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Tesla Model S support #246

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jeankalud commented May 11, 2018

img-4805_small

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.

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geohot commented May 11, 2018

Closing my PR, see #145 for the old one

@geohot geohot referenced this pull request May 13, 2018

Closed

Tesla Model S support #145

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geohot commented May 14, 2018

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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Spacefish commented May 16, 2018

@geohot why not upstream other car brand ports? Why the lock-in? Isn´t this a open project?

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rbiasini commented May 21, 2018

@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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geohot commented May 21, 2018

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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jeankalud commented May 21, 2018

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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geohot commented May 21, 2018

You are welcome to leave the PR, easy for people to find the port

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jeankalud commented Jun 5, 2018

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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rbiasini commented Jul 16, 2018

@jeankalud I see 2 Tesla PRs. Is one obsolete?

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jeankalud commented Jul 16, 2018

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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jeankalud commented Jul 17, 2018

@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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jeankalud commented Jul 17, 2018

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mtourangeau commented Jul 17, 2018

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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mtourangeau commented Jul 17, 2018

I commented about this: Try HUD steer_required for saying human steering

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jeankalud commented Jul 17, 2018

@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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thibautrey commented Jul 18, 2018

@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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DanielRTRD commented Jul 18, 2018

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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jeankalud commented Aug 2, 2018

This is our current 0.5 merged. Currently working on merging 0.5.1

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Geczy commented Aug 29, 2018

@jeankalud can you fix the merge conflicts, and update the branch?

@pd0wm pd0wm changed the title Tesla Model S support (take 2) Tesla Model S support Oct 30, 2018

BogGyver and others added some commits Jan 18, 2019

Some work on the DAS implementation; also added variables in carstate…
… so people can disable ALCA or Human Steer Override features
Updated lat control
Reimplement Lat control and Path planner
Add offset for quicker turn-in
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