diff --git a/.gitignore b/.gitignore
index 5f44371e5..810756400 100644
--- a/.gitignore
+++ b/.gitignore
@@ -44,9 +44,6 @@ selfdrive/mapd/default_speeds_by_region.json
system/proclogd/proclogd
selfdrive/ui/_ui
selfdrive/test/longitudinal_maneuvers/out
-selfdrive/visiond/visiond
-selfdrive/sensord/_gpsd
-selfdrive/sensord/_sensord
system/camerad/camerad
system/camerad/test/ae_gray_test
selfdrive/modeld/_modeld
@@ -64,7 +61,7 @@ panda_jungle
provisioning
.coverage*
-coverage.xml
+coverage.xmlcar
htmlcov
pandaextra
@@ -85,3 +82,7 @@ build/
poetry.toml
selfdrive/ui/_ui_nonav
+*events.po~
+selfdrive/loggerd/bootlog
+selfdrive/loggerd/loggerd
+selfdrive/proclogd/proclogd
diff --git a/CHANGELOGS.md b/CHANGELOGS.md
index 8e0389608..33bd70667 100644
--- a/CHANGELOGS.md
+++ b/CHANGELOGS.md
@@ -1,95 +1,34 @@
-dragonpilot [Latest] - EON/C2 Release
-========================
+dragonpilot [2023.2.15]
+=======================
* Synced with openpilot master 2022.12.14 commits.
-* TWEAK: Ability to disable build-in NAV completely. (reduced CPU/memory load)
-* NEW: Lateral Controller Selector
- * Ability to select between DEFAULT / PID / LQR / Torque Controller.
-* NEW: Redesigned UI to match Comma's new UI/UX style.
-* NEW: Dynamic End-to-End can be turned on when lead car is going below x km/h. (Useful for stop and go traffic.)
-* NEW: Toggle to adapt Dynamic End-to-End to Following Dist. Mode.
-* NEW: Toggle to adapt Dynamic End-to-End to Accel Mode.
+* Comma 0.9.1 release
+ * New driving model
+ * 30% improved height estimation resulting in better driving performance for tall cars
+ * UI updates
+ * Adjust alert volume using ambient noise level
+ * Driver monitoring icon shows driver's head pose
* NEW: Always On Lateral v2 (For Toyota/VAG/HKG/Honda).
-* NEW: VAG - vw-spam-resume (Thanks to @jyoung8607)
-* FIXED: Bugs in updated.
-* FIXED: Issue in C2 fan control.
-* TWEAK: Bug fixes and improvement.
+* NEW: Block ALC if it's close to the road edges.
+* NEW: Rinbow path toggle. (This effect is purely cosmetic)
+* IMPROVEMENT: Better TSS2 Long and DF tune. @cgw1968-5779
+* Bug fixes and improvement.
-dragonpilot 2022.11.09 - EON/C2 Release
-========================
-* Synced with openpilot master 2022.10.26 commits.
-* COMMA: Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models.
-* NEW: Mapd Database selector menu to use mapd offline located in software. When installing Database it will take some time. It is not stuck just be patience run `tmux a` for more info. DO NOT RESTART When database is being installed.
- * Ability to use MapD without internet connection.
-* NEW: TOYOTA - Better TSS2 Long and DF tune. @cgw1968-5779
-* NEW: MAZDA - Toggle to bypass dashcam mode.
-* NEW: Added lanelines mode.
- * Ability to adjust camera/path offset.
-* NEW: Lateral Planner option.
- * Ability to select 0.8.13, 0.8.16 and the latest/current planner.
-* NEW: Offline OSM map database.
-* NEW: Turn and BSM indicator. (turn = blink green, turn + bsm = blink yellow, bsm = solid yellow)
-* TWEAK: Better Optimization for Vision Turn Controller with laneline mode.
-* FIXED: When going offroad, the screen does not turn off. (w/ CP or w/ Battery)
-* bug fix and improvement.
+dragonpilot [2023.1.10]
+=======================
+* Synced with openpilot master 2023.1.3 commits.
+* IMPROVEMENT: Dynamic end to end refactored. It will automatically turn on and off for red light for smoother u/x. Now Supports (honda and vw that cab take advantage of VOACC).
+* IMPROVEMENT: Better TSS2 Long and DF tune. @cgw1968-5779
+* ADDED: support for Chevrolet Trailblazer 2022 (Thanks @TurboCE)
+* ADDED: support for Honda odyssey hybrid 2022 China (Thanks @lijunhao731)
+* ADDED: GPS accuracy on the sidebar.
+* Bug fixes and improvement.
+HOTFIX:
+=======================
+* Allow Experimental Mode in release branch. (@Stupefacient)
+* Happy Holiday / New Years! Safe Travel, cya in 2023!
-dragonpilot 2022.10.17 - EON/C2 Release
-========================
-* Synced with openpilot master 2022.09.22 commits.
- * Live Torque Tune (Only available to certain vehicle models with op long.)
-* NEW: TOYOTA - Added a TSS2 RAV4 Special PID Tune toggle.
-* NEW: TOYOTA - Added a PRIUS 2017 Special Torque Tune toggle.
-* NEW: TOYOTA - PRIUS_TSS2 (2020-2022) now uses torque as default and auto learns.
-* NEW: Added a toggle to force enable torque controller. (may not work on some vehicles)
-* NEW: Added a toggle to force enable live torque tune. (may not work on some vehicles)
-* NEW: VAG - Added auto resume fix toggle.
-* NEW: refactored dynamic follow. support all car with op long.
-* NEW: New blinker and BSM indicators.
-* NEW: Lead Info is now displaying both speed and distance.
-* FIXED: Minor bug fixes and improvement.
-
-dragonpilot 2022.09.22 - EON/C2 Release
-========================
-* Synced with openpilot master 2022.09.17 commits.
- * e2e longitudinal toggle. (Extremely alpha feature)
- * Deprecated SNPE lib and switched to tinygrad.
-* NEW: Added back nav support on EON/C2.
-* WARNING: DUE TO THE INTRODUCTION OF END TO END LONGITUDINAL FEATURE, FOLLOWING FEATURES HAS BEEN CHANGED:
- * WIP: Dynamic Follow has been temporary removed for refactoring.
- * WIP: Vision Turn Control has been temporary removed for refactoring.
- * REMOVED: Camera offset has been removed permanently due to new e2e implementation.
- * EON/C2 WILL NO LONGER RECEIVE ANY DRIVING/DRIVER MONITORING MODEL UPDATES.
-
-dragonpilot 2022.08.29 - EON/C2 Release
-========================
-* NEW: Synced to openpilot master 2022.08.23 commits.
- * New driving model.
-* NEW: Added back honda eps mod toggle.
-* NEW: Added back camera offset toggle.
-* TWEAK: Resume logic to adapt ATL mode.
-
-dragonpilot 2022.08.17 - EON/C2 Release
-========================
-* NEW: Synced to openpilot master 2022.08.07 commits.
-* NEW: Added back auto shutdown toggle.
-* NEW: Added back On-Road Dashcam toggle. (You should not replace this with your dashcam!!!)
-* NEW: Added back LQR tune toggle.
-* NEW: MAZDA - Ability to enable/disable below steer speed alert. (Thanks to @TheCrowd)
-* NEW: Included all vehicles.
-* TWEAK: Panda Recovery should kill boardd process first.
-* FIXED: Fixed stop working issue when mapd crashed.
-
-dragonpilot 2022.07.29 - EON/C2 Release
-========================
-* NEW: Synced to openpilot 2022.07.27 commits.
-* NEW: Included Mazda vehicles.
-* TWEAK: Only show road name bar when it's not empty.
-* TWEAK: Enlarged lead car distance text.
-* TWEAK: TOYOTA - Updated lowest speed override feature.
-* FIXED: Fixed Panda Flash/Recovery buttons.
-* FIXED: Included dp_patcher.py execution.
-
-dragonpilot [latest]
+dragonpilot 2022.12.13
=======================
* Synced with openpilot master 2022.12.13 commits.
* COMMA: New model, Toyota users can now configure SWAY settings.
@@ -217,30 +156,6 @@ TWEAK: TOYOTA - Updated lowest speed override feature.
FIXED: Fixed Panda Flash/Recovery buttons.
FIXED: Included dp_patcher.py execution.
-dragonpilot 2022.07.20 - EON/C2 Release
-========================
-* FIXED: Included correct camera/path offset values for EON/C2.
-* FIXED: Param bug in HKG. (Thanks to @sunnyhaibin).
-* FIXED: Included fan controller for UNO (C2).
-* TWEAK: Auto set a decent date/time to prevent onroad incorrect date/time detection.
-* TWEAK: Removed sounds unavailable warning.
-* TWEAK: Removed unused loggers.
-* TWEAK: Disabled IR controls completely.
-
-dragonpilot 2022.07.14 - EON/C2 Release
-========================
-* FIXED: DM bug.
-* FIXED: white / grey panda support.
-* FIXED: Removed No GPS signal warning.
-
-dragonpilot 2022.07.12 - EON/C2 Release
-========================
-* Synced up with dragonpilot 2022.06.25 C3 release
-* Running on latest AI model.
-* Steering monitor only.
-* Works on EON/C2 + white/grey/black panda (tested only on Toyotas).
-* Buggy!
-
dragonpilot [2022.08.07]
========================
* Synced to openpilot master 2022.08.07 commits.
diff --git a/CHANGELOGS_c2.md b/CHANGELOGS_c2.md
new file mode 100644
index 000000000..3fa205e27
--- /dev/null
+++ b/CHANGELOGS_c2.md
@@ -0,0 +1,965 @@
+dragonpilot [Latest] - EON/C2 Release
+========================
+* Synced with openpilot master 2023.03.08 commits.
+* DP Highlight
+ * Refactored cameraview widget.
+ * Updated VisionIPC to match current version.
+ * Rainbow mode. (fancy lol)
+ * Different color when Always On Lateral is enabled.
+ * IMPROVEMENT: Better TSS2 Long and DF tune. @cgw1968-5779
+ * NEW: Alternative Lateral Controller
+ * Ability to switch to another lateral controller when SET speed is higher than configure speed.
+ * E.g. Use Torque + Laneless when belows 80kph and use PID + Laneline when above.
+ * DM reverted back to 0.8.13 model and algorithm.
+
+dragonpilot 2023.02.08 - EON/C2 Release
+========================
+* Synced with openpilot master 2022.12.14 commits.
+* TWEAK: Ability to disable build-in NAV completely. (reduced CPU/memory load)
+* NEW: Lateral Controller Selector
+ * Ability to select between DEFAULT / PID / LQR / Torque Controller.
+* NEW: Redesigned UI to match Comma's new UI/UX style.
+* NEW: Dynamic End-to-End can be turned on when lead car is going below x km/h. (Useful for stop and go traffic.)
+* NEW: Toggle to adapt Dynamic End-to-End to Following Dist. Mode.
+* NEW: Toggle to adapt Dynamic End-to-End to Accel Mode.
+* NEW: Always On Lateral v2 (For Toyota/VAG/HKG/Honda).
+* NEW: VAG - vw-spam-resume (Thanks to @jyoung8607)
+* FIXED: Bugs in updated.
+* FIXED: Issue in C2 fan control.
+* TWEAK: Bug fixes and improvement.
+
+dragonpilot 2022.11.09 - EON/C2 Release
+========================
+* Synced with openpilot master 2022.10.26 commits.
+* COMMA: Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models.
+* NEW: Mapd Database selector menu to use mapd offline located in software. When installing Database it will take some time. It is not stuck just be patience run `tmux a` for more info. DO NOT RESTART When database is being installed.
+ * Ability to use MapD without internet connection.
+* NEW: TOYOTA - Better TSS2 Long and DF tune. @cgw1968-5779
+* NEW: MAZDA - Toggle to bypass dashcam mode.
+* NEW: Added lanelines mode.
+ * Ability to adjust camera/path offset.
+* NEW: Lateral Planner option.
+ * Ability to select 0.8.13, 0.8.16 and the latest/current planner.
+* NEW: Offline OSM map database.
+* NEW: Turn and BSM indicator. (turn = blink green, turn + bsm = blink yellow, bsm = solid yellow)
+* TWEAK: Better Optimization for Vision Turn Controller with laneline mode.
+* FIXED: When going offroad, the screen does not turn off. (w/ CP or w/ Battery)
+* bug fix and improvement.
+
+
+dragonpilot 2022.10.17 - EON/C2 Release
+========================
+* Synced with openpilot master 2022.09.22 commits.
+ * Live Torque Tune (Only available to certain vehicle models with op long.)
+* NEW: TOYOTA - Added a TSS2 RAV4 Special PID Tune toggle.
+* NEW: TOYOTA - Added a PRIUS 2017 Special Torque Tune toggle.
+* NEW: TOYOTA - PRIUS_TSS2 (2020-2022) now uses torque as default and auto learns.
+* NEW: Added a toggle to force enable torque controller. (may not work on some vehicles)
+* NEW: Added a toggle to force enable live torque tune. (may not work on some vehicles)
+* NEW: VAG - Added auto resume fix toggle.
+* NEW: refactored dynamic follow. support all car with op long.
+* NEW: New blinker and BSM indicators.
+* NEW: Lead Info is now displaying both speed and distance.
+* FIXED: Minor bug fixes and improvement.
+
+dragonpilot 2022.09.22 - EON/C2 Release
+========================
+* Synced with openpilot master 2022.09.17 commits.
+ * e2e longitudinal toggle. (Extremely alpha feature)
+ * Deprecated SNPE lib and switched to tinygrad.
+* NEW: Added back nav support on EON/C2.
+* WARNING: DUE TO THE INTRODUCTION OF END TO END LONGITUDINAL FEATURE, FOLLOWING FEATURES HAS BEEN CHANGED:
+ * WIP: Dynamic Follow has been temporary removed for refactoring.
+ * WIP: Vision Turn Control has been temporary removed for refactoring.
+ * REMOVED: Camera offset has been removed permanently due to new e2e implementation.
+ * EON/C2 WILL NO LONGER RECEIVE ANY DRIVING/DRIVER MONITORING MODEL UPDATES.
+
+dragonpilot 2022.08.29 - EON/C2 Release
+========================
+* NEW: Synced to openpilot master 2022.08.23 commits.
+ * New driving model.
+* NEW: Added back honda eps mod toggle.
+* NEW: Added back camera offset toggle.
+* TWEAK: Resume logic to adapt ATL mode.
+
+dragonpilot 2022.08.17 - EON/C2 Release
+========================
+* NEW: Synced to openpilot master 2022.08.07 commits.
+* NEW: Added back auto shutdown toggle.
+* NEW: Added back On-Road Dashcam toggle. (You should not replace this with your dashcam!!!)
+* NEW: Added back LQR tune toggle.
+* NEW: MAZDA - Ability to enable/disable below steer speed alert. (Thanks to @TheCrowd)
+* NEW: Included all vehicles.
+* TWEAK: Panda Recovery should kill boardd process first.
+* FIXED: Fixed stop working issue when mapd crashed.
+
+dragonpilot 2022.07.29 - EON/C2 Release
+========================
+* NEW: Synced to openpilot 2022.07.27 commits.
+* NEW: Included Mazda vehicles.
+* TWEAK: Only show road name bar when it's not empty.
+* TWEAK: Enlarged lead car distance text.
+* TWEAK: TOYOTA - Updated lowest speed override feature.
+* FIXED: Fixed Panda Flash/Recovery buttons.
+* FIXED: Included dp_patcher.py execution.
+
+dragonpilot 2022.07.20 - EON/C2 Release
+========================
+* FIXED: Included correct camera/path offset values for EON/C2.
+* FIXED: Param bug in HKG. (Thanks to @sunnyhaibin).
+* FIXED: Included fan controller for UNO (C2).
+* TWEAK: Auto set a decent date/time to prevent onroad incorrect date/time detection.
+* TWEAK: Removed sounds unavailable warning.
+* TWEAK: Removed unused loggers.
+* TWEAK: Disabled IR controls completely.
+
+dragonpilot 2022.07.14 - EON/C2 Release
+========================
+* FIXED: DM bug.
+* FIXED: white / grey panda support.
+* FIXED: Removed No GPS signal warning.
+
+dragonpilot 2022.07.12 - EON/C2 Release
+========================
+* Synced up with dragonpilot 2022.06.25 C3 release
+* Running on latest AI model.
+* Steering monitor only.
+* Works on EON/C2 + white/grey/black panda (tested only on Toyotas).
+* Buggy!
+
+dragonpilot 2022.07.01
+========================
+* Synced with openpilot master 2022.06.29 commits.
+* ADDED: MapD based off @move-fast. Thanks to @sunnyhaibin for mapbox as datapoint and ui refactor. (setting destination will use mapxbox speedlimit data which is more accurate. MapD priority: Mapbox(if nav active), OSM, RSA )
+
+dragonpilot 2022.06.25
+========================
+* Synced with openpilot master 2022.06.25 commits.
+* Updated zh-TW translation.
+* ADDED: Dynamid follow @krkeegan version. (press the distance button)
+* ADDED: dp ui vol.
+* ADDED: dp ui brightness.
+* ADDED: dp ui top/side bar.
+* ADDED: dp display mode (0=off/normal, 1=turn off the screen when onroad).
+
+dragonpilot 2022.06.16
+========================
+* Synced with openpilot master 2022.06.16 commits.
+* ADDED: Toyota SnG hack.
+* ADDED: Accel Profile.
+* FIXED: Car Selection.
+* FLXED: ALCA Delay Setting UI.
+* FIXED: Lane lines mode (w/ DLP built-in).
+
+dragonpilot 2022.06.11
+========================
+* Synced with openpilot master 2022.06.07 commits
+* Migrating more features soon, stay tuned!
+
+dragonpilot 0.8.13-1
+========================
+* Based on openpilot 0.8.13 devel.
+* ADDED: Support for SDSU. Can now control distance with the button on the steering wheel. (Thanks to @CT9212)
+* FIXED: DLP fix. (Thank to @Hikari1023)
+* Bug fixes.
+
+dragonpilot 0.8.12-3
+========================
+* Bug fixes.
+* ADDED: Car Selector for C3.
+* ADDED: ColorBlind mode eon only. (thanks to @ihsakashi)
+* TUNNING: Toyota long improvement.
+* Reimplement: Following Distance and added @krkeegan implementation (toyota only with sdsu/tss2).
+
+dragonpilot 0.8.12-2
+========================
+* Bug fixes.
+* ADDED: FTP to easily manage storage.
+* Readded: camera offset, path offset and autoshutdown.
+
+dragonpilot 0.8.12-1
+========================
+* Based on openpilot 0.8.12 devel.
+* ADDED: Support for no gps (mr.one panda).
+* Reimplement: camera offset, path offset, nav for c2 and autoshutdown.
+
+dragonpilot 0.8.10-4
+========================
+* FIXED: Allow gas press. (Thanks to @loveloveses)
+* FIXED: Honda SnG. (Thanks to @loveloveses
+* ADDED: Toyota: Display Blue Barriers When Engaged. (Thanks to @krkeegan)
+
+dragonpilot 0.8.10-3
+========================
+* NAV: Gaode/amap to use new key combination. (Thanks to @loveloveses)
+
+dragonpilot 0.8.10
+========================
+* Based on openpilot 0.8.10 devel.
+* Reimplement: Following Distance.
+* Better Subaru support. (Thanks to @martinl https://github.com/martinl/openpilot)
+* NAV: Added use of Navigation tab to access home/work/recent dest.
+* NAV: Added auto Day/Night Mode.
+* NAV: Added customizable style.
+* NAV: Added Gaode/amap Search. (Thanks to @loveloveses)
+* FIXED: Device w/ battery no longer need to set auto shutdown to 1 min.
+* FIXED: Auto shutdown while on bench (Thanks to @sunnyhaibin)
+* REMOVED: Timebomb feature for VW.
+* REMOVED: Support of running Android apps.
+
+dragonpilot 0.8.9-3
+========================
+* Bug fixes.
+* Fixed up auto updater.
+* Fixed Honda Jade dbc. (Thanks to @lijunhao731)
+* ADDED: 0.8.10 model.
+* ADDED: Nav for all device.
+* ADDED: Support for Nvidia Xavier.
+
+dragonpilot 0.8.9-2
+========================
+* Bug fixes.
+* Refactor UI related changes.
+* Updated Simplified Chinese translation. (Thanks to @CCZ)
+* WARNING: Due to recent OP change, Device w/ battery recommended setting autoshutdown to 1 min to prevent libusb error.
+* Re-tuned acceleraton profile. (Thank to @wer5lcy)
+* ADDED: Car port for Toyota Prius Alpha. (Thanks to @CT921)
+
+dragonpilot 0.8.9-1
+========================
+* Based on openpilot 0.8.8 devel.
+* Re-introduce Follow Distance 4th profile (2.2s / 1.8s / 1.5s / 1.2s).
+* ADDED: New softer sound for c3.
+* ADDED: Dynamic Lane Profile. (Thanks to @sunnyhaibin)
+* Bug Fixes.
+
+dragonpilot 0.8.8-2
+========================
+* ADDED: newer faster and modularized mapd and slow down for curve. (Thanks to @move-fast)
+* ADDED: Street name on the bottom bar.
+* ADDED: Now supports 1+3t / C2 / C3 / Jetson Xavier NX.
+* ADDED: Smoother tune for PRIUS_TSS2.
+* Bug fixes.
+
+dragonpilot 0.8.8-1
+========================
+** BETA TESTING ONLY **
+* Based on openpilot 0.8.8 devel.
+* FIXED: dashcam issue.
+* FIXED: some VW vehicles issue. (Thanks to @yayism)
+* FIXED: white panda + j533 acc issue. (Thanks to @lirudy)
+* ADDED: Auto fake black panda.
+* ADDED: 2018 chinese camry hybrid fingerprint (Thanks to @stingshen)
+* WIP: mapd.
+
+dragonpilot 0.8.7-4
+========================
+* 2017 JADE w/ Added Comma Pedal Support. (Thanks to @lijunhao731)
+* Fixed toyota / honda brake light display. (Thanks to @loveloveses)
+* Fixed UI toggle. (Thanks to @鄧育林、@謝聖鴻)
+* Fixed VW resume/display issue. (Thanks to @SKY)
+* Fixed CJK font installation issue.
+
+dragonpilot 0.8.7-3
+========================
+* Bug fixes.
+* Fixed gpxd.
+* Added some Chinese support.
+
+dragonpilot 0.8.7-2
+========================
+* Fixed sound issue.
+* Changed gpx logs to OSM compatible format.
+* HONDA: Added BSM support for CRV-Hybrid.
+* HONDA: Added toggle to force displaying km/h in HUD.
+* TOYOTA: Add new Toggles under DP - Cars to enable/disable Following Modes / Accel Modes with physical button feature.
+
+dragonpilot 0.8.7-1
+========================
+* Based on openpilot 0.8.7 devel.
+* Support 1+3t / C2 / Jetson Xavier NX.
+* Support White / Grey Panda.
+* TOYOTA: Can now change Following Modes with physical button from the steering wheel.
+* TOYOTA: Can now change Acceleration Modes with physical button if your car supports it.
+* TOYOTA: Added Low speed override toggles.
+* Dev UI now displays RPM reading.
+* Added Prebuilt toggle for faster boot.
+* Lexus RX high RPM fix. (Thanks to @crazysim).
+* Added toggle to launch Language settings.
+* Added toggle to launch Volume settings.
+* Added toggle to launch date/time settings.
+* Added toggle to flash panda.
+* Added toggle to recover panda firmware.
+* Added toggle to delete logging (/sdcard/realdata).
+* Added GPS Logger.
+
+dragonpilot 0.8.6-1
+========================
+* Based on openpilot 0.8.6 devel.
+* Support 1+3t / C2 / Jetson Xavier NX.
+* Support White / Grey Panda.
+
+dragonpilot 0.8.5-4
+========================
+* Added multiple toggles.
+* Code clean up.
+* Android app support. (see selfdrive/dragonpilot/HOWTO-APPD.md)
+* Better support for VW MPQ (Thanks to @Saber)
+
+dragonpilot 0.8.5-3
+========================
+* Added Jetson support toggle.
+* Added Steering Ratio controller.
+* Reduce Following Profile to 3 modes only. (1.8s / 1.5s / 1.2s)
+* Bug fixes.
+
+dragonpilot 0.8.5-2
+========================
+* Added black panda simulation toggle.
+* Added No GPS toggle.
+* Added No Battery Toggle.
+* Bug fixes.
+
+dragonpilot 0.8.5-1
+========================
+* Based on openpilot 0.8.5 devel.
+* 基於 openpilot 0.8.5 devel.
+* Support 1+3t / C2 / Jetson Xavier NX.
+* 支持 1+3t / C2 / Jetson Xavier NX.
+* No White/Grey Panda Support.
+* 不支持白灰熊.
+
+dragonpilot 0.8.4-3
+========================
+* 簡化 1+3t 安裝方法. (請查閱 HOWTO-ONEPLUS.md)
+* Simplied 1+3t installation. (See HOWTO-ONEPLUS.md)
+* 加回舊 ssh 登錄.
+* Good old ssh key.
+* 修復本田錯誤. (感謝 @loveloveses)
+* Fixed Honda bug. (Thanks to @loveloveses)
+
+dragonpilot 0.8.4-2
+========================
+* 加回可調整加速/跟車設定.
+* Added back Accel/Following Profile.
+* 支持 Headless Jetson Xavier NX (https://github.com/efinilan/xnxpilot.git)
+* Support Headless Jetson Xavier NX (https://github.com/efinilan/xnxpilot.git)
+* 支持 1+3t (需額外安裝手續)
+* Support 1+3t (Require additional install procedure)
+* 支持白/灰熊
+* Support White/Grey Panda.
+
+dragonpilot 0.8.4-1
+========================
+* 基於 openpilot 0.8.4 devel.
+* Based on openpilot 0.8.4 devel.
+
+dragonpilot 0.8.1
+========================
+* 基於最新 openpilot 0.8.1 devel.
+* Based on latest openpilot 0.8.1 devel.
+* 加入行車記錄按鈕。(感謝 @toyboxZ 提供)
+* Added REC screen button. (Thanks to @toyboxZ)
+
+dragonpilot 0.8.0
+========================
+* 基於最新 openpilot 0.8.0 devel.
+* Based on latest openpilot 0.8.0 devel.
+* 加入 git 錯誤修正。(感謝 @toyboxZ 提供)
+* Added git error fix. (Thanks to @toyboxZ)
+
+dragonpilot 0.7.10.1
+========================
+* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
+* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
+* HYUNDAI_GENESIS 加入 Cruise 按紐 和 lkMode 支援。(感謝 @donfyffe 建議)
+* HYUNDAI_GENESIS added Cruise button event and lkMode feature. (Thanks to @donfyffe)
+* 支援台灣版 2018 Huyndai IONIQ + smart MDPS (dp_hkg_smart_mdps) (感謝 @andy741217 提供)
+* Support 2018 Taiwan Hyundai IONIQ + smart MDPS (dp_hkg_smart_mdps) (Thanks to @andy741217)
+* 使用 openpilot v0.8 的模型。(感謝 @eisenheim)
+* Use openpilot v0.8 model. (Thanks to @eisenheim)
+* 加入 0.8 測試版的部分優化。
+* Added optimizations from pre-0.8.
+* 加入 dp_honda_eps_mod 設定來使用更高的扭力 (需 eps mod)。(感謝 @Wuxl_369 提供)
+* Added dp_honda_eps_mod setting to enable higher torque (eps mod required). (Thanks to @Wuxl_369)
+* 修正 VW 對白/灰熊的支援 (感謝 @lirudy 提供)
+* Fixed issue with white/grey panda support for VW (Thanks to @lirudy)
+* GENESIS_G70 優化 (感謝 @sebastian4k 提供)
+* GENESIS_G70 Optimisation (Thanks to @sebastian4k)
+* HYUNDAI_GENESIS 優化 (感謝 @donfyffe 提供)
+* HYUNDAI_GENESIS Optimisation (Thanks to @donfyffe)
+* 加入 Dynamic gas Lite。(感謝 @toyboxZ 提供)
+* Added Dynamic Gas Lite. (Thanks to @toyboxZ)
+* 加入來自 afa 的 Honda inspire, accord, crv SnG 優化。(感謝 @menwenliang 提供)
+* Added Honda inspire, accord, crv SnG optimisation from afa fork. (Thanks to @menwenliang)
+* 加入 dp_toyota_lowest_cruise_override_vego。(感謝 @toyboxZ 提供)
+* Added dp_toyota_lowest_cruise_override_vego. (Thanks to @toyboxZ)
+
+dragonpilot 0.7.10.0
+========================
+* 基於最新 openpilot 0.7.10 devel.
+* Based on latest openpilot 0.7.10 devel.
+* 修正 Prius 特定情況下無法操控方向盤的問題。
+* Fixed unable to regain Prius steering control under certain condition.
+* 更新 VW MQB 的支援。(需執行 scripts/vw.sh 腳本)
+* Updated support of VW MQB. (scripts/vw.sh script required)
+* 新增 2018 China Toyota CHR 指紋v2。（感謝 @xiaohongcheung 提供)
+* Added 2018 China Toyota CHR FPv2. (Thanks to @xiaohongcheung)
+* 加入 Headunit Reloaded Android Auto App 支援。(感謝 @Ninjaa 提供)
+* Added Headunit Reloaded Android Auto App Support. (Thanks to @Ninjaa)
+* 優化 nanovg。(感謝 @piggy 提供)
+* Optomized nanovg. (Thanks to @piggy)
+* 加入 complete_setup.sh (感謝 @深鲸希西 提供)
+* Added complete_setup.sh (Thanks to @深鲸希西)
+* Based on latest openpilot 0.7.10 devel.
+* 修正 EON 接 PC/USB 充電器時仍會自動關機的錯誤。(感謝 @小愛 回報)
+* Fixed auto shutdown issue when EON connect to PC/USB Charger. (Thanks to @LOVEChen)
+* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
+* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
+
+dragonpilot 0.7.8.3
+========================
+* VW 加入 6 分鐘時間方向盤控制限制輔助方案。(特別感謝 @actuallylemoncurd 提供代碼)
+* VW added 6 minutes timebomb assist. (dp_timebomb_assist, special thanks to @actuallylemoncurd)
+
+dragonpilot 0.7.8.2
+========================
+* 修正在沒網路的情況下，開機超過五分鐘的問題。
+* Fixed 5+ minutes boot time issue when there is no internet connection.
+* 錯誤回傳改使用 dp 的主機。
+* Used dp server for error reporting.
+* 更新服務改使用 gitee 的 IP 檢查連線狀態。
+* updated service uses gitee IP address instead.
+
+dragonpilot 0.7.8.1
+========================
+* 加入 ko-KR 翻譯。
+* Added ko-KR translation.
+* 加入 Honda Jade 支援。(感謝 @李俊灝)
+* Added Honda Jade support. (Thanks to @lijunhao731)
+* 修正 ui.cc 內存越界的問題。(感謝 @piggy 提供)
+* Fixed ui.cc memory out of bound issue. (Thanks to @piggy)
+* gpxd 記錄改自動存成 zip 格式。
+* gpxd now store in zip format.
+* 強制關閉 panda 檢查 DOS 硬體。
+* Force disabled DOS hardware check in panda.
+
+dragonpilot 0.7.8.0
+========================
+* 基於最新 openpilot 0.7.8 devel.
+* Based on latest openpilot 0.7.8 devel.
+* 加入重置 DP 設定按鈕。(感謝 @LOVEChen 建議)
+* Added "Reset DP Settings" button. (Thanks to @LOVEChen)
+* 將警示訊息更改為類似於概念 UI 的設計。
+* Alert messages changed to concept UI alike design.
+* 當 manager 出現錯誤後，按 Exit 按鈕會執行 reset_update 腳本。
+* Added ability to execute reset_update.sh when press "Exit" button once manager returned errors.
+
+dragonpilot 0.7.7.3
+========================
+* 修正方向盤監控。
+* Fixed steering monitor timer param.
+* 修正行駛時關閉畫面導致當機的錯誤。(感謝 @salmankhan, @stevej99, @bobbydough 回報)
+* Fixed screen frozen issue when "screen off while driving" toggle is enabled. (Thanks to @salmankhan, @stevej99, @bobbydough)
+* 加回 Dev Mini UI 開關。(感謝 @Ninjaa 建議)
+* Re-added Dev Mini UI. (Thanks to @Ninjaa)
+* 新增 (dp_reset_live_parameters_on_start) 每次發車重設 LiveParameters 值。(感謝 @eisenheim)
+* Added ability (dp_reset_live_param_on_start) to reset LiveParameters on each start. (Thanks @eisenheim)
+* 修正同時開啟 dp_toyota_zss 和 dp_lqr 產生的錯誤。(感謝 @bobbydough)
+* Fixed error cuased by enabling both dp_toyota_zss and dp_lqr at the same time. (Thanks to @bobbydough)
+* 新增 (dp_gpxd) 將 GPS 軌跡導出至 GPX 格式 (/sdcard/gpx_logs/）的功能。 （感謝 @mageymoo1）
+* Added ability (dp_gpxd) to export GPS track into GPX files (/sdcard/gpx_logs/). (Thanks to @mageymoo1)
+* 使用德國的車道寬度估算值。 （感謝 @arne182）
+* Used lane width estimate value from Germany. (Thanks to @arne182)
+
+dragonpilot 0.7.7.2
+========================
+* 加入 d_poly offset。 (感謝 @ShaneSmiskol)
+* Added d_poly offset. (Thanks to @ShaneSmiskol)
+* 加入 ZSS 支援。(感謝 @bobbydough, @WilliamPrius 建議, @bobbydough 測試)
+* Added ZSS support. (Thanks to @bobbydough, @WilliamPrius for recommendation, @bobbydough for testing)
+* 加入錯誤記錄至 /sdcard/crash_logs/ (感謝 @ShaneSmiskol 提供代碼)
+* Added error logs to /sdcard/crash_logs/ (Special Thanks to @ShaneSmiskol)
+* 加入 LQR 控制器開關進設定畫面。
+* Added LQR Controller toggle to settings.
+
+dragonpilot 0.7.7.1
+========================
+* 加入 C2 風扇靜音模式。(感謝 @dingliangxue)
+* Added C2 quiet fan mode. (Thanks to @dingliangxue)
+* 加入「輔助換道最低啟動速度」、「自動換道最低啟動速度」設定。
+* Added "Assisted Lane Change Min Engage Speed" and "Auto Lane Change Min Engage Speed" settings.
+* 加入回調校介面。(感謝 @Kent)
+* Re-added Dev UI. (Thanks to @Kent)
+* 加入 "dp_lqr" 設定來強制使用 RAV4 的 lqr 調校。(感謝 @eisenheim)
+* Added "dp_lqr" setting to force enable lqr tuning from RAV4. (Thanks to eisenheim)
+
+dragonpilot 0.7.7.0
+========================
+* 基於最新 openpilot 0.7.7 devel.
+* Based on latest openpilot 0.7.7 devel.
+* 當 Manager 出現錯誤時，顯示 IP 位置。(感謝 @dingliangxue)
+* When Manager failed, display IP address. (Thanks to @dingliangxue)
+* 加回 sr learner 開關。
+* Re-added sr learner toggle.
+* 加回 加速模式 開關。
+* Re-added Accel Profile toggle.
+* Toyota 加入改寫最低巡航速度功能。(感謝 @Mojo)
+* Added Toyota to override lowerest cruise speed. (Thanks to @Mojo)
+* 介面加入盲點偵測顯示。(感謝 @wabes)
+* Added BSM indicator to UI. (Thanks to @wabes)
+* 加回彎道減速功能。(感謝 @Mojo)
+* re-added Slow On Curve functionality. (Thanks to @Mojo)
+
+dragonpilot 0.7.6.2
+========================
+* 修正無法正確關閉駕駛監控的問題。
+* Fixed unable to properly turn off driver monitor issue.
+
+dragonpilot 0.7.6.1
+========================
+* 基於最新 openpilot 0.7.6.1 devel.
+* Based on latest openpilot 0.7.6.1 devel.
+* 優化並整合 dp 服務。 (所有的設定檔已改名，請重新設定所有的功能)
+* Optimized and integrated several dp services. (Settings have been renamed, please re-config all settings)
+* 完全關閉 steer ratio learner。
+* Completely disabled steer ratio learner.
+* 移除「加速模式」。
+* Removed Accel Profile.
+* 加入本田皓影混電版指紋v1。(感謝 @劉駿)
+* Added Honda Breeze Hybrid FPv1. (Thanks to @劉駿)
+* 加入台灣版 Toyota Prius 4.5 指紋v1。(感謝 @jeekid)
+* Added Taiwan Toyota Prius 4.5 FPv1. (Thanks to @jeekid)
+
+dragonpilot 0.7.5.4
+========================
+* Dynamic Follow 更新模型。(感謝 @ShaneSmiskol 提供代碼、 @cgw1968 測試)
+* Updated Dynamic Follow model. (Special Thanks to @ShaneSmiskol for the feature and @cgw1968 for testing)
+
+dragonpilot 0.7.5.3
+========================
+* Dynamic Follow 更新至 ShaneSmiskol:stock_additions 0.7.5 版。(感謝 @ShaneSmiskol 提供代碼、 @Wei 測試)
+* Updated Dynamic Follow to ShaneSmiskol:stock_additions 0.7.5. (Special Thanks to @ShaneSmiskol for the feature and @Wei for testing)
+* 優化 Lexus GSH 轉向。(感謝 @簡銘佑 測試)
+* Optimize Lexus GSH steering. (Thanks to @簡銘佑)
+* C2 支援自動關機「DragonAutoShutdownAt」參數。(感謝 @cgw1968 建議)
+* C2 to support auto shutdown "DragonAutoShutDownAt" param. (Thanks to @cgw1968)
+* 修正出現「pedalPressed」的錯誤。(感謝 @Wei 回報)
+* Fixed issue showing "pedalPressed" error. (Thanks to @Wei)
+* 將剎車狀熊顯示於 dp 資訊欄。
+* Added brake indicator to dp infobar.
+* 修正「溫度監控」燈示。
+* Fixed "Temp monitor" indicator.
+* 加入「方向燈取消控制」延遲控制設。(感謝 @wabes 建議)
+* Added delay config to "Disable Lat Control on Blinker". (Thanks to @wabes)
+* 加入巴西版 2020 Corolla Hybrid 指紋v2。(感謝 @berno22 提供)
+* Added Brazil 2020 Corolla Hybrid FPv2. (Thanks to @berno22)
+
+dragonpilot 0.7.5.2
+========================
+* 加入對 VW MQB/PQ 的支援。(感謝 @dingliangxue 移植)
+* Added support to VW MQB/PQ platform. (Thanks to @dingliangxue)
+* 修改成 3 小時後停止供電。(感謝 @Wei 建議)
+* Updated to stop charging after 3 hrs. (Thanks to @Wei)
+* 移除行車記錄下的「碰撞偵測」功能。
+* Removed Impact Detection in Dashcam.
+* 修正開啟「Noctua 風扇」模式導致的錯誤。(感謝 @阿濤 回報)
+* Fixed a bug caused by enabling "Noctua Mod". (Thanks to @阿濤)
+* 修正「位智模式」無法顯示警示的問題。(感謝 @axandres 回報)
+* Fixed alert issue in waze mode. (Thanks to @axandres)
+* 修正無法顯示更新中圖示的問題。
+* Fixed unable to display "UPDATING" icon issue.
+* 加入「允許多次自動換道」功能。(感謝 @阿濤 建議)
+* Added "Allow Continuous Auto Lane Change" Toggle. (Thanks to @阿濤)
+* 修正開機後設定頁面有時會錯誤的問題。(感謝 @salmankhan、@Wei 回報)
+* Fixed setting page crash issue. (Thanks to @salmankhan, @Wei)
+* 修正熄火後一直出現更新訊息的錯誤。(感謝 @Sky Chang 回報)
+* Fixed issue that keep showing update prompt. (Thanks to @Sky Chang)
+
+dragonpilot 0.7.5.1
+========================
+* 修正因同時使用「社群功能」和「自定車型」造成的加減速問題。(特別感謝 @Wei、@Sky Chang、@Han9365、@鄧育林 的測試以及回報。)
+* Fixed acceleration issue caused by used of both "Community Maintain Feature" and "Custom Car Model". (Special Thanks to @Wei, @Sky Chang, @Han9365, @鄧育林)
+* 新增 DragonMaxSpeedLimit 設定值 (mph)，當如果車速高於此值 op 將會停止操控。(感謝 @Anthony 建議)
+* Added DragonMaxSpeedLimit parameter (mph), op will stop controlling when car speed is high than the value. (Thanks to @Anthony)
+* 更新 appd 使用 cnpmjs 來下載 APKs。
+* Updated appd to use cnpmjs to download APKs.
+* 修正更新服務。(感謝 @Wei)
+* Fixed Update Service. (Thanks to @Wei)
+* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v2)。(感謝 明峰 提供)
+* Added Canada 2018 Toyota Sienna LTD fingerprint (v2). (Thanks to 明峰)
+* 新增「通過移動網路上傳」開關
+* Added Upload Over Mobile Network toggle.
+* 新增「通過熱點上傳」開關
+* Added Upload Over Hotspot toggle.
+* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v1)。(感謝 明峰 提供)
+* Added Canada 2018 Toyota Sienna LTD fingerprint (v1). (Thanks to 明峰)
+* 新增大陸版 Volkswagen Golf GTI 指紋 (v1)。(感謝 easyeiji 提供)
+* Added China Volkswagen Golf GTI fingerprint (v1). (Thanks to easyeiji)
+
+dragonpilot 0.7.5.0
+========================
+* 基於最新 openpilot 0.7.5 devel-staging.
+* Based on latest openpilot 0.7.5 devel-staging.
+* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
+* Updated dp logo, special thanks to @wabes for the design.
+* 簡/繁中文版和 i18n 整合成為單一版本。
+* Merged zhs/zht/i18n versions into one.
+* 新增大陸版 CAMRY HYBRID 指紋v2。(感謝 @杜子腾)
+* Added China Camery Hybrid FPv2. (Thanks to @杜子腾)
+* 新增台灣版 Altis HYBRID 指紋v1。(感謝 @Fish)
+* Added Taiwan Altis Hybrid FPv1. (Thanks to @Fish)
+* 新增行駛時關閉畫面功能。
+* Added Screen off while driving feature.
+* 新增倒車時關閉畫面功能。
+* Added Screen off while reversing feature.
+* 新增駕駛介面加入「加速模式」切換鈕。
+* Added acceleration profile toggle onto driving UI.
+* 新增自定車型功能，取代指紋暫存功能。
+* Replaced fingerprint cache with custom car model selector.
+* 新增可調亮度。
+* Added Brightness changer.
+* 新增部分德語支持。(特別感謝 @arne182 提供)
+* Added partial de_DE language support (Thanks to @arne182)
+* 新增停車碰撞偵測記錄功能。
+* Added off road impact detection to dashcam.
+
+2020-05-06
+========================
+* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
+* 中文版整合進 i18n 版。
+* 刪除指紋暫存功能。
+* 新增 CAMERY HIBRID 指紋。(感謝 @杜子腾)
+* 新增行駛時關閉畫面功能。
+* 新增倒車時關閉畫面功能。
+* 新增駕駛介面加入「加速模式」切換鈕。
+* 新增自定義車型。
+
+2020-04-16
+========================
+* [DEVEL] 加入台灣版 2016 Lexus IS200t 指紋。(感謝 Philip / Cody Dai)
+* [DEVEL] 加入台灣版 2016 Toyota Prius 4.5 代指紋。(感謝 Philip)
+* [DEVEL] 加入台灣版 201x Toyota RAV4 4WD 指紋。(感謝 Philip)
+* [DEVEL] 加入台灣版 2020 Toyota Auris w/ LTA 指紋。(感謝 Philip)
+* [DEVEL] 修正 commIssue 錯誤。(感謝 Kent 協助)
+
+2020-04-13
+========================
+* [DEVEL] 加入可調整 Toyota Sng 起步反應值 (DragonToyotaSngResponse)。 (特別感謝 @Wei 提供 PR)
+* [DEVEL] 駕駛介面加入「動態調整車距」按鈕。(感謝 @cgw1968-5779 建議)
+* [DEVEL] 更新 update script。(感謝 深鯨希西 回報)
+
+2020-04-10
+========================
+* [DEVEL] 更新 panda 至最新的 comma:master 分支。
+* [DEVEL] 移除所有的第三方應用改為自動下載。
+* [DEVEL] 移除「啟用原廠 DSU 模式」、「安全帶檢查」、「車門檢查」開關。
+
+2020-03-31
+========================
+* [DEVEL] 更新至 2020-03-31 testing 分支。
+
+2020-03-27
+========================
+* [DEVEL] 更新至最新的 testing 分支:
+ * 加入波蘭版 2015 Lexus NX200T 支援。(感謝 wabes 提供)
+ * 調整「啟用原廠 DSU 模式」為不再需要 AHB 。(Enable Stock DSU Mode no longer requires "AHB" toggle)
+ * 加入「安全帶檢查」、「車門檢查」、「檔位檢查」、「溫度檢查」開關。
+ * 加入曲率學習功能 - Curvature Learner 。(感謝 zorrobyte 提供)
+ * 加入大陸版 2018 Toyota Highlander 支援。(感謝 toyboxZ 提供)
+ * 加入大陸版 2018 Toyota Camry 2.0 支援。(感謝 Rming 提供)
+ * 加入韓文支持。(感謝 crwusiz 提供)
+ * 調整 OFFROAD 主頁翻譯將 "dragonpilot" 改回 "openpilot"。
+
+2020-03-22
+========================
+* [DEVEL] 更新至最新的 testing 分支。
+
+2020-03-17
+========================
+* [DEVEL] 更新至最新的 testing 分支 (commaai:devel-staging 0.7.4)。
+* [DEVEL] 加入動態調整車距功能。(特別感謝 @ShaneSmiskol 提供 PR)
+
+2020-03-14
+========================
+* [DEVEL] 更新 pt-Br (葡萄牙語) 翻譯。(感謝 berno22 提供)
+* [DEVEL] 加入自動關機開關。(感謝 Rzxd 建議)
+* [DEVEL] 調高 Toyota 扭力容錯值。
+* [DEVEL] 優化讀取 dp 設定值。
+* [DEVEL] 加入 2019 手動 Civic 指紋。感謝 (AlexNoop 提供)
+* [DEVEL] dp 功能加入對 Subaru 車系的支援。
+
+2020-03-06
+========================
+* [DEVEL] 加入葡萄牙語支持。(感謝 berno22 提供)
+* [DEVEL] 加入大陸 2018 Camry、2020 RAV4 指紋。(感謝 笨木匠 提供)
+* [DEVEL] 建立 devel-i18n 取代 devel-en。
+* [DEVEL] devel-en is deprecated, please switch to devel-i18n instead.
+
+2020-03-04
+========================
+* [DEVEL] 加入顯示駕駛監控畫面。
+* [DEVEL] 加入加速模式選項。(特別感謝 @arne182, @cgw1968-5779 提供 PR)
+* [DEVEL] 修正 shutdownd 在 comma two 可能會不正常關機的錯誤。(感謝 @Wei, @Rzxd 回報)
+
+2020-02-25
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。
+
+2020-02-21
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。
+
+2020-02-14
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。
+* [DEVEL] 修正錯誤。
+
+2020-02-08
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。
+* [DEVEL] dp 功能加入對現代 (Hyundai) 車系的支援。
+* [DEVEL] 加入神盾測速照相自動啟動的開關。
+* [DEVEL] 更新高德地圖至 v4.5.0.600053。
+* [DEVEL] 使用 0.6.6 版的更新系統。
+* [DEVEL] 修正急剎問題。(感謝 kumar 提供)
+
+2020-01-31
+========================
+* [DEVEL] 移除行車介面電量、溫度顯示，(修正畫面當機、黑屏問題)
+
+2020-01-29
+========================
+* [DEVEL] 修正行車介面錯誤。(感謝 深鲸希西 測試；eisenheim、HeatNation 反應)
+
+2020-01-23
+========================
+* [DEVEL] 加入 Steer Ratio Learner 關閉。(感謝 eisenheim 建議)
+* [DEVEL] 行車介面加入電量、溫度。(感謝 eisenheim 建議)
+* [DEVEL] 優化 appd。
+
+2020-01-19
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.1)。
+* [DEVEL] 調整 appd 和 ALC 邏輯。
+
+2020-01-14
+========================
+* [DEVEL] 加入開機啟動個人熱點。(感謝 eisenheim 建議)
+
+2020-01-08
+========================
+* [DEVEL] 加入大陸版 2018 Lexus RX300 支援。(感謝 cafe 提供)
+* [DEVEL] 加入 DragonBTG 設定。(感謝 CloudJ、低調哥、歐姓Altis車主 提供)
+
+2019-12-31
+========================
+* [DEVEL-ZHS] 加回第三方應用。
+
+2019-12-29
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
+* [DEVEL] 輔助/自動變道改為可調整參數 (進階用戶)。(DragonAssistedLCMinMPH、DragonAutoLCMinMPH、DragonAutoLCDelay)
+* [DEVEL-ZHS] 修正無法運行第三方應用錯誤。(感謝 深鲸希西 反應)
+
+2019-12-18
+========================
+* [DEVEL] 修正自動換道邏輯。
+* [DEVEL] 更新 offroad 翻譯。
+* [DEVEL] 錯誤修正。
+* [DEVEL] 移除美版 2017 Civic Hatchback 指紋。(與其它車型衝突)
+
+2019-12-17
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
+* [DEVEL] 加入輔助換道開關。（24mph / 40kph 以上)
+* [DEVEL] 加入自動換道開關。（40mph / 65kph 以上)
+* [DEVEL] 加入大陸版 2019 雷凌汽油版指紋。 (感謝 Shell 提供)
+* [DEVEL] 加入大陸版 2019 卡羅拉汽油版指紋。 (感謝 Shell 提供)
+* [DEVEL] 加入美版 2017 Civic Hatchback 指紋。(感謝 CFranHonda 提供)
+
+2019-12-10
+========================
+* [DEVEL] 加入位智車機模式。 (Waze Mode)
+
+2019-11-21
+========================
+* [DEVEL] 修正 offroad 翻譯。(感謝 鄧育林 回報)
+* [DEVEL] 調整前車靜止移動偵測參數。
+* [DEVEL] 前車靜止移動偵測可在未啟用 dp 時運作。
+
+2019-11-18
+========================
+* [DEVEL] 修正 offroad 翻譯。(感謝 Cody、鄧育林 回報)
+
+2019-11-18
+========================
+* [DEVEL] 修正 frame 翻譯。
+
+2019-11-15
+========================
+* [DEVEL] 修正不會充電的錯誤。 (感謝 袁昊 反應)
+
+2019-11-15
+========================
+* [DEVEL] 修正充電控制。 (感謝 KT 反應)
+* [DEVEL] 更新 frame 翻譯，改為多語言版。 (感謝 深鲸希西、shaoching885、鄧育林 反應)
+* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
+
+2019-11-12
+========================
+* [DEVEL] 只顯示電量文字 (注意：有時不會更新，需要拔插 USB 線)
+* [DEVEL] 自動偵測並鎖定硬體 (EON / UNO)。
+
+2019-11-12
+========================
+* [DEVEL] 加入鎖定硬體 (EON / UNO) 的程式碼。
+
+2019-11-11
+========================
+* [DEVEL] 更新高德地圖至 v4.3.0.600310 R2098NSLAE
+* [DEVEL] 更新 MiXplorer 至 v6.40.3
+* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
+* [DEVEL] 前車靜止移動偵測加入偵測警示。
+
+2019-11-07
+========================
+* [DEVEL] 讓 Bosch 系統顯示三角。 (感謝 ching885 回報)
+* [DEVEL] 更新 offroad 多語言版簡體中文翻譯 (感謝 Rming 提供)
+
+2019-11-06
+========================
+* [DEVEL] 修正 0.6.6 appd 和 dashcamd 錯誤。 (感謝 鄧育林 回報)
+* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
+
+2019-11-05
+========================
+* [DEVEL] 加入台灣 Lexus 2017 GS450h 支援。 (感謝 簡銘佑 提供指紋)
+
+2019-11-01
+========================
+* [DEVEL] 新增神盾測速照相。 (感謝 Sky Chang 和 Wei Yi Chen)
+* [DEVEL] 修正 offroad 翻譯。 (感謝 Leo Hsieh)
+
+2019-11-01
+========================
+* [DEVEL] 移除 Miui 字型，縮小 dp 使用空間。
+* [DEVEL] 更新 offroad 為多語言版
+* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
+
+2019-10-29
+========================
+* [DEVEL] 加入 SnG 補丁。（感謝 楊雅智)
+
+2019-10-28
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
+* [DEVEL] 調整 dragon_allow_gas 邏輯 (請回報任何問題，需更新 Panda 韌體)
+
+2019-10-18
+========================
+* [DEVEL] 加入前車靜止移動偵測。(測試版，感謝 ucolchen)
+* [DEVEL] 移除強迫網路連線提示。(感謝 Shell)
+* [DEVEL] 修正 allow_gas 功能。
+
+2019-10-18
+========================
+* [DEVEL] 加入彎道減速功能開關。
+* [DEVEL] 強迫使用 dp 版 Panda 韌體。
+* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
+
+2019-10-17
+========================
+* [DEVEL] 加入「車型」顯示於 dp 設定畫面。
+* [DEVEL] 修正充電控制讀取預設值的錯誤。
+* [DEVEL] 修正無法顯示更新記錄的錯誤。
+
+2019-10-16
+========================
+* [DEVEL] 刷新 Panda 韌體按鈕將會自動重啟 EON。(感謝 鄧育林 建議)
+* [DEVEL] 下載更新記錄時使用 "no-cache" 標頭。
+* [DEVEL] 更新高德地圖至 v4.3.0
+* [DEVEL] 刪除 bs (Branch Switcher)
+
+2019-10-14
+========================
+* [DEVEL] 啟用自動更新功能。(感謝 鄧育林 提供)
+* [DEVEL] 清除不再使用的 dp params。
+* [DEVEL] 加入數字電量指示。(感謝 鄧育林 建議)
+* [DEVEL] 加入刷新 Panda 韌體按鈕。
+
+2019-10-11
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
+* [DEVEL] 加入台灣 2019 RAV4 汽油版指紋。 (感謝 Max Duan / CloudJ 提供)
+
+2019-10-09
+========================
+* [DEVEL] 加入當 LatCtrl 關閉時，畫面顯示提示訊息。
+
+2019-10-08
+========================
+* [DEVEL] 加回駕駛監控開關。
+* [DEVEL] 加入 bs (branch switcher) 程式。
+
+2019-10-07
+========================
+* [DEVEL] 加入台灣版 2019 RAV4H 油電版指紋。(感謝 Max Duan 提供)
+
+2019-10-05
+========================
+* [DEVEL] 移除 curvature learner: 轉角明顯比原廠小。
+* [DEVEL] 更新至最新的 commaai:devel (0.6.4)。
+
+2019-09-30
+========================
+* [DEVEL] 更新 curvature learner 版本至 v4。
+* [DEVEL] Lexus ISH 使用更精確的 EPS Steering Angle Sensor
+
+2019-09-27
+========================
+* [DEVEL] 加入 Zorrobyte 的 curvature learner (https://github.com/zorrobyte/openpilot)
+* [DEVEL] 加入可開關駕駛監控的程式碼。
+* [DEVEL] 取消當 steering 出現錯誤時，自動切斷方向控制 2 秒的機制。
+* [DEVEL] 讓行車介面的「方向盤」/「轉彎」圖示半透明化。
+
+2019-09-26
+========================
+* [DEVEL] 修正當「啟用記錄服務」關閉時，make 會有問題的錯誤。 (感謝 shaoching885 和 afa 回報)
+
+2019-09-24
+========================
+* [DEVEL] 行車介面加入可開關的「前車」、「路線」、「車道」設定。
+* [DEVEL] 行車介面加入可開關的「方向燈號」提示。 (感謝 CloudJ 建議，程式碼來源: https://github.com/kegman/openpilot)
+
+2019-09-23
+========================
+* [DEVEL] 優化讀取 params 的次數。
+* [DEVEL] 加入可開關的車道偏移警示。
+* [DEVEL] 修正充電控制邏輯。
+* [DEVEL] 加入台灣 Prius 4.5 指紋。 (感謝 Lin Hsin Hung 提供)
+
+2019-09-20
+========================
+* [DEVEL] 加入充電控制功能。 (感謝 loveloveses 和 KT 建議)
+
+2019-09-16
+========================
+* [DEVEL] 加入台灣 CT200h 指紋。 (感謝 CloudJ 提供)
+* [DEVEL] 加入美版 CT200h 移植。 (感謝 thomaspich 提供)
+
+2019-09-13
+========================
+* [DEVEL] 行車介面加入可開關的「速度顯示」設定。
+
+2019-09-09
+========================
+* [DEVEL] 加入 GreyPanda 模式。
+
+2019-08-28
+========================
+* [DEVEL] 加入可調警示音量。
+
+2019-08-27
+========================
+* [DEVEL] 自動關機改為可調時長。
diff --git a/README.md b/README.md
index cfeb625bf..c9181f19c 100755
--- a/README.md
+++ b/README.md
@@ -1,3 +1,15 @@
+LIMITATION
+------
+* CAN-FD vehicles WILL NOT WORK: this is due to the library in EON/C2 is old and cannot build red panda firmware.
+* Body WILL NOT WORK: again this is due to the library in EON/C2 cannot build its firmware.
+* AI Model REMAINS IN 0.8.16: Too much effort to port tinygrad/pyopencl onto EON/C2, still investigating workarounds.
+* NOO (Navigation On Openpilot) WILL NOT WORK: NOO requires newer driving model to work with nav model, until we resolved the last statement.
+* Logger WILL NOT WORK: It's running at near full capacity with the 0.8.16 driving model, Logger will cause performance/thermal issue.
+
+** In short, consider it as openpilot 0.8.16 version PLUS latest vehicle model support from openpilot master branch.**
+
+** THE BUILD IS VERY DIRTY, for porting/logging purpose we suggest using [openpilot mastertwo branch](https://github.com/commaai/openpilot/tree/commatwo_master).**
+
Table of Contents
@@ -143,7 +155,4 @@ NO WARRANTY EXPRESSED OR IMPLIED.**
[](https://github.com/commaai/openpilot/actions)
-[](https://lgtm.com/projects/g/commaai/openpilot/alerts/)
-[](https://lgtm.com/projects/g/commaai/openpilot/context:python)
-[](https://lgtm.com/projects/g/commaai/openpilot/context:cpp)
[](https://codecov.io/gh/commaai/openpilot)
diff --git a/RELEASES.md b/RELEASES.md
index 7d55887ec..9cfcbafea 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,11 +1,28 @@
-Version 0.9.1 (2022-12-XX)
+Version 0.9.2 (2023-03-XX)
========================
-* Adjust alert volume using ambient noise level
-* Removed driver monitoring timer resetting on interaction if face detected and distracted
+* Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do.
+* Škoda Fabia 2022-23 support thanks to jyoung8607!
+
+Version 0.9.1 (2023-02-28)
+========================
+* New driving model
+ * 30% improved height estimation resulting in better driving performance for tall cars
+* Driver monitoring: removed timer resetting on user interaction if distracted
+* UI updates
+ * Adjust alert volume using ambient noise level
+ * Driver monitoring icon shows driver's head pose
+ * German translation thanks to Vrabetz and CzokNorris!
+* Cadillac Escalade 2017 support thanks to rickygilleland!
* Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler!
* Genesis GV60 2023 support thanks to sunnyhaibin!
* Hyundai Tucson 2022-23 support
+* Kia K5 Hybrid 2020 support thanks to sunnyhaibin!
+* Kia Niro Hybrid 2023 support thanks to sunnyhaibin!
+* Kia Sorento 2022-23 support thanks to sunnyhaibin!
* Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+* Toyota C-HR 2021 support thanks to eFiniLan!
+* Toyota C-HR Hybrid 2022 support thanks to Korben00!
+* Volkswagen Crafter and MAN TGE 2017-23 support thanks to jyoung8607!
Version 0.9.0 (2022-11-21)
========================
diff --git a/cereal/.gitignore b/cereal/.gitignore
index 14cd02eff..d6ec0036c 100644
--- a/cereal/.gitignore
+++ b/cereal/.gitignore
@@ -1,6 +1,4 @@
-gen
-node_modules
-package-lock.json
+/gen/
*.tmp
*.pyc
__pycache__
@@ -18,4 +16,3 @@ services.h
.sconsign.dblite
libcereal_shared.*
.mypy_cache/
-catch2/
diff --git a/cereal/Dockerfile b/cereal/Dockerfile
index 21902d197..49a84719a 100644
--- a/cereal/Dockerfile
+++ b/cereal/Dockerfile
@@ -39,11 +39,12 @@ RUN pyenv install 3.8.10 && \
pyenv rehash && \
pip3 install --no-cache-dir pyyaml==5.1.2 Cython==0.29.14 scons==3.1.1 pycapnp==1.0.0 pre-commit==2.15.0 pylint==2.5.2 parameterized==0.7.4 coverage==5.1 numpy==1.21.1
-WORKDIR /project/cereal/messaging
-RUN git clone https://github.com/catchorg/Catch2.git && \
+WORKDIR /project/
+RUN cd /tmp/ && \
+ git clone https://github.com/catchorg/Catch2.git && \
cd Catch2 && \
git checkout 229cc4823c8cbe67366da8179efc6089dd3893e9 && \
- mv single_include/catch2 ../catch2 && \
+ mv single_include/catch2/ /project/ && \
cd .. \
rm -rf Catch2
diff --git a/cereal/README.md b/cereal/README.md
index cc9cd9145..a07953b97 100644
--- a/cereal/README.md
+++ b/cereal/README.md
@@ -1,4 +1,4 @@
-What is cereal? [](https://github.com/commaai/cereal/actions) [](https://codecov.io/gh/commaai/cereal)
+What is cereal? [](https://github.com/commaai/cereal/actions) [](https://codecov.io/gh/commaai/cereal)
----
cereal is both a messaging spec for robotics systems as well as generic high performance IPC pub sub messaging with a single publisher and multiple subscribers.
diff --git a/cereal/car.capnp b/cereal/car.capnp
index 47fc84a43..4a6793a0f 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -209,9 +209,6 @@ struct CarState {
# clutch (manual transmission only)
clutchPressed @28 :Bool;
- # which packets this state came from
- canMonoTimes @12: List(UInt64);
-
# blindspot sensors
leftBlindspot @33 :Bool; # Is there something blocking the left lane change
rightBlindspot @34 :Bool; # Is there something blocking the right lane change
@@ -220,9 +217,13 @@ struct CarState {
charging @43 :Bool;
# dp
- cruiseActualEnabled @46 :Bool;
- engineRPM @47 :Float32;
- distanceLines @48:UInt8;
+ engineRPM @46 :Float32;
+ distanceLines @47 :UInt8;
+ rightBlindspotD1 @48 :Float32;
+ rightBlindspotD2 @49 :Float32;
+ leftBlindspotD1 @50 :Float32;
+ leftBlindspotD2 @51 :Float32;
+ blindspotside @52 :Float32;
struct WheelSpeeds {
# optional wheel speeds
@@ -277,9 +278,11 @@ struct CarState {
}
}
+ # deprecated
errorsDEPRECATED @0 :List(CarEvent.EventName);
brakeLightsDEPRECATED @19 :Bool;
steeringRateLimitedDEPRECATED @29 :Bool;
+ canMonoTimesDEPRECATED @12: List(UInt64);
}
# ******* radar state @ 20hz *******
@@ -288,9 +291,6 @@ struct RadarData @0x888ad6581cf0aacb {
errors @0 :List(Error);
points @1 :List(RadarPoint);
- # which packets this state came from
- canMonoTimes @2 :List(UInt64);
-
enum Error {
canError @0;
fault @1;
@@ -314,6 +314,9 @@ struct RadarData @0x888ad6581cf0aacb {
# some radars flag measurements VS estimates
measured @6 :Bool;
}
+
+ # deprecated
+ canMonoTimesDEPRECATED @2 :List(UInt64);
}
# ******* car controls @ 100hz *******
@@ -341,6 +344,8 @@ struct CarControl {
cruiseControl @4 :CruiseControl;
hudControl @5 :HUDControl;
+ latController @17 :Text;
+
struct Actuators {
# range from 0.0 - 1.0
gas @0: Float32;
@@ -437,6 +442,15 @@ struct CarParams {
enableBsm @56 :Bool; # blind spot monitoring
flags @64 :UInt32; # flags for car specific quirks
experimentalLongitudinalAvailable @71 :Bool;
+ #dp: enable torque interceptor
+ enableTorqueInterceptor @72 :Bool;
+ #dp: alt tune collection
+ latTuneCollection @73 :LatTunes;
+ struct LatTunes {
+ pid @0 :LateralPIDTuning;
+ lqr @1 :LateralLQRTuning;
+ torque @2 :LateralTorqueTuning;
+ }
minEnableSpeed @7 :Float32;
minSteerSpeed @8 :Float32;
@@ -475,7 +489,7 @@ struct CarParams {
vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping
steerControlType @34 :SteerControlType;
- radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
+ radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out
stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
startAccel @32 :Float32; # Required acceleration to get car moving
@@ -593,10 +607,11 @@ struct CarParams {
subaruLegacy @22; # pre-Global platform
hyundaiLegacy @23;
hyundaiCommunity @24;
- stellantisDEPRECATED @25; # Consolidated with Chrysler; may be recycled for the next new model
+ volkswagenMlb @25;
hongqi @26;
body @27;
hyundaiCanfd @28;
+ volvoC1 @29;
}
enum SteerControlType {
@@ -622,6 +637,7 @@ struct CarParams {
request @5 :List(Data);
brand @6 :Text;
bus @7 :UInt8;
+ logging @8 :Bool;
}
enum Ecu {
diff --git a/cereal/dp.capnp b/cereal/dp.capnp
index a4176eebb..227a4974f 100644
--- a/cereal/dp.capnp
+++ b/cereal/dp.capnp
@@ -14,10 +14,10 @@ struct DragonConf {
dpLateralLanelines @6 :Bool;
dpLateralCameraOffset @7 :Int8;
dpLateralPathOffset @8 :Int8;
- dpIpAddr @9 :Text;
- dpUiTop @10 :Bool;
- dpUiSide @11 :Bool;
- dpUiVolume @12 :Int8;
+ dpLateralRoadEdgeDetected @9 :Bool;
+ dpIpAddr @10 :Text;
+ dpUiTop @11 :Bool;
+ dpUiSide @12 :Bool;
dpUiBrightness @13 :UInt8;
dpUiDisplayMode @14 :UInt8;
dpUiSpeed @15 :Bool;
@@ -27,24 +27,30 @@ struct DragonConf {
dpUiLaneline @19 :Bool;
dpUiChevron @20 :Bool;
dpUiDmCam @21 :Bool;
- dpToyotaSng @22 :Bool;
- dpAccelProfileCtrl @23 :Bool;
- dpAccelProfile @24 :UInt8;
- dpToyotaCruiseOverride @25 :Bool;
- dpToyotaCruiseOverrideSpeed @26 :UInt8;
- dpToyotaAutoLock @27 :Bool;
- dpToyotaAutoUnlock @28 :Bool;
- dpMapd @29 :Bool;
- dpLocalDb @30 :Bool;
- dpDashcamd @31 :Bool;
- dpMazdaSteerAlert @32 :Bool;
- dpSpeedCheck @33 :Bool;
- dpFollowingProfileCtrl @34 :Bool;
- dpFollowingProfile @35 :UInt8;
- dpE2EConditional @36 :Bool;
- dpE2EConditionalAtSpeed @37 :UInt8;
- dpE2EConditionalAtSpeedLead @38 :UInt8;
- dpE2EConditionalAdaptFp @39 :Bool;
- dpE2EConditionalAdaptAp @40 :Bool;
- dpE2EConditionalVoacc @41 :Bool;
+ dpUiRainbow @22 :Bool;
+ dpToyotaSng @23 :Bool;
+ dpAccelProfileCtrl @24 :Bool;
+ dpAccelProfile @25 :UInt8;
+ dpToyotaCruiseOverride @26 :Bool;
+ dpToyotaCruiseOverrideSpeed @27 :UInt8;
+ dpToyotaAutoLock @28 :Bool;
+ dpToyotaAutoUnlock @29 :Bool;
+ dpToyotaDebugBsm @30 :Bool;
+ dpMapd @31 :Bool;
+ dpLocalDb @32 :Bool;
+ dpDashcamd @33 :Bool;
+ dpMazdaSteerAlert @34 :Bool;
+ dpSpeedCheck @35 :Bool;
+ dpFollowingProfileCtrl @36 :Bool;
+ dpFollowingProfile @37 :UInt8;
+ dpLateralAlt @38 :Bool;
+ dpLateralAltSpeed @39 :UInt8;
+ dpLateralAltCtrl @40 :UInt8;
+ dpLateralAltLanelines @41 :Bool;
+ dpLateralAltCameraOffset @42 :Int8;
+ dpLateralAltPathOffset @43 :Int8;
+ dpE2EConditional @44 :Bool;
+ dpE2EConditionalAdaptFp @45 :Bool;
+ dpE2EConditionalAdaptAp @46 :Bool;
+ dpE2EConditionalVoacc @47 :Bool;
}
diff --git a/cereal/libcereal_shared.so b/cereal/libcereal_shared.so
index ea7642913..218734b67 100755
Binary files a/cereal/libcereal_shared.so and b/cereal/libcereal_shared.so differ
diff --git a/cereal/log.capnp b/cereal/log.capnp
index bd39fb9d4..713672c7e 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -166,7 +166,7 @@ struct FrameData {
sensor @26 :ImageSensor;
enum ImageSensor {
unknown @0;
- ar0321 @1;
+ ar0231 @1;
ox03c10 @2;
}
@@ -428,6 +428,8 @@ struct PandaState @0xa7649e2575e4591e {
safetyParam @27 :UInt16;
alternativeExperience @23 :Int16;
safetyRxChecksInvalid @32 :Bool;
+ #dp: enable torque interceptor
+ torqueInterceptorDetected @33 :Bool;
enum FaultStatus {
none @0;
@@ -544,7 +546,6 @@ struct PeripheralState {
}
struct RadarState @0x9a185389d6fdd05f {
- canMonoTimes @10 :List(UInt64);
mdMonoTime @6 :UInt64;
carStateMonoTime @11 :UInt64;
radarErrors @12 :List(Car.RadarData.Error);
@@ -579,6 +580,7 @@ struct RadarState @0x9a185389d6fdd05f {
calStatusDEPRECATED @2 :Int8;
calCycleDEPRECATED @8 :Int32;
calPercDEPRECATED @9 :Int8;
+ canMonoTimesDEPRECATED @10 :List(UInt64);
}
struct LiveCalibrationData {
@@ -615,7 +617,6 @@ struct LiveTracks {
struct ControlsState @0x97ff69c53601abf1 {
startMonoTime @48 :UInt64;
- canMonoTimes @21 :List(UInt64);
longitudinalPlanMonoTime @28 :UInt64;
lateralPlanMonoTime @50 :UInt64;
@@ -652,6 +653,9 @@ struct ControlsState @0x97ff69c53601abf1 {
cumLagMs @15 :Float32;
canErrorCounter @57 :UInt32;
+ # dp - for alt lateral
+ dpLateralAltActive @66 :Bool;
+
lateralControlState :union {
indiState @52 :LateralINDIState;
pidState @53 :LateralPIDState;
@@ -794,6 +798,18 @@ struct ControlsState @0x97ff69c53601abf1 {
jerkFactorDEPRECATED @12 :Float32;
steerOverrideDEPRECATED @20 :Bool;
steeringAngleDesiredDegDEPRECATED @29 :Float32;
+ canMonoTimesDEPRECATED @21 :List(UInt64);
+}
+
+# All SI units and in device frame
+struct XYZTData @0xc3cbae1fd505ae80 {
+ x @0 :List(Float32);
+ y @1 :List(Float32);
+ z @2 :List(Float32);
+ t @3 :List(Float32);
+ xStd @4 :List(Float32);
+ yStd @5 :List(Float32);
+ zStd @6 :List(Float32);
}
struct ModelDataV2 {
@@ -829,16 +845,6 @@ struct ModelDataV2 {
# Model perceived motion
temporalPose @21 :Pose;
- # All SI units and in device frame
- struct XYZTData {
- x @0 :List(Float32);
- y @1 :List(Float32);
- z @2 :List(Float32);
- t @3 :List(Float32);
- xStd @4 :List(Float32);
- yStd @5 :List(Float32);
- zStd @6 :List(Float32);
- }
struct LeadDataV2 {
prob @0 :Float32; # probability that car is your lead at time t
@@ -1034,6 +1040,10 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
leaving @3; # Road ahead straightens. Start to allow positive acceleration.
}
}
+struct UiPlan {
+ position @0 :XYZTData;
+ accel @1 :List(Float32);
+}
struct LateralPlan @0xe1e9318e2ae8b51e {
modelMonoTime @31 :UInt64;
@@ -1210,16 +1220,16 @@ struct ProcLog {
}
struct GnssMeasurements {
- ubloxMonoTime @0 :UInt64;
+ measTime @0 :UInt64;
gpsWeek @1 :Int16;
gpsTimeOfWeek @2 :Float64;
correctedMeasurements @3 :List(CorrectedMeasurement);
- positionECEF @4 :LiveLocationKalman.Measurement;
- velocityECEF @5 :LiveLocationKalman.Measurement;
- # Used for debugging:
- positionFixECEF @6 :LiveLocationKalman.Measurement;
+ kalmanPositionECEF @4 :LiveLocationKalman.Measurement;
+ kalmanVelocityECEF @5 :LiveLocationKalman.Measurement;
+ positionECEF @6 :LiveLocationKalman.Measurement;
+ velocityECEF @7 :LiveLocationKalman.Measurement;
# Todo sync this with timing pulse of ublox
struct CorrectedMeasurement {
@@ -1245,14 +1255,14 @@ struct GnssMeasurements {
}
enum ConstellationId {
- # Satellite Constellation using the Ublox gnssid as index
- gps @0;
- sbas @1;
- galileo @2;
- beidou @3;
- imes @4;
- qznss @5;
- glonass @6;
+ # Satellite Constellation using the Ublox gnssid as index
+ gps @0;
+ sbas @1;
+ galileo @2;
+ beidou @3;
+ imes @4;
+ qznss @5;
+ glonass @6;
}
enum EphemerisSourceType {
@@ -1260,6 +1270,7 @@ struct GnssMeasurements {
# Different ultra-rapid files:
nasaUltraRapid @1;
glonassIacUltraRapid @2;
+ # dp - eon/c2 need this renamed
qcompoly @3;
}
}
@@ -1271,6 +1282,7 @@ struct UbloxGnss {
ionoData @2 :IonoData;
hwStatus @3 :HwStatus;
hwStatus2 @4 :HwStatus2;
+ glonassEphemeris @5 :GlonassEphemeris;
}
struct MeasurementReport {
@@ -1381,6 +1393,7 @@ struct UbloxGnss {
ionoAlpha @38 :List(Float64);
ionoBeta @39 :List(Float64);
+ towCount @40 :UInt32;
}
struct IonoData {
@@ -1435,6 +1448,44 @@ struct UbloxGnss {
flash @4;
}
}
+
+ struct GlonassEphemeris {
+ svId @0 :UInt16;
+ year @1 :UInt16;
+ dayInYear @2 :UInt16;
+ hour @3 :UInt16;
+ minute @4 :UInt16;
+ second @5 :Float32;
+
+ x @6 :Float64;
+ xVel @7 :Float64;
+ xAccel @8 :Float64;
+ y @9 :Float64;
+ yVel @10 :Float64;
+ yAccel @11 :Float64;
+ z @12 :Float64;
+ zVel @13 :Float64;
+ zAccel @14 :Float64;
+
+ svType @15 :UInt8;
+ svURA @16 :Float32;
+ age @17 :UInt8;
+
+ svHealth @18 :UInt8;
+ tk @19 :UInt16;
+ tb @20 :UInt16;
+
+ tauN @21 :Float64;
+ deltaTauN @22 :Float64;
+ gammaN @23 :Float64;
+
+ p1 @24 :UInt8;
+ p2 @25 :UInt8;
+ p3 @26 :UInt8;
+ p4 @27 :UInt8;
+
+ freqNum @28 :UInt32;
+ }
}
struct QcomGnss @0xde94674b07ae51c1 {
@@ -2107,6 +2158,7 @@ struct Event {
carControl @23 :Car.CarControl;
longitudinalPlan @24 :LongitudinalPlan;
lateralPlan @64 :LateralPlan;
+ uiPlan @106 :UiPlan;
ubloxGnss @34 :UbloxGnss;
ubloxRaw @39 :Data;
qcomGnss @31 :QcomGnss;
@@ -2156,7 +2208,7 @@ struct Event {
# UI services
userFlag @93 :UserFlag;
uiDebug @102 :UIDebug;
- # dp reserve 105,106
+ # dp reserve 107,108
# *********** debug ***********
testJoystick @52 :Joystick;
roadEncodeData @86 :EncodeData;
@@ -2164,8 +2216,8 @@ struct Event {
wideRoadEncodeData @88 :EncodeData;
qRoadEncodeData @89 :EncodeData;
- dragonConf @106 :Dp.DragonConf;
- liveMapData @107: LiveMapData;
+ dragonConf @107 :Dp.DragonConf;
+ liveMapData @108 :LiveMapData;
# *********** legacy + deprecated ***********
model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
@@ -2203,6 +2255,7 @@ struct Event {
kalmanOdometryDEPRECATED @65 :Legacy.KalmanOdometry;
uiLayoutStateDEPRECATED @57 :Legacy.UiLayoutState;
pandaStateDEPRECATED @12 :PandaState;
+ # dp - legacy
driverState @59 :DriverState;
sensorEvents @11 :List(SensorEventData);
}
diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
index e1ba4e97b..c695769e6 100644
--- a/cereal/messaging/__init__.py
+++ b/cereal/messaging/__init__.py
@@ -259,4 +259,4 @@ class PubMaster:
self.sock[s].send(dat)
def all_readers_updated(self, s: str) -> bool:
- return self.sock[s].all_readers_updated()
+ return self.sock[s].all_readers_updated() # type: ignore
diff --git a/cereal/messaging/bridge b/cereal/messaging/bridge
index 09ddb155f..dbdef67a8 100755
Binary files a/cereal/messaging/bridge and b/cereal/messaging/bridge differ
diff --git a/cereal/messaging/impl_msgq.h b/cereal/messaging/impl_msgq.h
index b67aae622..fdad52f9e 100644
--- a/cereal/messaging/impl_msgq.h
+++ b/cereal/messaging/impl_msgq.h
@@ -1,8 +1,10 @@
#pragma once
-#include "messaging.h"
-#include "msgq.h"
-#include
+
#include
+#include
+
+#include "cereal/messaging/messaging.h"
+#include "cereal/messaging/msgq.h"
#define MAX_POLLERS 128
diff --git a/cereal/messaging/impl_zmq.h b/cereal/messaging/impl_zmq.h
index bb232049e..deeac859c 100644
--- a/cereal/messaging/impl_zmq.h
+++ b/cereal/messaging/impl_zmq.h
@@ -1,7 +1,10 @@
#pragma once
-#include "messaging.h"
+
#include
#include
+#include
+
+#include "cereal/messaging/messaging.h"
#define MAX_POLLERS 128
diff --git a/cereal/messaging/messaging.h b/cereal/messaging/messaging.h
index 4a184ff70..483b2465c 100644
--- a/cereal/messaging/messaging.h
+++ b/cereal/messaging/messaging.h
@@ -1,10 +1,15 @@
#pragma once
+
#include
#include