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389 Commits

Author SHA1 Message Date
Adeeb Shihadeh
f4c2398db4 add sdcard support (#22703) 
* generalize

* factory reset
 2021-10-26 19:34:08 -07:00
Vivek Aithal
2ea4feffb9 plannerd: add useLaneLines to lateralPlan (#22699) 
* add laneless toggle in lateral plan message

* update cereal

* add refs
 2021-10-26 14:32:41 -07:00
Adeeb Shihadeh
f2b48a1803 always show lane lines on HUD (#22693) 
* always show lane lines on HUD

* update refs
 2021-10-25 23:47:12 -07:00
Adeeb Shihadeh
7394956a90 temporarily disable per-core cpu usage check 2021-10-25 15:03:28 -07:00
HaraldSchafer
7868baeac9 e2e long planner: use position, speed and accel (#22688) 
* a little bit more moderate

* cleaner
 2021-10-25 14:03:41 -07:00
Adeeb Shihadeh
897492d27c more specific no fw startup alert 2021-10-21 16:24:01 -07:00
qadmus
778374d3dd [Lateral PID] Function for steer feedforward (#22638) 
* store a function for steer feedforward

* use classmethod

Co-authored-by: Willem Melching <willem.melching@gmail.com>
 2021-10-21 11:38:03 +02:00
Mitchell Goff
38f775edfc Only trigger model FCW on stock long when not already braking (#22620) 
* Only trigger model FCW on stock long when not already braking

* Split model_fcw checks for better readability
 2021-10-20 16:16:40 +02:00
Harald Schafer
791de68689 plannerd: position std size check bug 2021-10-17 19:52:11 -07:00
Adeeb Shihadeh
74a3c92704 only check low battery on EON 2021-10-15 15:04:19 -07:00
HaraldSchafer
c4510024da Remove accel cost in long MPC (#22527) 
* ACCEL not useful

* new ref
 2021-10-11 17:20:40 -07:00
HaraldSchafer
04cf12cb00 ACADOS fix non-convergence when long_plan changes (#22495) 
* debug commit

* cleanup

* some indexing bugs

* need more its

* BALANCE is way better it seems

* fix test

* this converges in 2000segs

* new ref

* less cpu
 2021-10-10 00:05:29 -07:00
Robbe Derks
91987f38d4 Make pandaState and safetyMode a list (#22454) 
* wip: move to pandaStates

* bump cereal

* wip: SafetyMode struct

* move to safetyMode

* fix typo

* this can be None

* fix potential empty pandaStates list

* fix thermald

* fix controlsd

* rename safetyModes to safetyConfigs

* update process_replay

* fix test_models

* bump cereal
 2021-10-08 17:54:34 +02:00
Willem Melching
5587964d58 Fix cruise button mph increment (#22487) 2021-10-08 11:10:29 +02:00
HaraldSchafer
a4bc1bbb74 Long MPC cleanup (#22462) 
* cleaner extrapolation

* some comments

* new ref

* more comments

* new ref
 2021-10-06 17:51:23 -07:00
HaraldSchafer
9ab09f5ae9 Retune long mpc (#22445) 
* first try

* looks decent

* finalize retune

* back to 3 its

* may need 4 still

* misc cleanup

* new ref

* SPEEEED

* new ref
 2021-10-06 09:37:53 -07:00
Willem Melching
e636f03c7a Set CarControl.active (#22442) 
* Set CarControl.active

* update ref
 2021-10-05 14:32:39 -07:00
speedking456
23b9316603 accel/decel button metric increments (#22399) 
* add metric values

Freedom units have weird multiples compared to metric. Modified so that it increments by 10 km/h on long press and 1 km/h on short press, rather than 8 and 1.6 km/h. This mimics stock hyundai behaviour on metric vehicles.

* use is_metric from controlsd

* use actual mph value instead of rounded

Co-authored-by: Willem Melching <willem.melching@gmail.com>
 2021-10-04 21:11:17 +02:00
Willem Melching
f4e2537b12 Split pandaState into peripheralState and pandaState (#22385) 
* publish peripheralState from boardd

* refactor consumers

* rename thread

* peripheralState has panda type too

* add to process replay

* fix device build

* properly remove hardware unsupported alert

* latest peripheralState

* remove pandaState from thermal_monitor

* put that back

* add back harness check

* fix cloudlog

* needs pandaState

* Update selfdrive/thermald/tests/test_power_monitoring.py

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

* dont conflate

* Update selfdrive/thermald/tests/test_power_monitoring.py

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

* pigeon is peripheral

* cleanup

* less global

* comment

* move rtc to peripheral_control_thread

* better diff?

* whitespace

* get msg

* bump cereal

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-10-04 11:30:11 +02:00
qadmus
3461e25944 Lateral PID: move steer feedforward to CarInterface (#22411) 
* move steer feedforward to car interface, in car parameters

* LatControlPID.get_steer_feedforward()
 2021-10-04 10:03:53 +02:00
Greg Hogan
92895f1e68 accel/decel button short/long press 1mph/5mph (#22013) 2021-10-01 11:09:56 +02:00
HaraldSchafer
a8b4249ebc Change radar-based FCW to model-based FCW (#22379) 
* just use MPC for fcw checking

* thats already bad

* model FCW is always good

* better fcw

* should be good for now

* comment

* linting

* cleaner

* unused
 2021-09-29 11:55:54 -07:00
HaraldSchafer
85dc43d166 Small long MPC optimizations (#22360) 
* Revert "temporarily relax camerad timings"

This reverts commit 174aa908ba.

* cleanup

* wrong weight size

* changes ever so slightly

* seems enough

* Revert "seems enough"

This reverts commit 24f64e9b18583462206bb77c37ba7727b9e47245.

* new ref
 2021-09-28 17:37:31 -07:00
Adeeb Shihadeh
3b8fa4b7fd controls: only send cruise cancel while cruise is enabled (#22359) 
* controls: only send cruise cancel while cruise is enabled

* cleanup

* might actually do something

* update refs

* update refs again

* update refs
 2021-09-28 12:30:50 -07:00
HaraldSchafer
fe983a7b8c acados long merged (#22224) 
* rebased

* cleaner, seems to drive better?

* more stable

* wrong import

* new way of thinking

* reports look nice

* start move back

* works at leas

* good timestamps

* step by step

* somewhat work

* tests pass

* ALL CARS STOPPED

* should work

* fake a cruise obstacle

* cleaner costs

* pretty good except cruise braking

* works pretty well now!

* cleanup

* add source

* add source

* that is needed for unit tests

* nan recovery

* little cleaner

* stop wasting arrays

* unreasonable without unfair init

* this isnt needed without the exponential

* that works too

* unused

* uses less

* new ref

* long enough

* e2e long api

* DONT PUT IN A VIEW INTO ACADOS

* new ref for outside weights

* remove debug prints
 2021-09-27 19:48:28 -07:00
Adeeb Shihadeh
2fe91e6085 change reverse gear event from immediate to user disable (#22337) 2021-09-24 10:27:51 -07:00
Adeeb Shihadeh
649af76fd4 remove community supported cars from community features (#22330) 
* remove community supported cars from community features

* remove bosch and hkg long

* remove test case

* update refs
 2021-09-23 17:34:52 -07:00
Willem Melching
88d248a5af Remove fuzzy fingerprint startup alert (#22328) 
* deprecate fuzzy fingerprint startup alert

* bump cereal
 2021-09-23 17:15:33 -07:00
HaraldSchafer
fcda55fbf1 Fix cruise MPC convergence bug and add test (#22295) 
* fix tests

* fix cruise convergence bug

* update refs

* Update selfdrive/controls/tests/test_cruise_speed.py

Co-authored-by: Willem Melching <willem.melching@gmail.com>

* Update selfdrive/controls/tests/test_cruise_speed.py

* add msgh

Co-authored-by: Willem Melching <willem.melching@gmail.com>
 2021-09-21 12:19:05 -07:00
HaraldSchafer
cc6af379ce various cleanup (#22289) 2021-09-20 16:26:10 -07:00
Mitchell Goff
485afda79d Added update_with_xva method to long_mpc so it can be used in sim (#22284) 2021-09-20 14:20:01 -07:00
HaraldSchafer
7495100177 More extreme lead init for lead mpc (#22273) 
* More harsh lead init for lead mpc

* update refs
 2021-09-20 09:35:55 -07:00
Harald Schafer
a1fcedda21 Clip radar acceleration for mpc stability 2021-09-18 22:21:03 -07:00
HaraldSchafer
f0be9a57ac Dont run plannerd for long tests (#22260) 2021-09-16 20:45:13 -07:00
HaraldSchafer
5e995e5aff sane lead clips to prevent reset (#22255) 2021-09-16 17:31:32 -07:00
HaraldSchafer
42d93e94df remove ACADO (#22247) 
* remove acado

* not relevant anymore
 2021-09-15 21:14:11 -07:00
HaraldSchafer
66c275b711 Acados long fast (#22233) 
* acados long

* new ref

* SPPEEEEEDDD

* less iterations

* this shouldn't be so high

* reset only essentials

* minimal reset for long mpc

* more cpu usage plannerd

* Use lead mpc even when going to crash

* reset to current state

* Use open loop speed for lead mpc

* 1 iteration is too little for cruise mpc

* add whitespace

* update refs
 2021-09-15 19:00:12 -07:00
Willem Melching
417e229624 Add upper/lower bounds for longitudinal lag (#22235) 
* Add upper/lower bounds for longitudinal lag

* add ref

* update ref

* bump cereal

* bump cereal
 2021-09-14 18:57:16 -07:00
HaraldSchafer
96a8f8a831 Less QP iterations for lateral acados (#22231) 
* Less QP iterations for lateral acados

* update ref
 2021-09-14 13:55:30 -07:00
Willem Melching
c4bac6bd68 Hyundai longitudinal prerequisites (#22121) 
* panda

* bring over changes

* dont check car model

* remove comment

* fix typo

* more stuff gated behind long

* not

* not used

* gate that too

* try honda tuning

* clip accel values

* fix up merge

* fix stopping

* add retry logic around knockout

* increase timeout

* keep flipping lead bit

* true for now

* less tuning

* update comment

* 0.1 s is fine now

* merge honda and hyundai knockout

* more lead fields

* another obj bit

* increase timeout

* fix stopping flag

* only lag compensate for braking

* no lead

* less tuning

* only do knockout if not readonly

* try controlling using jerk

* tuning

* try higher stopping rate

* set stopping flag at higher speed

* clip upper jerk when stopping

* remove comments

* tester present 1hz

* use positive start accel

* 1.0 to maybe improve low speed stuff

* no point going over 0

* bump panda

* bump panda

* revert that change

* update ref
 2021-09-13 22:03:08 -07:00
HaraldSchafer
0dc45eaf1c Fix 0 init bug for acados lateral (#22225) 
* this is needed somehow

* new ref
 2021-09-13 21:23:22 -07:00
HaraldSchafer
7081ab4fb7 Port lateral planning to ACADOS (#22080) 
* lateral acados

* looks good!

* add another solve, needed for init somehow

* use copy

* init correctly

* cleanup sconstruct

* Update files_common

* update cpu usage

* reset when invalid

* fix cpu usage

* cost_set doesnt leak

* new ref

* non leaky reset

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
 2021-09-13 19:06:54 -07:00
Willem Melching
b7d1aac197 Parameterize longitudinal control using carParams (#22200) 
* use CP.startAccel

* missing values

* order

* update ref

* cereal
 2021-09-11 18:01:54 -07:00
Willem Melching
1e62b09e5d Use CP.vEgoStopping and clean up CP.startAccel (#22199) 
* use CP.vEgoStopping and clean up

* update ref
 2021-09-11 17:13:30 -07:00
HaraldSchafer
74b6c87254 cleanup old nidec accel override logic (#22181) 
* cleanup old nidec accel override logic

* add ref without deprecated fields

* no more override
 2021-09-10 10:34:18 -07:00
Adeeb Shihadeh
da74a6cf73 plannerd: remove last of liveMpc 2021-09-09 14:09:09 -07:00
Adeeb Shihadeh
1c750975fc reduce startup alert duration to 10s (#22163) 
* reduce startup alert duration to 10s

* update refs

* update refs

* update refs
 2021-09-07 13:40:31 -07:00
Willem Melching
4f84e1b2ad actually set longControlState in actuators packet (#22155) 
* actually set longControlState in actuators packet

* update ref
 2021-09-06 20:14:01 -07:00
Willem Melching
21ae64868e put LongControlState in CarControl.Actuators (#22154) 2021-09-06 18:45:59 -07:00
Willem Melching
b39f6efa3f parameterize longitudinal actuator delay (#22153) 
* paremetrize longitudinal actuator delay

* update ref
 2021-09-06 17:56:52 -07:00