* 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
* 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>
* 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>
* 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>
* Localizer is too laggy for control
* typo
* typo
* fix test
* fix imports
* Revert "fix imports"
This reverts commit 5074f8050170f974b451e00d9fdc752f09a47d57.
* fix improt
* import
* 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>
* 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>
* 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
* 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
* add erf based ff
* silly bug; diff of nonlinear != nonlinear of diff
* add sigmoid based ff, ensure slope at 0 > 1
* reduce steer down limit and increase driver allowance
* rebase panda
* atry without friction, and with tanh nonlinear
* finalize the nonlinear function
* do not disable friction compensation in the ff
* bump panda
* bump panda
* update refs
* update refs
* resolve comments
* Add type hints
---------
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 15b880c0ea
* Add explicit cost on steering wheel movement
* Laxer low speed control
* Laxer low speed control
* Lower min speed now there is a cost
* 3m/s
* Similar to old master
* Add cost
* Crazy high
* Update ref
* comment
old-commit-hash: 2c9b150761
* wip torqued
* add basic logic
* setup in manager
* check sanity and publish msg
* add first order filter to outputs
* wire up controlsd, and update gains
* rename intercept to offset
* add cloudlog, live values are not updated
* fix bugs, do not reset points for now
* fix crashes
* rename to main
* fix bugs, works offline
* fix float in cereal bug
* add latacc filter
* randomly choose points, approx for iid
* add variable decay
* local param to capnp instead of dict
* verify works in replay
* use torqued output in controlsd
* use in controlsd; use points from past routes
* controlsd bugfix
* filter before updating gains, needs to be replaced
* save all points to ensure smooth transition across routes, revert friction factor to 1.5
* add filters to prevent noisy low-speed data points; improve fit sanity
* add engaged buffer
* revert lat_acc thresh
* use paramsd realtime process config
* make latacc-to-torque generic, and overrideable
* move freq to 4Hz, avoid storing in np.array, don't publish points in the message
* float instead of np
* remove constant while storing pts
* rename slope, offset to lat_accet_factor, offset
* resolve issues
* use camelcase in all capnp params
* use camelcase everywhere
* reduce latacc threshold or sanity, add car_sane todo, save points properly
* add and check tag
* write param to disk at end of route
* remove args
* rebase op, cereal
* save on exit
* restore default handler
* cpu usage check
* add to process replay
* handle reset better, reduce unnecessary computation
* always publish raw values - useful for debug
* regen routes
* update refs
* checks on cache restore
* check tuning vals too
* clean that up
* reduce cpu usage
* reduce cpu usage by 75%
* cleanup
* optimize further
* handle reset condition better, don't put points in init, use only in corolla
* bump cereal after rebasing
* update refs
* Update common/params.cc
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* remove unnecessary checks
* Update RELEASES.md
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 4fa62f1464
* update names + notes for MPC outputs
"current_curvature" is not the correct description of what the MPC is outputting in it's curvature_ego state.
The MPC is integrating it's free variable, curvature_rate, such that curvature[0] is actually the desired_curvature before any delay.
inversely: the curvature_rate_desired is the desired rate of change to the setpoint and not the actual curvature rate.
If we were to set the initial curvature = measured curvature in the MPC initiation these names would be correct.
This was possibly how it was initially set up but the nomenclature here is now confusing.
* more notes
* match
* Clarify #1
old-commit-hash: b215d611b1
* Set good torque using torque controller tuning
* should be equal to
* save lateral accel to car params
* use maxLateralAccel
* always
* same convention
* nan will always evaluate to false
* The great good torque purge
* adjust default friction
* Add data for more cars
* adjust name
* Welcome back, guys. Only adjust good torque if maxLatAccel is set
* Update refs (1.7 is 1.7000001...)
old-commit-hash: c6bc03311c
* Revert "Revert torque control (#24565)"
This reverts commit 93f434d047a92366c4ccefeece86fe101ed98d02.
* Move tune out of car specific stuff
* Update ref commit
old-commit-hash: d928972150
