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474ba19c818ee3b884f8f8c4e86e55bdfc6f2eb0
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350 Commits

Author SHA1 Message Date
Shane Smiskol
474ba19c81 Add Disengage on Accelerator Toggle (#23977) 
* Squashed commit of the following:

commit 953bcf0ecf8d03f0fec9ce0d5442cc660ae2347d
Merge: b4198608d efd04715e
Author: Shane Smiskol <shane@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 0e983562d
Author: Shane Smiskol <shane@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 c78701e47
Author: Shane Smiskol <shane@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 3e819bc5a
Author: Shane Smiskol <shane@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 603e07793
Author: Shane Smiskol <shane@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 46ed8bb8e
Author: Shane Smiskol <shane@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 2c947f193
Author: Shane Smiskol <shane@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 d0ef25959
Author: Shane Smiskol <shane@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 c814c1383
Author: Shane Smiskol <shane@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 6d2483ff9
Author: Shane Smiskol <shane@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 eae207a84
Author: Shane Smiskol <shane@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 ebf5b27a7
Author: Jason Wen <47793918+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 1175355b7
Author: Jason Wen <47793918+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
old-commit-hash: f1f40c117a
 2022-04-04 21:59:52 -07:00
Adeeb Shihadeh
9e0a09868a body: only control while engaged (#24114) 
* body: only control while engaged

* bump panda

* remove that

* bump panda

* update refs

* update refs
old-commit-hash: 00ebd10b87
 2022-04-04 19:37:21 -07:00
Igor Biletskyy
c64fd227ef body: add crc and counter (#24120) 
* add crc and counter for body

* add msg

* move counter

* whitespace

* ..

* bump opendbc

* update_refs
old-commit-hash: 7df1c025ae
 2022-04-04 19:19:30 -07:00
Adeeb Shihadeh
56bfed0c15 calibrationd: support for not cars (#24115) 
* calibrationd: support for not cars

* update refs
old-commit-hash: 7dffd0ac0b
 2022-04-04 17:04:15 -07:00
HaraldSchafer
b199e26dc1 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
old-commit-hash: b2b6205e25
 2022-04-04 14:41:18 -07:00
Shane Smiskol
d8d1229580 Hyundai: always update set speed (#24104) 
* don't reset set speed

* update refs
old-commit-hash: 18e7f85f70
 2022-04-04 10:51:58 -07:00
Shane Smiskol
01d005c322 update refs 
old-commit-hash: a4353303d4
 2022-04-01 22:39:08 -07:00
Adeeb Shihadeh
78bb03345e better support non-car robots (#24106) 
* better support non-car robots

* bump cereal

* update refs
old-commit-hash: e40c36f22b
 2022-04-01 20:03:20 -07:00
Adeeb Shihadeh
abdcce3ad5 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>
old-commit-hash: 0b9790dd24
 2022-03-31 23:02:47 -07:00
Igor Biletskyy
df806cdbeb 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>
old-commit-hash: 031f79ba88
 2022-03-31 17:16:15 -07:00
Adeeb Shihadeh
c319dfd924 controlsd: no cruise speed while main off (#24052) 
* controlsd: no cruise speed while main off

* probably more accurate

* update refs
old-commit-hash: 49498aa7b5
 2022-03-27 18:06:28 -07:00
HaraldSchafer
d42962014c CarParams: remove max steer (#24044) 
* Remove max steer

* Update ref
old-commit-hash: adf34c3414
 2022-03-25 17:33:11 -07:00
Shane Smiskol
2f05c9381d Honda Nidec: don't actuate while longitudinal is inactive (#24028) 
* don't command any pcm_speed when long is not active

* update refs
old-commit-hash: c88ced1f10
 2022-03-23 18:30:05 -07:00
HaraldSchafer
b24d669861 Apply EU guideline lateral limits (#23974) 
* Apply EU limits

* Lower bound v_ego

* Add curvature limit comment

* Remove comment

* Update ref
old-commit-hash: 4a8fffd0f4
 2022-03-22 19:46:04 -07:00
HaraldSchafer
45b028e39a Add angular rates carcontroller packet (#23980) 
* Controlsd: give carcontroller angular rates

* Update cereal

* Needs to be list

* Update refs
old-commit-hash: dcece099ff
 2022-03-16 21:12:11 -07:00
Shane Smiskol
ca394949cc 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>
old-commit-hash: 5fe00fb773
 2022-03-15 20:51:07 -07:00
ZwX1616
e8a8e37185 DM: more precision running on DSP + e2e outputs (#23900) 
* 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
old-commit-hash: de4031c98e
 2022-03-15 19:02:21 -07:00
Vivek Aithal
069fe1a749 locationd: Commissue fix (#23951) 
* check allAliveAndValid only at filter init

* revert cereal and bugfix test

* rename filterValid to filterInitialized

* bump cereal

* correct err

* update refs
old-commit-hash: dfc1292614
 2022-03-15 14:40:29 -07:00
Adeeb Shihadeh
479ac5753c longitudinal MPC: add MAX_T in T_IDXS_LST (#23960) 
* longitudinal MPC: add MAX_T in T_IDXS_LST

* update refs

Co-authored-by: KexianShen <shenkexian@gmail.com>
old-commit-hash: f1aab78d08
 2022-03-13 21:45:23 -07:00
Shane Smiskol
3e61c7e6ae carControl: add long and lat active fields (#23859) 
* 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>
old-commit-hash: 629399a449
 2022-03-13 20:58:44 -07:00
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
Jonathan Frey
0d5d9a43d3 Longitudinal MPC set qp tolerance to 1e-3 (#23899) 
* 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>
old-commit-hash: ab371f888a
 2022-03-02 21:38:40 -08:00
Jonathan Frey
aa549592f7 remove trivial terminal constraint and associated CasADi generated functions (#23898) 
* remove trivial terminal constraint and associated CasADi generated functions

* Update refs

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
old-commit-hash: 1801baba68
 2022-03-02 20:53:21 -08:00
Vivek Aithal
5bad0f4400 locationd, paramsd: Check conditions before updating kalman filters (#23789) 
* 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
old-commit-hash: 7e6903b58f
 2022-03-02 01:01:29 -08:00
Jonathan Frey
baab5d7a7b Cython acados and minor (#23835) 
* 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>
old-commit-hash: d09dffb7cd
 2022-02-25 14:16:44 -08:00
Adeeb Shihadeh
9bd6dbea43 Subaru: remove Impreza CAN fingerprints (#23841) 
* Subaru: remove Impreza CAN fingerprints

* fix process replay

* update refs
old-commit-hash: 04b2545ec0
 2022-02-23 15:44:17 -08:00
Willem Melching
dc16307917 longitudinal planner: disable change cost when stopped. not engaged or gas pressed (#23639) 
* disable change cost completely on standstill and gas press

* cleanup

* set accel to zero

* clean up logic around standstill

* update ref
old-commit-hash: 428d412c1f
 2022-02-21 16:14:41 +01:00
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
Willem Melching
849bbc8a2f process replay: fix branch name alert (#23783) 
* env is modified after start

* update ref
old-commit-hash: 14260c01c6
 2022-02-17 16:47:42 +01:00
Adeeb Shihadeh
ddde46c503 keep the new alert consistent for process replay 
old-commit-hash: f59adbeaaa
 2022-02-16 23:47:02 -08:00
Adeeb Shihadeh
693b66c1e0 add branch name to startup master alert (#23782) 
* add branch name to startup master alert

* still orange

* update refs
old-commit-hash: ff965c772b
 2022-02-16 20:27:07 -08:00
ClockeNessMnstr
c12656f397 Longitudinal: add Kf to carParams (#23752) 
* sane_kf

* long_kf + cereal

* update ref

Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: 9535dc606d
 2022-02-16 15:38:22 +01:00
Vivek Aithal
1329847be0 controlsd: Fix Toyota steer angle sensor race condition (#23747) 
* fix steer angle race condition

* update ref

Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: 3e915cf628
 2022-02-11 13:54:17 +01:00
Vivek Aithal
1eb13fdc65 paramsd: fix VehicleModelInvalid errors (#23726) 
* bound steerratio, stiffness std

* remove start steer_ratio limits after looking at data

* reduce sf obs noise

* update refs

* update refs

* add comment explaining change
old-commit-hash: 8a2cbfe00b
 2022-02-09 17:37:28 -08:00
Willem Melching
5a78f1d29c hide localizerMalfunction alert (#23730) 
* hide localizerMalfunction alert

* update ref
old-commit-hash: 8effa2d878
 2022-02-08 22:22:03 -08:00
Adeeb Shihadeh
5d29eb6386 update refs 
old-commit-hash: af33998335
 2022-01-30 20:46:40 -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
Adeeb Shihadeh
71da8d1250 No actuation while in pre-enabled state (#23658) 
* No actuation while in pre-enabled state

* update refs
old-commit-hash: 72e00a0768
 2022-01-28 16:03:44 -08:00
Shane Smiskol
fadba4b34d CANParser: remove default values (#23642) 
* draft

* remove rest

* bump

* update radar interfaces

* do rest and formatting

* bump

* fix mising check

* try this

* Revert "try this"

This reverts commit 0d26d9a072f87dbc897ed525b70fb1db9cb04a06.

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 3645186d7c
 2022-01-27 17:06:18 -08:00
Willem Melching
9f202e63f5 clip steer saturation counter to steerLimitTimer (#23638) 
* clip steer saturation counter to steerLimitTimer

* update ref
old-commit-hash: ee71fd2fcc
 2022-01-27 12:31:36 +01:00
Adeeb Shihadeh
c6e3e83a01 update refs 
old-commit-hash: 013cccf6a8
 2022-01-26 17:46:12 -08:00
Willem Melching
6101a6caca INDI: replace internal rate limit by actuatorsOutput (#23243) 
* INDI: replace internal rate limit by actuatorsOutput

* update ref
old-commit-hash: cf9eee4272
 2022-01-26 17:45:05 +01:00
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
Adeeb Shihadeh
badf4dff4f Toyota: move gas pedal definitions into common DBC (#23582) 
* Toyota: move gas pedal definitions into common DBC

* add rest of cars

* auto detection

* cleanup

* update refs
old-commit-hash: b18c4eeb82
 2022-01-24 15:43:10 -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
Harald Schafer
490f9efc7d Update refs for PR:#23584) 
old-commit-hash: 920829875f
 2022-01-20 14:24:36 -08:00
Jonathan Frey
6f4c93238f work on acados lateral MPC (#23558) 
* lat_mpc: make v_ego, rotation_radius parameters instead of states

* lat_mpc: remove rotation_radius argument, since it is part of the parameters

* lat_mpc: use qp_solver_cond_N = 1

slightly faster and in line with case study in Fig. 2/ 3 in Frison2016 - https://cdn.syscop.de/publications/Frison2016.pdf
An Efficient Implementation of Partial Condensing for Nonlinear Model Predictive Control

* adapt test_lateral_mpc to formulation with parameters

* lat_mpc: set parameters in reset() and copy values

* acados_ocp_solver_pyx: make options_set useable

* update ref

Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: 0681474840
 2022-01-18 09:49:48 -08:00
Vivek Aithal
e4c2c2cf2e use roll std from locationd (#23449) 
* use roll std from locationd

* cleaner

* add todo

* new ref

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
old-commit-hash: f808b174af
 2022-01-12 21:37:09 -08:00
Shane Smiskol
d05c173fe6 Longcontrol: remove starting state (#23328) 
* remove starting state

* new ref

* ready for merge

* try this

* cereal now on master

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
old-commit-hash: cf9792dc53
 2022-01-04 15:40:39 -08:00