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-

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

Name		Name	Last commit message	Last commit date
Latest commit History 1,618 Commits
_backup		_backup
apk		apk
cereal		cereal
common		common
installer/updater		installer/updater
models		models
opendbc		opendbc
panda		panda
phonelibs		phonelibs
pyextra		pyextra
rednose		rednose
release		release
scripts		scripts
selfdrive		selfdrive
.gitignore		.gitignore
CONTRIBUTING.md		CONTRIBUTING.md
Jenkinsfile		Jenkinsfile
LICENSE		LICENSE
README.md		README.md
RELEASES.md		RELEASES.md
SAFETY.md		SAFETY.md
SConstruct		SConstruct
launch.sh		launch.sh
launch_chffrplus.sh		launch_chffrplus.sh
launch_env.sh		launch_env.sh
launch_openpilot.sh		launch_openpilot.sh
op_edit.py		op_edit.py
panda_flashing.sh		panda_flashing.sh
panda_mdpstype0.sh		panda_mdpstype0.sh
panda_mdpstype1.sh		panda_mdpstype1.sh
panda_mdpstype2.sh		panda_mdpstype2.sh

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