* 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>
* Merge branch 'master' into move-common-vm-methods. dunno what happend with ci
* now we need to move this import
* bump opendbc
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* here?
* nah card shouldn't become bloated
* better
* import
* actually selfdrived is probably best since it already manages alerts
card is car interfacing, controlsd is for calculating control input, selfdrived is rest
* consistent name
* add to params
* ai
* maybe better?
* shorter
* build out lockout
* do
* check active
* descriptive
* this is a terrible experience just to get lat accel
* just pass sm
* not iso
* type
* rm
* math
* use calibrated roll
* fix
* fix borkenness
* cmt
* compare some methods
* rolling window
* 1 and 2 are the same
* rm it
* stuff
* plot
* plot kf
* generic implementation
* adjust limits
* fix from merge
* clean up
* revert filter to master
* and here
* and
* run_process_on_route imps
* clean up
* why not
* extrapolate
* this doesn't generically work for angle/curvature cars
Revert "extrapolate"
This reverts commit 556f0c3a92b82f07ceb6422f0e39322e79a10dcd.
* cmt
* move
* rm debug
rm debug
and
* others use helpers
* two counters might be too much to return
* turn into class
* clean up
* cmt
* kinda obvious
* impossible for this not to be true, but make it explicit
* clean up
* record feedback with LKAS button
* fix alert test
* slightly simplify feedbackd
* "Audio Feedback Saved" upon time expiration or early stop
* earlySend --> earlyStop
* userFlag --> userBookmark
* RecordAudioFeedback param/toggle
* add audioFeedback test
* simplify feedbackd
* send bookmark regardless of toggle, show feedback event with higher priority
* add userBookmark to selfdrived sm
* fix mispelled param name
* default off and move to main
* segmentNum --> blockNum, earlyStop --> lastBlock
* preserve audioFeedback
* get rid of lastBlock and just send bookmark saved at the end
* update raylib side
* update toggle description and add raylib toggle
---------
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* 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>
* Revert "Fix up `radarFault` handling (#35880)"
This reverts commit 4d01b7bec8.
* Reapply "Fix up `radarFault` handling (#35880)"
This reverts commit 597d7ec1ed78206035b924a6e8464cd9239b5db4.
* can do this
* yeah this is fine
* excessive actuation
* text
* software
* check
* logic
* whoops
* dont want to lose alert unless user interacts with it
* implement
* try x2
* counter
* try to false trigger
* use livepose
* need to check for livePose noise
* cmt
* nl
* add back
* organization
* setVisible and isVisible consecutively don't work
* style
* cant do this sadly
* actually we can!
* clean up
* clean up
* clean up
* need to match torqued, paramsd, lagd, etc. (fix op sim)
* first
* fix
* fix
* this
* real
* time
* time
* more
* more
* fix
* subclass
* fix
* fix
* test
* fix
* ruff
* revert
* default
* json
* more
* test
* test
* d
* better
* better
* test
* one
* test
* space
* feat: Show alert on user flag event
* feat: Temporarily update border status on user flag to match connect timeline
* Revert "feat: Temporarily update border status on user flag to match connect timeline"
This reverts commit f1da6a4f5f555d4db50b47fb68ce74ae7737b8af.
* feat: Increase alert duration to 1.5 seconds
* remove audible alert for bookmark event
* refactor: Use NormalPermamentAlert for user flag alert
* fix: Update userFlag enum value in OnroadEvent struct
* fix: Handle userFlag event even in dashcam mode
* don't need to ignore that anymore
* remove 'userFlag' from ignore list
---------
Co-authored-by: Jason Young <jyoung8607@gmail.com>
* now alpha long
* fix
* rename param
* thought i did this
* debug
* debug
* more
* more
* moar
* Revert "moar"
This reverts commit e347106246583982e1be206485ad4d8eb944f817.
* Revert "more"
This reverts commit 0746e6d2e400ce1715614c62af84a9680c4d65c1.
* Revert "more"
This reverts commit 0db5a8792c01bb2d687f9152e6ba37fb76d4a453.
* Revert "debug"
This reverts commit 72f235b13727980e4331ff487998ddc7c7f7fb63.
* Revert "debug"
This reverts commit 7871b69f8c1bdffed386c2baac99542fcc50f7eb.
* Online lateral lag learning (#34974)
This reverts commit b4cc9e68d1.
* pad to the best size for fft
* Fix static analysis
* Add typing
* Fix typing
* MAX_LAG
* Calculate cross correlation regardless if the points are valid
* Back to lagd
* Add lagd to process_config
* Lagd in test onroad
* Move lag estimator for lagd
* Remove duplicate entry from test_onroad
* Update process replay
* pre-fill the data
* Update cpu usage
* 25sec window
* Change the meaning of lateralDelayEstimate
* No newline
* Fix typing
* Prefill
* Update ref commit
* Add a unit test
* Fix static issues
* Time limit
* Or timeout
* Use mocker
* Update estimate every time
* empty test
* DT const
* enable RIVIAN again
* Update ref commit
* Update that again
* Improve the tests
* Fix static
* Add masking test
* Increase timeout
* Add liveDelay to selfdrived
* Add liveDelay to selfdrived in process_replay
* Fix block_avg restore after num_blocks
* regen most
* Update bolt
* Update ref commit
* Change the key name
* Add assert
* True weighted average
* temp unavailable
* fix
* replay multiple
* clean up
* bump
* rename
* reason is in liveTracks
* more rename
* bump
* fix
* bump
* fix
* need to totally ignore it, or it will throw commIssues for radarErrors or not alive
* this is just simpler -- good thing kept struct
* rm
* always check radarState freq since it polls on modelV2 and sends at a fixed rate
* fine
* can just check this since valid is all_checks on liveTracks, and liveTracks.valid is len(errors) as well
full circle
* Use uncalibrated values
* Use calib_valid
* Move valids together
* Add calibration valid field
* Add migration block for new field
* No paramsdTemporaryError while calibrating
* comment
* Fix static issues
* Update ref commit
* Comment
* Remove redundant field
* check for calstatus in selfdrived
* Remove comment
* Update ref commit
* 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>
