8000 Tesla: move safety out of debug by sshane · Pull Request #2285 · commaai/opendbc · GitHub
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Tesla: move safety out of debug #2285

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Tesla: move safety out of debug #2285

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f4a3487
move Tesla safety out of debug
sshane May 23, 2025
05b2c55
pushing so i can comment on this file
adeebshihadeh May 23, 2025
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1 change: 1 addition & 0 deletions opendbc/safety/modes/tesla.h
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let's move RAD_TO_DEG, ISO_LATERAL_ACCEL, and anything else like EARTH out of here

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let's put our jerk limit in the constants file too and leave a comment that it's lower than ISO

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why is there a check for limits.inactive_angle_is_zero? should be constant within a safety mode

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standardize on chksum or checksum

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was TESLA_MAX_SPEED_DELTA verified with data?

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why is there a check for limits.inactive_angle_is_zero? should be constant within a safety mode

It was copied from the standard angle check function, the plan was to combine the two functions. But I think we should refactor the current angle function before doing that as it's way too big

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@sshane sshane May 24, 2025 •
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for brake press, IBST_driverBrakeApply has a fault state we should check

Usually, quality flags describe the signal they protect (ESP_wheelSpeedsQF). That's a generic iBooster status that may or may not be relevant to driver brake press.

Edit: Ah, I see IBST_driverBrakeApply=FAULT #2292

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pull out the invalid speed check, nothing in modes/ should touch controls_allowed. these files are just parsers.

#2294

8000
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tesla_steer_angle_cmd_checks should be moved. again this file should essentially be a parser

#2298

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moved some constants: #2300

Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@

#include "opendbc/safety/safety_declarations.h"


// parameters for lateral accel/jerk angle limiting using a simple vehicle model
typedef struct {
const float slip_factor;
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2 changes: 1 addition & 1 deletion opendbc/safety/safety.h
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Expand Up @@ -410,11 +410,11 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
{SAFETY_BODY, &body_hooks},
{SAFETY_FORD, &ford_hooks},
{SAFETY_RIVIAN, &rivian_hooks},
{SAFETY_TESLA, &tesla_hooks},
#ifdef CANFD
{SAFETY_HYUNDAI_CANFD, &hyundai_canfd_hooks},
#endif
#ifdef ALLOW_DEBUG
{SAFETY_TESLA, &tesla_hooks},
{SAFETY_SUBARU_PREGLOBAL, &subaru_preglobal_hooks},
{SAFETY_VOLKSWAGEN_PQ, &volkswagen_pq_hooks},
{SAFETY_ALLOUTPUT, &alloutput_hooks},
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