| >and didn't find a single reference to the checklist in that Medium post Yeah, I always thought safety.md in the panda repo was lacking and the points from the medium post should be included. Perhaps someone should make a PR. I doubt anyone who has worked on panda code hasn't seen that medium post though. >(and, only some of the requirements seem to be implemented in most cars) May or may not be what you're referring to, but the majority car brands, don't support openpilot's longitudinal control, and maintain the stock ACC system while openpilot just controls steering. That's why you may not see any acceleration/deceleration safety code. Some brands also have lkas torque severely limited by the the eps firmware, which should already be ASIL D rated. Honda for example will get around 5 degrees of max steering at highway speeds despite what openpilot says it wants, so there's no real need to add steering safety code to the panda. I think you would mostly likely see code review on merged PRs done by the community. Like look up almost any PR by deanlee. Comma employees most likely do have most of their communications side-channeled though. More code documentation does seem to also be a goal for 1.0
https://twitter.com/comma_ai/status/1255932750671953921 I think they aim for self documenting code though. It's mostly pretty readable. |