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Shane Smiskol edited this page Oct 27, 2020 · 25 revisions

Adjustable Following Distance

Here is how you can add adjustable TR support to your fork: https://github.com/ShaneSmiskol/openpilot/commit/d01208e1aa9acee597e3b5453f6fdc08edebc2da

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.

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: https://github.com/ShaneSmiskol/openpilot/commit/f1c99e84998f55e62067a9873e631c57922b4c3c

This is completely endorsed by comma and doesn't require changing any panda firmware code which is highly unrecommended.

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