1ea66ee244
controlsd: fix long press set speed increment ( #24161 )
4 years ago
fb344021aa
update camera CRC alert text ( #24156 )
4 years ago
1848050fd9
add cameraFrameRate alert ( #24152 )
...
* add cameraFrameRate alert
* bump cereal
4 years ago
eaa5819211
commIssueAvgFreq: separate alert for avg freq check ( #24150 )
...
* commIssueAvgFreq: separate alert for avg freq check
* bump cereal
* bump cereal
* bump cereal
* freq_ok separate from alive
* bump cereal to master
* update_ref
* fix profiler
4 years ago
7dd71cc63d
body: control with joystick ( #24143 )
...
* control with joystick
* slow it down
* always joystick for not car
* clean ups
* not stateful
* move submaster
* only if we aren't in test mode
* update refs
* double ki speed, update ref
* this ref
Co-authored-by: Comma Device <device@comma.ai>
4 years ago
65fca83abe
Latency logging 2 ( #24058 )
...
* msg_order and gantt
* frameId in long/lat planner
* track frame id
* controls frame id
* graph tracked events
* graph json
* cloudlog timestamp
* c++ cloudlog
* add frame id
* bug fixes
* bug fixes
* frame id visionicp
* bug fixes and debug level
* timestamp log placement
* print timestamps in table
* translate events
* more logging
* bug fixes
* daemon boardd
* print logs with boardd
* more timestamp logs
* cleanup
* remove publish logs
* bug fix
* timestamp received
* timestamp received
* bug fixes
* use json lib
* ignore driver camera
* prep for new timestamp pipeline
* bug fix
* read new pipeline unfinnished
* read new pipeline
* bug fix
* add frame to controlsstate
* remove controlsstate
* print
* cleanup
* more cleanup + bug fix
* clock build issue
* remove unused imports
* format durations
* increase speed
* pr comments fixes
* conflicts
* set MANAGER_DAEMON for boardd
* clean script code
* bug fix + argparse
* remove rcv time
* bug fixes
* print without tabulate
* fix pre-commits
* plot gnatt
* color bug fix
* read without timestampextra
* bump panda
* mono time instead of frame id
* finnish script
* clean unused
* clean unused logging
* monotonic + json fixes
* del test
* remove whilelines
* bump laika
* cleanup
* remove deps
* logs nicer strings
* remove plotting from scirpt
* reset pipfile
* reset pipfile
* nicer strings
* bug fix
* bug fix
* pr comments cleaning
* remove plotting
* bug fix
* new demo route
* bump opendbc and panda
* cereal master
* cereal master
* script less komplex
* assertions
* matplotlib
* readme
* Update README.md
* graph html
* design fixes
* more code design
* Update common/logging_extra.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* whitespace
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* Update tools/latency_logger/latency_logger.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* pr comments
* bug fix
* readme + env once
* clean swaglog
* bug fix
* Update tools/latencylogger/README.md
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* revert
* revert
* clean swaglog with error
* remove typo file
* revert graph
* cereal
* submodules
* whitespaces
* update refs
Co-authored-by: Bruce Wayne <batman@workstation-openpilot2.internal>
Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
4 years ago
d7a708d6da
tests: add overriding to state machine test ( #24131 )
...
* add overriding to state machine test
* overriding should consider soft disable too
4 years ago
f0ac80806e
controls: add overriding to active states ( #24129 )
4 years ago
f1f40c117a
Add Disengage on Accelerator Toggle ( #23977 )
...
* Squashed commit of the following:
commit 953bcf0ecf8d03f0fec9ce0d5442cc660ae2347d
Merge: b4198608d 333257bad0b9790dd281862fce7d60c44e03⛽ ➡️ 🔋
bump
commit d2b64b89cf8d7265bc90848b4e3a2276c9a4cb78
Author: Shane Smiskol <shane@smiskol.com>
Date: Thu Mar 24 16:19:34 2022 -0700
these changes will be in border PR
these changes will be border PR
commit bed31e63de2244c161729773978fef8a9246ddb5
Merge: 491417640 e91613bc6c88ced1f199c02bdd2db7b49c715fe00fb77d7c758d4b🔥
commit 1885c9e2bacd9351c7e421b1436dcbfbde238436
Merge: 1f591736a 9c70e8bca7410160d03e915cf62
4 years ago
00ebd10b87
body: only control while engaged ( #24114 )
...
* body: only control while engaged
* bump panda
* remove that
* bump panda
* update refs
* update refs
4 years ago
2624b4cb27
controlsState: add override state with grey border ( #24030 )
...
* Squashed commit of the following:
commit f0cf822666fb8f78a486d721fe474e8f37da6970
Author: Shane Smiskol <shane@smiskol.com>
Date: Mon Apr 4 17:24:00 2022 -0700
clean up
commit 4364bdb79b1b055daa7542267eb3f37740723fd4
Merge: d448664cf d4f3304470b9790dd2d932cb0678e34ddc70
4 years ago
d4f330447a
controlsd: add state machine tests ( #24107 )
...
* Handle NO_ENTRY in PRE_ENABLED
* add test
* add preEnabled NO_ENTRY test
* stash
* test soft disable
* tuples
* remove overriding until it's merged in
* use Events class
* fix tests and split out
* don't rely on controlsd's counter
4 years ago
8031a68e55
alerts: Don't use Malfunction twice
4 years ago
a4353303d4
update refs
4 years ago
ca3171c0f9
bump cereal
4 years ago
a9bac5acf8
longitudinal MPC: use reset() function instead of recreating the solver in ( #24091 )
...
* scons: add acados_template as dependency for lat and long mpc
* long MPC: use acados reset instead of recreating the solver
* long MPC: print timings and reset commented
* update acados x86_64
* update acados include folder
* update acados Python interface
* update acados reference commit to latest acados/master
* update x86 libs
* update comma two
* update acados again with commit 8ea8827fafb1b23b4c7da1c4cf650de1cbd73584
* update comma two
* update comma three
* update x86
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
4 years ago
5a8b4bbcaa
LongitudinaPlanner: add comment about lateral accel calculation ( #24096 )
...
* space
* if
4 years ago
f1719aab84
Contact Support -> Hardware Malfunction ( #24076 )
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* Contact Support -> Hardware Malfunction
* missed that one
4 years ago
49498aa7b5
controlsd: no cruise speed while main off ( #24052 )
...
* controlsd: no cruise speed while main off
* probably more accurate
* update refs
4 years ago
adf34c3414
CarParams: remove max steer ( #24044 )
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* Remove max steer
* Update ref
4 years ago
e91613bc62
update unsafeMode to alternativeExperience ( #23995 )
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* update unsafeMode to alternativeExperience
* fix
* fix
* bump submodules
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
4 years ago
4a8fffd0f4
Apply EU guideline lateral limits ( #23974 )
...
* Apply EU limits
* Lower bound v_ego
* Add curvature limit comment
* Remove comment
* Update ref
4 years ago
a6d4bb5d01
Add warning for unsupported NVME ( #23972 )
...
* Add warning for unsupported NVME
* fix it up
* fix typo
Co-authored-by: Comma Device <device@comma.ai>
4 years ago
dcece099ff
Add angular rates carcontroller packet ( #23980 )
...
* Controlsd: give carcontroller angular rates
* Update cereal
* Needs to be list
* Update refs
4 years ago
5fe00fb773
Move gas/brake pedal event logic to controlsd ( #23850 )
...
* move some state machine logic to controlsd
move some state machine logic to controlsd
* same order
same order
* move unsafeMode up
* disable at standstill
* save last CS
save last CS
* do we need to copy at all?
* don't copy
* rename
* Update selfdrive/controls/controlsd.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* Revert "Update selfdrive/controls/controlsd.py"
This reverts commit 10bb51a0f0ee0d8e2a27c746a0638280a5eaea8a.
* Update refs
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
4 years ago
08c2d066cf
Improve style in drive_helpers ( #23962 )
4 years ago
f1aab78d08
longitudinal MPC: add MAX_T in T_IDXS_LST ( #23960 )
...
* longitudinal MPC: add MAX_T in T_IDXS_LST
* update refs
Co-authored-by: KexianShen <shenkexian@gmail.com>
4 years ago
5c3f3e44bc
break up selfdrive.config ( #23959 )
...
* break up selfdrive.config
* add to release files
* fix import order
4 years ago
629399a449
carControl: add long and lat active fields ( #23859 )
...
* proof of concept
* actuators packet describes which actuators are active
* bump cereal
* fixes
* not needed for this PR
* Do Toyota
* add back controlsState.active
* bump cereal
* rest of cars
* in actuators
* add active back
* which
* use controlsState.active for now
* will make an issue
* Update selfdrive/controls/controlsd.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* move local lat_active checks into CC.latActive
* remove redundant checks
* move comment
move comment
* fix joystick mode
* get enabled from carcontrol
* do standstill check in controlsd
* make sure we consider the gas press case for GM
* use CC.actuators
* fix
* capitalization
* Bump cereal
Bump cereal
* make intermediate actuators
* similar convention to before
* clean that up
* update refs
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
4 years ago
d653dd843a
Upstreamed and update acados ( #23927 )
...
* change acados version to finalized PR https://github.com/acados/acados/pull/791
* acados: update include and x86_64 build
* acados: update pyextra
* adapt mpc files to updated acados
* acados buid: clear acados_template and include dir before updating
* update acados again
* acados MPC: only generate solver, building is done via scons
* update acados to latest acados/master
* c3 libs
* c2 libs
* acados scons files: add acados build script as a dependency
* acados scons files: add libacados.so and ocp_nlp_interface.h, build script not in files_common
* update acados
* adapts long & lat MPC file
* update acados reference commit to acados/master
Co-authored-by: Comma Device <device@comma.ai>
4 years ago
37a8b09cad
lower model FCW + stock longitudinal threshold to -1.25m/s^2 ( #23915 )
4 years ago
274885fc4d
controlsd: fix vCruise jumping on pcmCruise cars ( #23388 )
...
* clean up v_cruise_kph
fix
fix
* Revert "clean up v_cruise_kph"
This reverts commit 211b5c3dbe073414ef5c39b19d6d2c6e8de2cf0b.
* always update vCruise and don't init if pcmCruise
* revert change
* update refs
4 years ago
7254db3906
LongControl: fix control state oscillation ( #23333 )
...
* check if plan is to accelerate or not
* remove comment
* needed to see it
needed to see it
* test logic with Toyota TSS2
* hackily log conditions
* Revert "hackily log conditions"
This reverts commit 7a6b5691e2b982c7a1e3911d980fb7530647affd.
Revert "test logic with Toyota TSS2"
This reverts commit e583d6e3caaa5f5b896165cd7949dfc1caabfd9a.
order
* revert
* fix
4 years ago
ab371f888a
Longitudinal MPC set qp tolerance to 1e-3 ( #23899 )
...
* initialize solverExecutionTime longitudinal_planner
* test_onroad: improve timing evaluation
* longitudinal MPC: set qp_tol to 1e-3
* update ref
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
4 years ago
1801baba68
remove trivial terminal constraint and associated CasADi generated functions ( #23898 )
...
* remove trivial terminal constraint and associated CasADi generated functions
* Update refs
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
4 years ago
87849f93b1
better steer fault names ( #23890 )
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* better steer fault names
* bump cereal
4 years ago
d09dffb7cd
Cython acados and minor ( #23835 )
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* acados_ocp_solver_pyx.pyx: implement get_stats for timings and ints
* long_mpc: use acados timers
* acados_ocp_solver_pyx.pyx: fix dynamics_get
* acados_ocp_solver_pyx.pyx: get statistics
* use acados_ocp_solver_pyx.pyx from commaai/cython2 branch
* acados_ocp_solver_pyx.pyx: implement store_iterate
* acados_ocp_solver_pyx.pyx: implement get_residuals
* acados_ocp_solver_pyx.pyx: fix set() for empty fields
* acados_ocp_solver_pyx.pyx: load_iterate
* cython acados: add print_statistics
* test_following_distance: fix typo
* test_longitudinal: unique names for test maneuvers
* longitudinal MPC: comments for evaluation
* longitudinal MPC: add comments to eval acados residuals
* long_mpc: use qp_solver_cond_N = 1
* long MPC: comments, simplify set_cur_state
* update acados version in build script
* longitudinal mpc: weigh a_change in 1 place only
* update ref
* Update ref
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
4 years ago
160a8cfd58
Remove unused MPC_COST_LONG class ( #23843 )
4 years ago
428d412c1f
longitudinal planner: disable change cost when stopped. not engaged or gas pressed ( #23639 )
...
* disable change cost completely on standstill and gas press
* cleanup
* set accel to zero
* clean up logic around standstill
* update ref
4 years ago
f0b3593682
cleanup import chaining of T_IDXS ( #23806 )
4 years ago
85efde269d
bigmodel ( #23684 )
...
* Added wide cam vipc client and bigmodel transform logic
* Added wide_frame to ModelState, should still work normally
* Refactored image input into addImage method, should still work normally
* Updated thneed/compile.cc
* Bigmodel, untested: 44f83118-b375-4d4c-ae12-2017124f0cf4/200
* Have to initialize extra buffer in SNPEModel
* Default paramater value in the wrong place I think
* Move USE_EXTRA to SConscript
* New model: 6c34d59a-acc3-4877-84bd-904c10745ba6/250
* move use extra check to runtime, not on C2
* this is always true
* more C2 checks
* log if frames are out of sync
* more logging on no frame
* store in pointer
* print sof
* add sync logic
* log based on sof difference as well
* keep both models
* less assumptions
* define above thneed
* typo
* simplify
* no need for second client is main is already wide
* more comments update
* no optional reference
* more logging to debug lags
* add to release files
* both defines
* New model: 6831a77f-2574-4bfb-8077-79b0972a2771/950
* Path offset no longer relevant
* Remove duplicate execute
* Moved bigmodel back to big_supercombo.dlc
* add wide vipc stream
* Tici must be tici
* Needs state too
* add wide cam support to model replay
* handle syncing better
* ugh, c2
* print that
* handle ecam lag
* skip first one
* so close
* update refs
Co-authored-by: mitchellgoffpc <mitchellgoffpc@gmail.com>
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
4 years ago
2c7845fce0
Longitudinal control: interpolate longitudinal plan ( #23787 )
...
* interpolate longitudinal actuator delay
rename
* formatting
* interpolate v_target most importantly!
* fix interpolation and rename
* nicer setup
* left in from testing
* update refs
4 years ago
14260c01c6
process replay: fix branch name alert ( #23783 )
...
* env is modified after start
* update ref
4 years ago
f59adbeaaa
keep the new alert consistent for process replay
4 years ago
ff965c772b
add branch name to startup master alert ( #23782 )
...
* add branch name to startup master alert
* still orange
* update refs
4 years ago
9535dc606d
Longitudinal: add Kf to carParams ( #23752 )
...
* sane_kf
* long_kf + cereal
* update ref
Co-authored-by: Willem Melching <willem.melching@gmail.com>
4 years ago
8effa2d878
hide localizerMalfunction alert ( #23730 )
...
* hide localizerMalfunction alert
* update ref
4 years ago
414d4cae78
radard.py: remove trailing space ( #23703 )
4 years ago
e6d8a84578
for those who want to live in the moment
4 years ago
1c31c9b7a3
Mazda: alert when LKAS is disabled ( #23288 )
...
* Mazda: alert when LKAS is disabled
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
* update refs
* revert that
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
4 years ago
Adeeb Shihadeh
Willem Melching
George Hotz
Lukas Petersson
Shane Smiskol
George Hotz
Jonathan Frey
HaraldSchafer
Gregor Kikelj
Jonathan Frey
martinl
ClockeNessMnstr
Dean Lee
Jafar Al-Gharaibeh