* Add support for aarch64 pc linux
* Add new libyuv path to release files
* Add libyuv's x86_64 lib dir
* Move left-over platform specific dirs from files_common
* Remove libyuv/lib directory (duplicate)
* Fix mpc Sconscripts
* Remove acados lib path from mpc sources
* Fix typo
* Add watch3 exec on aarch64
* 10s lat
* Full length MPC
* redfine N
* Leave controls the same for now
* Updates
* use long plan in lat plan
* interp plan
* add new interp
* simplergit add selfdrive/controls/plannerd.py selfdrive/controls/
* expand to 10s
* revert this
* fix linter
* Update sconscripts
* fix test
* fix test
* fix test
* Revert "Update sconscripts"
This reverts commit 6e23c69dcebd5ed003e37e01921f6af7c31de0db.
* Dont import drive helpers
* better compile deps
* fix compile
* comment
* update replay
* Update plannerd time
* test with forceDecel
* test all combos
* fix
* fix
* fix
* ...
* remove print
* clean up
* just set cruise to 0
* update ref commit
Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com>
* Add params for lead and danger
* fix long params
* E2e passes simple maneuver tests
* Make tests run with e2e long mode
* Slightly more error allowed in e2e mode
* FCW back and populate long source field
* Fix planner name
* FCW still doesnt work
* Slightly less aggressive
* Doesn't need to simulate from stop
* refactor
* Add planer modes to support offline, acc, and blended
* add acceleration
* Fix index
* Update model ref
* Read in model outputs
* Add model msg
* Add e2e logic
* Add source
* scons: add acados_template as dependency for lat and long mpc
* long MPC: use acados reset instead of recreating the solver
* long MPC: print timings and reset commented
* update acados x86_64
* update acados include folder
* update acados Python interface
* update acados reference commit to latest acados/master
* update x86 libs
* update comma two
* update acados again with commit 8ea8827fafb1b23b4c7da1c4cf650de1cbd73584
* update comma two
* update comma three
* update x86
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
* change acados version to finalized PR https://github.com/acados/acados/pull/791
* acados: update include and x86_64 build
* acados: update pyextra
* adapt mpc files to updated acados
* acados buid: clear acados_template and include dir before updating
* update acados again
* acados MPC: only generate solver, building is done via scons
* update acados to latest acados/master
* c3 libs
* c2 libs
* acados scons files: add acados build script as a dependency
* acados scons files: add libacados.so and ocp_nlp_interface.h, build script not in files_common
* update acados
* adapts long & lat MPC file
* update acados reference commit to acados/master
Co-authored-by: Comma Device <device@comma.ai>
* remove class accel_limit_arr
remove class accel_limit_arr
* make it static
* only set static parameters once
* just use existing function
style
* Update selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
* Update selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
Co-authored-by: Willem Melching <willem.melching@gmail.com>
* 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>
* 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
