From comma wiki
Revision as of 05:40, 15 June 2018 by Lordricky
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 Cadillac port.
Soft disengagement when traction control is off
implement steer torque rate limiter in car controller to prevent control instability at low speed (part of safety as well).
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.
Done. See commit 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.
- radar_interface needs a bit that determines when a track is new (low priority, objects seem to move to next available slot)
add a no entry condition when when trying to set < 15mph
- find a reliable way to be able to engage < 15mph and have gas responding
linearize the longitudinal control by clearily separating the non-linearities outside PID
- use canpacker in gmcan
tune long control. it underbrakes
- fix overbraking < 1m/s
- fix boardd ignition logic
- disengage on park brake applied (560, bit 12)