OpenPilot doesn't require you to flash anything to your car, everything is done using the same CAN messages that the stock ADAS system sends. Further, the microcontroller that communicates between OpenPilot and the vehicle is hardcoded to block any CAN messages OpenPilot sends that are deemed to be too fast to react to:

https://github.com/commaai/openpilot/blob/a2ae18d1dbd1e59c38...

I am not impressed with this source code. Maybe you can tell my why i am wrong.

The safety.h you pointed to is using "int" for variable declaration instead of using stdints to control size. Is there are reason for that?

From safety.h, I tried to follow addr_allowed function parameters. I get here (https://github.com/commaai/openpilot/blob/c025b96e8a15640ee4...) and see this:

int addr = GET_ADDR(to_send); int bus = GET_BUS(to_send);

Where are GET_ADDR and GET_BUS macros declared? There are no header declaration to follow dependencies.

GitHub > commaai/panda > Search > 'GET_BUS' >

panda/board/drivers/llcan.h

Yes and yes, but the alternative is you never enjoy self driving and the potential it has to reduce fatalities for the rest of your life.

It’s a trolley problem, this thing WILL KILL, the question is how more/less often compared to humans.

they have limits in place so it never "jerks" the wheel. They are liable in the same way that your automatic cruise control would accelarate towards a stopped car