Understanding Settings

한국어

NOTE

This is the canonical English user guide maintained with the carrot-wip code. When user-visible behavior changes, update this document together with the related code and tests.

Use Carrot Web to view and change all carrotpilot-specific settings. The device settings screen remains useful for Wi-Fi, device information, standard openpilot toggles, and software updates. Parameters defined by carrot_settings.json belong in the Settings screen in Carrot Web.

An accelerometer-detected suspected horizontal impact of at least 1.5g displays a warning and a ten-second cancellation notice. Without a touch, it saves OpenpilotEnabledToggle OFF and reboots into Dashcam mode, preventing control until manually enabled again. See detection, cancellation, recovery, and recording interruption.

IMPORTANT

Current support status

• Supported settings interface: Carrot Web
• CarrotMan: not supported as a user app or external integration
• CarrotLink: not supported
• Older CarrotMan or CarrotLink connection instructions no longer describe the current workflow

A carrotMan name may still appear inside code or messages. It does not mean that the former user app is supported.

Connecting to Carrot Web

1. Connect the comma device and your phone or computer to the same network.
2. Open http://DEVICE-IP:7000 in a browser.
3. Select Settings from the top menu.

For example, if the device IP is 192.168.0.25, open:

http://192.168.0.25:7000

See Carrot Web for connection troubleshooting and an overview of the other screens.

Web layout defaults

On a fresh install, Tools > Web Settings > Layout starts with Area 1 full screen in both orientations: Area 1 is Carrot Vision and Area 2 is Carrot Navi. Default restores both orientations to Area 1 full screen with Carrot Vision in Area 1 and Carrot Navi in Area 2. See Carrot Web layout for the per-screen details.

Using the Settings screen

Carrot Web provides:

• Category navigation through category, group, and section
• Search by display title or parameter name
• Favorites by pressing and holding an item
• Profiles to save and restore named groups of values
• Compare to inspect a profile or backup before applying it
• Reset to restore the catalog defaults
• File and QR backups from the tools screen

A full reset or a backup from another vehicle can change many values at once. Save the current settings as both a profile and a file first.

Per-setting detailed guides

Select the body of a setting, outside its value control, to open its detail screen. The information box below the existing setting box always shows Description, Popular, and History tabs, with Description selected by default. A tab remains available and shows an empty state when it has no data.

• Description first uses the setting guide for the current language from the validated GitHub published content.
• Content is shown only when both the published index and guide-page hashes match.
• If the request or validation fails, Carrot Web uses the last validated browser copy.
• If neither a validated remote version nor a validated browser copy exists, it shows an empty state instead of using an on-device document.
• Popular shows the collected value distribution as a reference, not as a recommendation.
• History shows the latest three changes first and offers the full history when more records exist.
• Network or documentation processing failures do not disable viewing or changing the setting.
• Korean and English Carrot Web sessions use their matching guide language.
• Until a Chinese guide exists, Chinese titles and short descriptions remain Chinese while the detailed panel explicitly falls back to English.
• In the GitHub Wiki sidebar, User Guide > Understanding Settings > All Settings follows Carrot Web's Korean menu hierarchy and order. The central settings catalog remains the multilingual Korean, English, and Chinese directory.

The information box stays vertically below the existing setting box in both portrait and landscape layouts. Multiplier and default actions keep their existing position and behavior inside the setting box.

Validated published guides are generated against the current setting code's defaults, ranges, and options. If a short catalog description and the detailed guide differ, diagnose the issue together with the current branch's setting code.

Reading values and defaults

Each entry in carrot_settings.json contains:

Field	Meaning
name	Unique name used by the code and Params
title	Title shown in Carrot Web
descr	Direction of adjustment, mode numbers, and cautions
min / max	Allowed range
unit	Step used by the + and - controls
default	Initial catalog value

The current value comes first

For a 2026 Staria EV, use Hyundai Staria EV 2026 in vehicle selection. Existing Staria selections are not migrated automatically; check HDA2 and camera SCC settings separately against the vehicle wiring. See vehicle selection.

Persistent values stored on the device may remain after an update. Record the value currently shown by your device before relying on the JSON default, a number in a title, or another user's value.

A catalog default is not a recommended tune for every vehicle. Vehicle tuning, existing Params, and the branch from which the device was updated can all affect the starting value.

Check the scale and unit

Display example	Stored value	Effective value
TFollowGap1 x0.01s	110	1.10 seconds
SteerActuatorDelay	30	0.30 seconds
LateralTorqueAccelFactor x0.001	2500	2.500
StopDistanceCarrot	600	6.00 m (600 cm) base value
Percentage %	105	105%

Ignoring x0.01, x0.001, cm, km/h, or % can make a value appear one hundred or one thousand times larger than it really is.

Settings map

The current carrot_settings.json contains 201 parameters. The driver-monitoring exception and NNFF are search only; the remaining entries appear in these menus:

Category	Count	Groups
Driving control	124	Startup and auto, buttons and presets, steering, speed and deceleration, cruise and following gap
Vehicle and hardware	17	Hyundai/Kia, CAN FD/HDA, radar, driver monitoring, vehicle assistance, device hardware
Display	34	Information, path, brightness/on-road view, external HUD
System	12	Recording/power, network/map, sound, software

Driving control

These 124 settings can affect driving behavior. Change one item at a time.

Startup and auto — 10 settings

Section	Parameters	Purpose
Startup	AlwaysLateral, TeslaAutoTurnSignals, AutoEngage, DisableMinSteerSpeed	Always-on lateral control, Tesla lamps, automatic engagement, and low-speed steering limits
Auto cruise	AutoCruiseControl, AutoGasTokSpeed, AutoGasCancelSpeed, AutoGasSyncSpeed, CruiseOnDist	Automatic cruise activation and accelerator-pedal behavior

• AlwaysLateral permits lateral control even when cruise is not engaged. On supported Tesla vehicles it can also steer at true standstill in a forward-driving gear; moving below the minimum steering speed remains restricted. See Tesla engagement.
• Always Lateral waits for the first confirmation of valid model, vehicle-parameter, pose, and other required inputs after system startup. Once confirmed, this startup check ends; later input interruptions or disengagement/reengagement do not rearm it. Existing runtime safety handling remains unchanged. Expiry of the startup waiting period alone does not pass this check.
• AutoEngage: 0 off, 1 lateral on, 2 lateral on with cruise ready.
• TeslaAutoTurnSignals: default OFF, reboot required. Uses existing ATC requests on supported Model 3/Y with vehicle CAN and valid physical stalk input. It does not authorize steering or departure. See Tesla automatic turn signals for prerequisites and closed-course validation.
• AutoCruiseControl covers Hyundai/Kia auto-cruise and soft-hold behavior.
• DisableMinSteerSpeed is vehicle-specific and relates to low-speed steering restrictions on SMDPS-equipped cars.

Buttons and presets — 15 settings

Select a section title for the code-based state machine, units, and application conditions.

Section	Parameters	Purpose
Button modes	CruiseButtonMode, CancelButtonMode, LfaButtonMode, PaddleMode	Cruise, cancel, LFA, and paddle-button behavior
Speed units	CruiseSpeedUnit, CruiseSpeedUnitBasic, CruiseButtonLongDelay	Short/long-press increments and long-press timing
Button-message tests	CruiseButtonTest1, CruiseButtonTest2, CruiseButtonTest3	Values used to synchronize the stock SCC set speed
Speed presets	CruiseSpeed1 through CruiseSpeed5	Speed table used by custom mode 3

The result depends heavily on whether the car uses stock SCC and which button message the vehicle accepts. Diagnose unexpected behavior with the normal CruiseButtonMode=0 behavior first.

Volkswagen's separate SET button sets current speed and RES restores the previous set speed, while +/- follow the button mode, speed units, and long-press setting. Manual engagement with openpilot longitudinal control remains tied to the physical SET/RES buttons.

Vehicle steering — 37 top-level + 6 ONNX detail + 1 search-only setting

Section	Parameters	Purpose
ONNX Lane and BSD	ShareData, OnnxBsdEnabled, OnnxLaneThreshold, OnnxLaneIntervalMs, OnnxBsdThreshold, OnnxBsdSmoothingMs, OnnxBsdIntervalMs	Lane-type detection plus separately controlled camera BSD and tuning
Centering	PathOffset, CameraYawTrimDeg	Path position and camera-yaw trim
Steering feel	SteerActuatorDelay, LatSmoothSec, LatSuspendAngleDeg, CustomSR, SteerRatioRate	Timing, smoothing, suspension angle, and steering ratio
Lane change and automatic turn	LaneChangeNeedTorque, LaneChangeDelay, LaneChangeBsd, LaneLineCheck, BlinkerLatchedTurn, LaneChangeLeverWait, AutoTurnControl, AutoTurnControlRightLaneChange, ManualLaneChangeIndicator, AutoTurnControlSpeedTurn, AutoTurnControlTurnEnd, AutoTurnMapChange	Lane-change entry conditions and ATC behavior
Lane mode	LatMpcPathCost, LatMpcMotionCost, LatMpcAccelCost, LatMpcJerkCost, LatMpcSteeringRateCost, LatMpcInputOffset, UseLaneLineSpeed, UseLaneLineCurveSpeed, AdjustLaneOffset	Lane-mode MPC weights and lane-line conditions
Advanced torque	LateralTorqueCustom, LateralTorqueAccelFactor, LateralTorqueFriction, LateralTorqueKpV, LateralTorqueKiV, LateralTorqueKf, LateralTorqueKd	Custom torque-control gains
Advanced torque, search only	NNFF	Neural-network feedforward for torque steering
Steering limits	CustomSteerMax, CustomSteerDeltaUp, CustomSteerDeltaDown, CustomSteerDeltaUpLC, CustomSteerDeltaDownLC	Maximum torque and torque-rate limits

ONNX Lane and BSD Detection (ShareData) runs lane-type classification on the device. Camera BSD is separately controlled by OnnxBsdEnabled in the detail screen and defaults to off. When enabled, BSD alternates across configured sides whose model-estimated lane width is at least 2 m; speed and lane-change direction do not gate evaluation. The three-class model distinguishes a blind-spot threat from no nearby vehicle and a distant/rear vehicle. When camera BSD is off, its ONNX network is unloaded while lane classification continues; the visual service and camera subscription remain for lane detection and snapshots. Vehicle-provided BSD is unaffected. The detail screen keeps the feature toggle at the top and shows the BSD detection-area editor in a separate card directly below it, with only side selection, image refresh, point undo/reset, and area save in the primary view. The basic rectangular point picker at the image's upper left uses 1(L) and 1(R) labels; tapping empty space adds a point whenever none is selected. Zoom, viewport panning, and whole-area dragging are omitted so only the selected point moves. Two equal-width buttons directly below the four editing actions open the road- and wide-camera images in pop-up dialogs. Runtime state, confidence, performance, diagnostics, and six detail settings open from the lower-right Expand/Collapse advanced settings text and are collapsed by default. The editor retains one last camera frame and shows a dim default road example when no frame is available. An area can be saved only after receiving a real camera image in the current session. BSD defaults to off, and saved settings survive a service restart. The update includes OpenCV, prepared automatically during normal startup. When ShareData is enabled, the service starts after onroad initialization and model/CAN/Panda readiness have settled for 0.5 seconds. Engaging cruise is not required. It stops offroad and waits again at the next onroad start. See conditions and detailed values.

Even when lane mode is enabled through UseLaneLineSpeed, control temporarily switches to laneless if the model speed trajectory starts below 70% of measured vehicle speed or ends below 70% of its starting speed. Lane mode can resume after approximately one continuous second of acceptable speeds, provided the existing lane and speed conditions also pass.

A larger SteerActuatorDelay compensates by commanding earlier. A larger LatSmoothSec is smoother but may respond more slowly. Changing both together makes diagnosis difficult.

CenterToFrontRatio is the center of gravity ratio for all brands. 0 uses the vehicle default; 31–69% selects a ratio. Changes apply smoothly without restarting. Defaults: Hyundai/Kia/Genesis 40%, Toyota/Lexus 44%, Mazda 41%, Volkswagen 45%; Honda varies by model. Compare a small increase for late entry or a decrease for cutting inside; effects depend on lane mode and vehicle. Keep SAD and SR unchanged. Revert to the previous value or 0 if worse. Actual wheelbase stays unchanged; the input range is not a road-validated range.

The default SteerRatioRate of 100% applies the learned steering ratio without scaling. It is used when CustomSR=0; a stored rate outside the allowed range (30–200%) safely falls back to 100%.

Manual steering ratio and learned-ratio scaling also apply to VW MEB, including ID.4. CustomSR=159 selects a ratio of 15.9 and takes precedence over learned-ratio scaling. CustomSR=0 with SteerRatioRate=100% uses the learned ratio unchanged; the control loop rereads settings while running. Selecting a manual ratio does not stop learning; it selects the value used for control.

Previously ignored ID.4 values now take effect. For example, with CustomSR=0, a saved rate of 30% applies 0.3 times the learned ratio. Set the rate to 100% to use the learned value unchanged.

LateralTorqueCustom and CustomSteer* are advanced settings that can affect the vehicle tune and safety limits. Do not alter them without a vehicle-specific validated baseline and a recovery path.

NNFF torque control

NNFF is a neural-network feedforward option that defaults to off. Enabling selects torque-controller tuning on vehicles without angle control and uses NNFF when a matching model is available. Vehicles supported by comma's own NNFF retain that path's precedence; angle-control vehicles are unaffected.

Disabling turns off this NNFF option without changing the separate NNFFLite value. Changes apply at the next onroad start or after a device reboot, rather than immediately during a drive. An absent startup notice alone does not establish whether NNFF is active.

Steering recovery after driver intervention

Hyundai/Kia/Genesis angle-control vehicles use the former combined mode 3 as standard. The mode selector has been removed, and previously saved mode values are ignored. Torque-control vehicles are unaffected.

• Steering-error and driver-force levels and trends permit limited recovery as they converge. Unclear convergence pauses the increase or gently reduces it.
• A rapid force decline after sustained intervention takes priority. Once low force is confirmed, smaller error permits faster torque-ceiling recovery and larger error slows it. The two recovery increases are never added together.
• Strong renewed intervention yields quickly. Target steering angles and existing angle limits remain unchanged.

Force-sensor trends do not establish loss of hand contact or driver consent to handover. Existing steeringPressed and driver monitoring remain unchanged. Making this behavior standard does not establish the same steering feel on every vehicle.

Speed and deceleration — 23 settings

Section	Parameters	Purpose
Speed cameras	AutoNaviSpeedCtrlMode, AutoNaviSpeedCtrlEnd, AutoNaviRearCameraHoldDistance, AutoNaviSpeedDecelRate, AutoNaviSpeedSafetyFactor, AutoNaviCountDownMode, VehicleNaviCanControl, VehicleNaviSchoolZoneControl, VehicleNaviDecelCancel(VehicleNaviDecelCancelBox, VehicleNaviDecelCancelMobileZone, VehicleNaviDecelCancelBump, VehicleNaviDecelCancelUnknown, VehicleNaviDecelCancelEarlyWarning), VehicleNaviSectionAvgControl, VehicleSpeedCameraControlMode, VehicleSpeedCameraDistanceTime	Event types, rear-camera post-pass hold, stock camera distance matching and virtual distance, PV5 warning-confirmed camera retention/cancellation and section speed caps, deceleration start, and target speed
Road speed limit	AutoRoadSpeedLimitOffset, AutoRoadSpeedAdjust, AutoSpeedUptoRoadSpeedLimit	Desired-speed adjustment from the road limit
Speed bumps	AutoNaviSpeedBumpTime, AutoNaviSpeedBumpSpeed, AutoNaviSpeedBumpEndDistance	Completion time, crossing speed, and early-release distance
Curves and turns	AutoCurveSpeedFactor, AutoCurveSpeedLowerLimit, TurnSpeedControlMode, MapTurnSpeedFactor, ApplyModelSpeed	Curve slowing from curvature and distance, prompt recovery after confirmed easing, and route-turn speed
Traffic lights	TrafficLightDetectMode, TrafficStopDistanceAdjust	Stop/go detection, stop-position adjustment, and automatic stopped-vehicle alignment

AutoNaviSpeedCtrlMode is 0 off, 1 fixed speed cameras, 2 cameras plus speed bumps, or 3 those events plus mobile-camera events.

While external navigation is connected, deceleration, countdowns, and navigation speed displays use it exclusively. Stock navigation remains excluded even without an external guidance item and resumes according to its settings after disconnection or receive timeout is detected.

VehicleSpeedCameraControlMode=2 treats a new accelerator press after vehicle-received camera deceleration has actually begun as a request to ignore the current event. It keeps the highest speed reached while accelerating as the floor until the event ends; an accelerator held from before deceleration began does not start the override.

AutoNaviSpeedDecelRate defaults to 120 (1.20 m/s²); a lower value begins slowing farther away. Updating the software does not change an existing saved value. AutoNaviSpeedSafetyFactor applies a percentage of the event limit as the target. Before tuning either value, confirm that the event type, limit, and remaining distance are being received correctly.

TrafficLightDetectMode is 0 off, 1 stop detection, or 2 stop and go detection. This is model-based assistance; the driver must always verify the signal.

Cruise and following gap — 29 settings overall, 26 on Hyundai/Kia/Genesis

Section	Parameters	Purpose
Driving mode	MyDrivingMode, MyDrivingModeAuto	Eco, safe, normal, high-speed modes and automatic selection
Speed-based acceleration	CruiseMaxVals0 through CruiseMaxVals6	Maximum acceleration tendency by speed band
Stopping and restarting	StopDistanceCarrot, StoppingAccel, VEgoStopping, AChangeCostStarting	Stop position, stop entry, and restart behavior
Longitudinal tuning	LongTuningKpV, LongTuningKiV, LongTuningKf, LongActuatorDelay	Hyundai/Kia/Genesis fix/hide 100/0/100; Toyota/Lexus fix/hide 0/0/100; VW MEB, including ID.4, applies saved gains
Following gap	TFollowGap1 through TFollowGap4, DynamicTFollowLC, SpeedTFFactor, TFollowDecelBoost	Gap times, lane-change relief using selected leads, and deceleration margin (default 0%)
Following responsiveness	LeadAccelResponse, LeadAccelResponseTF1–LeadAccelResponseTF4	Lead-start, acceleration and approach response at every following-distance level
Carrot cruise	CruiseEcoControl, CruiseCoastingPercent, CarrotCruiseDecel, CarrotCruiseAtcDecel	Economy control, coasting margin with a fixed entry reference (default 0%: existing control), and cruise deceleration limits

MyDrivingMode is 1 eco, 2 safe, 3 normal, or 4 high speed. High-speed mode ignores traffic-light control and increases acceleration tendency, so read its behavior before selecting it.

Eco caps lead response at 2 and Safe at 3; Normal and High retain the selected value. Caps follow common/gap-specific selection and never raise lower choices or 0. Eco ×1.1 and Safe ×1.2 TF multipliers remain, with gradual release of mode allowance. Automatic selection uses Safe for stopping approaches and sustained slow following. Outside a stopping approach, lead acceleration above 1.0 m/s² for about 0.5 seconds restores Normal/Eco; otherwise, it requires three seconds of flow recovery or four seconds with no lead at 15 km/h or above.

CruiseGapLevels (Gap cycle levels) limits button cycling to 2 through the vehicle-supported maximum, which is the default. 2 uses TF1 and TF2; 3 uses TF1 through TF3. It applies on the next gap-button press and preserves unused TF and following responsiveness values. Applies with openpilot longitudinal control.

TFollowGap1 through TFollowGap4 are stored in hundredths of a second. Lower values reduce the time gap. Use LeadAccelResponse for acceleration response: levels 1–3 are gradual, 4 is quick, and 5 retains maximum response. Braking-onset distance is not separately remembered to enlarge the gap.

LeadAccelResponse: Adjusts how the car follows a lead vehicle as it starts or speeds up. Lower levels close the gap more gradually; higher levels follow more quickly. Level 0 turns off the acceleration boost, and level 5 is the most responsive test setting. See Following responsiveness for details. Extra-headroom hold conditions apply up to 1.2 times TF distance (speed × TF + stopping distance), ease progressively from 1.2 to 1.5 times, and no longer pause recovery at or above 1.5 times regardless of lead speed.

SpeedTFFactor applies a linear speed multiplier to the selected base TF: 10 is unchanged; 20 doubles it at 100 km/h. LeadAccelResponseTF1–TF4 use the common response at -1 and a gap-specific response at 0–5. Levels 4–5 retain speed TF. The driving-screen bar shows the dynamically adjusted following target in metres.

Deceleration preview operates independently of the response level. During active control, remaining correction releases progressively when relative acceleration eases or the lead switches between radar and vision or disappears. Accelerator or brake intervention and longitudinal control exit clear it immediately.

LongTuning* and LongActuatorDelay are advanced settings that directly affect vehicles using openpilot longitudinal control. Hyundai, Kia, and Genesis fix LongTuningKpV, LongTuningKiV, and LongTuningKf at the safe 100/0/100 values and hide them from settings. Toyota/Lexus fix and hide common gains at 0/0/100 to avoid duplicate correction before their dedicated controller. Some parameters have no effect when stock ACC remains responsible for acceleration and braking.

StoppingAccel is adjustable again: default -50, range -100 to -50, step 10. The stored value is multiplied by 0.01, with the same bounds enforced by control. Original stop-entry and braking behavior and vehicle-specific soft hold are restored; changes apply within about one second. See Stopping and restarting.

VEgoStopping has a range of 10–100 and a default of 50; 10 means 0.10 m/s. Previously stored values below 10 are automatically raised to 10, and control enforces the same minimum during driving.

For Hyundai/Kia CANFD openpilot longitudinal control, aReqRaw and aReqValue become zero in the first StopReq frame, so this setting does not change transmitted acceleration while StopReq remains active. Automatic release/retry is removed.

On supported Tesla vehicles with the additional vehicle bus detected, the device's alpha longitudinal (AlphaLongitudinalEnabled) toggle also enables automatic cruise set-speed adjustment to the vehicle-reported limit. Navigation/Carrot speed control takes precedence and pauses DAS-based adjustment until it ends and the limit is stable again; any manual pause remains in effect. Turning the right speed wheel pauses it; an opposite-direction wheel gesture within one second or disengaging and re-engaging resumes it. There is no separate Carrot Web setting for this feature.

Vehicle and hardware

These settings describe the car, harness, and device hardware configuration. Do not enable them merely as a display experiment.

Group	Parameters	Purpose
Hyundai/Kia	HyundaiCameraSCC, IsLdwsCar, HapticFeedbackWhenSpeedCamera	SCC connection, LDWS behavior, and speed-event haptics
CAN FD/HDA	CanfdHDA2, HyundaiCanfdClusterDirectTx, CanfdDebug, HDPuse	HDA2 selection, cluster direct send, CAN FD diagnostics, and HDP
Radar	EnableRadarTracks, RadarTrackFlip, EnableCornerRadar, CarrotRadarMode, CarrotRadarCutInSensitivity	SCC radar, front-track orientation, corner radar, and Carrot Radar processing and cut-in sensitivity
Driver monitoring	DriverMonitoringEnabled (search only), DriverMonitoringMode, CarrotVisionEnabled, MuteDoor, MuteSeatbelt	Driver monitoring and selected vehicle alerts
Vehicle assistance	MaxAngleFrames, SpeedFromPCM	Steering-angle frames and stock-SCC speed control
Device hardware	HardwareC3xLite	Speakerless C3X Lite audio and process configuration

CAUTION

Incorrect HyundaiCameraSCC, CanfdHDA2, EnableRadarTracks, CarrotRadarMode, CarrotRadarCutInSensitivity, or SpeedFromPCM values can change vehicle identification, SCC, radar, or longitudinal behavior. Confirm the vehicle, model year, HDA generation, harness location, and whether stock ACC is retained.

DriverMonitoringEnabled defaults to ON and is available only through Carrot Web setting search. Search for the parameter name to find it. The OFF option is intended for an absent or failed DM camera; leaving the default ON unchanged is recommended. Turning it off stops normal-driving driver-monitoring alerts, monitoring-triggered force deceleration, and lockout, and may violate applicable laws or driving requirements depending on where and how the vehicle is used. Driver View keeps face preview with neutral enforcement. A Web OFF persists across drives and restarts until you manually turn the setting back ON. File and QR backups, restores and setting profiles exclude this value, so a backup from another device cannot turn monitoring off.

Regardless of gear or speed, including at standstill, three distinct physical CANCEL presses, each separated by a release, within three seconds turn monitoring off for the current ignition session without changing DriverMonitoringEnabled. Gear and speed changes do not reset the count. Automatic-control CANCEL echoes and BT CANCEL do not count. Any received non-CANCEL vehicle-button event, whether a press or release, resets the sequence. Invalid or stale state, an input-stream gap, or timeout also resets it; an indistinguishable stock-ACC speed-button echo may reset progress too. The next ignition-on or manager/device restart clears only the temporary off state, so monitoring resumes only if the saved setting is ON. DriverMonitoringMode and CarrotVisionEnabled remain unchanged.

DriverMonitoringMode applies while driver monitoring is on. It defaults to 0: stock comma camera monitoring criteria, or 15/30/45-second interaction monitoring when the camera is absent or failed. Mode 1 is for controlled experiments, with empty-road timing extensions and an interaction grace before camera warnings. A shared exception resets the usage restriction after one continuous second of valid Park, standstill and disengaged status. Mode changes apply live at roughly half-second intervals without rebooting. Switching preserves accumulated monitoring time, warning counts and lockout, and ends the previous interaction grace and forward-attention streak. See driver monitoring and experimental-use conditions. CarrotVisionEnabled controls web road video independently. DisableDM remains migration-only; only its old value 2 video function is migrated once to CarrotVisionEnabled. Validated original STEER_TOUCH_2AF input on Hyundai/Kia/Genesis CAN-FD is supported without a vehicle-name whitelist, with held-contact and new-contact behavior depending on camera availability and mode.

See Radar tracks and corner radar before changing radar modes.

Cluster CAN Direct Send (HyundaiCanfdClusterDirectTx) compares the original direct-send method on Hyundai/Kia/Genesis CAN-FD CameraSCC vehicles with intermittent cluster warnings. It defaults to OFF for every vehicle; enable it manually on an affected vehicle. Reboot the device after changing it. Updated Panda firmware supporting this setting is required. Resolution of vehicle warnings has not been validated.

With HyundaiCameraSCC=0 and no camera-SCC configuration already applied to the vehicle, receiving SCC_CONTROL (CAN-FD) or SCC12 (classic CAN) on the camera bus during the current onroad session adds Enable CameraSCC to the CAN error alert. This is bus2, or the corresponding camera bus with multiple Pandas. The hint uses reception history and does not establish the cause of every CAN error. It never changes the setting automatically; existing disengagement and engagement blocking remain active. Select the mode appropriate for the vehicle and wiring while stopped, then verify it in the next onroad session.

SpeedFromPCM defaults to 2 (curve/camera deceleration) and affects PCM speed selection and button spamming. With mode 3, Toyota/Lexus use stock set speed without changing longitudinal-control mode. For TOYOTA_RAV4_TSS2_2022 using PCM with direct longitudinal control, mode 0 also applies valid stock set-speed changes and cruise resume while preserving lower deceleration targets. See button transmission details.

For dPath RadarD, EnableRadarTracks=-2 is the vision-only experiment; -1 always uses SCC without vision matching; 0 also always uses SCC; 1 matches front radar without SCC; 2 matches front radar plus low-speed SCC; and 3 uses SCC unconditionally after front-radar/vision matching fails. Matching modes use central vision at probability 0.40 or higher when matching fails. Modes -1, 0, and 3 use vision only when SCC is absent. All SCC association ignores lateral position. SCC-only modes -1 and 0 apply no additional dPath gate to vision fallback. Legacy Mando radar variants with 32 or 64 slots are handled automatically. A new stationary front lead requires vision or a matching corner detection; continuous front-radar observation alone cannot authorize it. When a separate measured moving target agrees with the visual position and speed, that vision cannot authorize or retain a different stationary reflection. Corner corroboration must match the selected stationary object itself. For a front candidate without corresponding corner corroboration, a vision-support interruption beyond the permitted brief hold resets both the pending object and its confirmation time before confirmation starts again. An already selected moving front can remain L1 within a bounded vision-uncertainty range while the same measured track stays physically continuous; a fixed 8 m difference alone no longer discards it. A new nearer match can replace it immediately, and gaps or physical jumps reset this allowance. A distant stopped front can qualify on a gentle curve through continuous measured radar history and repeated visual position agreement. Continuous corner position/speed evidence participates in that decision. Confirmed stationary fronts can bridge visual-range noise within distance and time limits while publishing radar distance and speed.

RadarTrackFlip offers 0: Normal (default) and 1: Invert left/right. It inverts both lateral position and lateral velocity of front radar tracks for lead selection and display, preserving SCC, corner radar and vision. There is no automatic inversion by vehicle model; use it only after confirming a left/right mismatch. Restart the vehicle or reboot the device to apply it at the next OnRoad start. See radar left/right inversion.

In versions supporting Bosch MRRevo14F reception, detecting the Bosch message group on a Bosch MRRevo14F candidate platform (vehicle-validated only on the Elantra AD) with EnableRadarTracks=1–3 enables passive reception of tracks already being transmitted, skipping startup radar-activation UDS writes and SCC ECU communication disabling. EnableRadarTracksResult is not updated; check actual reception, CAN validity and radar errors. Passive reception does not mean all vehicle control is disabled. See the Bosch passive reception exception.

In modes EnableRadarTracks=1–3, a confirmed departing front lead can receive bounded future headway relief in ACC when outward radar motion and a visual switch to a farther vehicle agree. See predicted CUT-OUT behavior.

CarrotRadarMode continuously tracks vehicles with the front and corner radars to detect cut-ins, then matches camera and radar information in a new way to select the vehicle ahead. On vehicles with neither corner-radar nor radar-track support, it behaves the same as the existing mode. It can change acceleration and braking, so enable it only on the same vehicle after completing validation. The value is latched when the next OnRoad session starts, so end the current drive and restart the vehicle or reboot the device after changing it. The previous RadarMotionMode value is migrated to the new name once on the first startup after updating.

CarrotRadarCutInSensitivity controls only Carrot Radar Mode CUT-IN detection: 0 disables it, 1 is insensitive, 3 is normal (default), and 5 is very sensitive; 2 and 4 are the intermediate levels. Levels 1 through 5 require 0.50, 0.40, 0.35, 0.25, and 0.20 s of continuing measured motion evidence, while the physical future prediction remains fixed at 5.0 seconds. A front-radar track with at least 0.50 m of strongly one-way progress in its recent measured history may receive at most one 20 Hz radar-frame credit so timestamp quantization does not discard a completed dwell; small adjacent drift does not. It does not affect conventional radar mode or EnableCornerRadar. The value is read at the next OnRoad start, so restart the vehicle or reboot the device after changing it.

HardwareC3xLite must remain off on standard C3 and C3X hardware. Enable it only on a C3X Lite, then reboot the device. The setting skips the unavailable amplifier so startup is not delayed by I2C retries, uses the GPIO buzzer for alerts, disables micd, soundd, and loggerd, and turns off RecordAudio. Normal route logging is unavailable while this hardware mode is enabled.

Display

Display contains 34 settings. External-HUD settings control the layout and output of separate display hardware.

ClusterHud (External HUD Display) switches a direct USB HUD on or off. A HUD connected to Jetson starts automatically even when this value is 0, and normally turns its display off with ignition. Use the existing always-on ClusterHudDebug modes to keep it visible offroad. Brightness and layout settings also apply to the Jetson HUD.

ESP32-S3 Wi-Fi display support has been removed. Connect the USB display to Jetson. Supported receivers accept HUD, navigation and signal information over bounded USB transfers during inference; older receivers keep Wi-Fi until updated. Update through Git Pull and reboot both devices when the Jetson runtime changes.

The Jetson HUD shows the highest internal sensor temperature below jetSON, or in the upper-right corner in full-screen navigation/graph modes. If temperature data has not refreshed for three seconds, it shows --°C. A top-strip temperature warning starts 5°C below each sensor's configured thermal limit; reaching that limit shows an overheating warning. For example, a device configured to throttle at 99°C warns from 94°C. Check the fan and ventilation when warned. Vehicle driving alerts take precedence, and Jetson temperature remains separate from device temperature/memory statistics. This feature requires updated Jetson HUD software.

With CarrotVisionEnabled on, the external HUD and web camera view can be used together. Simultaneous video use may increase device load. See the Carrot Web guide.

Group	Parameters	Purpose
Information	ShowDebugUI, ShowTpms, ShowDateTime, ShowPathEnd, ShowDeviceState, ShowLaneInfo, ShowRadarInfo, ShowRouteInfo, ShowPlotMode	Debug, tire, time, lane, radar, and route information
Path	ShowPathMode, ShowPathColor, ShowPathColorCruiseOff, ShowPathModeLane, ShowPathColorLane	Path shape and color by driving state
Brightness/on-road view	ShowCustomBrightness, ShowModelView, ShowCameraWithCluster	Brightness, camera/model composition, and the on-device camera while the external HUD is connected
External HUD	ClusterHud, ClusterHudBrightness, ClusterHudOrientation, and related ClusterHud* settings	Supported TURZX HUD layout, live brightness, screen rotation, camera, radar, and encoder options

For RAV4 2022 with the ARS display stream, ShowRadarInfo=3 on the standard device driving screen also shows adjacent-lane objects separately from control leads. Modes 1/2 and other receivers retain their behavior. A marker does not mean braking-target selection or Toyota corner-radar support. See the display conditions.

USB external HUD output is fixed at 10 FPS; while the eGPU is active, rendering, encoding, and USB output switch to 5 FPS. Changes to eGPU activity apply automatically; changing the H.264 encoder rate restarts the HUD. ClusterNaviMapFps remains a separate setting for Android map input.

Onroad, the main UI uses CPU 6 and the external HUD uses CPU 7 with low-priority normal scheduling (nice 19). Offroad, both return to CPUs 0–3 so CPUs 4–7 can enter power save; always-on debug output follows the same rule. FPS selection, CPU selection, and realtime priority settings have been removed, and previously stored values are ignored. Actual refresh rates may fall below the output cap under load.

ShowPlotMode selects an on-road diagnostic graph; 0 turns it off. Modes 4 and 5 both use the primary lead vehicle (radarState.leadOne), and the mici device display also updates these graphs when the lead message values change.

Color	4: Lead acceleration/relative speed	5: Lead acceleration/jerk
Yellow	First planned ego acceleration longitudinalPlan.accels[0] (m/s²)	Actual ego acceleration carState.aEgo (m/s²)
Green	Estimated lead acceleration leadOne.aLeadK (m/s²)	Lead acceleration leadOne.aLead (m/s²)
Orange	Relative lead speed leadOne.vRel (m/s)	Rate of change of lead acceleration leadOne.jLead (m/s³)

Negative relative speed means the gap is closing; positive relative speed means it is opening. Lead values display as zero when no lead is detected, and this setting changes only the diagnostic display, with no effect on vehicle control.

An APN label remaining in the ShowRouteInfo description refers to route-input state. It is not an indication that CarrotMan or CarrotLink is supported.

ShowCameraWithCluster=0 keeps the existing default: while the external HUD is connected, the on-device camera is hidden. Set it to 1 to show the on-device camera video.

ShowModelView (Driving Screen Layout) selects the C4 view: 0 camera + lanes/path, 1 camera only, 2 lanes/path on a black background, or 3 hide both. Lane/path graphics include lead-vehicle markers. It applies at every brightness setting, including automatic and 100%, with no additional wait after entering driving mode. Changes while driving appear within about five seconds without rebooting. Speed, alerts, and driver status stay visible; camera capture, driving decisions, and vehicle control are unchanged. This setting does not apply to C3/C3X. While an external HUD is connected, ShowCameraWithCluster=0 hides both the on-device camera and lane/path graphics regardless of this choice.

ClusterHudBrightness=0 follows camera exposure automatically; values 1 through 100 select fixed brightness. ClusterHudOrientation supports only 0 (0 degrees) and 2 (180 degrees); values 1 and 3 are ignored. The running TURZX process checks both stored settings every 100 ms. Brightness applies live; a managed H.264 orientation change automatically restarts the HUD and applies it through the capture-compatible stream setup.

ClusterHudPanelLayout=0 places the driving view selected by ClusterHudCameraViewMode on the left and the information panel selected by the screen, debug, and navigation state on the right. 1 swaps them, placing information on the left and the driving view on the right. The running HUD applies the setting within about one second without a restart. Modes without two side regions, such as the full-screen graph and full-screen navigation, are unchanged. ClusterHudDebug forces always-on output and optional debug UI or navigation input; any resulting debug or navigation information panel follows the selected layout.

While the external HUD is connected over USB, ShowCameraWithCluster=0 switches the on-device driving view on both regular C3/C3X hardware and mici to a black background and skips camera-video and model-path rendering. Setting it to 1 removes that connection-specific suppression and uses the normal on-device camera and on-road rendering path. A live change takes effect within about five seconds. Speed, speed limit, driver state, alerts, and the driving-state border remain visible with either value, and the option has no display effect after the external HUD disconnects. With value 0, camerad and model input continue running; only duplicate rendering on the device display is reduced.

The final ClusterHudScreenMode layout is:

• -1 uses the full width only in 3D camera views 0 and 1, with no information panel or world shift. Left-side HUD items retain their margins, right-side gauges and TPMS align to the physical right edge, and the clock, world, and turn signals use the full-display center axis. In road-camera view 2, it behaves exactly like mode 0, including automatic navigation/report selection and ClusterHudPanelLayout.
• 0 is the default screen. It shows navigation while live navigation is received and automatically shows the driving report otherwise.
• 1 is the general live-debug screen, grouping delay, torque, steering, and lateral-plan state into four 2×2 cards. In 3D camera views, the world and driving HUD use the same 1124 px driving region as mode 0, while the four cards fill the opposite 792 px information region. The acceleration, steering, fuel, and DEF gauges plus TPMS remain inside the driving region's right edge.
• 2 is the fixed system-debug screen. Its detail card shows the network address, output resolution/frame rate, camera state, memory capacity, and per-core CPU use. Its system-health card adds 2×2 circular gauges for CPU load, temperature, memory, and disk use, plus the device pitch/yaw target and numeric angles. In 3D camera views, the world and driving HUD use the same 1124 px driving region as mode 0, while both cards use the opposite 792 px information region. It remains fixed regardless of connected, live, disconnected, or debug navigation state and never switches automatically to navigation, NAVI DISCONNECTED, the route overlay, or the driving report.
• 3 disables the driving scene and shows the ShowPlotMode graph at large size.
• 4 fits the 3D world and driving HUD into the same 1124 px driving region as mode 0 and uses the complete opposite 792 px information region for the graph. The acceleration, steering, fuel, and DEF gauges plus TPMS remain inside the driving region's right edge. Swapping the panel layout exchanges the graph and driving regions together.
• 5 always shows the driving report.
• 6 shows external navigation fullscreen.
• 7 keeps the driving view on the left and the grayscale Nav model map on the right. It preserves the camera/3D view, speed, steering information and alerts while reusing the shared map image. Missing route, GPS, or map data produces a black image or waiting message. The display refreshes at most twice per second; this setting does not select the driving model.

ClusterHudScreenMode=5 shows a live driving report in the information panel. In default screen mode (0), the same report is shown automatically while no live navigation is being received, and the navigation panel returns when reception starts. The report background, cards, outlines, primary text, secondary text, and unavailable-value colors follow the active ClusterHudTheme, including Auto, Dark, and Light modes. Its large card summarizes driving time, distance, average and maximum speed, the automated-driving ratio, maximum acceleration/deceleration, and hard acceleration/braking/corner counts. The small card presents CPU load, temperature, memory, and disk use as a 2×2 set of circular gauges. Its lower target plots the stored device pitch (P) vertically and yaw (Y) horizontally relative to the calibrated center while retaining the numeric angles. The driving area retains the branch, network address, and frame-rate status; the core-usage text is omitted when it would overlap the report. In road-camera view, detected vehicles are enclosed by transparent rounded frames whose border retains the existing detection color; ungrouped radar detections use smaller transparent rounded markers in their source color. Vehicle frames use one lightweight outline, and frames that would be partially projected at the screen edge or stretched by a noisy radar heading are omitted.

The external HUD follows the device LanguageSetting and updates driving-report, driving-mode, and navigation status labels live in Korean (ko) or English (en). Other language values, including Chinese, fall back to English. With IsMetric enabled, vehicle/cruise/limit speeds, navigation, radar labels, and the driving report use km/h, m, and km; with it disabled they are converted to mph, ft, and mi. Acceleration and temperature remain m/s² and °C. Both settings are polled about once per second and do not require a HUD restart.

The enlarged driving-mode text beside the speed display has no background or border and remains above the final speed digit. Its text is green for Efficiency, orange for Safety, white for Normal, and red for High Speed. The gear badge also has a transparent center, retaining only its letter and outline. The upper-left steering/LFA, Wi-Fi, and clock row keeps extra outer and inter-icon spacing, and the speed-limit sign is offset slightly left.

ClusterHudTheme=1 (Dark) renders the normal HUD's empty background in the same pure black used behind maps and while navigation is disconnected. Auto (0) uses the same dark palette from 18:00 to 06:00. The road, gauges, and regular information panels retain distinct dark shades for separation and readability.

On Hyundai/Kia CAN-FD hybrids, the external HUD's green EV indicator is enabled only when ECAN 0xFA and 0x230 are both present with DLC32. It decodes the four-bit hybrid power-flow mode in 0x230 and shows EV for the observed motor/regen modes 1, 2, and 6. The normal HUD shows it between vehicle speed and cruise-set speed; full navigation intentionally omits it. The indicator remains hidden for other mode values and when the capability or sample is missing, invalid, or stale.

The normal external HUD also shows the current driving mode beside the traffic-state dot above vehicle speed. MyDrivingMode value 1 is a green Eco badge, 2 an orange Safe badge, 3 a white Normal badge, and 4 a red High badge. The badge is hidden for an unavailable, invalid, or stale longitudinalPlan and for values outside that range; full navigation omits it. The adjacent red or green dot is an independent model traffic-state indicator, not a driving-mode state.

The normal and road camera HUDs use the same fixed TPMS position below the acceleration, steering, fuel, and DEF gauges. The pressure font size is unchanged, with each value placed inside one of the enlarged tires of a simple toy-car diagram. The whole display is hidden only when all four pressure values are unavailable; an individually missing value shows --. Pressures below 31 psi are red, and no surrounding card or outline is drawn. When external navigation is active or its dashboard is connected, a green NAV appears below the Wi-Fi icon instead of the former lower-right NAVI label. The center clock, EV indicator, and fuel/DEF gauges remain unchanged.

Carrot Vision AR and replay navigation events

Carrot Vision provides separate Show AR and AR debug controls outside the carrot_settings.json catalog. Show AR overlays driving guidance on the Vision video and requests the additional real-time data only while it is enabled. AR debug adds a troubleshooting panel with sign, anchor, and draw counts, the current blocking reason, and copyable history.

The Replay event timeline also identifies Carrot Navi connection and route-session changes, current and next maneuvers, lane guidance, road-safety alerts, average-speed zones, traffic signals, and intersection guidance. These entries are labels for reviewing transitions recorded in the replay.

System

The 12 system settings cover recording, power, network, maps, sound, and software menus.

Group	Parameters	Purpose
Recording and power	RecordRoadCam, MaxTimeOffroadMin	Road-camera storage and delayed shutdown
Network and map	HotspotOnBoot, MapboxStyle	Boot hotspot and map background style
Sound	SoundLanguageSetting, SoundVolumeAdjust, SoundVolumeAdjustEngage	Prompt language and volume
Software	SoftwareMenu	Carrot Web software-menu availability

Check storage use for recording and network use, heat, and privacy before enabling live streaming.

SoundVolumeAdjust changes general sound volume. DM's first audible warning has a 70% minimum output gain; its final warning always uses 100%, regardless of volume settings or ambient-noise attenuation. The preceding visual-only notice remains silent. See driver monitoring for details.

Experimental DM switches to standard monitoring for 20 seconds only when moving traffic first appears after an absence. Additional vehicles do not extend it; experimental monitoring then resumes, with no empty-road bonus while traffic remains.

Signal Assistance Mode (Trial)

SignalAssistMode defaults to 0. Mode 0 disables auxiliary signals; 1 enables recognition, display, alerts and the stopped-red departure veto; 2 also enables moving-red preparation.

The stopped-red departure veto is limited to stopping and creeping at up to 5km/h. Above 5km/h, its previous stop memory is cleared so losing a lead after departure cannot reactivate that stop. This does not confirm green or authorize acceleration; normal model and lead control and explicit driver holds remain active.

Mode 2 gradually requests acceleration toward approximately −0.5m/s² after qualifying red evidence, with no lead, pedal input or turn and a speed above 5km/h and below 82km/h. At night, at least two persistent red lamps must have compatible placement and road-direction support; inferred housing size is not used as a stopping distance.

Preparation releases when red evidence disappears or conflicts with green. The existing driving model still controls stopping toward the stop line; this trial does not guarantee deceleration or stopping at every red signal.

Safe adjustment order

1. Record the current value in Carrot Web.
2. Save both a baseline profile and a file backup.
3. Write down the parameter, previous value, and reason for the change.
4. Change only one item by one unit step.
5. If a restart is required, restart only while parked and off-road.
6. Repeat the same test in a permitted, controlled environment.
7. Restore the previous value or baseline profile immediately if the result is worse or unclear.

See the Wiki Tuning introduction for the recommended steering and longitudinal adjustment order.

Nav map and destinations on carrot-wip

Open Tools ? Nav Map / ?? ?? in Carrot Web to view the map, search/select a destination, or clear it. Register a Public key under Settings ? Network ? Mapbox first; this feature does not need a Secret key. Destinations survive restart. A connected external navigator owns both TBT and route; a missing external route is never replaced with saved Mapbox geometry.

The map is generated onroad with usable position and guidance. USB screen mode ClusterHudScreenMode=7 displays the same image beside the driving view, on the right. N16 Nav uses navigation inputs on both eGPU and Jetson. Flip Flop and Light speed do not support NOO; the internal CD210 and driver-monitoring model are independent. Mapbox search, directions and tiles require network access and a suitable account/key. Search requests use Permanent Geocoding so selected destinations can be saved. See design and validation limits.

Lead brake lamp observation (trial)

Lead Brake Lamp Observation (LeadBrakeLights) in Traffic Light settings defaults OFF. ON displays/logs a central brake-lamp candidate on the immediate radar/vision-matched lead in signal assistance modes 1/2. The USB/HUD road-camera view shows BRAKE? for a candidate and BRK ? for unknown; unknown never means verified brake-off. Mode 0 disables this processing too. Turns, uncertain or missing leads, and busy signal iterations are skipped.

This is display/logging only, with no braking, stop or departure command. The new Params key requires the normal build after updating. The current road camera supplies 20fps. Reduced processing overhead does not establish sustained 20Hz detection; this change does not promise 20Hz or 50Hz detection.

Automatic turn signals (supported vehicles)

AutoBlinkerControl — Settings > Driving > Steering > Lane Change (Auto Turn). Default: 0. Currently limited to the Ioniq 5 PE, Jetson and PEAK USB-CAN/B1 profile on carrot-wip.

An acknowledged ATC turn is not completed by an approach bend while navigation still places the same turn ahead. With the original hold still valid and no driver cancellation or communication failure, both lamps remaining off for 1.5 seconds allows one recovery attempt for that turn. Unconfirmed initial starts, manual/Bluetooth cancellation, opposite indicators and navigation cancellation do not trigger recovery. Physical lamp recovery still needs vehicle acceptance.

Behavior

Controls physical lamps on supported Jetson USB-CAN/B1 vehicles. Operating the stock lever ends the owned request.

• 0: Disables automatic control; Bluetooth one-touch remains available.
• 1: Holds signals started by Bluetooth at or below 5 km/h until turn completion, and indicates from the ATC audioTurn cue through intersection stops until the vehicle turns and the steering returns near center.
• 2: Also indicates from actual ATC lane-change start through completion. Waiting does not activate the lamps.

Usage

Map remote buttons to Turn on left/right indicator. During a hold, the same button cancels and the opposite button switches direction.

Check illumination and cancellation while parked first. Basic one-touch remains available while driving; this setting does not change steering or lane-change admission.

Reference

Bluetooth turn completion requires steering at least 30 degrees toward the selected turn, then returning within 10 degrees for 0.4 seconds while moving. Departure alone does not cancel; the maximum hold is five minutes. ATC turns also require at least 20 degrees of measured heading change toward the turn while moving. Stopping or losing turn desire alone does not cancel. Waiting requires continued lateral permission; driver cancellation, navigation cancellation before physical entry, and stale inputs still release the request.

USB-CAN requests the initial blink; the existing vehicle indicator-hold function maintains it. Input, vehicle-state or communication loss expires the hold request. A rapid opposite input waits for the current OEM sequence to end, keeping only the latest request for at most 3.2 seconds. Cancelling a hold may still allow the remaining OEM flashes to finish. Existing lane-change settings may react to the actual lamp input.

A hold-start request without confirmed lamp activation expires after four seconds, allowing the next button press to start a new request.

AutoTurnControlRightLaneChange under ATC details adds to modes 1 and 2 and triggers the physical right indicator before a TBT right turn or right fork, at an eligible lane-change speed and within 250 m, until turning starts. It requires the supported USB2CAN indicator setup, a right lane, fresh OEM BSD and right-front gaps of at least 5 m both now and after three seconds; existing manual/Bluetooth lane-change behavior is unchanged. See lane changes.

AutoTurnControlRightLaneChange is the separate ATC-details add-on for modes 1 and 2, within 250 m of a right turn or right fork. ManualLaneChangeIndicator is independent of ATC and detects driver boundary approach during preparation. It can bridge at most one second of confidence loss after observing the crossed boundary. An executing automatic lane change or another indicator request takes precedence; its lamp feedback never creates a new steering request. See lane changes.

The manual lane-change indicator can request again after at least three seconds, one continuous second of lamp extinction and fresh steering/approach conditions. Automatic-steering feedback isolation remains at least 12 seconds.

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Source reference

Reference checked 2026-10-30 · carrot-wip · 10bf0a56.

docs/user/ko/settings.md · openpilot/selfdrive/carrot_settings.json · openpilot/common/params_keys.h

The development branch continues to change. Check your device’s branch, commit and current settings together.