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706 Commits

Author SHA1 Message Date
Adeeb Shihadeh
2f78cfcbfd onroad test fixes (#23164) 2021-12-07 21:02:17 -08:00
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
Adeeb Shihadeh
7c291a1b39 jenkins: improve overall robustness (#23117) 
* test onroad: more reliable log finding

* Update selfdrive/test/test_onroad.py

* write continue.sh in device setup

* clone

* try different delimeter

* try this instead

* fix keys path

* executable

* remove orphaned lock
 2021-12-04 21:07:57 -08:00
Jason Young
8a4ab7f46d VW MQB: Audi Q3 Mk2 (#23128) 2021-12-04 18:55:02 -08:00
grekiki
6951b3271d Python: Replace more lists with generators (#23116) 
* Replace lists with generators v2

* Replace set with {}

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

* Replace more set() with {}

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-12-03 22:57:19 -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
Willem Melching
e6180738fd add CarParams.wheelSpeedFactor (#23079) 
* add CarParams.wheelSpeedFactor

* Fudge speed for Lexus RX

* should have been the TSS2 model

* bump cereal

* refactor into function

* update refs
 2021-12-03 14:57:53 +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
Mitchell Goff
be89044c51 New model: d2053554-6094-43ce-943a-7bee3f43458d/950 (#23097) 
* New model: d2053554-6094-43ce-943a-7bee3f43458d/950

* Updated model replay ref

* Revert "Updated model replay ref"

This reverts commit e83e0a1adc79dd20232b74932de202d858ebb485.

* New refs (again)

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-12-01 22:43:13 -08:00
Adeeb Shihadeh
36a13e8245 test car models: add test for addr checks (#23093) 
* test car models: add test for addr checks

* revert that

* add checks

* ugh broken cars

* which seg

* f

* move that
 2021-12-01 17:23:49 -08:00
Willem Melching
fa34bd912e ci: improve valgrind test robustness (#23092) 2021-12-01 17:54:06 +01:00
Adeeb Shihadeh
d78be47a90 test car models: ignore more fake buses 2021-11-30 21:52:44 -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
Adeeb Shihadeh
b3b5beb627 process replay: set full env in cpp replay 2021-11-30 18:18:12 -08:00
HaraldSchafer
eda6993043 Toyota pedal rewrite (#23067) 
* pedal redo

* add offset to compensate for creep and windbrake

* offset in standard units

* wrong size

* better creep values

* update ref
 2021-11-30 10:50:06 -08:00
Dean Lee
348d2d2b0d rename yuv streams (#23071) 
* rename yuv streams

* bump cereal

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-11-29 18:14:59 -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
Willem Melching
f7c46c6949 Do not run code on version.py import (#23063) 
* Do not run code on version.py import

* fix athena
 2021-11-29 19:38:55 +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
ZwX1616
1ec8f03ec6 test: Replay both models on C2/C3 (#23019) 
* add dcam stream

* delete model_test

* both in jenkins

* update spinner

* get filename fn

* they are not random names

* update route

* new ref commit

* temporarily resize tmp

* clean up unlog send

* need calib 0

* revert device

* cleanup

* arg

Co-authored-by: Comma Device <device@comma.ai>
 2021-11-24 15:59:19 -08:00
Vivek Aithal
8b6a147583 locationd: Fix Nav localization reliability (#22959) 
* modify reset logic

* remove debug statements

* use ecef pos and vel covariances during reset

* reset orientations initialized to 0,0,GPSbearing

* refactor nav fix

* add fake gps observations to control ecef pos and ecef vel std

* replace fake_P with individual fake cov

* set gps mode flag

* add gps invalid flag names

* update refs

* more accurate gps accuracy check + update refs
 2021-11-24 15:24:25 -08:00
Adeeb Shihadeh
5bcb4c0358 process replay: add cx9 route to migration list 2021-11-24 14:08:46 -08:00
Adeeb Shihadeh
eb55226c2b update refs for new mazda name 2021-11-24 13:31:02 -08:00
Adeeb Shihadeh
239c7c1d4e Bring back Accord 2021 + 2021 Hybrid (#23021) 
Co-authored-by: Chris Souers <csouers@gmail.com>
 2021-11-23 23:19:11 -08:00
Erich Moraga
d630ec9092 Add Lexus RC support (#22941) 
* Add f/w firmware for Lexus RC under LEXUS_IS

`@ph33rl355#0529`  2020 Lexus RC F Track Edition  DongleID/route 32696cea52831b02|2021-11-16--23-12-02

Doesn't seem to need a full port, per user feedback...
https://discord.com/channels/469524606043160576/524327905937850394/910400788319326229

* Update CARS.md

* Separated Lexus RC from IS... still using IS DBC

* match lexus IS for now

* Update wheelbase to match published specs

I'm hesitant to touch `mass`, even though I know it's different from the IS.

* Add TOYOTA.LEXUS_RC test route

Co-authored-by: Willem Melching <willem.melching@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-11-22 14:22:28 -08:00
Adeeb Shihadeh
cfdeeff3fd test car models: verify panda and carState's ACC main on match (#22979) 2021-11-19 15:07:16 -08:00
Vivek Aithal
94d59314e2 Revert ecef std until real fix (#22982) 
* too low

* update refs

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
 2021-11-19 12:49:32 -08:00
Andrew
2a6816b893 Genesis G70 2020 port (#22692) 
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-11-18 20:45:32 -08:00
Adeeb Shihadeh
2723cc6cf8 test car models: only check cruise state on PCM cruise cars 2021-11-18 20:42:48 -08:00
Adeeb Shihadeh
01c2a0a211 test car models: support disable radar cars 2021-11-18 19:59:30 -08:00
Jason Wen
73d66ada8d Hyundai: Car Port for 2022 Santa Fe Hybrid (#22962) 
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-11-18 17:33:10 -08:00
Jason Young
ef38117219 VW MQB: Volkswagen T-Roc Mk1 (#22967) 2021-11-18 14:52:59 -08:00
Adeeb Shihadeh
9e1ee72a91 CI: fix test car models bug 2021-11-18 14:40:59 -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
Willem Melching
f1c77f97b9 cleanup unused pip packages (#22947) 
* cleanup unused pip packages

* fix linter
 2021-11-17 16:23:03 +01:00
Willem Melching
372b0f10da Revert "cameraview: remove glflush, reduce C3 CPU usage (#22949)" 
This reverts commit 33b1b94067.
 2021-11-17 16:22:25 +01:00
Dean Lee
33b1b94067 cameraview: remove glflush, reduce C3 CPU usage (#22949) 
* remove glflush

* revert cpu
 2021-11-17 15:37:45 +01:00
Willem Melching
7a3754d50b increase c3 ui cpu usage after async pbo copy 2021-11-17 14:00:55 +01:00
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
f262725705 update refs after alert disable 2021-11-15 21:45:18 -08:00
Adeeb Shihadeh
3302239013 put cruiseMismatch event in logging only mode 2021-11-15 21:16:54 -08:00
Adeeb Shihadeh
ec66573a8b better onroad test output (#22873) 2021-11-15 16:03:30 -08:00
Adeeb Shihadeh
db92006dc0 CI: skip cruise mismatch check for can replays 2021-11-12 18:22:39 -08:00
Vivek Aithal
534bf697ee locationd : Acceleration Bias in locationd (#22879) 
* add accel bias to filter for offline calculation

* bugfix acc bias in live_kf

* add no_accel obsertvation

* increase initial certainty of acc-bias and reduce PN

* increase initial certainty of acc-bias and reduce PN

* increase accel bias PN

* increase obs noise for no_accel observation

* style fixes

* update refs
 2021-11-12 15:55:16 -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