mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-02-26 17:13:57 +08:00

Files

HaraldSchafer fe0bcdaef6 Lateral torque-based control with roll on TSS2 corolla and TSSP rav4 (#24260 )

* Initial commit

* Fix bugs

* Need more torque rate

* Cleanup cray cray control

* Write nicely

* Chiiil

* Not relevant for cray cray control

* Do some logging

* Seems like it has more torque than I thought

* Bit more feedforward

* Tune change

* Retune

* Retune

* Little more chill

* Add coroll

* Add corolla

* Give craycray a good name

* Update to proper logging

* D to the PI

* Should be in radians

* Add d

* Start oscillations

* Add D term

* Only change torque rate limits for new tune

* Add d logging

* Should be enough

* Wrong sign in D

* Downtune a little

* Needed to prevent faults

* Add lqr rav4 to tune

* Try derivative again

* Data based retune

* Data based retune

* add friction compensation

* Doesnt need too much P with friction comp

* remove lqr

* Remove kd

* Fix tests

* fix tests

* Too much error

* Get roll induced error under 1cm/deg

* Too much jitter

* Do roll comp

* Add ki

* Final update

* Update refs

* Cleanup latcontrol_torque a little more

2022-04-19 19:34:31 -07:00

__init__.py

selfdrive/test

2020-01-17 11:16:14 -08:00

.gitignore

segment regen (#21148 )

2021-06-28 21:44:40 -07:00

compare_logs.py

pylint: enforce indentation (W0311) (#24039 )

2022-03-24 23:23:29 -07:00

model_replay_ref_commit

DM: reduce model error on dsp by another 3.5x (#24159 )

2022-04-07 16:53:06 -07:00

model_replay.py

remove comma two support (#24248 )

2022-04-18 17:55:23 -07:00

process_replay.py

regen: check if regenerated route is enabled (#24207 )

2022-04-13 18:01:16 -07:00

README.md

Process replay for C++ daemons (#2288 )

2020-10-12 11:18:53 +02:00

ref_commit

Lateral torque-based control with roll on TSS2 corolla and TSSP rav4 (#24260 )

2022-04-19 19:34:31 -07:00

regen_all.py

Ensure controlsd can engage again in process replay (#23556 )

2022-01-21 13:13:34 +01:00

regen.py

regen: check if regenerated route is enabled (#24207 )

2022-04-13 18:01:16 -07:00

test_fuzzy.py

update test fuzzy

2021-05-06 19:27:58 +02:00

test_processes.py

regen: check if regenerated route is enabled (#24207 )

2022-04-13 18:01:16 -07:00

update_refs.py

Convert format strings strings to f-strings (#23241 )

2021-12-16 14:58:17 +01:00

README.md

process replay

Process replay is a regression test designed to identify any changes in the output of a process. This test replays a segment through individual processes and compares the output to a known good replay. Each make is represented in the test with a segment.

If the test fails, make sure that you didn't unintentionally change anything. If there are intentional changes, the reference logs will be updated.

Use test_processes.py to run the test locally.

Currently the following processes are tested:

controlsd
radard
plannerd
calibrationd
ubloxd

Forks

openpilot forks can use this test with their own reference logs

To generate new logs:

./update_refs.py --no-upload

Then, check in the new logs using git-lfs. Make sure to also include the updated ref_commit file.