Helpful Commits

Allow Gas Press

With this commit, you can enable gas press without disengaging. The unsafe_mode setting has changed in 0.7.9/0.7.10 so here's what works now.

This method of setting unsafe_mode is completely endorsed by comma and doesn't require changing any panda firmware code which is strongly discouraged.

• Link: https://github.com/sshane/openpilot/commit/af0c4581784bcf6750e6d7a7d51ae5ad46d7585e
• Command:

  git cherry-pick af0c4581784bcf6750e6d7a7d51ae5ad46d7585e
  

Support Grey (and White) Panda on 0.8.2+

Simply cherry-pick this commit to revert all changes that make the grey and white pandas unsupported. This commit was done on the devel branch of openpilot, so any non-master branch should cherry-pick in a breeze (master should too, but tests may no longer work).

• Link: https://github.com/sshane/openpilot/commit/0080c76ed5359b17c4e832760dc960d00d809070
• Command:

  git cherry-pick 0080c76ed5359b17c4e832760dc960d00d809070
  

Adjustable Following Distance (up to 0.8.9)

Here is how you can add adjustable TR support to your fork: https://github.com/sshane/openpilot-archive/commit/814176baecb35200cc82693ad84af082d119199c

Just git cherry-pick it! Of course you need to modify the line in long_mpc.py to include a TR and optionally (but recommended) adjust the distance cost.

The line to adjust, simply add a float following distance as an extra argument.

---

How To Cherry Pick These Commits

1. Assuming you're on another/your own fork, you'll need to fetch my repository in order for git to cherry pick my commits. For me, this operation uses ~200MB on top of commaai/openpilot.

   git remote add sshane https://github.com/sshane/openpilot
   git fetch sshane

2. Now that you fetched my repository locally, you can use the git cherry-pick command on any commit here! If you're lucky and there are no merge conflicts, simply push; a merge commit has already been made. Else, resolve the conflicts and commit and push!