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Author SHA1 Message Date

Author	SHA1	Message	Date
Vivek Aithal	51d25b2011	Live torque (#25456 ) * wip torqued * add basic logic * setup in manager * check sanity and publish msg * add first order filter to outputs * wire up controlsd, and update gains * rename intercept to offset * add cloudlog, live values are not updated * fix bugs, do not reset points for now * fix crashes * rename to main * fix bugs, works offline * fix float in cereal bug * add latacc filter * randomly choose points, approx for iid * add variable decay * local param to capnp instead of dict * verify works in replay * use torqued output in controlsd * use in controlsd; use points from past routes * controlsd bugfix * filter before updating gains, needs to be replaced * save all points to ensure smooth transition across routes, revert friction factor to 1.5 * add filters to prevent noisy low-speed data points; improve fit sanity * add engaged buffer * revert lat_acc thresh * use paramsd realtime process config * make latacc-to-torque generic, and overrideable * move freq to 4Hz, avoid storing in np.array, don't publish points in the message * float instead of np * remove constant while storing pts * rename slope, offset to lat_accet_factor, offset * resolve issues * use camelcase in all capnp params * use camelcase everywhere * reduce latacc threshold or sanity, add car_sane todo, save points properly * add and check tag * write param to disk at end of route * remove args * rebase op, cereal * save on exit * restore default handler * cpu usage check * add to process replay * handle reset better, reduce unnecessary computation * always publish raw values - useful for debug * regen routes * update refs * checks on cache restore * check tuning vals too * clean that up * reduce cpu usage * reduce cpu usage by 75% * cleanup * optimize further * handle reset condition better, don't put points in init, use only in corolla * bump cereal after rebasing * update refs * Update common/params.cc Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * remove unnecessary checks * Update RELEASES.md Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> old-commit-hash: `4fa62f1464`	3 years ago

Vivek Aithal

51d25b2011

Live torque (#25456 )

* wip torqued

* add basic logic

* setup in manager

* check sanity and publish msg

* add first order filter to outputs

* wire up controlsd, and update gains

* rename intercept to offset

* add cloudlog, live values are not updated

* fix bugs, do not reset points for now

* fix crashes

* rename to main

* fix bugs, works offline

* fix float in cereal bug

* add latacc filter

* randomly choose points, approx for iid

* add variable decay

* local param to capnp instead of dict

* verify works in replay

* use torqued output in controlsd

* use in controlsd; use points from past routes

* controlsd bugfix

* filter before updating gains, needs to be replaced

* save all points to ensure smooth transition across routes, revert friction factor to 1.5

* add filters to prevent noisy low-speed data points; improve fit sanity

* add engaged buffer

* revert lat_acc thresh

* use paramsd realtime process config

* make latacc-to-torque generic, and overrideable

* move freq to 4Hz, avoid storing in np.array, don't publish points in the message

* float instead of np

* remove constant while storing pts

* rename slope, offset to lat_accet_factor, offset

* resolve issues

* use camelcase in all capnp params

* use camelcase everywhere

* reduce latacc threshold or sanity, add car_sane todo, save points properly

* add and check tag

* write param to disk at end of route

* remove args

* rebase op, cereal

* save on exit

* restore default handler

* cpu usage check

* add to process replay

* handle reset better, reduce unnecessary computation

* always publish raw values - useful for debug

* regen routes

* update refs

* checks on cache restore

* check tuning vals too

* clean that up

* reduce cpu usage

* reduce cpu usage by 75%

* cleanup

* optimize further

* handle reset condition better, don't put points in init, use only in corolla

* bump cereal after rebasing

* update refs

* Update common/params.cc

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

* remove unnecessary checks

* Update RELEASES.md

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 4fa62f1464

3 years ago

1 Commits (ab2eab0ffb68079a61c29ed15b3732dd715e03b8)