* add erf based ff
* silly bug; diff of nonlinear != nonlinear of diff
* add sigmoid based ff, ensure slope at 0 > 1
* reduce steer down limit and increase driver allowance
* rebase panda
* atry without friction, and with tanh nonlinear
* finalize the nonlinear function
* do not disable friction compensation in the ff
* bump panda
* bump panda
* update refs
* update refs
* resolve comments
* Add type hints
---------
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* 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
* 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>
* 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
* 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...)
* 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>
* 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
