Tesla Model S support #246
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Closing my PR, see #145 for the old one |
Closed
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We are no longer upstreaming car ports other than Honda, Toyota, and GM. But if you maintain and get 10 other people using this fork by the end of the year, we'll pay out the bounty. |
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@geohot why not upstream other car brand ports? Why the lock-in? Isn´t this a open project? |
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@jeankalud , I like the little endian support. Thanks. If you can make it a standalone PR without Tesla references, then we'll merge it. |
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The project is open in the sense that it's MIT license. But by upstreaming, we would implicitly be agreeing to maintain the other car ports. It's not worth it unless it's shippable on a very high volume car, which Tesla isn't. But it is open, so you can fork it, port it, and maintain it yourself! (I will upstream safety numbers though to avoid conflicts) |
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We understand, we should close this PR I guess. I just did a standalone PR for little endian support. I will later today or early next week make another PR for the basic Tesla safety numbers, that would be useful, thanks. |
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You are welcome to leave the PR, easy for people to find the port |
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As of June 5th, the code is now working. Still lots of safety and clean-up, but it drives very well, a bit better than 0.3.5. The model indeed improved since. Most noticeable change is during highway turns and when turns completes. |
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@jeankalud I see 2 Tesla PRs. Is one obsolete? |
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This one is the one @geohot wanted to keep alive even if he would not merge it, as a reference and to guide people to our repo. Frankly, we certainly need to reserve the safety numbers, which is what the other PR was for. But since code always changes, we probably should close the other PR, and make a new one just to add safety numbers in panda safety,, capnp, boardd. |
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@rbiasini this PR is linked to our current branch (tesla). Its what our 13 (and growing) users are using right now. Will add / modify, what's needed to make it acceptable for Comma.ai |
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@mtourangeau 2017 and 2018 Prius Prime are already supported. See https://github.com/commaai/openpilot/blob/866711ef2e03b77c19e199f65d4b9887bb40e7f3/README.md |
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So you meant the message is displayed in the HUD of the Prime? This modification is in the Tesla file only. |
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I commented about this: Try HUD steer_required for saying human steering |
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@mtourangeau I have no idea what you are talking about, but this is Tesla specific changes. I never saw a Prius Prime myself up close. No idea. Try Slack in #toyota channel |
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@geohot Aftermarket with no AP is more common than you would like to believe. And I suspect more are coming since we are reaching end of leasing contracts that were made 2-4 years ago in Europe. For what it's worth I'm waiting to receive a P85D no AP later this month so that's one more crazy person that's gonna try this PR. |
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I will definitively try out this PR when I have the time and money to do this project. I really want OP in my pre-AP car! |
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This is our current 0.5 merged. Currently working on merging 0.5.1 |
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@jeankalud can you fix the merge conflicts, and update the branch? |
PCC follow: smoother
Reimplement Lat control and Path planner Add offset for quicker turn-in
…ilot into tesla_pedal-0.5.7
… into david_devel
…w speed; developmental
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Is this still being maintained, Jean-Claude? |
It is still maintained and actively worked on. Join us on Discord, #tesla channel |
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Jul 22, 2019
45d0d28 remove whitespace (#255) e49d0db Pedal: use avg between tracks (#253) c597dcc VERSION update after health packet changes and minor misra test change 01072be Misra 11.x: pointer usage. (#250) fd68c26 Propagate can_push errors (#249) ce1daf2 Misra check only done for EON config 70d4fd7 cleanup docker container on failure 04756a0 Turning back Misra check: unvoluntarily change fcb1208 fix weird code in USB_ReadPacket b983cc8 Re-wrote test_misra.sh 0b19206 Misra 17.7: The value returned by a function having non-void return type shall be used. We should hang on initial failed safety_set_mode 06ee8bd Ignore Misra 5.4 until cppcheck bug (?) is fixed 4be8582 Update cppcheck commit and pass predefined params to avoid impossible combinations of configs f45dd04 cppcheck: ignore redundantAssignment and selfAssignment for registers in llcan.h 9ce6311 Misra 12.1 (operator order) and 10.4 (incompatible essential types) fixes, arised after properly checking UID_BASE config 1cd34e5 Explicitly set the define and undefine for unknown configs in misra checks 5a02499 remove esp flash from run_automated_tests.sh 23e3684 Cppcheck unused functions (#247) c97d60b Removed bad language b031480 Missed adding Dockerfile 91ff6bb Run language checker in CI 205ec34 Improved language checker f7bbab0 Language checker test d9d0a62 Misra 5.5: missed this change from previous PR 85fa3c0 Misra 5.5: Identifiers shall be distinct from macro names (#246) 190d604 Pedal: 2 minor fixes to Misra 15.7 (else needed) and 17.7 (non-void output must be used) 8ea01ff Pedal: no built-in functions to avoid puts and putc re-definitions 1f40d1e Misra pedal (#245) a4554e3 Ignore advisory Misra 19.2: the union keyword should not be used e6dc417 Minor indent error 247e128 Fix strict compiler on bootstub build ba68569 Removed build strict test and enabled -Werror flag da11f0f safety replay: update openpilot-tools after logreader fix fc8b9e4 Cppcheck: also check pedal f7bd2c2 Misra 10.4: fix last 2 violations (#242) 9be5fde finished misra 17.8 (#241) 3c3aba3 Misra 10.4: Both operands of an operator in which the usual arithmetic conversions are performed shall have the same essential type category (#240) f2a3a17 Misra 15_7: fix what seems to be a false positive of cppcheck 812ace5 Misra 15_7: if … else if constructs should be terminated with an else clause (#230) 79e9735 rename 5_wifi_udp.py 3c3ff0c Update Jenkinsfile (#239) 1bd9284 Misra 17.7: the value returned by a function having non-void return shall be used (#237) 18c9e88 Merge pull request #238 from commaai/misra_17_8 7ac321d Merge pull request #235 from commaai/memxxx 004e543 Jenkins: run EON test first 4bff286 Merge branch 'memxxx' of github.com:commaai/panda into memxxx 7cd80de typo 385e33b 12.1 regression 955842b WIP ea908cb 10_1 violations: Operands shall not be of an inappropriate essential type (#233) fa33038 Fix Misra 5.3: An identifier declared in an inner scope shall not hide an identifier declared in an outer scope (#236) ebfe1c5 Merge branch 'master' of github.com:commaai/panda into memxxx 8c11470 Fix EON test case 64e18e8 fix inverted logic to differentiate between dev and EON panda builds 36755a0 Merge branch 'master' of github.com:commaai/panda into memxxx e2981d6 skip wifi tests for EON panda build db2eec9 Merge branch 'master' of github.com:commaai/panda into memxxx 11257e7 Ignore test 5_wifi_udp.py_ignore: too unreliable for now 6973c2a fix wifi tests cf6985a memxxx function changes to be Misra compliant 3a6cd29 wifi threshold perc back to 20%. Problem wasn't this. d92a035 faster docker build for safety replay 3e9469b Fixing tests after min->MIN change ecb9b6c Revert "Misra 10 1: Operands shall not be of an inappropriate essential type (#232)" 8732e4f Misra 10 1: Operands shall not be of an inappropriate essential type (#232) git-subtree-dir: panda git-subtree-split: 45d0d28
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Aug 6, 2019
* Misra 5.5: Identifiers shall be distinct from macro names
emmertex
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Aug 17, 2019
* Better Panda * 0.6.0.2 Untested * update releases * bug * Send fingerprints to Sentry * Refactor default Civic params (commaai#720) * move civic params out * fix variable name * simplify ford scaling * cleanup * remove import dependency * requested changes * keep hyundai * 2019 Rav4 Limited AWD (commaai#732) * Fingerprint * Merge Limited and XLE fingerprint because they're the same * 0.6.0.3 - Untested * no mapd just yet * Remote ASL * Done * panda too * mapd, auto speed and cloudlog * start mapd * Test * bug * fix spacing in toyota/carstate.py (commaai#736) * better code * bug * bug * bug * bug * bug * tweak * Fix lane centering with single lane line (commaai#737) * add loggered, gpsd, sensord to gitignore (commaai#735) * Improve Toyota Highlander tuning from commaai#690 * Added 2019 Toyota Highlander (commaai#739) Tested latest commit on ICE version, and it worked flawlessly out of box. Fantastic experience. * Use standard steer angle sensor in DSU-less pre-TSS2 Toyota. (commaai#751) * Squashed 'cereal/' changes from 9f2076e..4ea03ba 4ea03ba add speed 2198ad2 add alert for invalid posenet 9c18b3b rename to posenetValid 42669a8 add posenet debug fields to LiveParameters 852846f add whether point is detected by radar 1684698 add model prob fb87dba added HW type to support various panda versions 820bf7b added tooDistracted event 1105dc1 different name 45c4249 add second model lead f8c557f Log can errors from panda 04f105a back ff93320 add lead stuff git-subtree-dir: cereal git-subtree-split: 4ea03ba * Squashed 'panda/' changes from ae816c1..45d0d28 45d0d28 remove whitespace (commaai#255) e49d0db Pedal: use avg between tracks (commaai#253) c597dcc VERSION update after health packet changes and minor misra test change 01072be Misra 11.x: pointer usage. (commaai#250) fd68c26 Propagate can_push errors (commaai#249) ce1daf2 Misra check only done for EON config 70d4fd7 cleanup docker container on failure 04756a0 Turning back Misra check: unvoluntarily change fcb1208 fix weird code in USB_ReadPacket b983cc8 Re-wrote test_misra.sh 0b19206 Misra 17.7: The value returned by a function having non-void return type shall be used. We should hang on initial failed safety_set_mode 06ee8bd Ignore Misra 5.4 until cppcheck bug (?) is fixed 4be8582 Update cppcheck commit and pass predefined params to avoid impossible combinations of configs f45dd04 cppcheck: ignore redundantAssignment and selfAssignment for registers in llcan.h 9ce6311 Misra 12.1 (operator order) and 10.4 (incompatible essential types) fixes, arised after properly checking UID_BASE config 1cd34e5 Explicitly set the define and undefine for unknown configs in misra checks 5a02499 remove esp flash from run_automated_tests.sh 23e3684 Cppcheck unused functions (commaai#247) c97d60b Removed bad language b031480 Missed adding Dockerfile 91ff6bb Run language checker in CI 205ec34 Improved language checker f7bbab0 Language checker test d9d0a62 Misra 5.5: missed this change from previous PR 85fa3c0 Misra 5.5: Identifiers shall be distinct from macro names (commaai#246) 190d604 Pedal: 2 minor fixes to Misra 15.7 (else needed) and 17.7 (non-void output must be used) 8ea01ff Pedal: no built-in functions to avoid puts and putc re-definitions 1f40d1e Misra pedal (commaai#245) a4554e3 Ignore advisory Misra 19.2: the union keyword should not be used e6dc417 Minor indent error 247e128 Fix strict compiler on bootstub build ba68569 Removed build strict test and enabled -Werror flag da11f0f safety replay: update openpilot-tools after logreader fix fc8b9e4 Cppcheck: also check pedal f7bd2c2 Misra 10.4: fix last 2 violations (commaai#242) 9be5fde finished misra 17.8 (commaai#241) 3c3aba3 Misra 10.4: Both operands of an operator in which the usual arithmetic conversions are performed shall have the same essential type category (commaai#240) f2a3a17 Misra 15_7: fix what seems to be a false positive of cppcheck 812ace5 Misra 15_7: if … else if constructs should be terminated with an else clause (commaai#230) 79e9735 rename 5_wifi_udp.py 3c3ff0c Update Jenkinsfile (commaai#239) 1bd9284 Misra 17.7: the value returned by a function having non-void return shall be used (commaai#237) 18c9e88 Merge pull request commaai#238 from commaai/misra_17_8 7ac321d Merge pull request commaai#235 from commaai/memxxx 004e543 Jenkins: run EON test first 4bff286 Merge branch 'memxxx' of github.com:commaai/panda into memxxx 7cd80de typo 385e33b 12.1 regression 955842b WIP ea908cb 10_1 violations: Operands shall not be of an inappropriate essential type (commaai#233) fa33038 Fix Misra 5.3: An identifier declared in an inner scope shall not hide an identifier declared in an outer scope (commaai#236) ebfe1c5 Merge branch 'master' of github.com:commaai/panda into memxxx 8c11470 Fix EON test case 64e18e8 fix inverted logic to differentiate between dev and EON panda builds 36755a0 Merge branch 'master' of github.com:commaai/panda into memxxx e2981d6 skip wifi tests for EON panda build db2eec9 Merge branch 'master' of github.com:commaai/panda into memxxx 11257e7 Ignore test 5_wifi_udp.py_ignore: too unreliable for now 6973c2a fix wifi tests cf6985a memxxx function changes to be Misra compliant 3a6cd29 wifi threshold perc back to 20%. Problem wasn't this. d92a035 faster docker build for safety replay 3e9469b Fixing tests after min->MIN change ecb9b6c Revert "Misra 10 1: Operands shall not be of an inappropriate essential type (commaai#232)" 8732e4f Misra 10 1: Operands shall not be of an inappropriate essential type (commaai#232) git-subtree-dir: panda git-subtree-split: 45d0d28 * Squashed 'opendbc/' changes from 38650f842..e1955ba06 e1955ba06 Nissan: Added nissan_2017.dbc (commaai#173) c89eb71df properly generate Lexus 350 dbc file d08059c77 Lexus RX 350 DBC (commaai#170) git-subtree-dir: opendbc git-subtree-split: e1955ba06e3308dbbfb4bcda78d0e6495bc9ff7e * openpilot v0.6.1 release * self.poller not used (commaai#759) I do not see the need for zmq and the poller being initialized and not used. * Remove offset from curvature (commaai#761) * Update README.md (commaai#766) * Squashed 'cereal/' changes from 4ea03ba..748002c 748002c angle calib desc 27db4a7 add camera rpy angle msg a71c4fa deprecate old dm model output 6c6ab96 remove hwType from ThermalData. Decided to have health at higher freq instead. This will make last 24H of collected data unreadable. Sorry. f27249e Add fields for LQR lateral control 654860c add decelForModel 995b558 add longitudinal plan source 222f2de add eye stuff eebf268 hasGps is a better name than hasGpsAntenna 12da45f Blackpanda (#4) git-subtree-dir: cereal git-subtree-split: 748002c * Squashed 'panda/' changes from 45d0d28..519e39e 519e39e Changed heartbeat timeout to be 2 seconds on no ignition 996dc40 Added heartbeat to black loopback testing 79b44cb bump version 59f5813 Black (commaai#254) 0964866 no need to store safety only misra output anymore git-subtree-dir: panda git-subtree-split: 519e39e * Squashed 'opendbc/' changes from e1955ba06..7684440b1 7684440b1 chrysler: increase size of ACCEL_134 (commaai#174) git-subtree-dir: opendbc git-subtree-split: 7684440b14253f03b7420c4b24da5fbdeb0b9954 * openpilot v0.6.2 release * Fix timeout in longitudinal test (commaai#772) * Fix timeout in longitudinal test * Update hyundaican for Correct Message ID on LKAS11 (commaai#746) This is the only trace of CF_Lkas_Icon found under /car/hyundai relative to open .dbc commaai/opendbc#172 * Revert "Update hyundaican for Correct Message ID on LKAS11 (commaai#746)" (commaai#775) This reverts commit 1f1893a. * Correct Message ID on LKAS11 under Openpilot .dbc (commaai#747) commaai/opendbc#172 * Revert "Revert "Update hyundaican for Correct Message ID on LKAS11 (commaai#746)" (commaai#775)" This reverts commit d5242c5. * Remove Min Speed Steer Disengage * Fix lane centering with single lane line (#38) add fix of openpilot dev commaai#737 * Update STEER_DELTA_DOWN - Temp Remove CLU11 (#43) * update min speed and support genesis * Stock LKAS not allowed to enagage (@xx979xx) * Reinsate CLU11 with xx979 changes * panda * bugs * bug * No Low Speed (yet) * fix checksumc error * attempt fix of cjhecksum discover * Low Speed Alert * update version * Update version
cfranyota
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Dec 5, 2019
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If this pull request is still relevant, please resubmit it to the master branch. This should allow our development flow to work better, we commit to master, you commit to master, everyone commits to master! |
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Where should i be looking for openpilot for AP1 cars? I saw "AP1 soon" somewhere. |
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Started a new fork from my git account. Will be easier to make changes and push new files.
Currently working great on latest 0.4.7.2 comma.ai version, merging version 0.5 in progress...
See wiki for more informations: https://community.comma.ai/wiki/index.php/Tesla
Join us in #tesla on comma.slack.com
Tesla code is at: https://github.com/jeankalud/openpilot/tree/tesla
Article on Electrek: https://electrek.co/2018/06/11/tesla-model-s-george-hotz-comma-ai-semi-autonomous-driving-tech/
---- FROM Previous Pull Request ----
Model S Support by:
Jean-Claude Thibault (Kalud)
and
Robert Cotran (zax123)
A huge thanks to them! The openpilot community is amazing.
Check out a video of it working on a pre AP Tesla:
https://www.youtube.com/watch?v=ro48vcN4VxY
Note: All new car support is extremely alpha. Unless you are ready to spend time tinkering and know how to safely experiment, please wait until this is merged into openpilot master and been audited for safety.