felsager
f01391a7d9
latcontrol_torque: delay independent jerk and lower kp and lower friction threshold ( #36619 )
2025-11-25 10:23:02 -08:00
felsager
736e1fa7b7
Revert "latcontrol_torque: make feed-forward jerk independent of individual platform lag ( #36334 )"
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This reverts commit fc4e5007fd
2025-11-03 10:31:27 -08:00
felsager
177c7f1cf3
Revert "latcontrol_torque: retune torque controller ( #36392 )"
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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 )
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* 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
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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 )
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* 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
4c9ca91b98
Latcontrol: use more accurate naming for saturation time ( #36286 )
2025-10-09 10:34:26 -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
felsager
9f32f217e6
Latcontrol: type annotate update inputs and clip_curvature output ( #36282 )
2025-10-08 14:26:53 -07:00
Shane Smiskol
1033d3d80e
Desire helper: set lane change direction on entering preLaneChange state ( #36074 )
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* set immediately to avoid flash on right lane changes
* one function
* name
* comment
2025-09-05 22:34:04 -07:00
felsager
b976135d2f
torqued: apply offset (with more robust unit test) ( #36075 )
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* 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 )"
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This reverts commit 1d74a97ba6
2025-08-26 21:45:49 -07:00
Harald Schäfer
1d74a97ba6
torqued: apply offset ( #36005 )
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* 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
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Co-authored-by: felsager <d.felsager@gmail.com >
2025-08-25 13:50:10 -07:00
Shane Smiskol
ab44c9a4ff
Torque controller: refactor calculations to be in accel space ( #35790 )
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* 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
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Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com >
2025-08-15 11:39:56 -07:00
eFini
4536719353
longitudinal_planner: Convert self.mode to a local variable in update() ( #35999 )
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Make 'mode' variable local
2025-08-15 09:02:38 -07:00
Harald Schäfer
455a6a586a
Misc PID refactors ( #35844 )
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* 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
Mitchell Goff
7413982f0d
Lower ALLOW_THROTTLE_THRESHOLD ( #35928 )
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* Lower ALLOW_THROTTLE_THRESHOLD
* Bumped process_replay refs
2025-08-05 17:35:54 -07:00
DevTekVE
9dc98b36be
refactor: cleanup gravity constant handling ( #35866 )
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* 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
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Co-authored-by: Shane Smiskol <shane@smiskol.com >
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
2025-08-02 11:20:18 -07:00
Shane Smiskol
07909906d4
controlsd: speed up number checking ( #35890 )
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Update controlsd.py
2025-08-02 00:08:18 -07:00
Adeeb Shihadeh
4d01b7bec8
Fix up radarFault handling ( #35880 )
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* fixup radarFault handling
* catch all
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Co-authored-by: Comma Device <device@comma.ai >
2025-08-01 16:27:26 -07:00
DevTekVE
1966845fc9
refactor: move lateral methods from init to lateral.py ( #35856 )
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* 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
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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
Adeeb Shihadeh
347cee4b09
big opendbc bump ( #35799 )
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* bump
* bump
* bump
* bump
* bump
* update refs
* that doesn't work anymore
* bump
* update refs
* bump
2025-07-23 23:23:59 -07:00
Shane Smiskol
bc7d6f2677
torque controller: clean up friction ( #35781 )
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* conditional friction inside here is confusing
* do it here
* one line
* run
* bump
2025-07-21 20:27:34 -07:00
Shane Smiskol
67dc69d3db
Fix stock ACC resume signal ( #35691 )
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* use this
* missing
* clean up
2025-07-11 14:59:27 -07:00
Armand du Parc Locmaria
3c43a000cd
acados: relative rpath ( #35624 )
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* opendbc/SharedLibrary
* acados, mpc don't link to absolute paths
* update opendbc
* include gen path, dont include abs path
* escape escape
* move rpath to relative path in mpc SConscripts
* clean up
* missing libs
* don't update opendbc
* rpath literal and rel_path
* ld library path is for runtime?
* same for darwin
* build on macos
* Update selfdrive/controls/lib/lateral_mpc_lib/SConscript
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com >
* Update selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com >
* Revert "Update selfdrive/controls/lib/longitudinal_mpc_lib/SConscript"
This reverts commit a55077f39ea248428e5916b85f24542293edefc9.
* Reapply "Update selfdrive/controls/lib/longitudinal_mpc_lib/SConscript"
This reverts commit 07a6a26292ea7f436ff43fb7efe1ad826eef689b.
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Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com >
2025-07-10 18:59:09 -07:00
Harald Schäfer
20fdb686ca
latcontrol torque: remove option to feed back on localizer ( #35659 )
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* 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
Harald Schäfer
e503e657bc
Model error deprecated with TR ( #35628 )
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* Model error deprecated with TR
* no get speed error
* import
2025-07-02 23:36:41 -07:00
Harald Schäfer
64fd3f9860
Tomb Raider 14 ( #35620 )
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* f7db6a09-43c5-4db9-b856-7fe1a1c231eb/400
* bd99d079-9afb-4af5-9f31-236d5c9ff15f/400
* aggressive tr: 7707a4ca-7d5e-47a2-8760-93b5004695cd/400
* bd99d079-9afb-4af5-9f31-236d5c9ff15f/400
* ae82d7a8-b74d-43b5-ab6d-d72e6040dab3/400
* revert stop distance
* comments
2025-07-02 21:50:55 -07:00
Shane Smiskol
8427bf76cf
typo
2025-05-17 22:54:01 -07:00
Shane Smiskol
49c422e872
Tesla: fix angle control saturation ( #35256 )
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* we shouldn't need this
* or this?
* stash junk
* hmm
* comment
* cc
* sadly we have to maintain behavior
* bump
2025-05-16 21:29:16 -07:00
Harald Schäfer
e9cea3ae5c
Revert TR again ( #35179 )
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Revert "Tomb Raider 7 (#35114 )"
This reverts commit 0fb4aafa35
2025-05-11 08:24:46 -07:00
Harald Schäfer
0fb4aafa35
Tomb Raider 7 ( #35114 )
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* Revert "Revert TR (#35110 )"
This reverts commit df4f2955dc
2025-05-07 18:06:41 -07:00
Harald Schäfer
df4f2955dc
Revert TR ( #35110 )
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* Revert "Tomb raider 2 (#35029 )"
This reverts commit 2c162d9b75
2025-05-02 20:54:42 -07:00
Harald Schäfer
9f1e462faa
Tomb Raider 6 ( #35087 )
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* 5ec366c3-7883-4004-84a2-e4b14bac5b1d/400
* Use lat plan
* fix import
* fix
* 8d0a1b3b-9972-4e53-b9c5-3e13e5e3e404/400
* whitespace
* whitespace
2025-04-30 17:19:53 -07:00
Jason Young
37839ea0c5
controls: publish current curvature in CarControl ( #34679 )
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* controls: publish current curvature in CarControl
* clean up
* update refs
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com >
2025-04-25 13:57:18 -07:00
Bruce Wayne
a029d13398
update smooth
2025-04-21 15:44:30 -07:00
Harald Schäfer
33a7d853f0
Modeld: small refactor ( #35044 )
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refactor
2025-04-21 15:10:41 -07:00
Harald Schäfer
34514ef176
Long planner: make work with training ( #35043 )
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* revert useless
* update ref
2025-04-21 14:11:57 -07:00
Harald Schäfer
2c162d9b75
Tomb raider 2 ( #35029 )
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* db56b8fb-9135-4ab6-af18-99b7df7b2245/400
* fixes
* linter unhappy
* 6dbe0991-baa1-49ad-836a-ab370d1f0d92/400
* This one is good: 19387087-1005-475e-9015-9458dd8e7c5f/400
* Better every day: 39ed911c-0937-417f-97d2-58a8bb3caa53/400
* Actually end-to-end
* typo
* smooooooth: 94e23541-eb84-4fef-9f51-6a2d82aff314/360
* Revert "smooooooth: 94e23541-eb84-4fef-9f51-6a2d82aff314/360"
This reverts commit edd4f02386d83d82dd8a188985cde80ed1646b7f.
* 11632ef7-f555-489c-8480-e3bf97d9285e/400
* 08712d27-f6bd-4536-a30e-c729e5f62356/400
* 0a92a35e-1f72-476a-8cb6-c9f103f36822/400
* ee6d2394-2072-420c-a664-b4c0d4ed0b61/400
* no prev curv
* No double work
* fix bug
* smooth
* update prev action
* whitespace
* add little accel
* new ref
* Update plant.py
2025-04-17 23:21:25 -07:00
Harald Schäfer
b42ec33a63
Update modeld action logic ( #35032 )
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* add action logic
* magic numbers
* unused
* plot accel
* more changes
2025-04-17 17:59:15 -07:00
Shane Smiskol
a2859090d8
controls: reset desired curvature while disabled ( #34943 )
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* reset curvature while disabled
* comment
* duplicate line
* fix possible iso violation because it was unlimited while disengaged
* rename so you can't accidentally use
* update refs
2025-03-26 22:41:26 -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
