IQ.Pilot Release Commit @ d400490

artifacts/iqpilot_hephaestusd_private/manifest.json

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@@ -46,67 +46,67 @@
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   }
 }

iqdbc_repo/conftest.py

@@ -4,6 +4,59 @@ collect_ignore_glob = [
   "iqdbc/safety/tests/misra/cppcheck/",
 ]
 
+# --- host test harness -------------------------------------------------------
+# tesla/volkswagen carstate+carcontroller import the closed-source ALC / odometer
+# runtime via import_verified_module(), which gates on a rootfs integrity manifest
+# that only exists on-device. Off-device (host CI / dev), install minimal stubs so
+# the whole car interface set is importable and test_car_interfaces can collect and
+# run. On-device the manifest is present and these stubs are never installed, so the
+# real verified modules are used.
+import os as _os
+
+if not _os.path.exists("/usr/libexec/iqpilot/runtime_integrity.json"):
+  import sys as _sys
+  import types as _types
+
+  def _stub_module(name, attrs):
+    mod = _types.ModuleType(name)
+    for key, value in attrs.items():
+      setattr(mod, key, value)
+    _sys.modules[name] = mod
+
+  _noop = lambda *args, **kwargs: None  # noqa: E731
+
+  class _VehicleOdometerStoreStub:
+    def __init__(self, *args, **kwargs):
+      pass
+
+    def record(self, km):
+      return km
+
+  _stub_module("iqpilot_private.konn3kt.iqlvbs.vehicle_state",
+               {"VehicleOdometerStore": _VehicleOdometerStoreStub})
+  _stub_module("iqpilot_private.konn3kt.iqlvbs.alc", {
+    "angle_lateral_control_enabled": lambda *a, **k: False,
+    "update_vw_alc": _noop,
+    "append_private_apd": _noop,
+    "update_mqb_carstate_alc_state": _noop,
+    "update_mlb_carstate_alc_state": _noop,
+    "update_pq_carstate_alc_state": _noop,
+  })
+  _stub_module("iqpilot_private.konn3kt.iqlvbs.iqlvbs_commander", {})
+  _stub_module("iqpilot_private.konn3kt.hephaestus.vw_pq_flasher", {})
+
+  try:
+    from openpilot.system.proprietary_runtime import _verified_import as _vi
+    _real_import_verified_module = _vi.import_verified_module
+
+    def _import_verified_module(bundle, module):
+      return _sys.modules.get(module) or _real_import_verified_module(bundle, module)
+
+    _vi.import_verified_module = _import_verified_module
+  except Exception:
+    pass
+# --- end host test harness ---------------------------------------------------
+
 _ABSTRACT_BASES = frozenset(("CarSafetyTest", "AolSafetyTestBase", "SafetyTest", "SafetyTestBase"))
 
 def _method_from_base(cls, method_name):

iqdbc_repo/iqdbc/car/chrysler/carstate.py

@@ -4,8 +4,8 @@ from iqdbc.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS
 from iqdbc.car.common.conversions import Conversions as CV
 from iqdbc.car.interfaces import CarStateBase
 
-from iqdbc.iqpilot.car.chrysler.carstate_ext import CarStateExt
 from iqdbc.iqpilot.car.chrysler.aol import AolCarState
+from iqdbc.iqpilot.car.chrysler.carstate_ext import CarStateExt
 
 ButtonType = structs.CarState.ButtonEvent.Type
 
@@ -114,7 +114,10 @@ class CarState(CarStateBase, AolCarState, CarStateExt):
 
   @staticmethod
   def get_can_parsers(CP, CP_IQ):
+    pt_messages: list = []
+    cam_messages: list = []
+    AolCarState.get_parser(CP, pt_messages, cam_messages)
     return {
-      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 0),
+      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, 0),
-      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 2),
+      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, 2),
     }

iqdbc_repo/iqdbc/car/chrysler/fingerprints.py

@@ -1,10 +1,10 @@
 """ AUTO-FORMATTED USING iqdbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
 from iqdbc.car.structs import CarParams
 from iqdbc.car.chrysler.values import CAR
-
 from iqdbc.iqpilot.car.fingerprints_ext import merge_fw_versions
 from iqdbc.iqpilot.car.chrysler.fingerprints_ext import FW_VERSIONS_EXT
 
+
 Ecu = CarParams.Ecu
 
 FW_VERSIONS = {
@@ -789,4 +789,6 @@ FW_VERSIONS = {
   },
 }
 
+
+
 FW_VERSIONS = merge_fw_versions(FW_VERSIONS, FW_VERSIONS_EXT)

iqdbc_repo/iqdbc/car/chrysler/interface.py

@@ -100,9 +100,10 @@ class CarInterface(CarInterfaceBase):
       stock_cp.wheelbase = 3.79
       stock_cp.steerRatio = 19.
 
+    # LKAS heartbeat on bus 0 (msg 0x4FF) means the camera is on the ADAS bus and
+    # IQ.Pilot can steer down to a standstill.
     if 0x4FF in fingerprint[0]:
       ret.flags |= ChryslerFlagsIQ.NO_MIN_STEERING_SPEED.value
       stock_cp.minSteerSpeed = 0.
 
-
     return ret

iqdbc_repo/iqdbc/car/ford/carstate.py

@@ -5,17 +5,14 @@ from iqdbc.car.ford.fordcan import CanBus
 from iqdbc.car.ford.values import DBC, CarControllerParams, FordFlags
 from iqdbc.car.interfaces import CarStateBase
 
-from iqdbc.iqpilot.car.ford.aol import AolCarState
-
 ButtonType = structs.CarState.ButtonEvent.Type
 GearShifter = structs.CarState.GearShifter
 TransmissionType = structs.CarParams.TransmissionType
 
 
-class CarState(CarStateBase, AolCarState):
+class CarState(CarStateBase):
   def __init__(self, CP, CP_IQ):
     CarStateBase.__init__(self, CP, CP_IQ)
-    AolCarState.__init__(self, CP, CP_IQ)
     can_define = CANDefine(DBC[CP.carFingerprint][Bus.pt])
     if CP.transmissionType == TransmissionType.automatic:
       self.shifter_values = can_define.dv["PowertrainData_10"]["TrnRng_D_Rq"]
@@ -112,8 +109,6 @@ class CarState(CarStateBase, AolCarState):
     self.acc_tja_status_stock_values = cp_cam.vl["ACCDATA_3"]
     self.lkas_status_stock_values = cp_cam.vl["IPMA_Data"]
 
-    AolCarState.update_aol(self, ret, can_parsers)
-
     ret.buttonEvents = [
       *create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise}),
       *create_button_events(self.lc_button, prev_lc_button, {1: ButtonType.lkas}),

iqdbc_repo/iqdbc/car/gm/fingerprints.py

@@ -1,7 +1,6 @@
 # ruff: noqa: E501
 """ AUTO-FORMATTED USING iqdbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
 from iqdbc.car.gm.values import CAR
-
 from iqdbc.iqpilot.car.fingerprints_ext import merge_fingerprints
 from iqdbc.iqpilot.car.gm.fingerprints_ext import FINGERPRINTS_EXT
 
@@ -54,6 +53,9 @@ FINGERPRINTS = {
   }],
   CAR.CHEVROLET_SILVERADO: [{
     190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
+  },
+  {
+    190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 3, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
   }],
   CAR.CHEVROLET_EQUINOX: [{
     190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
@@ -78,4 +80,5 @@ FINGERPRINTS = {
 FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {
 }
 
+
 FINGERPRINTS = merge_fingerprints(FINGERPRINTS, FINGERPRINTS_EXT)

iqdbc_repo/iqdbc/car/gm/interface.py

@@ -16,7 +16,7 @@ from iqdbc.iqpilot.car.gm.values_ext import GMFlagsIQ, GMSafetyFlagsIQ
 TransmissionType = structs.CarParams.TransmissionType
 NetworkLocation = structs.CarParams.NetworkLocation
 
-# iqpilot-specific torque parameters for Bolt cars that actually use the d parameter
+# Bolt Non-ACC uses the 4th (d) tune parameter; stock tunes zero it out.
 NON_LINEAR_TORQUE_PARAMS_IQ = {
   CAR.CHEVROLET_BOLT_NON_ACC: [2.24, 1.1, 0.28, -0.07],
   CAR.CHEVROLET_BOLT_NON_ACC_1ST_GEN: [1.8, 1.1, 0.3, -0.045],
@@ -241,11 +241,10 @@ class CarInterface(CarInterfaceBase, CarInterfaceExt):
                      CAR.CHEVROLET_BOLT_NON_ACC_2ND_GEN, CAR.CHEVROLET_TRAILBLAZER_NON_ACC_2ND_GEN):
       stock_cp.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, stock_cp.lateralTuning)
-
     elif candidate in (CAR.CHEVROLET_EQUINOX_NON_ACC_3RD_GEN, ):
       CarInterfaceBase.configure_torque_tune(candidate, stock_cp.lateralTuning)
 
-    # NON_ACC vehicles should use camera car speed thresholds
+    # Non-ACC cars steer/long via the forward camera and pcmCruise, not the ASCM.
     if ret.flags & GMFlagsIQ.NON_ACC:
       stock_cp.dashcamOnly = False
       stock_cp.alphaLongitudinalAvailable = False
@@ -254,13 +253,13 @@ class CarInterface(CarInterfaceBase, CarInterfaceExt):
       stock_cp.pcmCruise = True
       stock_cp.safetyConfigs[0].safetyParam |= GMSafetyFlags.HW_CAM.value
       ret.iqSafetyFlags |= GMSafetyFlagsIQ.NON_ACC
-      stock_cp.minEnableSpeed = 24 * CV.MPH_TO_MS  # 24 mph
+      stock_cp.minEnableSpeed = 24 * CV.MPH_TO_MS
-      stock_cp.minSteerSpeed = 3.0   # ~6 mph
+      stock_cp.minSteerSpeed = 3.0
 
-    # dashcamOnly platforms: untested platforms, need user validations
+    # Untested Non-ACC platforms ship dashcam-only pending user validation.
     if candidate in (CAR.CHEVROLET_BOLT_NON_ACC_2ND_GEN, CAR.CHEVROLET_EQUINOX_NON_ACC_3RD_GEN,
-                     CAR.CHEVROLET_SUBURBAN_NON_ACC_11TH_GEN, CAR.CADILLAC_CT6_NON_ACC_1ST_GEN, CAR.CHEVROLET_TRAILBLAZER_NON_ACC_2ND_GEN,
+                     CAR.CHEVROLET_SUBURBAN_NON_ACC_11TH_GEN, CAR.CADILLAC_CT6_NON_ACC_1ST_GEN,
-                     CAR.CADILLAC_XT5_NON_ACC_1ST_GEN):
+                     CAR.CHEVROLET_TRAILBLAZER_NON_ACC_2ND_GEN, CAR.CADILLAC_XT5_NON_ACC_1ST_GEN):
       stock_cp.dashcamOnly = True
 
     return ret

iqdbc_repo/iqdbc/car/gm/values.py

@@ -4,9 +4,8 @@ from enum import Enum, IntFlag
 from iqdbc.car import Bus, PlatformConfig, DbcDict, Platforms, CarSpecs
 from iqdbc.car.structs import CarParams
 from iqdbc.car.docs_definitions import CarDocs, CarFootnote, CarHarness, CarParts, Column, SupportType
-from iqdbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
-
 from iqdbc.iqpilot.car.gm.values_ext import GMFlagsIQ
+from iqdbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = CarParams.Ecu
 
@@ -88,13 +87,6 @@ class GMCarDocs(CarDocs):
       self.car_parts = CarParts.common([CarHarness.obd_ii])
 
 
-@dataclass
-class GMNonAccCarDocs(GMCarDocs):
-  package: str = "No Adaptive Cruise Control (Non-ACC)"
-  support_type: SupportType = SupportType.COMMUNITY
-  support_link: str = "community"
-
-
 @dataclass(frozen=True, kw_only=True)
 class GMCarSpecs(CarSpecs):
   tireStiffnessFactor: float = 0.444  # not optimized yet
@@ -123,6 +115,13 @@ class GMSDGMPlatformConfig(GMPlatformConfig):
     self.car_docs = []
 
 
+@dataclass
+class GMNonAccCarDocs(GMCarDocs):
+  package: str = "No Adaptive Cruise Control (Non-ACC)"
+  support_type: SupportType = SupportType.COMMUNITY
+  support_link: str = "community"
+
+
 @dataclass
 class GMNonSccPlatformConfig(GMPlatformConfig):
   def init(self):
@@ -209,13 +208,7 @@ class CAR(Platforms):
     GMCarSpecs(mass=2490, wheelbase=2.94, steerRatio=17.3, centerToFrontRatio=0.5, tireStiffnessFactor=1.0),
   )
 
-  # port extensions
+  # IQ.Pilot Non-ACC camera-harness ports (no factory adaptive cruise).
-  # Separate car def is required when there is no ASCM
-  # (for now) unless there is a way to detect it when it has been unplugged...
-  # CHEVROLET_VOLT_CC = GMNonSccPlatformConfig(
-  #   [GMNonAccCarDocs("Chevrolet Volt LT 2017-18")],
-  #   CHEVROLET_VOLT.specs,
-  # )
   CHEVROLET_BOLT_NON_ACC = GMNonSccPlatformConfig(
     [GMNonAccCarDocs("Chevrolet Bolt EV Non-ACC 2017")],
     CHEVROLET_BOLT_EUV.specs,
@@ -333,7 +326,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
 
 # TODO: detect most of these sets live
 EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_BOLT_EUV,
-          # port extensions, Non-ACC
+          # Non-ACC EV ports
           CAR.CHEVROLET_BOLT_NON_ACC, CAR.CHEVROLET_BOLT_NON_ACC_1ST_GEN, CAR.CHEVROLET_BOLT_NON_ACC_2ND_GEN}
 
 # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)

iqdbc_repo/iqdbc/car/nissan/carstate.py

@@ -5,6 +5,7 @@ from iqdbc.car import Bus, create_button_events, structs
 from iqdbc.car.common.conversions import Conversions as CV
 from iqdbc.car.interfaces import CarStateBase
 from iqdbc.car.nissan.values import CAR, DBC, CarControllerParams
+
 from iqdbc.iqpilot.car.nissan.carstate_ext import CarStateExt
 
 ButtonType = structs.CarState.ButtonEvent.Type

iqdbc_repo/iqdbc/car/rivian/interface.py

@@ -39,6 +39,8 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params_iq(stock_cp: structs.CarParams, ret: structs.IQCarParams, candidate, fingerprint: dict[int, dict[int, int]],
                      car_fw: list[structs.CarParams.CarFw], alpha_long: bool, is_release_iq: bool, docs: bool) -> structs.IQCarParams:
+    # Longitudinal harness upgrade advertises msg 0x31a on bus 5; when present it
+    # unlocks radar, blind-spot and openpilot longitudinal on Rivian.
     if 0x31a in fingerprint[5]:
       ret.flags |= RivianFlagsIQ.LONGITUDINAL_HARNESS_UPGRADE.value
       stock_cp.radarUnavailable = False

iqdbc_repo/iqdbc/car/torque_data/substitute.toml

@@ -99,3 +99,14 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "SUBARU_FORESTER_PREGLOBAL" = "SUBARU_IMPREZA"
 "SUBARU_LEGACY_PREGLOBAL" = "SUBARU_IMPREZA"
 "SUBARU_ASCENT" = "SUBARU_FORESTER"
+
+# IQ.Pilot GM Non-ACC ports borrow their base platform's lateral tune
+"CHEVROLET_BOLT_NON_ACC" = "CHEVROLET_BOLT_EUV"
+"CHEVROLET_BOLT_NON_ACC_1ST_GEN" = "CHEVROLET_BOLT_EUV"
+"CHEVROLET_BOLT_NON_ACC_2ND_GEN" = "CHEVROLET_BOLT_EUV"
+"CHEVROLET_EQUINOX_NON_ACC_3RD_GEN" = "CHEVROLET_EQUINOX"
+"CHEVROLET_SUBURBAN_NON_ACC_11TH_GEN" = "CHEVROLET_SILVERADO"
+"CADILLAC_CT6_NON_ACC_1ST_GEN" = "CHEVROLET_VOLT"
+"CHEVROLET_TRAILBLAZER_NON_ACC_2ND_GEN" = "CHEVROLET_TRAILBLAZER"
+"CHEVROLET_MALIBU_NON_ACC_9TH_GEN" = "CHEVROLET_VOLT"
+"CADILLAC_XT5_NON_ACC_1ST_GEN" = "CADILLAC_XT4"

iqdbc_repo/iqdbc/car/volkswagen/interface.py

@@ -171,7 +171,7 @@ class CarInterface(CarInterfaceBase):
     ret.steerLimitTimer = 0.4
     if ret.flags & VolkswagenFlags.PQ:
       ret.steerActuatorDelay = 0.2
-      ret.longitudinalTuning.kfDEPRECATED = 1.2
+      ret.longitudinalTuning.kf = 1.2
       ret.longitudinalTuning.kpBP = [0.]
       ret.longitudinalTuning.kpV = [.45]
       ret.longitudinalTuning.kiBP = [0.]

iqdbc_repo/iqdbc/car/volkswagen/tests/test_stopping.py

@@ -1,5 +1,6 @@
 import pytest
 
+from iqdbc.car.volkswagen.interface import CarInterface
 from iqdbc.car.volkswagen.values import (
   CAR, PASSAT_B7_STOP_ACCEL, PASSAT_B7_STOPPING_SPEED, PQ_STOPPING_SPEED,
   VolkswagenFlags, apply_pq_stopping_accel, get_longitudinal_stopping_speed_override,
@@ -20,3 +21,13 @@ def test_passat_b7_stop_accel_is_exact():
   assert apply_pq_stopping_accel(CAR.VOLKSWAGEN_PASSAT_B7, -0.2, True) == PASSAT_B7_STOP_ACCEL == -0.55
   assert apply_pq_stopping_accel(CAR.VOLKSWAGEN_PASSAT_B7, -0.2, False) == -0.2
   assert apply_pq_stopping_accel(CAR.VOLKSWAGEN_JETTA_MK6, -0.2, True) == -0.2
+
+
+@pytest.mark.parametrize("candidate", [
+  CAR.VOLKSWAGEN_JETTA_MK6,
+  CAR.VOLKSWAGEN_PASSAT_NMS,
+])
+def test_pq_longitudinal_feedforward_uses_active_schema_field(candidate):
+  fingerprint = {bus: {} for bus in range(8)}
+  cp = CarInterface.get_params(candidate, fingerprint, [], alpha_long=True, is_release=False, docs=False)
+  assert cp.longitudinalTuning.kf == pytest.approx(1.2)

iqdbc_repo/iqdbc/iqpilot/car/chrysler/__init__.py

@@ -1,3 +0,0 @@
-"""
-Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
-"""

iqdbc_repo/iqdbc/iqpilot/car/chrysler/aol.py

@@ -1,21 +1,23 @@
 """
 Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
-"""
 
+Always-on-Lateral adapter for Chrysler. CarState reads the LKAS toggle button
+(and the forwarded LKAS heartbeat); CarController tracks the AOL state and, when
+AOL is available, drives the LKAS_DISABLED bit the dash reads from the heartbeat.
+"""
 from enum import StrEnum
 from collections import namedtuple
 
 from iqdbc.car import Bus, structs
 from iqdbc.car.chrysler.values import RAM_CARS
-
 from iqdbc.iqpilot.aol_base import AolCarStateBase
 from iqdbc.can.parser import CANParser
 
-AolDataIQ = namedtuple("AolDataIQ",
+AolDataIQ = namedtuple("AolDataIQ", ["enable_aol", "paused", "lkas_disabled"])
-                        ["enable_aol", "paused", "lkas_disabled"])
-
 ButtonType = structs.CarState.ButtonEvent.Type
 
+_HEARTBIT_FIELDS = ("LKAS_DISABLED", "AUTO_HIGH_BEAM", "FORWARD_1", "FORWARD_2", "FORWARD_3")
+
 
 class AolCarController:
   def __init__(self):
@@ -23,28 +25,18 @@ class AolCarController:
 
   @staticmethod
   def create_lkas_heartbit(packer, lkas_heartbit, aol):
-    # LKAS_HEARTBIT (0x2D9) LKAS heartbeat
+    values = {name: lkas_heartbit[name] for name in _HEARTBIT_FIELDS}
-    values = {s: lkas_heartbit[s] for s in [
-      "LKAS_DISABLED",
-      "AUTO_HIGH_BEAM",
-      "FORWARD_1",
-      "FORWARD_2",
-      "FORWARD_3",
-    ]}
-
     if aol.enable_aol:
       values["LKAS_DISABLED"] = 1 if aol.lkas_disabled else 0
-
     return packer.make_can_msg("LKAS_HEARTBIT", 0, values)
 
   @staticmethod
   def aol_status_update(CC: structs.CarControl, CC_IQ: structs.IQCarControl, CS) -> AolDataIQ:
     enable_aol = CC_IQ.aol.available
     paused = CC_IQ.aol.enabled and not CC.latActive
-
+    # A tap of the LKAS button flips the driver's "LKAS disabled" preference.
     if any(be.type == ButtonType.lkas and be.pressed for be in CS.out.buttonEvents):
       CS.lkas_disabled = not CS.lkas_disabled
-
     return AolDataIQ(enable_aol, paused, CS.lkas_disabled)
 
   def update(self, CC: structs.CarControl, CC_IQ: structs.IQCarControl, CS) -> None:
@@ -55,35 +47,27 @@ class AolCarState(AolCarStateBase):
   def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
     super().__init__(CP, CP_IQ)
     self.lkas_heartbit = 0
-
     self.init_lkas_disabled = False
     self.lkas_disabled = False
 
   @staticmethod
   def get_parser(CP, pt_messages, cam_messages) -> None:
     if CP.carFingerprint in RAM_CARS:
-      pt_messages += [
+      pt_messages.append(("Center_Stack_2", 1))
-        ("Center_Stack_2", 1),
-      ]
     else:
       pt_messages.append(("TRACTION_BUTTON", 1))
       cam_messages.append(("LKAS_HEARTBIT", 1))
 
-  def get_lkas_button(self, cp, cp_cam):
+  def _read_lkas_button(self, cp, cp_cam) -> int:
     if self.CP.carFingerprint in RAM_CARS:
-      lkas_button = cp.vl["Center_Stack_2"]["LKAS_Button"]
+      return cp.vl["Center_Stack_2"]["LKAS_Button"]
-    else:
-      lkas_button = cp.vl["TRACTION_BUTTON"]["TOGGLE_LKAS"]
-      self.lkas_heartbit = cp_cam.vl["LKAS_HEARTBIT"]
-      if not self.init_lkas_disabled:
-        self.lkas_disabled = cp_cam.vl["LKAS_HEARTBIT"]["LKAS_DISABLED"]
-        self.init_lkas_disabled = True
 
-    return lkas_button
+    self.lkas_heartbit = cp_cam.vl["LKAS_HEARTBIT"]
+    if not self.init_lkas_disabled:
+      self.lkas_disabled = cp_cam.vl["LKAS_HEARTBIT"]["LKAS_DISABLED"]
+      self.init_lkas_disabled = True
+    return cp.vl["TRACTION_BUTTON"]["TOGGLE_LKAS"]
 
   def update_aol(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
-    cp = can_parsers[Bus.pt]
-    cp_cam = can_parsers[Bus.cam]
-
     self.prev_lkas_button = self.lkas_button
-    self.lkas_button = self.get_lkas_button(cp, cp_cam)
+    self.lkas_button = self._read_lkas_button(can_parsers[Bus.pt], can_parsers[Bus.cam])

iqdbc_repo/iqdbc/iqpilot/car/chrysler/carcontroller_ext.py

@@ -1,5 +1,8 @@
 """
 Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+Chrysler low-speed steering gate: overrides the stock LKAS control bit when the
+no-min-steering-speed option is set, and holds the RAM DT engagement window.
 """
 from iqdbc.car import structs
 from iqdbc.car.interfaces import CarStateBase
@@ -16,8 +19,9 @@ class CarControllerExt:
 
   def get_lkas_control_bit(self, CS: CarStateBase, CC: structs.CarControl, lkas_control_bit: bool) -> bool:
     if self.CP_IQ.flags & ChryslerFlagsIQ.NO_MIN_STEERING_SPEED:
-      lkas_control_bit = CC.latActive
+      return CC.latActive
-    elif self.CP.carFingerprint in RAM_DT:
+
+    if self.CP.carFingerprint in RAM_DT:
       if self.CP.minEnableSpeed <= CS.out.vEgo <= self.CP.minEnableSpeed + 0.5:
         lkas_control_bit = True
       if self.CP.minEnableSpeed >= 14.5 and CS.out.gearShifter != GearShifter.drive:

iqdbc_repo/iqdbc/iqpilot/car/chrysler/carstate_ext.py

@@ -1,13 +1,13 @@
-
 """
 Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
-"""
 
+Chrysler cruise-button reader: emits edge ButtonEvents for the ACC steering-wheel
+buttons so IQ.Pilot can react to accel/decel/cancel/resume.
+"""
 from enum import StrEnum
 
 from iqdbc.car import Bus, structs
 from iqdbc.can.parser import CANParser
-from iqdbc.car.chrysler.values import RAM_HD
 from iqdbc.iqpilot.car.chrysler.values_ext import BUTTONS
 
 
@@ -15,23 +15,18 @@ class CarStateExt:
   def __init__(self, CP, CP_IQ):
     self.CP = CP
     self.CP_IQ = CP_IQ
-
+    self.button_events: list = []
-    self.button_events = []
     self.button_states = {button.event_type: False for button in BUTTONS}
 
-  def update(self, ret: structs.CarState, ret_iq: structs.IQCarState, can_parsers: dict[StrEnum, CANParser]):
+  def update(self, ret: structs.CarState, ret_iq: structs.IQCarState, can_parsers: dict[StrEnum, CANParser]) -> None:
     cp = can_parsers[Bus.pt]
-
+    events = []
-    button_events = []
     for button in BUTTONS:
-      state = (cp.vl[button.can_addr][button.can_msg] in button.values)
+      pressed = cp.vl[button.can_addr][button.can_msg] in button.values
-      if self.button_states[button.event_type] != state:
+      if pressed != self.button_states[button.event_type]:
         event = structs.CarState.ButtonEvent.new_message()
         event.type = button.event_type
-        event.pressed = state
+        event.pressed = pressed
-        button_events.append(event)
+        events.append(event)
-      self.button_states[button.event_type] = state
+      self.button_states[button.event_type] = pressed
-    self.button_events = button_events
+    self.button_events = events
-
-    if self.CP.carFingerprint in RAM_HD:
-      ret.steeringAngleDeg = cp.vl["STEERING"]["STEERING_ANGLE"]

iqdbc_repo/iqdbc/iqpilot/car/chrysler/values_ext.py

@@ -1,7 +1,9 @@
 """
 Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
-"""
 
+IQ.Pilot Chrysler extension flags + the cruise-button table read by the AOL
+cruise-button reader.
+"""
 from collections import namedtuple
 from enum import IntFlag
 
@@ -20,5 +22,3 @@ BUTTONS = [
 
 class ChryslerFlagsIQ(IntFlag):
   NO_MIN_STEERING_SPEED = 1
-
-

iqdbc_repo/iqdbc/iqpilot/car/ford/__init__.py

@@ -1,3 +0,0 @@
-"""
-Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
-"""

iqdbc_repo/iqdbc/iqpilot/car/ford/aol.py

@@ -1,21 +0,0 @@
-"""
-Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
-"""
-
-from enum import StrEnum
-
-from iqdbc.car import Bus,structs
-
-from iqdbc.iqpilot.aol_base import AolCarStateBase
-from iqdbc.can.parser import CANParser
-
-
-class AolCarState(AolCarStateBase):
-  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
-    super().__init__(CP, CP_IQ)
-
-  def update_aol(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
-    cp = can_parsers[Bus.pt]
-
-    self.prev_lkas_button = self.lkas_button
-    self.lkas_button = cp.vl["Steering_Data_FD1"]["TjaButtnOnOffPress"]

iqdbc_repo/iqdbc/iqpilot/car/gm/__init__.py

@@ -1,3 +0,0 @@
-"""
-Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
-"""

iqdbc_repo/iqdbc/iqpilot/car/gm/carstate_ext.py

@@ -1,5 +1,8 @@
 """
 Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+Non-ACC GM carState: these cars have no adaptive cruise, so cruise engage/set
+speed come from the stock (non-adaptive) ECM cruise message.
 """
 from enum import StrEnum
 
@@ -15,9 +18,9 @@ class CarStateExt:
     self.CP_IQ = CP_IQ
 
   def update(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+    if not self.CP_IQ.flags & GMFlagsIQ.NON_ACC:
+      return
     pt_cp = can_parsers[Bus.pt]
-
+    ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
-    if self.CP_IQ.flags & GMFlagsIQ.NON_ACC:
+    ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
-      ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
+    ret.accFaulted = False
-      ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
-      ret.accFaulted = False

iqdbc_repo/iqdbc/iqpilot/car/gm/interface_ext.py

@@ -1,18 +1,19 @@
 """
 Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+GM torque-space feed-forward for the IQ.Pilot lateral extension: a sigmoid+linear
+lat-accel -> torque curve for the tuned platforms, else the linear default.
 """
-import os
 from math import exp
 
 from iqdbc.car import structs
-from iqdbc.car.common.basedir import BASEDIR
 from iqdbc.car.gm.interface import CAR
-from iqdbc.iqpilot.car.interfaces import LatControlInputs, NanoFFModel, TorqueFromLateralAccelCallbackTypeTorqueSpace
+from iqdbc.iqpilot.car.interfaces import LatControlInputs, TorqueFromLateralAccelCallbackTypeTorqueSpace
 
-NON_LINEAR_TORQUE_PARAMS = {
+_NON_LINEAR_TORQUE_PARAMS = {
   CAR.CHEVROLET_BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
   CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
-  CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
+  CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122],
 }
 
 
@@ -20,39 +21,23 @@ class CarInterfaceExt:
   def __init__(self, CP: structs.CarParams, CI_Base):
     self.CP = CP
     self.CI_Base = CI_Base
-    self.neural_ff_model = None
 
-  def torque_from_lateral_accel_siglin(self, latcontrol_inputs: LatControlInputs, torque_params: structs.CarParams.LateralTorqueTuning,
+  @staticmethod
+  def _centered_sigmoid(val: float) -> float:
+    # sigmoid shifted to pass through the origin; branch keeps exp() from overflowing
+    if val >= 0:
+      return 1.0 / (1.0 + exp(-val)) - 0.5
+    z = exp(val)
+    return z / (1.0 + z) - 0.5
+
+  def torque_from_lateral_accel_siglin(self, latcontrol_inputs: LatControlInputs,
+                                       torque_params: structs.CarParams.LateralTorqueTuning,
                                        gravity_adjusted: bool) -> float:
-    def sig(val):
+    a, b, c, _ = _NON_LINEAR_TORQUE_PARAMS[self.CP.carFingerprint]
-      # https://timvieira.github.io/blog/post/2014/02/11/exp-normalize-trick
+    lat_accel = latcontrol_inputs.lateral_acceleration
-      if val >= 0:
+    return float(self._centered_sigmoid(lat_accel * a) * b + lat_accel * c)
-        return 1 / (1 + exp(-val)) - 0.5
-      else:
-        z = exp(val)
-        return z / (1 + z) - 0.5
-
-    # The "lat_accel vs torque" relationship is assumed to be the sum of "sigmoid + linear" curves
-    # An important thing to consider is that the slope at 0 should be > 0 (ideally >1)
-    # This has big effect on the stability about 0 (noise when going straight)
-    # ToDo: To generalize to other GMs, explore tanh function as the nonlinear
-    non_linear_torque_params = NON_LINEAR_TORQUE_PARAMS.get(self.CP.carFingerprint)
-    assert non_linear_torque_params, "The params are not defined"
-    a, b, c, _ = non_linear_torque_params
-    steer_torque = (sig(latcontrol_inputs.lateral_acceleration * a) * b) + (latcontrol_inputs.lateral_acceleration * c)
-    return float(steer_torque)
-
-  def torque_from_lateral_accel_neural(self, latcontrol_inputs: LatControlInputs, orque_params: structs.CarParams.LateralTorqueTuning,
-                                       gravity_adjusted: bool) -> float:
-    inputs = list(latcontrol_inputs)
-    if gravity_adjusted:
-      inputs[0] += inputs[1]
-    return float(self.neural_ff_model.predict(inputs))
 
   def torque_from_lateral_accel_in_torque_space(self) -> TorqueFromLateralAccelCallbackTypeTorqueSpace:
-    if self.CP.carFingerprint == CAR.CHEVROLET_BOLT_EUV:
+    if self.CP.carFingerprint in _NON_LINEAR_TORQUE_PARAMS:
-      return self.torque_from_lateral_accel_neural
-    elif self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS:
       return self.torque_from_lateral_accel_siglin
-    else:
+    return self.CI_Base.torque_from_lateral_accel_linear_in_torque_space
-      return self.CI_Base.torque_from_lateral_accel_linear_in_torque_space

iqdbc_repo/iqdbc/iqpilot/car/gm/values_ext.py

@@ -1,7 +1,8 @@
 """
 Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
-"""
 
+IQ.Pilot GM extension flags for the non-adaptive-cruise (Non-ACC) camera-harness port.
+"""
 from enum import IntFlag
 
 
@@ -11,5 +12,3 @@ class GMFlagsIQ(IntFlag):
 
 class GMSafetyFlagsIQ:
   NON_ACC = 1
-
-

iqdbc_repo/iqdbc/iqpilot/car/interfaces.py

@@ -96,16 +96,17 @@ def _initialize_coop_steering(CP: structs.CarParams, CP_IQ: structs.IQCarParams,
 
 
 def _initialize_stop_and_go(CP: structs.CarParams, CP_IQ: structs.IQCarParams, params_dict: dict[str, str]) -> None:
-  if CP.brand == 'subaru' and not CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID):
+  # Subaru stop-and-go; unsupported on gen2-global and hybrid platforms.
-    stop_and_go = int(params_dict.get("SubaruStopAndGo", 0)) == 1
+  if CP.brand != 'subaru' or CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID):
-    stop_and_go_manual_parking_brake = int(params_dict.get("SubaruStopAndGoManualParkingBrake", 0)) == 1
+    return
 
-    if stop_and_go:
+  if int(params_dict.get("SubaruStopAndGo", 0)) == 1:
-      CP_IQ.flags |= SubaruFlagsIQ.STOP_AND_GO.value
+    CP_IQ.flags |= SubaruFlagsIQ.STOP_AND_GO.value
-    if stop_and_go_manual_parking_brake:
+  if int(params_dict.get("SubaruStopAndGoManualParkingBrake", 0)) == 1:
-      CP_IQ.flags |= SubaruFlagsIQ.STOP_AND_GO_MANUAL_PARKING_BRAKE.value
+    CP_IQ.flags |= SubaruFlagsIQ.STOP_AND_GO_MANUAL_PARKING_BRAKE.value
-    if stop_and_go or stop_and_go_manual_parking_brake:
+
-      CP_IQ.safetyParam |= SubaruSafetyFlagsIQ.STOP_AND_GO
+  if CP_IQ.flags & (SubaruFlagsIQ.STOP_AND_GO | SubaruFlagsIQ.STOP_AND_GO_MANUAL_PARKING_BRAKE):
+    CP_IQ.iqSafetyFlags |= SubaruSafetyFlagsIQ.STOP_AND_GO
 
 
 def _initialize_toyota(CP: structs.CarParams, CP_IQ: structs.IQCarParams, params_dict: dict[str, str]) -> None:

iqdbc_repo/iqdbc/iqpilot/car/mazda/__init__.py

@@ -1,3 +0,0 @@
-"""
-Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
-"""

iqdbc_repo/iqdbc/iqpilot/car/nissan/__init__.py

@@ -1,3 +0,0 @@
-"""
-Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
-"""

iqdbc_repo/iqdbc/iqpilot/car/nissan/carstate_ext.py

@@ -1,7 +1,8 @@
 """
 Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
-"""
 
+Nissan cruise-button reader: emits edge ButtonEvents for the RES/SET buttons.
+"""
 from enum import StrEnum
 
 from iqdbc.car import Bus, structs
@@ -13,20 +14,18 @@ class CarStateExt:
   def __init__(self, CP, CP_IQ):
     self.CP = CP
     self.CP_IQ = CP_IQ
-
+    self.button_events: list = []
-    self.button_events = []
     self.button_states = {button.event_type: False for button in BUTTONS}
 
-  def update(self, ret: structs.CarState, ret_iq: structs.IQCarState, can_parsers: dict[StrEnum, CANParser]):
+  def update(self, ret: structs.CarState, ret_iq: structs.IQCarState, can_parsers: dict[StrEnum, CANParser]) -> None:
     cp = can_parsers[Bus.pt]
-
+    events = []
-    button_events = []
     for button in BUTTONS:
-      state = (cp.vl[button.can_addr][button.can_msg] in button.values)
+      pressed = cp.vl[button.can_addr][button.can_msg] in button.values
-      if self.button_states[button.event_type] != state:
+      if pressed != self.button_states[button.event_type]:
         event = structs.CarState.ButtonEvent.new_message()
         event.type = button.event_type
-        event.pressed = state
+        event.pressed = pressed
-        button_events.append(event)
+        events.append(event)
-      self.button_states[button.event_type] = state
+      self.button_states[button.event_type] = pressed
-    self.button_events = button_events
+    self.button_events = events

iqdbc_repo/iqdbc/iqpilot/car/nissan/values.py

@@ -1,8 +1,10 @@
 """
 Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
-"""
 
+IQ.Pilot Nissan extension: safety flag + cruise-button table.
+"""
 from collections import namedtuple
+
 from iqdbc.car import structs
 
 
@@ -11,12 +13,9 @@ class NissanSafetyFlagsIQ:
   LEAF = 1
 
 
-
-
 ButtonType = structs.CarState.ButtonEvent.Type
 Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
 
-
 BUTTONS = [
   Button(ButtonType.accelCruise, "CRUISE_THROTTLE", "RES_BUTTON", [1]),
   Button(ButtonType.decelCruise, "CRUISE_THROTTLE", "SET_BUTTON", [1]),

iqdbc_repo/iqdbc/iqpilot/car/rivian/__init__.py

@@ -1,3 +0,0 @@
-"""
-Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
-"""

iqdbc_repo/iqdbc/iqpilot/car/rivian/aol.py

@@ -1,33 +1,30 @@
 """
 Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+Always-on-Lateral output adapter for Rivian: derives the per-frame lateral-active
+and lane-keep icon state the LKAS command needs from the shared AOL state.
 """
 from collections import namedtuple
 
 from iqdbc.car import structs
 from iqdbc.car.interfaces import CarStateBase
 
-MAX_STEERING_ANGLE = 90.0
+# Rivian EPAS rejects large-angle torque, so lateral is dropped past this bound.
+_MAX_STEERING_ANGLE = 90.0
 
-AolDataIQ = namedtuple("AolDataIQ",
+AolDataIQ = namedtuple("AolDataIQ", ["lka_icon_states", "lat_active"])
-                        ["lka_icon_states", "lat_active"])
 
 
 class AolCarController:
   def __init__(self):
     self.aol = AolDataIQ(False, False)
 
-    self.lka_icon_states = False
-    self.lat_active = False
-
-  def aol_status_update(self, CC: structs.CarControl, CC_IQ: structs.IQCarControl, CS: CarStateBase) -> AolDataIQ:
-    if CC_IQ.aol.available:
-      self.lka_icon_states = self.lat_active
-      self.lat_active = CC.latActive and abs(CS.out.steeringAngleDeg) < MAX_STEERING_ANGLE
-    else:
-      self.lka_icon_states = CC.enabled
-      self.lat_active = CC.latActive
-
-    return AolDataIQ(self.lka_icon_states, self.lat_active)
-
   def update(self, CC: structs.CarControl, CC_IQ: structs.IQCarControl, CS: CarStateBase) -> None:
-    self.aol = self.aol_status_update(CC, CC_IQ, CS)
+    prev_active = self.aol.lat_active
+    if CC_IQ.aol.available:
+      lat_active = CC.latActive and abs(CS.out.steeringAngleDeg) < _MAX_STEERING_ANGLE
+      lka_icon = prev_active
+    else:
+      lat_active = CC.latActive
+      lka_icon = CC.enabled
+    self.aol = AolDataIQ(lka_icon, lat_active)

iqdbc_repo/iqdbc/iqpilot/car/rivian/carstate_ext.py

@@ -1,5 +1,9 @@
 """
 Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+Rivian longitudinal-harness-upgrade carState reader: with the upgrade harness the
+right steering-wheel controls and the drive stalk drive the openpilot set speed,
+and the harness exposes blind-spot indicators. Only active behind the upgrade flag.
 """
 import math
 from enum import StrEnum
@@ -12,8 +16,10 @@ from iqdbc.iqpilot.car.rivian.values import RivianFlagsIQ
 
 ButtonType = structs.CarState.ButtonEvent.Type
 
-MAX_SET_SPEED = 85 * CV.MPH_TO_MS
+_SET_SPEED_MAX = 85 * CV.MPH_TO_MS
-MIN_SET_SPEED = 20 * CV.MPH_TO_MS
+_SET_SPEED_MIN = 20 * CV.MPH_TO_MS
+_LONG_PRESS_FRAMES = 66
+_STALK_HOLD_FRAMES = 50
 
 
 class CarStateExt:
@@ -29,57 +35,57 @@ class CarStateExt:
     self.decrease_counter = 0
     self.stalk_down_counter = 0
 
+  def _apply_set_speed_buttons(self, ret: structs.CarState, cp_park, cp_adas) -> None:
+    was_increasing = self.increase_button
+    was_decreasing = self.decrease_button
+
+    self.increase_button = cp_park.vl["WheelButtons"]["RightButton_RightClick"] == 2
+    self.decrease_button = cp_park.vl["WheelButtons"]["RightButton_LeftClick"] == 2
+    self.increase_counter = self.increase_counter + 1 if self.increase_button else 0
+    self.decrease_counter = self.decrease_counter + 1 if self.decrease_button else 0
+
+    metric = cp_adas.vl["Cluster"]["Cluster_Unit"] == 0
+    conversion = CV.KPH_TO_MS if metric else CV.MPH_TO_MS
+    step = 10.0 if metric else 5.0
+    shown = self.set_speed * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH)
+
+    # A held button steps to the next round multiple; a tap nudges by one unit.
+    if self.increase_button:
+      if self.increase_counter % _LONG_PRESS_FRAMES == 0:
+        self.set_speed = math.ceil((shown + 1) / step) * step * conversion
+      elif not was_increasing:
+        self.set_speed += conversion
+    if self.decrease_button:
+      if self.decrease_counter % _LONG_PRESS_FRAMES == 0:
+        self.set_speed = math.floor((shown - 1) / step) * step * conversion
+      elif not was_decreasing:
+        self.set_speed -= conversion
+
   def update_longitudinal_upgrade(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
     cp_park = can_parsers[Bus.alt]
     cp_adas = can_parsers[Bus.adas]
     cp = can_parsers[Bus.pt]
 
-    prev_increase_button = self.increase_button
-    prev_decrease_button = self.decrease_button
-
     if self.CP.openpilotLongitudinalControl:
-      # distance scroll wheel
       right_scroll = cp_park.vl["WheelButtons"]["RightButton_Scroll"]
       if right_scroll != 255:
         if self.distance_button != right_scroll:
           ret.buttonEvents = [structs.CarState.ButtonEvent(pressed=False, type=ButtonType.gapAdjustCruise)]
         self.distance_button = right_scroll
 
-      # button logic for set-speed
+      self._apply_set_speed_buttons(ret, cp_park, cp_adas)
-      self.increase_button = cp_park.vl["WheelButtons"]["RightButton_RightClick"] == 2
-      self.decrease_button = cp_park.vl["WheelButtons"]["RightButton_LeftClick"] == 2
-
-      self.increase_counter = self.increase_counter + 1 if self.increase_button else 0
-      self.decrease_counter = self.decrease_counter + 1 if self.decrease_button else 0
-
-      metric = cp_adas.vl["Cluster"]["Cluster_Unit"] == 0
-      conversion = CV.KPH_TO_MS if metric else CV.MPH_TO_MS
-      long_press_step = 10.0 if metric else 5.0
-      set_speed_converted = self.set_speed * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH)
-
-      if self.increase_button:
-        if self.increase_counter % 66 == 0:
-          self.set_speed = (int(math.ceil((set_speed_converted + 1) / long_press_step)) * long_press_step) * conversion
-        elif not prev_increase_button:
-          self.set_speed += conversion
-
-      if self.decrease_button:
-        if self.decrease_counter % 66 == 0:
-          self.set_speed = (int(math.floor((set_speed_converted - 1) / long_press_step)) * long_press_step) * conversion
-        elif not prev_decrease_button:
-          self.set_speed -= conversion
 
       if not ret.cruiseState.enabled:
         self.set_speed = ret.vEgoCluster
 
-      # VDM_UserAdasRequest: 0=IDLE, 1=UP_1, 2=UP_2, 3=DOWN_1, 4=DOWN_2
+      # Drive stalk held down (VDM_UserAdasRequest 3/4) for ~0.5s snaps set speed
+      # up to the current speed, matching stock Rivian ACC (it never lowers it).
       stalk_down = int(cp.vl["VDM_AdasSts"]["VDM_UserAdasRequest"]) in (3, 4)
       self.stalk_down_counter = self.stalk_down_counter + 1 if stalk_down else 0
-      if self.stalk_down_counter == 50:
+      if self.stalk_down_counter == _STALK_HOLD_FRAMES:
-        # Mimic Rivian ACC: holding stalk 0.5s sets speed to current speed (never decreases)
         self.set_speed = max(self.set_speed, ret.vEgoCluster)
 
-      self.set_speed = max(MIN_SET_SPEED, min(self.set_speed, MAX_SET_SPEED))
+      self.set_speed = max(_SET_SPEED_MIN, min(self.set_speed, _SET_SPEED_MAX))
       ret.cruiseState.speed = self.set_speed
 
     if self.CP.enableBsm:
@@ -92,9 +98,7 @@ class CarStateExt:
 
   @staticmethod
   def get_parser(CP, CP_IQ) -> dict[StrEnum, CANParser]:
-    messages = {}
+    messages: dict[StrEnum, CANParser] = {}
-
     if CP_IQ.flags & RivianFlagsIQ.LONGITUDINAL_HARNESS_UPGRADE:
       messages[Bus.alt] = CANParser(DBC[CP.carFingerprint][Bus.alt], [], 5)
-
     return messages

iqdbc_repo/iqdbc/iqpilot/car/rivian/values.py

@@ -1,10 +1,10 @@
 """
 Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+IQ.Pilot Rivian extension flags.
 """
 from enum import IntFlag
 
 
 class RivianFlagsIQ(IntFlag):
   LONGITUDINAL_HARNESS_UPGRADE = 1
-
-

iqdbc_repo/iqdbc/iqpilot/car/subaru/__init__.py

@@ -1,3 +0,0 @@
-"""
-Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
-"""

iqdbc_repo/iqdbc/iqpilot/car/subaru/aol.py

@@ -1,45 +1,36 @@
 """
 Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+Always-on-Lateral input adapter for Subaru: turns the dashboard LKAS button into
+a carState lkas ButtonEvent so the shared AOL state machine can toggle lateral.
 """
-
 from enum import StrEnum
-from iqdbc.car import Bus, structs
 
+from iqdbc.car import Bus, structs
 from iqdbc.car.subaru.values import SubaruFlags
 from iqdbc.iqpilot.aol_base import AolCarStateBase
 from iqdbc.can.parser import CANParser
 
-ButtonType = structs.CarState.ButtonEvent.Type
+_LKAS = structs.CarState.ButtonEvent.Type.lkas
+
+# ES_LKAS_State/LKAS_Dash_State: 0 = neutral, 1 = LKAS shown on, 2 = LKAS shown off
+_DASH_ON = 1
+_DASH_OFF = 2
 
 
 class AolCarState(AolCarStateBase):
-  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
-    super().__init__(CP, CP_IQ)
-
-  @staticmethod
-  def create_lkas_button_events(cur_btn: int, prev_btn: int,
-                                buttons_dict: dict[int, structs.CarState.ButtonEvent.Type]) -> list[structs.CarState.ButtonEvent]:
-    events: list[structs.CarState.ButtonEvent] = []
-
-    if cur_btn == prev_btn:
-      return events
-
-    state_changes = [
-      {"pressed": prev_btn != cur_btn and cur_btn != 2 and not (prev_btn == 2 and cur_btn == 1)},
-      {"pressed": prev_btn != cur_btn and cur_btn == 2 and cur_btn != 1},
-    ]
-
-    for change in state_changes:
-      if change["pressed"]:
-        events.append(structs.CarState.ButtonEvent(pressed=change["pressed"],
-                                                   type=buttons_dict.get(cur_btn, ButtonType.unknown)))
-    return events
-
   def update_aol(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
-    cp_cam = can_parsers[Bus.cam]
+    if self.CP.flags & SubaruFlags.PREGLOBAL:
+      return
 
     self.prev_lkas_button = self.lkas_button
-    if not self.CP.flags & SubaruFlags.PREGLOBAL:
+    self.lkas_button = can_parsers[Bus.cam].vl["ES_LKAS_State"]["LKAS_Dash_State"]
-      self.lkas_button = cp_cam.vl["ES_LKAS_State"]["LKAS_Dash_State"]
 
-    ret.buttonEvents = self.create_lkas_button_events(self.lkas_button, self.prev_lkas_button, {1: ButtonType.lkas})
+    if self._is_toggle_edge():
+      ret.buttonEvents = [*ret.buttonEvents, structs.CarState.ButtonEvent(type=_LKAS, pressed=True)]
+
+  def _is_toggle_edge(self) -> bool:
+    # every dash-state change is a deliberate press except the off->on rebound (2 -> 1)
+    if self.lkas_button == self.prev_lkas_button:
+      return False
+    return not (self.prev_lkas_button == _DASH_OFF and self.lkas_button == _DASH_ON)

iqdbc_repo/iqdbc/iqpilot/car/subaru/stop_and_go.py

@@ -1,7 +1,11 @@
 """
 Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
-"""
 
+IQ.Pilot Subaru stop-and-go: nudges the ACC out of a standstill it would
+otherwise hold. Two variants gated by user flags — an electronic-parking-brake
+resume pulse (distance/lead triggered) and a manual-parking-brake hold-timer
+resume. Both work by spoofing the camera-bus throttle/brake frames.
+"""
 import copy
 from enum import StrEnum
 
@@ -14,93 +18,64 @@ from iqdbc.iqpilot.car.subaru import subarucan_ext
 from iqdbc.iqpilot.car.subaru.values_ext import SubaruFlagsIQ
 from iqdbc.can.parser import CANParser
 
-_SNG_ACC_MIN_DIST = 3
+# EPB resume fires only while the lead is pulling away within this gap band (m).
-_SNG_ACC_MAX_DIST = 4.5
+_RESUME_GAP_MIN = 3.0
+_RESUME_GAP_MAX = 4.5
+_EPB_PULSE_FRAMES = 15
 
 
 class SnGCarController:
   def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
     self.CP = CP
     self.CP_IQ = CP_IQ
-    self.enabled = CP_IQ.flags & (SubaruFlagsIQ.STOP_AND_GO | SubaruFlagsIQ.STOP_AND_GO_MANUAL_PARKING_BRAKE)
+    self.enabled = bool(CP_IQ.flags & (SubaruFlagsIQ.STOP_AND_GO | SubaruFlagsIQ.STOP_AND_GO_MANUAL_PARKING_BRAKE))
-    self.manual_parking_brake = CP_IQ.flags & SubaruFlagsIQ.STOP_AND_GO_MANUAL_PARKING_BRAKE
+    self.manual_parking_brake = bool(CP_IQ.flags & SubaruFlagsIQ.STOP_AND_GO_MANUAL_PARKING_BRAKE)
 
-    self.last_standstill_frame = 0
+    self.standstill_since = 0
-    self.epb_resume_frames_remaining = -1
+    self._pulse_left = 0
-    self.prev_close_distance = 0.0
+    self.prev_gap = 0.0
 
-  def update_epb_resume_sequence(self, should_resume: bool) -> bool:
+  def _epb_pulse(self, trigger: bool) -> bool:
+    # A trigger arms a fixed-length resume pulse; the pulse then plays out frame by frame.
     if self.manual_parking_brake:
       return False
+    if trigger:
+      self._pulse_left = _EPB_PULSE_FRAMES
+    if self._pulse_left > 0:
+      self._pulse_left -= 1
+      return True
+    return False
 
-    if should_resume:
+  def _want_resume(self, CC: structs.CarControl, CS: CarStateBase, frame: int) -> bool:
-      self.epb_resume_frames_remaining = 15
-
-    send_resume = self.epb_resume_frames_remaining > 0
-    if self.epb_resume_frames_remaining > 0:
-      self.epb_resume_frames_remaining -= 1
-
-    return send_resume
-
-  def update_stop_and_go(self, CC: structs.CarControl, CS: CarStateBase, frame: int) -> bool:
-    """
-    Manages stop-and-go functionality for adaptive cruise control (ACC).
-
-    Args:
-        CC: Car control data
-        CS: Car state data
-        frame: Current frame number
-
-    Returns:
-        bool: True if resume command should be sent, False otherwise
-    """
-
     if not CC.enabled or not CC.hudControl.leadVisible:
       return False
 
-    close_distance = CS.es_distance_msg["Close_Distance"]
+    gap = CS.es_distance_msg["Close_Distance"]
-    in_standstill = CS.out.standstill
+    standing = CS.out.standstill
+    if not standing:
+      self.standstill_since = frame
 
-    if not in_standstill:
+    hold_arm, hold_reset = (0.75, 0.8) if self.CP.flags & SubaruFlags.PREGLOBAL else (0.5, 0.55)
-      self.last_standstill_frame = frame
+    held_for = (frame - self.standstill_since) * DT_CTRL
+    held_long_enough = held_for > hold_arm
+    if held_for >= hold_reset:
+      self.standstill_since = frame
 
-    # Check if we've been in standstill long enough
+    lead_pulling_away = _RESUME_GAP_MIN < gap < _RESUME_GAP_MAX and gap > self.prev_gap
-    mpb_standstill_timers = (0.75, 0.8) if self.CP.flags & SubaruFlags.PREGLOBAL else (0.5, 0.55)
+    self.prev_gap = gap
-    standstill_duration = (frame - self.last_standstill_frame) * DT_CTRL
-    in_standstill_hold = standstill_duration > mpb_standstill_timers[0]
-    if (frame - self.last_standstill_frame) * DT_CTRL >= mpb_standstill_timers[1]:
-      self.last_standstill_frame = frame
-
-    # Car state distance-based conditions (EPB only)
-    in_resume_distance = _SNG_ACC_MIN_DIST < close_distance < _SNG_ACC_MAX_DIST
-    distance_increasing = close_distance > self.prev_close_distance
-    distance_resume_allowed = in_resume_distance and distance_increasing
 
     if self.manual_parking_brake:
-      # Manual parking brake: Direct resume when the standstill hold threshold is reached to prevent ACC fault
+      return held_long_enough
-      send_resume = in_standstill_hold
+    return self._epb_pulse(standing and lead_pulling_away)
-    else:
-      # EPB: Resume sequence with trigger on distance with lead car increasing
-      should_resume = CS.out.standstill and distance_resume_allowed
-      send_resume = self.update_epb_resume_sequence(should_resume)
-
-    self.prev_close_distance = close_distance
-
-    return send_resume
 
   def create_stop_and_go(self, packer, CC: structs.CarControl, CS: CarStateBase, frame: int) -> list[CanData]:
-    can_sends = []
-
     if not self.enabled:
-      return can_sends
+      return []
-
-    send_resume = self.update_stop_and_go(CC, CS, frame)
-
-    can_sends.append(subarucan_ext.create_throttle(packer, self.CP, CS.throttle_msg, send_resume and not self.manual_parking_brake))
 
+    resume = self._want_resume(CC, CS, frame)
+    can_sends = [subarucan_ext.create_throttle(packer, self.CP, CS.throttle_msg, resume and not self.manual_parking_brake)]
     if frame % 2 == 0:
-      can_sends.append(subarucan_ext.create_brake_pedal(packer, self.CP, CS.brake_pedal_msg, send_resume and self.manual_parking_brake))
+      can_sends.append(subarucan_ext.create_brake_pedal(packer, self.CP, CS.brake_pedal_msg, resume and self.manual_parking_brake))
-
     return can_sends
 
 
@@ -108,14 +83,11 @@ class SnGCarState:
   def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
     self.CP = CP
     self.CP_IQ = CP_IQ
-
     self.brake_pedal_msg: dict[str, float] = {}
     self.throttle_msg: dict[str, float] = {}
 
   def update(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
     cp = can_parsers[Bus.pt]
-
     self.brake_pedal_msg = copy.copy(cp.vl["Brake_Pedal"])
-
     if not self.CP.flags & SubaruFlags.HYBRID:
       self.throttle_msg = copy.copy(cp.vl["Throttle"])

iqdbc_repo/iqdbc/iqpilot/car/subaru/subarucan_ext.py

@@ -1,68 +1,41 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+Camera-bus message spoofers for Subaru stop-and-go: re-emit the stock Throttle
+and Brake_Pedal frames, nudging a single field to trigger an ACC resume from a
+standstill. Field sets mirror the DBC message layout.
+"""
 from iqdbc.car.subaru.values import CanBus, SubaruFlags
 
+_THROTTLE_FIELDS_PREGLOBAL = ("Throttle_Pedal", "Signal1", "Not_Full_Throttle", "Signal2", "Engine_RPM",
+                              "Off_Throttle", "Signal3", "Throttle_Cruise", "Throttle_Combo", "Throttle_Body",
+                              "Off_Throttle_2", "Signal4")
+_THROTTLE_FIELDS_GLOBAL = ("CHECKSUM", "Signal1", "Engine_RPM", "Neutral", "Throttle_Pedal", "Throttle_Cruise",
+                           "Throttle_Combo", "Signal3", "Off_Accel")
+_BRAKE_FIELDS_PREGLOBAL = ("Speed", "Brake_Pedal", "Signal1")
+_BRAKE_FIELDS_GLOBAL = ("CHECKSUM", "Signal1", "Speed", "Signal2", "Brake_Lights", "Signal3", "Brake_Pedal", "Signal4")
 
-def create_counter(msg):
+
+def _next_counter(msg):
   return (msg["COUNTER"] + 1) % 0x10
 
 
 def create_throttle(packer, CP, throttle_msg, send_resume):
-  if CP.flags & SubaruFlags.PREGLOBAL:
+  preglobal = bool(CP.flags & SubaruFlags.PREGLOBAL)
-    values = {s: throttle_msg[s] for s in [
+  fields = _THROTTLE_FIELDS_PREGLOBAL if preglobal else _THROTTLE_FIELDS_GLOBAL
-      "Throttle_Pedal",
+  values = {name: throttle_msg[name] for name in fields}
-      "Signal1",
+  values["COUNTER"] = _next_counter(throttle_msg)
-      "Not_Full_Throttle",
-      "Signal2",
-      "Engine_RPM",
-      "Off_Throttle",
-      "Signal3",
-      "Throttle_Cruise",
-      "Throttle_Combo",
-      "Throttle_Body",
-      "Off_Throttle_2",
-      "Signal4",
-    ]}
-  else:
-    values = {s: throttle_msg[s] for s in [
-      "CHECKSUM",
-      "Signal1",
-      "Engine_RPM",
-      "Neutral",
-      "Throttle_Pedal",
-      "Throttle_Cruise",
-      "Throttle_Combo",
-      "Signal3",
-      "Off_Accel",
-    ]}
-
-  values["COUNTER"] = create_counter(throttle_msg)
-
   if send_resume:
     values["Throttle_Pedal"] = 5
-
   return packer.make_can_msg("Throttle", CanBus.camera, values)
 
 
 def create_brake_pedal(packer, CP, brake_pedal_msg, send_resume):
-  if CP.flags & SubaruFlags.PREGLOBAL:
+  preglobal = bool(CP.flags & SubaruFlags.PREGLOBAL)
-    values = {s: brake_pedal_msg[s] for s in [
+  fields = _BRAKE_FIELDS_PREGLOBAL if preglobal else _BRAKE_FIELDS_GLOBAL
-      "Speed",
+  values = {name: brake_pedal_msg[name] for name in fields}
-      "Brake_Pedal",
+  if not preglobal:
-      "Signal1",
+    values["COUNTER"] = _next_counter(brake_pedal_msg)
-    ]}
-  else:
-    values = {s: brake_pedal_msg[s] for s in [
-      "CHECKSUM",
-      "Signal1",
-      "Speed",
-      "Signal2",
-      "Brake_Lights",
-      "Signal3",
-      "Brake_Pedal",
-      "Signal4",
-    ]}
-    values["COUNTER"] = create_counter(brake_pedal_msg)
-
   if send_resume:
-    values["Speed"] = 1 if CP.flags & SubaruFlags.PREGLOBAL else 3
+    values["Speed"] = 1 if preglobal else 3
-
   return packer.make_can_msg("Brake_Pedal", CanBus.camera, values)

iqdbc_repo/iqdbc/iqpilot/car/subaru/values_ext.py

@@ -1,14 +1,16 @@
 """
 Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+IQ.Pilot Subaru extension flags. Selected in setup_interfaces() from the user's
+stop-and-go params and consumed by the stop-and-go controller and panda safety.
 """
-
 from enum import IntFlag
 
 
-class SubaruSafetyFlagsIQ:
-  STOP_AND_GO = 1
-
-
 class SubaruFlagsIQ(IntFlag):
   STOP_AND_GO = 1
   STOP_AND_GO_MANUAL_PARKING_BRAKE = 2
+
+
+class SubaruSafetyFlagsIQ:
+  STOP_AND_GO = 1

iqdbc_repo/iqdbc/safety/tests/test_gm.py

@@ -7,7 +7,8 @@ from iqdbc.safety.tests.libsafety import libsafety_py
 import iqdbc.safety.tests.common as common
 from iqdbc.safety.tests.common import CANPackerSafety
 
-from iqdbc.iqpilot.car.gm.values_ext import GMSafetyFlagsIQ
+# GM_PARAM_IQ_NON_ACC in safety/modes/gm.h (IQ safety framework flag)
+GM_PARAM_IQ_NON_ACC = 1
 
 
 class Buttons:
@@ -236,7 +237,7 @@ class TestGmCameraNonACCSafety(TestGmCameraSafety):
     self.packer = CANPackerSafety("gm_global_a_powertrain_generated")
     self.packer_chassis = CANPackerSafety("gm_global_a_chassis")
     self.safety = libsafety_py.libsafety
-    self.safety.set_current_safety_param_iq(GMSafetyFlagsIQ.NON_ACC)
+    self.safety.set_current_safety_param_iq(GM_PARAM_IQ_NON_ACC)
     self.safety.set_safety_hooks(CarParams.SafetyModel.gm, GMSafetyFlags.HW_CAM | self.EXTRA_SAFETY_PARAM)
     self.safety.init_tests()
 

iqdbc_repo/iqdbc/safety/tests/test_nissan.py

@@ -2,8 +2,10 @@
 import unittest
 
 from iqdbc.car.nissan.values import NissanSafetyFlags
-from iqdbc.iqpilot.car.nissan.values import NissanSafetyFlagsIQ
 from iqdbc.car.structs import CarParams
+
+# NISSAN_PARAM_IQ_LEAF in safety/modes/nissan.h (IQ safety framework flag)
+NISSAN_PARAM_IQ_LEAF = 1
 from iqdbc.safety.tests.libsafety import libsafety_py
 import iqdbc.safety.tests.common as common
 from iqdbc.safety.tests.common import CANPackerSafety
@@ -105,7 +107,7 @@ class TestNissanLeafSafety(TestNissanSafety):
   def setUp(self):
     self.packer = CANPackerSafety("nissan_leaf_2018_generated")
     self.safety = libsafety_py.libsafety
-    self.safety.set_current_safety_param_iq(NissanSafetyFlagsIQ.LEAF)
+    self.safety.set_current_safety_param_iq(NISSAN_PARAM_IQ_LEAF)
     self.safety.set_safety_hooks(CarParams.SafetyModel.nissan, 0)
     self.safety.init_tests()
 

iqpilot/ui/layouts/settings/iq_panels.py

@@ -872,10 +872,10 @@ class SteeringLayout(Widget):
       lambda v: f"{int(round(v * (CV.MPH_TO_KPH if ui_state.is_metric else 1)))}"
                 f" {'km/h' if ui_state.is_metric else 'mph'}"
     )
-    self._lagd_toggle = toggle_item(tr("Live Learning Steer Delay"), "", param="IQLiveSteerDelay")
+    self._steer_delay_toggle = toggle_item(tr("Self-Tuning Steer Delay"), "", param="IQLiveSteerDelay")
     self._delay_control = option_item(
-      tr("Adjust Software Delay"), "IQSoftwareSteerDelay", 5, 50,
+      tr("Manual Delay Offset"), "IQSoftwareSteerDelay", 5, 50,
-      tr("Adjust the fixed software delay added to steer actuator delay when Live Learning Steer Delay is turned off. The default software delay value is 0.2 s."),
+      tr("How much lead time to add on top of the car's own steering rack delay while self-tuning is off. Default is 0.2 s."),
       1, None, True, "", style.BUTTON_ACTION_WIDTH, None, True, lambda v: f"{float(v):.2f}s"
     )
 
@@ -890,7 +890,7 @@ class SteeringLayout(Widget):
       self._lane_turn_desire_toggle,
       self._lane_turn_value_control,
       IQLineSeparator(40),
-      self._lagd_toggle,
+      self._steer_delay_toggle,
       self._delay_control,
     ]
     return items
@@ -922,19 +922,20 @@ class SteeringLayout(Widget):
     live_delay = ui_state.params.get_bool("IQLiveSteerDelay")
     self._lane_turn_desire_toggle.action_item.set_state(turn_desire)
     self._lane_turn_value_control.set_visible(turn_desire)
-    self._lagd_toggle.action_item.set_state(live_delay)
+    self._steer_delay_toggle.action_item.set_state(live_delay)
     self._delay_control.set_visible(not live_delay)
     new_step = int(round(100 / CV.MPH_TO_KPH)) if ui_state.is_metric else 100
     if self._lane_turn_value_control.action_item.value_change_step != new_step:
       self._lane_turn_value_control.action_item.value_change_step = new_step
-    lagd_desc = tr("Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time.")
+    delay_desc = tr("Let IQ.Pilot measure how long your steering takes to respond and keep that figure up to date. "
+                    "Switch it off to pin the timing yourself.")
     if live_delay:
-      lagd_desc += f"<br>{tr('Live Steer Delay:')} {ui_state.sm['liveDelay'].lateralDelay:.3f} s"
+      delay_desc += f"<br>{tr('Measured:')} {ui_state.sm['liveDelay'].lateralDelay:.3f} s"
     elif ui_state.CP:
       sw = float(ui_state.params.get("IQSoftwareSteerDelay", "0.2"))
       cp = ui_state.CP.steerActuatorDelay
-      lagd_desc += f"<br>{tr('Actuator Delay:')} {cp:.2f} s + {tr('Software Delay:')} {sw:.2f} s = {tr('Total Delay:')} {cp + sw:.2f} s"
+      delay_desc += f"<br>{tr('Rack:')} {cp:.2f} s + {tr('Offset:')} {sw:.2f} s = {tr('Total:')} {cp + sw:.2f} s"
-    self._lagd_toggle.set_description(lagd_desc)
+    self._steer_delay_toggle.set_description(delay_desc)
 
   def _render(self, rect):
     if self._current_panel == PanelType.LANE_CHANGE:

selfdrive/ui/mici/layouts/settings/models.py

@@ -121,16 +121,16 @@ class ModelsLayoutMici(NavScroller):
     self._clear.set_click_callback(self._confirm_clear_cache)
     self._clear.set_enabled(lambda: ui_state.is_offroad())
 
-    self._lagd = BigParamControl("live learning steer delay", "IQLiveSteerDelay")
+    self._steer_delay = BigParamControl("self-tuning steer delay", "IQLiveSteerDelay")
-    self._sw_delay = MappedParamToggle("software delay", "IQSoftwareSteerDelay", _DELAY_OPTIONS, _DELAY_VALUES)
+    self._sw_delay = MappedParamToggle("manual delay offset", "IQSoftwareSteerDelay", _DELAY_OPTIONS, _DELAY_VALUES)
-    self._sw_delay.set_visible(lambda: not self._lagd._checked)
+    self._sw_delay.set_visible(lambda: not self._steer_delay._checked)
 
     self._lane_turn = BigParamControl("use lane turn desires", "IQLaneTurnDesire")
     self._lane_speed = MappedParamToggle("lane turn speed", "IQLaneTurnValue", _LANE_TURN_OPTIONS, _LANE_TURN_VALUES)
     self._lane_speed.set_visible(lambda: self._lane_turn._checked)
 
     self._main_items = [self._current, self._cancel, self._supercombo, self._vision, self._policy, self._redownload, self._refresh, self._clear,
-                        self._lagd, self._sw_delay, self._lane_turn, self._lane_speed]
+                        self._steer_delay, self._sw_delay, self._lane_turn, self._lane_speed]
     self._scroller.add_widgets(self._main_items)
 
   @property
@@ -368,7 +368,7 @@ class ModelsLayoutMici(NavScroller):
       self._last_cache_t = now
       self._clear.set_value(f"{self._calculate_cache_size():.1f} MB")
 
-    self._update_lagd_subtext()
+    self._update_steer_delay_subtext()
 
   def _progress_target_bundle(self):
     try:
@@ -445,21 +445,21 @@ class ModelsLayoutMici(NavScroller):
       return f"failed: {_display_model_name(bundle)}"
     return self._active_model_name()
 
-  def _update_lagd_subtext(self):
+  def _update_steer_delay_subtext(self):
-    if self._lagd._checked:
+    if self._steer_delay._checked:
       try:
-        self._lagd.set_value(f"live {ui_state.sm['liveDelay'].lateralDelay:.3f} s")
+        self._steer_delay.set_value(f"measured {ui_state.sm['liveDelay'].lateralDelay:.3f} s")
       except Exception:
-        self._lagd.set_value("")
+        self._steer_delay.set_value("")
       return
     try:
       sw = float(ui_state.params.get("IQSoftwareSteerDelay", return_default=True))
     except (TypeError, ValueError):
       sw = 0.2
     if ui_state.CP is not None:
-      self._lagd.set_value(f"total {ui_state.CP.steerActuatorDelay + sw:.2f} s")
+      self._steer_delay.set_value(f"total {ui_state.CP.steerActuatorDelay + sw:.2f} s")
     else:
-      self._lagd.set_value(f"+{sw:.2f} s software")
+      self._steer_delay.set_value(f"+{sw:.2f} s offset")
 
   def _active_model_name(self) -> str:
     if not self._has_active_bundle_param():
@@ -495,5 +495,5 @@ class ModelsLayoutMici(NavScroller):
 
   def show_event(self):
     super().show_event()
-    for w in (self._lagd, self._sw_delay, self._lane_turn, self._lane_speed):
+    for w in (self._steer_delay, self._sw_delay, self._lane_turn, self._lane_speed):
       w.refresh()

system/loggerd/loggerd.h

@@ -43,7 +43,10 @@ struct EncoderSettings {
   }
 
   static EncoderSettings QcamEncoderSettings() {
-    int _qcam_bitrate = getenv("QCAM_BITRATE") ? atoi(getenv("QCAM_BITRATE")) : 3'200'000;
+    // Keep Konn3kt route uploads useful without turning each 60-second qcamera
+    // segment into a 26 MB file. This is still a substantial improvement over
+    // stock qcam, while CBR keeps storage and upload usage predictable.
+    int _qcam_bitrate = getenv("QCAM_BITRATE") ? atoi(getenv("QCAM_BITRATE")) : 2'400'000;
     return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = _qcam_bitrate, .gop_size = 15};
   }
 
@@ -137,8 +140,8 @@ const EncoderInfo qcam_encoder_info = {
   .filename = "qcamera.ts",
   .cbr = true,           // enforce the bitrate so upload size stays predictable (no VBR overshoot)
   .get_settings = [](int){return EncoderSettings::QcamEncoderSettings();},
-  .frame_width = 1578,   // 3x the stock 526x330, same road-cam aspect ratio
+  .frame_width = 1315,   // 2.5x the stock 526x330, same road-cam aspect ratio
-  .frame_height = 990,
+  .frame_height = 825,
   .include_audio = Params().getBool("RecordAudio"),
   INIT_ENCODE_FUNCTIONS(QRoadEncode),
 };

system/manager/helpers.py

@@ -11,7 +11,6 @@ import threading
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from openpilot.common.swaglog import cloudlog
 
 def unblock_stdout() -> None:
   # get a non-blocking stdout
@@ -103,57 +102,3 @@ def save_bootlog():
   t = threading.Thread(target=fn, args=(tmp, ))
   t.daemon = True
   t.start()
-
-
-# REVERT ME!  ---------------------------------------------------------------
-# One-shot migration carrying values across the sunny -> IQ param key renames.
-# Old keys are no longer registered in params_keys.h, so their values are read
-# straight off disk, copied to the new IQ key, and the stale file removed.
-# Delete this block (and its manager_init() call) once fielded devices have
-# booted past it at least once.
-_RENAMED_PARAMS = {
-  "QuietMode": "IQAlertSilence",
-  "SpeedLimitMode": "IQSpeedAssistMode",
-  "SpeedLimitPolicy": "IQSpeedAssistPolicy",
-  "SpeedLimitOffsetType": "IQSpeedAssistOffsetType",
-  "SpeedLimitValueOffset": "IQSpeedAssistValueOffset",
-  "LaneTurnDesire": "IQLaneTurnDesire",
-  "LaneTurnValue": "IQLaneTurnValue",
-  "BlinkerPauseLateralControl": "IQBlinkerPauseLateral",
-  "BlinkerMinLateralControlSpeed": "IQBlinkerMinLateralSpeed",
-  "DevUIInfo": "IQDevUIInfo",
-  "OffroadMode": "IQAlwaysOffroad",
-  "AutoLaneChangeTimer": "IQLaneChangeTimer",
-  "AutoLaneChangeBsmDelay": "IQLaneChangeBsmDelay",
-  "LagdToggle": "IQLiveSteerDelay",
-  "LagdToggleDelay": "IQSoftwareSteerDelay",
-  "LagdValueCache": "IQSteerDelayCache",
-}
-
-
-def migrate_renamed_params(params: Params | None = None) -> None:
-  """REVERT ME! carry stored values across the sunny->IQ key renames, then drop the old files.
-
-  Copies at the file level: on-disk param values are raw bytes, so this preserves the exact
-  stored representation and sidesteps put()'s typed-value check for BOOL/INT/FLOAT keys.
-  """
-  p = params if params is not None else Params()
-  for old, new in _RENAMED_PARAMS.items():
-    try:
-      old_path = p.get_param_path(old)
-      if not os.path.isfile(old_path):
-        continue
-      new_path = p.get_param_path(new)
-      if not os.path.exists(new_path):
-        with open(old_path, "rb") as f:
-          value = f.read()
-        tmp = new_path + ".tmp"
-        with open(tmp, "wb") as f:
-          f.write(value)
-          f.flush()
-          os.fsync(f.fileno())
-        os.rename(tmp, new_path)
-      os.remove(old_path)
-    except Exception:
-      cloudlog.exception(f"param rename migration failed for {old} -> {new}")
-# END REVERT ME! ------------------------------------------------------------

system/manager/manager.py

@@ -17,7 +17,7 @@ from openpilot.common.params import Params, ParamKeyFlag
 from openpilot.common.text_window import TextWindow
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.loggerd.crash_recovery import recover_unclean_segments
-from openpilot.system.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog, heal_param_perms, migrate_renamed_params
+from openpilot.system.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog, heal_param_perms
 from openpilot.system.manager.process import ensure_running
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.iqpilot.konn3kt.registration import register, UNREGISTERED_DONGLE_ID
@@ -40,7 +40,6 @@ def manager_init() -> None:
   build_metadata = get_build_metadata()
 
   params = Params()
-  migrate_renamed_params(params)  # REVERT ME! sunny->IQ param key migration (runs before defaults are filled)
   params.clear_all(ParamKeyFlag.CLEAR_ON_MANAGER_START)
   params.clear_all(ParamKeyFlag.CLEAR_ON_ONROAD_TRANSITION)
   params.clear_all(ParamKeyFlag.CLEAR_ON_OFFROAD_TRANSITION)

system/ui/lib/wifi_manager.py

@@ -67,6 +67,9 @@ class MeteredType(IntEnum):
   NO = 2
 
 
+_WARNED_UNSUPPORTED_NETWORKS: set[tuple[int, int, int]] = set()
+
+
 def get_security_type(flags: int, wpa_flags: int, rsn_flags: int) -> SecurityType:
   wpa_props = wpa_flags | rsn_flags
 
@@ -83,7 +86,10 @@ def get_security_type(flags: int, wpa_flags: int, rsn_flags: int) -> SecurityTyp
     # WPA2, WPA2+WPA3 mixed, or WPA — all handled via WPA key_mgmt (NM negotiates SAE if available)
     return SecurityType.WPA2
   else:
-    cloudlog.warning(f"Unsupported network! flags: {flags}, wpa_flags: {wpa_flags}, rsn_flags: {rsn_flags}")
+    _key = (flags, wpa_flags, rsn_flags)
+    if _key not in _WARNED_UNSUPPORTED_NETWORKS:
+      _WARNED_UNSUPPORTED_NETWORKS.add(_key)
+      cloudlog.warning(f"Unsupported network! flags: {flags}, wpa_flags: {wpa_flags}, rsn_flags: {rsn_flags}")
     return SecurityType.UNSUPPORTED