3326487104
Torque Refactor ( #25822 )
...
* add torque gains refactor
* update refs
* avoid dict, use cereal struct
* bugfix
* no as_builder
* address final comments
old-commit-hash: 85ed5c4cb5
3 years ago
c1b9a202aa
controls: enter overriding state for steering override ( #25617 )
...
* lateral overriding is overriding
* Update test
* remove
* also could do something like this and only have one OVERRIDE ET
* Revert "also could do something like this and only have one OVERRIDE ET"
This reverts commit 5c381641c08961676a56a9718fbdaa84989ac249.
* full names
* bump cereal
* test every event type
* update refs
old-commit-hash: 992707c172
3 years ago
0a9e230016
controlsd: fix regen init for multi-panda setups
...
old-commit-hash: 3f34a7082a
3 years ago
30ba3096a3
Longcontrol: fix possible reference before assignment ( #25715 )
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fix possible reference before assignment
old-commit-hash: 056b2ec2ed
3 years ago
c6e4fb646d
split out experimental long toggle ( #25698 )
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* split out experimental long toggle
* clean up
* update translations
old-commit-hash: 3ef37fe2e8
3 years ago
e4f9781c17
single longitudinal toggle for e2e and disable radar ( #25688 )
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* single longitudinal toggle for e2e and disable radar
* write disable radar param
* rename
* better param name
* clean that up
* update refs
* update translations
* not live for experimental
* write it out
* vanish
old-commit-hash: 655a64b603
3 years ago
96be4599e7
reduce min lane change speed to 15mph ( #25689 )
...
old-commit-hash: 445492a6d8
3 years ago
2347e913a0
rename esp ECU to abs ( #25640 )
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* rename esp ecu to abs
* bump cereal
old-commit-hash: e9c87daef6
3 years ago
38f7880951
Live e2e long toggling ( #25685 )
...
Live toggling
old-commit-hash: 8857e02dd4
3 years ago
0b87a4ddb1
More conservative lead policy in e2e long mode ( #25684 )
...
* Add params for lead and danger
* fix long params
* E2e passes simple maneuver tests
* Make tests run with e2e long mode
* Slightly more error allowed in e2e mode
* FCW back and populate long source field
* Fix planner name
* FCW still doesnt work
* Slightly less aggressive
* Doesn't need to simulate from stop
old-commit-hash: 7899fb79c1
3 years ago
1c2c840a8a
Let planner decide stopping state ( #25643 )
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* Let planner decide stopping
* Refactor stop/start state machine
* Stay stoppe condition
* 1sec from target
* Add starting state
* Add starting state logic
* Undo some changes
* Update ref
old-commit-hash: 210a6163ac
3 years ago
775d1beb66
LDW: fix deprecated ll prob reference ( #25681 )
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* fix crash when ldw is turned on
* in lane change
* Revert "in lane change"
This reverts commit 98e7224f81d2036689339779e582e2085c9c4d3e.
old-commit-hash: d222461a3e
3 years ago
cd2636a712
Radard: ignore leads without model confirmation wider than 1.0m ( #25664 )
...
Dont stop for cars next to you without model confirmation
old-commit-hash: 4c05c88c10
3 years ago
b8a6a961fe
Remove lane planning code ( #25651 )
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* Remove all lane planning logic
* Revert "Update ref"
This reverts commit 8dcb08ebccbb5641443459ac40601a95cf605682.
* bump cereal
* Update ref
old-commit-hash: 2eff6d0ebd
3 years ago
0cccf195f3
Add e2e long toggle ( #25638 )
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* Add toggle
* Misc fixes
* Update translations
* pre alpha not great
old-commit-hash: faff2b8950
3 years ago
4b8547c7a4
Support e2e long in longitudinal planner ( #25636 )
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* refactor
* Add planer modes to support offline, acc, and blended
* add acceleration
* Fix index
* Update model ref
* Read in model outputs
* Add model msg
* Add e2e logic
* Add source
old-commit-hash: e1b7a37a1f
3 years ago
35ff65121e
pre-commit: add codespell ( #25571 )
...
old-commit-hash: 6590fb2b93
3 years ago
d9c279aea9
params: make python and c++ API match ( #25573 )
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* params: make python and c++ API match
* few more
old-commit-hash: 90a4565eb2
3 years ago
3b747049ad
controlsd: disambiguate can error and can socket lag ( #25559 )
...
old-commit-hash: 94f353a5e3
3 years ago
2bd8ee0974
controls: block resume if cruise not previously engaged ( #25402 )
...
* see if this works at all
* can revert this
* think adding a no entry conditionally is nicer
* then we can revert this
* 0 makes more sense
* Revert "0 makes more sense"
This reverts commit efc89e8a2389ef58fbc0cec0a2872d24db524867.
* gm CC uses > 70
* bump cereal
* comment
* test on Honda
* whoops
* works
* add exception with todo
* moved button enable events to controlsd
* get rid of that
get rid of that
* different values for now
* car interfaces add enable event, controlsd can block it
* Regen and update refs
* delete if not set
* One place
one place
* regen routes are uninitialized first few frames
* Trim start of segment so it's like original segment
* stash
* regen
* not working
* clean up
* more cleanup
* revert
* bump ceral
* actually check resume button
* whoops
* pcmCruise cars don't use setSpeed, so we're good
* engage correctly in sim
* Update ref_commit
* Update refs
old-commit-hash: 5ed587ebef
3 years ago
28a60fb42e
process replay: initialize controlsState with original route ( #25461 )
...
* push
* do process replay
* commit
* update refs
* clean up
* clean up controlsd
* clean up controlsd
* Add assert
* debubuggier param name
* can be peristent
* Revert "can be peristent"
This reverts commit 6e6d3f6423c26a202623cef728e038259e9e46cd.
* Update selfdrive/test/process_replay/process_replay.py
old-commit-hash: 87ca42e993
3 years ago
179b0d1a81
Lateral planner: Don't prompt/initiate lane changes if lateral control is not active ( #25436 )
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* Don't set lane change events if we're not able to steer.
* more specific variable name
* update process replay socket config
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 5b1ba4f135
3 years ago
a353cc8627
Use steeringAngleDeg for angle control saturation warnings ( #25404 )
...
* use steeringAngleDeg for angle control cars
* update refs
old-commit-hash: 24645c92da
3 years ago
48522500ea
Falcon Punch Model: turn cutting improvements ( #25413 )
...
* simplified change to mpc dynamics
* add jerk pts
* increase jerk cost
* increase jerk pts multipler to master value
* Add final commit
* 1456d261-d232-4654-8885-4d9fde883894/440 ac1a6744-85b0-4ec6-8ba7-608d0717b8f1/750
* some copies are useful
* update model replay ref
* less frames in model replay onnx cpu
* 1456d261-d232-4654-8885-4d9fde883894/440 264b67f5-3f52-4b58-b11f-58dd8aaf08bf/950
* 1456d261-d232-4654-8885-4d9fde883894/440 236fc556-fba3-4255-8ccf-684b22637160/950
* c9d10c64-bea4-41ec-8ca3-d8c886fda172/440 26d73dd2-862a-44ae-bbdd-32cc4f397ad7/900
* Fix couple tests
* Update ref
* Unused for now
* Add lateral factor comment
* Unused variable
Co-authored-by: nuwandavek <vivekaithal44@gmail.com>
Co-authored-by: Bruce Wayne <yassine@comma.ai>
Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu>
Co-authored-by: Bruce Wayne <batman@gpu06.internal>
old-commit-hash: 041458f632
3 years ago
283970114e
Sensor Invalid Alert ( #25303 )
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* modify text, add soft disable
* Update selfdrive/controls/lib/events.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* Update selfdrive/controls/lib/events.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: f1fecc3da7
3 years ago
e23f58937f
Lateral Acceleration Error alert (Sensor Invalid) ( #25291 )
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* sensor flag in paramsd
* increase lateral acc err alert threshold
* add invalid sensor alert from paramsd
* update ref, bool before adding to msg
* account for sign difference in locationd and paramsd
* revert ref
old-commit-hash: e77dc1ab44
3 years ago
5263356958
remove CS.steeringRateLimited ( #25251 )
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* remove CS.steeringRateLimited
* bump cereal
* update refs
old-commit-hash: d462a08056
3 years ago
862e3a8300
use v_cruise_cluster_kph for hudControl.setSpeed ( #25245 )
...
old-commit-hash: f300a8df2b
3 years ago
95fb15aa5f
prereq for matching speeds shown on cars dash ( #25222 )
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* prereq for matching speeds shown on cars dash
* also handle fallback in the ui for replay
* update translations
* update ref
old-commit-hash: c3e95d5e19
3 years ago
2ca2152573
less beeps for steering override faults ( #25196 )
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* less beeps for steering override faults
* less repeat
old-commit-hash: 278d6893fe
3 years ago
b73f02bf45
controlsd: handle radar missing + cleanup system error handling ( #25179 )
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* controlsd: handle radar missing + cleanup system erorr handling
* fix carla
* update refs
old-commit-hash: 505bbce29d
3 years ago
f3ddb32649
process replay: ensure enabled for significant amount of time ( #25121 )
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* process replay: ensure enabled for significant amount of time
* update refs
* 10s is reasonable
old-commit-hash: 2ae52e9b22
3 years ago
493d6ef693
Fix new steer saturated warning with joystick mode ( #25113 )
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Fix steer sat warning with joystick mode
old-commit-hash: be7f704168
3 years ago
9bc945c428
Stock longitudinal: spam resume button when lead starts moving ( #24873 )
...
* always log leads, we hide them in ui
* only spam resume when future is > vEgoStarting
* do rest but vw
* vw
* remove comments
* rename to resume
* maintain original button msg rate
* mazda: ensure no resume if cancelling
* same for non-HDA2
* Always run planner if not opLong
* try 0.2
* 0.1 should be pretty safe
* add test for resuming
* fix test
* stricter test, speeds[-1] is 0.14 when starting here
* no walrus
* fixup mazda cc
* remove extra import
old-commit-hash: fd2de54172
3 years ago
4eabd3b9d9
FW fingerprinting: log all FW versions ( #25042 )
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* get_fw_versions returns all fw versions with request's brand
* keep track of everything received
* debug
* need to regen or write a hack in build_fw_dict
* to be safe, still replace old responses within same brands (hyundai responds to two queries, can fix later)
to be safe, still replace old responses within same brands (hyundai responds to two queries, can fix later)
* update test_fw_query_on_routes
* clean up
* better name
* slightly cleaner
* fix test_startup unit test
del
* fix imports
* fix test_fw_fingerprint
fix test_fw_fingerprint
fix
* fingerprint on all FW_VERSIONS, not just brands with requests
* support old routes in test_fw_query_on_routes
* regen and update refs
* similar function style to before
* better comment
* space
switch name
* try to exact match first
* useless else
* fix debug script
* simpler dictionary
* bump cereal to master
old-commit-hash: ea241bf3dc
3 years ago
220db41bab
long planner: run when using stock longitudinal ( #25017 )
...
* Squashed commit of the following:
commit e27a5b4e2bfeab4e6a47440b1d4eb180ee4acf49
Author: Shane Smiskol <shane@smiskol.com>
Date: Fri Jul 1 14:10:06 2022 -0700
remove this test
remove this test
commit c3c10af82222ea4641d94c53a3a07b486cca8452
Author: Shane Smiskol <shane@smiskol.com>
Date: Fri Jul 1 14:08:15 2022 -0700
only planner changes
commit 50e0f1d8704c15acfce8987faf3515c99e8af4f4
Merge: e088fde67 86f0c5757
Author: Shane Smiskol <shane@smiskol.com>
Date: Fri Jul 1 14:05:36 2022 -0700
Merge remote-tracking branch 'upstream/master' into enable-planner2
commit e088fde67edcc32ccfeea23b4ae9e44845240429
Author: Shane Smiskol <shane@smiskol.com>
Date: Thu Jun 30 13:58:38 2022 -0700
no walrus
commit b7b425e530e949b9cc427833562473cc241d1367
Merge: f8634266b 8fd235fc6
Author: Shane Smiskol <shane@smiskol.com>
Date: Thu Jun 30 13:54:30 2022 -0700
Merge remote-tracking branch 'upstream/master' into enable-planner
commit f8634266b49c3f692b255e6cfac66cccc438ae20
Author: Shane Smiskol <shane@smiskol.com>
Date: Wed Jun 29 16:07:35 2022 -0700
stricter test, speeds[-1] is 0.14 when starting here
commit c9e446ad2183feba9d03ee39f9801091ab791c08
Merge: e6c4106ea cb46531fe
Author: Shane Smiskol <shane@smiskol.com>
Date: Wed Jun 29 16:01:32 2022 -0700
Merge remote-tracking branch 'upstream/master' into enable-planner
commit e6c4106ea185c68a6c7b3d59d5bde664df8bdc9c
Author: Shane Smiskol <shane@smiskol.com>
Date: Sat Jun 25 03:28:41 2022 -0700
fix test
commit 0520c7f21613b57b804e08a8e8d10950ac059074
Author: Shane Smiskol <shane@smiskol.com>
Date: Sat Jun 25 03:26:16 2022 -0700
add test for resuming
commit 04db5f80bff4a002f5241765a625d7cf57b74364
Merge: e23b37d3f d18a5ee5a
Author: Shane Smiskol <shane@smiskol.com>
Date: Wed Jun 22 20:15:50 2022 -0700
Merge remote-tracking branch 'upstream/master' into enable-planner
commit e23b37d3fe8dd3dd07b46a32a4f0564fabade1aa
Author: Shane Smiskol <shane@smiskol.com>
Date: Tue Jun 21 12:46:04 2022 -0700
0.1 should be pretty safe
commit e7dc3960da3d713753f28732f50dbd25811fad28
Author: Shane Smiskol <shane@smiskol.com>
Date: Tue Jun 21 12:39:30 2022 -0700
try 0.2
commit ff0597ec92a0d2c52915316961ec123b0183c5cf
Author: Shane Smiskol <shane@smiskol.com>
Date: Tue Jun 21 11:34:00 2022 -0700
Always run planner if not opLong
commit 13997c55271f79fd3ca62d6db45ec3790b09aa60
Merge: d2f51ee55 7bba47a10
Author: Shane Smiskol <shane@smiskol.com>
Date: Tue Jun 21 11:29:22 2022 -0700
Merge remote-tracking branch 'upstream/master' into enable-planner
commit d2f51ee55fd3bde38275371e76714d7741bc6f6b
Author: Shane Smiskol <shane@smiskol.com>
Date: Tue Jun 21 11:27:45 2022 -0700
same for non-HDA2
commit 6a63bd60f09a0abd9185049cd173100d3ef6fefa
Author: Shane Smiskol <shane@smiskol.com>
Date: Mon Jun 20 23:37:07 2022 -0700
mazda: ensure no resume if cancelling
commit 5771cdecab7999765d9f5203c75a67f1555cf975
Author: Shane Smiskol <shane@smiskol.com>
Date: Mon Jun 20 23:27:58 2022 -0700
maintain original button msg rate
commit 6c1fe0606fd0a0819ffeaac92526e43b3110f2f4
Author: Shane Smiskol <shane@smiskol.com>
Date: Wed Jun 15 23:45:26 2022 -0700
rename to resume
commit 00b1df652f1679137c769f9db61eed7dd14e1542
Author: Shane Smiskol <shane@smiskol.com>
Date: Wed Jun 15 21:57:54 2022 -0700
remove comments
commit 325ea9bbd5e0dd946961ede0cdcc446ad5e5bbdb
Author: Shane Smiskol <shane@smiskol.com>
Date: Wed Jun 15 21:56:20 2022 -0700
vw
commit 2c9061042b36fe1d6b029a4216655be69a980849
Author: Shane Smiskol <shane@smiskol.com>
Date: Wed Jun 15 21:54:37 2022 -0700
do rest but vw
commit 3dc51f663dfdd4ea1fd72d239bcd5db8c7da4b47
Author: Shane Smiskol <shane@smiskol.com>
Date: Wed Jun 15 16:34:48 2022 -0700
only spam resume when future is > vEgoStarting
commit 5f32cd1fcb402bee425d866a9dc76b6feea3d241
Author: Shane Smiskol <shane@smiskol.com>
Date: Wed Jun 15 16:09:43 2022 -0700
always log leads, we hide them in ui
* reset when not CS.enabled
remove comment
* update refs
old-commit-hash: f797567ef8
3 years ago
297a0bd65b
controlsd: avoid lag on first iteration due to get_short_branch ( #25031 )
...
* controlsd: avoid lag on first iteration due to get_short_branch
* always cache
old-commit-hash: d4cc13c88a
3 years ago
316de57010
Torque control: max torque warning ( #25018 )
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* New steer torque warning
* typo
old-commit-hash: 0c95493dc0
3 years ago
0c2afda822
enable laikad ( #25013 )
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* enable laikad
* increase logprint for onroad test
old-commit-hash: cdc7a6dbea
3 years ago
2d945b2fd5
Torque control: higher low speed gains and better steering angle deadzone logic ( #24980 )
...
* Try no friction and no deadzone
* Learn fromd ata
* update refs
old-commit-hash: b3226d505b
3 years ago
145f3c96ba
cleanup torque tuning config ( #24951 )
...
old-commit-hash: 062a8bcdbd
3 years ago
f22b124acf
ui: change alerts to Inter ( #24937 )
...
* ui: change alerts to Inter
* fix up test
old-commit-hash: 88f246b909
3 years ago
c4dcf67acc
Long e2e planner: better xva weights ( #24893 )
...
better long xva weights
old-commit-hash: 2c877ce490
3 years ago
8cd45d02c0
add param to override carParams.dashcamOnly ( #24857 )
...
* add param to override carParams.dashcamOnly
* little cleaner
old-commit-hash: 7c826b4fa1
3 years ago
cc0ba78b69
More accurate jerk limits ( #24755 )
...
* More accurate jerk limits
* Min is not - max
For example max_curvature_rate can be negative.
* reduce diff
old-commit-hash: b941b39c56
3 years ago
b0b1aff5cc
Rocket league model ( #24869 )
...
* dd9a502d-c8e2-4831-b365-804b0ae0739d/600 80041070-d276-4fed-bdb9-0075e5442908/420
* no elementwise op
* 9dabf0fe-2e60-44bf-8d3a-d20a74aca072/600 ae746590-0bb5-4a16-80db-15f02d314f03/300 c4663a12-b499-4c9b-90dd-b169e3948cb1/60
* explicit slice
* some copies are useful
* 1456d261-d232-4654-8885-4d9fde883894/440 c06eba55-1931-4e00-9d63-acad00161be0/700 af2eb6ba-1935-4318-aaf8-868db81a4932/425
* 154f663e-d3e9-4020-ad49-0e640588ebbe/399 badb5e69-504f-4544-a99e-ba75ed204b74/800 08330327-7663-4874-af7a-dcbd2c994ba7/800
* set steer rate cost to 1.0
* smaller temporal size
* Update model reg
* update model ref again
* This did upload somehow
* Update steer rate cost
Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu>
old-commit-hash: 9283040d84
3 years ago
5e002bff96
Torque control: low speed boost ( #24859 )
...
* Make very low speed more aggressive
* Less extreme low speed boost
* Update ref
old-commit-hash: a6652a539d
3 years ago
3c48bc47b7
Move a bunch of stuff to system/ part 3 ( #24829 )
...
* move swaglog.py
* timezoned
* logmessaged
* version.py
* fix linter
old-commit-hash: 0fce5d9045
3 years ago
9a45a3b99b
Move selfdrive/hardware/ to system/ ( #24725 )
...
* move hardware to system/
* fix mypy
old-commit-hash: 1139fe507b
3 years ago
bc679f735d
Misc torque control fixes ( #24801 )
...
* Fiction compensation should be based on error
* Update refs
* Add deadzone
* update ref
old-commit-hash: 843e59f6f0
3 years ago
Vivek Aithal
Shane Smiskol
Adeeb Shihadeh
Cameron Clough
HaraldSchafer
Chris Souers
Robbe Derks
Willem Melching
grekiki