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external radar

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This commit is contained in:
Comma Device
2026-03-30 22:16:15 +08:00
parent fb784b084c
commit 4b34ea50cd
38 changed files with 873 additions and 264 deletions
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3
common/params_keys.h
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@@ -126,6 +126,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
{"ForceOffroad", CLEAR_ON_MANAGER_START},
{"BydModifiedStockLong", PERSISTENT},
{"AlwaysOnLKAS", PERSISTENT},
{"EnableExtRadar", PERSISTENT},
{"BydAutoTuning", PERSISTENT},
{"BydLatUseSiglin", PERSISTENT},
{"CameraOffset", PERSISTENT},
@@ -345,6 +346,6 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
{"NNFF", PERSISTENT},
{"NNFFLite", PERSISTENT},
{"NNFFModelName", CLEAR_ON_OFFROAD_TRANSITION},
{"HardwareC3xLite", PERSISTENT},
};

BIN
common/params_pyx.so
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Binary file not shown.

4
opendbc_repo/opendbc/car/byd/bydcan.py
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File diff suppressed because one or more lines are too long

4
opendbc_repo/opendbc/car/byd/carcontroller.py
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File diff suppressed because one or more lines are too long

4
opendbc_repo/opendbc/car/byd/carstate.py
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File diff suppressed because one or more lines are too long

7
opendbc_repo/opendbc/car/byd/interface.py
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@@ -62,8 +62,11 @@ class CarInterface(CarInterfaceBase):
ret.dashcamOnly = False
radar_car = candidate in (PT_RADAR_CAR | RADAR_CAR)
ret.radarUnavailable = not radar_car
if Params().get_bool("EnableExtRadar"):
ret.radarUnavailable = False
else:
radar_car = candidate in (PT_RADAR_CAR | RADAR_CAR)
ret.radarUnavailable = not radar_car
ret.enableBsm = 0x418 in fingerprint[CanBus.ESC]
ret.transmissionType = TransmissionType.direct

4
opendbc_repo/opendbc/car/byd/radar_interface.py
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File diff suppressed because one or more lines are too long

4
opendbc_repo/opendbc/car/byd/server_connect.py
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File diff suppressed because one or more lines are too long

78
opendbc_repo/opendbc/car/byd/tuning.py
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@@ -1,40 +1,38 @@
#!/usr/bin/env python3
class Tuning:
#仅开启非线性模式，但又没有选NNFF时候才有效
LAT_SIGLIN_TABLE = [4.867, 1.09, 0.243]
#方向盘手动偏差
STEERING_ANGLE_OFFSET = 0
# modified stock long control 原车long控制的速度平滑百分比设定, 例如下面40米以内，则加速率是原来的70%，减速率是原来的100%
K_ACCEL_BP = [40, 50, 60, 70, 80] # meters BP是离前车距离
K_ACCEL_POS_4BAR = [0.8, 0.7, 0.7, 0.7, 0.7] # acceleration 加速的百分比
K_ACCEL_NEG_4BAR = [1.0, 0.8, 0.7, 0.7, 0.7] # deceleration 减速的百分比
K_ACCEL_POS_3BAR = [0.8, 0.7, 0.7, 0.7, 0.7] # acceleration 加速的百分比
K_ACCEL_NEG_3BAR = [1.0, 0.9, 0.8, 0.7, 0.7] # deceleration 减速的百分比
K_ACCEL_POS_2BAR = [0.8, 0.8, 0.7, 0.7, 0.7] # acceleration 加速的百分比
K_ACCEL_NEG_2BAR = [1.0, 1.0, 0.9, 0.8, 0.7] # deceleration 减速的百分比
K_ACCEL_POS_1BAR = [1.0, 1.0, 1.0, 0.9, 0.8] # acceleration 加速的百分比
K_ACCEL_NEG_1BAR = [1.1, 1.0, 1.0, 1.0, 0.9] # deceleration 减速的百分比
# 人为扭动方向盘的阈值，大于这个值才认为方向盘被故意扭动了，变道辅助涉及它
STEER_PRESSED_THRESHOLD = 56
# 解决某些D9或者唐车型，离手时间过久，EPS会退出问题。解决办法是特定周期退出控制再马上接管
HANDSOFF_ANGLE = [4, 11, 18] #方向盘旋转的角度，不分左右，这里都是正值
HANDSOFF_PERIOD = [5, 10, 15] #方向盘放开的周期，单位s
# 禁用EPS故障检查, 某些车有EPS固件比较奇怪报错的话，则可以设为True
DISABLE_EPS_WARNING = False
DISABLE_EPS_TEMPORARY_FAULT = False
DISABLE_EPS_PERMANENT_FAULT = False
EPS_ANGLE_EXCEED_WARNING_CNT = 3
EPS_ANGLE_SPEED_WARNING_CNT = 3
DISABLE_PARKBRAKE = False
#!/usr/bin/env python3
class Tuning:
#仅开启非线性模式，但又没有选NNFF时候才有效
LAT_SIGLIN_TABLE = [4.867, 1.09, 0.243]
#方向盘手动偏差
STEERING_ANGLE_OFFSET = 0
# modified stock long control 原车long控制的速度平滑百分比设定, 例如下面40米以内，则加速率是原来的70%，减速率是原来的100%
K_ACCEL_BP = [40, 50, 60, 70, 80] # meters BP是离前车距离
K_ACCEL_POS_4BAR = [0.8, 0.7, 0.7, 0.7, 0.7] # acceleration 加速的百分比
K_ACCEL_NEG_4BAR = [1.0, 0.8, 0.7, 0.7, 0.7] # deceleration 减速的百分比
K_ACCEL_POS_3BAR = [0.8, 0.7, 0.7, 0.7, 0.7] # acceleration 加速的百分比
K_ACCEL_NEG_3BAR = [1.0, 0.9, 0.8, 0.7, 0.7] # deceleration 减速的百分比
K_ACCEL_POS_2BAR = [0.8, 0.8, 0.7, 0.7, 0.7] # acceleration 加速的百分比
K_ACCEL_NEG_2BAR = [1.0, 1.0, 0.9, 0.8, 0.7] # deceleration 减速的百分比
K_ACCEL_POS_1BAR = [1.0, 1.0, 1.0, 0.9, 0.8] # acceleration 加速的百分比
K_ACCEL_NEG_1BAR = [1.1, 1.0, 1.0, 1.0, 0.9] # deceleration 减速的百分比
# 人为扭动方向盘的阈值，大于这个值才认为方向盘被故意扭动了，变道辅助涉及它
STEER_PRESSED_THRESHOLD = 56
# 解决某些D9或者唐车型，离手时间过久，EPS会退出问题。解决办法是特定周期退出控制再马上接管
HANDSOFF_ANGLE = [4, 11, 18] #方向盘旋转的角度，不分左右，这里都是正值
HANDSOFF_PERIOD = [5, 10, 15] #方向盘放开的周期，单位s
# 禁用EPS故障检查, 某些车有EPS固件比较奇怪报错的话，则可以设为True
DISABLE_EPS_WARNING = False
DISABLE_EPS_TEMPORARY_FAULT = False
DISABLE_EPS_PERMANENT_FAULT = False
EPS_ANGLE_EXCEED_WARNING_CNT = 100
EPS_ANGLE_SPEED_WARNING_CNT = 100

4
opendbc_repo/opendbc/car/byd/values.py
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File diff suppressed because one or more lines are too long

386
opendbc_repo/opendbc/dbc/byd_generic_pt.dbc
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@@ -36,215 +36,215 @@ BS_:
BU_: XXX
BO_ 85 CID_SOFGUV: 8 XXX
SG_ sig_ubmazy : 40|1@1+ (1,0) [0|1] "" XXX
SG_ sig_lbahgn : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 85 CID_MZNOSW: 8 XXX
SG_ sig_hurnfr : 40|1@1+ (1,0) [0|1] "" XXX
SG_ sig_oosfke : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 287 CID_ITTPUQ: 5 XXX
SG_ sig_vdubtu : 0|16@1- (0.1,0) [-450|450] "" XXX
SG_ sig_tgmgcn : 16|8@1+ (4,0) [0|1020] "" XXX
SG_ sig_myinqp : 32|8@1+ (1,0) [0|255] "" XXX
BO_ 287 CID_MYSWNY: 5 XXX
SG_ sig_wuknlj : 0|16@1- (0.1,0) [-450|450] "" XXX
SG_ sig_gohkeb : 16|8@1+ (4,0) [0|1020] "" XXX
SG_ sig_lpifhe : 32|8@1+ (1,0) [0|255] "" XXX
BO_ 289 CID_PZYZIB: 8 XXX
SG_ sig_kmcmgb : 0|12@1+ (1,0) [0|255] "" XXX
BO_ 289 CID_DWYEGS: 8 XXX
SG_ sig_nsvcuj : 0|12@1+ (1,0) [0|255] "" XXX
BO_ 301 CID_EOTDBS: 8 XXX
SG_ sig_zjczmq : 0|1@0+ (1,0) [0|1] "" XXX
SG_ sig_qgdhcf : 1|1@0+ (1,0) [0|1] "" XXX
SG_ sig_pafxpg : 2|1@0+ (1,0) [0|1] "" XXX
SG_ sig_tfpwti : 3|1@0+ (1,0) [0|1] "" XXX
SG_ sig_xzaqip : 4|1@0+ (1,0) [0|1] "" XXX
SG_ sig_hfhoki : 6|1@0+ (1,0) [0|1] "" XXX
SG_ sig_cnkxfp : 8|1@0+ (1,0) [0|1] "" XXX
SG_ sig_ldokek : 55|1@0+ (1,0) [0|1] "" XXX
BO_ 301 CID_UZXMLP: 8 XXX
SG_ sig_kkuiop : 0|1@0+ (1,0) [0|1] "" XXX
SG_ sig_pmcyqo : 1|1@0+ (1,0) [0|1] "" XXX
SG_ sig_lgrdev : 2|1@0+ (1,0) [0|1] "" XXX
SG_ sig_vhlrig : 3|1@0+ (1,0) [0|1] "" XXX
SG_ sig_ifhdqd : 4|1@0+ (1,0) [0|1] "" XXX
SG_ sig_pzcbrn : 6|1@0+ (1,0) [0|1] "" XXX
SG_ sig_vmytof : 8|1@0+ (1,0) [0|1] "" XXX
SG_ sig_ilafhx : 55|1@0+ (1,0) [0|1] "" XXX
BO_ 307 CID_LXHVAH: 8 XXX
SG_ sig_prfbzk : 0|1@0+ (1,0) [0|1] "" XXX
SG_ sig_ueuntc : 1|1@1+ (1,0) [0|1] "" XXX
SG_ sig_sxqgdq : 2|1@1+ (1,0) [0|1] "" XXX
SG_ sig_pmqsim : 3|1@1+ (1,0) [0|1] "" XXX
SG_ sig_cgbzub : 4|1@0+ (1,0) [0|1] "" XXX
SG_ sig_vtklcw : 5|1@0+ (1,0) [0|1] "" XXX
SG_ sig_mqezjr : 7|1@0+ (1,0) [0|1] "" XXX
SG_ sig_dipprc : 36|3@1+ (1,0) [0|7] "" XXX
SG_ sig_xykrhk : 40|1@0+ (1,0) [0|1] "" XXX
SG_ sig_ihlipa : 63|4@0+ (1,0) [0|15] "" XXX
BO_ 307 CID_BRGCKQ: 8 XXX
SG_ sig_ruvkpw : 0|1@0+ (1,0) [0|1] "" XXX
SG_ sig_rjcxdf : 1|1@1+ (1,0) [0|1] "" XXX
SG_ sig_sempkm : 2|1@1+ (1,0) [0|1] "" XXX
SG_ sig_gdcebv : 3|1@1+ (1,0) [0|1] "" XXX
SG_ sig_nlimqq : 4|1@0+ (1,0) [0|1] "" XXX
SG_ sig_nwrxjn : 5|1@0+ (1,0) [0|1] "" XXX
SG_ sig_pfnqhi : 7|1@0+ (1,0) [0|1] "" XXX
SG_ sig_dpcslk : 36|3@1+ (1,0) [0|7] "" XXX
SG_ sig_kawhmq : 40|1@0+ (1,0) [0|1] "" XXX
SG_ sig_nfotgk : 63|4@0+ (1,0) [0|15] "" XXX
BO_ 482 CID_HUAUVV: 8 XXX
SG_ sig_mttkjc : 0|10@1- (0.01,0) [0|5] "" XXX
SG_ sig_lmtvxy : 10|10@1- (0.01,0) [-5|0] "" XXX
SG_ sig_nefxgf : 20|1@0+ (1,0) [0|1] "" XXX
SG_ sig_odouvu : 21|1@0+ (1,0) [0|1] "" XXX
SG_ sig_wlzath : 22|2@1+ (1,0) [0|1] "" XXX
SG_ sig_eiupss : 24|16@1- (0.1,0) [-780|779.9] "" XXX
SG_ sig_dhzsck : 47|8@0+ (1,0) [0|255] "" XXX
SG_ sig_dphcuw : 48|4@1+ (1,0) [0|15] "" XXX
SG_ sig_myinqp : 52|4@1+ (1,0) [0|15] "" XXX
SG_ sig_lbahgn : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 482 CID_QLIOFM: 8 XXX
SG_ sig_cyzeiz : 0|10@1- (0.01,0) [0|5] "" XXX
SG_ sig_asjgzy : 10|10@1- (0.01,0) [-5|0] "" XXX
SG_ sig_ecipsd : 20|1@0+ (1,0) [0|1] "" XXX
SG_ sig_uuskbc : 21|1@0+ (1,0) [0|1] "" XXX
SG_ sig_dmwjum : 22|2@1+ (1,0) [0|1] "" XXX
SG_ sig_zkxnhi : 24|16@1- (0.1,0) [-780|779.9] "" XXX
SG_ sig_gigbwz : 47|8@0+ (1,0) [0|255] "" XXX
SG_ sig_qjoycm : 48|4@1+ (1,0) [0|15] "" XXX
SG_ sig_lpifhe : 52|4@1+ (1,0) [0|15] "" XXX
SG_ sig_oosfke : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 508 CID_GEWMHO: 8 XXX
SG_ sig_dghvzu : 0|2@1+ (1,0) [0|1] "" XXX
SG_ sig_wguuzb : 2|1@1+ (1,0) [0|1] "" XXX
SG_ sig_iblxng : 3|1@0+ (1,0) [0|1] "" XXX
SG_ sig_hoicum : 4|12@1- (1,0) [-2048|2047] "" XXX
SG_ sig_tfebiy : 16|16@1- (0.1,0) [-780|779.9] "Deg" XXX
SG_ sig_lyhneg : 32|12@1- (1,0) [0|63] "" XXX
SG_ sig_phcehv : 44|1@0+ (1,0) [0|1] "" XXX
SG_ sig_upztpe : 45|1@1+ (1,0) [0|255] "" XXX
SG_ sig_jxdaqh : 46|1@1+ (1,0) [0|1] "" XXX
SG_ sig_ullmli : 47|1@0+ (1,0) [0|3] "" XXX
SG_ sig_ffclpe : 48|4@1+ (1,0) [0|15] "" XXX
SG_ sig_myinqp : 52|4@1+ (1,0) [0|15] "" XXX
SG_ sig_lbahgn : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 508 CID_ADWUBI: 8 XXX
SG_ sig_cwmfzm : 0|2@1+ (1,0) [0|1] "" XXX
SG_ sig_aradyg : 2|1@1+ (1,0) [0|1] "" XXX
SG_ sig_ucrcdu : 3|1@0+ (1,0) [0|1] "" XXX
SG_ sig_hzhjqg : 4|12@1- (1,0) [-2048|2047] "" XXX
SG_ sig_xxcspe : 16|16@1- (0.1,0) [-780|779.9] "Deg" XXX
SG_ sig_ofvqrh : 32|12@1- (1,0) [0|63] "" XXX
SG_ sig_igrsfn : 44|1@0+ (1,0) [0|1] "" XXX
SG_ sig_aspdji : 45|1@1+ (1,0) [0|255] "" XXX
SG_ sig_qsmndc : 46|1@1+ (1,0) [0|1] "" XXX
SG_ sig_uunhhu : 47|1@0+ (1,0) [0|3] "" XXX
SG_ sig_puadua : 48|4@1+ (1,0) [0|15] "" XXX
SG_ sig_lpifhe : 52|4@1+ (1,0) [0|15] "" XXX
SG_ sig_oosfke : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 578 CID_YEVFLY: 8 XXX
SG_ sig_lunged : 30|7@0+ (1,0) [0|127] "" XXX
SG_ sig_yanzpe : 37|1@0+ (1,0) [0|1] "" XXX
SG_ sig_spwxml : 40|3@1+ (1,0) [0|7] "" XXX
SG_ sig_myinqp : 55|4@0+ (1,0) [0|15] "" XXX
SG_ sig_lbahgn : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 578 CID_RLRSRG: 8 XXX
SG_ sig_fkysqk : 30|7@0+ (1,0) [0|127] "" XXX
SG_ sig_daqmnl : 37|1@0+ (1,0) [0|1] "" XXX
SG_ sig_kiwlnw : 40|3@1+ (1,0) [0|7] "" XXX
SG_ sig_lpifhe : 55|4@0+ (1,0) [0|15] "" XXX
SG_ sig_oosfke : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 660 CID_ENELEQ: 8 XXX
SG_ sig_zjczmq : 1|2@0+ (1,0) [0|3] "" XXX
SG_ sig_qgdhcf : 3|2@0+ (1,0) [0|3] "" XXX
SG_ sig_pafxpg : 5|2@0+ (1,0) [0|3] "" XXX
SG_ sig_tfpwti : 7|2@0+ (1,0) [0|3] "" XXX
SG_ sig_hfhoki : 17|2@0+ (1,0) [0|3] "" XXX
SG_ sig_xzaqip : 19|2@0+ (1,0) [0|3] "" XXX
SG_ sig_ngyqgi : 21|2@0+ (1,0) [0|3] "" XXX
SG_ sig_krjszj : 26|1@0+ (1,0) [0|1] "" XXX
BO_ 660 CID_CJZHFF: 8 XXX
SG_ sig_kkuiop : 1|2@0+ (1,0) [0|3] "" XXX
SG_ sig_pmcyqo : 3|2@0+ (1,0) [0|3] "" XXX
SG_ sig_lgrdev : 5|2@0+ (1,0) [0|3] "" XXX
SG_ sig_vhlrig : 7|2@0+ (1,0) [0|3] "" XXX
SG_ sig_pzcbrn : 17|2@0+ (1,0) [0|3] "" XXX
SG_ sig_ifhdqd : 19|2@0+ (1,0) [0|3] "" XXX
SG_ sig_wiiadp : 21|2@0+ (1,0) [0|3] "" XXX
SG_ sig_otezfy : 26|1@0+ (1,0) [0|1] "" XXX
BO_ 694 CID_XCVXYN: 8 XXX
SG_ sig_bvbflf : 7|8@0+ (1,0) [0|255] "" XXX
SG_ sig_mwqnaw : 15|8@0+ (1,0) [0|255] "" XXX
SG_ sig_khfhkw : 23|8@0+ (1,0) [0|255] "" XXX
SG_ sig_nfajxb : 31|8@0+ (1,0) [0|255] "" XXX
SG_ sig_lfvdww : 39|8@0+ (1,0) [0|255] "" XXX
SG_ sig_snotsu : 47|8@0+ (1,0) [0|255] "" XXX
BO_ 694 CID_TNAJVQ: 8 XXX
SG_ sig_xfezts : 7|8@0+ (1,0) [0|255] "" XXX
SG_ sig_kabpue : 15|8@0+ (1,0) [0|255] "" XXX
SG_ sig_kvjrgk : 23|8@0+ (1,0) [0|255] "" XXX
SG_ sig_xgwrgs : 31|8@0+ (1,0) [0|255] "" XXX
SG_ sig_rxpfhq : 39|8@0+ (1,0) [0|255] "" XXX
SG_ sig_zqrcms : 47|8@0+ (1,0) [0|255] "" XXX
BO_ 790 CID_ZMHHTA: 8 XXX
SG_ sig_rllkom : 3|4@0+ (1,0) [0|1] "" XXX
SG_ sig_qbharc : 4|2@1+ (1,0) [0|3] "" XXX
SG_ sig_euqtgn : 6|2@1+ (1,0) [0|3] "" XXX
SG_ sig_udzvja : 8|2@1+ (1,0) [0|3] "" XXX
SG_ sig_mzxsla : 10|1@1+ (1,0) [0|1] "" XXX
SG_ sig_aenyaq : 11|4@1+ (1,0) [0|1] "" XXX
SG_ sig_evjldw : 15|1@0+ (1,0) [0|1] "" XXX
SG_ sig_eiupss : 16|11@1- (1,0) [-1024|1023] "" XXX
SG_ sig_nefxgf : 27|1@1+ (1,0) [0|1] "" XXX
SG_ sig_odouvu : 28|1@1+ (1,0) [0|3] "" XXX
SG_ sig_rflfgt : 29|1@0+ (1,0) [0|1] "" XXX
SG_ sig_yzhzsu : 30|1@0+ (1,0) [0|1] "" XXX
SG_ sig_ectzqj : 31|1@0+ (1,0) [0|1] "" XXX
SG_ sig_roaqax : 32|2@1+ (1,0) [0|3] "" XXX
SG_ sig_xhgqte : 34|2@1+ (1,0) [0|3] "" XXX
SG_ sig_bqadrq : 36|4@1+ (1,0) [0|3] "" XXX
SG_ sig_ipqcxa : 40|8@1+ (5,-5) [-5|1270] "" XXX
SG_ sig_sriacu : 49|2@0+ (1,0) [0|3] "" XXX
SG_ sig_vjrwbi : 51|2@0+ (1,0) [0|3] "" XXX
SG_ sig_myinqp : 52|4@1+ (1,0) [0|15] "" XXX
SG_ sig_lbahgn : 56|8@1+ (1,0) [0|15] "" XXX
BO_ 790 CID_TZXGFC: 8 XXX
SG_ sig_oyeqog : 3|4@0+ (1,0) [0|1] "" XXX
SG_ sig_opumoe : 4|2@1+ (1,0) [0|3] "" XXX
SG_ sig_ysmsog : 6|2@1+ (1,0) [0|3] "" XXX
SG_ sig_deaarl : 8|2@1+ (1,0) [0|3] "" XXX
SG_ sig_pljhjf : 10|1@1+ (1,0) [0|1] "" XXX
SG_ sig_nqfgpb : 11|4@1+ (1,0) [0|1] "" XXX
SG_ sig_xxayjw : 15|1@0+ (1,0) [0|1] "" XXX
SG_ sig_zkxnhi : 16|11@1- (1,0) [-1024|1023] "" XXX
SG_ sig_ecipsd : 27|1@1+ (1,0) [0|1] "" XXX
SG_ sig_uuskbc : 28|1@1+ (1,0) [0|3] "" XXX
SG_ sig_emmviz : 29|1@0+ (1,0) [0|1] "" XXX
SG_ sig_nrzkmu : 30|1@0+ (1,0) [0|1] "" XXX
SG_ sig_lmtfpf : 31|1@0+ (1,0) [0|1] "" XXX
SG_ sig_fzdlec : 32|2@1+ (1,0) [0|3] "" XXX
SG_ sig_jkxnls : 34|2@1+ (1,0) [0|3] "" XXX
SG_ sig_soenqe : 36|4@1+ (1,0) [0|3] "" XXX
SG_ sig_jhmcpg : 40|8@1+ (5,-5) [-5|1270] "" XXX
SG_ sig_qhcidy : 49|2@0+ (1,0) [0|3] "" XXX
SG_ sig_nlvmah : 51|2@0+ (1,0) [0|3] "" XXX
SG_ sig_lpifhe : 52|4@1+ (1,0) [0|15] "" XXX
SG_ sig_oosfke : 56|8@1+ (1,0) [0|15] "" XXX
BO_ 792 CID_HRCCBO: 8 XXX
SG_ sig_dghvzu : 0|2@1+ (1,0) [0|1] "" XXX
SG_ sig_wguuzb : 2|1@1+ (1,0) [0|1] "" XXX
SG_ sig_iblxng : 3|1@1+ (1,0) [0|1] "" XXX
SG_ sig_howjwy : 4|1@1+ (1,0) [0|1] "" XXX
SG_ sig_bijhax : 5|3@1+ (1,0) [0|1] "" XXX
SG_ sig_lyhneg : 8|12@1- (1,0) [-2048|2047] "" XXX
SG_ sig_rjumef : 20|1@1+ (1,0) [0|1] "" XXX
SG_ sig_upztpe : 21|1@1+ (1,0) [0|1] "" XXX
SG_ sig_ugyesm : 22|2@1+ (1,0) [0|15] "" XXX
SG_ sig_hoicum : 24|12@1- (1,0) [-2048|2047] "" XXX
SG_ sig_ablkxv : 36|4@1+ (1,0) [0|15] "" XXX
SG_ sig_dvvvgq : 40|12@1+ (1,0) [0|4095] "" XXX
SG_ sig_myinqp : 52|4@1+ (1,0) [0|15] "" XXX
SG_ sig_lbahgn : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 792 CID_MUVOGB: 8 XXX
SG_ sig_cwmfzm : 0|2@1+ (1,0) [0|1] "" XXX
SG_ sig_aradyg : 2|1@1+ (1,0) [0|1] "" XXX
SG_ sig_ucrcdu : 3|1@1+ (1,0) [0|1] "" XXX
SG_ sig_udsjaw : 4|1@1+ (1,0) [0|1] "" XXX
SG_ sig_rvuvfl : 5|3@1+ (1,0) [0|1] "" XXX
SG_ sig_ofvqrh : 8|12@1- (1,0) [-2048|2047] "" XXX
SG_ sig_lnggpn : 20|1@1+ (1,0) [0|1] "" XXX
SG_ sig_aspdji : 21|1@1+ (1,0) [0|1] "" XXX
SG_ sig_iyhlfu : 22|2@1+ (1,0) [0|15] "" XXX
SG_ sig_hzhjqg : 24|12@1- (1,0) [-2048|2047] "" XXX
SG_ sig_smxjle : 36|4@1+ (1,0) [0|15] "" XXX
SG_ sig_yylhny : 40|12@1+ (1,0) [0|4095] "" XXX
SG_ sig_lpifhe : 52|4@1+ (1,0) [0|15] "" XXX
SG_ sig_oosfke : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 813 CID_PJKFBR: 8 XXX
SG_ sig_mazyuu : 0|9@1+ (0.5,0) [0|255.5] "" XXX
SG_ sig_ndkpwd : 9|1@1+ (1,0) [0|1] "" XXX
SG_ sig_ftczwy : 10|3@1+ (1,0) [0|7] "" XXX
SG_ sig_ieklop : 13|3@1+ (1,0) [0|7] "" XXX
SG_ sig_exzirp : 16|1@1+ (1,0) [0|1] "" XXX
SG_ sig_hypaka : 17|1@1+ (1,0) [0|1] "" XXX
SG_ sig_iblxng : 18|1@1+ (1,0) [0|1] "" XXX
SG_ sig_sqsdur : 19|3@1+ (1,0) [0|1] "" XXX
SG_ sig_dfwxfm : 22|1@0+ (1,0) [0|1] "" XXX
SG_ sig_rmfzth : 23|1@0+ (1,0) [0|1] "" XXX
SG_ sig_udzvja : 24|1@1+ (1,0) [0|1] "" XXX
SG_ sig_omnviu : 25|7@1+ (1,0) [0|127] "" XXX
SG_ sig_oyklxo : 32|4@1+ (1,0) [0|15] "" XXX
SG_ sig_myplxl : 36|8@1+ (1,0) [0|15] "" XXX
SG_ sig_vmfzqd : 47|4@0+ (1,0) [0|7] "" XXX
SG_ sig_myinqp : 48|4@1+ (1,0) [0|15] "" XXX
SG_ sig_npduab : 55|4@0+ (1,0) [0|15] "" XXX
SG_ sig_lbahgn : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 813 CID_YCOMMJ: 8 XXX
SG_ sig_lbukok : 0|9@1+ (0.5,0) [0|255.5] "" XXX
SG_ sig_zjfpjr : 9|1@1+ (1,0) [0|1] "" XXX
SG_ sig_kapwlf : 10|3@1+ (1,0) [0|7] "" XXX
SG_ sig_tfylsx : 13|3@1+ (1,0) [0|7] "" XXX
SG_ sig_xaivmn : 16|1@1+ (1,0) [0|1] "" XXX
SG_ sig_ejfcyb : 17|1@1+ (1,0) [0|1] "" XXX
SG_ sig_ucrcdu : 18|1@1+ (1,0) [0|1] "" XXX
SG_ sig_aszmok : 19|3@1+ (1,0) [0|1] "" XXX
SG_ sig_twrcca : 22|1@0+ (1,0) [0|1] "" XXX
SG_ sig_xtezea : 23|1@0+ (1,0) [0|1] "" XXX
SG_ sig_deaarl : 24|1@1+ (1,0) [0|1] "" XXX
SG_ sig_jstewg : 25|7@1+ (1,0) [0|127] "" XXX
SG_ sig_rzqhly : 32|4@1+ (1,0) [0|15] "" XXX
SG_ sig_lxqayu : 36|8@1+ (1,0) [0|15] "" XXX
SG_ sig_pxcvgl : 47|4@0+ (1,0) [0|7] "" XXX
SG_ sig_lpifhe : 48|4@1+ (1,0) [0|15] "" XXX
SG_ sig_cbrjas : 55|4@0+ (1,0) [0|15] "" XXX
SG_ sig_oosfke : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 814 CID_VUWFIL: 8 XXX
SG_ sig_fmgfog : 0|8@1+ (0.05,-5) [-100|155] "" XXX
SG_ sig_blrucy : 8|8@1+ (0.05,-5) [0|1.26] "" XXX
SG_ sig_nqybaz : 16|8@1+ (0.05,-5) [0|1.26] "" XXX
SG_ sig_xmipra : 24|7@1+ (0.2,0) [0|12.7] "" XXX
SG_ sig_iblxng : 31|1@0+ (1,0) [0|1] "" XXX
SG_ sig_pcelce : 32|7@1+ (0.2,-16) [0|12.7] "" XXX
SG_ sig_mzbmts : 39|1@0+ (1,0) [0|1] "" XXX
SG_ sig_aveeug : 40|1@0+ (1,0) [0|1] "" XXX
SG_ sig_yhavif : 41|1@0+ (1,0) [0|1] "" XXX
SG_ sig_pxvrbl : 42|1@1+ (1,0) [0|3] "" XXX
SG_ sig_iqvqkj : 45|3@0+ (1,0) [0|1] "" XXX
SG_ sig_hirdoc : 46|2@1+ (1,0) [0|3] "" XXX
SG_ sig_myinqp : 48|4@1+ (1,0) [0|15] "" XXX
SG_ sig_flmbtp : 55|4@0+ (1,0) [0|15] "" XXX
SG_ sig_lbahgn : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 814 CID_AZNMOJ: 8 XXX
SG_ sig_gvjkhw : 0|8@1+ (0.05,-5) [-100|155] "" XXX
SG_ sig_nzcijv : 8|8@1+ (0.05,-5) [0|1.26] "" XXX
SG_ sig_tuhgfi : 16|8@1+ (0.05,-5) [0|1.26] "" XXX
SG_ sig_djzgtx : 24|7@1+ (0.2,0) [0|12.7] "" XXX
SG_ sig_ucrcdu : 31|1@0+ (1,0) [0|1] "" XXX
SG_ sig_cgfqgm : 32|7@1+ (0.2,-16) [0|12.7] "" XXX
SG_ sig_jiyiej : 39|1@0+ (1,0) [0|1] "" XXX
SG_ sig_pwkghh : 40|1@0+ (1,0) [0|1] "" XXX
SG_ sig_fcfaua : 41|1@0+ (1,0) [0|1] "" XXX
SG_ sig_xhcdsz : 42|1@1+ (1,0) [0|3] "" XXX
SG_ sig_ofqtjd : 45|3@0+ (1,0) [0|1] "" XXX
SG_ sig_avckzr : 46|2@1+ (1,0) [0|3] "" XXX
SG_ sig_lpifhe : 48|4@1+ (1,0) [0|15] "" XXX
SG_ sig_tjkvwz : 55|4@0+ (1,0) [0|15] "" XXX
SG_ sig_oosfke : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 815 CID_NRQKZZ: 8 XXX
SG_ sig_myinqp : 48|4@1+ (1,0) [0|15] "" XXX
SG_ sig_taqxdb : 55|4@0+ (1,0) [0|15] "" XXX
SG_ sig_lbahgn : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 815 CID_EUDHWF: 8 XXX
SG_ sig_lpifhe : 48|4@1+ (1,0) [0|15] "" XXX
SG_ sig_cngovr : 55|4@0+ (1,0) [0|15] "" XXX
SG_ sig_oosfke : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 834 CID_MSKDGJ: 8 XXX
SG_ sig_btrxvt : 0|8@1+ (0.01,0) [0|2.55] "" XXX
SG_ sig_owufyz : 8|8@1+ (0.01,0) [0|2.55] "" XXX
SG_ sig_bldsmx : 19|1@1+ (1,0) [0|1] "" XXX
SG_ sig_lbyslh : 20|2@1+ (1,0) [0|255] "" XXX
SG_ sig_oxglmh : 28|2@1+ (1,0) [0|1] "" XXX
SG_ sig_lbahgn : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 834 CID_UVVRQI: 8 XXX
SG_ sig_wcgyjj : 0|8@1+ (0.01,0) [0|2.55] "" XXX
SG_ sig_ucsaue : 8|8@1+ (0.01,0) [0|2.55] "" XXX
SG_ sig_kepnsp : 19|1@1+ (1,0) [0|1] "" XXX
SG_ sig_mgxdqx : 20|2@1+ (1,0) [0|255] "" XXX
SG_ sig_glilyy : 28|2@1+ (1,0) [0|1] "" XXX
SG_ sig_oosfke : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 884 CID_LHNMXW: 8 MRR
SG_ sig_kshumz : 2|3@0+ (1,0) [0|3] "" MRR
SG_ sig_xxpphc : 7|4@0+ (1,0) [0|15] "" MRR
SG_ sig_riipbv : 15|8@0+ (0.1,-12) [0|255] "" MRR
SG_ sig_bknuyy : 23|8@0+ (1,-100) [0|255] "" MRR
SG_ sig_qqpctg : 40|1@0+ (1,0) [0|3] "" MRR
SG_ sig_ofnxog : 43|1@0+ (1,0) [0|1] "" XXX
SG_ sig_flktbq : 44|4@1+ (1,0) [0|15] "" XXX
SG_ sig_myinqp : 52|4@1+ (1,0) [0|15] "" MRR
SG_ sig_lbahgn : 56|8@1+ (1,0) [0|255] "" MRR
BO_ 884 CID_XXQFOZ: 8 MRR
SG_ sig_rfmhjb : 2|3@0+ (1,0) [0|3] "" MRR
SG_ sig_awefkq : 7|4@0+ (1,0) [0|15] "" MRR
SG_ sig_mhbxze : 15|8@0+ (0.1,-12) [0|255] "" MRR
SG_ sig_hgifuj : 23|8@0+ (1,-100) [0|255] "" MRR
SG_ sig_rkrtca : 40|1@0+ (1,0) [0|3] "" MRR
SG_ sig_wucfaw : 43|1@0+ (1,0) [0|1] "" XXX
SG_ sig_jhrfwp : 44|4@1+ (1,0) [0|15] "" XXX
SG_ sig_lpifhe : 52|4@1+ (1,0) [0|15] "" MRR
SG_ sig_oosfke : 56|8@1+ (1,0) [0|255] "" MRR
BO_ 944 CID_JJSQOQ: 8 XXX
SG_ sig_ospyan : 1|2@0+ (1,0) [0|3] "" XXX
SG_ sig_sumbwe : 2|1@0+ (1,0) [0|1] "" XXX
SG_ sig_vysegf : 4|2@0+ (1,0) [0|3] "" XXX
SG_ sig_ahxmwc : 5|1@0+ (1,0) [0|1] "" XXX
SG_ sig_uxeqom : 6|1@0+ (1,0) [0|1] "" XXX
SG_ sig_mmybax : 7|1@0+ (1,0) [0|1] "" XXX
SG_ sig_whviok : 8|1@0+ (1,0) [0|1] "" XXX
SG_ sig_dgdbxo : 11|3@0+ (1,0) [0|7] "" XXX
SG_ sig_aaopqw : 12|1@0+ (1,0) [0|1] "" XXX
SG_ sig_dctjmy : 14|2@0+ (1,0) [0|3] "" XXX
SG_ sig_tvscbg : 15|1@0+ (1,0) [0|1] "" XXX
SG_ sig_zenkpi : 16|1@0+ (1,0) [0|1] "" XXX
SG_ sig_stfyzv : 18|2@0+ (1,0) [0|3] "" XXX
SG_ sig_optuex : 19|1@0+ (1,0) [0|1] "" XXX
SG_ sig_ntuzmh : 23|4@0+ (1,0) [0|15] "" XXX
SG_ sig_dnqhwn : 24|28@1+ (1,0) [0|268435455] "" XXX
SG_ sig_myinqp : 52|4@1+ (1,0) [0|15] "" XXX
SG_ sig_lbahgn : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 944 CID_JKFYEN: 8 XXX
SG_ sig_bcllni : 1|2@0+ (1,0) [0|3] "" XXX
SG_ sig_rxtrpo : 2|1@0+ (1,0) [0|1] "" XXX
SG_ sig_gmrpik : 4|2@0+ (1,0) [0|3] "" XXX
SG_ sig_zvywyt : 5|1@0+ (1,0) [0|1] "" XXX
SG_ sig_cwzuot : 6|1@0+ (1,0) [0|1] "" XXX
SG_ sig_vlbeuo : 7|1@0+ (1,0) [0|1] "" XXX
SG_ sig_oaihat : 8|1@0+ (1,0) [0|1] "" XXX
SG_ sig_nqjdjj : 11|3@0+ (1,0) [0|7] "" XXX
SG_ sig_npsquw : 12|1@0+ (1,0) [0|1] "" XXX
SG_ sig_lvvnch : 14|2@0+ (1,0) [0|3] "" XXX
SG_ sig_iyjxiq : 15|1@0+ (1,0) [0|1] "" XXX
SG_ sig_rrtlet : 16|1@0+ (1,0) [0|1] "" XXX
SG_ sig_sfavyq : 18|2@0+ (1,0) [0|3] "" XXX
SG_ sig_xyqdsm : 19|1@0+ (1,0) [0|1] "" XXX
SG_ sig_istohn : 23|4@0+ (1,0) [0|15] "" XXX
SG_ sig_clazai : 24|28@1+ (1,0) [0|268435455] "" XXX
SG_ sig_lpifhe : 52|4@1+ (1,0) [0|15] "" XXX
SG_ sig_oosfke : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 1048 CID_QFOTRW: 8 XXX
SG_ sig_pejhag : 9|2@0+ (1,0) [0|1] "" XXX
SG_ sig_ttvauz : 11|2@0+ (1,0) [0|1] "" XXX
SG_ sig_vgbimq : 17|1@0+ (1,0) [0|1] "" XXX
BO_ 1048 CID_YJNSVL: 8 XXX
SG_ sig_axzayy : 9|2@0+ (1,0) [0|1] "" XXX
SG_ sig_dhhztv : 11|2@0+ (1,0) [0|1] "" XXX
SG_ sig_azqfic : 17|1@0+ (1,0) [0|1] "" XXX
VAL_ 578 sig_spwxml 4 "D" 2 "R" 3 "N" 1 "P";
VAL_ 578 sig_kiwlnw 4 "D" 2 "R" 3 "N" 1 "P";

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2
pyarmor_runtime_000000/__init__.py
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@@ -1,2 +1,2 @@
# Pyarmor 9.2.3 (trial), 000000, 2026-03-28T16:26:59.704421
# Pyarmor 9.2.3 (trial), 000000, 2026-03-30T22:16:02.257575
from .pyarmor_runtime import __pyarmor__

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system/manager/manager.py
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@@ -28,7 +28,7 @@ def get_default_params():
("DisengageOnAccelerator", "0"),
("GsmMetered", "1"),
("HasAcceptedTerms", "0"),
("LanguageSetting", "main_en"),
("LanguageSetting", "main_zh-CHS"),
("OpenpilotEnabledToggle", "1"),
("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)),
("IsMetric", "1"),
@@ -49,7 +49,7 @@ def get_default_params():
("ShowRadarInfo", "1"),
("ShowDeviceState", "1"),
("ShowRouteInfo", "1"),
("ShowPathMode", "9"),
("ShowPathMode", "0"),
("ShowPathColor", "13"),
("ShowPathColorCruiseOff", "19"),
("ShowPathModeLane", "14"),
@@ -72,7 +72,7 @@ def get_default_params():
("AutoCurveSpeedFactor", "120"),
("AutoCurveSpeedAggressiveness", "100"),
("AutoTurnControl", "0"),
("AutoTurnControl", "2"),
("AutoTurnControlSpeedTurn", "20"),
("AutoTurnControlTurnEnd", "6"),
("AutoTurnMapChange", "0"),
@@ -166,7 +166,7 @@ def get_default_params():
("CustomSteerDeltaDown", "0"),
("CustomSteerDeltaUpLC", "0"),
("CustomSteerDeltaDownLC", "0"),
("SpeedFromPCM", "2"),
("SpeedFromPCM", "1"),
("SteerActuatorDelay", "0"),
("LatSmoothSec", "13"),
("MaxTimeOffroadMin", "60"),
@@ -187,13 +187,14 @@ def get_default_params():
("ForceOffroad", "0"),
("BydModifiedStockLong", "1"),
("AlwaysOnLKAS", "0"),
("EnableExtRadar", "0"),
("BydAutoTuning", "0"),
("BydLatUseSiglin", "1"),
("CameraOffset", "8"),
("CameraOffset", "0"),
("BydBsdType2", "0"),
("UseRedPanda", "1"),
("KeepLkasPassive", "0"),
("UseSteerRateLimiter", "1"),
("UseSteerRateLimiter", "0"),
("SteerRateLimLoSpd", "132"),
("SteerRateLimHiSpd", "64"),
("BydMpcTsr", "0"),