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32 Commits

Author SHA1 Message Date
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
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
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
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
Harald Schafer
791de68689 plannerd: position std size check bug 2021-10-17 19:52:11 -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
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
Adeeb Shihadeh
9be7cf2cda remove deprecated mpc logging code 2021-08-26 13:33:43 -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
Mitchell Goff
15d6bbb47c Revert "New desire model (#21729)" (#21805) 
* Revert "New desire model (#21729)"

This reverts commit e83973b9b3.

* Updated process replay ref and reverted release notes
 2021-07-30 14:34:29 -07:00
Mitchell Goff
e83973b9b3 New desire model (#21729) 
* New model: b822ee32-917c-4639-99f8-25be3e6aabad/900

* Enable keeps

* use new packet

* Send keep pulses once per second

* Updated model_replay_ref_commit

* New model: 0f160bf9-1bce-43e6-9785-564b2453eeac

* Bump model_replay_ref_commit

* Bump submodules

* New model: fd904bf9-5dd8-4619-8997-c5668400e078/550

* New model: fd904bf9-5dd8-4619-8997-c5668400e078/950

* No keeps

* Bumped model replay ref

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
 2021-07-26 21:11:09 -07:00
Adeeb Shihadeh
88424ede2c Revert model (#21571) 
* Revert "New desire model (#21458)"

This reverts commit 4230d5d212.

* revert rel notes
 2021-07-12 19:26:50 -07:00
HaraldSchafer
4230d5d212 New desire model (#21458) 
* New model: b822ee32-917c-4639-99f8-25be3e6aabad/900

* Enable keeps

* use new packet

* Send keep pulses once per second

* Updated model_replay_ref_commit

* New model: 0f160bf9-1bce-43e6-9785-564b2453eeac

* Bump model_replay_ref_commit

Co-authored-by: mitchell <mitchellgoffpc@gmail.com>
 2021-07-07 19:44:17 -07:00
HaraldSchafer
be5ddd25cd Refactor long (#21433) 
* refactor

* needs casting

* tests pass

* fix that test

* refactor in controls

* lets not go crazy

* change of names

* use constants

* better naming

* renamed

* soft constraints

* compile slack variables

* rm git conflict

* add slack variables

* unused

* new edition

* fcw

* fix tests

* dividing causes problems

* was way too slow

* take a step back

* byeeee

* for another time

* bad idxs

* little more cpu for cruise mpc

* update refs

* these limits seem fine

* rename

* test model timings fails sometimes

* add default

* save some cpu

* Revert "little more cpu for cruise mpc"

This reverts commit f0a8163ec90e8dc1eabb3c4a4268ad330d23374d.

* Revert "test model timings fails sometimes"

This reverts commit d259d845710ed2cbeb28b383e2600476527d4838.

* update refs

* less cpu

* Revert "Revert "test model timings fails sometimes""

This reverts commit e0263050d9929bfc7ee70c9788234541a4a8461c.

* Revert "less cpu"

This reverts commit 679007472bc2013e7fafb7b17de7a43d6f82359a.

* cleanup

* not too much until we clean up mpc

* more cost on jerk

* change ref

* add todo

* new ref

* indentation
 2021-07-07 19:42:26 -07:00
HaraldSchafer
6838e1c82c Refactor lateral lag compensation (#21334) 
* add T_IDXS

* refactor

* fix test

* unused

* typo

* needs casting

* Update selfdrive/controls/lib/drive_helpers.py

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

* deprecate field

* regen all

* new segs

* add todo

* split back

* clean

* bad names

* do in controls

* add arg

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-06-30 14:19:39 -07:00
Willem Melching
de34d1a527 Determine lane chane direction in preLaneChange state (#21119) 
* Determine lane chane direction in preLaneChange state

* cleanup

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-06-04 10:03:13 +02:00
Willem Melching
a57f10c202 Fix ability to change lane change direction while in progress (#20765) 2021-04-29 13:03:16 -07:00
HaraldSchafer
0e10b74a61 MPC retune for laneless fix (#20616) 
* was making wrong policy more aggresive

* allow to be set from simulator

* update refs

* put params together
 2021-04-08 12:56:47 -07:00
Willem Melching
1fc7bcca43 ecam toggle (#20597) 
* use ecam in ui

* needs reboot

* use in modeld

* typo

* effective FL is longer in center

* normalize zoom by focal dist

* read param before init

* make 2x as wide

* review comments

* more explicit

* fix camera offset

Co-authored-by: ZwX1616 <zwx1616@gmail.com>
 2021-04-07 19:12:35 +02:00
Willem Melching
ae094042ad add putBool/getBool wrappers to cython params class (#20611) 
* add putBool/getBool wrappers to cython class

* use new API

* some more puts

* fix mockparams arguments

* add get_bool to MockParams

* typo
 2021-04-07 15:36:37 +02:00
HaraldSchafer
d72d433ec7 no heading cost (#20594) 
* no heading cost

* live mpc weight config

* need to add stds

* make work on empty data

* no divide by 0

* update refs

* update model replay

* update proc replat

* new model replay ref
 2021-04-06 23:49:29 -07:00
Adeeb Shihadeh
2319d726fb lower min lane change speed to 30mph (#20586) 
* lower min lane change speed to 30mph

* update refs
 2021-04-05 15:38:53 -07:00
HaraldSchafer
7ee79c9923 New KL model + laneless toggle (#20454) 
* New model: 0bf38240-6b55-42b0-bcfb-da08ff5cd0b9/650

* laneless baby

* hardcode model difference for now

* kale toggle

* kale emoji

* sensible description

* make clear it is not just for ui

* emojis dont work yet

* 9671a8fe-539f-4a04-a163-54571df21139/650

* new model

* only read param on rising edge of ignition

* update toggle text

* fix that

* update refs

Co-authored-by: mitchell <mitchellgoffpc@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-03-24 01:10:31 -07:00
Adeeb Shihadeh
43ce7165c4 Remove lane change toggle and default LDW to off (#20442) 
* remove lane change toggle and default LDW to off

* update refs
 2021-03-22 20:55:57 -07:00
HaraldSchafer
27035131cc Sane curvature rate limit in plannerd (#20366) 
* safety limit

* should be in RADs

* add raw

* update refs
 2021-03-16 15:00:03 -07:00
Willem Melching
c23ec9f753 LateralPlanner should only compute curvature (#20289) 
* get curvature from planner

* no need to check active

* remove that

* remove self

* liveParams not needed

* cast

* fix test bug

* fixes

* fix ui.py

* fix radians

* update refs

* update refs

* bump cereal

* bump cereal

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-03-11 21:08:51 -08:00
HaraldSchafer
8df76b3980 Always linearize, better way of compensating for lag (#20133) 
* need to divide diff by 2

* simple linearization seems to work best

* update refs
 2021-02-23 12:56:12 +01:00
Adeeb Shihadeh
312b681a46 cereal cleanup part 2 (#20092) 
* car stuff

* thermal

* Revert "car stuff"

This reverts commit 77fd1c65ebd01abfa8493ae12c9e6b14f7ada976.

* panda state

* camera stuff

* start deg

* most is building

* builds

* planner + controls run

* fix up paramsd

* cleanup

* process replay passes

* fix webcam build

* camerad

* no more frame

* thermald

* ui

* paramsd

* camera replay

* fix long tests

* fix camerad tests

* maxSteeringAngle

* bump cereal

* more frame

* cereal master
 2021-02-16 21:39:32 -08:00
Igor
8f9ee10b8a Fix division by zero in lateral_planner.py (#20071) 
* Fix division by zero

* Change fix logic
 2021-02-16 11:43:11 +01:00
HaraldSchafer
0c900c8ce1 fix low speed lateral (#20053) 
* fix low speed lateral

* update ref

* fix failing CI jobs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-02-09 15:36:58 -08:00
HaraldSchafer
c3707328f5 Different lag comp (#20024) 
* more sensible

* different names for different segs

* new ref

* this is checked somewhere
 2021-02-05 14:01:22 -08:00
Adeeb Shihadeh
000bd226aa Cereal cleanup (#20003) 
* start cleanup

* fan speed

* cleanup dm

* fix cereal

* hwType -> pandaType

* update refs

* update refs

* bump cereal

* freeSpacePercent

* cereal master
 2021-02-03 19:57:30 -08:00