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openpilot v0.5.7 release
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Vehicle Researcher committed Dec 10, 2018
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84 changes: 42 additions & 42 deletions README.md
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Expand Up @@ -51,54 +51,54 @@ Also, we have a several thousand people community on [slack](https://slack.comma
Hardware
------

Right now openpilot supports the [EON Dashcam DevKit](https://comma.ai/shop/products/eon-dashcam-devkit). We'd like to support other platforms as well.
At the moment openpilot supports the [EON Dashcam DevKit](https://comma.ai/shop/products/eon-dashcam-devkit). A [panda](https://shop.comma.ai/products/panda-obd-ii-dongle) and a [giraffe](https://comma.ai/shop/products/giraffe/) are recommended tools to interface the EON with the car. We'd like to support other platforms as well.

Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` during NEOS setup.

Supported Cars
------

| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below | Giraffe |
| ---------------------| ------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
| Acura | ILX 2016-17 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph | Nidec |
| Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Cadillac<sup>3</sup> | ATS 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Chevrolet<sup>3</sup>| Malibu 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Chevrolet<sup>3</sup>| Volt 2017-18 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| GMC<sup>3</sup>| Acadia Denali 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Holden<sup>3</sup> | Astra 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph | Bosch |
| Honda | Civic 2016-18 | Honda Sensing | Yes | Yes | 0mph | 12mph | Nidec |
| Honda | Civic 2017-18 *(Hatch)* | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
| Honda | CR-V 2015-16 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Honda | CR-V 2017-18 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
| Honda | Odyssey 2017-19 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph | Inverted Nidec |
| Honda | Pilot 2016-18 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Honda | Pilot 2019 | All | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec |
| Honda | Ridgeline 2017-18 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Hyundai | Santa Fe 2019 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Hyundai | Elantra 2017 | SCC + LKAS | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
| Hyundai | Genesis 2018 | All | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
| Kia | Sorento 2018 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Kia | Stinger 2018 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Lexus | RX Hybrid 2016-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Camry 2018<sup>4</sup> | All | Yes | Stock | 0mph<sup>5</sup> | 0mph | Toyota |
| Toyota | C-HR 2017-18<sup>4</sup>| All | Yes | Stock | 0mph | 0mph | Toyota |
| Toyota | Corolla 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph | Toyota |
| Toyota | Highlander 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Highlander Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius Prime 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Rav4 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph | 0mph | Toyota |
| Toyota | Rav4 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph | Toyota |
| Toyota | Rav4 Hybrid 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |

<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***
<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota)
<sup>3</sup>[GM installation guide](https://zoneos.com/volt/).
<sup>4</sup>It needs an extra 120Ohm resistor ([pic1](https://i.imgur.com/CmdKtTP.jpg), [pic2](https://i.imgur.com/s2etUo6.jpg)) on bus 3 and giraffe switches set to 01X1 (11X1 for stock LKAS), where X depends on if you have the [comma power](https://comma.ai/shop/products/power/).
<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below | Giraffe |
| ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
| Acura | ILX 2016-17 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph | Nidec |
| Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Chevrolet<sup>3</sup>| Malibu 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Chevrolet<sup>3</sup>| Volt 2017-18 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Cadillac<sup>3</sup> | ATS 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| GMC<sup>3</sup> | Acadia Denali 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Holden<sup>3</sup> | Astra 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph | Bosch |
| Honda | Civic Sedan/Coupe 2016-18| Honda Sensing | Yes | Yes | 0mph | 12mph | Nidec |
| Honda | Civic Hatchback 2017-18 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
| Honda | CR-V 2015-16 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Honda | CR-V 2017-18 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
| Honda | Odyssey 2017-19 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph | Inverted Nidec |
| Honda | Pilot 2016-18 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Honda | Pilot 2019 | All | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec |
| Honda | Ridgeline 2017-18 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Hyundai | Santa Fe 2019 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Hyundai | Elantra 2017 | SCC + LKAS | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
| Hyundai | Genesis 2018 | All | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
| Kia | Sorento 2018 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Kia | Stinger 2018 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Lexus | RX Hybrid 2016-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Camry 2018<sup>4</sup> | All | Yes | Stock | 0mph<sup>5</sup> | 0mph | Toyota |
| Toyota | C-HR 2017-18<sup>4</sup> | All | Yes | Stock | 0mph | 0mph | Toyota |
| Toyota | Corolla 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph | Toyota |
| Toyota | Highlander 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Highlander Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius Prime 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Rav4 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph | 0mph | Toyota |
| Toyota | Rav4 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph | Toyota |
| Toyota | Rav4 Hybrid 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |

<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***
<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota)
<sup>3</sup>[GM installation guide](https://zoneos.com/volt/).
<sup>4</sup>It needs an extra 120Ohm resistor ([pic1](https://i.imgur.com/CmdKtTP.jpg), [pic2](https://i.imgur.com/s2etUo6.jpg)) on bus 3 and giraffe switches set to 01X1 (11X1 for stock LKAS), where X depends on if you have the [comma power](https://comma.ai/shop/products/power/).
<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
<sup>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed ofor the 2019 Sante Fe; pinout may differ for other Hyundais. <br />
<sup>7</sup>Community built Giraffe, find more information here, [GM Giraffe](https://zoneos.com/shop/) <br />

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10 changes: 10 additions & 0 deletions RELEASES.md
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@@ -1,3 +1,13 @@
Version 0.5.7 (2018-12-06)
========================
* Speed limit from OpenStreetMap added to UI
* Highlight speed limit when speed exceeds road speed limit plus a delta
* Option to limit openpilot max speed to road speed limit plus a delta
* Cadillac ATS support thanks to vntarasov!
* GMC Acadia support thanks to CryptoKylan!
* Decrease GPU power consumption
* NEOSv8 autoupdate

Version 0.5.6 (2018-11-16)
========================
* Refresh settings layout and add feature descriptions
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7 changes: 5 additions & 2 deletions cereal/Makefile
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Expand Up @@ -6,13 +6,16 @@ GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
JS := gen/js/car.capnp.js gen/js/log.capnp.js

UNAME_M ?= $(shell uname -m)

# only generate C++ for docker tests
ifneq ($(OPTEST),1)
GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/include/c++.capnp.h gen/c/include/java.capnp.h

ifeq ($(UNAME_M),x86_64)
GENS += gen/java/Car.java gen/java/Log.java
ifneq (, $(shell which capnpc-java))
GENS += gen/java/Car.java gen/java/Log.java
else
$(warning capnpc-java not found, skipping java build)
endif
endif

endif
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1 change: 1 addition & 0 deletions cereal/car.capnp
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Expand Up @@ -355,6 +355,7 @@ struct CarParams {
radarOffCan @47 :Bool; # True when radar objects aren't visible on CAN

steerActuatorDelay @48 :Float32; # Steering wheel actuator delay in seconds
openpilotLongitudinalControl @50 :Bool; # is openpilot doing the longitudinal control?

enum SteerControlType {
torque @0;
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19 changes: 17 additions & 2 deletions cereal/log.capnp
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Expand Up @@ -276,7 +276,8 @@ struct ThermalData {
startedTs @13 :UInt64;

thermalStatus @14 :ThermalStatus;
chargerDisabled @17 :Bool;
chargingError @17 :Bool;
chargingDisabled @18 :Bool;

enum ThermalStatus {
green @0; # all processes run
Expand Down Expand Up @@ -344,6 +345,7 @@ struct LiveCalibrationData {
warpMatrix @0 :List(Float32);
# camera_frame_from_model_frame
warpMatrix2 @5 :List(Float32);
warpMatrixBig @6 :List(Float32);
calStatus @1 :Int8;
calCycle @2 :Int32;
calPerc @3 :Int8;
Expand Down Expand Up @@ -562,6 +564,10 @@ struct Plan {

gpsPlannerActive @19 :Bool;

# maps
vCurvature @21 :Float32;
decelForTurn @22 :Bool;

struct GpsTrajectory {
x @0 :List(Float32);
y @1 :List(Float32);
Expand Down Expand Up @@ -1567,8 +1573,17 @@ struct LiveParametersData {
}

struct LiveMapData {
valid @0 :Bool;
speedLimitValid @0 :Bool;
speedLimit @1 :Float32;
curvatureValid @2 :Bool;
curvature @3 :Float32;
wayId @4 :UInt64;
roadX @5 :List(Float32);
roadY @6 :List(Float32);
lastGps @7: GpsLocationData;
roadCurvatureX @8 :List(Float32);
roadCurvature @9 :List(Float32);
distToTurn @10 :Float32;
}


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3 changes: 3 additions & 0 deletions common/params.py
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Expand Up @@ -63,6 +63,7 @@ class UnknownKeyName(Exception):
"IsUploadVideoOverCellularEnabled": TxType.PERSISTENT,
"IsDriverMonitoringEnabled": TxType.PERSISTENT,
"IsGeofenceEnabled": TxType.PERSISTENT,
"SpeedLimitOffset": TxType.PERSISTENT,
# written: visiond
# read: visiond, controlsd
"CalibrationParams": TxType.PERSISTENT,
Expand All @@ -74,6 +75,8 @@ class UnknownKeyName(Exception):
"DoUninstall": TxType.CLEAR_ON_MANAGER_START,
"ShouldDoUpdate": TxType.CLEAR_ON_MANAGER_START,
"IsUpdateAvailable": TxType.PERSISTENT,
"LongitudinalControl": TxType.PERSISTENT,
"LimitSetSpeed": TxType.PERSISTENT,

"RecordFront": TxType.PERSISTENT,
}
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2 changes: 1 addition & 1 deletion common/transformations/model.py
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Expand Up @@ -83,7 +83,7 @@ def get_model_height_transform(camera_frame_from_road_frame, height):

# camera_frame_from_model_frame aka 'warp matrix'
# was: calibration.h/CalibrationTransform
def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height):
def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model_height):
vp = vp_from_ke(camera_frame_from_road_frame)

model_camera_from_model_frame = np.array([
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1 change: 1 addition & 0 deletions phonelibs/openblas/libopenblas.so
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@@ -0,0 +1 @@
libopenblas_armv8p-r0.2.19.so
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3 changes: 2 additions & 1 deletion requirements_openpilot.txt
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Expand Up @@ -5,7 +5,7 @@ libusb1==1.5.0
pycapnp==0.6.3
pyzmq==15.4.0
raven==5.23.0
requests==2.10.0
requests==2.20.0
setproctitle==1.1.10
simplejson==3.8.2
pyyaml==3.12
Expand All @@ -16,4 +16,5 @@ filterpy==1.2.4
smbus2==0.2.0
pyflakes==1.6.0
-e git+https://github.com/commaai/le_python.git@5eef8f5be5929d33973e1b10e686fa0cdcd6792f#egg=Logentries
-e git+https://github.com/commaai/python-overpy.git@f86529af402d4642e1faeb146671c40284007323#egg=overpy
Flask==1.0.2
7 changes: 4 additions & 3 deletions selfdrive/boardd/boardd.py
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Expand Up @@ -71,9 +71,10 @@ def __parse_can_buffer(dat):
def can_send_many(arr):
snds = []
for addr, _, dat, alt in arr:
snd = struct.pack("II", ((addr << 21) | 1), len(dat) | (alt << 4)) + dat
snd = snd.ljust(0x10, '\x00')
snds.append(snd)
if addr < 0x800: # only support 11 bit addr
snd = struct.pack("II", ((addr << 21) | 1), len(dat) | (alt << 4)) + dat
snd = snd.ljust(0x10, '\x00')
snds.append(snd)
while 1:
try:
handle.bulkWrite(3, ''.join(snds))
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1 change: 1 addition & 0 deletions selfdrive/car/ford/interface.py
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Expand Up @@ -119,6 +119,7 @@ def get_params(candidate, fingerprint):
ret.brakeMaxV = [1., 0.8]

ret.enableCamera = not any(x for x in [970, 973, 984] if x in fingerprint)
ret.openpilotLongitudinalControl = False
cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)

ret.steerLimitAlert = False
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1 change: 1 addition & 0 deletions selfdrive/car/gm/interface.py
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Expand Up @@ -62,6 +62,7 @@ def get_params(candidate, fingerprint):
# Have to go passive if ASCM is online (ACC-enabled cars),
# or camera is on powertrain bus (LKA cars without ACC).
ret.enableCamera = not any(x for x in STOCK_CONTROL_MSGS[candidate] if x in fingerprint)
ret.openpilotLongitudinalControl = ret.enableCamera

std_cargo = 136

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