Interceptor

Interceptor for OpenPilot to view live data and control values. Controls has three modes: interceptor, injector, adder. Interceptor mode substitute all values by it's own, injector mode injects values not equal 0, adder mode just adds or substracts it's value from OP commanded value.

Table of Contents

• Features
• Requirements
• Setup
• Interceptor examples
  • Plot graphs with selected data
  • Control with gamepad or virtual joystick
  • Editor for op_params
• FAQ
• Welcomed contributions

Features

NO NEED for separate Black Panda (that is needed when you want to use joystick tests from stock OP tools)

Requirements

• OpenPilot supported device (EON/C2 etc.) with tethered WiFi connection or connected to the same WiFi network.
• Any device with a web browser(Safari/Firefox/Chromium-based browser) connected to OpenPilot thorugh WiFi or the same WiFi network.
• (recommended) Wired/Wireless gamepad that is supported by your OS. (Example: Gamesir T4pro)

Setup

Easiest method:

1. Run cd /data && rm -rf openpilot && git clone -b briskspirit --single-branch https://github.com/briskspirit/openpilot.git && reboot on your OpenPilot-compatible device to install my fork based on the latest OpenPilot's master-ci branch with the latest Interceptor included.

2. Connect to your OP device in tethered WiFi mode(hotspot).

3. Enter in your browser http://192.168.43.1:89 (or change to IP of your OP device if different)

Method for Windows-based laptops/tablets(to work with Gamepad API):

Steps 1 and 2 from above plus also download livedash/build directory to your computer and run served.py, enter in your browser http://localhost:89

Reason for this is that modern versions of Firefox/Chrome won't allow Gamepad API to work from insecure source(http://), but localhost considered secure. And there is no way to run WebSocket in secure mode (wss://) as we don't have a domain name to issue SSL certificate to.

Interceptor examples

Plot graphs with selected data

Control with gamepad or virtual joystick

Editor for op_params

FAQ

Why I might need it?:

• Do injection tests after changing safety values in Panda (like steerup and steerdown)
• View live data graphs for different OP values(like vEgo, aTarget, steer_angle and any other that is published through ZMQ between OP modules)
• Use onscreen virtual joystick to control values (like set speed, acceleration, steering torque, desired steering angle etc.)
• Show off in front of Tesla friends ? :D (With all safety precautions and off road only!)
• Any other purpose where you need to change OP values on the flight or view those values live.

This project could potentially help to people with disabilities in the future!

Welcomed contributions

P.S.: it is still very early alpha version, please don't hesistate to report bugs. Also accepting future requests! ;)