From comma wiki
Revision as of 15:27, 25 April 2018 by Jamezz (Update the TODO list steering fault items.)
Considering people are using it and the code is upstream quality, we have already paid out the bounty. But before we include it in openpilot releases, there's still a little polishing work to do.
- When the driver overrides openpilot steering, a safety mechanism must be present to limit how much torque is produced against the driver's will and to smooth the dynamic response right after the driver releases the steering wheel. Failing to implement such limitation is against the 2nd comma's safety principle: "... The vehicle must not alter its trajectory too quickly for the driver to safely react. This means that while the system is engaged, the actuators are constrained to operate within reasonable limits...". See comma's safety principles. See how this was implemented for the Toyota port.
- Soft disengagement when traction control is off
- tune pid controller. Currently, proportional gain seems too high at low speeds and the steering wheel oscillates quite a bit.
- Done. See PR it happens that lateral control stops responding for long time and no alerts are sent out while openpilot is engaged. An alert must be shown and openpilot must disengage.
- Done. See PR Understand how to prevent/recover lateral faults (maybe commanding zero steer torque torque while certain CAN flags are set by the electronic power steering module?)
- when brake is pressed and user tries to engage, a "brake pressed" alert should be sent instead of the "no close lead" one.
- Improve the ignition logic to not be based on the gear value, so the EON transmits CAN messages also when the gear is P.
- Do not allow to engage when the the cruise main button is off, as the car won't respond to openpilot commands.
- when car reaches a full stop while in openpilot, an alert should display the need to press the resume button to restart.