From 0d6d10571381610b0d7515d7d1d6ee63644d15b2 Mon Sep 17 00:00:00 2001 From: Jacob <144983089+SloPOS@users.noreply.github.com> Date: Tue, 30 Jun 2026 08:25:30 -0400 Subject: [PATCH] Pre-AP: fix phantom windshield wipe on engage 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 --- .gitmodules | 2 +- opendbc_repo | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.gitmodules b/.gitmodules index 7920ee32f04483..c5e9de3a2961ea 100644 --- a/.gitmodules +++ b/.gitmodules @@ -5,7 +5,7 @@ [submodule "opendbc"] path = opendbc_repo url = https://github.com/NotAutopilot/opendbc.git - branch = nap-dev + branch = wiper-fix-preap [submodule "msgq"] path = msgq_repo url = ../../commaai/msgq.git diff --git a/opendbc_repo b/opendbc_repo index f867b3a4817b01..cc39c7fa252e62 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit f867b3a4817b01df7f69b7cf2057c4ff59371f6e +Subproject commit cc39c7fa252e62acf1cf5cdbdbdd6346cc3ee78f