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IQ.Pilot Release Commit @ cd83f5a

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IQ.Lvbs CI [bot]
2026-08-23 11:32:03 -05:00
parent 58039e647c
commit a80e124cb8
116 changed files with 1657 additions and 4066 deletions
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4
artifacts/package_sources/iqdbc/iqdbc/car/tesla/carcontroller.py
View File

@@ -58,7 +58,7 @@ class CarController(CarControllerBase):
# Longitudinal control
if self.CP.openpilotLongitudinalControl:
if self.frame % 4 == 0:
state = 13 if CC.cruiseControl.cancel or CS.das_accCancel else 4 # 4=ACC_ON, 13=ACC_CANCEL_GENERIC_SILENT
state = 13 if CC.cruiseControl.cancel else 4 # 4=ACC_ON, 13=ACC_CANCEL_GENERIC_SILENT
accel = float(np.clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
if not CC.longActive:
accel = 0.
@@ -70,7 +70,7 @@ class CarController(CarControllerBase):
comfort_mode=bool(getattr(CC, "longComfortMode", False)),
stopping=getattr(actuators, "longControlState", None) ==
structs.CarControl.Actuators.LongControlState.stopping,
cancel=CC.cruiseControl.cancel or CS.das_accCancel))
cancel=CC.cruiseControl.cancel))
else:
# Increment counter so cancel is prioritized even without openpilot longitudinal

23
artifacts/package_sources/iqdbc/iqdbc/car/tesla/carstate.py
View File

@@ -1,6 +1,6 @@
import copy
from iqdbc.can import CANDefine, CANParser
from iqdbc.car import Bus, create_button_events, structs
from iqdbc.car import Bus, structs
from iqdbc.car.common.conversions import Conversions as CV
from iqdbc.car.interfaces import CarStateBase
from iqdbc.car.tesla import TESLA_BLINKERS
@@ -10,8 +10,6 @@ from iqdbc.lvbs.car.tesla.iq_carstate import IQCarState
from iqdbc.lvbs.car.tesla.values import TeslaFlagsIQ, TeslaSafetyFlagsIQ
from iqpilot.common.params import Params
ButtonType = structs.CarState.ButtonEvent.Type
def stock_autosteer_invalid(CP, CP_IQ, autopilot_state: int) -> bool:
return (not (CP.flags & TeslaFlags.MISSING_DAS_SETTINGS) and
@@ -33,9 +31,6 @@ class CarState(CarStateBase, IQCarState):
self.cruise_enabled_prev = False
self.hands_on_level = 0
self.acc_state_last = 0
self.das_accCancel = False
self.das_cancel_last = True
self.das_control = None
self.das_body_controls_dat = b""
self._odometer_store = iq_lvbs_alc.create_vehicle_odometer_store(CP, Params())
@@ -99,25 +94,12 @@ class CarState(CarStateBase, IQCarState):
# Cruise state
cruise_state = self.can_define.dv["DI_state"]["DI_cruiseState"].get(int(cp_party.vl["DI_state"]["DI_cruiseState"]), None)
speed_units = self.can_define.dv["DI_state"]["DI_speedUnits"].get(int(cp_party.vl["DI_state"]["DI_speedUnits"]), None)
acc_state = cp_ap_party.vl["DAS_control"]["DAS_accState"]
summon_state = self.can_define.dv["DI_state"]["DI_autoparkState"].get(int(cp_party.vl["DI_state"]["DI_autoparkState"]), None)
cruise_enabled = cruise_state in ("ENABLED", "STANDSTILL", "OVERRIDE", "PRE_FAULT", "PRE_CANCEL")
self.cruise_override = cruise_state in ("OVERRIDE")
self.update_summon_state(summon_state, cruise_enabled)
# Respect all stock DAS cancel states, not just ACC_CANCEL_GENERIC_SILENT(13).
# ELDA/ELK triggers ACC_CANCEL_GENERIC(0) which must also be forwarded.
# The stock AP is isolated from the party bus while the relay is closed, so its accState
# free-runs between ACC_ON and ACC_CANCEL_GENERIC. Only a rising edge while ACC is engaged
# is a real cancel; level-forwarding it pins DI_cruiseState to UNAVAILABLE and blocks engaging.
das_cancel = acc_state in (0, 1, 2, 12, 13, 14, 15)
if not cruise_enabled:
self.das_accCancel = False
elif das_cancel and not self.das_cancel_last:
self.das_accCancel = True
self.das_cancel_last = das_cancel
# Match panda safety cruise engaged logic
ret.cruiseState.enabled = cruise_enabled and not self.summon
if speed_units == "KPH":
@@ -130,9 +112,6 @@ class CarState(CarStateBase, IQCarState):
ret.standstill = cp_party.vl["ESP_B"]["ESP_vehicleStandstillSts"] == 1
ret.accFaulted = cruise_state == "FAULT"
ret.buttonEvents = [*create_button_events(acc_state, self.acc_state_last, {0: ButtonType.cancel, 13: ButtonType.cancel})]
self.acc_state_last = acc_state
# Gear
ret.gearShifter = GEAR_MAP[self.can_define.dv["DI_systemStatus"]["DI_gear"].get(int(cp_party.vl["DI_systemStatus"]["DI_gear"]), "DI_GEAR_INVALID")]

3
artifacts/package_sources/iqdbc/iqdbc/lvbs/car/tesla/iq_carstate.py
View File

@@ -35,7 +35,8 @@ class IQCarState:
prev_infotainment_3_finger_press = self.infotainment_3_finger_press
self.infotainment_3_finger_press = int(cp_adas.vl["UI_status2"]["UI_activeTouchPoints"])
ret.buttonEvents = [*create_button_events(self.infotainment_3_finger_press, prev_infotainment_3_finger_press,
ret.buttonEvents = [*ret.buttonEvents,
*create_button_events(self.infotainment_3_finger_press, prev_infotainment_3_finger_press,
{3: ButtonType.lkas})]
bms_soc_ui = float(cp_adas.vl["ID292BMS_SOC"].get("SOCUI292", 0.0))