Pre-AP: fix phantom windshield wipe on engage#11
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Every cruise-stalk engagement triggered a single windshield wipe. The STW_ACTN_RQ engage spoof rebuilt the stalk frame without preserving WprSw6Posn (the wiper 6-position switch), so the packer wrote it as 0; the one-frame jump from the driver's real wiper position to 0 was read by the body controller as a wiper actuation. Bumps opendbc to preserve WprSw6Posn from the live stalk frame (only that signal; other unpreserved bits stay forced to 0 to avoid spoofing a horn/high-beam press). Baseline bug, independent of the lane-change feature. opendbc: NotAutopilot/opendbc@cc39c7fa (branch wiper-fix-preap). Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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Summary
Every time openpilot is engaged with a cruise-stalk pull on the Pre-AP Model S, the windshield wipers do a single wipe. This fixes it.
Root cause: The cruise-stalk engage spoof (
StockCCSpoofer→create_action_request) rebuilds theSTW_ACTN_RQ(0x45) frame from_STW_DEFAULTS, which copies each listed signal from the live stalk frame.WprSw6Posn(the wiper 6-position switch, DBC bits 48–50) was not in that list, so the packer wrote it as0in every spoofed frame. At engage, that one-frame jump from the driver's real wiper-switch position to0is read by the body controller as a wiper actuation → one wipe.Fix: add
WprSw6Posnto_STW_DEFAULTSso it is preserved from the live frame (themsg_stw.get(key, default)pattern then carries the driver's real value). Only this one signal is added — the other unpreserved bits (StW_Sw07..15,SpdCtrlLvrStat_Inv) are deliberately left forced to0to avoid spoofing a horn / high-beam / other stalk press.This is a baseline Pre-AP bug — it predates and is independent of the lane-change auto-signal work. Branched from
nap-releasewith nothing else included.The change is in opendbc:
NotAutopilot/opendbc@cc39c7fa(branchwiper-fix-preap); this PR bumps the submodule pointer.Test Plan
WprSw6Posnset non-zero in the live frame is preserved in the spoofed frame (byte 6 reads the live value, not 0); regression guard that it stays in the preserve list.🤖 Generated with Claude Code