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388ae5e59e1bb052d5d171332aebbcd36059385e
Commit Graph

259 Commits

Author SHA1 Message Date
Willem Melching
debaf85830 lower model FCW + stock longitudinal threshold to -1.25m/s^2 (#23915) 
old-commit-hash: 37a8b09cad
 2022-03-07 10:42:07 +01:00
Shane Smiskol
6303d97278 controlsd: fix vCruise jumping on pcmCruise cars (#23388) 
* clean up v_cruise_kph

fix

fix

* Revert "clean up v_cruise_kph"

This reverts commit 211b5c3dbe073414ef5c39b19d6d2c6e8de2cf0b.

* always update vCruise and don't init if pcmCruise

* revert change

* update refs
old-commit-hash: 274885fc4d
 2022-03-03 05:23:14 -08:00
Adeeb Shihadeh
63bbcd7279 better steer fault names (#23890) 
* better steer fault names

* bump cereal
old-commit-hash: 87849f93b1
 2022-03-01 22:53:55 -08:00
Shane Smiskol
1f5570a96d Longitudinal control: interpolate longitudinal plan (#23787) 
* interpolate longitudinal actuator delay

rename

* formatting

* interpolate v_target most importantly!

* fix interpolation and rename

* nicer setup

* left in from testing

* update refs
old-commit-hash: 2c7845fce0
 2022-02-18 00:45:00 -08:00
Adeeb Shihadeh
97ea3c8ff2 controlsd: only add startup event until initialized (#23671) 
* controlsd: only add startup event until initialized

* update refs

* update again
old-commit-hash: 602f92fc0e
 2022-01-30 20:38:05 -08:00
Shane Smiskol
beeb0442ce base LatControl class (#21967) 
* base LatControl class, move sat check out of pid.py

clean up

clean up

* fix

* global variable for min control speed

* nicer name

* unify latcontrol class init arguments

* add to release files

* saturated if close to limit

* move angle mode saturation checks into class

* check_saturation function takes in current saturated status

undo

* apply latcontrol_angle's active checking to all controllers

* clean up

* move those back

* make abstract baseclass

* add test for saturation

* keep clip

* update ref

* fix static analysis

Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: 9de8f8cd8c
 2022-01-26 17:10:41 +01:00
Shane Smiskol
183715ccea controlsd: verify unsafe mode consistency (#23563) 
* add unsafe mode check to controlsd

bump submodules

forgot to add to health_t struct

bump

ahh forgot to set it!

bump

bump

clean up

clean up

bump

* fix ordering

* move to end

* unsigned

Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: 31d147dca2
 2022-01-25 12:09:13 +01:00
Adeeb Shihadeh
d07d22c9b9 controlsd: remove redundant condition 
old-commit-hash: e50efd7671
 2022-01-24 21:28:30 -08:00
Adeeb Shihadeh
70f1418256 remove community features toggle (#23214) 
* remove community features toggle

* bump cereal

* little more

* update refs
old-commit-hash: 3e9cb7fa12
 2022-01-24 14:49:47 -08:00
Willem Melching
962201fff1 Ensure controlsd can engage again in process replay (#23556) 
* hacks to make process replay engage again

* dont change that

* enable engagement check again

* chmod +x

* first working regen

* proper logMonoTime

* fix video framerate consistency

* mpc is valid again

* proper alive checks

* revert loggerd change

* ensure engaged in regen, fix managerState, peripheralState

* ubloxRaw is unused

* add submaster config for gm

* regen all services we can run without HW

* fix loggerd

* loggerd: matroska without the extension

* update ref
old-commit-hash: d3d10e014a
 2022-01-21 13:13:34 +01:00
Adeeb Shihadeh
c2a23fa24c clear no entry alerts if engaged (#23559) 
* clear no entry alerts if engaged

* fix test
old-commit-hash: 59894a6666
 2022-01-17 13:57:53 -08:00
Dean Lee
d0bfd37a95 controlsd: remove extra space (#23553) 
old-commit-hash: 5cd103c3d4
 2022-01-17 13:51:44 +01:00
Adeeb Shihadeh
2013e086ba shutdownd is non essential 
old-commit-hash: c6b892fe58
 2022-01-14 11:59:04 -08:00
Dean Lee
a1d3ab2ea1 controlsd: cleanup parsing android log (#23421) 
* cleanup parse android log

* global CSID_MAP

* use generator express

* cleanup

* no walrus

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: fd042a5924
 2022-01-13 19:43:22 -08:00
Dean Lee
7f9069cb34 controlsd: check self.enabled out of the any() (#23507) 
old-commit-hash: 48b6dfa15d
 2022-01-13 11:53:04 +01:00
Dean Lee
54bdb321bd cleanup iterate keys in dictionaries (#23497) 
old-commit-hash: a186bcc9f1
 2022-01-12 12:42:50 +01:00
Robbe Derks
54a4dece4d Ignore statsd for running process check (#23483) 
old-commit-hash: 1a54d7f6ae
 2022-01-10 19:54:41 +01:00
Dean Lee
61a28b2fb7 controlsd: check all_valid only if not initialized (#23437) 
* check all valid in if statement

* apply review
old-commit-hash: 67af095692
 2022-01-10 12:13:58 +01:00
Dean Lee
df63cf059a controlsd: save lat_plan.dPathPoints to local variable (#23462) 
old-commit-hash: 2d08f8b318
 2022-01-10 11:27:31 +01:00
Dean Lee
7276bf8197 controls: check contents in tuple instead of list (#23463) 
old-commit-hash: b2beb5e6ba
 2022-01-10 11:26:58 +01:00
Dean Lee
296925cd6a optimize alertmanager (#23433) 
old-commit-hash: 09a835916b
 2022-01-06 22:15:32 -08:00
Dean Lee
60a22bbc0c controlsd/state_transition: remove redundant check in elif (#23428) 
old-commit-hash: e0338fd77b
 2022-01-06 15:54:19 +01:00
Dean Lee
0a03f65b2b controlsd: remove duplicate event relayMalfunction (#23392) 
old-commit-hash: 0357cf2af0
 2022-01-04 14:07:36 -08:00
Dean Lee
ea519c31e4 controlsd/publish_logs: follow capnp best practices (#23372) 
* follow follow capnp best practices

* cleanup
old-commit-hash: 960e0cf6a7
 2022-01-04 12:04:03 +01:00
Adeeb Shihadeh
98c8147ec3 CAN receive error is a comm issue (#23362) 
old-commit-hash: 1e41f4723b
 2022-01-03 14:13:45 -08:00
Ewout ter Hoeven
f206ebd054 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>
old-commit-hash: 332f568a82
 2021-12-24 11:18:39 -08:00
HaraldSchafer
f64c2974b4 Road Roll Compensation Rebased (#23251) 
* first commit

* update refs
old-commit-hash: cf466222f6
 2021-12-16 17:34:12 -08:00
Willem Melching
7b3e330def 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
old-commit-hash: 4f1eb4278a
 2021-12-16 13:08:20 +01:00
Adeeb Shihadeh
83136e8016 increase cruise mismatch threshold 
old-commit-hash: 7f618b16bf
 2021-12-12 13:35:12 -08:00
Adeeb Shihadeh
06a9b3448d alerts: escalate soft disable alert near disengagement (#23198) 
* alerts: escalate soft disable alert if resulted in disengagement

* show 0.5s before disengagement
old-commit-hash: 8068df0b2a
 2021-12-11 17:07:37 -08:00
Adeeb Shihadeh
700ad9ec50 alerts: handle min duration properly (#23191) 
* alerts: handle min duration properly

* add active

* tests

* cleanup test

* update refs
old-commit-hash: 07b971d473
 2021-12-10 19:20:07 -08:00
HaraldSchafer
9c03362ba8 Less sensitive torque saturated warning (#23003) 
* Less sensetive torque saturated warning

* better comment
old-commit-hash: 8f3bc4872f
 2021-12-01 13:53:42 -08:00
Adeeb Shihadeh
2bcaee3678 add offroad alerts for car unrecognized (#22934) 
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Chris McCammon <chrismccammon123@gmail.com>
old-commit-hash: 2a72e2a514
 2021-11-17 20:29:00 -08:00
Adeeb Shihadeh
8a66c54064 Revert "add offroad alerts for car unrecognized" 
This reverts commit 2ffaadb4d2eaabf6e8d86423fbc25328e81dfff0.

old-commit-hash: d8a5c415cd
 2021-11-16 13:31:10 -08:00
Adeeb Shihadeh
08bfdb151b add offroad alerts for car unrecognized 
old-commit-hash: fb1e8ce086
 2021-11-16 13:30:33 -08:00
Adeeb Shihadeh
d1eacc4619 alerts: make soft disables an orange alert (#22925) 
old-commit-hash: 833399e941
 2021-11-16 13:11:32 -08:00
Adeeb Shihadeh
a1ab2f7c36 CI: skip cruise mismatch check for can replays 
old-commit-hash: db92006dc0
 2021-11-12 18:22:39 -08:00
HaraldSchafer
d17ec32e0b Give car interface roll and pitch (#22891) 
* Give car interface roll and pitch

* fixup

* whitespace
old-commit-hash: a04114f68c
 2021-11-12 12:21:22 -08:00
Adeeb Shihadeh
d6c42f11f4 controlsd: alert on cruise mismatch for >1s (#22841) 
* controlsd: alert on cruise mismatch for >1s

* bump cereal

* update refs

* bump allowed soundd cpu

* bump cereal
old-commit-hash: 035bc0c20f
 2021-11-10 13:01:42 -08:00
Adeeb Shihadeh
421a5db493 controls: don't wind up while EPS is faulted or below min steer speed (#22739) 
* controlsd: don't wind up while EPS is faulted

* also check if above min steer speed

* car params
old-commit-hash: 385f3c5387
 2021-10-29 14:13:41 -07:00
Robbe Derks
dbe4641e04 Multipanda support (#22402) 
* squash all PR commits for easy rebase

* merged all panda rx can into one message

* fix buffers in can_send

* more cleanup and minor fixes

* fix even more stuff

* fix non-allocated send buffer

* make connecting more robust

* fix bus offset

* fix controls_mismatch?

* simplify mismatch check

* C++ style struct

* fix connect loop

* update ref

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 585c16cd2a
 2021-10-29 13:04:26 +02:00
Adeeb Shihadeh
05aa510c25 always show lane lines on HUD (#22693) 
* always show lane lines on HUD

* update refs
old-commit-hash: f2b48a1803
 2021-10-25 23:47:12 -07:00
Adeeb Shihadeh
300294d0c6 temporarily disable per-core cpu usage check 
old-commit-hash: 7394956a90
 2021-10-25 15:03:28 -07:00
Mitchell Goff
3e3b875111 Only trigger model FCW on stock long when not already braking (#22620) 
* Only trigger model FCW on stock long when not already braking

* Split model_fcw checks for better readability
old-commit-hash: 38f775edfc
 2021-10-20 16:16:40 +02:00
Adeeb Shihadeh
3802eab361 only check low battery on EON 
old-commit-hash: 74a3c92704
 2021-10-15 15:04:19 -07:00
Robbe Derks
58c99158a1 Make pandaState and safetyMode a list (#22454) 
* wip: move to pandaStates

* bump cereal

* wip: SafetyMode struct

* move to safetyMode

* fix typo

* this can be None

* fix potential empty pandaStates list

* fix thermald

* fix controlsd

* rename safetyModes to safetyConfigs

* update process_replay

* fix test_models

* bump cereal
old-commit-hash: 91987f38d4
 2021-10-08 17:54:34 +02:00
Willem Melching
79d5c6107b Set CarControl.active (#22442) 
* Set CarControl.active

* update ref
old-commit-hash: e636f03c7a
 2021-10-05 14:32:39 -07:00
speedking456
ca46acfd64 accel/decel button metric increments (#22399) 
* add metric values

Freedom units have weird multiples compared to metric. Modified so that it increments by 10 km/h on long press and 1 km/h on short press, rather than 8 and 1.6 km/h. This mimics stock hyundai behaviour on metric vehicles.

* use is_metric from controlsd

* use actual mph value instead of rounded

Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: 23b9316603
 2021-10-04 21:11:17 +02:00
Willem Melching
11066c6236 Split pandaState into peripheralState and pandaState (#22385) 
* publish peripheralState from boardd

* refactor consumers

* rename thread

* peripheralState has panda type too

* add to process replay

* fix device build

* properly remove hardware unsupported alert

* latest peripheralState

* remove pandaState from thermal_monitor

* put that back

* add back harness check

* fix cloudlog

* needs pandaState

* Update selfdrive/thermald/tests/test_power_monitoring.py

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

* dont conflate

* Update selfdrive/thermald/tests/test_power_monitoring.py

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

* pigeon is peripheral

* cleanup

* less global

* comment

* move rtc to peripheral_control_thread

* better diff?

* whitespace

* get msg

* bump cereal

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: f4e2537b12
 2021-10-04 11:30:11 +02:00
qadmus
810e859169 Lateral PID: move steer feedforward to CarInterface (#22411) 
* move steer feedforward to car interface, in car parameters

* LatControlPID.get_steer_feedforward()
old-commit-hash: 3461e25944
 2021-10-04 10:03:53 +02:00