mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-02-18 18:53:55 +08:00
Code Issues Packages Projects Releases Wiki Activity
16,506 Commits 185 Branches 163 Tags
3d11e8ef362155cea1494b1a75bdb369c1c73d6a
Commit Graph

851 Commits

Author SHA1 Message Date
Shane Smiskol
df7f426405 bump opendbc (#37043) 
* bump opendbc

* update refs
 2026-01-30 00:09:19 -08:00
felsager
c9cfe2c727 LatcontrolTorque: move jerk calculation and filtering outside if else (#37011) 2026-01-21 12:32:56 -08:00
Harald Schäfer
adf6f28ebf LatcontrolTorque: always fill buffer (#36991) 2026-01-20 15:34:57 -08:00
Harald Schäfer
f51c2aeced Modeld: less lat smoothing (#36987) 
* lat is plenty smooth!

* fix
 2026-01-09 15:04:33 -08:00
felsager
f01391a7d9 latcontrol_torque: delay independent jerk and lower kp and lower friction threshold (#36619) 2025-11-25 10:23:02 -08:00
felsager
736e1fa7b7 Revert "latcontrol_torque: make feed-forward jerk independent of individual platform lag (#36334)" 
This reverts commit fc4e5007fd.
 2025-11-03 10:31:27 -08:00
felsager
177c7f1cf3 Revert "latcontrol_torque: retune torque controller (#36392)" 
This reverts commit 76c5cb6d87.
 2025-11-03 10:31:22 -08:00
felsager
76c5cb6d87 latcontrol_torque: retune torque controller (#36392) 2025-10-30 13:34:44 -07:00
felsager
fc4e5007fd latcontrol_torque: make feed-forward jerk independent of individual platform lag (#36334) 2025-10-30 13:29:38 -07:00
felsager
936740201c latcontrol_torque: refactor low speed factor into pid controller (#36364) 2025-10-22 11:50:37 -07:00
felsager
a2e7f3788f LateralTorqueState: log controller version and desired lateral jerk (#36421) 2025-10-22 10:56:34 -07:00
Harald Schäfer
b2e3dd17ea torque gains not car specific (#36404) 
* torque gains not car specific

* remove opendbc interfaces longitudinal control kf field assignment that makes hitl test fail

* typo

* another typo

* bump

* bump openbc

* update ref

---------

Co-authored-by: felsager <d.felsager@gmail.com>
 2025-10-20 17:16:03 -07:00
felsager
de805e4af7 Lateral torque controller: use measurement rate as error rate (#36291) 2025-10-09 14:57:12 -07:00
felsager
226465e882 Latcontrol: refactor pid error to factor out lateral jerk component (#36280) 2025-10-08 18:29:54 -07:00
Shane Smiskol
ef870d5533 bump opendbc (#36103) 
* bump

* update refs
 2025-09-04 18:11:44 -07:00
felsager
b976135d2f torqued: apply offset (with more robust unit test) (#36075) 
* torqued: apply latAccelOffset to torque control feed forward

* test learned latAccelOffset captures roll compensation bias on straight road driving, when the device is not flush in roll relative to the car

* test correct torqued latAccelOffset parameter convergence
 2025-08-27 13:06:01 -07:00
Maxime Desroches
f40f7f9ece Revert "torqued: apply offset (#36005)" 
This reverts commit 1d74a97ba6.
 2025-08-26 21:45:49 -07:00
Harald Schäfer
1d74a97ba6 torqued: apply offset (#36005) 
* torqued: apply latAccelOffset to torque control feed forward 

* test learned latAccelOffset captures roll compensation bias on straight road driving, when the device is not flush in roll relative to the car

* test correct torqued latAccelOffset parameter convergence

---------

Co-authored-by: felsager <d.felsager@gmail.com>
 2025-08-25 13:50:10 -07:00
commaci-public
aea467ff02 [bot] Update Python packages (#36053) 
* Update Python packages

* bump

---------

Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
 2025-08-25 11:43:49 -07:00
Shane Smiskol
ab44c9a4ff Torque controller: refactor calculations to be in accel space (#35790) 
* clean up

* little confusing but works

* clean up

* fix

* pid outputs torque again, fix windup above max torque

* clean up

* fix

* fix

* typo

* fix conflicts

* fix PID

* cleanups

* seems correct

* updte

* inverse

* whitespace

* move

* small cleanup

* more cleanup

* update ref

---------

Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com>
 2025-08-15 11:39:56 -07:00
Adeeb Shihadeh
5417efaa1d bump opendbc (#36001) 2025-08-15 11:12:18 -07:00
Harald Schäfer
455a6a586a Misc PID refactors (#35844) 
* Misc PID refactors

* dead

* finish rename

* unused import

* whitespace

* typo

* fix fan controller

* pid_log

* whitespace

* integral clipping in pid

* update ref

* cleaner

* rm print

* update ref

* revert fan changes

* forgot this
 2025-08-11 14:25:29 -07:00
Mitchell Goff
7413982f0d Lower ALLOW_THROTTLE_THRESHOLD (#35928) 
* Lower ALLOW_THROTTLE_THRESHOLD

* Bumped process_replay refs
 2025-08-05 17:35:54 -07:00
DevTekVE
9dc98b36be refactor: cleanup gravity constant handling (#35866) 
* refactor: move lateral methods from init to lateral.py (#2594)

* Extracting lateral methods to lateral.py

* cleaning

* more cleaning

* more cleaning

* Making sure it remains where it should

* Leave rate_limit where it belongs

* Moving things to `car/controls/`

* Moving rate limit to get a taste of the changes

* clean

* copy verbatim

* clean up

* more

* now we can format

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>

* No need to change order of import

* refactor: consolidate ACCELERATION_DUE_TO_GRAVITY import path

* bump opendbc

* update refs

* don't import from opendbc

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2025-08-02 11:20:18 -07:00
Adeeb Shihadeh
4d01b7bec8 Fix up radarFault handling (#35880) 
* fixup radarFault handling

* catch all

---------

Co-authored-by: Comma Device <device@comma.ai>
 2025-08-01 16:27:26 -07:00
commaci-public
3e2325a632 [bot] Update Python packages (#35845) 
* Update Python packages

* bump

* update refs

---------

Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2025-07-29 19:45:17 -07:00
Adeeb Shihadeh
b99c73e1fa bump opendbc (#35813) 
* bump opendbc

* update tests
 2025-07-25 12:50:15 -07:00
Shane Smiskol
09d8327a14 bump opendbc (#35811) 
* bump

* bump

* bump

* update refs
 2025-07-24 23:56:04 -07:00
Adeeb Shihadeh
347cee4b09 big opendbc bump (#35799) 
* bump

* bump

* bump

* bump

* bump

* update refs

* that doesn't work anymore

* bump

* update refs

* bump
 2025-07-23 23:23:59 -07:00
Adeeb Shihadeh
dc1219d13f bump opendbc (#35795) 
* bump opendbc

* update refs
 2025-07-22 20:19:09 -07:00
commaci-public
a931ed5c15 bump opendbc (#35789) 
* Update Python packages

* bump

* update refs:

---------

Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2025-07-22 11:35:18 -07:00
Shane Smiskol
4b73f3b169 bump opendbc (#35782) 
* bump

* bump

* bump

* bump

* update refs
 2025-07-21 20:16:36 -07:00
commaci-public
3a2c4a855a [bot] Update Python packages (#35726) 
* Update Python packages

* dep

* ref

* hint

---------

Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
 2025-07-14 13:48:55 -07:00
commaci-public
9deac8c800 [bot] Update Python packages (#35669) 
* Update Python packages

* update refs

---------

Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2025-07-11 19:59:03 -07:00
Armand du Parc Locmaria
9bd7e3e36d bump opendbc (#35685) 
* bump opendbc

* bump less

* bump more

* update refs
 2025-07-10 19:40:54 -07:00
Bruce Wayne
9aed28a216 bump opendbc 2025-07-08 14:07:16 -07:00
Harald Schäfer
5b70c78902 bump opendbc (#35649) 
* bump opendbc

* update ref
 2025-07-07 18:40:06 -07:00
Harald Schäfer
a5630eb7b7 Bump opendbc 
* bronco special

* ignore low speed

* fixes

* update ref

* bump

* update ref
 2025-07-02 21:25:08 -07:00
Harald Schäfer
713c02cc3f Torque control: more integrator (#35610) 
* Torque control: more integrator

* bump opendbc

* update ref
 2025-06-27 22:28:59 -07:00
Maxime Desroches
5772683432 ci: faster process replay (#35578) 
* waste

* update

* again

* we love tesla

* again again
 2025-06-19 11:00:41 -07:00
Shane Smiskol
bfa3f3cccb Add calPerc progress tracking for torque calibration (#35512) 
* Add calPerc field and torque progress

* Fix torqued test style and CarParams usage

* test: remove unused numpy import

* move here

* trying all combinations to see what's most linear

* clean up with best method

* no no

* epic

* clean up

* last min not needed

* doesn't hurt

* list comp
 2025-06-10 00:22:13 -07:00
Shane Smiskol
c24f349807 GM: low steer speed alert in CarState (#35332) 
* simple

* rm

* bump to master

* update refs

* update refs
 2025-05-23 19:43:17 -07:00
Kacper Rączy
97ad175243 Reapply "Enable online lag learning (#34968)" (#35327) 
* Revert "Revert "Enable online lag learning (#34968)" (#35322)"

This reverts commit 9c40c48729.

* Update ref commit

* Update ref

* Update ref commit
 2025-05-24 02:31:17 +00:00
Shane Smiskol
9622427044 car interfaces: improve steering pressed signal (#35333) 
* bump

* update refs
 2025-05-23 16:32:19 -07:00
Shane Smiskol
9b642ed016 bump opendbc (#35323) 
* bump

* update refs
 2025-05-22 17:49:27 -07:00
Kacper Rączy
9c40c48729 Revert "Enable online lag learning (#34968)" (#35322) 
* Revert "Enable online lag learning (#34968)"

* Update ref commit
 2025-05-22 01:55:19 +00:00
Shane Smiskol
e8fd8e6018 bump opendbc 2025-05-18 01:20:28 -07:00
Shane Smiskol
a6a09276e9 Hyundai: fix recent enable button press regression (#35265) 
* move back to port

* much better

* use the CS field now

* bump

* fix

* need to switch so it works on ports that don't use it, and makes more sense

* bump

* bump

* update refs

* make sense

* master
 2025-05-18 00:52:02 -07:00
Shane Smiskol
33721cf5fa Lower Tesla steer limit timer (#35268) 
* bump

* update refs
 2025-05-18 00:38:57 -07:00
Shane Smiskol
66c0971a0f migration: remove disengage on gas alternative experience (#35267) 
* fix

* done

* test

* update refs
 2025-05-17 23:56:21 -07:00