Adeeb Shihadeh
9a3f468051
experimental mode ( #26416 )
...
* experimental mode
* rename param
* red lights
2022-11-08 14:45:01 -08:00
Harald Schäfer
f63f0de80a
E2e long model: calibrate model speed to wheel speed ( #26395 )
...
* calibrate!
* Fix test
* Fix proc replay
* check len
* get v_ego from model 8501d20-bb59-4193-aa82-82b2737dedd6/449 609d90f3-65e6-4617-a60c-d6d99eead408/700
* bump cereal
* initialize v_model_error
* typo
* better names
* cleanup
* bump cereal
* update model replay ref commit
* bump to cereal master
Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu >
2022-11-07 17:49:36 -08:00
Vivek Aithal
e9eb5d99ff
[torqued] Fix high speed oscillations ( #26338 )
...
* modify low speed factor during high speeds and rescale friction
* update refs
2022-11-07 17:01:24 -08:00
Harald Schäfer
253e5d7f9d
FCW: less false positives ( #26366 )
...
* Less FP for FCW
* enable fcw for e2e long
2022-11-06 12:17:07 -08:00
Harald Schäfer
a7ced7c54b
Longcontrol: faster transition from starting to stopping ( #26361 )
...
* Never command accel when stopping
* Update ref_commit
2022-11-04 13:21:34 -07:00
HaraldSchafer
f76a390daf
Eliminate toyota close radar glitches causing no resume ( #26272 )
...
Eliminate toyota close radar glitches
2022-10-27 17:31:15 -07:00
HaraldSchafer
b80f2efdf2
No fcw when standstill ( #26252 )
2022-10-26 14:53:01 -07:00
HaraldSchafer
dcde942d9f
Long control: add a_change cost in e2e mode ( #26237 )
...
Add e2e cost
2022-10-25 16:53:24 -07:00
HaraldSchafer
4f84b29985
Use same minimum speed for lateral planning and controls ( #26177 )
...
* Use same speed for lag adjustmenet
* One is a nicer number
* Update ref
2022-10-20 14:34:36 -07:00
Shane Smiskol
b1efdab788
Rename gmAccFaultedTemp -> accFaultedTemp
2022-10-19 01:31:12 -07:00
HaraldSchafer
1548db8962
Partial revert, lax torque control ( #26146 )
...
* Closer to original
* Update ref
2022-10-18 21:25:06 -07:00
Shane Smiskol
4e82f68de2
GM camera ACC: prevent fault when engaging at a stop ( #26079 )
...
* prevent bolt fault
* comment
* only for camera ACC
* fixup alert
* bump cereal to master
* use new name
* Update selfdrive/car/gm/interface.py
* Update selfdrive/car/gm/interface.py
* Update selfdrive/car/gm/interface.py
* only care about prevent engagement when we look at PCM
2022-10-14 22:21:53 -07:00
HaraldSchafer
2c9b150761
Low speed lateral like before ( #26022 )
...
* Add explicit cost on steering wheel movement
* Laxer low speed control
* Laxer low speed control
* Lower min speed now there is a cost
* 3m/s
* Similar to old master
* Add cost
* Crazy high
* Update ref
* comment
2022-10-11 14:53:43 -07:00
HaraldSchafer
fb07437819
Increase low speed jerk cost ( #26008 )
...
* Increase low speed jerk cost
* Update planner weight
* Update ref_commit
* Update lateral_planner.py
* cleanup and refactor
* Update ref_commit
2022-10-07 19:15:04 -07:00
HaraldSchafer
1ecf6f351c
Divide by 0 bug fix lateral planner ( #25995 )
...
* Divide by speed correctly
* Update
* Update lateral_planner.py
* Update ref_commit
2022-10-07 00:16:18 -07:00
HaraldSchafer
cb0b7375b7
Rocket Launcher Model ( #25963 )
...
* 1456d261-d232-4654-8885-4d9fde883894/440 6b7d7cec-ead8-40f3-86cc-86d52c9b03fe/300
* compute only 9 tokens: 1456d261-d232-4654-8885-4d9fde883894/440 6b7d7cec-ead8-40f3-86cc-86d52c9b03fe/300
* tinygrad: cleanup gather
* 1456d261-d232-4654-8885-4d9fde883894/440 6b7d7cec-ead8-40f3-86cc-86d52c9b03fe/700
* empty commit for tests
* bump tinygrad
* dont use tinygrad matmul for now
* bump tinygrad
* 1456d261-d232-4654-8885-4d9fde883894/440 e63ab895-2222-4abd-a9a5-af86bb70e260/700
* float16 1456d261-d232-4654-8885-4d9fde883894/440 e63ab895-2222-4abd-a9a5-af86bb70e260/700
* increase steer rate cost
* Revert "increase steer rate cost"
This reverts commit 74ce9ab9be7ef17ecfec931f96851b12f37f2336.
* fork tinygrad
* empty commit for tests
* basics
* Kinda works
* new lat
* new tuning
* Move LATMPCN so scons compiles
* Update long weights
* Add tinygrad optim
* Update model ref
* update weights
* Update ref
* Try
* Error message for field ignore
* update model regf
* ref commit
* Fix onnx test
Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu >
2022-10-05 21:43:38 -07:00
HaraldSchafer
e5d2c3ce7a
Planner cleanup ( #25969 )
2022-10-04 21:19:04 -07:00
Shane Smiskol
84adb8d925
GM: raise max brake ( #25810 )
...
* -4 didn't make any sense?
* comments
* comments
* update to 400
* bump panda
* remove unused iso limit vars
* update comments
* bump panda
* Update selfdrive/car/gm/values.py
* Update ref_commit
2022-10-04 00:39:19 -07:00
Shane Smiskol
4bd146ee7a
Longitudinal planner: clip a_desired to cruise limits ( #25928 )
...
* Clip a_desired to cruise limits
* Update selfdrive/controls/lib/longitudinal_planner.py
* fix
* update refs
* explicit
2022-09-30 15:43:04 -07:00
Lee Jong Mun
7df0e3efcf
remove blank whitespace ( #25921 )
2022-09-29 13:52:41 -07:00
HaraldSchafer
1007df874f
Minor ACC fixes ( #25911 )
...
* Change cruise accel limits
* Long tuning script looks good
* Cap cruise slowdown aggression in e2e mode
* Revert atau change
* Cleanup
* Update ref
* fix ref
2022-09-28 13:27:07 -07:00
Vivek Aithal
4fa62f1464
Live torque ( #25456 )
...
* wip torqued
* add basic logic
* setup in manager
* check sanity and publish msg
* add first order filter to outputs
* wire up controlsd, and update gains
* rename intercept to offset
* add cloudlog, live values are not updated
* fix bugs, do not reset points for now
* fix crashes
* rename to main
* fix bugs, works offline
* fix float in cereal bug
* add latacc filter
* randomly choose points, approx for iid
* add variable decay
* local param to capnp instead of dict
* verify works in replay
* use torqued output in controlsd
* use in controlsd; use points from past routes
* controlsd bugfix
* filter before updating gains, needs to be replaced
* save all points to ensure smooth transition across routes, revert friction factor to 1.5
* add filters to prevent noisy low-speed data points; improve fit sanity
* add engaged buffer
* revert lat_acc thresh
* use paramsd realtime process config
* make latacc-to-torque generic, and overrideable
* move freq to 4Hz, avoid storing in np.array, don't publish points in the message
* float instead of np
* remove constant while storing pts
* rename slope, offset to lat_accet_factor, offset
* resolve issues
* use camelcase in all capnp params
* use camelcase everywhere
* reduce latacc threshold or sanity, add car_sane todo, save points properly
* add and check tag
* write param to disk at end of route
* remove args
* rebase op, cereal
* save on exit
* restore default handler
* cpu usage check
* add to process replay
* handle reset better, reduce unnecessary computation
* always publish raw values - useful for debug
* regen routes
* update refs
* checks on cache restore
* check tuning vals too
* clean that up
* reduce cpu usage
* reduce cpu usage by 75%
* cleanup
* optimize further
* handle reset condition better, don't put points in init, use only in corolla
* bump cereal after rebasing
* update refs
* Update common/params.cc
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
* remove unnecessary checks
* Update RELEASES.md
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
2022-09-19 15:19:26 -07:00
Vivek Aithal
85ed5c4cb5
Torque Refactor ( #25822 )
...
* add torque gains refactor
* update refs
* avoid dict, use cereal struct
* bugfix
* no as_builder
* address final comments
2022-09-17 00:07:54 -07:00
Shane Smiskol
992707c172
controls: enter overriding state for steering override ( #25617 )
...
* lateral overriding is overriding
* Update test
* remove
* also could do something like this and only have one OVERRIDE ET
* Revert "also could do something like this and only have one OVERRIDE ET"
This reverts commit 5c381641c08961676a56a9718fbdaa84989ac249.
* full names
* bump cereal
* test every event type
* update refs
2022-09-13 23:20:45 -07:00
Shane Smiskol
056b2ec2ed
Longcontrol: fix possible reference before assignment ( #25715 )
...
fix possible reference before assignment
2022-09-08 21:43:04 -07:00
Adeeb Shihadeh
3ef37fe2e8
split out experimental long toggle ( #25698 )
...
* split out experimental long toggle
* clean up
* update translations
2022-09-07 20:38:04 -07:00
Adeeb Shihadeh
445492a6d8
reduce min lane change speed to 15mph ( #25689 )
2022-09-07 16:50:25 -07:00
HaraldSchafer
8857e02dd4
Live e2e long toggling ( #25685 )
...
Live toggling
2022-09-07 11:29:19 -07:00
HaraldSchafer
7899fb79c1
More conservative lead policy in e2e long mode ( #25684 )
...
* Add params for lead and danger
* fix long params
* E2e passes simple maneuver tests
* Make tests run with e2e long mode
* Slightly more error allowed in e2e mode
* FCW back and populate long source field
* Fix planner name
* FCW still doesnt work
* Slightly less aggressive
* Doesn't need to simulate from stop
2022-09-06 21:52:34 -07:00
HaraldSchafer
210a6163ac
Let planner decide stopping state ( #25643 )
...
* Let planner decide stopping
* Refactor stop/start state machine
* Stay stoppe condition
* 1sec from target
* Add starting state
* Add starting state logic
* Undo some changes
* Update ref
2022-09-06 21:30:10 -07:00
HaraldSchafer
4c05c88c10
Radard: ignore leads without model confirmation wider than 1.0m ( #25664 )
...
Dont stop for cars next to you without model confirmation
2022-09-04 13:29:13 -07:00
HaraldSchafer
2eff6d0ebd
Remove lane planning code ( #25651 )
...
* Remove all lane planning logic
* Revert "Update ref"
This reverts commit 8dcb08ebccbb5641443459ac40601a95cf605682.
* bump cereal
* Update ref
2022-09-04 13:07:51 -07:00
HaraldSchafer
faff2b8950
Add e2e long toggle ( #25638 )
...
* Add toggle
* Misc fixes
* Update translations
* pre alpha not great
2022-09-02 00:24:53 -07:00
HaraldSchafer
e1b7a37a1f
Support e2e long in longitudinal planner ( #25636 )
...
* refactor
* Add planer modes to support offline, acc, and blended
* add acceleration
* Fix index
* Update model ref
* Read in model outputs
* Add model msg
* Add e2e logic
* Add source
2022-09-01 15:40:25 -07:00
Adeeb Shihadeh
6590fb2b93
pre-commit: add codespell ( #25571 )
2022-08-30 11:20:55 -07:00
Adeeb Shihadeh
90a4565eb2
params: make python and c++ API match ( #25573 )
...
* params: make python and c++ API match
* few more
2022-08-26 20:46:19 -07:00
Shane Smiskol
5ed587ebef
controls: block resume if cruise not previously engaged ( #25402 )
...
* see if this works at all
* can revert this
* think adding a no entry conditionally is nicer
* then we can revert this
* 0 makes more sense
* Revert "0 makes more sense"
This reverts commit efc89e8a2389ef58fbc0cec0a2872d24db524867.
* gm CC uses > 70
* bump cereal
* comment
* test on Honda
* whoops
* works
* add exception with todo
* moved button enable events to controlsd
* get rid of that
get rid of that
* different values for now
* car interfaces add enable event, controlsd can block it
* Regen and update refs
* delete if not set
* One place
one place
* regen routes are uninitialized first few frames
* Trim start of segment so it's like original segment
* stash
* regen
* not working
* clean up
* more cleanup
* revert
* bump ceral
* actually check resume button
* whoops
* pcmCruise cars don't use setSpeed, so we're good
* engage correctly in sim
* Update ref_commit
* Update refs
2022-08-17 18:03:33 -07:00
Chris Souers
5b1ba4f135
Lateral planner: Don't prompt/initiate lane changes if lateral control is not active ( #25436 )
...
* Don't set lane change events if we're not able to steer.
* more specific variable name
* update process replay socket config
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
2022-08-15 11:37:24 -07:00
HaraldSchafer
041458f632
Falcon Punch Model: turn cutting improvements ( #25413 )
...
* simplified change to mpc dynamics
* add jerk pts
* increase jerk cost
* increase jerk pts multipler to master value
* Add final commit
* 1456d261-d232-4654-8885-4d9fde883894/440 ac1a6744-85b0-4ec6-8ba7-608d0717b8f1/750
* some copies are useful
* update model replay ref
* less frames in model replay onnx cpu
* 1456d261-d232-4654-8885-4d9fde883894/440 264b67f5-3f52-4b58-b11f-58dd8aaf08bf/950
* 1456d261-d232-4654-8885-4d9fde883894/440 236fc556-fba3-4255-8ccf-684b22637160/950
* c9d10c64-bea4-41ec-8ca3-d8c886fda172/440 26d73dd2-862a-44ae-bbdd-32cc4f397ad7/900
* Fix couple tests
* Update ref
* Unused for now
* Add lateral factor comment
* Unused variable
Co-authored-by: nuwandavek <vivekaithal44@gmail.com >
Co-authored-by: Bruce Wayne <yassine@comma.ai >
Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu >
Co-authored-by: Bruce Wayne <batman@gpu06.internal >
2022-08-12 00:47:59 -07:00
Vivek Aithal
f1fecc3da7
Sensor Invalid Alert ( #25303 )
...
* modify text, add soft disable
* Update selfdrive/controls/lib/events.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
* Update selfdrive/controls/lib/events.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
2022-07-28 18:52:10 -07:00
Adeeb Shihadeh
d462a08056
remove CS.steeringRateLimited ( #25251 )
...
* remove CS.steeringRateLimited
* bump cereal
* update refs
2022-07-24 14:56:55 -07:00
Adeeb Shihadeh
278d6893fe
less beeps for steering override faults ( #25196 )
...
* less beeps for steering override faults
* less repeat
2022-07-20 19:36:22 -07:00
Shane Smiskol
f797567ef8
long planner: run when using stock longitudinal ( #25017 )
...
* Squashed commit of the following:
commit e27a5b4e2bfeab4e6a47440b1d4eb180ee4acf49
Author: Shane Smiskol <shane@smiskol.com >
Date: Fri Jul 1 14:10:06 2022 -0700
remove this test
remove this test
commit c3c10af82222ea4641d94c53a3a07b486cca8452
Author: Shane Smiskol <shane@smiskol.com >
Date: Fri Jul 1 14:08:15 2022 -0700
only planner changes
commit 50e0f1d8704c15acfce8987faf3515c99e8af4f4
Merge: e088fde67 fcc5b3d70shane@smiskol.com >
Date: Fri Jul 1 14:05:36 2022 -0700
Merge remote-tracking branch 'upstream/master' into enable-planner2
commit e088fde67edcc32ccfeea23b4ae9e44845240429
Author: Shane Smiskol <shane@smiskol.com >
Date: Thu Jun 30 13:58:38 2022 -0700
no walrus
commit b7b425e530e949b9cc427833562473cc241d1367
Merge: f8634266b c49f997beshane@smiskol.com >
Date: Thu Jun 30 13:54:30 2022 -0700
Merge remote-tracking branch 'upstream/master' into enable-planner
commit f8634266b49c3f692b255e6cfac66cccc438ae20
Author: Shane Smiskol <shane@smiskol.com >
Date: Wed Jun 29 16:07:35 2022 -0700
stricter test, speeds[-1] is 0.14 when starting here
commit c9e446ad2183feba9d03ee39f9801091ab791c08
Merge: e6c4106ea 879a7c320shane@smiskol.com >
Date: Wed Jun 29 16:01:32 2022 -0700
Merge remote-tracking branch 'upstream/master' into enable-planner
commit e6c4106ea185c68a6c7b3d59d5bde664df8bdc9c
Author: Shane Smiskol <shane@smiskol.com >
Date: Sat Jun 25 03:28:41 2022 -0700
fix test
commit 0520c7f21613b57b804e08a8e8d10950ac059074
Author: Shane Smiskol <shane@smiskol.com >
Date: Sat Jun 25 03:26:16 2022 -0700
add test for resuming
commit 04db5f80bff4a002f5241765a625d7cf57b74364
Merge: e23b37d3f d8bfe2f00shane@smiskol.com >
Date: Wed Jun 22 20:15:50 2022 -0700
Merge remote-tracking branch 'upstream/master' into enable-planner
commit e23b37d3fe8dd3dd07b46a32a4f0564fabade1aa
Author: Shane Smiskol <shane@smiskol.com >
Date: Tue Jun 21 12:46:04 2022 -0700
0.1 should be pretty safe
commit e7dc3960da3d713753f28732f50dbd25811fad28
Author: Shane Smiskol <shane@smiskol.com >
Date: Tue Jun 21 12:39:30 2022 -0700
try 0.2
commit ff0597ec92a0d2c52915316961ec123b0183c5cf
Author: Shane Smiskol <shane@smiskol.com >
Date: Tue Jun 21 11:34:00 2022 -0700
Always run planner if not opLong
commit 13997c55271f79fd3ca62d6db45ec3790b09aa60
Merge: d2f51ee55 95d8517a8shane@smiskol.com >
Date: Tue Jun 21 11:29:22 2022 -0700
Merge remote-tracking branch 'upstream/master' into enable-planner
commit d2f51ee55fd3bde38275371e76714d7741bc6f6b
Author: Shane Smiskol <shane@smiskol.com >
Date: Tue Jun 21 11:27:45 2022 -0700
same for non-HDA2
commit 6a63bd60f09a0abd9185049cd173100d3ef6fefa
Author: Shane Smiskol <shane@smiskol.com >
Date: Mon Jun 20 23:37:07 2022 -0700
mazda: ensure no resume if cancelling
commit 5771cdecab7999765d9f5203c75a67f1555cf975
Author: Shane Smiskol <shane@smiskol.com >
Date: Mon Jun 20 23:27:58 2022 -0700
maintain original button msg rate
commit 6c1fe0606fd0a0819ffeaac92526e43b3110f2f4
Author: Shane Smiskol <shane@smiskol.com >
Date: Wed Jun 15 23:45:26 2022 -0700
rename to resume
commit 00b1df652f1679137c769f9db61eed7dd14e1542
Author: Shane Smiskol <shane@smiskol.com >
Date: Wed Jun 15 21:57:54 2022 -0700
remove comments
commit 325ea9bbd5e0dd946961ede0cdcc446ad5e5bbdb
Author: Shane Smiskol <shane@smiskol.com >
Date: Wed Jun 15 21:56:20 2022 -0700
vw
commit 2c9061042b36fe1d6b029a4216655be69a980849
Author: Shane Smiskol <shane@smiskol.com >
Date: Wed Jun 15 21:54:37 2022 -0700
do rest but vw
commit 3dc51f663dfdd4ea1fd72d239bcd5db8c7da4b47
Author: Shane Smiskol <shane@smiskol.com >
Date: Wed Jun 15 16:34:48 2022 -0700
only spam resume when future is > vEgoStarting
commit 5f32cd1fcb402bee425d866a9dc76b6feea3d241
Author: Shane Smiskol <shane@smiskol.com >
Date: Wed Jun 15 16:09:43 2022 -0700
always log leads, we hide them in ui
* reset when not CS.enabled
remove comment
* update refs
2022-07-05 22:19:20 -07:00
Willem Melching
d4cc13c88a
controlsd: avoid lag on first iteration due to get_short_branch ( #25031 )
...
* controlsd: avoid lag on first iteration due to get_short_branch
* always cache
2022-07-04 17:13:30 +02:00
HaraldSchafer
b3226d505b
Torque control: higher low speed gains and better steering angle deadzone logic ( #24980 )
...
* Try no friction and no deadzone
* Learn fromd ata
* update refs
2022-06-27 15:25:47 -07:00
Adeeb Shihadeh
062a8bcdbd
cleanup torque tuning config ( #24951 )
2022-06-24 13:01:49 -07:00
HaraldSchafer
2c877ce490
Long e2e planner: better xva weights ( #24893 )
...
better long xva weights
2022-06-17 10:35:24 -07:00
grekiki
b941b39c56
More accurate jerk limits ( #24755 )
...
* More accurate jerk limits
* Min is not - max
For example max_curvature_rate can be negative.
* reduce diff
2022-06-16 10:47:53 -07:00
HaraldSchafer
9283040d84
Rocket league model ( #24869 )
...
* dd9a502d-c8e2-4831-b365-804b0ae0739d/600 80041070-d276-4fed-bdb9-0075e5442908/420
* no elementwise op
* 9dabf0fe-2e60-44bf-8d3a-d20a74aca072/600 ae746590-0bb5-4a16-80db-15f02d314f03/300 c4663a12-b499-4c9b-90dd-b169e3948cb1/60
* explicit slice
* some copies are useful
* 1456d261-d232-4654-8885-4d9fde883894/440 c06eba55-1931-4e00-9d63-acad00161be0/700 af2eb6ba-1935-4318-aaf8-868db81a4932/425
* 154f663e-d3e9-4020-ad49-0e640588ebbe/399 badb5e69-504f-4544-a99e-ba75ed204b74/800 08330327-7663-4874-af7a-dcbd2c994ba7/800
* set steer rate cost to 1.0
* smaller temporal size
* Update model reg
* update model ref again
* This did upload somehow
* Update steer rate cost
Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu >
2022-06-15 15:29:42 -07:00
HaraldSchafer
a6652a539d
Torque control: low speed boost ( #24859 )
...
* Make very low speed more aggressive
* Less extreme low speed boost
* Update ref
2022-06-14 22:29:08 -07:00
