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icmma edited this page Feb 26, 2019 · 27 revisions

Welcome to the openpilot prius fork wiki!

Purpose for this fork is only to have clean code only which has been verified working with all the tests on my personal branch and other community branches.

Why would you want to use the community branches over default from OP?

Well default OP branch is not tuned much when it comes to each car.It doesn't mean it's bad it's just that tuning things here or gimmicks in general doesn't always get upstreamed by official OP that's why a lot of community have their forks for their cars except for official.

Following i will describe each branch and what it does in general:

  1. Devel and Release2 are default of official comma's OP.

  2. Removed Temporarily due to visiond bug alca-(running 0.5.7 devel) has all of the goodies for auto lane change,tr-state with switching vision from wiggle to non wiggle,yes it does have Toyota pedal support along with it has some tuning branch the original FeedForward from @Gernby.

  3. gimmicks_nopedal(running 0.5.7 release2) is with some prius changes where default it's using release2 except for devel built by Arne Schwarck although pedal code is there but for some reason it doesn't work on prius since Arne has too much stuff on his branch i didn't even bother troubleshooting yet.The branch name says it all it does have a lot of gimmicks. Following i will share some UI buttons info which is some available on alca branch as well.Added SNG

  • snd- has tesla's autopilot typo of sounds where default stocks are disabled by me not officially through there branches since i hate the stock beeps either way.
  • ALC-auto lane change with 3 modes.
  • GAS-accelerates bit higher than stock on resume.
  • LKA- Disables the OP steering so you can have stock ACC.
  • TR- If you have DSU unplugged, It will allow you to change the following distance from stock button.
  • SLO-off sets the set speed for ACC to lower value except for higher.
  1. resonant(running 0.5.7 devel)- is all of the tuning done by @Gernby with Toyota Pedal support.
  • resonant058(running 0.5.8)- untested should work.

  1. vsr(running 0.5.8 devel)- It's work done by Nate Flagg for small lag on steering another words decreasing ping pongs on prius. After doing a lot of tests i have found resonant and vsr to be similar results.

  2. FLag(running 0.5.8 devel)- the most tuned branch to smooth prius overall which will have my final touches for the testing i have done for months now yes it does have pedal support. I will be making changes here there to this branch but at the moment it's close to perfect. The branch makes way more sense now since latest version of op has slow down at curves using maps so you will experience the best overall results. The lag will be still there since the new theory called deadband needs some work but at the moment it is about 70% smoothish like anything else nothing is perfect. Pease note this branch is in testing stage some changes will occur here and there.

  3. FLag_Devel(running 0.5.8 devel)- Due to some more testings reasons i have now created devel version so this way default FLag doesn't F*Up. Following is list of new things it includes.

    • Decreasing lane width for lat & path controls due to OSM slow down reason PBJ.
    • Starts to steer way before curve begins.
    • EON charging limit 60-70%(To improve EON's battery health)
    • Screenoff(To improve thermal)

  4. FLag_SNG(running 0.5.7 devel)-FLag with Stop n go code

Following i will share the AIO script for each branch where you can make the switch from your phone for more info regarding it which can be found here.

alca

cd /data && rm -rf openpilot* && git clone https://github.com/priuscom/openpilot && cd openpilot && git checkout alca && reboot

gimmicks_nopedal

cd /data && rm -rf openpilot* && git clone https://github.com/priuscom/openpilot && cd openpilot && git checkout gimmicks_nopedal && reboot

resonant

cd /data && rm -rf openpilot* && git clone https://github.com/priuscom/openpilot && cd openpilot && git checkout resonant && reboot

resonant058

cd /data && rm -rf openpilot* && git clone https://github.com/priuscom/openpilot && cd openpilot && git checkout resonant058 && reboot

vsr

cd /data && rm -rf openpilot* && git clone https://github.com/priuscom/openpilot && cd openpilot && git checkout vsr && reboot

FLag

cd /data && rm -rf openpilot* && git clone https://github.com/priuscom/openpilot && cd openpilot && git checkout FLag && reboot

FLag Devel

cd /data && rm -rf openpilot* && git clone https://github.com/priuscom/openpilot && cd openpilot && git checkout FLag_Devel && reboot

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