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
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
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
HaraldSchafer
634f7cebef
Make PI into a PID ( #24151 )
...
* Make PI into a PID
* Cast like before
2022-04-07 11:34:45 -07:00
Adeeb Shihadeh
162e47456c
bump cereal
2022-04-06 22:25:59 -07:00
Adeeb Shihadeh
1ea66ee244
controlsd: fix long press set speed increment ( #24161 )
2022-04-06 22:03:40 -07:00
Willem Melching
fb344021aa
update camera CRC alert text ( #24156 )
2022-04-06 17:46:56 -07:00
Willem Melching
1848050fd9
add cameraFrameRate alert ( #24152 )
...
* add cameraFrameRate alert
* bump cereal
2022-04-06 17:11:39 -07:00
Willem Melching
eaa5819211
commIssueAvgFreq: separate alert for avg freq check ( #24150 )
...
* commIssueAvgFreq: separate alert for avg freq check
* bump cereal
* bump cereal
* bump cereal
* freq_ok separate from alive
* bump cereal to master
* update_ref
* fix profiler
2022-04-06 16:43:32 -07:00
Lukas Petersson
65fca83abe
Latency logging 2 ( #24058 )
...
* msg_order and gantt
* frameId in long/lat planner
* track frame id
* controls frame id
* graph tracked events
* graph json
* cloudlog timestamp
* c++ cloudlog
* add frame id
* bug fixes
* bug fixes
* frame id visionicp
* bug fixes and debug level
* timestamp log placement
* print timestamps in table
* translate events
* more logging
* bug fixes
* daemon boardd
* print logs with boardd
* more timestamp logs
* cleanup
* remove publish logs
* bug fix
* timestamp received
* timestamp received
* bug fixes
* use json lib
* ignore driver camera
* prep for new timestamp pipeline
* bug fix
* read new pipeline unfinnished
* read new pipeline
* bug fix
* add frame to controlsstate
* remove controlsstate
* print
* cleanup
* more cleanup + bug fix
* clock build issue
* remove unused imports
* format durations
* increase speed
* pr comments fixes
* conflicts
* set MANAGER_DAEMON for boardd
* clean script code
* bug fix + argparse
* remove rcv time
* bug fixes
* print without tabulate
* fix pre-commits
* plot gnatt
* color bug fix
* read without timestampextra
* bump panda
* mono time instead of frame id
* finnish script
* clean unused
* clean unused logging
* monotonic + json fixes
* del test
* remove whilelines
* bump laika
* cleanup
* remove deps
* logs nicer strings
* remove plotting from scirpt
* reset pipfile
* reset pipfile
* nicer strings
* bug fix
* bug fix
* pr comments cleaning
* remove plotting
* bug fix
* new demo route
* bump opendbc and panda
* cereal master
* cereal master
* script less komplex
* assertions
* matplotlib
* readme
* Update README.md
* graph html
* design fixes
* more code design
* Update common/logging_extra.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
* whitespace
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
* Update tools/latency_logger/latency_logger.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
* pr comments
* bug fix
* readme + env once
* clean swaglog
* bug fix
* Update tools/latencylogger/README.md
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
* revert
* revert
* clean swaglog with error
* remove typo file
* revert graph
* cereal
* submodules
* whitespaces
* update refs
Co-authored-by: Bruce Wayne <batman@workstation-openpilot2.internal >
Co-authored-by: Comma Device <device@comma.ai >
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
2022-04-05 21:05:45 -07:00
