Legacypilot

This software includes contributions from dragonpilot and openpilot.

NOTICE: legacypilot is not affiliated with comma.ai and is not an official comma.ai product. legacypilot is released under the terms of the MIT License. See the LICENSE file for more details.

About

legacypilot is a side project that enables comma.ai EON and Comma Two devices to use the dragonpilot. This project was started after comma.ai deprecated support for the EON in version 0.7.9 and for Comma Two in version 0.8.13.1, in order to provide continued access to these devices.

legacypilot combines the Nuclear Grade Model with the latest openpilot (almost) codebase to create a hybrid solution. With the legacypilot project, we have stripped out nearly 99% of the dragonpilot code.

In summary, legacypilot is based on Openpilot 0.8.16 with the latest vehicle model support from the Openpilot master branch.

Please note that this build is and will always be in the experimental phase and may not be suitable for use as a daily driver.

I recommend using the openpilot commatwo_master branch for your daily driving needs.

Why use legacypilot

I have decided to make this side project open source for users who wish to:

Port unsupported vehicles using cheaper devices.
Evaluate end-to-end lateral and longitudinal control on previously unsupported vehicles.
Understand the limitations of legacy devices.
Experience pure openpilot (without the modifications of dragonpilot)
Make their own EON/C2 fork without spending hundreds of hours reverting and testing code.

By making this project open source, I hope to alleviate some of the frustration and complaints about not being able to access the dragonpilot source code.

I encourage users to consider purchasing a comma 3x for the best and up-to-date openpilot experience.

Limitations

On-road tests are conducted exclusively in a 2021 Toyota C-HR; other models may not perform properly.
~~CAN-FD and BODY features are not supported due to outdated libraries in EON/C2 firmware.~~
The driving AI model remains in version 0.8.16, as porting TinyGrad/PyOpenCL requires significant effort.
The driver monitoring AI model remains in version 0.8.13.
Navigation On Openpilot (NOO) is not supported, as it requires a newer driving model that is not currently available in legacypilot.
Services are not optimized for resource usage, and using all services may result in overheating issues.
Language files can only be generated in a PC due to missing Qt5 tools.
webjoystick is disabled as it requires additional python modules. (aiohttp and others)
Starting from August 7th, 2023, comma has removed ESP/GPS support from Panda. You can find more details about this change in this link.
- Going forward, I will focus solely on maintaining the safety aspects of the code, ensuring that vehicle support and safety declarations remain up to date.
For safety concern, End-to-End / vision only longitudinal control only available in 0.8.16 driving model.

Configuration

For research purposes, the INDI and LQR lateral controllers have been restored. Please use the dp_lat_controller parameter to override the default controller (0 = DEFAULT, 1 = INDI, 2 = LQR).
If you are not a Comma Two device, you can use the dp_no_fan_ctrl parameter to disable fan-related detection and control.
The BODY has been tested and is working; however, I personally haven't tried it, so I'm not sure what steps are needed to get it to work.

Red Panda (a.k.a. CAN-FD support)

The EON + Red Panda configuration has been tested and worked on my Toyota (CAN), so technically it should work on CAN-FD vehicles. However, there are a couple of considerations:

C2 will not function without hardware modification. You cannot connect the Red Panda directly to the C2 USB port.
If any changes are made to the Red Panda firmware, the firmware needs to be pre-compiled on a PC and then uploaded to /data/openpilot/panda/board/obj/.
Please be aware that you may encounter CANBUS disconnection errors. If this occurs, simply power cycle BOTH your device and Red Panda.

=======================

openpilot on the comma 3X

What is openpilot?
Running in a car
Running on PC
Community and Contributing
User Data and comma Account
Safety and Testing
Directory Structure
Licensing

What is openpilot?

openpilot is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of supported car makes, models, and model years. In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about the vehicle integration and limitations.

Running on a dedicated device in a car

To use openpilot in a car, you need four things

A supported device to run this software: a comma 3X or comma three.
This software. The setup procedure of the comma 3/3X allows the user to enter a URL for custom software. The URL, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another GitHub username can install a fork.
One of the 250+ supported cars. We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot.
A car harness to connect to your car.

We have detailed instructions for how to mount the device in a car.

Running on PC

All openpilot services can run as usual on a PC without requiring special hardware or a car. You can also run openpilot on recorded or simulated data to develop or experiment with openpilot.

With openpilot's tools, you can plot logs, replay drives, and watch the full-res camera streams. See the tools README for more information.

You can also run openpilot in simulation with the CARLA simulator. This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes but does require a decent GPU.

A PC running openpilot can also control your vehicle if it is connected to a webcam, a black panda, and a harness.

Community and Contributing

openpilot is developed by comma and by users like you. We welcome both pull requests and issues on GitHub. Bug fixes and new car ports are encouraged. Check out the contributing docs.

Documentation related to openpilot development can be found on docs.comma.ai. Information about running openpilot (e.g. FAQ, fingerprinting, troubleshooting, custom forks, community hardware) should go on the wiki.

You can add support for your car by following guides we have written for Brand and Model ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. Join our Discord to discuss car ports: most car makes have a dedicated channel.

Want to get paid to work on openpilot? comma is hiring.

And follow us on Twitter.

User Data and comma Account

By default, openpilot uploads the driving data to our servers. You can also access your data through comma connect. We use your data to train better models and improve openpilot for everyone.

openpilo

Legacypilot

Install / Use

README

Legacypilot

About

Why use legacypilot

Limitations

Configuration

Red Panda (a.k.a. CAN-FD support)

Table of Contents

What is openpilot?

Running on a dedicated device in a car

Running on PC

Community and Contributing

User Data and comma Account