Jason Wen
8f970bcb99
Reapply "latcontrol_torque: lower kp and lower friction threshold (commaai/openpilot#36619)" ( #1581 ) ( #1669 )
...
* Reapply "latcontrol_torque: lower kp and lower friction threshold (commaai/openpilot#36619)" (#1581 )
This reverts commit 7560497f
2026-02-02 22:13:37 -05:00
James Vecellio-Grant
7560497f15
Revert "latcontrol_torque: lower kp and lower friction threshold (commaai/openpilot#36619)" ( #1581 )
...
* Revert " latcontrol_torque: delay independent jerk and lower kp and lower friction threshold (#36619 )"
This reverts commit f01391a7d9haibin.wen3@gmail.com >
2025-12-17 21:32:18 -05:00
Jason Wen
03c8494dbc
Merge branch 'upstream/openpilot/master' into sync-20251213
...
# Conflicts:
# README.md
# common/api.py
# docs/CARS.md
# opendbc_repo
# panda
# selfdrive/ui/mici/layouts/offroad_alerts.py
# system/ui/README.md
# system/version.py
2025-12-13 01:50:42 -05:00
felsager
f01391a7d9
latcontrol_torque: delay independent jerk and lower kp and lower friction threshold ( #36619 )
2025-11-25 10:23:02 -08:00
Jason Wen
08e85808c5
Merge branch 'upstream/openpilot/master' into sync-20251114
...
# Conflicts:
# .github/workflows/ci_weekly_run.yaml
# .github/workflows/raylib_ui_preview.yaml
# .github/workflows/tests.yaml
# .gitmodules
# README.md
# SConstruct
# common/api.py
# common/params_keys.h
# docs/CARS.md
# msgq_repo
# opendbc_repo
# panda
# selfdrive/car/tests/test_car_interfaces.py
# selfdrive/controls/controlsd.py
# selfdrive/controls/lib/latcontrol.py
# selfdrive/controls/lib/latcontrol_angle.py
# selfdrive/controls/lib/latcontrol_pid.py
# selfdrive/controls/lib/latcontrol_torque.py
# selfdrive/controls/tests/test_latcontrol.py
# selfdrive/monitoring/helpers.py
# selfdrive/ui/SConscript
# selfdrive/ui/main.cc
# selfdrive/ui/qt/body.h
# selfdrive/ui/qt/home.cc
# selfdrive/ui/qt/home.h
# selfdrive/ui/qt/network/networking.cc
# selfdrive/ui/qt/network/networking.h
# selfdrive/ui/qt/network/wifi_manager.cc
# selfdrive/ui/qt/offroad/developer_panel.cc
# selfdrive/ui/qt/offroad/developer_panel.h
# selfdrive/ui/qt/offroad/experimental_mode.cc
# selfdrive/ui/qt/offroad/firehose.cc
# selfdrive/ui/qt/offroad/firehose.h
# selfdrive/ui/qt/offroad/onboarding.cc
# selfdrive/ui/qt/offroad/onboarding.h
# selfdrive/ui/qt/offroad/settings.cc
# selfdrive/ui/qt/offroad/settings.h
# selfdrive/ui/qt/offroad/software_settings.cc
# selfdrive/ui/qt/onroad/alerts.cc
# selfdrive/ui/qt/onroad/annotated_camera.h
# selfdrive/ui/qt/onroad/buttons.cc
# selfdrive/ui/qt/onroad/buttons.h
# selfdrive/ui/qt/onroad/driver_monitoring.cc
# selfdrive/ui/qt/onroad/hud.cc
# selfdrive/ui/qt/onroad/hud.h
# selfdrive/ui/qt/onroad/model.cc
# selfdrive/ui/qt/onroad/model.h
# selfdrive/ui/qt/onroad/onroad_home.cc
# selfdrive/ui/qt/onroad/onroad_home.h
# selfdrive/ui/qt/request_repeater.h
# selfdrive/ui/qt/sidebar.cc
# selfdrive/ui/qt/sidebar.h
# selfdrive/ui/qt/util.cc
# selfdrive/ui/qt/widgets/cameraview.h
# selfdrive/ui/qt/widgets/controls.cc
# selfdrive/ui/qt/widgets/controls.h
# selfdrive/ui/qt/widgets/input.cc
# selfdrive/ui/qt/widgets/input.h
# selfdrive/ui/qt/widgets/prime.cc
# selfdrive/ui/qt/widgets/prime.h
# selfdrive/ui/qt/widgets/ssh_keys.h
# selfdrive/ui/qt/widgets/toggle.h
# selfdrive/ui/qt/widgets/wifi.cc
# selfdrive/ui/qt/widgets/wifi.h
# selfdrive/ui/qt/window.cc
# selfdrive/ui/qt/window.h
# selfdrive/ui/tests/cycle_offroad_alerts.py
# selfdrive/ui/tests/test_ui/run.py
# selfdrive/ui/translations/main_ar.ts
# selfdrive/ui/translations/main_de.ts
# selfdrive/ui/translations/main_es.ts
# selfdrive/ui/translations/main_fr.ts
# selfdrive/ui/translations/main_ja.ts
# selfdrive/ui/translations/main_ko.ts
# selfdrive/ui/translations/main_nl.ts
# selfdrive/ui/translations/main_pl.ts
# selfdrive/ui/translations/main_pt-BR.ts
# selfdrive/ui/translations/main_th.ts
# selfdrive/ui/translations/main_tr.ts
# selfdrive/ui/translations/main_zh-CHS.ts
# selfdrive/ui/translations/main_zh-CHT.ts
# selfdrive/ui/ui.cc
# selfdrive/ui/ui.h
# system/manager/build.py
# system/version.py
2025-11-16 02:50:28 -05:00
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
felsager
d2bb8fe537
latcontrol_torque: more descriptive variable names ( #36422 )
2025-10-22 10:44:14 -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
Harald Schäfer
7534b2a160
PID: no more ff gain ( #36398 )
...
* No more ff gain
* typo
2025-10-18 11:12:47 -07:00
felsager
3546b625e7
latcontrol_torque: change in kp should not affect effective low speed factor gain ( #36335 )
2025-10-14 13:22:17 -07:00
felsager
de805e4af7
Lateral torque controller: use measurement rate as error rate ( #36291 )
2025-10-09 14:57:12 -07:00
felsager
0736f325fc
Latcontrol torque: cleaner low_speed_factor calculation ( #36287 )
2025-10-09 10:29:35 -07:00
felsager
226465e882
Latcontrol: refactor pid error to factor out lateral jerk component ( #36280 )
2025-10-08 18:29:54 -07:00
felsager
2deb4e6f65
Lateral controllers: pass dt (delta time) explictly ( #36281 )
2025-10-08 14:39:05 -07:00
Jason Wen
de64b99740
Torque Lateral Control: customized settings ( #1314 )
...
* init
* use internal frame
* exit early if toggle not enabled
* ui init
* ui: replace `static_cast<int>` with `std::nearbyint` for precise rounding
* revert
* update title
* handle live relaxed
* fix
* tweak ui
* toggle behaviors
* lint
* Update torqued_ext.py
* always update
* make sure it's updated properly with offroad states
* fix
* make sure to initialize
---------
Co-authored-by: nayan <nayan8teen@gmail.com >
2025-10-05 23:41:31 -04:00
Jason Wen
ec8f036850
Merge branch 'upstream/openpilot/master' into sync-20250908
...
# Conflicts:
# .github/workflows/selfdrive_tests.yaml
# README.md
# docs/CARS.md
# opendbc_repo
# panda
# selfdrive/car/tests/test_car_interfaces.py
# selfdrive/modeld/modeld.py
# selfdrive/selfdrived/selfdrived.py
# selfdrive/ui/translations/main_ar.ts
# selfdrive/ui/translations/main_de.ts
# selfdrive/ui/translations/main_es.ts
# selfdrive/ui/translations/main_fr.ts
# selfdrive/ui/translations/main_ja.ts
# selfdrive/ui/translations/main_ko.ts
# selfdrive/ui/translations/main_pt-BR.ts
# selfdrive/ui/translations/main_th.ts
# selfdrive/ui/translations/main_tr.ts
# selfdrive/ui/translations/main_zh-CHS.ts
# selfdrive/ui/translations/main_zh-CHT.ts
# system/hardware/hardwared.py
# system/updated/updated.py
# tinygrad_repo
# uv.lock
2025-09-13 15:23:36 -04:00
Jason Wen
ba1da60c25
NNLC: compute error in torque space ( #1185 )
...
* NNLC: compute error in torque space
* bump
* sp happy too
* bump
* lint
* update path
* oops
* test entire loop
* bump
* test gm
* bump
* bump
2025-08-29 22:39:25 +02:00
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
Jason Wen
798e9071d8
Merge branch 'upstream/openpilot/master' into sync-20250823
...
# Conflicts:
# .github/workflows/release.yaml
# README.md
# RELEASES.md
# common/params_keys.h
# docs/CARS.md
# opendbc_repo
# panda
# release/build_stripped.sh
# selfdrive/controls/lib/longitudinal_planner.py
# selfdrive/modeld/modeld.py
# selfdrive/ui/feedback/feedbackd.py
# selfdrive/ui/translations/main_ar.ts
# selfdrive/ui/translations/main_de.ts
# selfdrive/ui/translations/main_es.ts
# selfdrive/ui/translations/main_fr.ts
# selfdrive/ui/translations/main_ja.ts
# selfdrive/ui/translations/main_ko.ts
# selfdrive/ui/translations/main_pt-BR.ts
# selfdrive/ui/translations/main_th.ts
# selfdrive/ui/translations/main_tr.ts
# selfdrive/ui/translations/main_zh-CHS.ts
# selfdrive/ui/translations/main_zh-CHT.ts
# system/version.py
# uv.lock
2025-08-24 14:52:21 -04:00
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
Jason Wen
6c4c0c00b4
Merge branch 'upstream/openpilot/master' into sync-20250812
...
# Conflicts:
# opendbc_repo
# selfdrive/controls/controlsd.py
# selfdrive/controls/lib/latcontrol_angle.py
# selfdrive/controls/lib/latcontrol_pid.py
# selfdrive/controls/lib/latcontrol_torque.py
2025-08-12 23:11:18 -04:00
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
Jason Wen
97c2d7e655
Merge branch 'upstream/openpilot/master' into sync-20250809
...
# Conflicts:
# common/params_keys.h
# opendbc_repo
# panda
# selfdrive/car/cruise.py
# selfdrive/controls/controlsd.py
# selfdrive/selfdrived/selfdrived.py
# selfdrive/test/process_replay/process_replay.py
# selfdrive/ui/qt/setup/setup.cc
# tinygrad_repo
2025-08-10 02:05:05 -04:00
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
Jason Wen
d6474aa0a9
Merge branch 'upstream/openpilot/master' into sync-20250731
...
# Conflicts:
# .github/workflows/selfdrive_tests.yaml
# common/params.h
# common/params_keys.h
# common/params_pyx.pyx
# docs/CARS.md
# opendbc_repo
# panda
# selfdrive/car/tests/test_models.py
# selfdrive/pandad/pandad.cc
# selfdrive/pandad/pandad.h
# selfdrive/selfdrived/selfdrived.py
# selfdrive/ui/translations/main_ar.ts
# selfdrive/ui/translations/main_de.ts
# selfdrive/ui/translations/main_es.ts
# selfdrive/ui/translations/main_fr.ts
# selfdrive/ui/translations/main_ja.ts
# selfdrive/ui/translations/main_ko.ts
# selfdrive/ui/translations/main_pt-BR.ts
# selfdrive/ui/translations/main_th.ts
# selfdrive/ui/translations/main_tr.ts
# selfdrive/ui/translations/main_zh-CHS.ts
# selfdrive/ui/translations/main_zh-CHT.ts
# system/athena/athenad.py
# system/athena/manage_athenad.py
# system/manager/manager.py
# system/sentry.py
# uv.lock
Sync: `commaai/opendbc:master` into `sunnypilot/opendbc:master`
Sync: `commaai/panda:master` into `sunnypilot/panda:master`
2025-08-02 00:21:14 -04:00
DevTekVE
1966845fc9
refactor: move lateral methods from init to lateral.py ( #35856 )
...
* 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
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com >
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
2025-08-01 15:17:37 -07:00
Shane Smiskol
bc7d6f2677
torque controller: clean up friction ( #35781 )
...
* conditional friction inside here is confusing
* do it here
* one line
* run
* bump
2025-07-21 20:27:34 -07:00
Jason Wen
beaec753ab
Merge branch 'upstream/openpilot/master' into sync-20250710
...
# Conflicts:
# .github/workflows/selfdrive_tests.yaml
# README.md
# common/params_keys.h
# opendbc_repo
# panda
# selfdrive/controls/lib/longitudinal_planner.py
# selfdrive/controls/lib/tests/test_latcontrol.py
# selfdrive/ui/soundd.py
# selfdrive/ui/translations/main_ar.ts
# selfdrive/ui/translations/main_de.ts
# selfdrive/ui/translations/main_es.ts
# selfdrive/ui/translations/main_fr.ts
# selfdrive/ui/translations/main_ja.ts
# selfdrive/ui/translations/main_ko.ts
# selfdrive/ui/translations/main_pt-BR.ts
# selfdrive/ui/translations/main_th.ts
# selfdrive/ui/translations/main_tr.ts
# selfdrive/ui/translations/main_zh-CHS.ts
# selfdrive/ui/translations/main_zh-CHT.ts
# tinygrad_repo
2025-07-19 00:28:43 -04:00
Harald Schäfer
20fdb686ca
latcontrol torque: remove option to feed back on localizer ( #35659 )
...
* Localizer is too laggy for control
* typo
* typo
* fix test
* fix imports
* Revert "fix imports"
This reverts commit 5074f8050170f974b451e00d9fdc752f09a47d57.
* fix improt
* import
2025-07-08 14:12:46 -07:00
Tim Wilson
bcdb546638
NNLC: decreased low-speed factor ( #822 )
...
* NNLC: decreased low-speed factor
* np.float to float
* format
* add tests for sanity check
---------
Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com >
Co-authored-by: Jason Wen <haibin.wen3@gmail.com >
2025-04-19 11:47:47 -04:00
Jason Wen
d21e351003
Controls: Lateral Accel Torque Control Extension ( #690 )
...
* init
* more init
* keep it alive
* fixes
* more fixes
* more fix
* new submodule for nn data
* bump submodule
* update path to submodule
* spacing???
* update submodule path
* update submodule path
* bump
* dump
* bump
* introduce params
* Add Neural Network Lateral Control toggle to developer panel
This introduces a new toggle for enabling Neural Network Lateral Control (NNLC), providing detailed descriptions of its functionality and compatibility. It includes UI integration, car compatibility checks, and feedback links for unsupported vehicles.
* decouple even more
* static
* codespell
* remove debug
* in structs
* fix import
* convert to capnp
* fixes
* debug
* only initialize if NNLC is enabled or allow to enable
* oops
* fix initialization
* only allow engage if nnlc is off
* fix toggle param
* fix tests
* lint
* fix more test
* capnp test
* try this out
* validate if it's not None
* make it 33 to match
* align
* share the same friction input calculation
* return stock values if not enabled
* unused
* split base and child
* space
* rename
* NeuralNetworkFeedForwardModel
* less
* just use file name
* try this
* more explicit
* rename
* move it
* child class for additional controllers
* rename
* time to split out custom lateral acceleration
* move around
* space
* fix
* TODO-SP
* TODO-SP
* split nnlc and custom lat accel
* more
* not yet
* comment
* fix
---------
Co-authored-by: DevTekVE <devtekve@gmail.com >
2025-03-20 16:01:08 -04:00
Shane Smiskol
6891b795c4
controls: limit max curvature from lateral acceleration ( #34651 )
...
* limit max curvature with lateral accel too
* not a guideline
* roll compensation in curv clip
* improve clipping and alerting
* typo
* clean up
* no float
* get ready
* good idea
* good
* redundant
* TODO
* test
* do max curvature clip last
* flip
---------
Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com >
2025-03-03 19:47:52 -08:00
Shane Smiskol
68d22b960b
rename steer_limited ( #34763 )
...
rename
2025-03-03 16:28:49 -08:00
Shane Smiskol
6723106bf5
Move vehicle_model.py to opendbc ( #34681 )
...
* move
* fix
* move test too
* bump
* better
* bump to master
2025-02-26 17:35:43 -08:00
Sammohana
8eebce75ac
Getting rid of openpilot.common.numpy_fast ( #34368 )
...
* Got rid openpilot.common.numpy_fast
* fixed some data type erros
* importing numpy instead of importing specific functions
* fixing some numpy importing mistakes
* Update selfdrive/car/cruise.py
---------
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
2025-01-14 14:52:56 -08:00
Adeeb Shihadeh
fecf6134ef
move PID controller to common/ ( #33419 )
...
old-commit-hash: f59a1bf003
2024-08-31 16:49:29 -07:00
Shane Smiskol
4f019b5f60
move selfdrive/car to opendbc ( #32630 )
...
* move most of /car
* move some car tests
move some car tests
* fix selfdrive/car/tests
* fix selfdrive/controls tests
* fix the rest of the selfdrive tests
* bump opendbc
* fix all tests
* few more non-test references
* remove opcar and move docs to car
fix these debugging scripts
fix docs
* bump opendbc and panda
forgot panda
old-commit-hash: e735a7f379
2024-08-17 00:54:51 -07:00
Kacper Rączy
80bc61dc6c
controlsd: use livePose ( #33283 )
...
* 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
Shane Smiskol
3953eba4ac
controlsd: no mutable carParams ( #32381 )
...
* no as builder
* fix car int test
* more
old-commit-hash: c95b58401a
2024-07-02 13:27:45 -07:00
Vivek Aithal
80195f1432
LatControlTorque: Add more inputs ( #31252 )
...
* add history and state to the ff inputs
* add history
* resolve comments
* remove history, simplify
* don't compute lateral accel, roll comp always
old-commit-hash: 056b330e8b
2024-02-01 04:12:48 -08:00
Harald Schäfer
f2106e0601
No curv rate for lateral control ( #31042 )
...
* 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 )
...
old-commit-hash: ce4bac8218
2023-12-03 15:54:18 -08:00
Adeeb Shihadeh
16ec56398c
add openpilot prefix to imports ( #29498 )
...
* 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
