b00bc4f57e
Car interface: require fingerprint and FW versions to get params ( #26932 )
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* require fingerprint and FW versions
* add get_non_essential_params()
* comment
* all required
* classmethod, need to allow subclasses to override _get_params
* fix that
* fix
* fix
* wrong fix 🤦
3 years ago
f14deae475
Revert "Car interface: require fingerprint and FW versions to get params ( #26766 )"
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This reverts commit b68dabb689
3 years ago
b68dabb689
Car interface: require fingerprint and FW versions to get params ( #26766 )
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* require fingerprint and FW versions
* add get_non_essential_params()
* comment
* all required
* classmethod, need to allow subclasses to override _get_params
* fix that
* fix
3 years ago
cb88b3ed65
controlsd: set latActive with max minimum steer speed ( #26805 )
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* 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>
3 years ago
b45dda2d0a
Longitudinal tests: test forceDecel ( #26765 )
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* 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>
3 years ago
4e9bddee5c
longcontrol: enter stopping state immediately ( #26879 )
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* enter stopping state immediately
* Update selfdrive/controls/lib/longcontrol.py
3 years ago
cd8e03d53e
move all third party stuff into third_party/ ( #26853 )
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* 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>
3 years ago
9e9600a4f4
Events: actionable accFaulted alert text ( #26783 )
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same alert text as steer and brake unavailable
3 years ago
2545dd195e
alert: smaller standstill alert ( #26751 )
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smaller standstill alert
3 years ago
84340f07ab
LatControlAngle: fix setting saturation check speed ( #26752 )
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set in init function
3 years ago
d5ffb90a04
LatControlAngle: lower saturation check speed ( #26749 )
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lower speed for angle
3 years ago
c1b3d696bc
controlsd: set steer_limited for angle cars ( #26748 )
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* Set steer limited for angle cars
* closer to torque threshold
3 years ago
e6fcc2d6aa
planner: read experimental mode from controlsState ( #26553 )
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read from controlsState
3 years ago
5409895ab2
Deprecate noTarget event ( #26638 )
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deprecate notarget
3 years ago
dbe512d167
controlsd: preEnable on brake at a standstill ( #26273 )
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* 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>
3 years ago
3a4f19f0ee
[controlsd] Refactor apply_deadzone in Lateral Torque Control ( #26626 )
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rename apply_slack to apply_center_deadzone, remove unused prius offline values
3 years ago
0706b03e8c
[controlsd] Toyota Prius 2017 ( #26455 )
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* 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
3 years ago
3253b85900
Toyota: alert when in standstill ( #26585 )
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* 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
3 years ago
a19b5b91d2
longcontrol: ignore cruise standstill if interceptor ( #26597 )
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* ignore standstill
* cmt
* standstill
* rm cmt
* flip
3 years ago
65fa87a969
cleanup panda types everywhere ( #26574 )
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* cleanup panda types everywhere
* one more
3 years ago
23a7a987f6
controlsd: add test around cruise speed gas pressed behavior ( #26486 )
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* test
* test
* debug
* test
* test
* test
* clean up
* clean up
* add test
* stash
* clean up
* clean up
* clean up
* assert equal
3 years ago
ded66e6307
long_mpc: fix e2e source condition ( #26546 )
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* fix long_mpc source param
* rm print
* add back space for formatting
3 years ago
f15d169289
controlsd cruise speed: fix missing initial value
3 years ago
e46063086f
controlsd: no speed increment if enabled on button rising edge ( #26490 )
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* don't increment speed if we enabled on rising edge
* more realistic test
3 years ago
870b798185
controlsd: clean up v_cruise updating ( #26479 )
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* clean up
* clean up
* clean up
3 years ago
d3f971b365
controlsd v_cruise: fix unknown buttons ( #26474 )
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Fix button being None
3 years ago
76ac3d4c99
controlsd: resume does not increment speed while cruise standstill ( #25470 )
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* 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
3 years ago
811c096e64
controlsd: add cruise speed helper class ( #26472 )
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* 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
3 years ago
89b88fc7a2
Hyundai: fix button enable controls mismatch ( #26471 )
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* bump panda
* buttonCancel needs to be a noEntry
* bompo
* Update ref_commit
3 years ago
9f80a97eee
longitudinal tests: add disabled maneuver ( #26470 )
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* undeclared variable
* run first second disabled
* only test
* test disabled as a new maneuver
* bottom
3 years ago
98206fb92e
planner: fix undeclared variable ( #26468 )
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* undeclared variable
* run first second disabled
* revert test
* rev
3 years ago
f23296bc87
Add force decel to e2e long ( #26448 )
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* add force decel to e2e
* Update longitudinal_planner.py
3 years ago
7374080668
min lane change speed 20mph ( #26434 )
3 years ago
9a3f468051
experimental mode ( #26416 )
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* experimental mode
* rename param
* red lights
3 years ago
f63f0de80a
E2e long model: calibrate model speed to wheel speed ( #26395 )
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* 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>
3 years ago
e9eb5d99ff
[torqued] Fix high speed oscillations ( #26338 )
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* modify low speed factor during high speeds and rescale friction
* update refs
3 years ago
253e5d7f9d
FCW: less false positives ( #26366 )
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* Less FP for FCW
* enable fcw for e2e long
3 years ago
a7ced7c54b
Longcontrol: faster transition from starting to stopping ( #26361 )
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* Never command accel when stopping
* Update ref_commit
3 years ago
f76a390daf
Eliminate toyota close radar glitches causing no resume ( #26272 )
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Eliminate toyota close radar glitches
3 years ago
b80f2efdf2
No fcw when standstill ( #26252 )
3 years ago
dcde942d9f
Long control: add a_change cost in e2e mode ( #26237 )
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Add e2e cost
3 years ago
4f84b29985
Use same minimum speed for lateral planning and controls ( #26177 )
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* Use same speed for lag adjustmenet
* One is a nicer number
* Update ref
3 years ago
b1efdab788
Rename gmAccFaultedTemp -> accFaultedTemp
3 years ago
1548db8962
Partial revert, lax torque control ( #26146 )
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* Closer to original
* Update ref
3 years ago
4e82f68de2
GM camera ACC: prevent fault when engaging at a stop ( #26079 )
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* prevent bolt fault
* comment
* only for camera ACC
* fixup alert
* bump cereal to master
* use new name
* Update selfdrive/car/gm/interface.py
* Update selfdrive/car/gm/interface.py
* Update selfdrive/car/gm/interface.py
* only care about prevent engagement when we look at PCM
3 years ago
2c9b150761
Low speed lateral like before ( #26022 )
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* 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
3 years ago
fb07437819
Increase low speed jerk cost ( #26008 )
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* Increase low speed jerk cost
* Update planner weight
* Update ref_commit
* Update lateral_planner.py
* cleanup and refactor
* Update ref_commit
3 years ago
1ecf6f351c
Divide by 0 bug fix lateral planner ( #25995 )
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* Divide by speed correctly
* Update
* Update lateral_planner.py
* Update ref_commit
3 years ago
cb0b7375b7
Rocket Launcher Model ( #25963 )
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* 1456d261-d232-4654-8885-4d9fde883894/440 6b7d7cec-ead8-40f3-86cc-86d52c9b03fe/300
* compute only 9 tokens: 1456d261-d232-4654-8885-4d9fde883894/440 6b7d7cec-ead8-40f3-86cc-86d52c9b03fe/300
* tinygrad: cleanup gather
* 1456d261-d232-4654-8885-4d9fde883894/440 6b7d7cec-ead8-40f3-86cc-86d52c9b03fe/700
* empty commit for tests
* bump tinygrad
* dont use tinygrad matmul for now
* bump tinygrad
* 1456d261-d232-4654-8885-4d9fde883894/440 e63ab895-2222-4abd-a9a5-af86bb70e260/700
* float16 1456d261-d232-4654-8885-4d9fde883894/440 e63ab895-2222-4abd-a9a5-af86bb70e260/700
* increase steer rate cost
* Revert "increase steer rate cost"
This reverts commit 74ce9ab9be7ef17ecfec931f96851b12f37f2336.
* fork tinygrad
* empty commit for tests
* basics
* Kinda works
* new lat
* new tuning
* Move LATMPCN so scons compiles
* Update long weights
* Add tinygrad optim
* Update model ref
* update weights
* Update ref
* Try
* Error message for field ignore
* update model regf
* ref commit
* Fix onnx test
Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu>
3 years ago
e5d2c3ce7a
Planner cleanup ( #25969 )
3 years ago
Shane Smiskol
Adeeb Shihadeh
Jason Young
Vivek Aithal
YassineYousfi
Harald Schäfer