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f41caec2dec08aa3bbf8e0b3b6efa7600a8f6f0f
Commit Graph

709 Commits

Author SHA1 Message Date
Jason Young
cb88b3ed65 controlsd: set latActive with max minimum steer speed (#26805) 
* 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>
 2023-01-10 20:51:10 -08:00
Shane Smiskol
f0d0d99981 process replay: test body with joystick mode (#26916) 
* no need to check sm

* fix

* Update ref_commit

* revert
 2023-01-10 19:59:39 -08:00
Shane Smiskol
b45dda2d0a Longitudinal tests: test forceDecel (#26765) 
* test with forceDecel

* test all combos

* fix

* fix

* fix

* ...

* remove print

* clean up

* just set cruise to 0

* update ref commit

Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com>
 2023-01-10 14:46:43 -08:00
Shane Smiskol
4e9bddee5c longcontrol: enter stopping state immediately (#26879) 
* enter stopping state immediately

* Update selfdrive/controls/lib/longcontrol.py
 2023-01-10 13:02:43 -08:00
Adeeb Shihadeh
cd8e03d53e move all third party stuff into third_party/ (#26853) 
* mv fastcluster

* move msm_kgsl.h

* camerad include

* update path

* mv pyextra

* fix tici build

* add acados_template to release build

Co-authored-by: Comma Device <device@comma.ai>
 2022-12-31 21:00:50 -08:00
Adeeb Shihadeh
65414bcd8d controlsd: remove laikad from ignored process list 2022-12-31 11:30:28 -08:00
Shane Smiskol
9e9600a4f4 Events: actionable accFaulted alert text (#26783) 
same alert text as steer and brake unavailable
 2022-12-13 00:16:36 -08:00
Adeeb Shihadeh
151e0d8c39 controlsd: add blinkers to carControl (#26773) 
* controlsd: add blinkers to carControl

* not actuators

* update refs
 2022-12-12 14:03:09 -08:00
Shane Smiskol
2545dd195e alert: smaller standstill alert (#26751) 
smaller standstill alert
 2022-12-09 23:30:41 -08:00
Shane Smiskol
84340f07ab LatControlAngle: fix setting saturation check speed (#26752) 
set in init function
 2022-12-09 23:29:56 -08:00
Shane Smiskol
d5ffb90a04 LatControlAngle: lower saturation check speed (#26749) 
lower speed for angle
 2022-12-09 21:43:55 -08:00
Shane Smiskol
c1b3d696bc controlsd: set steer_limited for angle cars (#26748) 
* Set steer limited for angle cars

* closer to torque threshold
 2022-12-09 21:43:27 -08:00
Shane Smiskol
d97336d532 LatControl: remove duplicate logic for saturation (#26725) 
this is already checked
 2022-12-08 03:01:57 -08:00
Shane Smiskol
9ea72b6550 Longitudinal tests: clean up (#26708) 
* refactor test_cruise_speed.py

* clean up long tests

* and here
 2022-12-05 17:34:57 -08:00
Shane Smiskol
e6fcc2d6aa planner: read experimental mode from controlsState (#26553) 
read from controlsState
 2022-12-05 13:58:15 -08:00
Shane Smiskol
5409895ab2 Deprecate noTarget event (#26638) 
deprecate notarget
 2022-11-30 02:32:47 -08:00
Shane Smiskol
41610fe8ae controls: remove noTarget event (#26632) 
remove noTarget alert
 2022-11-29 23:12:58 -08:00
Shane Smiskol
dbe512d167 controlsd: preEnable on brake at a standstill (#26273) 
* pre-enable on brake at standstill

* test by getting rid of noTarget

* Update events.py

* rename

* stash what we got so far

* cmt

* not sure if best way to fix, but enabled with current states defs is fine

* no noEntry in preEnabled

* bumpcereal

* uncomment

* Update ref_commit

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2022-11-29 17:34:10 -08:00
Shane Smiskol
8ad8d4e1c2 controls: preEnabled doesn't consider noEntry (#26627) 
preEnabled doesn't consider noEntry
 2022-11-29 13:11:03 -08:00
Vivek Aithal
3a4f19f0ee [controlsd] Refactor apply_deadzone in Lateral Torque Control (#26626) 
rename apply_slack to apply_center_deadzone, remove unused prius offline values
 2022-11-29 12:46:08 -08:00
Vivek Aithal
0706b03e8c [controlsd] Toyota Prius 2017 (#26455) 
* increase lag on prius

* better offline values computation

* split prius ecu more, set deadzone to 0

* add deadzone back

* replace deadzone with slack

* reduce deadzone to 0.2

* update refs
 2022-11-29 10:47:13 -08:00
Shane Smiskol
3253b85900 Toyota: alert when in standstill (#26585) 
* add resume required alert

* possibly need this (pressing resume with brake held does nothing)

* better text (has both meanings)

* try this

* Revert "try this"

This reverts commit 5b2991929b62f5bcd9bfa0767d709b5fe83b094b.

* no alert with interceptor

* check long
 2022-11-25 16:00:58 -08:00
Shane Smiskol
a19b5b91d2 longcontrol: ignore cruise standstill if interceptor (#26597) 
* ignore standstill

* cmt

* standstill

* rm cmt

* flip
 2022-11-24 18:17:36 -08:00
Adeeb Shihadeh
7361d1a11b process replay: support old routes with no peripheralState 2022-11-22 11:46:28 -08:00
Adeeb Shihadeh
65fa87a969 cleanup panda types everywhere (#26574) 
* cleanup panda types everywhere

* one more
 2022-11-21 23:43:24 -08:00
Shane Smiskol
23a7a987f6 controlsd: add test around cruise speed gas pressed behavior (#26486) 
* test

* test

* debug

* test

* test

* test

* clean up

* clean up

* add test

* stash

* clean up

* clean up

* clean up

* assert equal
 2022-11-21 17:05:13 -08:00
Adeeb Shihadeh
94aa39bdd4 enable experimental longitudinal control on devel (#26544) 2022-11-21 16:18:51 -08:00
YassineYousfi
ded66e6307 long_mpc: fix e2e source condition (#26546) 
* fix long_mpc source param

* rm print

* add back space for formatting
 2022-11-21 15:25:23 -08:00
Adeeb Shihadeh
9c96b21367 publish experimental mode state (#26512) 
* publish experimental mode state

* remove that
 2022-11-15 17:18:13 -08:00
Shane Smiskol
f15d169289 controlsd cruise speed: fix missing initial value 2022-11-14 11:01:01 -08:00
Shane Smiskol
e46063086f controlsd: no speed increment if enabled on button rising edge (#26490) 
* don't increment speed if we enabled on rising edge

* more realistic test
 2022-11-13 16:34:26 -08:00
Shane Smiskol
3524cc7f0b cruise speed tests: match controlsd initialization of cruise speed (#26491) 
* helper functions and fix resetting/enabling

* comment (resume not yet tested)

* make it clear how this resets

* this is fine to enable once

* same here
 2022-11-13 16:15:17 -08:00
Shane Smiskol
870b798185 controlsd: clean up v_cruise updating (#26479) 
* clean up

* clean up

* clean up
 2022-11-11 23:56:35 -08:00
Shane Smiskol
a638afb98e controlsd: add tests around cruise speed (#26478) 
* start to add some tests

* test !pcmCruise

* test !pcmCruise

* better test

* fix pylint

* new test for making sure we adjust on falling edge of buttons
 2022-11-11 23:11:49 -08:00
Shane Smiskol
d3f971b365 controlsd v_cruise: fix unknown buttons (#26474) 
Fix button being None
 2022-11-11 20:10:12 -08:00
Shane Smiskol
76ac3d4c99 controlsd: resume does not increment speed while cruise standstill (#25470) 
* fix runaway set speed for GM

* fix runaway set speed for GM

* Handle resuming to exit standstill generically

* clean that up

* ugh i want to fix all the formatting

* class that manages v_cruise

* better name

* move around

* add depressed_state

* fine to update on pressed change, better name

* cmt

* we need to check CS. button_change_state only works if we exit standstill on rising edge not falling edge

* no defaultdict
 2022-11-11 19:43:30 -08:00
Shane Smiskol
811c096e64 controlsd: add cruise speed helper class (#26472) 
* fix runaway set speed for GM

* fix runaway set speed for GM

* Handle resuming to exit standstill generically

* clean that up

* ugh i want to fix all the formatting

* class that manages v_cruise

* better name

* move around

* add depressed_state

* fine to update on pressed change, better name

* revert gm stuff

* revert standstill stuff

* remove

* revert that

* we can put this in here now!

* below update

* actually only used here

* one line
 2022-11-11 18:53:48 -08:00
Shane Smiskol
89b88fc7a2 Hyundai: fix button enable controls mismatch (#26471) 
* bump panda

* buttonCancel needs to be a noEntry

* bompo

* Update ref_commit
 2022-11-11 14:49:38 -08:00
Shane Smiskol
9f80a97eee longitudinal tests: add disabled maneuver (#26470) 
* undeclared variable

* run first second disabled

* only test

* test disabled as a new maneuver

* bottom
 2022-11-11 14:02:09 -08:00
Shane Smiskol
98206fb92e planner: fix undeclared variable (#26468) 
* undeclared variable

* run first second disabled

* revert test

* rev
 2022-11-11 13:22:56 -08:00
Harald Schäfer
f23296bc87 Add force decel to e2e long (#26448) 
* add force decel to e2e

* Update longitudinal_planner.py
 2022-11-11 10:46:03 -05:00
Shane Smiskol
74b6e22a7d controls: disengage on regen paddle independently (#26453) 
* add regen braking field that's just used to add a pedalPressed

* bump

* bump

* Update ref_commit

* we want the standstill check

we want the standstill check

* see what diff is now

* Update ref_commit
 2022-11-10 19:06:31 -08:00
YassineYousfi
7374080668 min lane change speed 20mph (#26434) 2022-11-09 22:04:57 -08:00
Adeeb Shihadeh
9a3f468051 experimental mode (#26416) 
* experimental mode

* rename param

* red lights
 2022-11-08 14:45:01 -08:00
Harald Schäfer
f63f0de80a E2e long model: calibrate model speed to wheel speed (#26395) 
* calibrate!

* Fix test

* Fix proc replay

* check len

* get v_ego from model 8501d20-bb59-4193-aa82-82b2737dedd6/449 609d90f3-65e6-4617-a60c-d6d99eead408/700

* bump cereal

* initialize v_model_error

* typo

* better names

* cleanup

* bump cereal

* update model replay ref commit

* bump to cereal master

Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu>
 2022-11-07 17:49:36 -08:00
Vivek Aithal
e9eb5d99ff [torqued] Fix high speed oscillations (#26338) 
* modify low speed factor during high speeds and rescale friction

* update refs
 2022-11-07 17:01:24 -08:00
Harald Schäfer
253e5d7f9d FCW: less false positives (#26366) 
* Less FP for FCW

* enable fcw for e2e long
 2022-11-06 12:17:07 -08:00
Harald Schäfer
a7ced7c54b Longcontrol: faster transition from starting to stopping (#26361) 
* Never command accel when stopping

* Update ref_commit
 2022-11-04 13:21:34 -07:00
Adeeb Shihadeh
6698cd4829 controlsd: steer in old preEnable state (#26269) 
* controlsd: steer in old preEnable state

* bump panda

* bump panda

* Update ref_commit

Co-authored-by: Shane Smiskol <shane@smiskol.com>
 2022-10-27 20:53:15 -07:00
HaraldSchafer
f76a390daf Eliminate toyota close radar glitches causing no resume (#26272) 
Eliminate toyota close radar glitches
 2022-10-27 17:31:15 -07:00