Adeeb Shihadeh
fecf6134ef
move PID controller to common/ ( #33419 )
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old-commit-hash: f59a1bf003
2024-08-31 16:49:29 -07:00
Kacper Rączy
80bc61dc6c
controlsd: use livePose ( #33283 )
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* Pose calibrator
* Fix static analysis
* Fix static
* Fix test_latcontrol
* Fix test_latcontrol
* Update services in process replay
* Fix static
* Matmul not mul
* Add assertion
* Move pose calibration to data_sample
* Update ref commit
* Remove llk from cycle alerts
* Deprecated nogps event
* Switch power_draw to lp
* Bring back noGps alert
* Add handling code back
* get_bool
* Bring inputsok back
old-commit-hash: 9734015bbb
2024-08-13 21:11:16 -07:00
Harald Schäfer
f2106e0601
No curv rate for lateral control ( #31042 )
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* No more Curvature rate for lat control
* Update cereal
* Update
* Fix lat control test
old-commit-hash: d36103791c
2024-01-17 16:00:50 -08:00
Adeeb Shihadeh
f408eb207a
remove unused last_actuators arg from lateral controllers ( #30595 )
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old-commit-hash: ce4bac8218
2023-12-03 15:54:18 -08:00
Adeeb Shihadeh
16ec56398c
add openpilot prefix to imports ( #29498 )
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* add openpilot prefix to imports
* more
* more
* fix docs
* fix linter
* bump submodules
* fix patched tests
* update dynamic imports
* debug
* Revert "debug"
This reverts commit db5e13b9911cc74438bee123bc3430da6c31b24b.
* fix pm test
old-commit-hash: a9626f95b6
2023-08-20 20:49:55 -07:00
Jason Young
fda55793d0
controlsd: set latActive with max minimum steer speed ( #26805 )
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* refactor minimum lateral speed handling
* rename for clarity
* simplify without joystick at standstill
* intermediate standstill variable, check notCar
* check joystick for now
* cmt
Co-authored-by: Shane Smiskol <shane@smiskol.com >
old-commit-hash: cb88b3ed65
2023-01-10 20:51:10 -08:00
Adeeb Shihadeh
5263356958
remove CS.steeringRateLimited ( #25251 )
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* remove CS.steeringRateLimited
* bump cereal
* update refs
old-commit-hash: d462a08056
2022-07-24 14:56:55 -07:00
Shane Smiskol
12d0a18a05
Clean up controllers ( #24340 )
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* clean up lat controllers
* pass CP once
* sort
old-commit-hash: c9be2f02c3
2022-04-28 00:42:52 -07:00
HaraldSchafer
2174005f05
Lateral torque-based control with roll on TSS2 corolla and TSSP rav4 ( #24260 )
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* 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
old-commit-hash: fe0bcdaef6
2022-04-19 19:34:31 -07:00
HaraldSchafer
305a7a6bc9
Make PI into a PID ( #24151 )
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* Make PI into a PID
* Cast like before
old-commit-hash: 634f7cebef
2022-04-07 11:34:45 -07:00
HaraldSchafer
d42962014c
CarParams: remove max steer ( #24044 )
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* Remove max steer
* Update ref
old-commit-hash: adf34c3414
2022-03-25 17:33:11 -07:00
Shane Smiskol
beeb0442ce
base LatControl class ( #21967 )
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* 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
HaraldSchafer
f64c2974b4
Road Roll Compensation Rebased ( #23251 )
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* 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 )
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* 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
Willem Melching
23ef06428a
add desired angle to log ( #23115 )
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* add desired angle to log
* update ref
* bump cereal
old-commit-hash: bbd0f94d9d
2021-12-03 21:35:34 +01:00
qadmus
dcf3fc2089
[Lateral PID] Function for steer feedforward ( #22638 )
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* store a function for steer feedforward
* use classmethod
Co-authored-by: Willem Melching <willem.melching@gmail.com >
old-commit-hash: 778374d3dd
2021-10-21 11:38:03 +02:00
qadmus
810e859169
Lateral PID: move steer feedforward to CarInterface ( #22411 )
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* 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
grekiki
afe4df11dd
Add angleError to pid_log ( #21611 )
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* add angleError
* Log all the time
* update refs
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
old-commit-hash: 21fad4d1ad
2021-09-01 13:45:22 -07:00
HaraldSchafer
7e87930a20
Refactor lateral lag compensation ( #21334 )
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* add T_IDXS
* refactor
* fix test
* unused
* typo
* needs casting
* Update selfdrive/controls/lib/drive_helpers.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
* deprecate field
* regen all
* new segs
* add todo
* split back
* clean
* bad names
* do in controls
* add arg
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
old-commit-hash: 6838e1c82c
2021-06-30 14:19:39 -07:00
Willem Melching
4bd1929d2b
LateralPlanner should only compute curvature ( #20289 )
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* get curvature from planner
* no need to check active
* remove that
* remove self
* liveParams not needed
* cast
* fix test bug
* fixes
* fix ui.py
* fix radians
* update refs
* update refs
* bump cereal
* bump cereal
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
old-commit-hash: c23ec9f753
2021-03-11 21:08:51 -08:00
Adeeb Shihadeh
05eb44115e
cereal cleanup part 2 ( #20092 )
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* car stuff
* thermal
* Revert "car stuff"
This reverts commit 77fd1c65ebd01abfa8493ae12c9e6b14f7ada976.
* panda state
* camera stuff
* start deg
* most is building
* builds
* planner + controls run
* fix up paramsd
* cleanup
* process replay passes
* fix webcam build
* camerad
* no more frame
* thermald
* ui
* paramsd
* camera replay
* fix long tests
* fix camerad tests
* maxSteeringAngle
* bump cereal
* more frame
* cereal master
old-commit-hash: 312b681a46
2021-02-16 21:39:32 -08:00
Adeeb Shihadeh
966945880b
Cereal cleanup ( #20003 )
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* start cleanup
* fan speed
* cleanup dm
* fix cereal
* hwType -> pandaType
* update refs
* update refs
* bump cereal
* freeSpacePercent
* cereal master
old-commit-hash: 000bd226aa
2021-02-03 19:57:30 -08:00
Adeeb Shihadeh
944759717e
fix missing negative limit in pid controller ( #2001 )
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old-commit-hash: ee99b59bad
2020-08-08 11:49:13 -07:00
Adeeb
fe106e25a3
Controlsd refactor ( #1487 )
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* it's a class
* more refactor
* remove that
* car interface should create that
* that too
* not a dict
* don't create permanent events every iteration
* break up long lines
* fix honda
* small optimization
* less long lines
* dict is faster
* latcontrol less args
* longcontrol less args
* update profiling script
* few optimizations
* create events together
* clean up
* more clean up
* remove comment
* clean up
* simplify state transition
* more clean up
* update comments
old-commit-hash: 08832ff29d
2020-05-12 15:06:48 -07:00
George Hotz
079eee7294
selfdrive/controls
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old-commit-hash: b0260dadba
2020-01-17 12:48:30 -08:00
George Hotz
81dd5a50cf
root commit
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old-commit-hash: 6c33a5c1f3
2020-01-17 10:02:52 -08:00
Vehicle Researcher
99b637c7ce
openpilot v0.7 release
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old-commit-hash: c025b96e8a
2019-12-13 13:03:08 -08:00
Vehicle Researcher
89d1d84c70
openpilot v0.6.5 release
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old-commit-hash: cf80f7a28b
2019-10-09 18:43:53 +00:00
Vehicle Researcher
02cedeadd9
openpilot v0.6.3 release
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old-commit-hash: d5f9caa82d
2019-08-13 01:36:45 +00:00
Vehicle Researcher
9abcfabc5f
openpilot v0.6 release
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old-commit-hash: 8a9ed94f5f
2019-06-28 21:11:30 +00:00
Vehicle Researcher
e47a2e6e30
openpilot v0.5.13 release
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old-commit-hash: dd34ccfe28
2019-06-06 04:38:45 +00:00
Vehicle Researcher
0932b367bd
openpilot v0.5.12 release
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old-commit-hash: 3f9059fea8
2019-05-16 13:20:29 -07:00
