FrogPilot Setup

selfdrive/car/tesla/carcontroller.py

@@ -14,7 +14,7 @@ class CarController:
     self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt'])
     self.tesla_can = TeslaCAN(self.packer, self.pt_packer)
 
-  def update(self, CC, CS, now_nanos):
+  def update(self, CC, CS, now_nanos, frogpilot_variables):
     actuators = CC.actuators
     pcm_cancel_cmd = CC.cruiseControl.cancel
 

selfdrive/car/tesla/carstate.py

@@ -20,7 +20,7 @@ class CarState(CarStateBase):
     self.acc_state = 0
     self.das_control_counters = deque(maxlen=32)
 
-  def update(self, cp, cp_cam):
+  def update(self, cp, cp_cam, frogpilot_variables):
     ret = car.CarState.new_message()
 
     # Vehicle speed

selfdrive/car/tesla/interface.py

@@ -8,7 +8,7 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "tesla"
 
     # There is no safe way to do steer blending with user torque,
@@ -51,12 +51,12 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def _update(self, c):
-    ret = self.CS.update(self.cp, self.cp_cam)
+  def _update(self, c, frogpilot_variables):
+    ret = self.CS.update(self.cp, self.cp_cam, frogpilot_variables)
 
-    ret.events = self.create_common_events(ret).to_msg()
+    ret.events = self.create_common_events(ret, frogpilot_variables).to_msg()
 
     return ret
 
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)
+  def apply(self, c, now_nanos, frogpilot_variables):
+    return self.CC.update(c, self.CS, now_nanos, frogpilot_variables)