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445 Commits

Author SHA1 Message Date
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 fcc5b3d70
Author: Shane Smiskol <shane@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 c49f997be
Author: Shane Smiskol <shane@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 879a7c320
Author: Shane Smiskol <shane@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 d8bfe2f00
Author: Shane Smiskol <shane@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 95d8517a8
Author: Shane Smiskol <shane@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
Adeeb Shihadeh
0fce5d9045 Move a bunch of stuff to system/ part 3 (#24829) 
* move swaglog.py

* timezoned

* logmessaged

* version.py

* fix linter
 2022-06-11 23:19:27 -07:00
HaraldSchafer
843e59f6f0 Misc torque control fixes (#24801) 
* Fiction compensation should be based on error

* Update refs

* Add deadzone

* update ref
 2022-06-10 22:52:48 -07:00
ClockeNessMnstr
b215d611b1 update DH names + notes for MPC output curvatures (#24701) 
* update names + notes for MPC outputs

"current_curvature" is not the correct description of what the MPC is outputting in it's curvature_ego state.
The MPC is integrating it's free variable, curvature_rate, such that curvature[0] is actually the desired_curvature before any delay.
inversely: the curvature_rate_desired is the desired rate of change to the setpoint and not the actual curvature rate. 

If we were to set the initial curvature = measured curvature in the MPC initiation these names would be correct. 
This was possibly how it was initially set up but the nomenclature here is now confusing.

* more notes

* match

* Clarify #1
 2022-06-07 09:41:03 -07:00
Shane Smiskol
c6bc03311c Car documentation: set steering torque star using car interface (#24709) 
* Set good torque using torque controller tuning

* should be equal to

* save lateral accel to car params

* use maxLateralAccel

* always

* same convention

* nan will always evaluate to false

* The great good torque purge

* adjust default friction

* Add data for more cars

* adjust name

* Welcome back, guys. Only adjust good torque if maxLatAccel is set

* Update refs (1.7 is 1.7000001...)
 2022-06-03 17:41:20 -07:00
Willem Melching
f49a9c9fd2 less TICI when not needed (#24698) 
* less TICI when not needed

* fix process replay

* move reading voltages into hw abstraction layer

* Update selfdrive/hardware/tici/hardware.h

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* Update selfdrive/hardware/hw.h

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* Update selfdrive/hardware/base.h

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* rename init function

* Update selfdrive/athena/athenad.py

Co-authored-by: Robbe Derks <robbe.derks@gmail.com>

* Update selfdrive/boardd/boardd.cc

* Apply suggestions from code review

* Update selfdrive/thermald/thermald.py

* update ref

* fix alert width if all cameras are bad

* add ecam to test_loggerd

* bump cereal

* bump cereal

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Robbe Derks <robbe.derks@gmail.com>
 2022-06-02 15:20:51 +02:00
HaraldSchafer
d708a134bd Tssp prius torque control (#24669) 
* use llk

* use steering sensor at low speed stil

* Try more simple

* rm prius tune

* updated ref
 2022-05-27 10:21:02 -07:00
HaraldSchafer
d928972150 Rerevert torque control (#24649) 
* Revert "Revert torque control (#24565)"

This reverts commit 9f8b03753d.

* Move tune out of car specific stuff

* Update ref commit
 2022-05-24 17:52:33 -07:00
HaraldSchafer
7da48ebdba New model: better laneless (#24605) 
* Fix ping pong

* Fix hugging: e6fd3a62-aa86-46d1-a414-19137ed1babc/800

* Remove lateral toggle

* a6da6265-1952-48dd-986b-2b5996dd2642/950

* Model replay commit

* Revert "Remove lateral toggle"

This reverts commit 69e57eb7e1a72e4bad5e12bcfded6ff431a21a0e.
 2022-05-24 09:11:31 -07:00
Adeeb Shihadeh
71901c94db controlsd: ensure all system malfunction events have the right types (#24635) 2022-05-23 17:46:46 -07:00
HaraldSchafer
2181bbca71 Latcontrol torque: integrator need not be reset (#24606) 
slow integrators need not be reset
 2022-05-20 13:50:47 -07:00
Shane Smiskol
d3d210c183 controls: pressing set while gas pressed resets to vEgo (#24100) 
* set while gas pressed to resume

* better order

* what was I thinking?

* Update selfdrive/controls/lib/drive_helpers.py

Co-authored-by: Gijs Koning <gijs-koning@live.nl>

* Update selfdrive/controls/lib/drive_helpers.py

Co-authored-by: Gijs Koning <gijs-koning@live.nl>

* only if under set speed

* some clean up and ciel the v_cruise_kph

* clean up

* actually floor

* Should be cruise min

* On phone, will clean up

* Think no floor is fine

* clean up and catch setCruise

* update comment and just always do rounding and clipping

update comment

* flip order

Co-authored-by: Gijs Koning <gijs-koning@live.nl>
 2022-05-19 03:28:50 -07:00
HaraldSchafer
9f8b03753d Revert torque control (#24565) 
* torque reversal start

* Fix carmodel tests

* Update ref

* update ref

* Elif is better than if
 2022-05-17 19:00:57 -07:00
Adeeb Shihadeh
0b1f6e3620 show which cameras are malfunctioning (#24558) 2022-05-16 22:01:04 -07:00
Adeeb Shihadeh
b1858df00e improved alert verbosity (#24434) 
* improved alert verbosity

* better testing script

* better description

* speed diff

* touch ups

* fix that
 2022-05-16 21:19:38 -07:00
Shane Smiskol
961a121fde Round system overheated temperature (#24544) 
* Update events.py

* Apply suggestions from code review

Co-authored-by: Willem Melching <willem.melching@gmail.com>
 2022-05-16 18:08:02 +02:00
ntegan1
076f0acd5f Round model lagging frame drop percentage (#24549) 
alerts: round model frame drop percentage
 2022-05-16 16:26:18 +02:00
ClockeNessMnstr
a693b3a26b LatControlTorque: clean up class variable (#24526) 
* move to super

* no class variable

* there's CP

* whitespace

* drop CI from latcontrol super

* Revert "drop CI from latcontrol super"

This reverts commit 9218273060ade6431c4fc4c310b27e7e210158b9.

Co-authored-by: Shane Smiskol <shane@smiskol.com>
 2022-05-13 16:52:20 -07:00
Dylan Herman
d2eef1955c add mypy check for return-any (#24379) 
* add mypy check for return-any

* remove unused import

* typing

* remove unnecessary variable typing

* cleanup

* cleanup

* bump submodules

* small fixes

* only a problem on mac

Co-authored-by: Willem Melching <willem.melching@gmail.com>
 2022-05-12 14:59:00 +02:00
HaraldSchafer
29afd53d88 Latcontrol torque: fix integrator induced ping pong (#24458) 
* Latcontrol torque: fix integrator induced ping pong

* Reset on disengage since unwind resets anywayh

* Might be overkill

* rm whitespace

* update ref
 2022-05-06 22:17:21 -07:00
ntegan1
9a44d4c4e0 LatControlTorque: log desired/actual lateral accel (#24406) 
* log torque lateral accel

* bump cereal

* update refs

Co-authored-by: Shane Smiskol <shane@smiskol.com>
 2022-05-03 14:18:46 -07:00
Adeeb Shihadeh
3abbe827de controlsd: add lagging alert (#24360) 
* controlsd: add lagging alert

* move those

* just this for now

* no camera malfunction
 2022-04-28 19:51:42 -07:00
Jason Young
45f131e0e7 Accept resumeCruise for resuming prior speed setpoint (#24348) 
* accept two button types for resume

* retry CI

* Update selfdrive/controls/lib/drive_helpers.py

Co-authored-by: Shane Smiskol <shane@smiskol.com>
 2022-04-28 17:46:58 -07:00
Shane Smiskol
c9be2f02c3 Clean up controllers (#24340) 
* clean up lat controllers

* pass CP once

* sort
 2022-04-28 00:42:52 -07:00
Shane Smiskol
e834b4d9be LatControlTorque: fix deadzone and missing steer saturated warning (#24294) 
* fix steer saturated alert and deadzone

* fix and formatting

* update refs

* update refs

* not needed

* remove
 2022-04-27 01:18:05 -07:00
Vivek Aithal
1a9f5d29d4 longitudinal_mpc: Compute forward distance from velocity (#24328) 
* add vel integ as x in e2e long mpc

* add comment
 2022-04-25 20:15:04 -07:00
Adeeb Shihadeh
70987fd9d9 more verbose debug alerts (#24126) 2022-04-22 16:12:54 -07:00
HaraldSchafer
fe0bcdaef6 Lateral torque-based control with roll on TSS2 corolla and TSSP rav4 (#24260) 
* Initial commit

* Fix bugs

* Need more torque rate

* Cleanup cray cray control

* Write nicely

* Chiiil

* Not relevant for cray cray control

* Do some logging

* Seems like it has more torque than I thought

* Bit more feedforward

* Tune change

* Retune

* Retune

* Little more chill

* Add coroll

* Add corolla

* Give craycray a good name

* Update to proper logging

* D to the PI

* Should be in radians

* Add d

* Start oscillations

* Add D term

* Only change torque rate limits for new tune

* Add d logging

* Should be enough

* Wrong sign in D

* Downtune a little

* Needed to prevent faults

* Add lqr rav4 to tune

* Try derivative again

* Data based retune

* Data based retune

* add friction compensation

* Doesnt need too much P with friction comp

* remove lqr

* Remove kd

* Fix tests

* fix tests

* Too much error

* Get roll induced error under 1cm/deg

* Too much jitter

* Do roll comp

* Add ki

* Final update

* Update refs

* Cleanup latcontrol_torque a little more
 2022-04-19 19:34:31 -07:00
Adeeb Shihadeh
5c48e7bc86 remove comma two support (#24248) 
* remove comma two support

* cleanup release files

* little more

* more libs

* no more gralloc

* add snpe back
 2022-04-18 17:55:23 -07:00
Adeeb Shihadeh
233a167cc9 controlsd: handle controls mismatch race (#24245) 
* controlsd: handle controls mismatch race

* update refs
 2022-04-18 17:08:25 -07:00
Gijs Koning
e0845752e3 Fix camera error description (#24202) 
* Fix camera error message

* Shorter
 2022-04-13 09:56:37 -07:00
Adeeb Shihadeh
49c2164814 add alert for CAN bus timeout (#24162) 
* add alert for CAN bus timeout

* add alert

* set in interface

* cleanup

* cleanup

* add event

* fix mock

* bump

* bump opendbc

* update refs

* return reader
 2022-04-12 22:58:34 -07:00
HaraldSchafer
f54e724b5d Body cleanup + 100Hz locationd (#24168) 
* use PID

* 100hz on the branch

* Better defaults

* fix int clip

* More cleanup

* Fix pid comments

* only notcar gets 100hz

* cleanup

* fix tests

* ignore

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2022-04-09 15:22:29 -07:00