Quintine
02f1972e99
The Seal's camera faults (ACC + ADAS + AEB warning lights, 'unable to activate ADAS') because panda neutralizes its intercepted 790 LKAS commands while the camera watches the 508 feedback for execution — seeing its requests ignored, it disables the whole ADAS suite. The Han avoids this by echoing the camera's request back in the 792 feedback; the Seal needs the same on its 508 STEERING_TORQUE_ANGLE: - bydcan.create_steering_torque_angle: mirrors the Han spoof logic on the 508 layout — when camera LKAS is active, echo its 790 torque request into MAIN_TORQUE and its 482 angle request into TARGET_ANGLE with Cruise_Activated=1; prepare -> LKSPrepare=1; passive -> neutral - carcontroller: Seal sends the 508 spoof, Han keeps the 792 spoof - carstate: capture the camera's 482 angle command for the spoof - panda: whitelist 508 TX on bus 2 (absolute-limit check), stock 508 blocked 0->2 via check_relay — one config covers both platforms - firmware rebuilt; spoof decode-verified (camera's exact torque+angle echoed back); 120 safety tests + MISRA clean NOTE: the ADAS fault latches — the car needs a full power cycle (or a few minutes off) after flashing this build for the dash warnings to clear.
🌞 What is sunnypilot?
sunnypilot is a fork of comma.ai's openpilot, an open source driver assistance system. sunnypilot offers the user a unique driving experience for over 300+ supported car makes and models with modified behaviors of driving assist engagements. sunnypilot complies with comma.ai's safety rules as accurately as possible.
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Documentation
https://docs.sunnypilot.ai/ is your one stop shop for everything from features to installation to FAQ about the sunnypilot
🚘 Running on a dedicated device in a car
First, check out this list of items you'll need to get started.
Installation
Next, refer to the sunnypilot community forum for installation instructions, as well as a complete list of Recommended Branch Installations.
🎆 Pull Requests
We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.
Pull requests should be against the most current master branch.
📊 User Data
By default, sunnypilot uploads the driving data to comma servers. You can also access your data through comma connect.
sunnypilot is open source software. The user is free to disable data collection if they wish to do so.
sunnypilot logs the road-facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs. The driver-facing camera and microphone are only logged if you explicitly opt-in in settings.
By using this software, you understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
Licensing
sunnypilot is released under the MIT License. This repository includes original work as well as significant portions of code derived from openpilot by comma.ai, which is also released under the MIT license with additional disclaimers.
The original openpilot license notice, including comma.ai’s indemnification and alpha software disclaimer, is reproduced below as required:
openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT. YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS. NO WARRANTY EXPRESSED OR IMPLIED.
For full license terms, please see the LICENSE file.
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Your continuous love and support are greatly appreciated! Enjoy 🥰
- Jason, Founder of sunnypilot