Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.
Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/).
All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions.
Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.
If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84).
Pull requests should be against the master branch. Before running master on in-car hardware, you'll need to clone the submodules too. That can be done by recursively cloning the repository:
The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://medium.com/@comma_ai/a-2020-theme-externalization-13b33326d8b3).
Modules that are in seperate repositories include:
