IQ.Pilot Release Commit @ 0798119

2026-08-22 23:42:42 -05:00
commit b42569dbca
4529 changed files with 1132125 additions and 0 deletions
--- a/iqdbc_repo/iqdbc/car/byd/interface.py
+++ b/iqdbc_repo/iqdbc/car/byd/interface.py
@@ -0,0 +1,73 @@
+from iqdbc.car import get_safety_config, structs
+from iqdbc.car.interfaces import CarInterfaceBase
+from iqdbc.car.byd.carcontroller import CarController
+from iqdbc.car.byd.carstate import CarState
+from iqdbc.car.byd.values import BydFlags, BydSafetyFlags
+
+
+class CarInterface(CarInterfaceBase):
+  CarState = CarState
+  CarController = CarController
+
+  @staticmethod
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
+    ret.brand = "byd"
+
+    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.byd)]
+
+    ret.steerControlType = structs.CarParams.SteerControlType.angle
+    ret.steerActuatorDelay = 0.1
+    ret.steerLimitTimer = 0.4
+
+    # the Veoneer tracks live on a private CAN-FD pair that the BYD-6 harness jumpers straight
+    # through, so the panda never sees them
+    ret.radarUnavailable = True
+
+    # Two harness types exist for this car, and they differ in what can be filtered:
+    #
+    #   camera harness  - the relay only intercepts the MPC camera. 0x1E2/0x316 are camera
+    #                     frames so lateral works, but the ADAS/ACC ECU sits on the chassis bus
+    #                     in front of the relay: its 0x32E cannot be blocked and openpilot would
+    #                     contend with the stock ACC on the same address. Stock long only.
+    #   gateway harness - the ACC ECU is behind the relay, so 0x32E is filterable and openpilot
+    #                     longitudinal is possible.
+    #
+    # These CANNOT be told apart from the fingerprint: fingerprinting runs with the relay
+    # closed, which ties bus 2 to bus 0, so bus 2 shows the whole car on either harness. The
+    # difference is only observable once the relay opens, which is after CarParams is fixed.
+    # Measured on a camera harness with the relay open: bus 2 carries 11 camera addresses and
+    # neither 0x32D nor 0x32E is among them.
+    #
+    # So default to the camera harness and keep longitudinal off. Setting GATEWAY_HARNESS is an
+    # explicit opt-in that must not be inferred - see BYD_SEALION7_PORT_PLAN.md.
+    gateway_harness = bool(ret.flags & BydFlags.GATEWAY_HARNESS)
+
+    ret.alphaLongitudinalAvailable = gateway_harness
+    if alpha_long and gateway_harness:
+      ret.openpilotLongitudinalControl = True
+      ret.safetyConfigs[0].safetyParam |= BydSafetyFlags.LONG_CONTROL.value
+
+      ret.longitudinalActuatorDelay = 0.5  # the IPB closes its own loop
+      ret.vEgoStarting = 0.3
+      ret.stopAccel = -0.5
+      ret.startAccel = 1.5
+      # without this longcontrol goes stopping -> pid directly and neither the startAccel kick
+      # nor the STANDSTILL_RESUME pulse ever fires
+      ret.startingState = True
+
+      # ACCEL_CMD is feedforward; high feedback gain on a 0.5s-lag actuator winds up the
+      # integrator before the car responds
+      ret.longitudinalTuning.kpBP = [0.0, 5.0, 35.0]
+      ret.longitudinalTuning.kpV = [0.5, 0.4, 0.3]
+      ret.longitudinalTuning.kiBP = [0.0, 35.0]
+      ret.longitudinalTuning.kiV = [0.03, 0.02]
+
+    return ret
+
+  @staticmethod
+  def _get_params_iq(stock_cp: structs.CarParams, ret: structs.IQCarParams, candidate, fingerprint,
+                     car_fw, alpha_long: bool, is_release_iq: bool, docs: bool) -> structs.IQCarParams:
+    if stock_cp.openpilotLongitudinalControl:
+      ret.longitudinalStoppingSpeedOverride = 0.3
+
+    return ret