Dodgypilot is a dodgy fork of comma.ai's openpilot. It is actively maintained by cydia2020.
This fork has a vehicle whitelist, and will only run on a Toyota/Lexus vehicle.
Please use the precompiled branch "release2-staging", this branch has been tested to function in normal circumstances.
No feature backports once comma has determined a version to be ready for release, what's on the version stays on that version. Old versions are left for future references, and should not be used by the end-user.
The maintainer of this fork does not currently own a comma three and is not planning on getting one for the foreseeable future. This fork will be stuck on 0.8.14 for the time being. The "commatwo_master" branch does work on the comma three, you may lose some features that are in comma's master branch. Feel free to adopt the changes to your own fork.
For comma two users: Choose "Custom Software" when setting up your comma device, and type "https://installer.comma.ai/cydia2020/release2-staging" in the input box.
For comma three users: Choose "Custom Software" when setting up your comma device, and type "https://installer.comma.ai/cydia2020/commatwo_master" in the input box. (No that's not a typo.)
Alternatively, ssh into your comma device, run cd /data/openpilot, git remote add cydia2020 https://github.com/cydia2020/dodgypilot, and git checkout cydia2020/release2-staging.
IMPORTANT: You must turn off the vehicle's stock Steering Assist feature for dodgypilot to engage. To turn Steering Assist off, go to your car's settings screen, highlight the steering assist toggle, then press OK once to toggle it off. Toyota has a helpful guide on this.
If you have a TSS-P Vehicle, it is recommended that you put together or buy a SmartDSU from Taobao or @ErichMoraga. It will lessen your chance of crashing while you are using dodgypilot. A SmartDSU also enables features such as follow distance adjustment and switching between openpilot and stock longitudinal.
WARNING: openpilot might not compile on your device if I'm doing something to a non-precompiled branch, always wait for the code to stabilise before installing this fork on your device.
By using this software, you agree that:
- Maintainers of this software, and by definition - their entities, are not responsible for personal injuries, or damages done to your properties (these include your comma device(s) and vehicle(s)) as a result of using this software.
- You have viewed and acknowledged comma.ai and all its entities' terms of service.
You do everything at your own risk.
This fork:
- Disables openpilot sounds. (Car will chime differently based on the severity of the alert if dodgypilot wants attention. openpilot sounds can be re-enabled by a toggle in the comma device's settings)
- Supports ZSS.
- Has end-to-end longitudinal support for the comma two.
- Backports the new driving model to the comma two.
- Disables the uploader. (UI API still active to maintain ease of maintenance)
- Keeps factory LDA and SWS on Toyota/Lexus.
- Displays radarState readings on the onroad UI.
- Improves screen brightness handling by linking it with your headlights. To use this feature, go to settings, and turn on
Use Linked Brightness. - Allows openpilot to be engaged even if adaptive cruise control is disabled. To use this feature, go to settings, and turn on
Allow Normal Cruise Control. - Allows switching between openpilot Long and stock ACC, requires SmartDSU. To use this, go to settings, and turn on
Use Stock ACC. - Improves Toyota/Lexus lateral control with the new torque controller. (please open an issue if your car doesn't work well with this. Torque controller can be disabled by a toggle in your comma device's settings.)
- Improves stop-and-go performance, reduce acceleration oscillation.
- Allows low cruise speed override (stolen from DragonPilot). To use this, ensure that you have a vehicle that's capable of openpilot longitudinal control, go to settings, and enable
Cruise Speed Override. When engaging under approximately 43.2km/h (45-46 km/h on the HUD), dodgypilot will set its cruise speed to the vehicle's current travel speed. - Allows the driver to change openpilot's follow distance on Toyota/Lexus with openpilot longitudinal control (and SmartDSU if the user has a TSS-P vehicle, please use this firmware for your SmartDSU). (Stolen from @krkeegan)(Image below is an aRTiSt's iMprEsSioN)
- Respects the Powertrain Control Module, and does not cancel cruise control when it is not necessary. (e.g. brake press)
- Allows the device's display to be turned off after 60 seconds of inactivity (no touch input). (Stolen from @sunnyhaibin)
- Includes a vehicle selection feature, allows users without access to a comma power to set the car model manually. (stolen from @sunnypilot) (Settings -> Fingerprint)
- Able to utilise the comma pedal to enable stop-and-go with stock longitudinal on TSS-P cars.
- Supports using @Smartype's CAN Filter to enable openpilot Longitudinal Control on TSS-P Camry and C-HR.
Thank you for using dodgypilot, if you would like to buy me a coffee, please use the link below.
Icon partially thanks to FallOutGirl9001 on DeviantArt.