,7 +13,9 @@ QPOASES_FLAGS = -I$(PHONELIBS)/qpoases -I$(PHONELIBS)/qpoases/INCLUDE -I$(PHONEL

 ACADO_FLAGS = -I$(PHONELIBS)/acado/include -I$(PHONELIBS)/acado/include/acado

-ifeq ($(UNAME_M),aarch64)
+ifeq ($(UNAME_S),Darwin)
+	ACADO_LIBS := -lacado_toolkit_s
+else ifeq ($(UNAME_M),aarch64)
 	ACADO_LIBS := -L $(PHONELIBS)/acado/aarch64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
 else
 	ACADO_LIBS := -L $(PHONELIBS)/acado/x64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
--- a/selfdrive/controls/lib/planner.py
+++ b/selfdrive/controls/lib/planner.py
@ -44,9 +44,6 @@ _A_TOTAL_MAX_BP = [0., 20., 40.]
 _FCW_A_ACT_V = [-3., -2.]
 _FCW_A_ACT_BP = [0., 30.]

-# max acceleration allowed in acc, which happens in restart
-A_ACC_MAX = max(_A_CRUISE_MAX_V_FOLLOWING)
-

 def calc_cruise_accel_limits(v_ego, following):
  a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
--- a/selfdrive/locationd/ubloxd.py
+++ b/selfdrive/locationd/ubloxd.py
@ -149,7 +149,9 @@ def gen_solution(msg):
             'speedAccuracy': msg_data['sAcc']*1e-03,  # speed accuracy in m/s
             'verticalAccuracy': msg_data['vAcc']*1e-03,  # vertical accuracy in meters
             'bearingAccuracy': msg_data['headAcc']*1e-05,  # heading accuracy in degrees
-             'source': 'ublox'}
+             'source': 'ublox',
+             'flags': msg_data['flags'],
+  }
  return log.Event.new_message(gpsLocationExternal=gps_fix)

 def gen_nav_data(msg, nav_frame_buffer):
--- a/selfdrive/loggerd/loggerd
+++ b/selfdrive/loggerd/loggerd
@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6cc1e472ddfebc6d075815f5942012affe312e4434e3fed9bd9b9382a7ad9a0f
+oid sha256:a983a2cd87781d7f535f822ae703b30d88cdd23eec97ff1ee80725c7ef80041d
 size 1630952
--- a/selfdrive/registration.py
+++ b/selfdrive/registration.py
@ -7,7 +7,10 @@ from common.api import api_get
 from common.params import Params

 def get_imei():
-  return subprocess.check_output(["getprop", "oem.device.imeicache"]).strip()
+  ret = subprocess.check_output(["getprop", "oem.device.imeicache"]).strip()
+  if ret == "":
+    ret = "000000000000000"
+  return ret

 def get_serial():
  return subprocess.check_output(["getprop", "ro.serialno"]).strip()
--- a/selfdrive/sensord/gpsd
+++ b/selfdrive/sensord/gpsd
@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d8eee33e5aaf89cc8b843f3ba06bfd9a34c1be277ba8009193303a9d56068793
+oid sha256:4cedc9397a255d0c5fd4a034fabd4748ab6e0b5f9fc910ccdc3f79b878860e29
 size 1171544
--- a/selfdrive/sensord/sensord
+++ b/selfdrive/sensord/sensord
@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f2fc1f1782a87fd4f16e31125bfa11770503fc4a32a410de5f8c4e0122a5ec44
+oid sha256:ec93ea7d63f2f3222828b142e7752eb5a6e1b880a822ee3ba62c2ca43d1beac0
 size 1159016
--- a/selfdrive/service_list.yaml
+++ b/selfdrive/service_list.yaml
@ -70,6 +70,7 @@ uiLayoutState: [8060, true]
 frontEncodeIdx: [8061, true]
 orbFeaturesSummary: [8062, true]
 driverMonitoring: [8063, true]
+liveParameters: [8064, true]

 testModel: [8040, false]
 testLiveLocation: [8045, false]
--- a/selfdrive/visiond/visiond
+++ b/selfdrive/visiond/visiond
@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c442820c3625435792fddea4864f8eb6ef44f95b9b286bbc787bd15b87c5f29f
-size 9122536
+oid sha256:e6ebe785ea78055fa3d47ca9c06a5148cab5d8280bfc1fe446043c6a7c123582
+size 9041704