Adeeb Shihadeh
3e098c9ba5
Toyota: add safety param flag for alt brake message ( #24341 )
...
* Toyota: add safety param flag for alt brake message
* update refs
* update refs
* bump panda
2022-04-27 12:08:11 -07:00
Shane Smiskol
e834b4d9be
LatControlTorque: fix deadzone and missing steer saturated warning ( #24294 )
...
* fix steer saturated alert and deadzone
* fix and formatting
* update refs
* update refs
* not needed
* remove
2022-04-27 01:18:05 -07:00
Shane Smiskol
efa98d2a06
HKG: only allow engagement on user button press ( #24140 )
...
* use deque for prev_cruise_buttons
* stash
* disallow engagement if resume or decel isn't pressed
* fix buttons
* reduce chances of causing 30-frame fault
Fix clu11
drive down cancel times
* Revert "reduce chances of causing 30-frame fault"
This reverts commit 0f54c051bf5a22b1f584718ec46e78bc3a82a0dd.
* consider pause/resume button
* stash
* Revert "stash"
This reverts commit 551ca7be6c45729f0747abc81cd81894cd621c32.
* sadly some cars need 8 op frames (identical to 4 updates from CLU11)
* add main button
* 6 should be safe
* use max
* clean up
* change to 4 samples and process all messages received, like panda
* bump panda
* test: replay segments with known re-engagements on-device
* Revert "test: replay segments with known re-engagements on-device"
This reverts commit 9730c3c14f942b82b6ed5ef2e81b8ae0126f3006.
* need prev_cruise_buttons as we don't run every CAN message through carstate
* more generic
* extend
* Update selfdrive/car/interfaces.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
* 3% faster at 1000000 loops
* update refs
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
2022-04-26 13:27:28 -07:00
Shane Smiskol
f4d1703b42
longActive: consider longitudinal control ( #24295 )
...
* consider longitudinal control
* update refs
2022-04-22 20:32:36 -07:00
Shane Smiskol
6e62df65d7
Make safetyParam unsigned ( #24160 )
...
* bump panda & cereal
* make unsigned in boardd
* update health packet version
bump panda
* fix definition
* bump
* regen TOYOTA2 route
* upload route
* oh, ndog param wasn't being set
* regenerate routes with non-zero safety params
* update refs
* regen routes and update refs
* bump panda
* update refs
* update refs
* bump submodules to master
2022-04-21 00:01:05 -07:00
Shane Smiskol
17cb65c4b7
Toyota: resolve controls mismatch due to interceptor thresholds ( #23710 )
...
* remove gas interceptor exception
* panda
* bump submodules
* bump panda
* forgot carstate change
* revert
* add test route
* bump
* update refs for CS.gas
* bump submodules to master
2022-04-20 22:28:56 -07:00
Adeeb Shihadeh
b42b3a8f9f
update refs after VW signal removal
2022-04-20 13:38:59 -07:00
Shane Smiskol
6de434f2ec
Honda: do same standstill check as panda ( #24262 )
...
* check standstill against panda
* use XMISSION_SPEED for all, and compare to 0
* fix
* only check for Honda for now
* update comment
* update refs
* update refs and update check
* phantom commit
2022-04-19 23:18:01 -07:00
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
Adeeb Shihadeh
233a167cc9
controlsd: handle controls mismatch race ( #24245 )
...
* controlsd: handle controls mismatch race
* update refs
2022-04-18 17:08:25 -07:00
Adeeb Shihadeh
49c2164814
add alert for CAN bus timeout ( #24162 )
...
* add alert for CAN bus timeout
* add alert
* set in interface
* cleanup
* cleanup
* add event
* fix mock
* bump
* bump opendbc
* update refs
* return reader
2022-04-12 22:58:34 -07:00
HaraldSchafer
f54e724b5d
Body cleanup + 100Hz locationd ( #24168 )
...
* use PID
* 100hz on the branch
* Better defaults
* fix int clip
* More cleanup
* Fix pid comments
* only notcar gets 100hz
* cleanup
* fix tests
* ignore
* update refs
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
2022-04-09 15:22:29 -07:00
Shane Smiskol
0f61a388c3
GM: resolve cruise faults ( #24167 )
...
* these should be enabled
* bump panda
* bump
* allow in pre-enabled state
* bump panda
* add comment
* bump and update refs
* bump panda
* bump panda
2022-04-07 20:44:09 -07:00
Willem Melching
eaa5819211
commIssueAvgFreq: separate alert for avg freq check ( #24150 )
...
* commIssueAvgFreq: separate alert for avg freq check
* bump cereal
* bump cereal
* bump cereal
* freq_ok separate from alive
* bump cereal to master
* update_ref
* fix profiler
2022-04-06 16:43:32 -07:00
George Hotz
7dd71cc63d
body: control with joystick ( #24143 )
...
* control with joystick
* slow it down
* always joystick for not car
* clean ups
* not stateful
* move submaster
* only if we aren't in test mode
* update refs
* double ki speed, update ref
* this ref
Co-authored-by: Comma Device <device@comma.ai >
2022-04-06 11:31:31 -07:00
George Hotz
596417da37
update ref commit for body tune change
2022-04-05 21:40:13 -07:00
Lukas Petersson
65fca83abe
Latency logging 2 ( #24058 )
...
* msg_order and gantt
* frameId in long/lat planner
* track frame id
* controls frame id
* graph tracked events
* graph json
* cloudlog timestamp
* c++ cloudlog
* add frame id
* bug fixes
* bug fixes
* frame id visionicp
* bug fixes and debug level
* timestamp log placement
* print timestamps in table
* translate events
* more logging
* bug fixes
* daemon boardd
* print logs with boardd
* more timestamp logs
* cleanup
* remove publish logs
* bug fix
* timestamp received
* timestamp received
* bug fixes
* use json lib
* ignore driver camera
* prep for new timestamp pipeline
* bug fix
* read new pipeline unfinnished
* read new pipeline
* bug fix
* add frame to controlsstate
* remove controlsstate
* print
* cleanup
* more cleanup + bug fix
* clock build issue
* remove unused imports
* format durations
* increase speed
* pr comments fixes
* conflicts
* set MANAGER_DAEMON for boardd
* clean script code
* bug fix + argparse
* remove rcv time
* bug fixes
* print without tabulate
* fix pre-commits
* plot gnatt
* color bug fix
* read without timestampextra
* bump panda
* mono time instead of frame id
* finnish script
* clean unused
* clean unused logging
* monotonic + json fixes
* del test
* remove whilelines
* bump laika
* cleanup
* remove deps
* logs nicer strings
* remove plotting from scirpt
* reset pipfile
* reset pipfile
* nicer strings
* bug fix
* bug fix
* pr comments cleaning
* remove plotting
* bug fix
* new demo route
* bump opendbc and panda
* cereal master
* cereal master
* script less komplex
* assertions
* matplotlib
* readme
* Update README.md
* graph html
* design fixes
* more code design
* Update common/logging_extra.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
* whitespace
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
* Update tools/latency_logger/latency_logger.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
* pr comments
* bug fix
* readme + env once
* clean swaglog
* bug fix
* Update tools/latencylogger/README.md
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
* revert
* revert
* clean swaglog with error
* remove typo file
* revert graph
* cereal
* submodules
* whitespaces
* update refs
Co-authored-by: Bruce Wayne <batman@workstation-openpilot2.internal >
Co-authored-by: Comma Device <device@comma.ai >
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
2022-04-05 21:05:45 -07:00
Igor Biletskyy
7908fb8829
body: add debug ECU for git hash logging + fw version ( #24128 )
...
* non-essential ECU for logging
* bump cereal
* debug ECU
* match_fw_to_car_exact
* comment
* version instead of board date
* add old compatible value
* update_refs
2022-04-05 18:24:06 -07:00
Adeeb Shihadeh
6c5b0685da
body: set fault state ( #24125 )
...
* body: set fault state
* fix that
* update refs
2022-04-04 23:05:40 -07:00
Shane Smiskol
f1f40c117a
Add Disengage on Accelerator Toggle ( #23977 )
...
* Squashed commit of the following:
commit 953bcf0ecf8d03f0fec9ce0d5442cc660ae2347d
Merge: b4198608d 333257badshane@smiskol.com >
Date: Fri Apr 1 19:58:06 2022 -0700
Merge remote-tracking branch 'upstream/master' into disengage-on-gas
commit b4198608dac9595bfeb9443f95cd6c5d385cd62d
Merge: 24f90b2c8 0b9790dd2shane@smiskol.com >
Date: Fri Apr 1 14:32:54 2022 -0700
Merge remote-tracking branch 'upstream/master' into disengage-on-gas
commit 24f90b2c8d6ae509c0776b6e33b743467aa08dee
Author: Shane Smiskol <shane@smiskol.com >
Date: Thu Mar 31 14:07:52 2022 -0700
revert changes and get ready for override
commit aa514df6b5e8431f0faa07f6b25eb5cb6c9f2749
Author: Shane Smiskol <shane@smiskol.com >
Date: Wed Mar 30 20:52:24 2022 -0700
temporary
commit c874e10c2555968c683f629c4582ab22e51d431f
Author: Shane Smiskol <shane@smiskol.com >
Date: Wed Mar 30 00:30:13 2022 -0700
move gasPressed to controlsd
commit fe670439dff5bc6dfc5963d79ca2febe0c5920c7
Merge: 49d3b6d11 81862fce7shane@smiskol.com >
Date: Wed Mar 30 00:15:48 2022 -0700
Merge remote-tracking branch 'upstream/master' into disengage-on-gas
commit 49d3b6d1162893fa94b2294152f0718eeb4698ed
Merge: 475b27e74 d60c44e03shane@smiskol.com >
Date: Mon Mar 28 13:06:08 2022 -0700
Merge remote-tracking branch 'upstream/master' into disengage-on-gas
commit 475b27e74fd6479f1d148e9ded1eca6ee476865c
Author: Shane Smiskol <shane@smiskol.com >
Date: Thu Mar 24 20:24:59 2022 -0700
update SAFETY.md
commit 0798eadb82749e12ecbaa86f4e57b21bd3dbc7e8
Author: Shane Smiskol <shane@smiskol.com >
Date: Thu Mar 24 17:52:06 2022 -0700
⛽ ➡️ 🔋
bump
commit d2b64b89cf8d7265bc90848b4e3a2276c9a4cb78
Author: Shane Smiskol <shane@smiskol.com >
Date: Thu Mar 24 16:19:34 2022 -0700
these changes will be in border PR
these changes will be border PR
commit bed31e63de2244c161729773978fef8a9246ddb5
Merge: 491417640 e91613bc6shane@smiskol.com >
Date: Thu Mar 24 16:17:31 2022 -0700
Merge remote-tracking branch 'upstream/master' into disengage-on-gas
commit 49141764098e3a701ff123ead52de4656b31db4d
Merge: 9291e9f00 c88ced1f1shane@smiskol.com >
Date: Wed Mar 23 19:00:26 2022 -0700
Merge remote-tracking branch 'upstream/master' into disengage-on-gas
commit 9291e9f0045780669b2ffa7f08fb10373c03b070
Merge: 2aed64157 99c02bdd2shane@smiskol.com >
Date: Fri Mar 18 19:03:13 2022 -0700
Merge remote-tracking branch 'upstream/master' into disengage-on-gas
commit 2aed64157d6e9dc993d103a2c6abf7e643410562
Author: Shane Smiskol <shane@smiskol.com >
Date: Fri Mar 18 19:03:03 2022 -0700
Revert "send pre-enable state when gas is pressed"
This reverts commit 8d82e697dc2efade307413e767d14b56b4d2d079.
commit a219defe5342efa731a957b2ff4fd86292c1f239
Author: Shane Smiskol <shane@smiskol.com >
Date: Thu Mar 17 12:50:46 2022 -0700
bump cereal
commit 8d82e697dc2efade307413e767d14b56b4d2d079
Author: Shane Smiskol <shane@smiskol.com >
Date: Wed Mar 16 22:40:13 2022 -0700
send pre-enable state when gas is pressed
formatting and it's out
forgot one
allow gas press
show toggle
revert changes
revert changes
commit 5eb4d1ab1b77ac65bdd901f692ebfb848d5187ca
Merge: bad1bdc74 db7b49c71shane@smiskol.com >
Date: Wed Mar 16 22:29:43 2022 -0700
Merge remote-tracking branch 'upstream/master' into disengage-on-gas
commit bad1bdc7428c5d8a4a765b259da504f0ade84424
Author: Shane Smiskol <shane@smiskol.com >
Date: Tue Mar 15 23:03:56 2022 -0700
clean up a bit
commit 7516ed9b786536a07f00a92b9c1742ca252a01d1
Author: Shane Smiskol <shane@smiskol.com >
Date: Tue Mar 15 22:55:09 2022 -0700
these are null checks right now
commit 408f5f1d633521b29b08d966c9b387fa79dff0d6
Author: Shane Smiskol <shane@smiskol.com >
Date: Tue Mar 15 22:51:14 2022 -0700
should work
commit be1978e29c03d8843cf073cc9ddf84020fd2b378
Author: Shane Smiskol <shane@smiskol.com >
Date: Tue Mar 15 22:36:16 2022 -0700
stash
commit f0bd4c47e9d27061c6cd3b88765a7c10995f42db
Author: Shane Smiskol <shane@smiskol.com >
Date: Tue Mar 15 22:26:24 2022 -0700
this was flipped
commit d5b6e30389a727e8559331acd706422e1b246f60
Merge: 820b19894 5fe00fb77shane@smiskol.com >
Date: Tue Mar 15 22:25:49 2022 -0700
Merge remote-tracking branch 'upstream/master' into disengage-on-gas
commit 820b1989496225df1f66f39b477f1e9402db1b19
Merge: 91763f9ff d7c758d4bshane@smiskol.com >
Date: Mon Mar 14 23:39:34 2022 -0700
Merge remote-tracking branch 'upstream/master' into disengage-on-gas
commit 91763f9ff4321986babce1a7b1272fcf64c8f753
Author: Shane Smiskol <shane@smiskol.com >
Date: Thu Feb 24 20:15:26 2022 -0800
add icon from jozef 🔥
commit 1885c9e2bacd9351c7e421b1436dcbfbde238436
Merge: 1f591736a 9c70e8bcashane@smiskol.com >
Date: Thu Feb 24 20:08:07 2022 -0800
Merge remote-tracking branch 'upstream/master' into disengage-on-gas
commit 1f591736a2767b1ed892c29ec5000cc7348f01c7
Merge: 465811f0b 7410160d047793918+sunnyhaibin@users.noreply.github.com >
Date: Sat Feb 12 10:24:29 2022 -0500
Merge branch 'master' into disengage-on-gas
commit 465811f0b4776e43a289398e4d4369362b7da58c
Author: Jason Wen <haibin.wen3@gmail.com >
Date: Fri Feb 11 11:20:32 2022 -0500
Add param to process replay
commit 0344363a533505435cff87eb33356b2364a4156f
Merge: 700efcb3f 3e915cf6247793918+sunnyhaibin@users.noreply.github.com >
Date: Fri Feb 11 11:07:31 2022 -0500
Merge branch 'master' into disengage-on-gas
commit 700efcb3f444092f99ef10e9908f83402429d742
Author: Jason Wen <haibin.wen3@gmail.com >
Date: Fri Feb 11 11:04:39 2022 -0500
Add param to unsafeMode
commit 220ce272fee1f7f5ace2a04052605a6e4f95712b
Author: Jason Wen <haibin.wen3@gmail.com >
Date: Fri Feb 11 10:54:16 2022 -0500
Add param to unsafeMode
commit d273bb78acbc23ee5255e461fa71b2f0400a5e03
Author: Jason Wen <haibin.wen3@gmail.com >
Date: Fri Feb 11 10:52:22 2022 -0500
Resolve conflicts
commit 1a85afd60c2f0d3140dfa8e7cd574d6b88abd5e3
Author: Jason Wen <haibin.wen3@gmail.com >
Date: Fri Feb 11 10:51:50 2022 -0500
Resolve conflicts
commit e3be32afc2bb2423d29e2b4f85b3cff3fe72aab9
Author: Jason Wen <haibin.wen3@gmail.com >
Date: Fri Feb 11 10:51:08 2022 -0500
Resolve conflicts
commit f27203af3afe612173bf9a63e15c57118598b5b8
Author: Jason Wen <haibin.wen3@gmail.com >
Date: Wed Jan 19 00:30:09 2022 -0500
Add param to process replay
commit 04c0ad1a54f4fea5efe74b3203d9bdbd693b64a6
Author: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com >
Date: Wed Jan 19 00:28:49 2022 -0500
Update interfaces.py
Co-authored-by: Willem Melching <willem.melching@gmail.com >
commit 99cf13caeb4d9f2c95c25e1e78b6e353ea508cb6
Author: Jason Wen <haibin.wen3@gmail.com >
Date: Sat Jan 15 00:03:38 2022 -0500
Fix missing params lib
commit 2230254ca709625d591b0c73d1a6022c450f6ef6
Author: Jason Wen <haibin.wen3@gmail.com >
Date: Fri Jan 14 23:38:46 2022 -0500
Disengage on gas toggle
commit 87475e02cb63cc39c9b16edc67f303e02d17e6ef
Author: Jason Wen <haibin.wen3@gmail.com >
Date: Fri Jan 14 23:24:00 2022 -0500
Disengage on gas toggle
* bump
* use ALTERNATIVE_EXPERIENCE
* or it
* de-bump
* update refs
* update refs!
* you can just ctrl+click ALTERNATIVE_EXPERIENCE!
* already have a params
* update text
2022-04-04 21:59:52 -07:00
Adeeb Shihadeh
00ebd10b87
body: only control while engaged ( #24114 )
...
* body: only control while engaged
* bump panda
* remove that
* bump panda
* update refs
* update refs
2022-04-04 19:37:21 -07:00
Igor Biletskyy
7df1c025ae
body: add crc and counter ( #24120 )
...
* add crc and counter for body
* add msg
* move counter
* whitespace
* ..
* bump opendbc
* update_refs
2022-04-04 19:19:30 -07:00
Adeeb Shihadeh
7dffd0ac0b
calibrationd: support for not cars ( #24115 )
...
* calibrationd: support for not cars
* update refs
2022-04-04 17:04:15 -07:00
HaraldSchafer
b2b6205e25
Body leash tune ( #24105 )
...
* Cleanup variables
* Add clips
* Add good standstill for localizer
* Need abs
* Only on startup
* Cleanup more
* remove violence
* Unused variable
* Update ref
* Not good idea for now
* Update refs again
2022-04-04 14:41:18 -07:00
Shane Smiskol
18e7f85f70
Hyundai: always update set speed ( #24104 )
...
* don't reset set speed
* update refs
2022-04-04 10:51:58 -07:00
Shane Smiskol
a4353303d4
update refs
2022-04-01 22:39:08 -07:00
Adeeb Shihadeh
e40c36f22b
better support non-car robots ( #24106 )
...
* better support non-car robots
* bump cereal
* update refs
2022-04-01 20:03:20 -07:00
Adeeb Shihadeh
0b9790dd24
locationd: body support ( #24098 )
...
* body: locationd support
* fewer hacks
* my body is never still
* body on localizer
* minor change
* move wait back to 5 secs
* update refs
* try again
Co-authored-by: nuwandavek <vivekaithal44@gmail.com >
Co-authored-by: Comma Device <device@comma.ai >
2022-03-31 23:02:47 -07:00
Igor Biletskyy
031f79ba88
car port: comma body ( #24019 )
...
* body FPv2
* ..
* ..
* ..
* Temp, REVERT!
* more cleanup
* typo
* ..
* del eyes
* should work?
* fix
* new dbc
* ..
* fixes
* static analysis
* cln balancing code
* no test route
* excluded_interfaces
* THE DOCS!
* comments on steer/speed mixin
* switch to bus 0
* less UDS
* FAKE bus 0 vin and fingerprint
* FAKE locationd
* Keep steady and remove handcoded offset
* Improve startup sequence, get closer to stock openpilot
* Forgot to define angle
* lowercase
* revert that
* little cleanup
* change safety model
* update refs
* body is gold
* handle no llk
* oops
* litte more
Co-authored-by: Comma Device <device@comma.ai >
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
2022-03-31 17:16:15 -07:00
Adeeb Shihadeh
49498aa7b5
controlsd: no cruise speed while main off ( #24052 )
...
* controlsd: no cruise speed while main off
* probably more accurate
* update refs
2022-03-27 18:06:28 -07:00
HaraldSchafer
adf34c3414
CarParams: remove max steer ( #24044 )
...
* Remove max steer
* Update ref
2022-03-25 17:33:11 -07:00
Shane Smiskol
c88ced1f10
Honda Nidec: don't actuate while longitudinal is inactive ( #24028 )
...
* don't command any pcm_speed when long is not active
* update refs
2022-03-23 18:30:05 -07:00
HaraldSchafer
4a8fffd0f4
Apply EU guideline lateral limits ( #23974 )
...
* Apply EU limits
* Lower bound v_ego
* Add curvature limit comment
* Remove comment
* Update ref
2022-03-22 19:46:04 -07:00
HaraldSchafer
dcece099ff
Add angular rates carcontroller packet ( #23980 )
...
* Controlsd: give carcontroller angular rates
* Update cereal
* Needs to be list
* Update refs
2022-03-16 21:12:11 -07:00
Shane Smiskol
5fe00fb773
Move gas/brake pedal event logic to controlsd ( #23850 )
...
* move some state machine logic to controlsd
move some state machine logic to controlsd
* same order
same order
* move unsafeMode up
* disable at standstill
* save last CS
save last CS
* do we need to copy at all?
* don't copy
* rename
* Update selfdrive/controls/controlsd.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
* Revert "Update selfdrive/controls/controlsd.py"
This reverts commit 10bb51a0f0ee0d8e2a27c746a0638280a5eaea8a.
* Update refs
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
2022-03-15 20:51:07 -07:00
ZwX1616
de4031c98e
DM: more precision running on DSP + e2e outputs ( #23900 )
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* update cereal
* run but not use
* log distraction type
* regression scaling
* clean up naming
* add calib buf
* add to header
* fake model
* no calib model
* adjust threshs
* 018a305f
* fix bn
* tweak1
* tweak2
* 0ff2/666
* tweak3
* t4
* t5
* fix out of bound
* skip when replaying old segments
* update ref
* fix onnxmodel
* get calib
* update model replay refs
* up ref
2022-03-15 19:02:21 -07:00
Vivek Aithal
dfc1292614
locationd: Commissue fix ( #23951 )
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* check allAliveAndValid only at filter init
* revert cereal and bugfix test
* rename filterValid to filterInitialized
* bump cereal
* correct err
* update refs
2022-03-15 14:40:29 -07:00
Adeeb Shihadeh
f1aab78d08
longitudinal MPC: add MAX_T in T_IDXS_LST ( #23960 )
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* longitudinal MPC: add MAX_T in T_IDXS_LST
* update refs
Co-authored-by: KexianShen <shenkexian@gmail.com >
2022-03-13 21:45:23 -07:00
Shane Smiskol
629399a449
carControl: add long and lat active fields ( #23859 )
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* proof of concept
* actuators packet describes which actuators are active
* bump cereal
* fixes
* not needed for this PR
* Do Toyota
* add back controlsState.active
* bump cereal
* rest of cars
* in actuators
* add active back
* which
* use controlsState.active for now
* will make an issue
* Update selfdrive/controls/controlsd.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
* move local lat_active checks into CC.latActive
* remove redundant checks
* move comment
move comment
* fix joystick mode
* get enabled from carcontrol
* do standstill check in controlsd
* make sure we consider the gas press case for GM
* use CC.actuators
* fix
* capitalization
* Bump cereal
Bump cereal
* make intermediate actuators
* similar convention to before
* clean that up
* update refs
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
2022-03-13 20:58:44 -07:00
Shane Smiskol
274885fc4d
controlsd: fix vCruise jumping on pcmCruise cars ( #23388 )
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* 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
2022-03-03 05:23:14 -08:00
Jonathan Frey
ab371f888a
Longitudinal MPC set qp tolerance to 1e-3 ( #23899 )
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* initialize solverExecutionTime longitudinal_planner
* test_onroad: improve timing evaluation
* longitudinal MPC: set qp_tol to 1e-3
* update ref
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com >
2022-03-02 21:38:40 -08:00
Jonathan Frey
1801baba68
remove trivial terminal constraint and associated CasADi generated functions ( #23898 )
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* remove trivial terminal constraint and associated CasADi generated functions
* Update refs
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com >
2022-03-02 20:53:21 -08:00
Vivek Aithal
7e6903b58f
locationd, paramsd: Check conditions before updating kalman filters ( #23789 )
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* update filters only when all messages are alivbe and valid
* update message valid and fix unit test
* update refs
* move check outside loop
* modify fake message fn in test
* deprecate inputsOK and resolve PR comments
* avoid double looped list comprehension
* follow import conventions
* modify paramsd valid to only be invalid in case of commIssue
* update refs
2022-03-02 01:01:29 -08:00
Jonathan Frey
d09dffb7cd
Cython acados and minor ( #23835 )
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* acados_ocp_solver_pyx.pyx: implement get_stats for timings and ints
* long_mpc: use acados timers
* acados_ocp_solver_pyx.pyx: fix dynamics_get
* acados_ocp_solver_pyx.pyx: get statistics
* use acados_ocp_solver_pyx.pyx from commaai/cython2 branch
* acados_ocp_solver_pyx.pyx: implement store_iterate
* acados_ocp_solver_pyx.pyx: implement get_residuals
* acados_ocp_solver_pyx.pyx: fix set() for empty fields
* acados_ocp_solver_pyx.pyx: load_iterate
* cython acados: add print_statistics
* test_following_distance: fix typo
* test_longitudinal: unique names for test maneuvers
* longitudinal MPC: comments for evaluation
* longitudinal MPC: add comments to eval acados residuals
* long_mpc: use qp_solver_cond_N = 1
* long MPC: comments, simplify set_cur_state
* update acados version in build script
* longitudinal mpc: weigh a_change in 1 place only
* update ref
* Update ref
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com >
2022-02-25 14:16:44 -08:00
Adeeb Shihadeh
04b2545ec0
Subaru: remove Impreza CAN fingerprints ( #23841 )
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* Subaru: remove Impreza CAN fingerprints
* fix process replay
* update refs
2022-02-23 15:44:17 -08:00
Willem Melching
428d412c1f
longitudinal planner: disable change cost when stopped. not engaged or gas pressed ( #23639 )
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* disable change cost completely on standstill and gas press
* cleanup
* set accel to zero
* clean up logic around standstill
* update ref
2022-02-21 16:14:41 +01:00
Shane Smiskol
2c7845fce0
Longitudinal control: interpolate longitudinal plan ( #23787 )
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* interpolate longitudinal actuator delay
rename
* formatting
* interpolate v_target most importantly!
* fix interpolation and rename
* nicer setup
* left in from testing
* update refs
2022-02-18 00:45:00 -08:00
Willem Melching
14260c01c6
process replay: fix branch name alert ( #23783 )
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* env is modified after start
* update ref
2022-02-17 16:47:42 +01:00
Adeeb Shihadeh
f59adbeaaa
keep the new alert consistent for process replay
2022-02-16 23:47:02 -08:00
Adeeb Shihadeh
ff965c772b
add branch name to startup master alert ( #23782 )
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* add branch name to startup master alert
* still orange
* update refs
2022-02-16 20:27:07 -08:00
