IQ.Pilot Release Commit @ b581b58

iqdbc_repo/iqdbc/car/car.capnp

@@ -209,6 +209,8 @@ struct CarState {
   lateralAvailable @61 :Bool;        # lateral control is available even if cruise is faulted
   cruiseFaultLateralMode @62 :Bool;  # cruise is faulted but lateral control is still active
   radarDisableFailed @66 :Bool;
+  # Physical vehicle odometer in kilometers. Zero means unavailable on this platform.
+  odometer @67 :Float64;
 
   # cruise state
   cruiseState @10 :CruiseState;
@@ -464,6 +466,7 @@ struct CarControl {
       prompt @6;
       promptRepeat @7;
       promptDistracted @8;
+      preAlert @9;
     }
   }
 
@@ -532,14 +535,9 @@ struct CarParams {
   steerLimitAlert @28 :Bool;
   steerLimitTimer @47 :Float32;  # time before steerLimitAlert is issued
 
-  vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
-  vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
   steerControlType @34 :SteerControlType;
   radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out
   stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
-  stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
-  startAccel @32 :Float32; # Required acceleration to get car moving
-  startingState @70 :Bool; # Does this car make use of special starting state
 
   steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
   longitudinalActuatorDelay @58 :Float32; # Gas/Brake actuator delay in seconds
@@ -772,4 +770,9 @@ struct CarParams {
   stoppingControlDEPRECATED @31 :Bool; # Does the car allow full control even at lows speeds when stopping
   radarTimeStepDEPRECATED @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
   enableDsuDEPRECATED @5 :Bool;        # driving support unit
+  vEgoStartingDEPRECATED @59 :Float32;
+  startAccelDEPRECATED @32 :Float32;
+  startingStateDEPRECATED @70 :Bool;
+  vEgoStoppingDEPRECATED @29 :Float32;
+  stoppingDecelRateDEPRECATED @52 :Float32;
 }