IQ.Pilot Release Commit @ a87e9e5

iqdbc_repo/iqdbc/car/tesla/carstate.py

@@ -8,6 +8,10 @@ from iqdbc.car.tesla.values import DBC, CANBUS, GEAR_MAP, STEER_THRESHOLD, Tesla
 
 from iqdbc.iqpilot.car.tesla.carstate_ext import CarStateExt
 from iqdbc.iqpilot.car.tesla.values import TeslaFlagsIQ
+from openpilot.common.params import Params
+from openpilot.system.proprietary_runtime._verified_import import import_verified_module
+
+vehicle_state = import_verified_module("iqpilot_alc_private", "iqpilot_private.konn3kt.iqlvbs.vehicle_state")
 
 ButtonType = structs.CarState.ButtonEvent.Type
 
@@ -27,6 +31,7 @@ class CarState(CarStateBase, CarStateExt):
     self.acc_state_last = 0
     self.das_control = None
     self.das_body_controls_dat = b""
+    self._odometer_store = vehicle_state.VehicleOdometerStore(CP, Params())
     self.cruise_override = False
 
   def update_summon_state(self, summon_state: str, cruise_enabled: bool):
@@ -155,6 +160,8 @@ class CarState(CarStateBase, CarStateExt):
       self.das_body_controls_dat = bytes(can_parsers[Bus.cam].dat.get(0x3E9, b""))
 
     CarStateExt.update(self, ret, ret_iq, can_parsers)
+    if ret.odometer > 0.0:
+      ret.odometer = self._odometer_store.record(ret.odometer) or 0.0
 
     return ret, ret_iq
 

iqdbc_repo/iqdbc/car/tesla/interface.py

@@ -59,7 +59,10 @@ class CarInterface(CarInterfaceBase):
     if candidate == CAR.TESLA_MODEL_X:
       stock_cp.dashcamOnly = False
 
-    if 0x3DF in fingerprint[1]:
+    # Vehicle-bus messages can be slow enough to miss the initial capture window.
+    # Accept either the established 0x3DF marker or the absolute odometer frame.
+    vehicle_bus_seen = any(0x3DF in bus or 0x3B6 in bus for bus in fingerprint.values())
+    if vehicle_bus_seen:
       ret.flags |= TeslaFlagsIQ.HAS_VEHICLE_BUS.value
       ret.iqSafetyFlags |= TeslaSafetyFlagsIQ.HAS_VEHICLE_BUS
 

iqdbc_repo/iqdbc/car/tesla/tests/test_tesla.py

@@ -4,6 +4,7 @@ from iqdbc.car.tesla.teslacan import TeslaCAN
 from iqdbc.car.tesla.radar_interface import RADAR_START_ADDR
 from iqdbc.car.tesla.carcontroller import CarController
 from iqdbc.car.tesla.values import CAR
+from iqdbc.can import CANPacker, CANParser
 
 
 class TestTeslaFingerprint:
@@ -31,6 +32,19 @@ class TestTeslaCan:
     def make_can_msg(self, name, bus, values):
       return name, bus, values
 
+  def test_vehicle_bus_odometer_decodes_kilometers(self):
+    packer = CANPacker("tesla_model3_vehicle")
+    parser = CANParser("tesla_model3_vehicle", [("ID3B6UI_odometer", 1)], 1)
+
+    message = packer.make_can_msg("ID3B6UI_odometer", 1, {
+      "UI_odometer": 29150.377,
+      "UI_odometerCounter": 1,
+      "UI_odometerChecksum": 0,
+    })
+    parser.update([1_000_000_000, [message]])
+
+    assert parser.vl["ID3B6UI_odometer"]["UI_odometer"] == 29150.377
+
   def test_longitudinal_command_does_not_reference_missing_jerk_attr(self):
     CP = CarInterface.get_non_essential_params(CAR.TESLA_MODEL_3)
     tesla_can = TeslaCAN(CP, self.DummyPacker())