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687 Commits

Author SHA1 Message Date
Jason Wen
53327edb50 Merge branch 'upstream/openpilot/master' into sync-20260111 
# Conflicts:
#	common/api.py
#	docs/CARS.md
#	opendbc_repo
#	panda
#	scripts/lint/lint.sh
#	selfdrive/car/car_specific.py
#	selfdrive/car/card.py
#	selfdrive/test/process_replay/ref_commit
#	system/hardware/hardwared.py
#	tinygrad_repo
 2026-01-20 07:29:25 -05:00
Harald Schäfer
0b41b42f7b WMI model 🍉 (#36798) 
* 1791ea0f-8667-4e0b-be73-084d912f6c4c/100

* eab53871-1f8c-45be-9a98-f6b3dd6a0adc/100

* dd075c9d-0c49-402e-b4f2-9adbe5301c84/100

* e8b5b1b0-2d37-4b62-bd39-21ff0d08ee68/100

* 1aff00c7-06c5-46a6-8a79-7e56f77d81bf/100

* 3547a2cc-1699-4e7d-a2ab-4eb87d0b8684/100

* 849aa9fb-dae6-4604-923e-050883def218/100

* 0e0f6dd2-96dc-4f34-a7cd-63bccc2f5616/100

* 887f923b-7e79-43c6-8f1f-053e1490f859/100

* 1fa82260-1171-4db5-9968-d34ce2e14694/100

* Revert "1fa82260-1171-4db5-9968-d34ce2e14694/100"

This reverts commit 855f5e4ddefd69a20cc4e9da004eb53f3e00d950.

* a27b3122-733e-4a65-938b-acfebebbe5e8/100

---------

Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu>
 2026-01-19 11:48:06 -08:00
Matt Purnell
1f9efd9311 transformations: move Cython to pure Python (#36830) 
* Remove cython for transformations

* Add new test

* Switch back to program to fix mac builds

* Convert to Python instead

* Fix failing builds

* lint

* Implement conversion in pure python/numpy

* Add more tests

* Fix bugs in tests
 2026-01-16 22:31:26 -08:00
Harald Schäfer
f51c2aeced Modeld: less lat smoothing (#36987) 
* lat is plenty smooth!

* fix
 2026-01-09 15:04:33 -08:00
Harald Schäfer
3edb3243f6 SC driving (#36986) 
f1d30a23-4122-400a-80a6-557502284c36/200
 2026-01-09 09:16:57 -08:00
YassineYousfi
c693bc1247 MacroStiff Model 🟥🟩🟦🟨 (#36972) 
* 8c06e95e-d7c0-4fd9-ba02-9f0b6848785e/400

* test

* test

* test now
 2026-01-05 16:14:05 -08:00
Jason Wen
03c8494dbc Merge branch 'upstream/openpilot/master' into sync-20251213 
# Conflicts:
#	README.md
#	common/api.py
#	docs/CARS.md
#	opendbc_repo
#	panda
#	selfdrive/ui/mici/layouts/offroad_alerts.py
#	system/ui/README.md
#	system/version.py
 2025-12-13 01:50:42 -05:00
Harald Schäfer
9421e1cbfe Dark Souls 2 (#36849) 
4b78e2e6-660f-4155-9105-81d4d8c658cd/400
 2025-12-12 18:04:16 -08:00
Bruce Wayne
0871a35c10 Revert "Dark Souls Model (#36764)" 
This reverts commit 83dad85cdd.
 2025-12-11 19:43:53 -08:00
Harald Schäfer
83dad85cdd Dark Souls Model (#36764) 
a4cf2707-3d69-49ea-af8b-f91cd3285249/400
 2025-12-03 12:55:33 -08:00
Bruce Wayne
c67afb45ae dead test 2025-11-24 14:20:20 -08:00
discountchubbs
ceed203de7 Merge remote-tracking branch 'openpilot/master' into nov-19-sync 2025-11-21 09:42:54 -08:00
YassineYousfi
1398bdb10e dmonitoringmodeld: follow same pattern as modeld (#36636) 
* dmonitoringmodeld: follow same pattern as modeld

* lint

* oops

* rename
 2025-11-19 09:23:13 -08:00
Jason Wen
08e85808c5 Merge branch 'upstream/openpilot/master' into sync-20251114 
# Conflicts:
#	.github/workflows/ci_weekly_run.yaml
#	.github/workflows/raylib_ui_preview.yaml
#	.github/workflows/tests.yaml
#	.gitmodules
#	README.md
#	SConstruct
#	common/api.py
#	common/params_keys.h
#	docs/CARS.md
#	msgq_repo
#	opendbc_repo
#	panda
#	selfdrive/car/tests/test_car_interfaces.py
#	selfdrive/controls/controlsd.py
#	selfdrive/controls/lib/latcontrol.py
#	selfdrive/controls/lib/latcontrol_angle.py
#	selfdrive/controls/lib/latcontrol_pid.py
#	selfdrive/controls/lib/latcontrol_torque.py
#	selfdrive/controls/tests/test_latcontrol.py
#	selfdrive/monitoring/helpers.py
#	selfdrive/ui/SConscript
#	selfdrive/ui/main.cc
#	selfdrive/ui/qt/body.h
#	selfdrive/ui/qt/home.cc
#	selfdrive/ui/qt/home.h
#	selfdrive/ui/qt/network/networking.cc
#	selfdrive/ui/qt/network/networking.h
#	selfdrive/ui/qt/network/wifi_manager.cc
#	selfdrive/ui/qt/offroad/developer_panel.cc
#	selfdrive/ui/qt/offroad/developer_panel.h
#	selfdrive/ui/qt/offroad/experimental_mode.cc
#	selfdrive/ui/qt/offroad/firehose.cc
#	selfdrive/ui/qt/offroad/firehose.h
#	selfdrive/ui/qt/offroad/onboarding.cc
#	selfdrive/ui/qt/offroad/onboarding.h
#	selfdrive/ui/qt/offroad/settings.cc
#	selfdrive/ui/qt/offroad/settings.h
#	selfdrive/ui/qt/offroad/software_settings.cc
#	selfdrive/ui/qt/onroad/alerts.cc
#	selfdrive/ui/qt/onroad/annotated_camera.h
#	selfdrive/ui/qt/onroad/buttons.cc
#	selfdrive/ui/qt/onroad/buttons.h
#	selfdrive/ui/qt/onroad/driver_monitoring.cc
#	selfdrive/ui/qt/onroad/hud.cc
#	selfdrive/ui/qt/onroad/hud.h
#	selfdrive/ui/qt/onroad/model.cc
#	selfdrive/ui/qt/onroad/model.h
#	selfdrive/ui/qt/onroad/onroad_home.cc
#	selfdrive/ui/qt/onroad/onroad_home.h
#	selfdrive/ui/qt/request_repeater.h
#	selfdrive/ui/qt/sidebar.cc
#	selfdrive/ui/qt/sidebar.h
#	selfdrive/ui/qt/util.cc
#	selfdrive/ui/qt/widgets/cameraview.h
#	selfdrive/ui/qt/widgets/controls.cc
#	selfdrive/ui/qt/widgets/controls.h
#	selfdrive/ui/qt/widgets/input.cc
#	selfdrive/ui/qt/widgets/input.h
#	selfdrive/ui/qt/widgets/prime.cc
#	selfdrive/ui/qt/widgets/prime.h
#	selfdrive/ui/qt/widgets/ssh_keys.h
#	selfdrive/ui/qt/widgets/toggle.h
#	selfdrive/ui/qt/widgets/wifi.cc
#	selfdrive/ui/qt/widgets/wifi.h
#	selfdrive/ui/qt/window.cc
#	selfdrive/ui/qt/window.h
#	selfdrive/ui/tests/cycle_offroad_alerts.py
#	selfdrive/ui/tests/test_ui/run.py
#	selfdrive/ui/translations/main_ar.ts
#	selfdrive/ui/translations/main_de.ts
#	selfdrive/ui/translations/main_es.ts
#	selfdrive/ui/translations/main_fr.ts
#	selfdrive/ui/translations/main_ja.ts
#	selfdrive/ui/translations/main_ko.ts
#	selfdrive/ui/translations/main_nl.ts
#	selfdrive/ui/translations/main_pl.ts
#	selfdrive/ui/translations/main_pt-BR.ts
#	selfdrive/ui/translations/main_th.ts
#	selfdrive/ui/translations/main_tr.ts
#	selfdrive/ui/translations/main_zh-CHS.ts
#	selfdrive/ui/translations/main_zh-CHT.ts
#	selfdrive/ui/ui.cc
#	selfdrive/ui/ui.h
#	system/manager/build.py
#	system/version.py
 2025-11-16 02:50:28 -05:00
ZwX1616
b778da1d7c dmonitoringmodeld: clean up data structures (#36624) 
* update onnx

* get meta

* start

* cast

* deprecate notready

* more

* line too long

* 2
 2025-11-14 14:29:04 -08:00
James Vecellio-Grant
90cbb09482 tinygrad: sync tinygrad and recompile models (#1464) 
* ref

* add in the fixes

* Update fetcher.py

* Update helpers.py

* force push same commit so we can restart CI
 2025-11-14 00:03:00 -05:00
Harald Schäfer
a1795f80dd Latest tinygrad (#36615) 
* Latest tinygrad

* jit batch size

* bump again

* limit upcast

* latest tgf

* upstream tg
 2025-11-13 17:08:14 -08:00
ZwX1616
cc8f6eadfe DM: Medium Fanta model 🥤 (#36409) 
M fanta: e456b6c5-2dd0-400e-bf0f-6bb5a908971a
 2025-10-21 13:58:48 -07:00
YassineYousfi
3c957c6e9d The Cool People's model 😎 (#36249) 
* cb8f0d7e-6627-4d7f-ad97-10d0078f2d2c/400

* ci?

* fd9a6816-8758-466b-bbde-3c1413b98f0a/400
 2025-10-20 14:09:42 -07:00
YassineYousfi
4d085424f8 North Nevada Model 🏜️ (#36276) 
* e2d9c622-25a8-4ccd-8c8e-c62537b7aa0c/400

* 0e620593-e85f-40c2-9adf-1e945651ed13/400
 2025-10-09 12:58:27 -07:00
ZwX1616
d24a14cb39 DM: Large Donut model 🍩 (#36198) 
* 59cfd731-6f80-4857-9271-10d952165079/225

* deprecate at the end
 2025-09-30 20:32:19 -07:00
Adeeb Shihadeh
cf5b743de6 build system cleanups (#36202) 
* it's all common

* never getting fixed

* it's just tici

* reorders

* qcom2 -> tici

* Revert "qcom2 -> tici"

This reverts commit f4d849b2952cb0e662975805db6a1d32511ed392.

* Reapply "qcom2 -> tici"

This reverts commit 58b193cb8de872830f8a7821a339edca14e4a337.

* is tici

* lil more

* Revert "is tici"

This reverts commit a169be18d3fdcb3ef8317a63a89d8becadabfad8.

* Revert "Reapply "qcom2 -> tici""

This reverts commit 26f9c0e7d068fc8a1a5f07383b3616e619cd4e8c.

* qcom2 -> __tici__

* lil more

* mv lenv

* clean that up

* lil more]

* fix

* lil more
 2025-09-25 20:55:14 -07:00
commaci-public
b6e0d4807a [bot] Update Python packages (#36184) 
* Update Python packages

* not available anymore

* also this

* also this

* maybe?

* version

* try

* Revert "version"

This reverts commit 9ac4401b9ca59677b82736faff8baf66861df5f2.

* revert

* cffi

* issue

* comment

---------

Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
 2025-09-20 20:10:51 -07:00
James Vecellio-Grant
b32c6dafee modeld: add laneline helper for plan indices calculation (#1240) 
* modeld: add laneline_helper for plan X indices calculation

* spacing

* keep type hints

* openpilot

* sunnypilot/models/helpers

add modeld helpers to helpers

* Send it from each fill message

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
 2025-09-14 21:45:22 -04:00
Jason Wen
ec8f036850 Merge branch 'upstream/openpilot/master' into sync-20250908 
# Conflicts:
#	.github/workflows/selfdrive_tests.yaml
#	README.md
#	docs/CARS.md
#	opendbc_repo
#	panda
#	selfdrive/car/tests/test_car_interfaces.py
#	selfdrive/modeld/modeld.py
#	selfdrive/selfdrived/selfdrived.py
#	selfdrive/ui/translations/main_ar.ts
#	selfdrive/ui/translations/main_de.ts
#	selfdrive/ui/translations/main_es.ts
#	selfdrive/ui/translations/main_fr.ts
#	selfdrive/ui/translations/main_ja.ts
#	selfdrive/ui/translations/main_ko.ts
#	selfdrive/ui/translations/main_pt-BR.ts
#	selfdrive/ui/translations/main_th.ts
#	selfdrive/ui/translations/main_tr.ts
#	selfdrive/ui/translations/main_zh-CHS.ts
#	selfdrive/ui/translations/main_zh-CHT.ts
#	system/hardware/hardwared.py
#	system/updated/updated.py
#	tinygrad_repo
#	uv.lock
 2025-09-13 15:23:36 -04:00
Armand du Parc Locmaria
3ca9f351a0 nevada model 🌵 (#36114) 
cd29ffcf-01dd-4f1c-8808-dc197c174f1d
 2025-09-12 12:45:52 -07:00
Harald Schäfer
f0f04d4b5b Firehose model (#36087) 
816ce390-c41a-42fa-a5df-f393cbe2dcc4/400
 2025-09-04 18:51:29 -07:00
James Vecellio-Grant
9447aa0e3d modeld: turn desires (#1182) 
* Add modelDataV2SP and lane turn logic implementation

Note: still need to hook up to other modeld's create unit test, fix stuff, and do the UI for it

* add unit tests for lane turn logic

* Add lane turn desire controls to models panel

* use `events_sp` instead of `events`

* integrate modelDataV2SP messaging to the other modeld controllers

* move this to that

* use min for general population here, on custom branches, change this to max :)

* Update events.py

Co-authored-by: royjr <royjr96@gmail.com>

* Update events.py

Co-authored-by: royjr <royjr96@gmail.com>

* refactor lane turn value control into one method

* Update selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc

* add integration tests for lane turn desire

* 10 updates is possibly more representative of real life

* real objects ofc

* desc: add toggle description for clarity

---------

Co-authored-by: royjr <royjr96@gmail.com>
 2025-09-03 05:49:12 -07:00
ZwX1616
a2c5fca787 modeld input queues class (#36072) 
* move from xx

* no get_single

* stupid name

* thats fine

* desire_pulse

* 1less

* desire->desire_pulse

* simplify

* reduce copies

* more less
 2025-08-27 17:54:53 -07:00
ZwX1616
f8ff156869 modeld: desire->desire_pulse (#36076) 
consistent naming
 2025-08-27 13:48:23 -07:00
Jason Wen
798e9071d8 Merge branch 'upstream/openpilot/master' into sync-20250823 
# Conflicts:
#	.github/workflows/release.yaml
#	README.md
#	RELEASES.md
#	common/params_keys.h
#	docs/CARS.md
#	opendbc_repo
#	panda
#	release/build_stripped.sh
#	selfdrive/controls/lib/longitudinal_planner.py
#	selfdrive/modeld/modeld.py
#	selfdrive/ui/feedback/feedbackd.py
#	selfdrive/ui/translations/main_ar.ts
#	selfdrive/ui/translations/main_de.ts
#	selfdrive/ui/translations/main_es.ts
#	selfdrive/ui/translations/main_fr.ts
#	selfdrive/ui/translations/main_ja.ts
#	selfdrive/ui/translations/main_ko.ts
#	selfdrive/ui/translations/main_pt-BR.ts
#	selfdrive/ui/translations/main_th.ts
#	selfdrive/ui/translations/main_tr.ts
#	selfdrive/ui/translations/main_zh-CHS.ts
#	selfdrive/ui/translations/main_zh-CHT.ts
#	system/version.py
#	uv.lock
 2025-08-24 14:52:21 -04:00
YassineYousfi
d097a0c201 model parser: fix lead mhp out shape (#36024) 
* model parser: fix lead mhp out shape

* fix for real
 2025-08-19 11:35:22 -07:00
YassineYousfi
3d24225cc1 model parser: use check missing for mhp checks (#36023) 
* model parser: use check missing for mhp checks

* lint + support re

* lint...

* no walrus

* just remove

* forgot this
 2025-08-19 10:19:00 -07:00
YassineYousfi
51314fa9fe Revert "model parser: use check missing for mhp checks" (#36022) 
Revert "model parser: use check missing for mhp checks (#36020)"

This reverts commit 803b54ebdb.
 2025-08-19 10:09:59 -07:00
YassineYousfi
803b54ebdb model parser: use check missing for mhp checks (#36020) 
* model parser: use check missing for mhp checks

* lint + support re

* lint...

* no walrus

* just remove
 2025-08-19 10:09:09 -07:00
Harald Schäfer
ceb557058c Steam Powered model (#36000) 
* f3e67f3e-6079-48cf-92a4-dee5eebd1d73/360

* f3e67f3e-6079-48cf-92a4-dee5eebd1d73/400

* No more action head: a8f96b93-bde2-4e28-a732-4df21ebba968/400
 2025-08-17 10:18:30 -07:00
Jason Wen
6c4c0c00b4 Merge branch 'upstream/openpilot/master' into sync-20250812 
# Conflicts:
#	opendbc_repo
#	selfdrive/controls/controlsd.py
#	selfdrive/controls/lib/latcontrol_angle.py
#	selfdrive/controls/lib/latcontrol_pid.py
#	selfdrive/controls/lib/latcontrol_torque.py
 2025-08-12 23:11:18 -04:00
YassineYousfi
8deb1bf285 Down To Ride model 🏎️ (#35982) 
* e9237324-4b92-48f5-acaa-ebdf7fe46339/400

* ff4c292c-8e5a-44c0-9b75-e79c60152da2/400

* 1496451e-897b-4a1b-a284-37d244bfddb3/400

* Revert "Revert TR again (#35179)"

This reverts commit e9cea3ae5c.

* try stopping closer

* 5e4cb3d3-b9cc-45c7-a476-38083e75029c/400

* 2164d501-7d2c-467d-b132-be4f85db4164/60

* Revert "2164d501-7d2c-467d-b132-be4f85db4164/60"

This reverts commit 1f4b98ed7d63971507dff94e5ac20223ee15e067.

* 9a836aee-dec6-4f26-8d7e-6db4bb9c8176

* no replace ln

* Revert "no replace ln"

This reverts commit fb5173ced84bb8a07a4e06a5bec43d115404973b.

* opset_version 17

* rebase

* 5f255b73-2e54-46bc-8f80-82c5838165a3/400

* a423dec7-7dcc-4523-aaae-a4012d56b9b5/400

---------

Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com>
 2025-08-12 19:01:56 -07:00
Harald Schäfer
cd087a561e Simple plan (#35980) 
* squash

* double

* proper merge

* better organization
 2025-08-11 17:42:03 -07:00
YassineYousfi
c78b302b93 Space Lab 3 🛰️🛰️🛰️ (#35905) 
* c147a591-1f86-4ea4-b2b7-391eff1178b5/400

* 6d6639ee-643e-4f72-bd1c-dda546383854/400
 2025-08-11 14:07:01 -07:00
Jason Wen
1bc12f1e21 Reapply "LagdToggle: refactor and only instantiate once" (#1137) (#1138) 
* Reapply "`LagdToggle`: refactor and only instantiate once" (#1137)

This reverts commit b4f19d4860.

* infinite woo gone

* use them hz
 2025-08-09 22:50:29 -04:00
Jason Wen
b4f19d4860 Revert "LagdToggle: refactor and only instantiate once" (#1137) 
Revert "`LagdToggle`: refactor and only instantiate once (#1130)"

This reverts commit 6ae668e987.
 2025-08-09 20:06:10 -04:00
Jason Wen
6ae668e987 LagdToggle: refactor and only instantiate once (#1130) 
* wrap the params

* just 1 class and use a single param for now

* refactor

* fix

* cache itself

* no longer

* rename

* type hint

* in helpers instead

* lint

* all

* init as 0 to pass ci

* init as 0 to pass ci

* return_default

* fix init

* add LAT_SMOOTH_SECONDS directly in modeld, temp remove dynamic desc, red difffffffff
 2025-08-09 16:51:31 -04:00
Jason Wen
d6474aa0a9 Merge branch 'upstream/openpilot/master' into sync-20250731 
# Conflicts:
#	.github/workflows/selfdrive_tests.yaml
#	common/params.h
#	common/params_keys.h
#	common/params_pyx.pyx
#	docs/CARS.md
#	opendbc_repo
#	panda
#	selfdrive/car/tests/test_models.py
#	selfdrive/pandad/pandad.cc
#	selfdrive/pandad/pandad.h
#	selfdrive/selfdrived/selfdrived.py
#	selfdrive/ui/translations/main_ar.ts
#	selfdrive/ui/translations/main_de.ts
#	selfdrive/ui/translations/main_es.ts
#	selfdrive/ui/translations/main_fr.ts
#	selfdrive/ui/translations/main_ja.ts
#	selfdrive/ui/translations/main_ko.ts
#	selfdrive/ui/translations/main_pt-BR.ts
#	selfdrive/ui/translations/main_th.ts
#	selfdrive/ui/translations/main_tr.ts
#	selfdrive/ui/translations/main_zh-CHS.ts
#	selfdrive/ui/translations/main_zh-CHT.ts
#	system/athena/athenad.py
#	system/athena/manage_athenad.py
#	system/manager/manager.py
#	system/sentry.py
#	uv.lock
Sync: `commaai/opendbc:master` into `sunnypilot/opendbc:master`

Sync: `commaai/panda:master` into `sunnypilot/panda:master`
 2025-08-02 00:21:14 -04:00
Harald Schäfer
5c252ded72 Space Lab 2 (#35816) 
* d2971977-a56f-44a2-b368-434af987b731/400

* f35eaf21-ef51-413d-9857-398bcdabb7da
 2025-07-26 21:21:33 -07:00
Harald Schäfer
35ed6bc3a9 Tinygrad DEV=DEVICE (#35814) 
* Reapply "Tinygrad DEV=DEVICE (#35809)"

This reverts commit 5e07636d54.

* bump tg
 2025-07-26 21:21:25 -07:00
Bruce Wayne
5e07636d54 Revert "Tinygrad DEV=DEVICE (#35809)" 
This reverts commit 47f23828d2.
 2025-07-25 12:54:11 -07:00
Harald Schäfer
47f23828d2 Tinygrad DEV=DEVICE (#35809) 
* bump tg

* step one cleanup

* cleanup

* typo

* cleaner

* cleaner

* Revert "cleaner"

This reverts commit 9c1abd0dc06b4564e61dd32b0e93375badbc9ca5.

* usbgpu

* bit cleaner

* cleaner sconscript
 2025-07-25 11:53:08 -07:00
YassineYousfi
938981dce9 Space Lab Model 🛰️ (#35804) 
* 95c34be5-4fa1-4875-8b1d-fb7162140f10/400

* 660235c5-1647-40c4-8493-880de8f662d0/400
 2025-07-25 11:38:07 -07:00
Jimmy
7e0d3c22f4 modeld: skip redundant cast, reshape, and flatten (#35735) 
* skip redundant cast, reshape, and flatten

* accidentally deleted a newline lol
 2025-07-22 16:35:19 -07:00