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commaai / panda

code powering the comma.ai panda
MIT License
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Subaru LKAS Angle safety model #2020

Open bravochar opened 2 months ago

bravochar commented 2 months ago

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.

martinl commented 2 months ago

Thanks for the PR, this has been on my todo list too long

bravochar commented 1 day ago

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?