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adeebshihadeh
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Thanks for the PR, this has been on my todo list too long |
bravochar
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I just rebased this so it's more up-to-date. My OpenDBC and OpenPilot PRs will be blocked until this is merged. Is there anything I'm missing here? |
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We've moved the car safety code into opendbc, please rebase and re-open your PR there! |
liruifeng1120
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Dec 24, 2025
* if it's linear (which it mostly is), then meas is the same as factor * found from looking at routes + empirically with lagd * update with more knowledge * real * not now
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Newer (3-camera) EyeSight systems need angle-based steering controls, which means new safety models. Most of this is lifted from jnewb1's abandoned branch.
The gist is that we're adding a new message and bus for the LKAS angle controls and using the Gen2 alt bus for most everything else.