7fa972be6a
version: sunnypilot v2025.003.000 (dev) date: 2026-02-09T02:04:38 master commit: 254f55ac15a40343d7255f2f098de3442e0c4a6f
129 lines
3.6 KiB
YAML
129 lines
3.6 KiB
YAML
tabs:
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'0':
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name: Lateral Plan Conformance
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panel_layout:
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type: split
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orientation: 1
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proportions:
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- 0.3333333333333333
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- 0.3333333333333333
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- 0.3333333333333333
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children:
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- type: panel
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panel:
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type: timeseries
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title: desired vs actual
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series_paths:
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- controlsState/lateralControlState/torqueState/desiredLateralAccel
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- controlsState/lateralControlState/torqueState/actualLateralAccel
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- type: panel
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panel:
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type: timeseries
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title: ff vs output
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series_paths:
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- controlsState/lateralControlState/torqueState/f
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- carState/steeringPressed
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- carControl/actuators/torque
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- type: panel
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panel:
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type: timeseries
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title: vehicle speed
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series_paths:
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- carState/vEgo
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'1':
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name: Actuator Performance
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panel_layout:
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type: split
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orientation: 1
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proportions:
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- 0.3333333333333333
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- 0.3333333333333333
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- 0.3333333333333333
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children:
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- type: panel
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panel:
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type: timeseries
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title: calc vs learned latAccelFactor
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series_paths:
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- liveTorqueParameters/latAccelFactorFiltered
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- liveTorqueParameters/latAccelFactorRaw
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- carParams/lateralTuning/torque/latAccelFactor
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- type: panel
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panel:
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type: timeseries
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title: learned latAccelOffset
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series_paths:
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- liveTorqueParameters/latAccelOffsetRaw
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- liveTorqueParameters/latAccelOffsetFiltered
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- type: panel
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panel:
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type: timeseries
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title: calc vs learned friction
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series_paths:
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- liveTorqueParameters/frictionCoefficientFiltered
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- liveTorqueParameters/frictionCoefficientRaw
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- carParams/lateralTuning/torque/friction
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'2':
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name: Vehicle Dynamics
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panel_layout:
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type: split
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orientation: 1
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proportions:
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- 0.3333333333333333
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- 0.3333333333333333
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- 0.3333333333333333
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children:
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- type: panel
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panel:
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type: timeseries
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title: initial vs learned steerRatio
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series_paths:
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- carParams/steerRatio
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- liveParameters/steerRatio
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- type: panel
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panel:
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type: timeseries
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title: initial vs learned tireStiffnessFactor
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series_paths:
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- carParams/tireStiffnessFactor
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- liveParameters/stiffnessFactor
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- type: panel
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panel:
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type: timeseries
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title: live steering angle offsets
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series_paths:
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- liveParameters/angleOffsetDeg
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- liveParameters/angleOffsetAverageDeg
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'3':
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name: Controller PIF Terms
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panel_layout:
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type: split
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orientation: 1
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proportions:
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- 0.3333333333333333
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- 0.3333333333333333
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- 0.3333333333333333
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children:
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- type: panel
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panel:
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type: timeseries
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title: ff vs output
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series_paths:
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- carControl/actuators/torque
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- controlsState/lateralControlState/torqueState/f
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- carState/steeringPressed
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- type: panel
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panel:
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type: timeseries
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title: PIF terms
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series_paths:
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- controlsState/lateralControlState/torqueState/f
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- controlsState/lateralControlState/torqueState/p
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- controlsState/lateralControlState/torqueState/i
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- type: panel
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panel:
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type: timeseries
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title: road roll angle
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series_paths:
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- liveParameters/roll
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