Fetch 0.8.9 Sato

README.md

@@ -13,17 +13,30 @@ Example: If my corolla is not hybrid i need do a ssh and:
 ```
 echo 'export FINGERPRINT="TOYOTA COROLLA TSS2 2019"' >> launch_env.sh
 ```
-The first engine start is expected to show a cruise fault error, just ignore it and wait 30 seconds with the engine off and only then start again. This error should happen only in the first match and then no longer repeat itself.
+If your TSS2 corolla is hybrid equal to mine you can proceed a format factory (turning off your c2 and turning on by holding down the volume increase button) and then instead of putting ```https://openpilot.comma.ai``` in the custom fork installation url use ``` installer.comma.ai/alexandresato/master```
 
-Se quiser agradecer pode me fazer um PIX de qualquer valor para 11 98546-1498 
-If you want to thank please join the process of sponsoring Shane Smiskol on his github
+Now if you already know how to perform a ssh (if you do not know how to learn at: https://github.com/commaai/openpilot/wiki/SSH) run this command:
+```cd /data/openpilot; scons --clean; cd ..; rm -rf openpilot; git clone --recurse-submodules https://github.com/alexandresato/openpilot; reboot```
 
 
-If your TSS2 corolla is hybrid equal to mine you can proceed a format factory (turning off your c2 and turning on by holding down the volume increase button) and then instead of putting ```https://openpilot.comma.ai``` in the custom fork installation url use ``` installer.comma.ai/alexandresato/master```
+💰 Donate 💰
+---
 
+If you find any of the features useful, feel free to donate to support for future feature development.
+
+Thank you for your continuous love and support! Enjoy 🥰
+
+**PayPal:**
+
+<a href="https://www.paypal.com/donate/?hosted_button_id=JN4E8PTL4QBZG" target="_blank">
+<img src="https://www.paypalobjects.com/en_US/i/btn/btn_donateCC_LG.gif" alt="PayPal this" title="PayPal - The safer, easier way to pay online!" border="0" />
+</a>
+<br></br>
+
+**PayPal QR Code:**
+
+![Paypall.png.png](Paypall.png)
 
-Now if you already know how to perform a ssh (if you do not know how to learn at: https://github.com/commaai/openpilot/wiki/SSH) run this command:
-```cd /data/openpilot; scons --clean; cd ..; rm -rf openpilot; git clone --recurse-submodules https://github.com/alexandresato/openpilot; reboot```
 
 
 this fork is based in:

cereal/car.capnp

@@ -197,6 +197,8 @@ struct CarState {
   leftBlindspot @33 :Bool; # Is there something blocking the left lane change
   rightBlindspot @34 :Bool; # Is there something blocking the right lane change
 
+  headlightON @38 :Bool; # Low Beam ON
+
   struct WheelSpeeds {
     # optional wheel speeds
     fl @0 :Float32;

installer/updater/update.json

@@ -1,5 +1,5 @@
 {
-  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-50da8800caa5cbc224acbaa21f3a83d21802a31d89cccfc62a898903a8eb19e7.zip",
+  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-e5aa34ebb27977779db4e82439cca8f807e9c9ee2c84c217c926a2d08dd2959f.zip",
   "ota_hash": "e5aa34ebb27977779db4e82439cca8f807e9c9ee2c84c217c926a2d08dd2959f",
   "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-cf752ceb7931aa427ccec384fd21d9425c6053f25161814dab31ec75e4d296b0.img",
   "recovery_len": 15222060,

launch_env.sh

@@ -19,4 +19,5 @@ if [ -z "$PASSIVE" ]; then
 fi
 
 export STAGING_ROOT="/data/safe_staging"
+export SKIP_FW_QUERY=1
 export FINGERPRINT="TOYOTA COROLLA HYBRID TSS2 2019"

selfdrive/car/toyota/carstate.py

@@ -96,6 +96,7 @@ def update(self, cp, cp_cam):
     # we could use the override bit from dbc, but it's triggered at too high torque values
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
     ret.steerWarning = cp.vl["EPS_STATUS"]["LKA_STATE"] not in [1, 5]
+    ret.headlightON = cp.vl["LIGHT_STALK"]['LOW_BEAM'] == 1
 
     if self.CP.carFingerprint == CAR.LEXUS_IS:
       ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0
@@ -129,7 +130,7 @@ def update(self, cp, cp_cam):
     # send your own ACC_CONTROL msg on startup with ACC_TYPE set to 1
     if (self.CP.carFingerprint not in TSS2_CAR and self.CP.carFingerprint != CAR.LEXUS_IS) or \
        (self.CP.carFingerprint in TSS2_CAR and self.acc_type == 1):
-      self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]["LOW_SPEED_LOCKOUT"] == 2
+      self.low_speed_lockout = False
 
     self.pcm_acc_status = cp.vl["PCM_CRUISE"]["CRUISE_STATE"]
     if self.CP.carFingerprint in NO_STOP_TIMER_CAR or self.CP.enableGasInterceptor:
@@ -185,6 +186,7 @@ def get_can_parser(CP):
       ("LKA_STATE", "EPS_STATUS", 0),
       ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
       ("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
+      ("LOW_BEAM", "LIGHT_STALK", 0),
     ]
 
     checks = [

selfdrive/car/toyota/interface.py

@@ -237,7 +237,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
         ret.lateralTuning.indi.timeConstantV = [1, 3, 4.5]
         ret.lateralTuning.indi.actuatorEffectivenessBP = [18, 22, 26]
         ret.lateralTuning.indi.actuatorEffectivenessV = [9, 12, 15]
-        ret.steerActuatorDelay = 0.42 - 0.2
+        ret.steerActuatorDelay = 0.42 - 0.1534
       else:
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
         ret.lateralTuning.pid.kf = 0.00007818594

selfdrive/car/toyota/values.py

@@ -17,7 +17,7 @@ class CarControllerParams:
 
   STEER_MAX = 1500
   STEER_DELTA_UP = 10       # 1.5s time to peak torque
-  STEER_DELTA_DOWN = 25     # always lower than 45 otherwise the Rav4 faults (Prius seems ok with 50)
+  STEER_DELTA_DOWN = 50     # always lower than 45 otherwise the Rav4 faults (Prius seems ok with 50)
   STEER_ERROR_MAX = 350     # max delta between torque cmd and torque motor
 
 class CAR:

selfdrive/controls/lib/events.py

@@ -209,7 +209,7 @@ def no_gps_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Al
     "Poor GPS reception",
     "If sky is visible, contact support" if gps_integrated else "Check GPS antenna placement",
     AlertStatus.normal, AlertSize.mid,
-    Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2, creation_delay=300.)
+    Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2, creation_delay=300000000000.)
 
 
 def wrong_car_mode_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert:

selfdrive/thermald/thermald.py

@@ -324,7 +324,7 @@ def thermald_thread():
     now = datetime.datetime.utcnow()
 
     # show invalid date/time alert
-    startup_conditions["time_valid"] = (now.year > 2020) or (now.year == 2020 and now.month >= 10)
+    startup_conditions["time_valid"] = (now.year > 1020) or (now.year == 2020 and now.month >= 10)
     set_offroad_alert_if_changed("Offroad_InvalidTime", (not startup_conditions["time_valid"]))
 
     # Show update prompt

selfdrive/ui/paint.cc

@@ -209,7 +209,7 @@ static void ui_draw_vision_speed(UIState *s) {
   color = (*s->sm)["carState"].getCarState().getBrakeLights() ? nvgRGBA(255, 66, 66, 255) : color;
   nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
   ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, color, "sans-bold");
-  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "KM/H" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
+  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
 }
 
 static void ui_draw_vision_event(UIState *s) {

selfdrive/ui/ui.cc

@@ -154,6 +154,9 @@ static void update_state(UIState *s) {
     scene.engageable = sm["controlsState"].getControlsState().getEngageable();
     scene.dm_active = sm["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode();
   }
+
+  s->scene.headlightON = sm["carState"].getCarState().getHeadlightON();
+
   if (sm.updated("modelV2") && s->vg) {
     auto model = sm["modelV2"].getModelV2();
     update_model(s, model);
@@ -386,6 +389,11 @@ void Device::updateBrightness(const UIState &s) {
   if (!awake) {
     brightness = 0;
   }
+  if (s.scene.headlightON) {
+    brightness = brightness * 0.5;
+  } else {
+    brightness = brightness * 1.0;
+  }
 
   if (brightness != last_brightness) {
     std::thread{Hardware::set_brightness, brightness}.detach();

selfdrive/ui/ui.h

@@ -84,7 +84,7 @@ typedef enum UIStatus {
 
 const QColor bg_colors [] = {
   [STATUS_DISENGAGED] =  QColor(0x17, 0x33, 0x49, 0xc8),
-  [STATUS_ENGAGED] = QColor(0x00, 0xff, 0x00, 0xff),
+  [STATUS_ENGAGED] = QColor(0x0C, 0x16, 0xFF, 0xff),
   [STATUS_WARNING] = QColor(0xDA, 0x6F, 0x25, 0xf1),
   [STATUS_ALERT] = QColor(0xC9, 0x22, 0x31, 0xf1),
 };
@@ -106,6 +106,7 @@ typedef struct UIScene {
 
   mat3 view_from_calib;
   bool world_objects_visible;
+  bool headlightON;
 
   cereal::PandaState::PandaType pandaType;