openpilot v0.4.7.2 release

README.md

@@ -88,15 +88,9 @@ Supported Cars
 
 ### GM (Chevrolet + Cadillac) ###
 
-- Chevrolet Volt Premier 2017+
-  - Driver Confidence II package (adaptive cruise control) required
-  - Can only be enabled above 18 mph
+- Chevrolet Volt Premier 2017+ with Driver Confidence II package
   - Read the [installation guide](https://www.zoneos.com/volt.htm)
 
-- Cadillac CT6
-  - Uses stock ACC for longitudinal control
-  - Requires multiple panda for proxying the ASCMs
-
 In Progress Cars
 ------
 - All TSS-P Toyota with Steering Assist.

RELEASES.md

@@ -1,3 +1,9 @@
+Version 0.4.7.2 (2018-06-25)
+==========================
+ * Fix loggerd lag issue
+ * No longer prompt for updates
+ * Mitigate right lane hugging for properly mounted EON (procedure on wiki)
+
 Version 0.4.7.1 (2018-06-18)
 ==========================
  * Fix Acura ILX steer faults

cereal/car.capnp

@@ -170,6 +170,7 @@ struct RadarState {
   enum Error {
     commIssue @0;
     fault @1;
+    wrongConfig @2;
   }
 
   # similar to LiveTracks
@@ -332,7 +333,7 @@ struct CarParams {
   directAccelControl @31 :Bool; # Does the car have direct accel control or just gas/brake
   stoppingControl @34 :Bool; # Does the car allows full control even at lows speeds when stopping
   startAccel @35 :Float32; # Required acceleraton to overcome creep braking
-  steerRateCost @40 :Float32; # Lateral MPC cost on steering rate
+  steerRateCostDEPRECATED @40 :Float32; # Lateral MPC cost on steering rate
   steerControlType @46 :SteerControlType;
   radarOffCan @47 :Bool; # True when radar objects aren't visible on CAN
 

launch_chffrplus.sh

@@ -5,14 +5,11 @@ if [ -z "$PASSIVE" ]; then
 fi
 
 function launch {
-  DO_UPDATE=$(cat /data/params/d/ShouldDoUpdate)
   # apply update
-  if [ "$DO_UPDATE" == "1" ] && [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
+  if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
      git reset --hard @{u} &&
      git clean -xdf &&
      exec "${BASH_SOURCE[0]}"
-     echo -n 0 > /data/params/d/ShouldDoUpdate
-     echo -n 0 > /data/params/d/IsUpdateAvailable
   fi
 
   # no cpu rationing for now

selfdrive/car/ford/interface.py

@@ -75,7 +75,6 @@ class CarInterface(object):
     ret.steerKpV, ret.steerKiV = [[0.01], [0.005]]     # TODO: tune this
     ret.steerKf = 1. / MAX_ANGLE   # MAX Steer angle to normalize FF
     ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
-    ret.steerRateCost = 0.5
 
     f = 1.2
     tireStiffnessFront_civic *= f

selfdrive/car/gm/interface.py

@@ -151,7 +151,6 @@ class CarInterface(object):
     ret.startAccel = 0.8
 
     ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
-    ret.steerRateCost = 0.5
     ret.steerControlType = car.CarParams.SteerControlType.torque
 
     return ret

selfdrive/car/honda/carcontroller.py

@@ -1,4 +1,3 @@
-import os
 from collections import namedtuple
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.controls.lib.drive_helpers import rate_limit
@@ -123,8 +122,7 @@ class CarController(object):
     elif CS.CP.carFingerprint in (CAR.CRV, CAR.ACURA_RDX):
       STEER_MAX = 0x3e8  # CR-V only uses 12-bits and requires a lower value (max value from energee)
     else:
-      is_fw_modified = os.getenv("DONGLE_ID") in ['99c94dc769b5d96e']
-      STEER_MAX = 0x1FFF if is_fw_modified else 0x1000
+      STEER_MAX = 0x1000
 
     # steer torque is converted back to CAN reference (positive when steering right)
     apply_gas = clip(actuators.gas, 0., 1.)

selfdrive/car/honda/hondacan.py

@@ -37,11 +37,11 @@ def create_brake_command(packer, apply_brake, pcm_override, pcm_cancel_cmd, chim
 
   values = {
     "COMPUTER_BRAKE": apply_brake,
-    "COMPUTER_BRAKE_REQUEST": pump_on,
+    "BRAKE_PUMP_REQUEST": pump_on,
     "CRUISE_OVERRIDE": pcm_override,
     "CRUISE_FAULT_CMD": pcm_fault_cmd,
     "CRUISE_CANCEL_CMD": pcm_cancel_cmd,
-    "COMPUTER_BRAKE_REQUEST_2": brake_rq,
+    "COMPUTER_BRAKE_REQUEST": brake_rq,
     "SET_ME_0X80": 0x80,
     "BRAKE_LIGHTS": brakelights,
     "CHIME": chime,

selfdrive/car/honda/interface.py

@@ -340,7 +340,6 @@ class CarInterface(object):
     ret.startAccel = 0.5
 
     ret.steerActuatorDelay = 0.09
-    ret.steerRateCost = 0.5
 
     return ret
 

selfdrive/car/toyota/interface.py

@@ -78,7 +78,6 @@ class CarInterface(object):
       ret.mass = 3045 * CV.LB_TO_KG + std_cargo
       ret.steerKpV, ret.steerKiV = [[0.4], [0.01]]
       ret.steerKf = 0.00006   # full torque for 10 deg at 80mph means 0.00007818594
-      ret.steerRateCost = 1.5
 
       f = 1.43353663
       tireStiffnessFront_civic *= f
@@ -93,7 +92,6 @@ class CarInterface(object):
       ret.mass = 3650 * CV.LB_TO_KG + std_cargo  # mean between normal and hybrid
       ret.steerKpV, ret.steerKiV = [[0.6], [0.05]]
       ret.steerKf = 0.00006   # full torque for 10 deg at 80mph means 0.00007818594
-      ret.steerRateCost = 1.
     elif candidate == CAR.COROLLA:
       ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file
       ret.wheelbase = 2.70
@@ -101,7 +99,6 @@ class CarInterface(object):
       ret.mass = 2860 * CV.LB_TO_KG + std_cargo  # mean between normal and hybrid
       ret.steerKpV, ret.steerKiV = [[0.2], [0.05]]
       ret.steerKf = 0.00003   # full torque for 20 deg at 80mph means 0.00007818594
-      ret.steerRateCost = 1.
     elif candidate == CAR.LEXUS_RXH:
       ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file
       ret.wheelbase = 2.79
@@ -109,7 +106,6 @@ class CarInterface(object):
       ret.mass = 4481 * CV.LB_TO_KG + std_cargo  # mean between min and max
       ret.steerKpV, ret.steerKiV = [[0.6], [0.1]]
       ret.steerKf = 0.00006   # full torque for 10 deg at 80mph means 0.00007818594
-      ret.steerRateCost = .8
 
     ret.centerToFront = ret.wheelbase * 0.44
 

selfdrive/common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.4.7.1-release"
+#define COMMA_VERSION "0.4.7.2-release"

selfdrive/controls/lib/latcontrol.py

@@ -28,11 +28,12 @@ class LatControl(object):
                             (VM.CP.steerKiBP, VM.CP.steerKiV),
                             k_f=VM.CP.steerKf, pos_limit=1.0)
     self.last_cloudlog_t = 0.0
-    self.setup_mpc(VM.CP.steerRateCost)
+    self.setup_mpc()
 
-  def setup_mpc(self, steer_rate_cost):
+  def setup_mpc(self):
     self.libmpc = libmpc_py.libmpc
-    self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, steer_rate_cost)
+    self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE,
+                     MPC_COST_LAT.HEADING, MPC_COST_LAT.STEER_RATE)
 
     self.mpc_solution = libmpc_py.ffi.new("log_t *")
     self.cur_state = libmpc_py.ffi.new("state_t *")
@@ -90,7 +91,7 @@ class LatControl(object):
       self.mpc_nans = np.any(np.isnan(list(self.mpc_solution[0].delta)))
       t = sec_since_boot()
       if self.mpc_nans:
-        self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, VM.CP.steerRateCost)
+        self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, MPC_COST_LAT.STEER_RATE)
         self.cur_state[0].delta = math.radians(angle_steers) / VM.CP.steerRatio
 
         if t > self.last_cloudlog_t + 5.0:

selfdrive/controls/lib/pathplanner.py

@@ -1,6 +1,7 @@
 from common.numpy_fast import interp
 from selfdrive.controls.lib.latcontrol_helpers import model_polyfit, calc_desired_path, compute_path_pinv
 
+CAMERA_OFFSET = 0.12  # ~12cm from center car to camera
 
 class PathPlanner(object):
   def __init__(self):
@@ -21,6 +22,10 @@ class PathPlanner(object):
       l_poly = model_polyfit(md.model.leftLane.points, self._path_pinv)  # left line
       r_poly = model_polyfit(md.model.rightLane.points, self._path_pinv)  # right line
 
+      # only offset left and right lane lines; offsetting p_poly does not make sense
+      l_poly[3] += CAMERA_OFFSET
+      r_poly[3] += CAMERA_OFFSET
+
       p_prob = 1.  # model does not tell this probability yet, so set to 1 for now
       l_prob = md.model.leftLane.prob  # left line prob
       r_prob = md.model.rightLane.prob  # right line prob

selfdrive/controls/lib/vehicle_model.py

@@ -101,3 +101,4 @@ if __name__ == '__main__':
   VM = VehicleModel(CP)
   print VM.steady_state_sol(.1, 0.15)
   print calc_slip_factor(VM)
+  print VM.yaw_rate(0.2*np.pi/180, 32.) * 180./np.pi

selfdrive/loggerd/uploader.py

@@ -69,7 +69,11 @@ def clear_locks(root):
 
 def is_on_wifi():
   # ConnectivityManager.getActiveNetworkInfo()
-  result = subprocess.check_output(["service", "call", "connectivity", "2"]).strip().split("\n")
+  try:
+    result = subprocess.check_output(["service", "call", "connectivity", "2"]).strip().split("\n")
+  except subprocess.CalledProcessError:
+    return False
+
   data = ''.join(''.join(w.decode("hex")[::-1] for w in l[14:49].split()) for l in result[1:])
 
   return "\x00".join("WIFI") in data

selfdrive/manager.py

@@ -102,7 +102,7 @@ managed_processes = {
   "visiond": ("selfdrive/visiond", ["./visiond"]),
   "sensord": ("selfdrive/sensord", ["./sensord"]),
   "gpsd": ("selfdrive/sensord", ["./gpsd"]),
-  "orbd": ("selfdrive/orbd", ["./orbd_wrapper.sh"]),
+  #"orbd": ("selfdrive/orbd", ["./orbd_wrapper.sh"]),
   "updated": "selfdrive.updated",
   #"gpsplanner": "selfdrive.controls.gps_plannerd",
 }
@@ -665,9 +665,12 @@ def main():
     del managed_processes['controlsd']
     del managed_processes['radard']
 
+  # disable this until we use it
+  """
   if os.path.isfile('logserver/logserver.py'):
     managed_processes["logserver"] = "selfdrive.logserver.wsgi"
     persistent_processes.append("logserver")
+  """
 
   # support additional internal only extensions
   try:

selfdrive/updated.py

@@ -7,14 +7,10 @@ import time
 import subprocess
 
 from common.basedir import BASEDIR
-from common.params import Params
 from selfdrive.swaglog import cloudlog
-from selfdrive.version import dirty
 
 NICE_LOW_PRIORITY = ["nice", "-n", "19"]
 def main(gctx=None):
-  params = Params()
-
   while True:
     # try network
     r = subprocess.call(["ping", "-W", "4", "-c", "1", "8.8.8.8"])
@@ -22,40 +18,19 @@ def main(gctx=None):
       time.sleep(60)
       continue
 
-    # If there are modifications we preserve full history
-    # and disable update prompting.
-    # Otherwise, only store head to save space
-    if dirty:
-      r = subprocess.call(NICE_LOW_PRIORITY + ["git", "fetch", "--unshallow"])
-      is_update_available = False
-    else:
-      r = subprocess.call(NICE_LOW_PRIORITY + ["git", "fetch", "--depth=1"])
-      is_update_available = check_is_update_available()
-
-    is_update_available_str = "1" if is_update_available else "0"
-    params.put("IsUpdateAvailable", is_update_available_str)
-    cloudlog.info("IsUpdateAvailable: %s", is_update_available_str)
+    # download application update
+    r = subprocess.call(NICE_LOW_PRIORITY + ["git", "fetch"])
     cloudlog.info("git fetch: %r", r)
     if r:
       time.sleep(60)
       continue
 
     # download apks
-    r = subprocess.call(["nice", "-n", "19", os.path.join(BASEDIR, "apk/external/patcher.py"), "download"])
+    r = subprocess.call(NICE_LOW_PRIORITY + [os.path.join(BASEDIR, "apk/external/patcher.py"), "download"])
     cloudlog.info("patcher download: %r", r)
 
     time.sleep(60*60*3)
 
-def check_is_update_available():
-  try:
-    local_rev = subprocess.check_output(NICE_LOW_PRIORITY + ["git", "rev-parse", "@"])
-    upstream_rev = subprocess.check_output(NICE_LOW_PRIORITY + ["git", "rev-parse", "@{u}"])
-
-    return upstream_rev != local_rev
-  except subprocess.CalledProcessError:
-    cloudlog.exception("updated: failed to compare local and upstream")
-
-    return False
-
 if __name__ == "__main__":
-    main()
+  main()
+