felsager
4c9ca91b98
Latcontrol: use more accurate naming for saturation time ( #36286 )
2025-10-09 10:34:26 -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
felsager
9f32f217e6
Latcontrol: type annotate update inputs and clip_curvature output ( #36282 )
2025-10-08 14:26:53 -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
Adeeb Shihadeh
ea4554526e
Keep steering active at standstill ( #34918 )
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* Keep steering active at standstill
* bump opendbc
* bump opendbc
* update refs
2025-03-25 14:00:24 -07:00
Shane Smiskol
6891b795c4
controls: limit max curvature from lateral acceleration ( #34651 )
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* 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
Sammohana
8eebce75ac
Getting rid of openpilot.common.numpy_fast ( #34368 )
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* 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
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
Shane Smiskol
a878118b00
Revert "selfdrive/car: ban imports from external modules" ( #32993 )
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Revert "selfdrive/car: ban imports from external modules (#32973 )"
This reverts commit c1e8ff2dbc47ccb07fb41a4e88bfb66af2669254.
old-commit-hash: 35a4a773f1
2024-07-15 11:14:04 -07:00
Dean Lee
58df39a2ba
selfdrive/car: ban imports from external modules ( #32973 )
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* lint import
* Update selfdrive/car/__init__.py
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com >
old-commit-hash: 83d4623590
2024-07-15 11:12:24 -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 )
...
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
Shane Smiskol
de8ddbb73f
LatControlAngle: lower saturation check speed ( #26749 )
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lower speed for angle
old-commit-hash: d5ffb90a04
2022-12-09 21:43:55 -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
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
Willem Melching
9f202e63f5
clip steer saturation counter to steerLimitTimer ( #23638 )
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* clip steer saturation counter to steerLimitTimer
* update ref
old-commit-hash: ee71fd2fcc
2022-01-27 12:31:36 +01:00
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
Vehicle Researcher
0932b367bd
openpilot v0.5.12 release
...
old-commit-hash: 3f9059fea8
2019-05-16 13:20:29 -07:00
Vehicle Researcher
30f7a33535
openpilot v0.5.10 release
...
old-commit-hash: f74a201edc
2019-03-26 01:09:18 -07:00
Vehicle Researcher
2cc4edde68
openpilot v0.5.9 release
...
old-commit-hash: 0207a97040
2019-02-20 01:39:02 +00:00
Vehicle Researcher
fdbf213be8
openpilot v0.5.6 release
...
old-commit-hash: 860a48765d
2018-11-17 02:08:34 -08:00
Vehicle Researcher
e41a943dd0
openpilot v0.5 release
...
old-commit-hash: de33bc4645
2018-07-12 18:52:06 -07:00
Vehicle Researcher
405e7c1b02
openpilot v0.4.7.2 release
...
old-commit-hash: 95509a58cd
2018-06-25 13:48:52 -07:00
Vehicle Researcher
242328f92c
openpilot v0.4.7 release
...
old-commit-hash: ae5cb7a0da
2018-06-16 20:59:34 -07:00
Vehicle Researcher
8fc7b0b828
openpilot v0.4.6 release
...
old-commit-hash: c6df34f55b
2018-05-23 03:59:04 +00:00
Vehicle Researcher
171647c2fc
openpilot v0.4.3.1 release
...
old-commit-hash: 3d628a6fe2
2018-03-19 23:40:24 -07:00
Vehicle Researcher
df22dac4f6
openpilot v0.4.3 release
...
old-commit-hash: 9a411ebf32
2018-03-17 00:01:50 -07:00
Vasily Tarasov
e9ef18d088
Interpolate ki/kp for steering PID loop ( #200 )
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* Interpolate ki/kp for steering PID loop
Very much needed for the Volt port: car ping-pongs with low kp
on high speeeds, and the loop is unstable with high kp on
low speeds.
Also, removes "number or array?" logic from PIController,
now that all the callers use interpolation ofr ki/kp.
* Pass speed to steering PID loop for ki/kp interpolation
* Remove unused numbers import
old-commit-hash: 93f55f3ccf
2018-03-15 13:28:15 -07:00
Vehicle Researcher
4e867831f7
openpilot v0.4.2 release
...
old-commit-hash: 28c0797d30
2018-02-06 12:43:45 -08:00
Vehicle Researcher
d9578e2f8e
openpilot v0.4.0.1 release
...
old-commit-hash: a77c0a1098
2017-12-23 17:15:27 -08:00
Vehicle Researcher
d914111e16
openpilot v0.3.9 tweaks
...
old-commit-hash: 1ad9cc8c67
2017-12-06 12:48:00 -08:00
Vehicle Researcher
490307fe50
openpilot v0.3.9 release
...
old-commit-hash: 5627d0d7fd
2017-11-22 04:30:24 -08:00
Vehicle Researcher
81ebf6b142
openpilot v0.3.8.2 release
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old-commit-hash: 187a70f760
2017-10-31 02:27:39 -07:00
Vehicle Researcher
2c0cc6103a
openpilot v0.3.7 release
...
old-commit-hash: daf54ad54d
2017-09-30 19:05:03 -07:00
Vehicle Researcher
ee8459a55f
openpilot v0.3.6 release
...
old-commit-hash: 99cb610b12
2017-08-09 17:41:38 -07:00
Vehicle Researcher
46e0ee7750
openpilot v0.3.4 release
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old-commit-hash: 6f46f988d9
2017-07-28 03:23:57 -07:00
Ted Slesinski
25d9753df2
Fixes global saturation change
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old-commit-hash: 97eb55cc55
2017-06-20 02:47:47 -04:00
John Jones
bc793ab843
missed one update in latcontrol
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old-commit-hash: 6e824a2c22
2017-06-11 21:33:44 -04:00
Vehicle Researcher
5de48a7668
openpilot v0.3.0-devel release
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old-commit-hash: 4653a9aef0
2017-05-11 12:41:17 -07:00
Vehicle Researcher
dd743232f4
openpilot v0.2.1 release
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old-commit-hash: 17d9becd3c
2016-12-14 21:29:12 -08:00
Vehicle Researcher
53bccc4377
openpilot v0.2 release
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old-commit-hash: 449b482cc3
2016-12-12 20:18:19 -08:00
Vehicle Researcher
79ca8c9ec9
openpilot release
...
old-commit-hash: e94a30bec0
2016-11-29 18:34:21 -08:00
