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734 Commits

Author SHA1 Message Date
Jonathan Frey
0681474840 work on acados lateral MPC (#23558) 
* 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>
 2022-01-18 09:49:48 -08:00
Willem Melching
5b385c34a4 thermald refactor seems to have lower CPU usage 2022-01-18 16:17:54 +01:00
Willem Melching
f76328b426 Log MPC solver time (#23566) 
* add solve time to plan output

* add to process replay ignore list

* print in CI
 2022-01-18 14:51:03 +01:00
Jason Young
57156c4482 Chrysler: remove standstill exception for gas disengage (#23515) 
* Chrysler: remove standstill exception for gas disengage

* remove test exception

* bump panda

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2022-01-13 16:06:56 -08:00
Vivek Aithal
f808b174af use roll std from locationd (#23449) 
* use roll std from locationd

* cleaner

* add todo

* new ref

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
 2022-01-12 21:37:09 -08:00
Adeeb Shihadeh
9941c99f7c process replay: handle inf and nan in absolute tolerance 2022-01-12 13:34:46 -08:00
Shane Smiskol
eb9f35946d Toyota: Support Avalon 2022 (TSS2.5) (#23381) 
* Add AVALON_TSS2

* Is TSS2 now!

* Add Avalon to CARS.md

* add to test_routes

add to test_routes
 2022-01-12 09:41:07 -08:00
Willem Melching
5fb9c6aa68 thermald has slowly started to use more CPU 2022-01-11 15:40:18 +01:00
Shane Smiskol
cf9792dc53 Longcontrol: remove starting state (#23328) 
* remove starting state

* new ref

* ready for merge

* try this

* cereal now on master

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
 2022-01-04 15:40:39 -08:00
HaraldSchafer
d3f064f5ca Controlsd: fix bug in curv rate limit (#23250) 
* Controlsd: fix bug in curv rate limit

* update ref
 2022-01-04 13:21:56 -08:00
Willem Melching
aad7ebdc2a bump CPU usage slightly after adding glFlush 2022-01-04 16:26:59 +01:00
Shane Smiskol
9f88ba188a Longitudinal planner: make v_desired a FirstOrderFilter (#23341) 
* 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>
 2022-01-04 12:17:33 +01:00
Jason Wen
bd399693b6 Hyundai: Car Port for 2022 Santa Fe Plug-in Hybrid (#23332) 
* Add car port: Hyundai Santa Fe Plug-in Hybrid 2022

* Add test route
 2021-12-31 17:28:07 -08:00
Adeeb Shihadeh
699b20ed44 test/profiler: fix setting carParams 2021-12-26 21:02:12 -08:00
Ewout ter Hoeven
332f568a82 Pyupgrade 3.6: Update syntax with Python 3.6+ features (#23305) 
Updated Python code with Python 3.6+ features:
- utf-8 encoding is now the default (PEP 3120)
- Replace list comprehensions by Generator Expressions (PEP 289)
- Replace yield loop by yield from (PEP 380)
- Remove the (object) subclass when defining a class
- Replace the IOError alias by OSError (PEP 3151)
- Define sets with curly braces {} instead of set()
- Remove "r" parameter from open function, which is default

Co-Authored-By: Adeeb Shihadeh <8762862+adeebshihadeh@users.noreply.github.com>
Co-Authored-By: GregorKikelj <96022003+GregorKikelj@users.noreply.github.com>

Co-authored-by: Adeeb Shihadeh <8762862+adeebshihadeh@users.noreply.github.com>
Co-authored-by: GregorKikelj <96022003+GregorKikelj@users.noreply.github.com>
 2021-12-24 11:18:39 -08:00
HaraldSchafer
cf466222f6 Road Roll Compensation Rebased (#23251) 
* first commit

* update refs
 2021-12-16 17:34:12 -08:00
Adeeb Shihadeh
e49480185a update model replay ref commit after increased model idx precision 2021-12-16 15:58:56 -08:00
Ewout ter Hoeven
55390d273f Convert format strings strings to f-strings (#23241) 
* 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>
 2021-12-16 14:58:17 +01:00
Willem Melching
4f1eb4278a Log actuators after applying rate limits in CarController (#23230) 
* return actuators from carcontroller

* log it

* pass to latcontrol

* chrysler

* gm

* honda

* more brands

* rest of the brands

* gm cleanup

* hyundai cleanup

* update ref

* rename field

* fix subaru

* add types

* more subaru fixes #23240

* consistent whitespace

* bump cereal
 2021-12-16 13:08:20 +01:00
Adeeb Shihadeh
66ee3e9ef9 model replay: more consistent replay (#23237) 
* first cleanup

* don't send calib and desire

* should always be valid

* little more
 2021-12-15 16:12:24 -08:00
martinl
7fd98757b4 Subaru: Add Impreza/Crosstrek 2020 (#21011) 
* Add Subaru Impreza/Crosstrek 2020

* Update selfdrive/test/test_routes.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-12-15 15:13:31 -08:00
Harald Schafer
c25ed45437 Update ref with minSpeedCAN removed 2021-12-14 12:31:30 -08:00
ZwX1616
af5a418fa6 DM: more adaptive pose policy (#23184) 
* rename and add dep

* proto thresholds

* tweak vk

* update natural offset and clip offsets

* 95th looks good

* no punish for being relaxed

* yaw laplace only

* some pay more attention

* update ref

Co-authored-by: Willem Melching <willem.melching@gmail.com>
 2021-12-14 12:13:59 -08:00
Adeeb Shihadeh
af125f3c51 update refs 2021-12-12 13:49:14 -08:00
Adeeb Shihadeh
07b971d473 alerts: handle min duration properly (#23191) 
* alerts: handle min duration properly

* add active

* tests

* cleanup test

* update refs
 2021-12-10 19:20:07 -08:00
Adeeb Shihadeh
4627d201b6 alert text simplification (#23186) 
* alert text simplification

* little more

* user triggered

* little more

* less annoying ldw

* Update selfdrive/controls/lib/events.py

* update refs

* revert
 2021-12-10 15:21:37 -08:00
Adeeb Shihadeh
1638975627 Merge 2021 Accords into 2018 Accords (#23174) 
* Merge 2021 Accords into 2018 Accords

* last of them
 2021-12-08 14:40:14 -08:00
Mitchell Goff
1d119999c2 New model: 224877e7-dfcf-4b28-9482-371655918fe1/950 (#23170) 
* New model: 224877e7-dfcf-4b28-9482-371655918fe1/950

* Updated model replay ref
 2021-12-08 13:55:30 -08:00
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