Safety features

Lynx implements multiple functions to enhance operational safety.

/safetyopts Parameter

This bitwise parameter controls the enabling/disabling of safety features.

Value:or click on a row to toggle.

Bit	Description
0	Permanently disarms from accelerator signal (sig_acc) if NaN Without this setting, NaN on accelerator still disarms but allows rearming once NaN clears.
1	Disarms from brake signal (sig_brake) if NaN
2	Forces brake mode and prevents acceleration if sig_brake is NaN
3	Prevents recovery from timeout on CAN msg 0x5FF
4	Disables timeout on CAN msg 0x5FF

Disarming Block

The built-in safety system monitors various inputs and can disable the accelerator signal path (before entering the driver) and cruise function when safety risks are detected. This ensures the motor won't accelerate from accelerator input and cruise remains deactivated during potential safety risks. The system structure is illustrated below.

Disarm Reasons

Various sources can trigger safety risk conditions, resulting in device disarming. The following list details potential sources:

• Positive values: Device will recover from disarm state
• Negative values: Device remains disarmed until reboot

/disarm_reason value	Description
0	Device armed
1	Initial state after device boot
2	Accelerator signal (sig_acc) is NaN
10	Seat switch activated
11	Reverse activation disarm
12	Map change disarm (mapopts&4)
13	BMS state disarm (undervoltage and others)
14	BMS charging indication
15	BMS error
16	Device shutdown in progress
17	Identrun in progress
18	Accelerator signal (sig_acc) NaN - permanent disarm (safetyopts&1)
19	Geofence message timeout
20	Geofence message disarm command
21	Driver error state
23	Step-up charging active
24	Device in slave configuration
25	Accelerator disarm braking (drvopts&128)
26	Brake signal (sig_brake) NaN (safetyopts&2)
27	Brake signal disarm !(drvopts&1)
28	Driver override
29	Device locked

While most input reactions are hardcoded, the disarming block can be customized through the safetyopts, drvopts, and mapopts parameters.