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d4e867e976d98cbb0d4e1403d227159f2a8b44df
Commit Graph

596 Commits

Author SHA1 Message Date
HaraldSchafer
72a736f90e Improved lead model: 6be443f2-ed70-4580-9c31-61b94d068e24/950 (#22290) 
* 6be443f2-ed70-4580-9c31-61b94d068e24/950

* meta changed too

* new ref

* new ref from CI

* unused

* Revert "new ref from CI"

This reverts commit 28b6bdc81055c39973d0bf9cc964647838b73a73.

* new ref from CI again
 2021-09-21 17:36:05 -07:00
Jason Young
37acee843e VW MQB: Volkswagen Arteon Mk1 (#22297) 
* VW MQB: Volkswagen Arteon Mk1

* add test route

* update release notes
 2021-09-21 14:38:40 -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
Jason Young
869ae44ad3 VW MQB: Volkswagen Transporter/California T6.1 (#22283) 
* VW MQB: Volkswagen Transporter/California T6.1

* reformat values

* update CARS

* add test route

* assume SWB for now

* Update RELEASES

* update platform comments
 2021-09-20 13:41:39 -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
32c57fee05 update ref for mpc lead accel clip 2021-09-18 22:35:11 -07:00
Vivek Aithal
3778592f50 locationd: modify factor for measurement STDEV in gps update (#22262) 
* modify factor for measurement STDEV in gps update

* add new ref_commit
 2021-09-17 22:33:46 -07:00
HaraldSchafer
f0be9a57ac Dont run plannerd for long tests (#22260) 2021-09-16 20:45:13 -07:00
HaraldSchafer
2c04176b5f Add stopping for stopped car tests (#22250) 
* add stopping for stopped car tests

* too extreme
 2021-09-16 20:05:09 -07:00
Adeeb Shihadeh
174aa908ba temporarily relax camerad timings 2021-09-15 19:26:20 -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
Harald Schafer
aed91c5906 add model exec time printout 2021-09-15 11:41:18 -07:00
Jason Young
b7e74f3b24 VW MQB: Škoda Kamiq Mk1 (#22240) 
* VW MQB: Škoda Kamiq Mk1

* footnote about the China market Kamiq
 2021-09-15 11:29:37 -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
John Belmonte
f07e1ae99e Honda carstate: use common gas pedal signal (#22010) 
* Honda carstate: refactor GAS_PEDAL handling

* collapse SCM signal cases

* stop using CAR_GAS signal (combined user pedal + computer)

* cleanup

* update refs

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-09-13 22:41:50 -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
Adeeb Shihadeh
369c5d5bff timing tests (#22214) 
* timing tests

* tuning

* more tuning

* passes?

* increase min/max

* eon tuning

* more lax

* even more

* fix plannerd cpu

* should pass

Co-authored-by: Comma Device <device@comma.ai>
 2021-09-13 21:12:25 -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
ZwX1616
dac8597a08 refactor dm pitch/yaw thresholding (#22191) 
* use indiviual pitch/yaw instead of norm

* update process replay
 2021-09-13 16:05:42 -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
Jason Young
d5e6dd3d5b VW MQB: Škoda Karoq Mk1 round 2 (#22190) 
* VW MQB: Škoda Karoq Mk1

* Update README

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-09-10 14:41:31 -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
vanillagorillaa
bcb8a11d7f Honda e Port (#22108) 
* Honda e Port

* Test route for Honda e

* remove

* Update README.md

* update values based on logs

* no need for Honda e specific DBC

* fix tests

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-09-07 16:46:44 -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
Adeeb Shihadeh
82bd060a68 Revert "VW MQB: Škoda Karoq Mk1 (#22133)" 
This reverts commit 04c50e5c0c.
 2021-09-06 20:50:02 -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
Jason Young
04c50e5c0c VW MQB: Škoda Karoq Mk1 (#22133) 2021-09-06 19:56:50 -07:00
Adeeb Shihadeh
81006b03c2 handle missing routes better in test car models 2021-09-06 19:21:06 -07:00
Willem Melching
b39f6efa3f parameterize longitudinal actuator delay (#22153) 
* paremetrize longitudinal actuator delay

* update ref
 2021-09-06 17:56:52 -07:00
Willem Melching
f941111dcd Clean up PID controller ACCEL_MIN/ACCEL_MAX (#22148) 
* use ISO 15622:2018 limits in PID controller

* allow more for nidec

* limit PID inputs

* CP is not needed

* add GM

* not used

* update ref

* fix honda bosch
 2021-09-06 17:29:32 -07:00
martinl
d3113fe01a Subaru: universal signal for ACC speed units (#21995) 
* Change ACC Speed Units signals for Global and Pre-Global

* Use Dash_State UNITS signal for Preglobal

* Change Subaru Preglobal to use Dash_State2 UNITS signal

* bump opendbc

* cleanup

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-09-02 14:21:35 -07:00
Willem Melching
edae2218d7 Smarter longitudinal lag compensations (#22094) 
* smarter lag compensations

* need to use speed from plan

* update ref

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
 2021-09-01 15:28:16 -07:00
Willem Melching
c15a616ac4 Continuously update offset between TSS2 angle sensors (#21943) 
* Continuously update offset between TSS2 angle sensors

* add comment

* less lines

* only when initialized

* init to None

* update ref
 2021-09-01 15:00:52 -07:00
Willem Melching
3b13eb8c7d Add script to rerun process on route and generate new logs (#22100) 
* add script to rerun process on route and generate new logs

* cleanup

* move to root

* newline
 2021-09-01 14:48:41 -07:00
grekiki
21fad4d1ad Add angleError to pid_log (#21611) 
* add angleError

* Log all the time

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-09-01 13:45:22 -07:00
Willem Melching
b8e4717f72 Populate angle offset in carState for Toyota accurate angle sensor (#22091) 
* populate angle offset in carstate for TSS2

* update ref
 2021-08-31 11:34:00 -07:00
Adeeb Shihadeh
86f68ff22e add TSS2 replay route (#21953) 
* add TSS2 replay route

* skip on sim

* do not set on import time

* update ref

Co-authored-by: Willem Melching <willem.melching@gmail.com>
 2021-08-31 10:48:21 -07:00
HaraldSchafer
1ac89f14aa Change car controller interface from gas/brake to acceleration (#21911) 
* retune civic

* seems smooth

* back to normal

* new ref

* fix conflict

* runs

* rm

* accel scale is 4

* toyota should be good

* more cleanup

* fixup

* better naming

* update ref

* deprecated

* sending brake when not enable causes a fault

* rm gas and brake

* unused

* update ref

* acura logic is no more

* wrong before

* revert tuning cleanup

* adress comments

* update ref

* already on master

Co-authored-by: Willem Melching <willem.melching@gmail.com>
 2021-08-30 09:32:52 -07:00
Adeeb Shihadeh
4be956f886 Revert 2021 Accord (#22063) 
* bump panda

* Revert "Car Port: 2021 Accord 2.0 Touring & Hybrid Touring (#22007)"

This reverts commit 7e53a42984.

* revert release notes

* bump panda
 2021-08-28 21:28:14 -07:00
Adeeb Shihadeh
7e53a42984 Car Port: 2021 Accord 2.0 Touring & Hybrid Touring (#22007) 
* Add 2021 Accord 2.0 Touring & Hybrid Touring

- Create the HONDA_BOSCH_EXT set for HONDA_BOSCH cars that utilize the new extended IDs for LKAS_HUD

* Remove ids added to the wrong car

* add comment

* fix undefined signal

* fix tests

Co-authored-by: Chris Souers <csouers@gmail.com>
 2021-08-22 12:50:58 -07:00
Adeeb Shihadeh
c8ca56dddd android health daemon (#21965) 
* androidd

* three strikes

* better logging

* persistent

* add to release files

* cleanup

* no cpu usage

* colon

Co-authored-by: Comma Device <device@comma.ai>
 2021-08-19 16:00:05 -07:00
Adeeb Shihadeh
0415d5ace7 raise thresholds for now 2021-08-18 22:38:44 -07:00
HaraldSchafer
da73249fc2 Retune nidec long (#21941) 
* retune civic

* add a deadzone

* large diffs may not be ok

* typo

* seems smooth

* improve pedal

* back to normal

* new ref

* new ref
 2021-08-16 17:06:19 -07:00
ZwX1616
00ea7c1c82 DM 0.8.8 (#21897) 
* update threshs

* e392

* 40% less

* ref
 2021-08-16 12:44:45 -07:00
Adeeb Shihadeh
196f1c364c update tici controlsd cpu usage 2021-08-13 14:52:27 -07:00
Mitchell Goff
05b37552f3 Retuned desire model (#21919) 
* New model: d8e7f76f-7bec-4a83-af00-c0fae792527f/950

* Updated process replay refs

* Updated model replay ref
 2021-08-12 21:06:26 -07:00