* base LatControl class, move sat check out of pid.py
clean up
clean up
* fix
* global variable for min control speed
* nicer name
* unify latcontrol class init arguments
* add to release files
* saturated if close to limit
* move angle mode saturation checks into class
* check_saturation function takes in current saturated status
undo
* apply latcontrol_angle's active checking to all controllers
* clean up
* move those back
* make abstract baseclass
* add test for saturation
* keep clip
* update ref
* fix static analysis
Co-authored-by: Willem Melching <willem.melching@gmail.com>
* should work
* Revert "should work"
This reverts commit dabc2ea17a072a6c835e4bd1c75a2c1e2d10623d.
* move lane change logic to DesireHelper class
* clean up desires
clean up desires
* comments
* Revert "clean up desires"
This reverts commit 7301c921e305fcbd4746b19040631d935d50dfd9.
* Update selfdrive/controls/lib/desire_helper.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* add to files_common
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Willem Melching <willem.melching@gmail.com>
* lat_mpc: make v_ego, rotation_radius parameters instead of states
* lat_mpc: remove rotation_radius argument, since it is part of the parameters
* lat_mpc: use qp_solver_cond_N = 1
slightly faster and in line with case study in Fig. 2/ 3 in Frison2016 - https://cdn.syscop.de/publications/Frison2016.pdf
An Efficient Implementation of Partial Condensing for Nonlinear Model Predictive Control
* adapt test_lateral_mpc to formulation with parameters
* lat_mpc: set parameters in reset() and copy values
* acados_ocp_solver_pyx: make options_set useable
* update ref
Co-authored-by: Willem Melching <willem.melching@gmail.com>
* check in tuple instead of list
* Update selfdrive/car/toyota/carcontroller.py
Co-authored-by: Willem Melching <willem.melching@gmail.com>
* Update selfdrive/car/mazda/interface.py
Co-authored-by: Willem Melching <willem.melching@gmail.com>
Co-authored-by: Willem Melching <willem.melching@gmail.com>
* remove class accel_limit_arr
remove class accel_limit_arr
* make it static
* only set static parameters once
* just use existing function
style
* Update selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
* Update selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
Co-authored-by: Willem Melching <willem.melching@gmail.com>
* make v_desired a FirstOrderFilter
* forgot one
* one more ref
* Add a new object for the filter
* fix
* fix tests
* update ref
Co-authored-by: Willem Melching <willem.melching@gmail.com>
* mypy passes
* a few more
* a few in manager
* more types, will lint
* more
* simple types
* events type
* Update selfdrive/thermald/thermald.py
* Apply suggestions from code review
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* Convert all text strings to f-strings
Reformats all the text from the old "%-formatted" and .format(...) format to the newer f-string format, as defined in PEP 498. This requires Python 3.6+.
Flynt 0.69 was used to reformat the strings. 120 f-strings were created in 51 files.
F-strings are in general more readable, concise and performant. See also: https://www.python.org/dev/peps/pep-0498/#rationale
* revert pyextra changes
* revert ublox.py
Co-authored-by: Willem Melching <willem.melching@gmail.com>
* Remove minCanSpeed
Remove minCanSpeed
* it actually only goes out to 2.5 seconds, this is okay to remove
* test to see if this preserves behavior
add minSpeedCan
* Revert "test to see if this preserves behavior"
This reverts commit 31b11f017f7e9da7654fc8064b5983d4a6cc22e5.
* preserve behavior (don't enter stopping as early)
* vEgoStopping needs to be less than or equal to vEgoStarting to avoid state oscillation
* alert text simplification
* little more
* user triggered
* little more
* less annoying ldw
* Update selfdrive/controls/lib/events.py
* update refs
* revert
* Add cost for creep
* more reasonable cost
* seems better than before
* science tune
* more chill
* closer follow
* stopping takes some leeway
* better cruise
* needed to be cumsum all along
* jerk not even needed
* matches better
* 6 is too much
* add back
* a little extra buffer is good for badly tuned cars
* new refs
* refs again
