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432 Commits

Author SHA1 Message Date
HaraldSchafer
d1b003c5d2 Cruise speed: up to 90mph max (#23161) 
* Cruise speed: up to 90mph max

* update ref
 2021-12-07 15:47:57 -08:00
HaraldSchafer
77a99e7d6d long planner: no reset when starting (#23149) 
* long planner: no reset when starting

* let go to 2m/s

* update ref
 2021-12-06 23:10:16 -08:00
Harald Schafer
9afc95474d add a change cost 2021-12-06 16:17:11 -08:00
HaraldSchafer
0dcdf9c30f Long policy: strictly squared stopped equivalence function (#23118) 
* new ref

* never let lead stopped equivalence go down

* no overbraking

* stricter again

* cleanup

* updated refs
 2021-12-03 16:12:30 -08:00
Willem Melching
bbd0f94d9d add desired angle to log (#23115) 
* add desired angle to log

* update ref

* bump cereal
 2021-12-03 21:35:34 +01:00
HaraldSchafer
5b0e10ea33 Reaction buffer on follow distance (#23112) 
* Reaction time buffer

* new ref
 2021-12-02 23:56:02 -08:00
HaraldSchafer
46fd5892bf Human inspired follow distance (#22937) 
* 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
 2021-12-02 14:42:13 -08:00
Adeeb Shihadeh
3b367e6872 Newer sounds (#23091) 
* new prompt sound

* padding

* prompt distracted

* debug

* fix spelling

* lower min volume

* better volume at low speeds

* revert debug

* revert that

* fix tests

* update refs

Co-authored-by: Comma Device <device@comma.ai>
 2021-12-02 00:28:25 -08:00
HaraldSchafer
68015f75ed Set accel trajectory to a_ego when not engaged (#23100) 
* Set accel trajectory to a_ego when not engaged

* update ref
 2021-12-01 23:12:11 -08:00
HaraldSchafer
8f3bc4872f Less sensitive torque saturated warning (#23003) 
* Less sensetive torque saturated warning

* better comment
 2021-12-01 13:53:42 -08:00
Adeeb Shihadeh
e679d05d9e New sounds (#22652) 
* new engage/disengage + amp config

* first family

* cleanup audible alerts

* tici isn't special

* fix up debug cycle alerts

* these were better

* extend range

* use distracted sound

* log scaling

* getting closer

* slightly louder

* prompt

* update tests

* update refs

* fix c2 test

* resolve todo

* adjust tolerance

* revert for now

* should work

Co-authored-by: Comma Device <device@comma.ai>
 2021-11-30 19:47:33 -08:00
HaraldSchafer
048cc3ac9f Longcontrol : pid error should be 0 when plan is followed (#23066) 
* v_pid error should be 0 when plan is followed

* update ref
 2021-11-29 15:22:02 -08:00
Shane Smiskol
113988ae31 longitudinal: only apply overshoot prevention when braking (#22986) 
* only if braking is desired

* use v_target to determine stopping

* more clear?
 2021-11-29 11:29:32 +01:00
Shane Smiskol
93fd662adf Clean up planner files (#23031) 
* clean up planner files

clean up planner files

* fix plant instance
 2021-11-26 14:57:39 +01:00
Robbe Derks
4960578bdf Tesla longitudinal control (#22561) 
* tesla long squashed changes

* fix no resume from stop

* try setting accel limits to 0 to remove jerk with fast switchover

* expand radard lookup tables

* bump merged panda submodule
 2021-11-18 13:57:12 +01:00
Adeeb Shihadeh
2a72e2a514 add offroad alerts for car unrecognized (#22934) 
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Chris McCammon <chrismccammon123@gmail.com>
 2021-11-17 20:29:00 -08:00
HaraldSchafer
24aadaf1f3 Lateral planner: lower max cost (#22960) 
* prevent ping pong when tuning is not so great

* update refs
 2021-11-17 20:24:10 -08:00
Adeeb Shihadeh
5296ca8d73 improve crc camera error (#22943) 2021-11-16 22:57:22 -08:00
Adeeb Shihadeh
8d917b6702 more alert checks 2021-11-16 22:56:29 -08:00
HaraldSchafer
b3b45c8d29 Add cost to long plan change for smoother lag comp (#22923) 
* add plan changing cost

* fix compile

* set weights

* try this cost

* horizon problem

* looks pretty good

* update refs

* update refs

* smoother plan changes
 2021-11-16 17:57:55 -08:00
Adeeb Shihadeh
d8a5c415cd Revert "add offroad alerts for car unrecognized" 
This reverts commit fb1e8ce086.
 2021-11-16 13:31:10 -08:00
Adeeb Shihadeh
fb1e8ce086 add offroad alerts for car unrecognized 2021-11-16 13:30:33 -08:00
Adeeb Shihadeh
833399e941 alerts: make soft disables an orange alert (#22925) 2021-11-16 13:11:32 -08:00
Adeeb Shihadeh
3302239013 put cruiseMismatch event in logging only mode 2021-11-15 21:16:54 -08:00
Adeeb Shihadeh
5265c36de7 alert cleanup (#22919) 2021-11-15 16:14:31 -08:00
Adeeb Shihadeh
db92006dc0 CI: skip cruise mismatch check for can replays 2021-11-12 18:22:39 -08:00
HaraldSchafer
a04114f68c Give car interface roll and pitch (#22891) 
* Give car interface roll and pitch

* fixup

* whitespace
 2021-11-12 12:21:22 -08:00
Joost Wooning
89d0a52d16 cython wrapper for acados (#22784) 
* cython wrapper for acados

* fix building

* sconscript cleanup

* no cython numpy

* cleanup

* upgrade build script

* try without slices

* new acados commit

* c3 update acados libs

* c2 libs

* make faster

* undo profiling

* fix build

* somewhat faster

* tryout cost_set_slice

* Revert "tryout cost_set_slice"

This reverts commit d358d93a133270e4edab9e7c07ffb6f577c52bd6.

* cleanup

* undo t_renderer change

Co-authored-by: Comma Device <device@comma.ai>
 2021-11-12 17:09:08 +01:00
Adeeb Shihadeh
e528e2e3e2 allow update snoozing (#22876) 
* allow update snoozing

* not immediately visible

* dismiss and close

* grey button
 2021-11-11 15:32:25 -08:00
Adeeb Shihadeh
308219c5b1 alerts: use repeating warning2 sound for steerSaturated (#22874) 2021-11-11 11:55:34 -08:00
sshane
bdaea086f8 Longcontrol: do not clip vEgo to minSpeedCan (#22832) 
* fix tss2 slow reacceleration in sng

(should) preserve stopping behavior

add comments since it's confusing

fix

* Revert "fix tss2 slow reacceleration in sng"

This reverts commit 42abde0eb945d8bc5ad9b502d1d89b3e3dc16f8a.

* don't max(vEgo)

* update ref

Co-authored-by: Willem Melching <willem.melching@gmail.com>
 2021-11-11 13:24:38 +01:00
Adeeb Shihadeh
327464fb84 increase engagement alerts duration 2021-11-10 22:11:14 -08:00
Adeeb Shihadeh
035bc0c20f controlsd: alert on cruise mismatch for >1s (#22841) 
* controlsd: alert on cruise mismatch for >1s

* bump cereal

* update refs

* bump allowed soundd cpu

* bump cereal
 2021-11-10 13:01:42 -08:00
Adeeb Shihadeh
c5d6b85c90 alerts: use a single duration for sound, text, and HUD (#22856) 
* alerts: use a single duration for sound, text, and HUD

* little cleanup

* update refs
 2021-11-10 11:54:12 -08:00
Adeeb Shihadeh
93ba52c76c controlsd: optimize alert management (#22846) 
* controlsd: optimize alert management

* little cleanup

* dataclass is nice

* fix tests

* update refs

* sort by start frame

* update refs

Co-authored-by: Comma Device <device@comma.ai>
 2021-11-10 10:54:18 -08:00
Jason Young
2006fff2b6 Fix momentary false blind spot alerts when changing lanes (#22819) 
* reset LaneChangeDirection after finishing

* update ref

Co-authored-by: Willem Melching <willem.melching@gmail.com>
 2021-11-10 17:21:36 +01:00
HaraldSchafer
35d6ed1014 ACADOS: partial condensing (#22830) 
* partial condense

* new refs

* new ref

* newerest refs
 2021-11-09 19:29:55 -08:00
Adeeb Shihadeh
445a5aaca4 soundd: don't loop controls unresponsive sound infinitely (#22839) 
* soundd: don't loop controls unresponsive sound infinitely

* update tests

* actually fix
 2021-11-09 16:58:21 -08:00
Mayfield
8c501f0265 alerts: show min enable speed in "speed too low" alert (#22755) 
* alerts: show min enable speed in "speed too low" alert

* commonize display speed construction
 2021-11-02 14:10:07 +01:00
Adeeb Shihadeh
385f3c5387 controls: don't wind up while EPS is faulted or below min steer speed (#22739) 
* controlsd: don't wind up while EPS is faulted

* also check if above min steer speed

* car params
 2021-10-29 14:13:41 -07:00
Adeeb Shihadeh
3312bf6d15 lower profile below steer speed alert (#22740) 2021-10-29 13:39:12 -07:00
Robbe Derks
585c16cd2a Multipanda support (#22402) 
* squash all PR commits for easy rebase

* merged all panda rx can into one message

* fix buffers in can_send

* more cleanup and minor fixes

* fix even more stuff

* fix non-allocated send buffer

* make connecting more robust

* fix bus offset

* fix controls_mismatch?

* simplify mismatch check

* C++ style struct

* fix connect loop

* update ref

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-10-29 13:04:26 +02:00
Robbe Derks
efb5abec41 Make longitudinal planning triggered on model (#22641) 
* Make long planning triggered on model

* fix process replay

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-10-28 12:27:09 +02:00
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