GM openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 100 supported car makes and models.
When relay closes, rolling counters from the camera should be aligned with those from OP.
Simplest solution is to pause OP, wait for cam to send rc value before the correct one, then close the relay.
The passive approach is fine if we only have one RC to deal with, but we may soon need to sync AEB and LKAS rolling counters, and in the case of camera based ACC, gas and brake commands.
Once we have many counters to sync, we will need a new method. Perhaps OP could sync itself with the stock camera.
If we update OP's message timing to match the stock camera while inactive, we might be able to make this simple and painless - if OP is lined up with stock, the switchover would be automatically "taken care of"
When relay closes, rolling counters from the camera should be aligned with those from OP.
Simplest solution is to pause OP, wait for cam to send rc value before the correct one, then close the relay.
The passive approach is fine if we only have one RC to deal with, but we may soon need to sync AEB and LKAS rolling counters, and in the case of camera based ACC, gas and brake commands.
Once we have many counters to sync, we will need a new method. Perhaps OP could sync itself with the stock camera.