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Merge remote-tracking branch 'upstream/master' into car_hardware

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pull/28212/head
Shane Smiskol 2 years ago
parent 1436258646 a30a0c4b69
commit 0af66436d1
10 changed files with 40 additions and 17 deletions
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  1. 3
      RELEASES.md
  2. 2
      common/version.h
  3. 12
      docs/CARS.md
  4. 2
      panda
  5. 9
      selfdrive/car/ford/carcontroller.py
  6. 4
      selfdrive/car/ford/fordcan.py
  7. 6
      selfdrive/car/ford/interface.py
  8. 2
      selfdrive/car/ford/values.py
  9. 15
      selfdrive/navd/map_renderer.cc
  10. 2
      selfdrive/test/process_replay/ref_commit

3
RELEASES.md
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@ -1,3 +1,6 @@
Version 0.9.3 (2023-06-XX)
========================
Version 0.9.2 (2023-05-22)
========================
* New driving model

2
common/version.h
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@ -1 +1 @@
#define COMMA_VERSION "0.9.2"
#define COMMA_VERSION "0.9.3"

12
docs/CARS.md
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@ -31,11 +31,11 @@ A supported vehicle is one that just works when you install a comma three. All s
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 comma power v2<br>- 1 FCA connector<br>- 1 harness box<br>- 1 mount<br>- 1 RJ45 cable (7 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 comma power v2<br>- 1 FCA connector<br>- 1 harness box<br>- 1 mount<br>- 1 RJ45 cable (7 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 angled mount<br>- 1 comma power v2<br>- 1 Ford Q3 connector<br>- 1 harness box<br>- 1 RJ45 cable (7 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 comma power v2<br>- 1 Ford Q3 connector<br>- 1 harness box<br>- 1 mount<br>- 1 RJ45 cable (7 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
|Ford|Explorer 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 comma power v2<br>- 1 Ford Q3 connector<br>- 1 harness box<br>- 1 mount<br>- 1 RJ45 cable (7 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer 2020-22">Buy Here</a></sub></details>||
|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 comma power v2<br>- 1 Ford Q3 connector<br>- 1 harness box<br>- 1 mount<br>- 1 RJ45 cable (7 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
|Ford|Maverick 2022-23|Co-Pilot360 Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 comma power v2<br>- 1 Ford Q3 connector<br>- 1 harness box<br>- 1 mount<br>- 1 RJ45 cable (7 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Maverick 2022-23">Buy Here</a></sub></details>||
|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 angled mount<br>- 1 comma power v2<br>- 1 Ford Q3 connector<br>- 1 harness box<br>- 1 RJ45 cable (7 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 comma power v2<br>- 1 Ford Q3 connector<br>- 1 harness box<br>- 1 mount<br>- 1 RJ45 cable (7 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
|Ford|Explorer 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 comma power v2<br>- 1 Ford Q3 connector<br>- 1 harness box<br>- 1 mount<br>- 1 RJ45 cable (7 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer 2020-22">Buy Here</a></sub></details>||
|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 comma power v2<br>- 1 Ford Q3 connector<br>- 1 harness box<br>- 1 mount<br>- 1 RJ45 cable (7 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
|Ford|Maverick 2022-23|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 comma power v2<br>- 1 Ford Q3 connector<br>- 1 harness box<br>- 1 mount<br>- 1 RJ45 cable (7 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Maverick 2022-23">Buy Here</a></sub></details>||
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 comma power v2<br>- 1 harness box<br>- 1 Hyundai F connector<br>- 1 mount<br>- 1 RJ45 cable (7 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Buy Here</a></sub></details>||
|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 comma power v2<br>- 1 harness box<br>- 1 Hyundai F connector<br>- 1 mount<br>- 1 RJ45 cable (7 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Buy Here</a></sub></details>||
|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 comma power v2<br>- 1 harness box<br>- 1 Hyundai J connector<br>- 1 mount<br>- 1 RJ45 cable (7 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
@ -152,7 +152,7 @@ A supported vehicle is one that just works when you install a comma three. All s
|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Buy Here</a></sub></details>||
|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-22">Buy Here</a></sub></details>||
|Lincoln|Aviator 2021|Co-Pilot360 Plus|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 comma power v2<br>- 1 Ford Q3 connector<br>- 1 harness box<br>- 1 mount<br>- 1 RJ45 cable (7 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lincoln&model=Aviator 2021">Buy Here</a></sub></details>||
|Lincoln|Aviator 2021|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 comma power v2<br>- 1 Ford Q3 connector<br>- 1 harness box<br>- 1 mount<br>- 1 RJ45 cable (7 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lincoln&model=Aviator 2021">Buy Here</a></sub></details>||
|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 harness box<br>- 1 J533 connector<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 USB-C coupler<br><a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 harness box<br>- 1 J533 connector<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 USB-C coupler<br><a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 comma power v2<br>- 1 harness box<br>- 1 Mazda connector<br>- 1 mount<br>- 1 RJ45 cable (7 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">Buy Here</a></sub></details>||

2
panda

@ -1 +1 @@
Subproject commit 2ed514807e51f7a9c2cf160ac18a093474a0ca2b
Subproject commit 2a538337537e6830f02565c2c36af4f886c963e4

9
selfdrive/car/ford/carcontroller.py
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@ -82,15 +82,14 @@ class CarController:
### longitudinal control ###
# send acc msg at 50Hz
if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
# Both gas and accel are in m/s^2, accel is used solely for braking
accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
gas = accel
decel = accel < 0.0
if accel < -0.5:
gas = -5.0
if not CC.longActive or gas < CarControllerParams.MIN_GAS:
gas = CarControllerParams.INACTIVE_GAS
stopping = CC.actuators.longControlState == LongCtrlState.stopping
can_sends.append(create_acc_msg(self.packer, CC.longActive, gas, accel, decel, stopping))
can_sends.append(create_acc_msg(self.packer, CC.longActive, gas, accel, stopping))
### ui ###
send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)

4
selfdrive/car/ford/fordcan.py
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@ -101,7 +101,7 @@ def create_lat_ctl2_msg(packer, mode: int, path_offset: float, path_angle: float
return packer.make_can_msg("LateralMotionControl2", CANBUS.main, values)
def create_acc_msg(packer, long_active: bool, gas: float, accel: float, decel: bool, stopping: bool):
def create_acc_msg(packer, long_active: bool, gas: float, accel: float, stopping: bool):
"""
Creates a CAN message for the Ford ACC Command.
@ -111,11 +111,13 @@ def create_acc_msg(packer, long_active: bool, gas: float, accel: float, decel: b
Frequency is 50Hz.
"""
decel = accel < 0 and long_active
values = {
"AccBrkTot_A_Rq": accel, # Brake total accel request: [-20|11.9449] m/s^2
"Cmbb_B_Enbl": 1 if long_active else 0, # Enabled: 0=No, 1=Yes
"AccPrpl_A_Rq": gas, # Acceleration request: [-5|5.23] m/s^2
"AccResumEnbl_B_Rq": 1 if long_active else 0,
# TODO: we may be able to improve braking response by utilizing pre-charging better
"AccBrkPrchg_B_Rq": 1 if decel else 0, # Pre-charge brake request: 0=No, 1=Yes
"AccBrkDecel_B_Rq": 1 if decel else 0, # Deceleration request: 0=Inactive, 1=Active
"AccStopStat_B_Rq": 1 if stopping else 0,

6
selfdrive/car/ford/interface.py
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@ -1,5 +1,6 @@
#!/usr/bin/env python3
from cereal import car
from panda import Panda
from common.conversions import Conversions as CV
from selfdrive.car import STD_CARGO_KG, get_safety_config
from selfdrive.car.ford.values import CAR, Ecu
@ -25,6 +26,11 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.2
ret.steerLimitTimer = 1.0
ret.experimentalLongitudinalAvailable = True
if experimental_long:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_FORD_LONG_CONTROL
ret.openpilotLongitudinalControl = True
if candidate == CAR.BRONCO_SPORT_MK1:
ret.wheelbase = 2.67
ret.steerRatio = 17.7

2
selfdrive/car/ford/values.py
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@ -31,6 +31,8 @@ class CarControllerParams:
ACCEL_MAX = 2.0 # m/s^s max acceleration
ACCEL_MIN = -3.5 # m/s^s max deceleration
MIN_GAS = -0.5
INACTIVE_GAS = -5.0
def __init__(self, CP):
pass

15
selfdrive/navd/map_renderer.cc
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@ -15,7 +15,9 @@ const int HEIGHT = 256, WIDTH = 256;
const int NUM_VIPC_BUFFERS = 4;
const int EARTH_CIRCUMFERENCE_METERS = 40075000;
const int EARTH_RADIUS_METERS = 6378137;
const int PIXELS_PER_TILE = 256;
const int MAP_OFFSET = 128;
const bool TEST_MODE = getenv("MAP_RENDER_TEST_MODE");
const int LLK_DECIMATION = TEST_MODE ? 1 : 10;
@ -26,6 +28,14 @@ float get_zoom_level_for_scale(float lat, float meters_per_pixel) {
return log2(num_tiles) - 1;
}
QMapbox::Coordinate get_point_along_line(float lat, float lon, float bearing, float dist) {
float ang_dist = dist / EARTH_RADIUS_METERS;
float lat1 = DEG2RAD(lat), lon1 = DEG2RAD(lon), bearing1 = DEG2RAD(bearing);
float lat2 = asin(sin(lat1)*cos(ang_dist) + cos(lat1)*sin(ang_dist)*cos(bearing1));
float lon2 = lon1 + atan2(sin(bearing1)*sin(ang_dist)*cos(lat1), cos(ang_dist)-sin(lat1)*sin(lat2));
return QMapbox::Coordinate(RAD2DEG(lat2), RAD2DEG(lon2));
}
MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_settings(settings) {
QSurfaceFormat fmt;
@ -70,7 +80,7 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set
if (online) {
vipc_server.reset(new VisionIpcServer("navd"));
vipc_server->create_buffers(VisionStreamType::VISION_STREAM_MAP, NUM_VIPC_BUFFERS, false, WIDTH/2, HEIGHT/2);
vipc_server->create_buffers(VisionStreamType::VISION_STREAM_MAP, NUM_VIPC_BUFFERS, false, WIDTH, HEIGHT);
vipc_server->start_listener();
pm.reset(new PubMaster({"navThumbnail", "mapRenderState"}));
@ -93,7 +103,8 @@ void MapRenderer::msgUpdate() {
bool localizer_valid = (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && pos.getValid();
if (localizer_valid && (sm->rcv_frame("liveLocationKalman") % LLK_DECIMATION) == 0) {
updatePosition(QMapbox::Coordinate(pos.getValue()[0], pos.getValue()[1]), RAD2DEG(orientation.getValue()[2]));
float bearing = RAD2DEG(orientation.getValue()[2]);
updatePosition(get_point_along_line(pos.getValue()[0], pos.getValue()[1], bearing, MAP_OFFSET), bearing);
// TODO: use the static rendering mode
if (!loaded() && frame_id > 0) {

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
658e4dd36d92ae7a973a090aaf3fab62fdf701b6
c67a0959201829ef07a7d68d5fb59603b3983587

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