A collection of patch sets of common unsupported/unofficial community features for openpilot.
The openpilot fork space has changed drastically since I started this repo. When this repo was started the major forks had significant parts of their code closed source. Now all of the major forks are completely open source which removes much of the need for a project like this. As such I'm deprecating this project and while I may occasionally still update one or two of the patches, for all intents and purposes you can consider this repo to be unmaintained. I plan to continue working on my other openpilot projects and will be using the time I was spending maintaining this repo for those projects.
This repo is primarily intended for developers. If you're not a developer you may be better served by some of the amazing community forks of openpilot. The following are some popular forks I am personally aware of:
- Sunnypilot -
Discord
- Supports all upstream cars with a focus on HKG.
- Twilsonco's Fork -
Discord
- Improved torque control for most cars supported by sunnypilot.
- Alexandre Sato's Fork
- Primary focus on Toyota/Lexus.
- OPKR -
Discord
- Primary focus on HKG and Comma 2 support.
- Dragonpilot
- Supports all upstream cars with a primary focus on Toyota and secondary attention to Honda and HKG.
- Frogpilot
- Primary focus on Toyota/Lexus and staying up to date with openpilot master.
- OPGM -
Discord
- Primary focus on adding support and qol improvements for GM vehicles.
Still want to use something in this repo? Read on about the dragons...
This fork and branch is intended to provide patches that add common unsupported/unofficial community features of openpilot. Other branches in this repo will frequently have their commit history reset in order to maintain few commit patches. The branches are not meant to be built off of directly. Many branches in this repo will be unstable, in particular the "pfeifer" branch should never be expected to be in a working state. If a patch doesn't work with the latest openpilot master please create an issue. That being said, use at your own risk. The patches may at any time become incompatible with Openpilot master.
The patches are bound by the MIT License located in the LICENSE file of this repo and branch. The MIT License is considered a permissive license in that it exlicitly allows you to "use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software". This license does not require you to open source the code these patches are used in or even modifications to the patches. I have explicitly chosen a permissive license as I feel like the code should truly be free and you should do whatever you want with the code within the terms of the license. Also note that the commaai/openpilot project itself uses the MIT License.
Each patch has its own folder with a readme. The readme contains details regarding that particular patch set. In general the readme documents will describe what the patch does, what repos were used as references when writing the patch, the stability of the patch, the branch used for creating the patch, and warnings regarding any known issues or other things I deem important to warn about. Note that the readme docs are only loosely following the same pattern so you should read the entire doc for a patch you plan to use.
If the patch is intended for upstream I will note the upstream PR related to the patch in the readme. Note that any patch planned for upstream will not contain comment blocks/fences for changes
If the patch is not intended for a pr to upstream then the code will contain comments surrounding any new code. These blocks make it easier to see what changes were for what functionality when using multiple patches. This in turn helps with resolving any conflicts between patches. Many of the patches will likely conflict in the params and ui sections due to the toggles and params being placed in the same location, but the patches may have conflicts elsewhere that would need to be resolved when using multiple patches.
Anywhere that lines of existing upstream code have to be replaced I comment out the upstream code and then directly follow the commented out code with the comment block and patch code. Generally commented out code is considered to be an anti-pattern since your source control keeps track of the old code. I'm commenting out code despite this for convenience. In this case the code may frequently have conflicts with upstream changes and while resolving those conflicts I am using the commented out code for context on what my change was vs what has changed since then in upstream. Doing this is especially relevent since I am rewriting my git history frequently which may cause the context to be lost.
While many of the patches could be written to be completely standalone I've gone the route of creating some utility libraries that patches in this repo may depend on. These utility libraries are designed to reduce code duplication and conflicts in the patches. Patches that require the utility libraries will include the library commits in their combined patch file.
The pfeifer-full branch is intended to be a somewhat stable branch that combines most of the patches in the pfeifer-openpilot-patches branch. If using multiple of the patches you may find it more convenient to cherry-pick off of the pfeifer-full branch instead of using the patches directly because conflicts between patches will already be resolved. Note that the git history on the pfeifer-full branch (and most other branches) will be rewritten frequently.
Any branch with -dev on the end of the name has a fairly high chance of breaking at any time. These branches are intended for testing a change in isolation before creating a patch.
DO NOT TRUST THE pfeifer BRANCH! As mentioned in the warning section, the pfeifer branch is extremely likely to be broken at any point in time. The branch is used as a playground and is frequently pushed to without any testing. I highly recommend you do not use this branch. It will have half baked changes. It will have issues building from time to time. It will have unexpected behavior and things that are not entirely safe without full understanding of what the possible problems of the particular changes are. It will cause crashes on openpilot from time to time that prevent openpilot from operating.
DO NOT TRUST -tmp BRANCHES! The above note about the pfeifer branch applies here as well.
The notes folder doesn't contain any patches, but instead it contains notes related to openpilot. It is more or less just a collection of things that I either needed to lookup to gain better understanding of what openpilot is doing, or that I think would be helpful in general.