openpilot customizations

Tweaks

Serves to document various small openpilot (OP) customizations that others have implemented for themselves in the code base. With each tweak, commands to apply the tweaks have been provided (for some tweaks). Applying these tweaks will likely break the self-updating process, either necessitating a reinstall of the openpilot software or manual intervention of resetting the repository, updating, then re-applying the patches. They are liable to break if the code-base significantly restructures the files as well.

The commands are to be run while SSH'd into the comma device.

Stop and Go Hack (Toyota)

https://github.com/ErichMoraga/openpilot/commit/4759891494b3f291e8f94093b98703e70937cc7b

cd /data/openpilot
git remote add erich https://github.com/ErichMoraga/openpilot.git
git fetch erich
git cherry-pick 4759891494b3f291e8f94093b98703e70937cc7b

Comments out 2 lines in the carcontroller.py to enable stop and go on Toyota's customized with a SmartDSU.

Easing up Internet Requirements

https://github.com/ErichMoraga/openpilot/commit/29497f1d086e2ae0bee7ff24ba26adefc78c2dc9

Change the day counter values for DAYS_NO_CONNECTIVITY_MAX and DAYS_NO_CONNECTIVITY_PROMPT from the default of 7 & 4 days to 30 and 26 days.

Further discussion on the pull request allows a work around of rebooting the device to prevent the update nag. https://github.com/commaai/openpilot/pull/1096

cd /data/openpilot
git remote add erich https://github.com/ErichMoraga/openpilot.git
git fetch erich
git cherry-pick 29497f1d086e2ae0bee7ff24ba26adefc78c2dc9

Minimize custom fork warning

https://github.com/ErichMoraga/openpilot/commit/ef8051484cd24b958bd4d13d7fbfa18fe6743cad

cd /data/openpilot
git remote add erich https://github.com/ErichMoraga/openpilot.git
git fetch erich
git cherry-pick ef8051484cd24b958bd4d13d7fbfa18fe6743cad

Powering off after X hours

https://github.com/ErichMoraga/openpilot/commit/6717ce7db6cd930cb53fc1dadcc49a479ee192eb

define MAX_TIME_OFFROAD_S in seconds. 3600 seconds is an hour, so 30 * 3600 represents 30 hours. This commit customizes the time down to shut off after 3 hours.

cd /data/openpilot
git remote add erich https://github.com/ErichMoraga/openpilot.git
git fetch erich
git cherry-pick 6717ce7db6cd930cb53fc1dadcc49a479ee192eb

Acceleration Tweak (Toyota Only)

https://github.com/ErichMoraga/openpilot/commit/d72f6be5ff4ba4b377228328d5abf25157005755

Appears to dynamically set acceleration parameters to maximize acceleration below 13mph, while gradually reducing acceleration in a linear fashion as miles per hour goes up.

cd /data/openpilot
git remote add erich https://github.com/ErichMoraga/openpilot.git
git fetch erich
git cherry-pick d72f6be5ff4ba4b377228328d5abf25157005755

Disabling Updates

echo -en "1" > /data/params/d/DisableUpdates

Deprecated panda Users & installing other versions of openpilot

As the black panda is the only panda supported, these are installation commands to force a downgrade to a specific version of openpilot:

For white panda users (version 0.7.6.1):

cd /data && rm -rf openpilot && git clone -b v0.7.6.1 https://github.com/commaai/openpilot && reboot

For grey panda users (version 0.7.10):

cd /data && rm -rf openpilot && git clone -b v0.7.10 https://github.com/commaai/openpilot && reboot

For users wanting 0.7.9:

cd /data && rm -rf openpilot && git clone -b v0.7.9 https://github.com/commaai/openpilot && cd openpilot/installer/updater && rm update.json && wget https://cdn.discordapp.com/attachments/538741329799413760/774123747257876480/update.json && reboot

For users wanting the latest master-ci branch:

Generally, if you are a new user and have just gotten your car's fingerprint added, it will go into the master-ci branch before it gets released to the general public where the master-ci activity gets folded into the release2 branch. If you have installed the software via entering openpilot.comma.ai in the advanced installation prompt during the comma2 setup, you are running release2. Once someone in the community helps submit your fingerprint to be accepted by openpilot, then you will want to run the master-ci branch for your car's support.

cd /data && rm -rf openpilot && git clone -b master-ci https://github.com/commaai/openpilot && reboot

For the default installation (release2)

cd /data && rm -rf openpilot && git clone -b release2 https://github.com/commaai/openpilot && reboot

Clearing Parameters

cd /data/params/d && rm -f *aram* && reboot

Disabling the uploader

https://github.com/commaai/openpilot/blob/master/selfdrive/manager/process_config.py#L37

No easy to use commands here, but comment out the uploader line in the aforementioned file.