December 2024 Update

README.md

@@ -21,7 +21,7 @@ FrogPilot is a fully open-sourced fork of openpilot, featuring clear and concise
 ------
 FrogPilot was last updated on:
 
-**November 24th, 2024**
+**December 1st, 2024**
 
 Features
 ------

cereal/car.capnp

@@ -84,7 +84,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     startup @75;
     startupNoCar @76;
     startupNoControl @77;
-    startupNoSecOcKey @149;
+    startupNoSecOcKey @121;
     startupMaster @78;
     startupNoFw @104;
     fcw @79;
@@ -119,34 +119,35 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     actuatorsApiUnavailable @120;
 
     # FrogPilot Events
-    accel30 @121;
-    accel35 @122;
-    accel40 @123;
-    blockUser @124;
-    customStartupAlert @125;
-    dejaVuCurve @126;
-    firefoxSteerSaturated @127;
-    forcingStop @128;
-    goatSteerSaturated @129;
-    greenLight @130;
-    hal9000 @131;
-    holidayActive @132;
-    laneChangeBlockedLoud @133;
-    leadDeparting @134;
-    noLaneAvailable @135;
-    openpilotCrashed @136;
-    openpilotCrashedRandomEvent @137;
-    pedalInterceptorNoBrake @138;
-    speedLimitChanged @139;
-    thisIsFineSteerSaturated @140;
-    torqueNNLoad @141;
-    trafficModeActive @142;
-    trafficModeInactive @143;
-    turningLeft @144;
-    turningRight @145;
-    vCruise69 @146;
-    yourFrogTriedToKillMe @147;
-    youveGotMail @148;
+    accel30 @122;
+    accel35 @123;
+    accel40 @124;
+    blockUser @125;
+    customStartupAlert @126;
+    dejaVuCurve @127;
+    firefoxSteerSaturated @128;
+    forcingStop @129;
+    goatSteerSaturated @130;
+    greenLight @131;
+    hal9000 @132;
+    holidayActive @133;
+    laneChangeBlockedLoud @134;
+    leadDeparting @135;
+    noLaneAvailable @136;
+    openpilotCrashed @137;
+    openpilotCrashedRandomEvent @138;
+    pedalInterceptorNoBrake @139;
+    speedLimitChanged @140;
+    thisIsFineSteerSaturated @141;
+    toBeContinued @142;
+    torqueNNLoad @143;
+    trafficModeActive @144;
+    trafficModeInactive @145;
+    turningLeft @146;
+    turningRight @147;
+    vCruise69 @148;
+    yourFrogTriedToKillMe @149;
+    youveGotMail @150;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;
@@ -446,17 +447,19 @@ struct CarControl {
 
       # FrogPilot sounds
       angry @9;
-      dejaVu @10;
-      doc @11;
-      fart @12;
-      firefox @13;
-      goat @14;
-      hal9000 @15;
-      mail @16;
-      nessie @17;
-      noice @18;
-      thisIsFine @19;
-      uwu @20;
+      continued @10;
+      dejaVu @11;
+      doc @12;
+      fart @13;
+      firefox @14;
+      goat @15;
+      hal9000 @16;
+      mail @17;
+      nessie @18;
+      noice @19;
+      startup @20;
+      thisIsFine @21;
+      uwu @22;
     }
   }
 

cereal/custom.capnp

@@ -11,11 +11,12 @@ using Car = import "car.capnp";
 
 # you can rename the struct, but don't change the identifier
 struct FrogPilotCarControl @0x81c2f05a394cf4af {
-  alwaysOnLateralActive @0 :Bool;
-  fcwEventTriggered @1 :Bool;
-  noEntryEventTriggered @2 :Bool;
-  resumePressed @3 :Bool;
-  steerSaturatedEventTriggered @4 :Bool;
+  accelPressed @0 :Bool;
+  alwaysOnLateralActive @1 :Bool;
+  decelPressed @2 :Bool;
+  fcwEventTriggered @3 :Bool;
+  noEntryEventTriggered @4 :Bool;
+  steerSaturatedEventTriggered @5 :Bool;
 }
 
 struct FrogPilotCarState @0xaedffd8f31e7b55d {
@@ -49,34 +50,39 @@ struct FrogPilotNavigation @0xda96579883444c35 {
 struct FrogPilotPlan @0x80ae746ee2596b11 {
   accelerationJerk @0 :Float32;
   accelerationJerkStock @1 :Float32;
-  adjustedCruise @2 :Float32;
-  dangerJerk @3 :Float32;
-  desiredFollowDistance @4 :Int64;
-  experimentalMode @5 :Bool;
-  forcingStop @6 :Bool;
-  forcingStopLength @7 :Float32;
-  frogpilotEvents @8 :List(Car.CarEvent);
-  lateralCheck @9 :Bool;
-  laneWidthLeft @10 :Float32;
-  laneWidthRight @11 :Float32;
-  maxAcceleration @12 :Float32;
-  minAcceleration @13 :Float32;
+  dangerJerk @2 :Float32;
+  desiredFollowDistance @3 :Int64;
+  experimentalMode @4 :Bool;
+  forcingStop @5 :Bool;
+  forcingStopLength @6 :Float32;
+  frogpilotEvents @7 :List(Car.CarEvent);
+  lateralCheck @8 :Bool;
+  laneWidthLeft @9 :Float32;
+  laneWidthRight @10 :Float32;
+  maxAcceleration @11 :Float32;
+  minAcceleration @12 :Float32;
+  mtscSpeed @13 :Float32;
   redLight @14 :Bool;
   safeObstacleDistance @15 :Int64;
   safeObstacleDistanceStock @16 :Int64;
-  slcOverridden @17 :Bool;
-  slcOverriddenSpeed @18 :Float32;
-  slcSpeedLimit @19 :Float32;
-  slcSpeedLimitOffset @20 :Float32;
-  speedJerk @21 :Float32;
-  speedJerkStock @22 :Float32;
-  speedLimitChanged @23 :Bool;
-  stoppedEquivalenceFactor @24 :Int64;
-  tFollow @25 :Float32;
-  togglesUpdated @26 :Bool;
-  unconfirmedSlcSpeedLimit @27 :Float32;
-  vCruise @28 :Float32;
-  vtscControllingCurve @29 :Bool;
+  slcMapSpeedLimit @17 :Float32;
+  slcOverridden @18 :Bool;
+  slcOverriddenSpeed @19 :Float32;
+  slcSpeedLimit @20 :Float32;
+  slcSpeedLimitOffset @21 :Float32;
+  slcSpeedLimitSource @22 :Text;
+  speedJerk @23 :Float32;
+  speedJerkStock @24 :Float32;
+  speedLimitChanged @25 :Bool;
+  stoppedEquivalenceFactor @26 :Int64;
+  tFollow @27 :Float32;
+  themeUpdated @28 :Bool;
+  togglesUpdated @29 :Bool;
+  unconfirmedSlcSpeedLimit @30 :Float32;
+  upcomingSLCSpeedLimit @31 :Float32;
+  vCruise @32 :Float32;
+  vtscControllingCurve @33 :Bool;
+  vtscSpeed @34 :Float32;
 }
 
 struct CustomReserved5 @0xa5cd762cd951a455 {

cereal/log.capnp

@@ -618,10 +618,11 @@ struct RadarState @0x9a185389d6fdd05f {
 
   leadOne @3 :LeadData;
   leadTwo @4 :LeadData;
-  leadLeft @13 :LeadData;
-  leadRight @14 :LeadData;
-  leadLeftFar @15 :LeadData;
-  leadRightFar @16 :LeadData;
+  leadFar @13 :LeadData;
+  leadLeft @14 :LeadData;
+  leadRight @15 :LeadData;
+  leadLeftFar @16 :LeadData;
+  leadRightFar @17 :LeadData;
   cumLagMs @5 :Float32;
 
   struct LeadData {