oscarpilot:

- muted engage / disengage sounds in custom theme
- modified some defaults
- turned off lane change helper
- modified driver monitor for 30 second warn / 60 second fatal

selfdrive/controls/controlsd.py

@@ -328,19 +328,19 @@ class Controls:
         self.events.add(EventName.calibrationInvalid)
 
     # Handle lane change
-    if self.sm['lateralPlan'].laneChangeState == LaneChangeState.preLaneChange:
+    # if self.sm['lateralPlan'].laneChangeState == LaneChangeState.preLaneChange:
-      direction = self.sm['lateralPlan'].laneChangeDirection
+    #   direction = self.sm['lateralPlan'].laneChangeDirection
-      if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
+    #   if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
-         (CS.rightBlindspot and direction == LaneChangeDirection.right):
+    #      (CS.rightBlindspot and direction == LaneChangeDirection.right):
-        self.events.add(EventName.laneChangeBlocked)
+    #     self.events.add(EventName.laneChangeBlocked)
-      else:
+    #   else:
-        if direction == LaneChangeDirection.left:
+    #     if direction == LaneChangeDirection.left:
-          self.events.add(EventName.preLaneChangeLeft)
+    #       self.events.add(EventName.preLaneChangeLeft)
-        else:
+    #     else:
-          self.events.add(EventName.preLaneChangeRight)
+    #       self.events.add(EventName.preLaneChangeRight)
-    elif self.sm['lateralPlan'].laneChangeState in (LaneChangeState.laneChangeStarting,
+    # elif self.sm['lateralPlan'].laneChangeState in (LaneChangeState.laneChangeStarting,
-                                                    LaneChangeState.laneChangeFinishing):
+    #                                                 LaneChangeState.laneChangeFinishing):
-      self.events.add(EventName.laneChange)
+    #   self.events.add(EventName.laneChange)
 
     # Handle turning
     if not CS.standstill:
@@ -659,7 +659,7 @@ class Controls:
       self.lateral_allowed |= CS.cruiseState.enabled or (CS.cruiseState.available and self.always_on_lateral_main)
 
       self.FPCC.alwaysOnLateral = self.lateral_allowed and driving_gear and signal_check
-      if self.FPCC.alwaysOnLateral:
+      if self.FPCC.alwaysOnLateral:/
         self.current_alert_types.append(ET.WARNING)
 
     # Check which actuators can be enabled
@@ -672,9 +672,9 @@ class Controls:
     actuators.longControlState = self.LoC.long_control_state
 
     # Enable blinkers while lane changing
-    if self.sm['lateralPlan'].laneChangeState != LaneChangeState.off:
+    # if self.sm['lateralPlan'].laneChangeState != LaneChangeState.off:
-      CC.leftBlinker = self.sm['lateralPlan'].laneChangeDirection == LaneChangeDirection.left
+    #   CC.leftBlinker = self.sm['lateralPlan'].laneChangeDirection == LaneChangeDirection.left
-      CC.rightBlinker = self.sm['lateralPlan'].laneChangeDirection == LaneChangeDirection.right
+    #   CC.rightBlinker = self.sm['lateralPlan'].laneChangeDirection == LaneChangeDirection.right
 
     if CS.leftBlinker or CS.rightBlinker:
       self.last_blinker_frame = self.sm.frame

selfdrive/frogpilot/ui/frogpilot_functions.cc

@@ -45,17 +45,19 @@ void setDefaultParams() {
   Params params = Params();
   bool FrogsGoMoo = params.get("DongleId").substr(0, 3) == "be6";
 
+  bool brianbot = true;
+
   std::map<std::string, std::string> defaultValues {
-    {"AccelerationPath", FrogsGoMoo ? "1" : "0"},
+    {"AccelerationPath", brianbot ? "1" : "0"},
-    {"AccelerationProfile", FrogsGoMoo ? "3" : "2"},
+    {"AccelerationProfile", brianbot ? "2" : "2"},
     {"AdjacentPath", FrogsGoMoo ? "1" : "0"},
     {"AdjustablePersonalities", "3"},
     {"AggressiveAcceleration", "1"},
     {"AggressiveFollow", FrogsGoMoo ? "10" : "12"},
     {"AggressiveJerk", FrogsGoMoo ? "6" : "5"},
     {"AlwaysOnLateral", "1"},
-    {"AlwaysOnLateralMain", FrogsGoMoo ? "1" : "0"},
+    {"AlwaysOnLateralMain", brianbot ? "1" : "0"},
-    {"AverageCurvature", FrogsGoMoo ? "1" : "0"},
+    {"AverageCurvature", brianbot ? "1" : "0"},
     {"BlindSpotPath", "1"},
     {"CameraView", FrogsGoMoo ? "1" : "0"},
     {"CECurves", "1"},
@@ -72,23 +74,23 @@ void setDefaultParams() {
     {"CurveSensitivity", FrogsGoMoo ? "125" : "100"},
     {"CustomColors", "1"},
     {"CustomIcons", "1"},
-    {"CustomPersonalities", "1"},
+    {"CustomPersonalities", "0"},
-    {"CustomSignals", "1"},
+    {"CustomSignals", "0"},
     {"CustomSounds", "1"},
     {"CustomTheme", "1"},
-    {"CustomUI", "1"},
+    {"CustomUI", "0"},
-    {"DeviceShutdown", "9"},
+    {"DeviceShutdown", "1"},
     {"DriverCamera", "0"},
     {"DriveStats", "1"},
     {"EVTable", FrogsGoMoo ? "0" : "1"},
     {"ExperimentalModeActivation", "1"},
-    {"ExperimentalModeViaLKAS", "1"},
+    {"ExperimentalModeViaLKAS", "0"},
     {"ExperimentalModeViaScreen", FrogsGoMoo ? "0" : "1"},
     {"Fahrenheit", "0"},
     {"FireTheBabysitter", FrogsGoMoo ? "1" : "0"},
     {"FullMap", "0"},
     {"GasRegenCmd", "0"},
-    {"GoatScream", "1"},
+    {"GoatScream", "0"},
     {"GreenLightAlert", "0"},
     {"HideSpeed", "0"},
     {"HigherBitrate", "0"},
@@ -101,16 +103,16 @@ void setDefaultParams() {
     {"LongitudinalTune", "1"},
     {"LongPitch", FrogsGoMoo ? "0" : "1"},
     {"LowerVolt", FrogsGoMoo ? "0" : "1"},
-    {"Model", "0"},
+    {"Model", "3"},
     {"ModelUI", "1"},
     {"MTSCEnabled", "1"},
-    {"MuteDM", FrogsGoMoo ? "1" : "0"},
+    {"MuteDM", FrogsGoMoo ? "1" : "1"},
-    {"MuteDoor", FrogsGoMoo ? "1" : "0"},
+    {"MuteDoor", FrogsGoMoo ? "1" : "1"},
     {"MuteOverheated", FrogsGoMoo ? "1" : "0"},
     {"MuteSeatbelt", FrogsGoMoo ? "1" : "0"},
-    {"NNFF", FrogsGoMoo ? "1" : "0"},
+    {"NNFF", FrogsGoMoo ? "1" : "1"},
-    {"NoLogging", "0"},
+    {"NoLogging", "1"},
-    {"NudgelessLaneChange", "1"},
+    {"NudgelessLaneChange", "0"},
     {"NumericalTemp", FrogsGoMoo ? "1" : "0"},
     {"Offset1", "5"},
     {"Offset2", FrogsGoMoo ? "7" : "5"},

selfdrive/monitoring/driver_monitor.py

@@ -19,12 +19,12 @@ class DRIVER_MONITOR_SETTINGS():
   def __init__(self):
     self._DT_DMON = DT_DMON
     # ref (page15-16): https://eur-lex.europa.eu/legal-content/EN/TXT/PDF/?uri=CELEX:42018X1947&rid=2
-    self._AWARENESS_TIME = 30. # passive wheeltouch total timeout
+    self._AWARENESS_TIME = 90. # passive wheeltouch total timeout
-    self._AWARENESS_PRE_TIME_TILL_TERMINAL = 15.
+    self._AWARENESS_PRE_TIME_TILL_TERMINAL = 60.
-    self._AWARENESS_PROMPT_TIME_TILL_TERMINAL = 6.
+    self._AWARENESS_PROMPT_TIME_TILL_TERMINAL = 30.
-    self._DISTRACTED_TIME = 11. # active monitoring total timeout
+    self._DISTRACTED_TIME = 90. # active monitoring total timeout
-    self._DISTRACTED_PRE_TIME_TILL_TERMINAL = 8.
+    self._DISTRACTED_PRE_TIME_TILL_TERMINAL = 60.
-    self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
+    self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 30.
 
     self._FACE_THRESHOLD = 0.7
     self._EYE_THRESHOLD = 0.65