diff --git a/board/safety_declarations.h b/board/safety_declarations.h index 25e4ae0..9f555c3 100644 --- a/board/safety_declarations.h +++ b/board/safety_declarations.h @@ -91,9 +91,18 @@ bool brake_pressed_prev = false; // This can be set with a USB command // It enables features we consider to be unsafe, but understand others may have different opinions // It is always 0 on mainline comma.ai openpilot + +// If using this flag, be very careful about what happens if your fork +// wants to brake while the user is pressing the gas. Tesla is careful with this. #define UNSAFE_DISABLE_DISENGAGE_ON_GAS 1 + +// If using this flag, make sure to communicate to your users that a stock safety feature is now disabled #define UNSAFE_DISABLE_STOCK_AEB 2 + +// If using this flag, be aware that harder braking is more likely to lead to rear endings, and that alone +// this flag doesn't make braking ISO26262 compliant because there's also an unaccounted for time element. #define UNSAFE_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX 8 + int unsafe_mode = 0; // time since safety mode has been changed