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642 Commits

Author SHA1 Message Date
HaraldSchafer
cf6c7cb2b8 Update locationd (#20410) 
* this was too extreme

* unused import

* capnp wants bools

* update refs
old-commit-hash: 8bddaa7607
 2021-03-19 17:12:34 -07:00
Willem Melching
e3d92dc714 verify safetyParam read back from PandaState (#20384) 
* verify safetyParam read back from PandaState

* update ref

* bump panda
old-commit-hash: 3c23226edc
 2021-03-17 14:20:05 +01:00
HaraldSchafer
c07a1ad57b Sane curvature rate limit in plannerd (#20366) 
* safety limit

* should be in RADs

* add raw

* update refs
old-commit-hash: 27035131cc
 2021-03-16 15:00:03 -07:00
Jason Young
8dfe080fea VW MQB: Updated message and signal data, round 2 (#20298) 
* ACC_02 signal naming update

* Add conversion factor now that DBC scaling has changed

* bump opendbc

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 1af35c3398
 2021-03-15 15:09:09 -07:00
qadmus
56bc319a29 Add GM steering rate and EPS torque to CarState (#20319) 
* Add GM steering rate and EPS torque to CarState

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: ad123714ba
 2021-03-12 14:51:20 -08:00
Willem Melching
4bd1929d2b LateralPlanner should only compute curvature (#20289) 
* 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
Jason Young
6becdc50e7 VW MQB: Use raw steering angle signal (#20247) 
* Use raw instead of processed steering angle

* update ref commit

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 1813c72a76
 2021-03-09 13:47:00 -08:00
Jason Young
d55b56aa46 VW MQB: Add support for blind spot monitoring radar (#20242) 
* Get steering rate-change sign from the right signal

* Temp remove network-switching reference prior to upstream

* Additional description of BSM signals

* Simplify expression

* Typo

* Update ref_commit

* update refs after merge

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 6129a92f38
 2021-03-04 16:48:36 -08:00
Adeeb Shihadeh
aa194a3cbb VW: update process replay route (#20239) 
* VW: update process replay route

* update refs
old-commit-hash: f3f44e43e6
 2021-03-04 14:58:28 -08:00
Willem Melching
b424632540 Set hyundai start accel 
old-commit-hash: 7dc4b22dae
 2021-03-03 12:07:12 +01:00
HaraldSchafer
e88b2ecfeb Always linearize, better way of compensating for lag (#20133) 
* need to divide diff by 2

* simple linearization seems to work best

* update refs
old-commit-hash: 8df76b3980
 2021-02-23 12:56:12 +01:00
Adeeb Shihadeh
35f9355fcc fix apk after cereal cleanup (#20098) 
* actually a percent

* update apk

* update refs
old-commit-hash: f28673e8b5
 2021-02-19 12:19:29 -08:00
Willem Melching
c1b22bbdb5 update ref after divide by zero fix 
old-commit-hash: 7f239a5433
 2021-02-16 11:54:09 +01:00
HaraldSchafer
2f66f98523 fix low speed lateral (#20053) 
* fix low speed lateral

* update ref

* fix failing CI jobs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 0c900c8ce1
 2021-02-09 15:36:58 -08:00
HaraldSchafer
0e6e652521 fix timestamps (#20029) 
* fix timestamps

* nanoseconds

* update refs
old-commit-hash: b3a868103a
 2021-02-08 22:15:05 -08:00
HaraldSchafer
5092214913 Different lag comp (#20024) 
* more sensible

* different names for different segs

* new ref

* this is checked somewhere
old-commit-hash: c3707328f5
 2021-02-05 14:01:22 -08:00
HaraldSchafer
61b3840c7f camera offsets (#20022) 
* camera offsets

* runs on pc so is 0 in proc replay
old-commit-hash: bad68e4663
 2021-02-04 15:50:53 -08:00
Adeeb Shihadeh
966945880b Cereal cleanup (#20003) 
* 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
HaraldSchafer
f4e94524d4 Remove curv factor (#20011) 
* cleaning crew

* need that to match

* smooth factor

* that didn't really work

* closer to previous

* new ref

* new names
old-commit-hash: 61a4e3e661
 2021-02-03 17:51:21 -08:00
HaraldSchafer
8fc39f52c8 Deal with long lag compensation (#20004) 
* add hack for big lags

* wrong bracket

* new pathplanner values
old-commit-hash: 3f2b42b4e3
 2021-02-02 17:09:01 -08:00
ZwX1616
e961d9b64c pyTorch DM (#19760) 
* new model files

* no more rot

* no rot no diag switch

* should be correct and cache aware

* 405d7aeb

* parse new outputs

* change uncertain policy accordingly

* 1bdbd9ed

* adjust

* 0.5 is fine

* 3d4f9cab

* no face prob no loss

* clean up

* clean up test

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 8605ba8ab9
 2021-01-28 14:02:58 -08:00
HaraldSchafer
5794b3a053 not relevant at high speed (#19946) 
* not relevant at high speed

* update ref
old-commit-hash: d1b31d3697
 2021-01-27 20:28:17 -08:00
Harald Schafer
b4f3a03518 new ref for rateSteers fix 
old-commit-hash: 39e3672e82
 2021-01-26 15:33:31 -08:00
HaraldSchafer
5c2c6691b2 remove old model packet (#19769) 
* remove publisher

* move to V2

* radard new model

* fix plant

* change packety

* need hack here too

* change to new

* this has been wrong all along

* no more model msg

* subscribe to new model

* not needed anymore

* make work

* need to ignore that too

* should pass tests, needs car test

* fix process replay

* no more poly

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 124100d0fa
 2021-01-19 17:15:16 -08:00
Adeeb Shihadeh
f79d64f98e update refs for new dMonitoringState field 
old-commit-hash: 9d11f3e3b5
 2021-01-19 15:47:36 -08:00
Adeeb Shihadeh
77817dbd50 update VW and nissan test routes 
old-commit-hash: 13ea3ccf6d
 2021-01-19 14:22:50 -08:00
HaraldSchafer
7af6dab1e8 Cleanup pathplanner (#19827) 
* no divide by 0

* misc cleanup

* final fixes

* remove last polys

* new ref

* fix test

* update again
old-commit-hash: 0e49919ab9
 2021-01-19 00:02:53 -08:00
HaraldSchafer
61c5e9e690 Update Subaru and GM test routes (#19828) 
* 2 more

* update refs

* note?

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: a4098d7bb0
 2021-01-18 15:54:02 -08:00
HaraldSchafer
94b1be1ec9 back to open loop (#19781) 
old-commit-hash: bf5332c491
 2021-01-16 13:43:30 -08:00
Harald Schafer
f4b4c9556e changing lag changes this 
old-commit-hash: 5333e64233
 2021-01-14 22:33:43 -08:00
HaraldSchafer
c6d9b9565a Mpc rework2 (#19660) 
* start again

* need that too

* this actually works

* not needed

* do properly

* still works

* still works

* still good

* all G without ll

* still works

* all still good

* cleanup building

* cleanup sconscript

* new lane planner

* how on earth is this silent too....

* update

* add rotation radius

* update

* pathplanner first pass

* misc fixes

* fix

* need deep_interp

* local again

* fix

* fix test

* very old

* new replay

* interp properly

* correct length

* another horrible silent bug

* like master

* fix that

* do doubles

* different delay compensation

* make robust to empty msg

* make pass with hack for now

* add some extra

* update ref for increased leg

* test cpu usage on this pr

* tiny bit faster

* purge numpy

* update ref

* not needed

* ready for merge

* try again after recompile

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 158210cde8
 2021-01-14 18:43:50 -08:00
Greg Hogan
e712e6d3af hyundai: increase steering angle limit for custom eps fw (#19744) 
* hyundai: increase steering angle limit for custom eps fw

* update commit_ref
old-commit-hash: 2da6bb482e
 2021-01-14 13:09:23 -08:00
HaraldSchafer
3b911d61bc Extra test segs (#19749) 
* new routes

* update refs

* new ref
old-commit-hash: 95eb5b6fcb
 2021-01-13 21:56:29 -08:00
Harald Schafer
4de365d706 new ref commit 
old-commit-hash: 300602d6ba
 2021-01-13 15:32:17 -08:00
HaraldSchafer
9c8660d0e2 Test segs 08 (#19701) 
* start updating routes

* update that too

* new ref commit

* try again
old-commit-hash: 307ba858db
 2021-01-08 16:39:47 -08:00
Willem Melching
c4e9fd7244 bump cereal and update ref 
old-commit-hash: 9480152858
 2021-01-07 15:56:29 +01:00
Igor
8bc42f4aff Parametrize startingBrakeRate (#19511) 
* Parametrize startingBrakeRate

* new ref_commit
old-commit-hash: 717bc747c3
 2020-12-16 20:58:07 +01:00
Willem Melching
494353099b set CarState.steeringRateLimited for Hyundai (#19495) 
* set CarState.steeringRateLimited for Hyundai

* update ref

Co-authored-by: Greg Hogan <gregjhogan@gmail.com>
old-commit-hash: 9cd7a7c14b
 2020-12-14 16:11:32 +01:00
Igor
faa4c57ee1 Parametrize stoppingBrakeRate (#2745) 
* Parametrize stoppingBrakeRate

* ref_commit updated
old-commit-hash: d3c2a0e6c1
 2020-12-11 16:30:35 +01:00
Igor
95bb79c51c Parametrize MIN_CAN_SPEED in car interfaces (#2684) 
* Parametrize MIN_CAN_SPEED in car interfaces

* fixed instance in planner.py

* fix typo

* var name change

* changed var name to minSpeedCan for consistency with other uses of CAN in the capnproto files

* added default value to get_std_params, removed unneeded instances from car interface files

* Revert PEP8 autoformat corrections

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 093456cc40
 2020-12-04 11:09:34 +01:00
HaraldSchafer
c4d50c0bf0 preinit locationd filter (#2569) 
* preinit

* update ref commit
old-commit-hash: 9f5dfb74f9
 2020-11-19 15:14:35 -08:00
ZwX1616
3da8dc9b25 use enabled flag from controlsState instead of carState (#2518) 
* use enabled from controls instead of carstate

* update process replay

* rm

* fix long test

* update reff

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: d8fea41b2a
 2020-11-12 17:30:33 -08:00
ZwX1616
b0bb9daf21 continued: Update DM awareness times (#2527) 
* Gets us 6 seconds before making sound (up from 2s; 9s originally)

* Average last two awareness times

* This alert shows up every ~20 seconds, distracting

* Revert "Average last two awareness times"

This reverts commit 2fd7e7a44c708039e1692dcc14ee913ef88bb37e.

* update ref

* update test

* update ref

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: faf8b1fd82
 2020-11-11 14:24:32 -08:00
HaraldSchafer
b7ae2e9e85 Fix lane width (#2520) 
* use prob modifiers in lane width calc

* update ref

* update ref
old-commit-hash: f7d1ace883
 2020-11-10 21:12:36 -08:00
HaraldSchafer
4bd3ffa94b No uncertain ll (#2495) 
* initial, needs tune

* support metrics

* a little more

* wrong type

* fixup

* update refs
old-commit-hash: 26583b1b85
 2020-11-06 21:01:16 -08:00
HaraldSchafer
fcb995e19c set y too (#2448) 
* set y too

* new ref
old-commit-hash: e6668625fa
 2020-11-04 19:52:05 -08:00
Adeeb Shihadeh
6e078827b3 check for safety mode mismatch (#2443) 
old-commit-hash: 89d02dcf97
 2020-11-04 11:12:15 -08:00
Adeeb Shihadeh
f25cec394e grey panda is unsupported (#2458) 
old-commit-hash: 47c21f10f5
 2020-11-03 19:56:25 -08:00
Adeeb Shihadeh
68b4380545 update process replay test routes (#2482) 
* update bosch route

* update rfs

* bump refs
old-commit-hash: 3795920750
 2020-11-03 18:44:35 -08:00
Adeeb Shihadeh
2e5247056a ubuntu 16.04 -> 20.04 (#2378) 
old-commit-hash: 719c5e3598
 2020-10-29 16:51:09 -07:00