d1b003c5d2
Cruise speed: up to 90mph max ( #23161 )
...
* Cruise speed: up to 90mph max
* update ref
4 years ago
77a99e7d6d
long planner: no reset when starting ( #23149 )
...
* long planner: no reset when starting
* let go to 2m/s
* update ref
4 years ago
9afc95474d
add a change cost
4 years ago
0dcdf9c30f
Long policy: strictly squared stopped equivalence function ( #23118 )
...
* new ref
* never let lead stopped equivalence go down
* no overbraking
* stricter again
* cleanup
* updated refs
4 years ago
bbd0f94d9d
add desired angle to log ( #23115 )
...
* add desired angle to log
* update ref
* bump cereal
4 years ago
5b0e10ea33
Reaction buffer on follow distance ( #23112 )
...
* Reaction time buffer
* new ref
4 years ago
46fd5892bf
Human inspired follow distance ( #22937 )
...
* Add cost for creep
* more reasonable cost
* seems better than before
* science tune
* more chill
* closer follow
* stopping takes some leeway
* better cruise
* needed to be cumsum all along
* jerk not even needed
* matches better
* 6 is too much
* add back
* a little extra buffer is good for badly tuned cars
* new refs
* refs again
4 years ago
3b367e6872
Newer sounds ( #23091 )
...
* new prompt sound
* padding
* prompt distracted
* debug
* fix spelling
* lower min volume
* better volume at low speeds
* revert debug
* revert that
* fix tests
* update refs
Co-authored-by: Comma Device <device@comma.ai>
4 years ago
68015f75ed
Set accel trajectory to a_ego when not engaged ( #23100 )
...
* Set accel trajectory to a_ego when not engaged
* update ref
4 years ago
e679d05d9e
New sounds ( #22652 )
...
* new engage/disengage + amp config
* first family
* cleanup audible alerts
* tici isn't special
* fix up debug cycle alerts
* these were better
* extend range
* use distracted sound
* log scaling
* getting closer
* slightly louder
* prompt
* update tests
* update refs
* fix c2 test
* resolve todo
* adjust tolerance
* revert for now
* should work
Co-authored-by: Comma Device <device@comma.ai>
4 years ago
048cc3ac9f
Longcontrol : pid error should be 0 when plan is followed ( #23066 )
...
* v_pid error should be 0 when plan is followed
* update ref
4 years ago
113988ae31
longitudinal: only apply overshoot prevention when braking ( #22986 )
...
* only if braking is desired
* use v_target to determine stopping
* more clear?
4 years ago
93fd662adf
Clean up planner files ( #23031 )
...
* clean up planner files
clean up planner files
* fix plant instance
4 years ago
2a72e2a514
add offroad alerts for car unrecognized ( #22934 )
...
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Chris McCammon <chrismccammon123@gmail.com>
4 years ago
24aadaf1f3
Lateral planner: lower max cost ( #22960 )
...
* prevent ping pong when tuning is not so great
* update refs
4 years ago
5296ca8d73
improve crc camera error ( #22943 )
4 years ago
b3b45c8d29
Add cost to long plan change for smoother lag comp ( #22923 )
...
* add plan changing cost
* fix compile
* set weights
* try this cost
* horizon problem
* looks pretty good
* update refs
* update refs
* smoother plan changes
4 years ago
d8a5c415cd
Revert "add offroad alerts for car unrecognized"
...
This reverts commit fb1e8ce086
4 years ago
fb1e8ce086
add offroad alerts for car unrecognized
4 years ago
833399e941
alerts: make soft disables an orange alert ( #22925 )
4 years ago
3302239013
put cruiseMismatch event in logging only mode
4 years ago
5265c36de7
alert cleanup ( #22919 )
4 years ago
89d0a52d16
cython wrapper for acados ( #22784 )
...
* cython wrapper for acados
* fix building
* sconscript cleanup
* no cython numpy
* cleanup
* upgrade build script
* try without slices
* new acados commit
* c3 update acados libs
* c2 libs
* make faster
* undo profiling
* fix build
* somewhat faster
* tryout cost_set_slice
* Revert "tryout cost_set_slice"
This reverts commit d358d93a133270e4edab9e7c07ffb6f577c52bd6.
* cleanup
* undo t_renderer change
Co-authored-by: Comma Device <device@comma.ai>
4 years ago
e528e2e3e2
allow update snoozing ( #22876 )
...
* allow update snoozing
* not immediately visible
* dismiss and close
* grey button
4 years ago
308219c5b1
alerts: use repeating warning2 sound for steerSaturated ( #22874 )
4 years ago
bdaea086f8
Longcontrol: do not clip vEgo to minSpeedCan ( #22832 )
...
* fix tss2 slow reacceleration in sng
(should) preserve stopping behavior
add comments since it's confusing
fix
* Revert "fix tss2 slow reacceleration in sng"
This reverts commit 42abde0eb945d8bc5ad9b502d1d89b3e3dc16f8a.
* don't max(vEgo)
* update ref
Co-authored-by: Willem Melching <willem.melching@gmail.com>
4 years ago
327464fb84
increase engagement alerts duration
4 years ago
035bc0c20f
controlsd: alert on cruise mismatch for >1s ( #22841 )
...
* controlsd: alert on cruise mismatch for >1s
* bump cereal
* update refs
* bump allowed soundd cpu
* bump cereal
4 years ago
c5d6b85c90
alerts: use a single duration for sound, text, and HUD ( #22856 )
...
* alerts: use a single duration for sound, text, and HUD
* little cleanup
* update refs
4 years ago
93ba52c76c
controlsd: optimize alert management ( #22846 )
...
* controlsd: optimize alert management
* little cleanup
* dataclass is nice
* fix tests
* update refs
* sort by start frame
* update refs
Co-authored-by: Comma Device <device@comma.ai>
4 years ago
2006fff2b6
Fix momentary false blind spot alerts when changing lanes ( #22819 )
...
* reset LaneChangeDirection after finishing
* update ref
Co-authored-by: Willem Melching <willem.melching@gmail.com>
4 years ago
35d6ed1014
ACADOS: partial condensing ( #22830 )
...
* partial condense
* new refs
* new ref
* newerest refs
4 years ago
445a5aaca4
soundd: don't loop controls unresponsive sound infinitely ( #22839 )
...
* soundd: don't loop controls unresponsive sound infinitely
* update tests
* actually fix
4 years ago
8c501f0265
alerts: show min enable speed in "speed too low" alert ( #22755 )
...
* alerts: show min enable speed in "speed too low" alert
* commonize display speed construction
4 years ago
3312bf6d15
lower profile below steer speed alert ( #22740 )
4 years ago
585c16cd2a
Multipanda support ( #22402 )
...
* squash all PR commits for easy rebase
* merged all panda rx can into one message
* fix buffers in can_send
* more cleanup and minor fixes
* fix even more stuff
* fix non-allocated send buffer
* make connecting more robust
* fix bus offset
* fix controls_mismatch?
* simplify mismatch check
* C++ style struct
* fix connect loop
* update ref
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
4 years ago
f4c2398db4
add sdcard support ( #22703 )
...
* generalize
* factory reset
4 years ago
2ea4feffb9
plannerd: add useLaneLines to lateralPlan ( #22699 )
...
* add laneless toggle in lateral plan message
* update cereal
* add refs
4 years ago
7868baeac9
e2e long planner: use position, speed and accel ( #22688 )
...
* a little bit more moderate
* cleaner
4 years ago
897492d27c
more specific no fw startup alert
4 years ago
778374d3dd
[Lateral PID] Function for steer feedforward ( #22638 )
...
* store a function for steer feedforward
* use classmethod
Co-authored-by: Willem Melching <willem.melching@gmail.com>
4 years ago
791de68689
plannerd: position std size check bug
4 years ago
c4510024da
Remove accel cost in long MPC ( #22527 )
...
* ACCEL not useful
* new ref
4 years ago
04cf12cb00
ACADOS fix non-convergence when long_plan changes ( #22495 )
...
* debug commit
* cleanup
* some indexing bugs
* need more its
* BALANCE is way better it seems
* fix test
* this converges in 2000segs
* new ref
* less cpu
4 years ago
5587964d58
Fix cruise button mph increment ( #22487 )
4 years ago
a4bc1bbb74
Long MPC cleanup ( #22462 )
...
* cleaner extrapolation
* some comments
* new ref
* more comments
* new ref
4 years ago
9ab09f5ae9
Retune long mpc ( #22445 )
...
* first try
* looks decent
* finalize retune
* back to 3 its
* may need 4 still
* misc cleanup
* new ref
* SPEEEED
* new ref
4 years ago
23b9316603
accel/decel button metric increments ( #22399 )
...
* add metric values
Freedom units have weird multiples compared to metric. Modified so that it increments by 10 km/h on long press and 1 km/h on short press, rather than 8 and 1.6 km/h. This mimics stock hyundai behaviour on metric vehicles.
* use is_metric from controlsd
* use actual mph value instead of rounded
Co-authored-by: Willem Melching <willem.melching@gmail.com>
4 years ago
f4e2537b12
Split pandaState into peripheralState and pandaState ( #22385 )
...
* publish peripheralState from boardd
* refactor consumers
* rename thread
* peripheralState has panda type too
* add to process replay
* fix device build
* properly remove hardware unsupported alert
* latest peripheralState
* remove pandaState from thermal_monitor
* put that back
* add back harness check
* fix cloudlog
* needs pandaState
* Update selfdrive/thermald/tests/test_power_monitoring.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* dont conflate
* Update selfdrive/thermald/tests/test_power_monitoring.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* pigeon is peripheral
* cleanup
* less global
* comment
* move rtc to peripheral_control_thread
* better diff?
* whitespace
* get msg
* bump cereal
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
4 years ago
3461e25944
Lateral PID: move steer feedforward to CarInterface ( #22411 )
...
* move steer feedforward to car interface, in car parameters
* LatControlPID.get_steer_feedforward()
4 years ago
HaraldSchafer
Willem Melching
Adeeb Shihadeh
Shane Smiskol
Joost Wooning
Jason Young
Mayfield
Robbe Derks
Vivek Aithal
qadmus
speedking456