Skip to content

Latest commit

 

History

History
69 lines (47 loc) · 2.79 KB

README.md

File metadata and controls

69 lines (47 loc) · 2.79 KB
Raw

XPS-FORK


If you like my work, don't hesitate to donate- Paypal-Me

  • This fork is maintained to support HKG community. The default branch tracks the latest Master-ci updates.

  • This fork has support for MDPS Harness^^ , OP Long**, Non-SCC cars, anti-nag for panda only setup

Notes -

  • Please feel free to add PR for support for non existing FP.

  • If you encounter "Car Unrecognized- Please verify fingerprint with the fork owner" message on the screen, please contact me directly on discord for help.

  • Even though the configuration is auto detected, there may be CAN ERROR in some cases, please contact me directly on discord for help.

  • This branch uses a different tuning of PI controller for lat(steering). There is a non linear term added with respect to steering request which results in a smoother behavior.

  • This branch is also fine tuned to have smoother OP long(gas/brake) control.**

  • !DANGER! OP long with radar disable method will disable stock AEB/FCA completely.

** OP long requires one of the below modifications-

  • Radar harness to move radar to CAN bus 2 (tested)
  • Non-SCC vehicle variant coded to accept accel request (non proven/ non tested)
  • Radar_disable UDS command (tested but not recommended), the feature is hardcoded to False for safety

!!! ENABLING LOGIC FOR MDPS HARNESS MAY GET YOU BANNED !!!

^^ There are 2 types of MDPS Harnesses that work with this fork-

  • MDPS Harness connected to CAN1 at the comma harness replacing LCAN (type1)
  • MDPS Harness connected to OBD/Comma power(type2) - most popular

Important step to enable MDPS Harness functionality if you have steering fault light

  • Go to developer settings and toggle the MDPS Harness on
  • Make sure device is connected to the car
  • Select the MDPS harness type, the MDPS Harness should automatically switch and flash Panda.
  • Wait for the reboot to complete.

  • If you have git pull or update issues -
    • Run a clean and reset command - cd /data/openpilot && git clean -xdf && git reset --hard
    • Retry git pull - cd /data/openpilot && git pull
  • Check out OP-EDIT to edit tuning set up -
    • To open OP-EDIT - cd /data/openpilot && python op_edit.py
    • Enter your user name to track your changes.
    • Modify values as required.

If you like my work, don't hesitate to donate- Paypal-Me