Automatically set Stock SCC to Speed Limit (Hyundai/Kia)#507
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emmertex wants to merge 8 commits intocommaai:develfrom
Closed
Automatically set Stock SCC to Speed Limit (Hyundai/Kia)#507emmertex wants to merge 8 commits intocommaai:develfrom
emmertex wants to merge 8 commits intocommaai:develfrom
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Author
|
Do not merge |
Author
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I would like some feedback on this. It is used by a lot of people, and works almost flawlessly. |
Contributor
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let's keep it open. I definitely like the idea. The code will need some refactoring though. |
pd0wm
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Apr 17, 2020
4c7755c Match Panda DFU entry fix in "make recover" process (#509) 0336f62 Pedal gas pressed safety limits (#507) 715b1a1 Hyundai-Kia-Genesis (HKG) (#503) 6f105e8 Safety Test Refactor: Subaru (#502) 57cc954 Safety Test Refactor: GM (#504) dd01c3b Safety Test Refactor: Hyundai (#505) 592c2c8 add support to can_unique.py for Cabana CSV format. (#506) ccf13b7 No more infinite while loops in CAN init (#499) 6c442b4 Safety Test Refactor: Volkswagen MQB (#493) f07a6ee panda recover should go through bootstub first (#498) 8cc3a35 remove cadillac (#496) 62e4d3c Chrysler: fix missing button signal on TX (#490) abce8f3 Safety Test Refactor: Toyota + support code (#491) 500370a Make sure relay faults make it to the health packet (#492) bc90b60 toyota: use universal gas pressed bit (#488) 74d10cc Fixed possible race condition (#487) a05361e cleanup safety_replay dockerfile (#486) fe73dcc Openpilot-tools is deprecated (#484) da8e00f TX message guaranteed delivery (#421) d8f6184 Add ISO number for longitudinal limits flag comment 6a60b78 touch ups 2ce6536 comments on unsafe flags d880134 remove from there as well 055ea07 remove that unsafe flag since it isn't implemented and it's unclear how to 4e98bbe Apply unsafe allow gas mode to all cars. (#480) 0c2c149 Fixing libusb busy error (#174) 753c42c Update Board Mac SDK Install script to work on clean mac (#146) b9a9ea3 Unsafe gas disengage mods, fix test compile warning (#481) 08ef92d Safety model for Volkswagen PQ35/PQ46/NMS (#474) 51e0a55 Support code for unsafe mode unit tests (#478) 5325b62 current_safety_mode 7908b72 update updating unsafe mode 98503e8 disable stock honda AEB in unsafe mode (#477) 01b2ccb one more 9a30265 weak steering while not engaged 577f10b added options for unsafe mode 83cf7bf update comment 4556e74 enable unsafe mode, toggle for use by forks that so choose de89fcd Nissan leaf (#473) git-subtree-dir: panda git-subtree-split: 4c7755c
pd0wm
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Apr 17, 2020
884afa0 Safety Test Refactor: Chrysler and Volkswagen PQ (#508) d77b72d Safety Test Refactor: Nissan (#510) 4c7755c Match Panda DFU entry fix in "make recover" process (#509) 0336f62 Pedal gas pressed safety limits (#507) 715b1a1 Hyundai-Kia-Genesis (HKG) (#503) 6f105e8 Safety Test Refactor: Subaru (#502) 57cc954 Safety Test Refactor: GM (#504) dd01c3b Safety Test Refactor: Hyundai (#505) 592c2c8 add support to can_unique.py for Cabana CSV format. (#506) ccf13b7 No more infinite while loops in CAN init (#499) 6c442b4 Safety Test Refactor: Volkswagen MQB (#493) f07a6ee panda recover should go through bootstub first (#498) 8cc3a35 remove cadillac (#496) 62e4d3c Chrysler: fix missing button signal on TX (#490) abce8f3 Safety Test Refactor: Toyota + support code (#491) 500370a Make sure relay faults make it to the health packet (#492) bc90b60 toyota: use universal gas pressed bit (#488) 74d10cc Fixed possible race condition (#487) a05361e cleanup safety_replay dockerfile (#486) fe73dcc Openpilot-tools is deprecated (#484) da8e00f TX message guaranteed delivery (#421) d8f6184 Add ISO number for longitudinal limits flag comment 6a60b78 touch ups 2ce6536 comments on unsafe flags d880134 remove from there as well 055ea07 remove that unsafe flag since it isn't implemented and it's unclear how to 4e98bbe Apply unsafe allow gas mode to all cars. (#480) 0c2c149 Fixing libusb busy error (#174) 753c42c Update Board Mac SDK Install script to work on clean mac (#146) b9a9ea3 Unsafe gas disengage mods, fix test compile warning (#481) 08ef92d Safety model for Volkswagen PQ35/PQ46/NMS (#474) 51e0a55 Support code for unsafe mode unit tests (#478) 5325b62 current_safety_mode 7908b72 update updating unsafe mode 98503e8 disable stock honda AEB in unsafe mode (#477) 01b2ccb one more 9a30265 weak steering while not engaged 577f10b added options for unsafe mode 83cf7bf update comment 4556e74 enable unsafe mode, toggle for use by forks that so choose de89fcd Nissan leaf (#473) git-subtree-dir: panda git-subtree-split: 884afa0
pd0wm
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Apr 18, 2020
884afa0 Safety Test Refactor: Chrysler and Volkswagen PQ (#508) d77b72d Safety Test Refactor: Nissan (#510) 4c7755c Match Panda DFU entry fix in "make recover" process (#509) 0336f62 Pedal gas pressed safety limits (#507) 715b1a1 Hyundai-Kia-Genesis (HKG) (#503) 6f105e8 Safety Test Refactor: Subaru (#502) 57cc954 Safety Test Refactor: GM (#504) dd01c3b Safety Test Refactor: Hyundai (#505) 592c2c8 add support to can_unique.py for Cabana CSV format. (#506) ccf13b7 No more infinite while loops in CAN init (#499) 6c442b4 Safety Test Refactor: Volkswagen MQB (#493) f07a6ee panda recover should go through bootstub first (#498) 8cc3a35 remove cadillac (#496) 62e4d3c Chrysler: fix missing button signal on TX (#490) abce8f3 Safety Test Refactor: Toyota + support code (#491) 500370a Make sure relay faults make it to the health packet (#492) bc90b60 toyota: use universal gas pressed bit (#488) 74d10cc Fixed possible race condition (#487) a05361e cleanup safety_replay dockerfile (#486) fe73dcc Openpilot-tools is deprecated (#484) da8e00f TX message guaranteed delivery (#421) d8f6184 Add ISO number for longitudinal limits flag comment 6a60b78 touch ups 2ce6536 comments on unsafe flags d880134 remove from there as well 055ea07 remove that unsafe flag since it isn't implemented and it's unclear how to 4e98bbe Apply unsafe allow gas mode to all cars. (#480) 0c2c149 Fixing libusb busy error (#174) 753c42c Update Board Mac SDK Install script to work on clean mac (#146) b9a9ea3 Unsafe gas disengage mods, fix test compile warning (#481) 08ef92d Safety model for Volkswagen PQ35/PQ46/NMS (#474) 51e0a55 Support code for unsafe mode unit tests (#478) 5325b62 current_safety_mode 7908b72 update updating unsafe mode 98503e8 disable stock honda AEB in unsafe mode (#477) 01b2ccb one more 9a30265 weak steering while not engaged 577f10b added options for unsafe mode 83cf7bf update comment 4556e74 enable unsafe mode, toggle for use by forks that so choose de89fcd Nissan leaf (#473) git-subtree-dir: panda git-subtree-split: 884afa0
pd0wm
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Apr 22, 2020
ba59ada No ESP in non-white (#514) c333618 Fix the CAN init fix (#513) 884afa0 Safety Test Refactor: Chrysler and Volkswagen PQ (#508) d77b72d Safety Test Refactor: Nissan (#510) 4c7755c Match Panda DFU entry fix in "make recover" process (#509) 0336f62 Pedal gas pressed safety limits (#507) 715b1a1 Hyundai-Kia-Genesis (HKG) (#503) 6f105e8 Safety Test Refactor: Subaru (#502) 57cc954 Safety Test Refactor: GM (#504) dd01c3b Safety Test Refactor: Hyundai (#505) 592c2c8 add support to can_unique.py for Cabana CSV format. (#506) ccf13b7 No more infinite while loops in CAN init (#499) 6c442b4 Safety Test Refactor: Volkswagen MQB (#493) f07a6ee panda recover should go through bootstub first (#498) 8cc3a35 remove cadillac (#496) 62e4d3c Chrysler: fix missing button signal on TX (#490) abce8f3 Safety Test Refactor: Toyota + support code (#491) 500370a Make sure relay faults make it to the health packet (#492) bc90b60 toyota: use universal gas pressed bit (#488) 74d10cc Fixed possible race condition (#487) a05361e cleanup safety_replay dockerfile (#486) fe73dcc Openpilot-tools is deprecated (#484) da8e00f TX message guaranteed delivery (#421) d8f6184 Add ISO number for longitudinal limits flag comment 6a60b78 touch ups 2ce6536 comments on unsafe flags d880134 remove from there as well 055ea07 remove that unsafe flag since it isn't implemented and it's unclear how to 4e98bbe Apply unsafe allow gas mode to all cars. (#480) 0c2c149 Fixing libusb busy error (#174) 753c42c Update Board Mac SDK Install script to work on clean mac (#146) b9a9ea3 Unsafe gas disengage mods, fix test compile warning (#481) 08ef92d Safety model for Volkswagen PQ35/PQ46/NMS (#474) 51e0a55 Support code for unsafe mode unit tests (#478) 5325b62 current_safety_mode 7908b72 update updating unsafe mode 98503e8 disable stock honda AEB in unsafe mode (#477) 01b2ccb one more 9a30265 weak steering while not engaged 577f10b added options for unsafe mode 83cf7bf update comment 4556e74 enable unsafe mode, toggle for use by forks that so choose de89fcd Nissan leaf (#473) git-subtree-dir: panda git-subtree-split: ba59ada
pd0wm
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Apr 22, 2020
ba59ada No ESP in non-white (#514) c333618 Fix the CAN init fix (#513) 884afa0 Safety Test Refactor: Chrysler and Volkswagen PQ (#508) d77b72d Safety Test Refactor: Nissan (#510) 4c7755c Match Panda DFU entry fix in "make recover" process (#509) 0336f62 Pedal gas pressed safety limits (#507) 715b1a1 Hyundai-Kia-Genesis (HKG) (#503) 6f105e8 Safety Test Refactor: Subaru (#502) 57cc954 Safety Test Refactor: GM (#504) dd01c3b Safety Test Refactor: Hyundai (#505) 592c2c8 add support to can_unique.py for Cabana CSV format. (#506) ccf13b7 No more infinite while loops in CAN init (#499) 6c442b4 Safety Test Refactor: Volkswagen MQB (#493) f07a6ee panda recover should go through bootstub first (#498) 8cc3a35 remove cadillac (#496) 62e4d3c Chrysler: fix missing button signal on TX (#490) abce8f3 Safety Test Refactor: Toyota + support code (#491) 500370a Make sure relay faults make it to the health packet (#492) bc90b60 toyota: use universal gas pressed bit (#488) 74d10cc Fixed possible race condition (#487) a05361e cleanup safety_replay dockerfile (#486) fe73dcc Openpilot-tools is deprecated (#484) da8e00f TX message guaranteed delivery (#421) d8f6184 Add ISO number for longitudinal limits flag comment 6a60b78 touch ups 2ce6536 comments on unsafe flags d880134 remove from there as well 055ea07 remove that unsafe flag since it isn't implemented and it's unclear how to 4e98bbe Apply unsafe allow gas mode to all cars. (#480) 0c2c149 Fixing libusb busy error (#174) 753c42c Update Board Mac SDK Install script to work on clean mac (#146) b9a9ea3 Unsafe gas disengage mods, fix test compile warning (#481) 08ef92d Safety model for Volkswagen PQ35/PQ46/NMS (#474) 51e0a55 Support code for unsafe mode unit tests (#478) 5325b62 current_safety_mode 7908b72 update updating unsafe mode 98503e8 disable stock honda AEB in unsafe mode (#477) 01b2ccb one more 9a30265 weak steering while not engaged 577f10b added options for unsafe mode 83cf7bf update comment 4556e74 enable unsafe mode, toggle for use by forks that so choose de89fcd Nissan leaf (#473) git-subtree-dir: panda git-subtree-split: ba59ada
pd0wm
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Apr 23, 2020
ba59ada No ESP in non-white (#514) c333618 Fix the CAN init fix (#513) 884afa0 Safety Test Refactor: Chrysler and Volkswagen PQ (#508) d77b72d Safety Test Refactor: Nissan (#510) 4c7755c Match Panda DFU entry fix in "make recover" process (#509) 0336f62 Pedal gas pressed safety limits (#507) 715b1a1 Hyundai-Kia-Genesis (HKG) (#503) 6f105e8 Safety Test Refactor: Subaru (#502) 57cc954 Safety Test Refactor: GM (#504) dd01c3b Safety Test Refactor: Hyundai (#505) 592c2c8 add support to can_unique.py for Cabana CSV format. (#506) ccf13b7 No more infinite while loops in CAN init (#499) 6c442b4 Safety Test Refactor: Volkswagen MQB (#493) f07a6ee panda recover should go through bootstub first (#498) 8cc3a35 remove cadillac (#496) 62e4d3c Chrysler: fix missing button signal on TX (#490) abce8f3 Safety Test Refactor: Toyota + support code (#491) 500370a Make sure relay faults make it to the health packet (#492) bc90b60 toyota: use universal gas pressed bit (#488) 74d10cc Fixed possible race condition (#487) a05361e cleanup safety_replay dockerfile (#486) fe73dcc Openpilot-tools is deprecated (#484) da8e00f TX message guaranteed delivery (#421) d8f6184 Add ISO number for longitudinal limits flag comment 6a60b78 touch ups 2ce6536 comments on unsafe flags d880134 remove from there as well 055ea07 remove that unsafe flag since it isn't implemented and it's unclear how to 4e98bbe Apply unsafe allow gas mode to all cars. (#480) 0c2c149 Fixing libusb busy error (#174) 753c42c Update Board Mac SDK Install script to work on clean mac (#146) b9a9ea3 Unsafe gas disengage mods, fix test compile warning (#481) 08ef92d Safety model for Volkswagen PQ35/PQ46/NMS (#474) 51e0a55 Support code for unsafe mode unit tests (#478) 5325b62 current_safety_mode 7908b72 update updating unsafe mode 98503e8 disable stock honda AEB in unsafe mode (#477) 01b2ccb one more 9a30265 weak steering while not engaged 577f10b added options for unsafe mode 83cf7bf update comment 4556e74 enable unsafe mode, toggle for use by forks that so choose de89fcd Nissan leaf (#473) git-subtree-dir: panda git-subtree-split: ba59ada
pd0wm
pushed a commit
that referenced
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Apr 23, 2020
ba59ada No ESP in non-white (#514) c333618 Fix the CAN init fix (#513) 884afa0 Safety Test Refactor: Chrysler and Volkswagen PQ (#508) d77b72d Safety Test Refactor: Nissan (#510) 4c7755c Match Panda DFU entry fix in "make recover" process (#509) 0336f62 Pedal gas pressed safety limits (#507) 715b1a1 Hyundai-Kia-Genesis (HKG) (#503) 6f105e8 Safety Test Refactor: Subaru (#502) 57cc954 Safety Test Refactor: GM (#504) dd01c3b Safety Test Refactor: Hyundai (#505) 592c2c8 add support to can_unique.py for Cabana CSV format. (#506) ccf13b7 No more infinite while loops in CAN init (#499) 6c442b4 Safety Test Refactor: Volkswagen MQB (#493) f07a6ee panda recover should go through bootstub first (#498) 8cc3a35 remove cadillac (#496) 62e4d3c Chrysler: fix missing button signal on TX (#490) abce8f3 Safety Test Refactor: Toyota + support code (#491) 500370a Make sure relay faults make it to the health packet (#492) bc90b60 toyota: use universal gas pressed bit (#488) 74d10cc Fixed possible race condition (#487) a05361e cleanup safety_replay dockerfile (#486) fe73dcc Openpilot-tools is deprecated (#484) da8e00f TX message guaranteed delivery (#421) d8f6184 Add ISO number for longitudinal limits flag comment 6a60b78 touch ups 2ce6536 comments on unsafe flags d880134 remove from there as well 055ea07 remove that unsafe flag since it isn't implemented and it's unclear how to 4e98bbe Apply unsafe allow gas mode to all cars. (#480) 0c2c149 Fixing libusb busy error (#174) 753c42c Update Board Mac SDK Install script to work on clean mac (#146) b9a9ea3 Unsafe gas disengage mods, fix test compile warning (#481) 08ef92d Safety model for Volkswagen PQ35/PQ46/NMS (#474) 51e0a55 Support code for unsafe mode unit tests (#478) 5325b62 current_safety_mode 7908b72 update updating unsafe mode 98503e8 disable stock honda AEB in unsafe mode (#477) 01b2ccb one more 9a30265 weak steering while not engaged 577f10b added options for unsafe mode 83cf7bf update comment 4556e74 enable unsafe mode, toggle for use by forks that so choose de89fcd Nissan leaf (#473) git-subtree-dir: panda git-subtree-split: ba59ada
pd0wm
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Apr 24, 2020
ba59ada No ESP in non-white (#514) c333618 Fix the CAN init fix (#513) 884afa0 Safety Test Refactor: Chrysler and Volkswagen PQ (#508) d77b72d Safety Test Refactor: Nissan (#510) 4c7755c Match Panda DFU entry fix in "make recover" process (#509) 0336f62 Pedal gas pressed safety limits (#507) 715b1a1 Hyundai-Kia-Genesis (HKG) (#503) 6f105e8 Safety Test Refactor: Subaru (#502) 57cc954 Safety Test Refactor: GM (#504) dd01c3b Safety Test Refactor: Hyundai (#505) 592c2c8 add support to can_unique.py for Cabana CSV format. (#506) ccf13b7 No more infinite while loops in CAN init (#499) 6c442b4 Safety Test Refactor: Volkswagen MQB (#493) f07a6ee panda recover should go through bootstub first (#498) 8cc3a35 remove cadillac (#496) 62e4d3c Chrysler: fix missing button signal on TX (#490) abce8f3 Safety Test Refactor: Toyota + support code (#491) 500370a Make sure relay faults make it to the health packet (#492) bc90b60 toyota: use universal gas pressed bit (#488) 74d10cc Fixed possible race condition (#487) a05361e cleanup safety_replay dockerfile (#486) fe73dcc Openpilot-tools is deprecated (#484) da8e00f TX message guaranteed delivery (#421) d8f6184 Add ISO number for longitudinal limits flag comment 6a60b78 touch ups 2ce6536 comments on unsafe flags d880134 remove from there as well 055ea07 remove that unsafe flag since it isn't implemented and it's unclear how to 4e98bbe Apply unsafe allow gas mode to all cars. (#480) 0c2c149 Fixing libusb busy error (#174) 753c42c Update Board Mac SDK Install script to work on clean mac (#146) b9a9ea3 Unsafe gas disengage mods, fix test compile warning (#481) 08ef92d Safety model for Volkswagen PQ35/PQ46/NMS (#474) 51e0a55 Support code for unsafe mode unit tests (#478) 5325b62 current_safety_mode 7908b72 update updating unsafe mode 98503e8 disable stock honda AEB in unsafe mode (#477) 01b2ccb one more 9a30265 weak steering while not engaged 577f10b added options for unsafe mode 83cf7bf update comment 4556e74 enable unsafe mode, toggle for use by forks that so choose de89fcd Nissan leaf (#473) git-subtree-dir: panda git-subtree-split: ba59ada
pd0wm
pushed a commit
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Apr 24, 2020
ba59ada No ESP in non-white (#514) c333618 Fix the CAN init fix (#513) 884afa0 Safety Test Refactor: Chrysler and Volkswagen PQ (#508) d77b72d Safety Test Refactor: Nissan (#510) 4c7755c Match Panda DFU entry fix in "make recover" process (#509) 0336f62 Pedal gas pressed safety limits (#507) 715b1a1 Hyundai-Kia-Genesis (HKG) (#503) 6f105e8 Safety Test Refactor: Subaru (#502) 57cc954 Safety Test Refactor: GM (#504) dd01c3b Safety Test Refactor: Hyundai (#505) 592c2c8 add support to can_unique.py for Cabana CSV format. (#506) ccf13b7 No more infinite while loops in CAN init (#499) 6c442b4 Safety Test Refactor: Volkswagen MQB (#493) f07a6ee panda recover should go through bootstub first (#498) 8cc3a35 remove cadillac (#496) 62e4d3c Chrysler: fix missing button signal on TX (#490) abce8f3 Safety Test Refactor: Toyota + support code (#491) 500370a Make sure relay faults make it to the health packet (#492) bc90b60 toyota: use universal gas pressed bit (#488) 74d10cc Fixed possible race condition (#487) a05361e cleanup safety_replay dockerfile (#486) fe73dcc Openpilot-tools is deprecated (#484) da8e00f TX message guaranteed delivery (#421) d8f6184 Add ISO number for longitudinal limits flag comment 6a60b78 touch ups 2ce6536 comments on unsafe flags d880134 remove from there as well 055ea07 remove that unsafe flag since it isn't implemented and it's unclear how to 4e98bbe Apply unsafe allow gas mode to all cars. (#480) 0c2c149 Fixing libusb busy error (#174) 753c42c Update Board Mac SDK Install script to work on clean mac (#146) b9a9ea3 Unsafe gas disengage mods, fix test compile warning (#481) 08ef92d Safety model for Volkswagen PQ35/PQ46/NMS (#474) 51e0a55 Support code for unsafe mode unit tests (#478) 5325b62 current_safety_mode 7908b72 update updating unsafe mode 98503e8 disable stock honda AEB in unsafe mode (#477) 01b2ccb one more 9a30265 weak steering while not engaged 577f10b added options for unsafe mode 83cf7bf update comment 4556e74 enable unsafe mode, toggle for use by forks that so choose de89fcd Nissan leaf (#473) git-subtree-dir: panda git-subtree-split: ba59ada
pd0wm
pushed a commit
that referenced
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Apr 24, 2020
ba59ada No ESP in non-white (#514) c333618 Fix the CAN init fix (#513) 884afa0 Safety Test Refactor: Chrysler and Volkswagen PQ (#508) d77b72d Safety Test Refactor: Nissan (#510) 4c7755c Match Panda DFU entry fix in "make recover" process (#509) 0336f62 Pedal gas pressed safety limits (#507) 715b1a1 Hyundai-Kia-Genesis (HKG) (#503) 6f105e8 Safety Test Refactor: Subaru (#502) 57cc954 Safety Test Refactor: GM (#504) dd01c3b Safety Test Refactor: Hyundai (#505) 592c2c8 add support to can_unique.py for Cabana CSV format. (#506) ccf13b7 No more infinite while loops in CAN init (#499) 6c442b4 Safety Test Refactor: Volkswagen MQB (#493) f07a6ee panda recover should go through bootstub first (#498) 8cc3a35 remove cadillac (#496) 62e4d3c Chrysler: fix missing button signal on TX (#490) abce8f3 Safety Test Refactor: Toyota + support code (#491) 500370a Make sure relay faults make it to the health packet (#492) bc90b60 toyota: use universal gas pressed bit (#488) 74d10cc Fixed possible race condition (#487) a05361e cleanup safety_replay dockerfile (#486) fe73dcc Openpilot-tools is deprecated (#484) da8e00f TX message guaranteed delivery (#421) d8f6184 Add ISO number for longitudinal limits flag comment 6a60b78 touch ups 2ce6536 comments on unsafe flags d880134 remove from there as well 055ea07 remove that unsafe flag since it isn't implemented and it's unclear how to 4e98bbe Apply unsafe allow gas mode to all cars. (#480) 0c2c149 Fixing libusb busy error (#174) 753c42c Update Board Mac SDK Install script to work on clean mac (#146) b9a9ea3 Unsafe gas disengage mods, fix test compile warning (#481) 08ef92d Safety model for Volkswagen PQ35/PQ46/NMS (#474) 51e0a55 Support code for unsafe mode unit tests (#478) 5325b62 current_safety_mode 7908b72 update updating unsafe mode 98503e8 disable stock honda AEB in unsafe mode (#477) 01b2ccb one more 9a30265 weak steering while not engaged 577f10b added options for unsafe mode 83cf7bf update comment 4556e74 enable unsafe mode, toggle for use by forks that so choose de89fcd Nissan leaf (#473) git-subtree-dir: panda git-subtree-split: ba59ada
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This has been used since day 1 of 0.5.7 release on several Hyundai, Kia and a Genesis.
Messing with how the spamming worked took a while to get the most reliable method, the 2 in a row greatly reduced the chance the messages get ignored. 4 out of 5 times its perfect, 1 out of 5 its very slow (lots of rejected messages) but still moves at a reasonable speed.