dragonpilot beta3

date: 2024-02-12T12:52:55
commit: 0f5fdc8c6be06fb8901e8be8f3fa7d00596eb1f4

Author: dragonpilot

.gitignore

@@ -88,5 +88,3 @@ build/
 
 poetry.toml
 Pipfile
-
-third_party/mapd/

CHANGELOGS.md

@@ -1,4 +1,31 @@
-dragonpilot beta3 2023.12.23
+dragonpilot beta3 2024.02.12
+=======================
+* Comma 0.9.6 release
+  * New driving model (Los Angles V2)
+    * Vision model trained on more data
+    * Improved driving performance
+    * Directly outputs curvature for lateral control
+  * New driver monitoring model
+    * Trained on larger dataset
+  * AGNOS 9 (9.6)
+  * comma body streaming and controls over WebRTC
+  * Improved fuzzy fingerprinting for many makes and models
+  * Hyundai Staria 2023 support thanks to sunnyhaibin!
+  * Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+  * Toyota RAV4 2023-24 support
+  * Toyota RAV4 Hybrid 2023-24 support
+* DP HIGHLIGHT:
+  * TSS2 long, Dynamic Follow and Accel profile tune has been updated.
+  * New version of dynamic e2e with twice and fast detection.
+    * De2e will now slow down for upcoming turns when using NOO.
+  * Auto lane change assist (USE IT AT YOUR OWN RISK).
+  * Optimized/Refactored NOO Voice Guidence.
+  * Re-added: Rainbow road path.
+  * Re-added: Full screen Nav.
+  * Re-added: Toyota Low Speed Override.
+  * Bug fixes and improvements.
+
+dragonpilot beta3 [2023.12.23]
 =======================
 * Comma 0.9.6 release
   * New driving model (Blue Diamond).
@@ -12,7 +39,7 @@ dragonpilot beta3 2023.12.23
   * Toyota RAV4 Hybrid 2023 support
 * DP HIGHLIGHT:
   * Flight Panel (compass, height, pitch).
-  * Model Confidence indicator (in the max speed box). 
+  * Model Confidence indicator (in the max speed box).
   * New version of dynamic e2e controller with better detection logic.
   * Adjustable lane change speed (default 20mph, OFF = no control during lane change)
   * TSS2 long, Dynamic Follow and Accel profile tune has been updated.

README.md

@@ -13,7 +13,7 @@ What is openpilot?
   </tr>
 </table>
 
-Running on a dedicated device in a car
+To start using openpilot in a car
 ------
 
 To use openpilot in a car, you need four things:
@@ -22,30 +22,21 @@ To use openpilot in a car, you need four things:
 3. **Supported Car:** Ensure that you have one of [the 250+ supported cars](docs/CARS.md).
 4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/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](https://comma.ai/setup).
+We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.
 
-Running on PC
-------
-
-All openpilot services can run as usual on a PC without requiring special hardware or a car. You can also run openpilot on recorded or simulated data to develop or experiment with openpilot.
-
-With openpilot's tools, you can plot logs, replay drives, and watch the full-res camera streams. See [the tools README](tools/README.md) for more information.
-
-You can also run openpilot in simulation [with the MetaDrive simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine.
-
-A PC running openpilot can also control your vehicle if it is connected to a [webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and a [harness](https://comma.ai/shop/products/car-harness).
-
-Community and Contributing
+To start developing openpilot
 ------
 
 openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot).
 
 * Join the [community Discord](https://discord.comma.ai)
 * Check out [the contributing docs](docs/CONTRIBUTING.md)
+* Check out the [openpilot tools](tools/)
+* Read about the [development workflow](docs/WORKFLOW.md)
 * Code documentation lives at https://docs.comma.ai
 * Information about running openpilot lives on the [community wiki](https://github.com/commaai/openpilot/wiki)
 
-Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](docs/BOUNTIES.md).
+Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](docs/BOUNTIES.md) for external contributors.
 
 Safety and Testing
 ----

RELEASES.md

@@ -1,14 +1,19 @@
-Version 0.9.6 (20XX-XX-XX)
+Version 0.9.6 (2024-02-XX)
 ========================
 * New driving model
   * Vision model trained on more data
   * Improved driving performance
+  * Directly outputs curvature for lateral control
+* New driver monitoring model
+  * Trained on larger dataset
 * AGNOS 9
 * comma body streaming and controls over WebRTC
+* Improved fuzzy fingerprinting for many makes and models
 * Hyundai Staria 2023 support thanks to sunnyhaibin!
 * Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
-* Toyota RAV4 2023 support
-* Toyota RAV4 Hybrid 2023 support
+* Lexus LC 2024 support thanks to nelsonjchen!
+* Toyota RAV4 2023-24 support
+* Toyota RAV4 Hybrid 2023-24 support
 
 Version 0.9.5 (2023-11-17)
 ========================

body/board/inc/stm32f4xx.h

@@ -8,8 +8,8 @@
   *          is using in the C source code, usually in main.c. This file contains:
   *           - Configuration section that allows to select:
   *              - The STM32F4xx device used in the target application
-  *              - To use or not the peripheral’s drivers in application code(i.e. 
-  *                code will be based on direct access to peripheral’s registers 
+  *              - To use or not the peripheral's drivers in application code(i.e. 
+  *                code will be based on direct access to peripheral's registers 
   *                rather than drivers API), this option is controlled by 
   *                "#define USE_HAL_DRIVER"
   *  

body/board/obj/body.bin

@@ -1 +1 @@
-const uint8_t gitversion[8] = "4ba36d72";
+const uint8_t gitversion[8] = "e92d1f09";

body/board/obj/body.bin.signed

@@ -51,7 +51,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     parkBrake @29;
     manualRestart @30;
     lowSpeedLockout @31;
-    plannerError @32;
     joystickDebug @34;
     steerTempUnavailableSilent @35;
     resumeRequired @36;
@@ -142,6 +141,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     startupFuzzyFingerprintDEPRECATED @97;
     noTargetDEPRECATED @25;
     brakeUnavailableDEPRECATED @2;
+    plannerErrorDEPRECATED @32;
   }
 }
 
@@ -601,7 +601,8 @@ struct CarParams {
   enum SteerControlType {
     torque @0;
     angle @1;
-    curvature @2;
+
+    curvatureDEPRECATED @2;
   }
 
   enum TransmissionType {

body/board/obj/body.elf

@@ -65,7 +65,11 @@ struct ControlsStateExt @0xda96579883444c35 {
   alkaEnabled @1 :Bool;
 }
 
-struct CustomReserved4 @0x80ae746ee2596b11 {
+struct NavInstructionExt @0x80ae746ee2596b11 {
+  voiceDistance @0: Text;
+  voiceDirection @1: Text;
+  iconDistance @2: Text;
+  iconDirection @3: Text;
 }
 
 struct CustomReserved5 @0xa5cd762cd951a455 {