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Casey FrancisComma Devicepd0wm
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Masteryota
Masteryota This reverts commit 916f2de. 1.8 accel max 1.25 follow Copied Sport vals from SA-Eco 3 hours off / saves your 12v battery Testing if the deadzone is causing the delay Or maybe it's the high ki values. Testing old known values from previous versions of OP. No deadzone Toyota logo instead of comma 1.2 follow Fork mods Fork mods lower gain, higher prediction, stiffer wheel, higher steer ratio Fork mods commit 5c673b6399737b3e0b9d9d54e0b830e0cb04b185 Author: cfranhonda <46506059+cfranhonda@users.noreply.github.com> Date: Wed Jul 28 15:47:27 2021 -0700 Fix steer max and make ki a bit higher. commit 039cf40ab0ac72ced1c19de6854b7761a109d4e6 Author: Casey Francis <@cfranhonda> Date: Tue Jul 27 23:19:30 2021 -0700 add LQR for other bosch kids commit 95efde9a50bc4ca38a81e5cfdb86d1307db41f3c Author: Casey Francis <@cfranhonda> Date: Tue Jul 27 22:34:51 2021 -0700 add LQR tune Fork mods commit 9b45eb1 Author: Daehyuk Ahn <daehyuk@live.com> Date: Mon May 24 23:14:34 2021 -0700 Add EnableGasPedal (toggle menu) commit 4e9ac3b Author: Casey Francis <@cfranhonda> Date: Sat Aug 21 17:36:22 2021 -0700 full speed fan commit 152dec1 Author: Casey Francis <@cfranhonda> Date: Sat Aug 21 07:45:17 2021 -0700 add vision/ disable radar toggle commit 5c48f3e Author: Casey Francis <@cfranhonda> Date: Sat Aug 21 07:35:54 2021 -0700 vaggy hack to stop jerk commit 87328dd Author: cfranhonda <46506059+cfranhonda@users.noreply.github.com> Date: Mon Aug 23 07:15:05 2021 -0700 eps mod / gasmax adjust commit baffaee Author: Vehicle Researcher <user@comma.ai> Date: Sun Aug 22 22:13:11 2021 -0700 openpilot v0.8.8 release adding "," fws for modded people Update thermald.py No sound for Saturated steering remove no gps alert Update power_monitoring.py Update interface.py green instead of red path LQR toggle add LQR toggle for select Honda's add LQR toggle for modded Civic's & CRV Revert "Universal LQR tune" This reverts commit c10adf7. add LQR toggle change description Universal LQR tune Universal LQR tune This tune taken from the Toyota Rav4 has shown to be a great alternative to the standard PID tune. It's worked very well on eps mod multipliers of 2, 2.5, 3.5, 4x. It climbs the torque scale much smoother and doesn't "jitter" like PID does sometimes. fix LQR for RDX kf under PID only. add Accord to LQR toggle Conflicts: selfdrive/boardd/boardd.cc selfdrive/controls/lib/events.py selfdrive/ui/qt/offroad/settings.cc LQR toggle lower ff +25% Cruise max add to release notes paramsd cpu usage has been increasing boardd: connect to all pandas if none specified (commaai#23805) Refactor convolutions (commaai#23807) * one conv with defines * add conv * building works on C3 * this is num_outputs too, process replay is so useful cleanup import chaining of T_IDXS (commaai#23806) bump panda ui.py: fix model lead plotting Param to allow upload over cellular (commaai#23811) * param to allow upload over cellular * brackets to be consistent * move outside loop * fix tests longitudinal planner: disable change cost when stopped. not engaged or gas pressed (commaai#23639) * disable change cost completely on standstill and gas press * cleanup * set accel to zero * clean up logic around standstill * update ref onroad_test: increase camerad cpu usage after debayer changes Update raw_logger/framereader to new new ffmpeg api (commaai#23799) * Update raw_logger/framereader to new new ffmpeg api * Can be removed now * Handled by avcodec_free_context * handle EAGAIN and clean up thneed: a few asserts in the optimizer for cases it will fail docs: fix title typo cabana for your terminal Fix tici bigmodel (commaai#23817) * Fix bigmodel on tici: cam intrinsics arent static * Give TICI route own name for import * Make function useable in offline test * typo * change tici ecam focal to trained focal * No shadow variable * Fixed ref * Force update this time * Update model replay ref commit 2022 Hyundai Elantra firmware versions (commaai#23818) Added 2022 Hyundai Elantra fwdCamera, transmission, and engine fingerprints. CARS.md add 2022 elantra hyundai: custom fw version for sonata eps (commaai#23816) * hyundai: custom fw version for sonata eps * another comment HKG: Kia Sorento FPv2 (commaai#23815) * Replace Kia Sorento FPv1 with FPv2 * keep old fingerprint Subaru: add FW for Impreza Limited UDM 2017 (commaai#23802) * FPv2: Add Subaru Impreza Limited USM 2017 * test_fw_query_on_routes.py: add subaru support Fix unmetered upload over cell (fix commaai#23811) (commaai#23820) omx encoder: move writing into thread (commaai#23771) * omx encoder: move writing to separate thread * fix include * pop * log buffers sizes * split copy and write adjust comma two model timing thresholds after bigmodel Toyota: fix flaky EV detection (commaai#23825) script to clear DTCs move lock clearing to uploader (commaai#23826) * move lock clearing to uploader * test case Honda: revert to button enable on Nidec (commaai#23828) * Honda: revert to button enable on Nidec * fix test * bump panda Added (Ecu.eps) fingerprint for Hyundai Ioniq EV 2017 (commaai#23823) fix mac_setup w/ tools+plotjuggler (commaai#23552) * fix pycurl issue: * use newer curl backend for pip install * update lib paths based on brew prefix * fix cert issue when using pycurl using certifi * make output setup nicer * fix linter * typo * dont need that actually * revert * pipenv in brew * forgot this * make brew available on fresh install * undo * more undo * oops * use sytem curl, but homebrew openssl replay: use QCoreApplication (commaai#23831) scons: use correct brew prefix (commaai#23833) replay: use VideoToolbox HW decoder on Mac (commaai#23832) * replay: support VideoToolbox HW decoding * rename flag * remove debug assert Fix watch3 on mac (commaai#23834) this seems to about what my car converges to (commaai#23836) boardd: handle missing pandas Subaru: remove Impreza CAN fingerprints (commaai#23841) * Subaru: remove Impreza CAN fingerprints * fix process replay * update refs Toyota: remove outdated comment (commaai#23844) Remove unused MPC_COST_LONG class (commaai#23843) Faster cruise max Update interface.py sport torque for everyone torq boi suggestions torque for everyone Update settings.cc Update interface.py fix prius/camry tune torque for everyone add torque to hondas Update interface.py Fix Honda rename MAX_LAT_ACCEL Rename to MAX_LAT_ACCEL Try more chill tune Revert: That was too chill Update interface.py Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com>
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‎common/params.cc

+1
Original file line numberDiff line numberDiff line change
@@ -177,6 +177,7 @@ std::unordered_map<std::string, uint32_t> keys = {
177177
{"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
178178
{"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
179179
{"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
180+
{"Torque", PERSISTENT},
180181
};
181182

182183
} // namespace

‎selfdrive/assets/img_chffr_wheel.png

-837 Bytes
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‎selfdrive/assets/img_spinner_comma.png

123 KB
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‎selfdrive/car/honda/interface.py

+71-18
Original file line numberDiff line numberDiff line change
@@ -3,6 +3,7 @@
33
from panda import Panda
44
from common.conversions import Conversions as CV
55
from common.numpy_fast import interp
6+
from common.params import Params
67
from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL
78
from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
89
from selfdrive.car.interfaces import CarInterfaceBase
@@ -88,15 +89,20 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
8889
ret.wheelbase = CivicParams.WHEELBASE
8990
ret.centerToFront = CivicParams.CENTER_TO_FRONT
9091
ret.steerRatio = 15.38 # 10.93 is end-to-end spec
92+
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
9193
if eps_modified:
92-
# stock request input values: 0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
93-
# stock request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680
94-
# modified request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x2880, 0x3180
95-
# stock filter output values: 0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108
96-
# modified filter output values: 0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0400, 0x0480
97-
# note: max request allowed is 4096, but request is capped at 3840 in firmware, so modifications result in 2x max
98-
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
99-
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
94+
if Params().get_bool('Torque'):
95+
max_torque = 2.0
96+
friction = 0.05
97+
98+
ret.lateralTuning.init('torque')
99+
ret.lateralTuning.torque.useSteeringAngle = True
100+
ret.lateralTuning.torque.kp = 2.0 / MAX_LAT_ACCEL
101+
ret.lateralTuning.torque.kf = 1.0 / MAX_LAT_ACCEL
102+
ret.lateralTuning.torque.ki = 0.5 / MAX_LAT_ACCEL
103+
ret.lateralTuning.torque.friction = friction
104+
else:
105+
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
100106
else:
101107
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
102108
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
@@ -108,9 +114,24 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
108114
ret.wheelbase = CivicParams.WHEELBASE
109115
ret.centerToFront = CivicParams.CENTER_TO_FRONT
110116
ret.steerRatio = 15.38 # 10.93 is end-to-end spec
111-
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
117+
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2564, 8000], [0, 2564, 3840]]
118+
if eps_modified:
119+
if Params().get_bool('Torque'):
120+
max_torque = 2.0
121+
friction = 0.05
122+
123+
ret.lateralTuning.init('torque')
124+
ret.lateralTuning.torque.useSteeringAngle = True
125+
ret.lateralTuning.torque.kp = 2.0 / MAX_LAT_ACCEL
126+
ret.lateralTuning.torque.kf = 1.0 / MAX_LAT_ACCEL
127+
ret.lateralTuning.torque.ki = 0.5 / MAX_LAT_ACCEL
128+
ret.lateralTuning.torque.friction = friction
129+
else:
130+
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.36], [0.108]] #minus 10% from 0.4, 0.12
131+
else:
132+
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
133+
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
112134
tire_stiffness_factor = 1.
113-
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
114135

115136
elif candidate in (CAR.ACCORD, CAR.ACCORDH):
116137
stop_and_go = True
@@ -119,13 +140,20 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
119140
ret.centerToFront = ret.wheelbase * 0.39
120141
ret.steerRatio = 16.33 # 11.82 is spec end-to-end
121142
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
122-
tire_stiffness_factor = 0.8467
123-
124-
if eps_modified:
125-
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
143+
if Params().get_bool('Torque'):
144+
max_torque = 2.0
145+
friction = 0.05
146+
147+
ret.lateralTuning.init('torque')
148+
ret.lateralTuning.torque.useSteeringAngle = True
149+
ret.lateralTuning.torque.kp = 2.0 / MAX_LAT_ACCEL
150+
ret.lateralTuning.torque.kf = 1.0 / MAX_LAT_ACCEL
151+
ret.lateralTuning.torque.ki = 0.5 / MAX_LAT_ACCEL
152+
ret.lateralTuning.torque.friction = friction
126153
else:
127154
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
128-
155+
tire_stiffness_factor = 0.8467
156+
129157
elif candidate == CAR.ACURA_ILX:
130158
stop_and_go = False
131159
ret.mass = 3095. * CV.LB_TO_KG + STD_CARGO_KG
@@ -158,7 +186,19 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
158186
# stock request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
159187
# modified request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x1ACD, 0x239A, 0x2800
160188
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]]
161-
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
189+
# Use LQR tune if param is set
190+
if Params().get_bool('Torque'):
191+
max_torque = 2.0
192+
friction = 0.05
193+
194+
ret.lateralTuning.init('torque')
195+
ret.lateralTuning.torque.useSteeringAngle = True
196+
ret.lateralTuning.torque.kp = 2.0 / MAX_LAT_ACCEL
197+
ret.lateralTuning.torque.kf = 1.0 / MAX_LAT_ACCEL
198+
ret.lateralTuning.torque.ki = 0.5 / MAX_LAT_ACCEL
199+
ret.lateralTuning.torque.friction = friction
200+
else:
201+
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
162202
else:
163203
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
164204
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
@@ -223,11 +263,24 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
223263
ret.mass = 4068. * CV.LB_TO_KG + STD_CARGO_KG
224264
ret.wheelbase = 2.75
225265
ret.centerToFront = ret.wheelbase * 0.41
226-
ret.steerRatio = 11.95 # as spec
266+
ret.steerRatio = 16.0 #11.95 is spec
227267
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
228-
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
268+
if Params().get_bool('Torque'):
269+
max_torque = 2.0
270+
friction = 0.05
271+
272+
ret.lateralTuning.init('torque')
273+
ret.lateralTuning.torque.useSteeringAngle = True
274+
ret.lateralTuning.torque.kp = 2.0 / MAX_LAT_ACCEL
275+
ret.lateralTuning.torque.kf = 1.0 / MAX_LAT_ACCEL
276+
ret.lateralTuning.torque.ki = 0.5 / MAX_LAT_ACCEL
277+
ret.lateralTuning.torque.friction = friction
278+
else:
279+
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
280+
ret.lateralTuning.pid.kf = 0.00007818594
229281
tire_stiffness_factor = 0.677
230282

283+
231284
elif candidate == CAR.ODYSSEY:
232285
stop_and_go = False
233286
ret.mass = 4471. * CV.LB_TO_KG + STD_CARGO_KG

‎selfdrive/car/honda/values.py

+9
Original file line numberDiff line numberDiff line change
@@ -546,6 +546,15 @@ class HondaCarInfo(CarInfo):
546546
b'39990-TGG-J510\x00\x00',
547547
b'39990-TGL-E130\x00\x00',
548548
b'39990-TGN-E120\x00\x00',
549+
b'39990-TBA,C020\x00\x00',
550+
b'39990-TBA,C120\x00\x00',
551+
b'39990-TEA,T820\x00\x00',
552+
b'39990-TEZ,T020\x00\x00',
553+
b'39990-TGG,A020\x00\x00',
554+
b'39990-TGG,A120\x00\x00',
555+
b'39990-TGG,J510\x00\x00',
556+
b'39990-TGL,E130\x00\x00',
557+
b'39990-TGN,E120\x00\x00',
549558
],
550559
(Ecu.srs, 0x18da53f1, None): [
551560
b'77959-TBA-A060\x00\x00',

‎selfdrive/car/toyota/interface.py

+13-3
Original file line numberDiff line numberDiff line change
@@ -2,6 +2,8 @@
22
from cereal import car
33
from common.conversions import Conversions as CV
44
from panda import Panda
5+
from common.numpy_fast import interp
6+
from common.params import Params
57
from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune
68
from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams
79
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
@@ -86,7 +88,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
8688
ret.steerRatio = 13.7
8789
tire_stiffness_factor = 0.7933
8890
ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
89-
if candidate in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
91+
if Params().get_bool('Torque'):
9092
set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.4, FRICTION=0.05)
9193
else:
9294
set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
@@ -185,7 +187,10 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
185187
ret.steerRatio = 13.4 # True steerRatio from older prius
186188
tire_stiffness_factor = 0.6371 # hand-tune
187189
ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
188-
set_lat_tune(ret.lateralTuning, LatTunes.PID_N)
190+
if Params().get_bool('Torque'):
191+
set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.00191, FRICTION=0.112391)
192+
else:
193+
set_lat_tune(ret.lateralTuning, LatTunes.PID_N)
189194

190195
elif candidate == CAR.MIRAI:
191196
stop_and_go = True
@@ -241,7 +246,12 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
241246
set_long_tune(ret.longitudinalTuning, LongTunes.PEDAL)
242247
elif candidate in TSS2_CAR:
243248
set_long_tune(ret.longitudinalTuning, LongTunes.TSS2)
244-
ret.stoppingDecelRate = 0.3 # reach stopping target smoothly
249+
# Improved longitudinal tune settings from sshane
250+
ret.vEgoStopping = 0.2 # car is near 0.1 to 0.2 when car starts requesting stopping accel
251+
ret.vEgoStarting = 0.2 # needs to be > or == vEgoStopping
252+
ret.stoppingDecelRate = 0.3 # reach stopping target smoothly - seems to take 0.5 seconds to go from 0 to -0.4
253+
ret.longitudinalActuatorDelayLowerBound = 0.3
254+
ret.longitudinalActuatorDelayUpperBound = 0.3
245255
else:
246256
set_long_tune(ret.longitudinalTuning, LongTunes.TSS)
247257

‎selfdrive/controls/lib/events.py

+5-5
Original file line numberDiff line numberDiff line change
@@ -251,10 +251,10 @@ def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messag
251251
def no_gps_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
252252
gps_integrated = sm['peripheralState'].pandaType in (log.PandaState.PandaType.uno, log.PandaState.PandaType.dos)
253253
return Alert(
254-
"Poor GPS reception",
255-
"Hardware malfunctioning if sky is visible" if gps_integrated else "Check GPS antenna placement",
256-
AlertStatus.normal, AlertSize.mid,
257-
Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=300.)
254+
"",
255+
"If sky is visible, contact support" if gps_integrated else "",
256+
AlertStatus.normal, AlertSize.none,
257+
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2)
258258

259259
# *** debug alerts ***
260260

@@ -547,7 +547,7 @@ def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster,
547547
"Take Control",
548548
"Turn Exceeds Steering Limit",
549549
AlertStatus.userPrompt, AlertSize.mid,
550-
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 1.),
550+
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, 1., 1., 1.),
551551
},
552552

553553
# Thrown when the fan is driven at >50% but is not rotating

‎selfdrive/controls/lib/longitudinal_planner.py

+2-2
Original file line numberDiff line numberDiff line change
@@ -17,8 +17,8 @@
1717
LON_MPC_STEP = 0.2 # first step is 0.2s
1818
AWARENESS_DECEL = -0.2 # car smoothly decel at .2m/s^2 when user is distracted
1919
A_CRUISE_MIN = -1.2
20-
A_CRUISE_MAX_VALS = [1.2, 1.2, 0.8, 0.6]
21-
A_CRUISE_MAX_BP = [0., 15., 25., 40.]
20+
A_CRUISE_MAX_VALS = [2.5, 3.0, 2.5, 1.5, 1.2] # Sets the limits of the planner accel, PID may exceed
21+
A_CRUISE_MAX_BP = [0., 5., 10., 20., 55.]
2222

2323
# Lookup table for turns
2424
_A_TOTAL_MAX_V = [1.7, 3.2]

‎selfdrive/manager/manager.py

+1
Original file line numberDiff line numberDiff line change
@@ -41,6 +41,7 @@ def manager_init() -> None:
4141
("DisengageOnAccelerator", "1"),
4242
("HasAcceptedTerms", "0"),
4343
("OpenpilotEnabledToggle", "1"),
44+
("DisableRadar_Allow", "1"),
4445
]
4546
if not PC:
4647
default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')))

‎selfdrive/thermald/power_monitoring.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -20,7 +20,7 @@
2020

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VBATT_PAUSE_CHARGING = 11.0 # Lower limit on the LPF car battery voltage
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VBATT_INSTANT_PAUSE_CHARGING = 7.0 # Lower limit on the instant car battery voltage measurements to avoid triggering on instant power loss
23-
MAX_TIME_OFFROAD_S = 30*3600
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MAX_TIME_OFFROAD_S = 3*3600 #3 hours
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MIN_ON_TIME_S = 3600
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class PowerMonitoring:

‎selfdrive/ui/qt/offroad/settings.cc

+6
Original file line numberDiff line numberDiff line change
@@ -71,6 +71,12 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
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"When enabled, pressing the accelerator pedal will disengage openpilot.",
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"../assets/offroad/icon_disengage_on_accelerator.svg",
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},
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{
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"Torque",
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"Use Torque Tune",
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"Use Torque tuning values. For select models only..",
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"../assets/offroad/icon_openpilot.png",
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},
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#ifdef ENABLE_MAPS
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{
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"NavSettingTime24h",

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