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Self Driving Autopilot(comma.ai)

'logMonoTime': 68158846549537,
'valid': True}
{'carParams': {'alternativeExperience': 1,
'autoResumeSng': True,
'carFingerprint': 'RAM HD 5TH GEN',
'carFw': [{'address': 1863,
'brand': 'chrysler',
'bus': 0,
'ecu': 'abs',
'fwVersion': b'68544596AC',
'logging': False,
'obdMultiplexing': True,
'request': [b'"\xf12'],
'responseAddress': 1223,
'subAddress': 0},
{'address': 1858,
'brand': 'chrysler',
'bus': 0,
'ecu': 'combinationMeter',
'fwVersion': b'68528788AF',
'logging': False,
'obdMultiplexing': True,
'request': [b'"\xf12'],
'responseAddress': 1218,
'subAddress': 0},
{'address': 1875,
'brand': 'chrysler',
'bus': 0,
'ecu': 'fwdRadar',
'fwVersion': b'04672934AB',
'logging': False,
'obdMultiplexing': True,
'request': [b'"\xf12'],
'responseAddress': 1235,
'subAddress': 0},
{'address': 1889,
'brand': 'chrysler',
'bus': 0,
'ecu': 'eps',
'fwVersion': b'68534023AC',
'logging': False,
'obdMultiplexing': True,
'request': [b'"\xf12'],
'responseAddress': 1249,
'subAddress': 0},
{'address': 1860,
'brand': 'chrysler',
'bus': 0,
'ecu': 'srs',
'fwVersion': b'68428503AA',
'logging': False,
'obdMultiplexing': True,
'request': [b'"\xf12'],
'responseAddress': 1220,
'subAddress': 0},
{'address': 2016,
'brand': 'chrysler',
'bus': 0,
'ecu': 'engine',
'fwVersion': b'52370331AF',
'logging': False,
'obdMultiplexing': True,
'request': [b'"\xf12'],
'responseAddress': 2024,
'subAddress': 0}],
'carName': 'chrysler',
'carVin': '3C6UR5EL2PG511889',
'centerToFront': 1.6654000282287598,
'communityFeatureDEPRECATED': False,
'dashcamOnly': True,
'directAccelControlDEPRECATED': False,
'enableApgsDEPRECATED': False,
'enableBsm': True,
'enableCameraDEPRECATED': False,
'enableDsu': False,
'enableGasInterceptor': False,
'experimentalLongitudinalAvailable': False,
'fingerprintSource': 'fw',
'flags': 0,
'fuzzyFingerprint': True,
'hasStockCameraDEPRECATED': False,
'isPandaBlackDEPRECATED': False,
'lateralTuning': {'torque': {'friction': 0.05000000074505806,
'kf': 1.0,
'ki': 0.10000000149011612,
'kp': 1.0,
'latAccelFactor': 1.399999976158142,
'latAccelOffset': 0.0,
'steeringAngleDeadzoneDeg': 1.0,
'useSteeringAngle': False}},
'longitudinalActuatorDelayLowerBound': 0.15000000596046448,
'longitudinalActuatorDelayUpperBound': 0.15000000596046448,
'longitudinalTuning': {'deadzoneBP': [0.0], 'deadzoneV': [0.0], 'kf': 1.0, 'kiBP': [0.0], 'kiV': [1.0], 'kpBP': [0.0], 'kpV': [1.0]},
'mass': 3541.0,
'maxLateralAccel': 1.399999976158142,
'maxSteeringAngleDegDEPRECATED': 0.0,
'minEnableSpeed': -1.0,
'minSpeedCanDEPRECATED': 0.0,
'minSteerSpeed': 16.0,
'networkLocation': 'fwdCamera',
'notCar': False,
'openpilotLongitudinalControl': False,
'pcmCruise': True,
'radarTimeStep': 0.05000000074505806,
'radarUnavailable': True,
'rotationalInertia': 11899.3388671875,
'safetyConfigs': [{'safetyModel': 'noOutput', 'safetyParam': 0, 'safetyParam2DEPRECATED': 0, 'safetyParamDEPRECATED': 0}],
'safetyModelDEPRECATED': 'silent',
'safetyModelPassiveDEPRECATED': 'silent',
'safetyParamDEPRECATED': 0,
'startAccel': 0.0,
'startingAccelRateDEPRECATED': 0.0,
'startingState': False,
'steerActuatorDelay': 0.20000000298023224,
'steerControlType': 'torque',
'steerLimitAlert': False,
'steerLimitTimer': 0.4000000059604645,
'steerRateCostDEPRECATED': 0.0,
'steerRatio': 15.609999656677246,
'steerRatioRear': 0.0,
'stopAccel': -2.0,
'stoppingControl': True,
'stoppingDecelRate': 0.800000011920929,
'tireStiffnessFront': 434365.90625,
'tireStiffnessRear': 539506.0,
'transmissionType': 'unknown',
'vEgoStarting': 0.5,
'vEgoStopping': 0.5,
'wheelSpeedFactor': 1.0,
'wheelbase': 3.7850000858306885},
'logMonoTime': 68208838886079,
'valid': True}


...
 
MSWWI said:
That's not quite what's happening here. I was in the same boat as you, with some confusion and I AM quite comfortable with programming and such.

You cannot fingerprint a 2500, because HD is not yet supported by OP yet. You need to use a custom branch, preferably by Sunnypilot.

So I'm happy to walk you through here or you can get a hold of me through PM. On the open forum is good because it will share knowledge for all new users.
Click to expand...
How do I go about doing that?
 
I have nothing to add to @Joints4Sale’s question, but I do have some potentially useful info.

@Jimmy07 You mentioned an inability to do start-stop ACC because spamming the resume button on yours also increases the speed. I’ve been trying that manually on my 23 with the new steering wheel and I can reliably get the ACC to not shut off when stopped and resume automatically by pressing the resume button repeatedly.
 
MSWWI said:
An HD cannot fingerprint. My truck only works on SP; it will still go to Dashcam mode if I try stock OP. Am I missing something?
Click to expand...
You must be. Even with custom branches, there are only so many “common” firmwares listed for the abs, electric power steering, instrument cluster, pcm, and radar modules. If you have a firmware that isn’t in the list, it needs to be fingerprinted, tested, then committed before they add it (whether it be sunny or whoever’s branch). The instrument cluster is the most common one that necessitates a fingerprint because there are so many part numbers for them (firmwares) that some aren’t on the list.
 
Joints4Sale said:
'logMonoTime': 68158846549537,
'valid': True}
{'carParams': {'alternativeExperience': 1,
'autoResumeSng': True,
'carFingerprint': 'RAM HD 5TH GEN',
'carFw': [{'address': 1863,
'brand': 'chrysler',
'bus': 0,
'ecu': 'abs',
'fwVersion': b'68544596AC',
'logging': False,
'obdMultiplexing': True,
'request': [b'"\xf12'],
'responseAddress': 1223,
'subAddress': 0},
{'address': 1858,
'brand': 'chrysler',
'bus': 0,
'ecu': 'combinationMeter',
'fwVersion': b'68528788AF',
'logging': False,
'obdMultiplexing': True,
'request': [b'"\xf12'],
'responseAddress': 1218,
'subAddress': 0},
{'address': 1875,
'brand': 'chrysler',
'bus': 0,
'ecu': 'fwdRadar',
'fwVersion': b'04672934AB',
'logging': False,
'obdMultiplexing': True,
'request': [b'"\xf12'],
'responseAddress': 1235,
'subAddress': 0},
{'address': 1889,
'brand': 'chrysler',
'bus': 0,
'ecu': 'eps',
'fwVersion': b'68534023AC',
'logging': False,
'obdMultiplexing': True,
'request': [b'"\xf12'],
'responseAddress': 1249,
'subAddress': 0},
{'address': 1860,
'brand': 'chrysler',
'bus': 0,
'ecu': 'srs',
'fwVersion': b'68428503AA',
'logging': False,
'obdMultiplexing': True,
'request': [b'"\xf12'],
'responseAddress': 1220,
'subAddress': 0},
{'address': 2016,
'brand': 'chrysler',
'bus': 0,
'ecu': 'engine',
'fwVersion': b'52370331AF',
'logging': False,
'obdMultiplexing': True,
'request': [b'"\xf12'],
'responseAddress': 2024,
'subAddress': 0}],
'carName': 'chrysler',
'carVin': '3C6UR5EL2PG511889',
'centerToFront': 1.6654000282287598,
'communityFeatureDEPRECATED': False,
'dashcamOnly': True,
'directAccelControlDEPRECATED': False,
'enableApgsDEPRECATED': False,
'enableBsm': True,
'enableCameraDEPRECATED': False,
'enableDsu': False,
'enableGasInterceptor': False,
'experimentalLongitudinalAvailable': False,
'fingerprintSource': 'fw',
'flags': 0,
'fuzzyFingerprint': True,
'hasStockCameraDEPRECATED': False,
'isPandaBlackDEPRECATED': False,
'lateralTuning': {'torque': {'friction': 0.05000000074505806,
'kf': 1.0,
'ki': 0.10000000149011612,
'kp': 1.0,
'latAccelFactor': 1.399999976158142,
'latAccelOffset': 0.0,
'steeringAngleDeadzoneDeg': 1.0,
'useSteeringAngle': False}},
'longitudinalActuatorDelayLowerBound': 0.15000000596046448,
'longitudinalActuatorDelayUpperBound': 0.15000000596046448,
'longitudinalTuning': {'deadzoneBP': [0.0], 'deadzoneV': [0.0], 'kf': 1.0, 'kiBP': [0.0], 'kiV': [1.0], 'kpBP': [0.0], 'kpV': [1.0]},
'mass': 3541.0,
'maxLateralAccel': 1.399999976158142,
'maxSteeringAngleDegDEPRECATED': 0.0,
'minEnableSpeed': -1.0,
'minSpeedCanDEPRECATED': 0.0,
'minSteerSpeed': 16.0,
'networkLocation': 'fwdCamera',
'notCar': False,
'openpilotLongitudinalControl': False,
'pcmCruise': True,
'radarTimeStep': 0.05000000074505806,
'radarUnavailable': True,
'rotationalInertia': 11899.3388671875,
'safetyConfigs': [{'safetyModel': 'noOutput', 'safetyParam': 0, 'safetyParam2DEPRECATED': 0, 'safetyParamDEPRECATED': 0}],
'safetyModelDEPRECATED': 'silent',
'safetyModelPassiveDEPRECATED': 'silent',
'safetyParamDEPRECATED': 0,
'startAccel': 0.0,
'startingAccelRateDEPRECATED': 0.0,
'startingState': False,
'steerActuatorDelay': 0.20000000298023224,
'steerControlType': 'torque',
'steerLimitAlert': False,
'steerLimitTimer': 0.4000000059604645,
'steerRateCostDEPRECATED': 0.0,
'steerRatio': 15.609999656677246,
'steerRatioRear': 0.0,
'stopAccel': -2.0,
'stoppingControl': True,
'stoppingDecelRate': 0.800000011920929,
'tireStiffnessFront': 434365.90625,
'tireStiffnessRear': 539506.0,
'transmissionType': 'unknown',
'vEgoStarting': 0.5,
'vEgoStopping': 0.5,
'wheelSpeedFactor': 1.0,
'wheelbase': 3.7850000858306885},
'logMonoTime': 68208838886079,
'valid': True}


...
Click to expand...
I’ll check this later when I get to my laptop.
 
Jimmy07 said:
I’ll check this later when I get to my laptop.
Click to expand...
Thanks Jimmy

I can't post the entire log as the forum won't allow the length. I split it into two separate posts but I'm not positive that I was exact in how I split it. I can email it if necessary.
 
Joints4Sale said:
Thanks Jimmy

I can't post the entire log as the forum won't allow the length. I split it into two separate posts but I'm not positive that I was exact in how I split it. I can email it if necessary.
Click to expand...
I only needed the first few lines anyway. Which branch are you trying to run?
 
jsalbre said:
I have nothing to add to @Joints4Sale’s question, but I do have some potentially useful info.

@Jimmy07 You mentioned an inability to do start-stop ACC because spamming the resume button on yours also increases the speed. I’ve been trying that manually on my 23 with the new steering wheel and I can reliably get the ACC to not shut off when stopped and resume automatically by pressing the resume button repeatedly.
Click to expand...
I would think with the new steering wheel button layout on the 23s, it should be possible. Castle hill on discord would be the guy to talk to to see if it can be implemented.
 
Joints4Sale said:
I don't have a clue on how to load anything other than openpilot.comma.ai
Click to expand...
Ok, I thought you were trying a custom branch and were getting car not recognized. Like mentioned, HD rams aren’t supported on openpilot.
Uninstall that, and install this to try out:

fork installer generator

smiskol.com smiskol.com

Make sure to join these two discords to get up to date info and support:
discord.gg

Discord - Group Chat That’s All Fun & Games

Discord is great for playing games and chilling with friends, or even building a worldwide community. Customize your own space to talk, play, and hang out.
discord.gg discord.gg

discord.gg

Join the sunnypilot Discord Server!

Check out the sunnypilot community on Discord - hang out with 10618 other members and enjoy free voice and text chat.
discord.gg discord.gg
 
Jimmy07 said:
Ok, I thought you were trying a custom branch and were getting car not recognized. Like mentioned, HD rams aren’t supported on openpilot.
Uninstall that, and install this to try out:

fork installer generator

smiskol.com smiskol.com

Make sure to join these two discords to get up to date info and support:
discord.gg

Discord - Group Chat That’s All Fun & Games

Discord is great for playing games and chilling with friends, or even building a worldwide community. Customize your own space to talk, play, and hang out.
discord.gg discord.gg

discord.gg

Join the sunnypilot Discord Server!

Check out the sunnypilot community on Discord - hang out with 10618 other members and enjoy free voice and text chat.
discord.gg discord.gg
Click to expand...
Still getting a DashCam Mode Car Unrecognized. Now what?
 
Joints4Sale said:
Still getting a DashCam Mode Car Unrecognized. Now what?
Click to expand...
Looks like you have a 2023, and he doesn’t have most of the new module firmware numbers listed.
Rather than try to explain how to create your own branch from his to add them yourself, it’s probably gonna be easier to have him add them.
Join either of those discord channels and private message sunnyhaibin. Tell him you’ve got a 2023 HD Ram, and you need your firmwares added to the release-c3 values.py file.
This is the info he’ll need from you:

{'carParams': {'alternativeExperience': 1,
'autoResumeSng': True,
'carFingerprint': 'RAM HD 5TH GEN',
'carFw': [{'address': 1863,
'brand': 'chrysler',
'bus': 0,
'ecu': 'abs',
'fwVersion': b'68544596AC',
'logging': False,
'obdMultiplexing': True,
'request': [b'"\xf12'],
'responseAddress': 1223,
'subAddress': 0},
{'address': 1858,
'brand': 'chrysler',
'bus': 0,
'ecu': 'combinationMeter',
'fwVersion': b'68528788AF',
'logging': False,
'obdMultiplexing': True,
'request': [b'"\xf12'],
'responseAddress': 1218,
'subAddress': 0},
{'address': 1875,
'brand': 'chrysler',
'bus': 0,
'ecu': 'fwdRadar',
'fwVersion': b'04672934AB',
'logging': False,
'obdMultiplexing': True,
'request': [b'"\xf12'],
'responseAddress': 1235,
'subAddress': 0},
{'address': 1889,
'brand': 'chrysler',
'bus': 0,
'ecu': 'eps',
'fwVersion': b'68534023AC',
'logging': False,
'obdMultiplexing': True,
'request': [b'"\xf12'],
'responseAddress': 1249,
'subAddress': 0},
{'address': 1860,
'brand': 'chrysler',
'bus': 0,
'ecu': 'srs',
'fwVersion': b'68428503AA',
'logging': False,
'obdMultiplexing': True,
'request': [b'"\xf12'],
'responseAddress': 1220,
'subAddress': 0},
{'address': 2016,
'brand': 'chrysler',
'bus': 0,
'ecu': 'engine',
'fwVersion': b'52370331AF',
'logging': False,
'obdMultiplexing': True,
'request': [b'"\xf12'],
'responseAddress': 2024,
'subAddress': 0}],
'carName': 'chrysler',
'carVin': '3C6UR5EL2PG511889',
 
Thanks. Getting some help. Trying Realfast now. If that doesn’t work. I’ll send a message to Sunny.
 
Joints4Sale said:
Thanks. Getting some help. Trying Realfast now. If that doesn’t work. I’ll send a message to Sunny.
Click to expand...
Looks like he added some firmwares a couple hours ago for realfast ramrelease, and all of yours are in there. You should be good to go with that one.
 
Try that for a while to get the hang of it, but you’re really going to want to go to sunnypilot for the best experience eventually.
 
Hello, New here

I have had my comma 3 for almost a year now.

I recently had my windshield replaced and did not detached any of the comma hardware.

Since the windshield has been replaced I have had a "LKAS Fault: Restart to engage" message

I have disconnected the hardware and unhooked my battery for a reset.

When I re-installed the hardware the LKAS fault is still active

I have also uninstalled the software on the Comma 3 and reinstalled and the LKAS fault is still there

Anyways, I am hoping someone in this thread would mind lending me a hand on how to resolve the issue.

Thank you,
RD

I apologize that I am not fluent in any kind of programming/code. I just followed the steps from a video to install when I first received the comma 3 and it worked up until my windshield was replaced.
 
rdragoo said:
Hello, New here

I have had my comma 3 for almost a year now.

I recently had my windshield replaced and did not detached any of the comma hardware.

Since the windshield has been replaced I have had a "LKAS Fault: Restart to engage" message

I have disconnected the hardware and unhooked my battery for a reset.

When I re-installed the hardware the LKAS fault is still active

I have also uninstalled the software on the Comma 3 and reinstalled and the LKAS fault is still there

Anyways, I am hoping someone in this thread would mind lending me a hand on how to resolve the issue.

Thank you,
RD

I apologize that I am not fluent in any kind of programming/code. I just followed the steps from a video to install when I first received the comma 3 and it worked up until my windshield was replaced.
Click to expand...
If you completely remove comma, and plug the DASM in like factory, do you have functional LKAS and adaptive cruise?
Who did the windshield replacement, dealership or glass company?
 
Jimmy07 said:
If you completely remove comma, and plug the DASM in like factory, do you have functional LKAS and adaptive cruise?
Who did the windshield replacement, dealership or glass company?
Click to expand...

Hey, threadjack... Any technical reason I should push for dealer glass install over Safelite? Hail claim also gets me a new windshield. If I demand OEM glass, it's going to cost me the difference. Not sure about the labor.
 
Brutal_HO said:
Hey, threadjack... Any technical reason I should push for dealer glass install over Safelite? Hail claim also gets me a new windshield. If I demand OEM glass, it's going to cost me the difference. Not sure about the labor.
Click to expand...
I personally don’t think so. I have safelite glass and can’t really tell any difference.
Hopefully he chimes back in with whether or not his factory ACC and LKAS works. I was kind of leading to a possible issue with the forward camera alignment after the replacement. In the adding ACC thread, the alignment procedure with wiTECH seems to break everything recently.
Definitely tell them not to attempt to run the alignment after they replace the windshield, especially since there’s no reason to.
 
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