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Shane Smiskol edited this page Nov 20, 2020 · 25 revisions

Allow Gas Press

With this commit, you can enable gas press without disengaging. The unsafe_mode setting has changed in 0.7.9/0.7.10 so here's what works now.

This method of setting unsafe_mode is completely endorsed by comma and doesn't require changing any panda firmware code which is strongly discouraged.

Support Grey Panda on 0.7.10+

I've gone through the pain of reverting and fixing merge conflicts on the master branch so you can easily cherry-pick this commit to your own fork! Since some cereal alerts were changed, to avoid cereal submodule issues I simply renamed the alerts in openpilot to match the DEPRECATED alert names. This cherry-picks in a breeze, if it doesn't let me know!

Adjustable Following Distance

Here is how you can add adjustable TR support to your fork: https://github.com/ShaneSmiskol/openpilot/commit/814176baecb35200cc82693ad84af082d119199c

Just git cherry-pick it! Of course you need to modify the line in long_mpc.py to include a TR and optionally (but recommended) adjust the distance cost.

The line to adjust, simply add a float following distance as an extra argument.

How To Cherry Pick These Commits

  1. Assuming you're on another/your own fork, you'll need to fetch my repository in order for git to cherry pick my commits. For me, this operation uses ~200MB on top of commaai/openpilot. 
    git remote add shanesmiskol https://github.com/ShaneSmiskol/openpilot
git fetch shanesmiskol
  2. Now that you fetched my repository locally, you can use the git cherry-pick command on any commit here! For example, to support grey panda, run the following: 
    git cherry-pick 8a6af65430b4e21509d7bb16942bc594daf23218
    If you're lucky and there are no merge conflicts, simply push; a merge commit has already been made. Else, resolve the conflicts and commit and push!
Clone this wiki locally