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11 Commits

Author SHA1 Message Date
HaraldSchafer
96a8f8a831 Less QP iterations for lateral acados (#22231) 
* Less QP iterations for lateral acados

* update ref
 2021-09-14 13:55:30 -07:00
HaraldSchafer
7081ab4fb7 Port lateral planning to ACADOS (#22080) 
* lateral acados

* looks good!

* add another solve, needed for init somehow

* use copy

* init correctly

* cleanup sconstruct

* Update files_common

* update cpu usage

* reset when invalid

* fix cpu usage

* cost_set doesnt leak

* new ref

* non leaky reset

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
 2021-09-13 19:06:54 -07:00
HaraldSchafer
6838e1c82c Refactor lateral lag compensation (#21334) 
* add T_IDXS

* refactor

* fix test

* unused

* typo

* needs casting

* Update selfdrive/controls/lib/drive_helpers.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* deprecate field

* regen all

* new segs

* add todo

* split back

* clean

* bad names

* do in controls

* add arg

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-06-30 14:19:39 -07:00
HaraldSchafer
d72d433ec7 no heading cost (#20594) 
* no heading cost

* live mpc weight config

* need to add stds

* make work on empty data

* no divide by 0

* update refs

* update model replay

* update proc replat

* new model replay ref
 2021-04-06 23:49:29 -07:00
HaraldSchafer
61a4e3e661 Remove curv factor (#20011) 
* cleaning crew

* need that to match

* smooth factor

* that didn't really work

* closer to previous

* new ref

* new names
 2021-02-03 17:51:21 -08:00
HaraldSchafer
0e49919ab9 Cleanup pathplanner (#19827) 
* no divide by 0

* misc cleanup

* final fixes

* remove last polys

* new ref

* fix test

* update again
 2021-01-19 00:02:53 -08:00
HaraldSchafer
158210cde8 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>
 2021-01-14 18:43:50 -08:00
HaraldSchafer
39f27f9d6a cleanup planner (#2519) 
* no reason for external function

* dont need d_poly for this test

* dont copy float

* typo
 2020-11-10 14:42:43 -08:00
BRose98
daba092038 Removed self-assignments (#1283) 
* Removed self-assignments

* pulled master version of changed cubmodules

* Corrected the submodules

Co-authored-by: BRose98 <b.roseboom@students.uu.nl>
 2020-03-29 12:31:27 -07:00
HaraldSchafer
5f8e3b4d93 New lane planner (#1276) 
* better lane planner

* works well on test

* needs speed now

* update ref
 2020-03-25 16:57:58 -07:00
George Hotz
b0260dadba selfdrive/controls 2020-01-17 12:48:30 -08:00