IQ.Pilot Release Commit @ e46d557

cereal/custom.capnp

@@ -333,6 +333,7 @@ struct IQCarParams @0xd4189b5c8aca9f78 {
   iqLateralNet @4 :LateralNet;
   longitudinalStoppingSpeedOverride @5 :Float32;  # m/s; zero keeps the upstream default
   stoppingDecelRateOverride @6 :Float32;          # m/s^3; zero keeps the upstream default
+  longActiveWithGasOverride @7 :Bool;             # keep long control active while the driver is on the gas
 
   struct LateralNet {
     fuzzyFingerprint @0 :Bool;
@@ -762,7 +763,33 @@ struct IQVehicleTracks @0xb877ef4b20a4ae22 {
   }
 }
 
-struct CustomReserved13 @0xfd960244a79e2804 {
+struct IQEnvironment @0xfd960244a79e2804 {
+  frameId @0 :UInt32;
+  offloaded @1 :Bool;
+  modelValid @2 :Bool;
+  objects @3 :List(Object);
+
+  struct Object {
+    x @0 :Float32;
+    y @1 :Float32;
+    z @2 :Float32;
+    width @3 :Float32;
+    height @4 :Float32;
+    length @5 :Float32;
+    prob @6 :Float32;
+    label @7 :Label;
+
+    enum Label {
+      car @0;
+      motorcycle @1;
+      bus @2;
+      truck @3;
+      person @4;
+      bicycle @5;
+      stopSign @6;
+      trafficLight @7;
+    }
+  }
 }
 
 struct CustomReserved14 @0xa6e5a1ce8ca5258e {

cereal/log.capnp

@@ -177,6 +177,15 @@ struct InitData {
 
   wallTimeNanos @20 :UInt64;
 
+  ufsHealth @25 :UfsHealth;
+
+  struct UfsHealth {
+    preEolInfo @0 :UInt8;
+    lifeTimeEstimateA @1 :UInt8;
+    lifeTimeEstimateB @2 :UInt8;
+    vendorHealthReport @3 :Data;
+  }
+
   enum DeviceType {
     unknown @0;
     neo @1;
@@ -2670,7 +2679,7 @@ struct Event {
     iqPerfTrace @136 :Custom.IQPerfTrace;
     iqConstructionZone @137 :Custom.IQConstructionZone;
     iqVehicleTracks @138 :Custom.IQVehicleTracks;
-    customReserved13 @139 :Custom.CustomReserved13;
+    iqEnvironment @139 :Custom.IQEnvironment;
     customReserved14 @140 :Custom.CustomReserved14;
     customReserved15 @141 :Custom.CustomReserved15;
     customReserved16 @142 :Custom.CustomReserved16;

cereal/services.py

@@ -100,6 +100,7 @@ _services: dict[str, tuple] = {
   "iqLiveData": (True, 1., 1),
   "iqConstructionZone": (True, 2., 2),
   "iqVehicleTracks": (True, 4., 4),
+  "iqEnvironment": (True, 4., 4),
   "mapdOut": (True, 20., 20, QueueSize.MEDIUM),
   "mapdExtendedOut": (False, 1., -1, QueueSize.MEDIUM),
   "mapdIn": (False, 1., -1, QueueSize.MEDIUM),