How p6g9yhk6/sunnypilot-teslahw1 works
This is a Tesla HW1/AP1-focused fork of sunnypilot/openpilot: an on-device driver-assistance system, with vehicle support layered into the broader perception, planning, control, and device stack. The intended driving flow runs from camera and vehicle/sensor inputs through perception and localization, then planning and actuation, with UI and logging alongside it. The README also documents Bridge Toggle and op fork; PitStop and SunnyLink are distinct operational capabilities. Several subsystem links are dashed because their runtime calls were not shown in the sampled source.
Main entry points: manager.py Process manager · plannerd.py Trajectory planning · controlsd.py Motion control · server.py PitStop web service
Components 22
Driving stack
- Driving perception
selfdrive/modeld/modeld.py - Localization
selfdrive/locationd/locationd.py - Map services
sunnypilot/mapd/mapd_manager.py - Trajectory planning
selfdrive/controls/plannerd.py - Motion control
selfdrive/controls/controlsd.py
Device services
- Process manager
system/manager/manager.py - Pub/sub messaging
cereal/messaging/__init__.py - Camera capture
system/camerad/main.cc - Sensors and GPS
system/sensord/sensord.py - Drive logger
system/loggerd/loggerd.cc - Persistent parameters
common/params.h
Vehicle and UI
- Vehicle interface
selfdrive/car/card.py - Panda hardware
selfdrive/pandad/pandad.py - Tesla HW1 support
selfdrive/car - On-device UI
selfdrive/ui/ui.py
Operations and support
- PitStop web service
pitstop/server.py - Vehicle diagnostics
pitstop/diagnostics.py - Model management
sunnypilot/models/manager.py - SunnyLink services
sunnypilot/sunnylink/athena/sunnylinkd.py - Config backups
sunnypilot/sunnylink/backups/manager.py - OS fork management
system/updated/updated.py
Other components
- Driver
Connections 21
- Driver → On-device UI: interacts with
README.md - Process manager → Pub/sub messaging: subscribes and publishes
system/manager/manager.py - Camera capture → Driving perception: provides frames
- Sensors and GPS → Localization: provides measurements
- Driving perception → Trajectory planning: provides perception
- Localization → Trajectory planning: provides pose
- Map services → Trajectory planning: provides map data
- Trajectory planning → Motion control: provides plan
- Motion control → Vehicle interface: commands
- Vehicle interface → Panda hardware: uses hardware
- Tesla HW1 support → Vehicle interface: extends support
README.md - Motion control → On-device UI: driving status
- Camera capture → Drive logger: records video
- Process manager → Drive logger: manages process
- PitStop web service → Vehicle diagnostics: routes diagnostics
pitstop/server.py - PitStop web service → Model management: routes model actions
pitstop/server.py - Model management → Pub/sub messaging: reports status
sunnypilot/models/manager.py - SunnyLink services → Config backups: supports backups
- Driver → PitStop web service: uses local service
- Process manager → Persistent parameters: stores device state
- OS fork management → Process manager: updates device OS
README.md