mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-18 16:33:57 +08:00
ee5c1c4507
* allow re-regage * bump opendbc * bump panda * apply pause/resume fix for hyundai (should do this in a separate PR) * bump opendbc * fix * rename * Fix? * make sure to disengage for allow always cars * fix * combine * more fix * not needed * check if engagement is from openpilot's state machine * Rename * fix panda safety * fix * no fake lfa button for @devtekve ;) * fix non drive gear re-engage * fix settings * combine * add replace method * use replace * remoev already checks if it exists * fix * group * add todo * reserve events * cleaner * hyundai: only allow for cars with lfa button * sunnyParams * make sure it's car only * Move car-specific changes to opendbc * no need * bump opendbc * more fixes * no more available * more! * final? * always emit user disable * no longer needed * move unit test * add sunnypilot to unit tests * bump opendbc * use new cereal * bump opendbc * static analysis * no unittest * no need available * UI border update * show MADS updates * Add TODO * no longer needed * fix changed events * fix cluster enabled * don't add pre enable if not long * should use enabled * enabled <-> active * better format * bump opendbc * static analysis * static analysis * Rename test as collector was dying * Show our overriding * Revert "show MADS updates" This reverts commitdaf0ad62Revert "fix changed events" This reverts commit31d8c97f* ignoring reserved events * adjusting creation delays * back to stock removing allow_cancel * should be enabled * revert * silent lkas disable * no need * user disable tests * just warning * MUST REMOVE test process replay * fix no entry * fixme * bump opendbc * need this check * cleanup * allow entering paused state if no entry from disabled * brake hold should apply to all * in lists * update unit test * simpler * unused * same thing * fix * only mads in enabled state and long in disabled state * unify silent enable * do this for dlob * bump submodules * fix * bump submodules * bump opendbc * less frequent * more events * fix * allow no entry to paused for non-drive gears * fix * use cereal * Revert "allow no entry to paused for non-drive gears" This reverts commit6d64a4dd9c. * allow in all * Revert "allow in all" This reverts commit6375f14891. * should not be all! * rename for clarity * silent park brake * flipped * bump submodules * Bump to latest mads-new panda * bump panda * more nissan * bump panda * bump msgq * bump panda * bump submodules * bump opendbc * bump opendbc * improving the state * Revert "PlayStation® model (#34133)" This reverts commit5160bee543. * should be none * bump panda * bump opendbc * Apply suggestions from code review * bump panda * bump ref panda * add todo-sp * bump panda ref * bump more panda * changing refs * nuke nuke nuke * use sunny's newer states * bump with new panda * bump panda * Parse more flags from alt exp, more tests, hyundai main cruise allowed * Parse more flags from alt exp, more tests, hyundai main cruise allowed * missed * mutation for controls allowed rising edge * ford mutation * license * remove * unused * bump submodules * use always allowed mads button alt exp * fix * whitelist jason's lastname to codespell * test_processes: update ref logs to82c0278* bump submodules * bump submodules * bump submodules * bump panda * add controls mismatch lateral event * Simplify lateral disengagement logic for MADS configuration Reversed the conditional to align the logic with the `disengage_lateral_on_brake` parameter. This ensures that lateral disengagement behavior is more intuitive and matches the expected configuration. Improves code readability and reduces potential misconfigurations. * remove unified engagement mode in panda * controls allow should be allowed at all times * squash! treat MADS button as user entry * heartbeat for mads * heartbeat mismatch exit control * remove always allow mads button from alt * move to safety_mads * remove main cruise allowed from alt * bump panda * heartbeat engaged mads mismatch mutation test * bump panda * use mads the third panda * ignore pre enable with mads * only force exit if actually actuating * use brake signal instead of pedal events when dlob is active * fix tests * fix panda tests * bump panda * new events to retain long blocks * format * uem: do not engage mads if long is engaged * bump submodules * fix not allowed engaged bug * block uem from engaging * flipped * use different heartbeat check if dlob * hard code to skip heartbeat check * remove toyota lta status for lkas, causes weird behaviors * block tesla * bump panda * bump to merged panda * bump opendbc * bump opendbc * bump opendbc * bump opendbc * Apply suggestions from code review * code ignore spells * needs to be in carstate * Bump opendbc * Update MADS toggle descriptions for clarity. Added notes to clarify behavior of the "MadsMainCruiseAllowed" setting, particularly its impact on vehicles without LFA/LKAS buttons. This ensures users are informed about potential implications when disabling this feature. * Updating translations + Adding spanish * Disengage Lateral on Brake -> Pause Lateral on Brake * test_processes: update ref logs todd41005* Apply suggestions from code review * fix mads button not allowed * bump submodules * bump submodule * test_processes: update ref logs to0a0b998* has multiple lists * Revert "has multiple lists" This reverts commita37c1d26fe. * base * Reapply "has multiple lists" This reverts commitd1cd8dcc81. * migrate mads toggles to sp panel * this is why it keeps crashing * house keeping * more housekeeping * more housekeeping * don't show description by default (yet) * reset to main panel when clicked away * more * some more with interactions * don't stretch cause it looks weird with descriptions * simpler to handle offroad transition * some are toggleable while onroad * remove unused event * slight cleanup * default to true for HKG main cruise toggle * append to list after * add Customize MADS to UI preview * simpler * move to sp list * how tf was this removed * update mads settings button on show event * test_processes: update ref logs toefa9c32--------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
openpilot
openpilot is an operating system for robotics.
Currently, it upgrades the driver assistance system in 275+ supported cars.
Docs · Roadmap · Contribute · Community · Try it on a comma 3X
Quick start: bash <(curl -fsSL openpilot.comma.ai)
Using openpilot in a car
To use openpilot in a car, you need four things:
- Supported Device: a comma 3/3X, available at comma.ai/shop.
- Software: The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL
openpilot.comma.aito install the release version. - Supported Car: Ensure that you have one of the 275+ supported cars.
- Car Harness: You will also need a car harness to connect your comma 3/3X to your car.
We have detailed instructions for how to install the harness and device in a car. Note that it's possible to run openpilot on other hardware, although it's not plug-and-play.
Branches
| branch | URL | description |
|---|---|---|
release3 |
openpilot.comma.ai | This is openpilot's release branch. |
release3-staging |
openpilot-test.comma.ai | This is the staging branch for releases. Use it to get new releases slightly early. |
nightly |
openpilot-nightly.comma.ai | This is the bleeding edge development branch. Do not expect this to be stable. |
nightly-dev |
installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars. |
To start developing openpilot
openpilot is developed by comma and by users like you. We welcome both pull requests and issues on GitHub.
- Join the community Discord
- Check out the contributing docs
- Check out the openpilot tools
- Read about the development workflow
- Code documentation lives at https://docs.comma.ai
- Information about running openpilot lives on the community wiki
Want to get paid to work on openpilot? comma is hiring and offers lots of bounties for external contributors.
Safety and Testing
- openpilot observes ISO26262 guidelines, see SAFETY.md for more details.
- openpilot has software-in-the-loop tests that run on every commit.
- The code enforcing the safety model lives in panda and is written in C, see code rigor for more details.
- panda has software-in-the-loop safety tests.
- Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
- panda has additional hardware-in-the-loop tests.
- We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
Licensing
openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT. YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS. NO WARRANTY EXPRESSED OR IMPLIED.
User Data and comma Account
By default, openpilot uploads the driving data to our servers. You can also access your data through comma connect. We use your data to train better models and improve openpilot for everyone.
openpilot is open source software: the user is free to disable data collection if they wish to do so.
openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs. The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
By using openpilot, you agree to our Privacy Policy. You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.