diff --git a/.gitignore b/.gitignore
index 334b1b4fed..0092c4dc94 100644
--- a/.gitignore
+++ b/.gitignore
@@ -49,8 +49,8 @@ selfdrive/loggerd/loggerd
selfdrive/loggerd/bootlog
selfdrive/sensord/_gpsd
selfdrive/sensord/_sensord
-selfdrive/camerad/camerad
-selfdrive/camerad/test/ae_gray_test
+system/camerad/camerad
+system/camerad/test/ae_gray_test
selfdrive/modeld/_modeld
selfdrive/modeld/_dmonitoringmodeld
/src/
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 81ce927f65..b901e07721 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -20,7 +20,7 @@ repos:
hooks:
- id: mypy
exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)/'
- additional_dependencies: ['lxml', 'numpy', 'types-atomicwrites', 'types-pycurl', 'types-requests', 'types-certifi']
+ additional_dependencies: ['types-PyYAML', 'lxml', 'numpy', 'types-atomicwrites', 'types-pycurl', 'types-requests', 'types-certifi']
args:
- --warn-redundant-casts
- --warn-return-any
diff --git a/README.md b/README.md
index c426b839d5..34b17625f9 100755
--- a/README.md
+++ b/README.md
@@ -121,6 +121,7 @@ Directory Structure
├── modeld # Driving and monitoring model runners
├── proclogd # Logs information from proc
├── sensord # IMU interface code
+ ├── navd # Turn-by-turn navigation
├── test # Unit tests, system tests, and a car simulator
└── ui # The UI
diff --git a/docs/CARS.md b/docs/CARS.md
index 61c3fa2ce7..e1c7423fa9 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -35,7 +35,7 @@ How We Rate The Cars
**All supported cars can move between the tiers as support changes.**
-# Gold - 29 cars
+# Gold - 31 cars
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
|---|---|---|:---:|:---:|:---:|:---:|:---:|
@@ -52,9 +52,11 @@ How We Rate The Cars
|Lexus|ES 2019-21|All|
|||||
|Lexus|ES Hybrid 2019-22|All||||||
|Lexus|NX 2020|All||||||
+|Lexus|NX Hybrid 2020|All||||||
|Lexus|RX 2020-22|All||||||
|Lexus|UX Hybrid 2019-21|All||||||
|Toyota|Avalon 2022|All||||||
+|Toyota|Avalon Hybrid 2022|All||||||
|Toyota|Camry 2021-22|All||[5](#footnotes)||||
|Toyota|Camry Hybrid 2021-22|All||||||
|Toyota|Corolla 2020-22|All||||||
@@ -69,15 +71,15 @@ How We Rate The Cars
|Toyota|RAV4 2019-21|All||||||
|Toyota|RAV4 Hybrid 2019-21|All||||||
-# Silver - 76 cars
+# Silver - 68 cars
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
|---|---|---|:---:|:---:|:---:|:---:|:---:|
|Audi|A3 2014-19|ACC + Lane Assist|
|||||
|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist||||||
-|Audi|Q2 2018|ACC + Lane Assist||||||
|Audi|RS3 2018|ACC + Lane Assist||||||
|Audi|S3 2015-17|ACC + Lane Assist||||||
+|Cadillac|Escalade ESV 2016[1](#footnotes)|ACC + LKAS||||||
|Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise||||||
|Genesis|G70 2018|All||||||
|Genesis|G80 2018|All||||||
@@ -104,27 +106,23 @@ How We Rate The Cars
|Kia|Sorento 2018|SCC + LKAS||||||
|Kia|Sorento 2019|SCC + LKAS||||||
|Kia|Stinger 2018|SCC + LKAS||||||
+|Lexus|CT Hybrid 2017-18|LSS|
[4](#footnotes)|||||
+|Lexus|ES Hybrid 2017-18|LSS|[4](#footnotes)|||||
|Lexus|NX 2018-19|All|[4](#footnotes)|||||
|Lexus|NX Hybrid 2018-19|All|[4](#footnotes)|||||
-|Lexus|NX Hybrid 2020|All||||||
|Lexus|RX Hybrid 2020-21|All||||||
-|Mazda|CX-5 2022|All||||||
+|Nissan|Altima 2019-20|ProPILOT||||||
+|Nissan|Leaf 2018-22|ProPILOT||||||
+|Nissan|Rogue 2018-20|ProPILOT||||||
+|Nissan|X-Trail 2017|ProPILOT||||||
|SEAT|Ateca 2018|Driver Assistance||||||
|SEAT|Leon 2014-20|Driver Assistance||||||
+|Subaru|Ascent 2019-20|All||||||
|Subaru|Crosstrek 2020-21|EyeSight||||||
|Subaru|Forester 2019-21|All||||||
|Subaru|Impreza 2020-21|EyeSight||||||
-|Škoda|Kamiq 2021[6](#footnotes)|Driver Assistance||||||
-|Škoda|Karoq 2019|Driver Assistance||||||
-|Škoda|Kodiaq 2018-19|Driver Assistance||||||
-|Škoda|Octavia 2015, 2018-19|Driver Assistance||||||
-|Škoda|Octavia RS 2016|Driver Assistance||||||
-|Škoda|Scala 2020|Driver Assistance||||||
-|Škoda|Superb 2015-18|Driver Assistance||||||
-|Toyota|Alphard 2019-20|All||||||
-|Toyota|Alphard Hybrid 2021|All||||||
-|Toyota|Avalon 2019-21|TSS-P|[4](#footnotes)|||||
-|Toyota|Avalon Hybrid 2022|All||||||
+|Toyota|Alphard 2019-20|All||||||
+|Toyota|Alphard Hybrid 2021|All||||||
|Toyota|Camry 2018-20|All||[5](#footnotes)||||
|Toyota|Camry Hybrid 2018-20|All||[5](#footnotes)||||
|Toyota|Highlander 2017-19|All|[4](#footnotes)|||||
@@ -134,7 +132,6 @@ How We Rate The Cars
|Toyota|RAV4 2022|All||||||
|Toyota|RAV4 Hybrid 2016-18|TSS-P|[4](#footnotes)|||||
|Toyota|RAV4 Hybrid 2022|All||||||
-|Toyota|Sienna 2018-20|All|[4](#footnotes)|||||
|Volkswagen|Atlas 2018-19, 2022[8](#footnotes)|Driver Assistance||||||
|Volkswagen|e-Golf 2014, 2018-20|Driver Assistance||||||
|Volkswagen|Golf 2015-20|Driver Assistance||||||
@@ -144,25 +141,22 @@ How We Rate The Cars
|Volkswagen|Golf R 2016-19|Driver Assistance||||||
|Volkswagen|Golf SportsVan 2016|Driver Assistance||||||
|Volkswagen|Golf SportWagen 2015|Driver Assistance||||||
+|Volkswagen|Passat 2015-19[7](#footnotes)|Driver Assistance||||||
|Volkswagen|Polo 2020|Driver Assistance||||||
-|Volkswagen|T-Cross 2021[8](#footnotes)|Driver Assistance||||||
-|Volkswagen|T-Roc 2021[8](#footnotes)|Driver Assistance||||||
-|Volkswagen|Taos 2022[8](#footnotes)|Driver Assistance||||||
-|Volkswagen|Touran 2017|Driver Assistance||||||
-# Bronze - 73 cars
+# Bronze - 79 cars
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
|---|---|---|:---:|:---:|:---:|:---:|:---:|
|Acura|ILX 2016-19|AcuraWatch Plus||||||
|Acura|RDX 2016-18|AcuraWatch Plus||||||
|Acura|RDX 2019-21|All||||||
+|Audi|Q2 2018|ACC + Lane Assist||||||
|Audi|Q3 2020-21|ACC + Lane Assist||||||
-|Cadillac|Escalade ESV 2016[1](#footnotes)|ACC + LKAS||||||
-|Chevrolet|Bolt EUV Premier 2022[2](#footnotes)|Chevy Safety Assist||||||
-|Chevrolet|Silverado 1500 2020[2](#footnotes)|Driver Alert Package II||||||
+|Chevrolet|Bolt EUV Premier 2022[2](#footnotes)|Chevy Safety Assist||||||
+|Chevrolet|Silverado 1500 2020[2](#footnotes)|Driver Alert Package II||||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise||||||
-|Chrysler|Pacifica 2020|Adaptive Cruise||||||
+|Chrysler|Pacifica 2020|Adaptive Cruise||||||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise||||||
|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise||||||
|Genesis|G90 2018|All||||||
@@ -187,46 +181,52 @@ How We Rate The Cars
|Honda|Passport 2019-21|All||||||
|Honda|Pilot 2016-21|Honda Sensing||||||
|Honda|Ridgeline 2017-22|Honda Sensing||||||
-|Hyundai|Elantra 2017-19|SCC + LKAS||||||
+|Hyundai|Elantra 2017-19|SCC + LKAS||||||
|Hyundai|Genesis 2015-16|SCC + LKAS||||||
|Hyundai|Ioniq Electric 2019|SCC + LKAS||||||
|Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS||||||
|Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS||||||
|Hyundai|Sonata 2018-19|SCC + LKAS||||||
|Hyundai|Tucson 2021|SCC + LKAS||||||
-|Hyundai|Veloster 2019-20|SCC + LKAS||||||
+|Hyundai|Veloster 2019-20|SCC + LKAS||||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise||||||
|Jeep|Grand Cherokee 2019-20|Adaptive Cruise||||||
|Kia|Niro Plug-in Hybrid 2019|SCC + LKAS||||||
|Kia|Optima 2017|SCC + LKAS||||||
-|Lexus|CT Hybrid 2017-18|LSS|[4](#footnotes)|||||
-|Lexus|ES Hybrid 2017-18|LSS|[4](#footnotes)|||||
-|Lexus|IS 2017-19|All||||||
-|Lexus|RC 2020|All||||||
+|Lexus|IS 2017-19|All||||||
+|Lexus|RC 2020|All||||||
|Lexus|RX 2016-18|All|[4](#footnotes)|||||
|Lexus|RX Hybrid 2016-19|All|[4](#footnotes)|||||
-|Mazda|CX-9 2021|All||||||
-|Nissan|Altima 2019-20|ProPILOT||||||
-|Nissan|Leaf 2018-22|ProPILOT||||||
-|Nissan|Rogue 2018-20|ProPILOT||||||
-|Nissan|X-Trail 2017|ProPILOT||||||
-|Subaru|Ascent 2019-20|All||||||
+|Mazda|CX-5 2022|All||||||
+|Mazda|CX-9 2021|All||||||
|Subaru|Crosstrek 2018-19|EyeSight||||||
|Subaru|Impreza 2017-19|EyeSight||||||
-|Toyota|Avalon 2016-18|TSS-P|[4](#footnotes)|||||
-|Toyota|Avalon Hybrid 2019-21|TSS-P|[4](#footnotes)|||||
+|Škoda|Kamiq 2021[6](#footnotes)|Driver Assistance||||||
+|Škoda|Karoq 2019|Driver Assistance||||||
+|Škoda|Kodiaq 2018-19|Driver Assistance||||||
+|Škoda|Octavia 2015, 2018-19|Driver Assistance||||||
+|Škoda|Octavia RS 2016|Driver Assistance||||||
+|Škoda|Scala 2020|Driver Assistance||||||
+|Škoda|Superb 2015-18|Driver Assistance||||||
+|Toyota|Avalon 2016-18|TSS-P|[4](#footnotes)|||||
+|Toyota|Avalon 2019-21|TSS-P|[4](#footnotes)|||||
+|Toyota|Avalon Hybrid 2019-21|TSS-P|[4](#footnotes)|||||
|Toyota|C-HR 2017-21|All||||||
-|Toyota|C-HR Hybrid 2017-19|All||||||
+|Toyota|C-HR Hybrid 2017-19|All||||||
|Toyota|Corolla 2017-19|All|[4](#footnotes)|||||
|Toyota|Prius v 2017|TSS-P|[4](#footnotes)|||||
|Toyota|RAV4 2016-18|TSS-P|[4](#footnotes)|||||
+|Toyota|Sienna 2018-20|All|[4](#footnotes)|||||
|Volkswagen|Arteon 2018, 2021[8](#footnotes)|Driver Assistance||||||
-|Volkswagen|California 2021[8](#footnotes)|Driver Assistance||||||
-|Volkswagen|Caravelle 2020[8](#footnotes)|Driver Assistance||||||
+|Volkswagen|California 2021[8](#footnotes)|Driver Assistance||||||
+|Volkswagen|Caravelle 2020[8](#footnotes)|Driver Assistance||||||
|Volkswagen|Jetta 2018-21|Driver Assistance||||||
|Volkswagen|Jetta GLI 2021|Driver Assistance||||||
-|Volkswagen|Passat 2015-19[7](#footnotes)|Driver Assistance||||||
+|Volkswagen|T-Cross 2021[8](#footnotes)|Driver Assistance||||||
+|Volkswagen|T-Roc 2021[8](#footnotes)|Driver Assistance||||||
+|Volkswagen|Taos 2022[8](#footnotes)|Driver Assistance||||||
|Volkswagen|Tiguan 2019-22[8](#footnotes)|Driver Assistance||||||
+|Volkswagen|Touran 2017|Driver Assistance||||||
diff --git a/opendbc b/opendbc
index 5e2a820268..82be71072c 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 5e2a82026842a7082e5e81e5823dab6b6616dbf4
+Subproject commit 82be71072c52fc78cf0e1eabc396af26c18ddc11
diff --git a/panda b/panda
index 0ddba8343d..ff0938958f 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 0ddba8343dbbffed7b8cd3e7e0ab66c86d90a009
+Subproject commit ff0938958f2a16cc15b3648c00aed1a19146f425
diff --git a/release/files_common b/release/files_common
index 96649b9f16..0ace73623f 100644
--- a/release/files_common
+++ b/release/files_common
@@ -105,7 +105,9 @@ selfdrive/car/ecu_addrs.py
selfdrive/car/isotp_parallel_query.py
selfdrive/car/tests/__init__.py
selfdrive/car/tests/test_car_interfaces.py
-selfdrive/car/torque_data.json
+selfdrive/car/torque_data/params.yaml
+selfdrive/car/torque_data/substitute.yaml
+selfdrive/car/torque_data/override.yaml
selfdrive/car/body/*.py
selfdrive/car/chrysler/*.py
diff --git a/selfdrive/assets/fonts/opensans_bold.ttf b/selfdrive/assets/fonts/opensans_bold.ttf
deleted file mode 100644
index 7b52945603..0000000000
Binary files a/selfdrive/assets/fonts/opensans_bold.ttf and /dev/null differ
diff --git a/selfdrive/assets/fonts/opensans_regular.ttf b/selfdrive/assets/fonts/opensans_regular.ttf
deleted file mode 100644
index 2e31d02424..0000000000
Binary files a/selfdrive/assets/fonts/opensans_regular.ttf and /dev/null differ
diff --git a/selfdrive/assets/fonts/opensans_semibold.ttf b/selfdrive/assets/fonts/opensans_semibold.ttf
deleted file mode 100644
index 99db86aa02..0000000000
Binary files a/selfdrive/assets/fonts/opensans_semibold.ttf and /dev/null differ
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index e3ee4753cc..f71a300263 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -18,10 +18,10 @@ class CarState(CarStateBase):
self.frame = int(cp.vl["EPS_STATUS"]["COUNTER"])
- ret.doorOpen = any([cp.vl["DOORS"]["DOOR_OPEN_FL"],
- cp.vl["DOORS"]["DOOR_OPEN_FR"],
- cp.vl["DOORS"]["DOOR_OPEN_RL"],
- cp.vl["DOORS"]["DOOR_OPEN_RR"]])
+ ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"],
+ cp.vl["BCM_1"]["DOOR_OPEN_FR"],
+ cp.vl["BCM_1"]["DOOR_OPEN_RL"],
+ cp.vl["BCM_1"]["DOOR_OPEN_RR"]])
ret.seatbeltUnlatched = cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_UNLATCHED"] == 1
# brake pedal
@@ -51,12 +51,12 @@ class CarState(CarStateBase):
ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"]
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None))
- ret.cruiseState.enabled = cp.vl["ACC_2"]["ACC_STATUS_2"] == 7 # ACC is green.
- ret.cruiseState.available = ret.cruiseState.enabled # FIXME: for now same as enabled
+ ret.cruiseState.available = cp.vl["DAS_3"]["ACC_AVAILABLE"] == 1 # ACC is white
+ ret.cruiseState.enabled = cp.vl["DAS_3"]["ACC_ACTIVE"] == 1 # ACC is green
ret.cruiseState.speed = cp.vl["DASHBOARD"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS
# CRUISE_STATE is a three bit msg, 0 is off, 1 and 2 are Non-ACC mode, 3 and 4 are ACC mode, find if there are other states too
ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in (1, 2)
- ret.accFaulted = cp.vl["ACC_2"]["ACC_FAULTED"] != 0
+ ret.accFaulted = cp.vl["DAS_3"]["ACC_FAULTED"] != 0
ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"]
ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]
@@ -82,10 +82,10 @@ class CarState(CarStateBase):
signals = [
# sig_name, sig_address
("PRNDL", "GEAR"),
- ("DOOR_OPEN_FL", "DOORS"),
- ("DOOR_OPEN_FR", "DOORS"),
- ("DOOR_OPEN_RL", "DOORS"),
- ("DOOR_OPEN_RR", "DOORS"),
+ ("DOOR_OPEN_FL", "BCM_1"),
+ ("DOOR_OPEN_FR", "BCM_1"),
+ ("DOOR_OPEN_RL", "BCM_1"),
+ ("DOOR_OPEN_RR", "BCM_1"),
("Brake_Pedal_State", "ESP_1"),
("Accelerator_Position", "ECM_5"),
("SPEED_LEFT", "SPEED_1"),
@@ -97,8 +97,9 @@ class CarState(CarStateBase):
("STEER_ANGLE", "STEERING"),
("STEERING_RATE", "STEERING"),
("TURN_SIGNALS", "STEERING_LEVERS"),
- ("ACC_STATUS_2", "ACC_2"),
- ("ACC_FAULTED", "ACC_2"),
+ ("ACC_AVAILABLE", "DAS_3"),
+ ("ACC_ACTIVE", "DAS_3"),
+ ("ACC_FAULTED", "DAS_3"),
("HIGH_BEAM_FLASH", "STEERING_LEVERS"),
("ACC_SPEED_CONFIG_KPH", "DASHBOARD"),
("CRUISE_STATE", "DASHBOARD"),
@@ -118,14 +119,14 @@ class CarState(CarStateBase):
("SPEED_1", 100),
("WHEEL_SPEEDS", 50),
("STEERING", 100),
- ("ACC_2", 50),
+ ("DAS_3", 50),
("GEAR", 50),
("ECM_5", 50),
("WHEEL_BUTTONS", 50),
("DASHBOARD", 15),
("STEERING_LEVERS", 10),
("SEATBELT_STATUS", 2),
- ("DOORS", 1),
+ ("BCM_1", 1),
("TRACTION_BUTTON", 1),
]
diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
index 6a1fb2e459..5de29b4f37 100644
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -111,7 +111,7 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stoc
acc_hud_values = {
'CRUISE_SPEED': hud.v_cruise,
'ENABLE_MINI_CAR': 1,
- 'HUD_DISTANCE': 3, # max distance setting on display
+ 'HUD_DISTANCE': 0, # max distance setting on display
'IMPERIAL_UNIT': int(not is_metric),
'HUD_LEAD': 2 if enabled and hud.lead_visible else 1 if enabled else 0,
'SET_ME_X01_2': 1,
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 9d864faac4..6c82c33856 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -5,7 +5,7 @@ from cereal import car
from common.conversions import Conversions as CV
from opendbc.can.parser import CANParser
from opendbc.can.can_define import CANDefine
-from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD, FEATURES, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons
+from selfdrive.car.hyundai.values import DBC, FEATURES, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
from selfdrive.car.interfaces import CarStateBase
PREV_BUTTON_SAMPLES = 4
@@ -32,6 +32,8 @@ class CarState(CarStateBase):
self.park_brake = False
self.buttons_counter = 0
+ self.params = CarControllerParams(CP)
+
def update(self, cp, cp_cam):
if self.CP.carFingerprint in HDA2_CAR:
return self.update_hda2(cp, cp_cam)
@@ -61,7 +63,7 @@ class CarState(CarStateBase):
50, cp.vl["CGW1"]["CF_Gway_TurnSigLh"], cp.vl["CGW1"]["CF_Gway_TurnSigRh"])
ret.steeringTorque = cp.vl["MDPS12"]["CR_Mdps_StrColTq"]
ret.steeringTorqueEps = cp.vl["MDPS12"]["CR_Mdps_OutTq"]
- ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
+ ret.steeringPressed = abs(ret.steeringTorque) > self.params.STEER_THRESHOLD
ret.steerFaultTemporary = cp.vl["MDPS12"]["CF_Mdps_ToiUnavail"] != 0 or cp.vl["MDPS12"]["CF_Mdps_ToiFlt"] != 0
# cruise state
@@ -157,7 +159,7 @@ class CarState(CarStateBase):
ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEERING_ANGLE"] * -1
ret.steeringTorque = cp.vl["MDPS"]["STEERING_COL_TORQUE"]
ret.steeringTorqueEps = cp.vl["MDPS"]["STEERING_OUT_TORQUE"]
- ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
+ ret.steeringPressed = abs(ret.steeringTorque) > self.params.STEER_THRESHOLD
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"]["LEFT_LAMP"],
cp.vl["BLINKERS"]["RIGHT_LAMP"])
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 2739ebd8cc..58a67f58ce 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -7,7 +7,6 @@ from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.disable_ecu import disable_ecu
-from selfdrive.controls.lib.latcontrol_torque import set_torque_tune
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
@@ -51,7 +50,6 @@ class CarInterface(CarInterfaceBase):
ret.stopAccel = 0.0
ret.longitudinalActuatorDelayUpperBound = 1.0 # s
- torque_params = CarInterfaceBase.get_torque_params(candidate)
if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
@@ -66,7 +64,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.84
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
tire_stiffness_factor = 0.65
- set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'])
+ CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.SONATA_LF:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 4497. * CV.LB_TO_KG
@@ -96,13 +94,13 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.72
ret.steerRatio = 12.9
tire_stiffness_factor = 0.65
- set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'])
+ CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.ELANTRA_HEV_2021:
ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG
ret.wheelbase = 2.72
ret.steerRatio = 12.9
tire_stiffness_factor = 0.65
- set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'])
+ CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.HYUNDAI_GENESIS:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 2060. + STD_CARGO_KG
@@ -204,8 +202,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.80
ret.steerRatio = 13.75
tire_stiffness_factor = 0.5
- torque_params = CarInterfaceBase.get_torque_params(CAR.KIA_OPTIMA)
- set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'])
+ CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.KIA_STINGER:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1825. + STD_CARGO_KG
@@ -245,10 +242,7 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
get_safety_config(car.CarParams.SafetyModel.hyundaiHDA2)]
tire_stiffness_factor = 0.65
-
- ret.maxLateralAccel = 2.
- # TODO override until there is more data
- set_torque_tune(ret.lateralTuning, 2.0, 0.05)
+ CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
# Genesis
elif candidate == CAR.GENESIS_G70:
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index cf47501588..645d2f523b 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -13,21 +13,27 @@ class CarControllerParams:
ACCEL_MAX = 2.0 # m/s
def __init__(self, CP):
+ self.STEER_DELTA_UP = 3
+ self.STEER_DELTA_DOWN = 7
+ self.STEER_DRIVER_ALLOWANCE = 50
+ self.STEER_DRIVER_MULTIPLIER = 2
+ self.STEER_DRIVER_FACTOR = 1
+ self.STEER_THRESHOLD = 150
+
+ if CP.carFingerprint in HDA2_CAR:
+ self.STEER_MAX = 270
+ self.STEER_DRIVER_ALLOWANCE = 250
+ self.STEER_DRIVER_MULTIPLIER = 2
+ self.STEER_THRESHOLD = 250
+
# To determine the limit for your car, find the maximum value that the stock LKAS will request.
# If the max stock LKAS request is <384, add your car to this list.
- if CP.carFingerprint in HDA2_CAR:
- self.STEER_MAX = 150
elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ,
- CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_HEV,
- CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO, CAR.KIA_STINGER):
+ CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_HEV,
+ CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO, CAR.KIA_STINGER):
self.STEER_MAX = 255
else:
self.STEER_MAX = 384
- self.STEER_DELTA_UP = 3
- self.STEER_DELTA_DOWN = 7
- self.STEER_DRIVER_ALLOWANCE = 50
- self.STEER_DRIVER_MULTIPLIER = 2
- self.STEER_DRIVER_FACTOR = 1
class CAR:
@@ -1140,9 +1146,6 @@ FW_VERSIONS = {
b'\xf1\000DNhe SCC F-CUP 1.00 1.02 99110-L5000 ',
b'\xf1\x8799110L5000\xf1\000DNhe SCC F-CUP 1.00 1.02 99110-L5000 ',
],
- (Ecu.esp, 0x7b0, None): [
- b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81\x00\x00\x00\x00\x00\x00\x00\x00',
- ],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x8756310-L5500\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5500 4DNHC102',
b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5450 4DNHC102',
@@ -1268,5 +1271,3 @@ DBC = {
CAR.KIA_EV6: dbc_dict('kia_ev6', None),
CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
}
-
-STEER_THRESHOLD = 150
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 9220aee522..136337c5a4 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -1,4 +1,4 @@
-import json
+import yaml
import os
import time
from abc import abstractmethod, ABC
@@ -20,7 +20,34 @@ EventName = car.CarEvent.EventName
MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
ACCEL_MAX = 2.0
ACCEL_MIN = -3.5
-TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data.json')
+
+TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.yaml')
+TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.yaml')
+TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.yaml')
+
+
+def get_torque_params(candidate):
+ with open(TORQUE_SUBSTITUTE_PATH) as f:
+ sub = yaml.load(f, Loader=yaml.CSafeLoader)
+ if candidate in sub:
+ candidate = sub[candidate]
+
+ with open(TORQUE_PARAMS_PATH) as f:
+ params = yaml.load(f, Loader=yaml.CSafeLoader)
+ with open(TORQUE_OVERRIDE_PATH) as f:
+ override = yaml.load(f, Loader=yaml.CSafeLoader)
+
+ # Ensure no overlap
+ if sum([candidate in x for x in [sub, params, override]]) > 1:
+ raise RuntimeError(f'{candidate} is defined twice in torque config')
+
+ if candidate in override:
+ out = override[candidate]
+ elif candidate in params:
+ out = params[candidate]
+ else:
+ raise NotImplementedError(f"Did not find torque params for {candidate}")
+ return {key: out[i] for i, key in enumerate(params['legend'])}
# generic car and radar interfaces
@@ -83,7 +110,7 @@ class CarInterfaceBase(ABC):
ret.steerControlType = car.CarParams.SteerControlType.torque
ret.minSteerSpeed = 0.
ret.wheelSpeedFactor = 1.0
- ret.maxLateralAccel = CarInterfaceBase.get_torque_params(candidate)['MAX_LAT_ACCEL_MEASURED']
+ ret.maxLateralAccel = get_torque_params(candidate)['MAX_LAT_ACCEL_MEASURED']
ret.pcmCruise = True # openpilot's state is tied to the PCM's cruise state on most cars
ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
@@ -108,10 +135,16 @@ class CarInterfaceBase(ABC):
return ret
@staticmethod
- def get_torque_params(candidate, default=float('NaN')):
- with open(TORQUE_PARAMS_PATH) as f:
- data = json.load(f)
- return {key: data[key].get(candidate, default) for key in data}
+ def configure_torque_tune(candidate, tune, steering_angle_deadzone_deg=0.0):
+ params = get_torque_params(candidate)
+
+ tune.init('torque')
+ tune.torque.useSteeringAngle = True
+ tune.torque.kp = 1.0 / params['LAT_ACCEL_FACTOR']
+ tune.torque.kf = 1.0 / params['LAT_ACCEL_FACTOR']
+ tune.torque.ki = 0.1 / params['LAT_ACCEL_FACTOR']
+ tune.torque.friction = params['FRICTION']
+ tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg
@abstractmethod
def _update(self, c: car.CarControl) -> car.CarState:
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 45358eb3a4..9badc3ca50 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -41,7 +41,7 @@ class SubaruCarInfo(CarInfo):
CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
- CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-20", "All"),
+ CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-20", "All", good_torque=True),
CAR.IMPREZA: [
SubaruCarInfo("Subaru Impreza 2017-19"),
SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 15df1aafef..412874c813 100755
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -33,6 +33,7 @@ class TestCarInterfaces(unittest.TestCase):
assert car_interface
self.assertGreater(car_params.mass, 1)
+ self.assertGreater(car_params.maxLateralAccel, 0)
if car_params.steerControlType != car.CarParams.SteerControlType.angle:
tuning = car_params.lateralTuning.which()
diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py
index b4bc14ef00..98c909a9be 100755
--- a/selfdrive/car/tests/test_docs.py
+++ b/selfdrive/car/tests/test_docs.py
@@ -16,32 +16,37 @@ class TestCarDocs(unittest.TestCase):
current_cars_md = f.read()
self.assertEqual(generated_cars_md, current_cars_md,
- "Run selfdrive/car/docs.py to generate new supported cars documentation")
+ "Run selfdrive/car/docs.py to update the compatibility documentation")
def test_missing_car_info(self):
all_car_info_platforms = get_interface_attr("CAR_INFO", combine_brands=True).keys()
for platform in sorted(interfaces.keys()):
- if platform not in all_car_info_platforms:
- self.fail("Platform: {} doesn't exist in CarInfo".format(platform))
+ with self.subTest(platform=platform):
+ self.assertTrue(platform in all_car_info_platforms, "Platform: {} doesn't exist in CarInfo".format(platform))
def test_naming_conventions(self):
- # Asserts market-standard car naming conventions by make
+ # Asserts market-standard car naming conventions by brand
for car in self.all_cars:
- tokens = car.model.lower().split(" ")
- if car.car_name == "hyundai":
- self.assertNotIn("phev", tokens, "Use `Plug-in Hybrid`")
- self.assertNotIn("hev", tokens, "Use `Hybrid`")
- self.assertNotIn("ev", tokens, "Use `Electric`")
- if "plug-in hybrid" in car.model.lower():
- self.assertIn("Plug-in Hybrid", car.model, "Use correct capitalization")
- elif car.car_name == "toyota":
- if "rav4" in tokens:
- self.assertIn("RAV4", car.model, "Use correct capitalization")
+ with self.subTest(car=car):
+ tokens = car.model.lower().split(" ")
+ if car.car_name == "hyundai":
+ self.assertNotIn("phev", tokens, "Use `Plug-in Hybrid`")
+ self.assertNotIn("hev", tokens, "Use `Hybrid`")
+ self.assertNotIn("ev", tokens, "Use `Electric`")
+ if "plug-in hybrid" in car.model.lower():
+ self.assertIn("Plug-in Hybrid", car.model, "Use correct capitalization")
+ elif car.car_name == "toyota":
+ if "rav4" in tokens:
+ self.assertIn("RAV4", car.model, "Use correct capitalization")
def test_torque_star(self):
+ # Asserts brand-specific assumptions around steering torque star
for car in self.all_cars:
- if car.car_name == "honda":
- self.assertTrue(car.row[Column.STEERING_TORQUE] in (Star.EMPTY, Star.HALF), f"{car.name} has full torque star")
+ with self.subTest(car=car):
+ if car.car_name == "honda":
+ self.assertIn(car.row[Column.STEERING_TORQUE], (Star.EMPTY, Star.HALF), f"{car.name} has full torque star")
+ elif car.car_name in ("toyota", "hyundai"):
+ self.assertNotEqual(car.row[Column.STEERING_TORQUE], Star.EMPTY, f"{car.name} has no torque star")
if __name__ == "__main__":
diff --git a/selfdrive/car/torque_data.json b/selfdrive/car/torque_data.json
deleted file mode 100644
index 63ee0e9bcd..0000000000
--- a/selfdrive/car/torque_data.json
+++ /dev/null
@@ -1 +0,0 @@
-{"LAT_ACCEL_FACTOR": {"HONDA PILOT 2017": 1.682289482065265, "HONDA CIVIC 2016": 1.5248128495527884, "TOYOTA CAMRY 2018": 2.1115709806216447, "TOYOTA COROLLA HYBRID TSS2 2019": 2.3250600977240077, "TOYOTA RAV4 2019": 2.625504029066767, "HYUNDAI PALISADE 2020": 2.5250855675875634, "TOYOTA SIENNA 2018": 1.8254254785341577, "ACURA RDX 2020": 1.3998101622214894, "TOYOTA RAV4 2017": 1.948190869577896, "HONDA RIDGELINE 2017": 1.4158181862793415, "TOYOTA PRIUS 2017": 1.9142926195557595, "TOYOTA HIGHLANDER HYBRID 2020": 2.1097056247344392, "HYUNDAI SONATA 2020": 3.2488989629905944, "KIA STINGER GT2 2018": 2.7592622336517834, "TOYOTA HIGHLANDER 2020": 2.0408544157877055, "HONDA ACCORD 2018": 1.6374118241564064, "TOYOTA PRIUS TSS2 2021": 2.3207270770298365, "NISSAN LEAF 2018": NaN, "CHRYSLER PACIFICA HYBRID 2019": 1.46050785084946, "LEXUS NX 2020": 2.29533657249232, "TOYOTA RAV4 HYBRID 2019": 2.4003012079562085, "HONDA CIVIC (BOSCH) 2019": 1.6523031416671652, "KIA NIRO HYBRID 2021": 2.743464625803003, "HONDA ACCORD HYBRID 2018": 1.5904016830979033, "LEXUS NX HYBRID 2018": 2.398678119681945, "TOYOTA COROLLA TSS2 2019": 2.3859244449846466, "VOLKSWAGEN ARTEON 1ST GEN": 1.4249208219414902, "TOYOTA CAMRY HYBRID 2021": 2.5434553806317055, "VOLKSWAGEN JETTA 7TH GEN": 1.2228130240634283, "HONDA INSIGHT 2019": 1.468352089969897, "SUBARU FORESTER 2019": 3.6185035528523546, "HYUNDAI ELANTRA 2021": 3.5294999663335185, "HYUNDAI IONIQ ELECTRIC LIMITED 2019": 2.2179616966432905, "HYUNDAI KONA HYBRID 2020": 4.493208192966529, "HONDA ODYSSEY 2018": 1.8838175399087222, "LEXUS RX 2016": 1.3912132245094184, "TOYOTA COROLLA 2017": 3.0143547548384735, "LEXUS ES 2019": 2.012201253045193, "HYUNDAI SANTA FE 2019": 3.039728566484244, "TOYOTA AVALON 2022": 2.4619858654670885, "JEEP GRAND CHEROKEE V6 2018": 1.8411674990629987, "CHEVROLET VOLT PREMIER 2017": 1.5943438675127841, "TOYOTA RAV4 HYBRID 2017": 1.9803053616868995, "LEXUS RX 2020": 1.664616846377383, "TOYOTA HIGHLANDER HYBRID 2018": 1.8866764457400844, "TOYOTA CAMRY HYBRID 2018": 2.014213351947917, "TESLA AP2 MODEL S": NaN, "VOLKSWAGEN GOLF 7TH GEN": 1.4428896585442685, "TOYOTA MIRAI 2021": 2.7217623852898853, "LEXUS IS 2018": 3.5624668608596837, "TOYOTA HIGHLANDER 2017": 1.9199133105823853, "HYUNDAI SONATA HYBRID 2021": 2.7313907441569554, "VOLKSWAGEN ATLAS 1ST GEN": 1.4483948408160645, "LEXUS ES HYBRID 2019": 2.4138026617523547, "HYUNDAI GENESIS 2015-2016": 1.7636839808044658, "JEEP GRAND CHEROKEE 2019": 1.787264083939164, "SUBARU ASCENT LIMITED 2019": 3.0494069339774565, "HONDA CR-V 2017": 1.9828470679233807, "HONDA FIT 2018": 1.594940026552055, "TOYOTA CAMRY 2021": 2.5057990840460342, "AUDI Q3 2ND GEN": 1.4558300885316715, "AUDI A3 3RD GEN": 1.5304173783542625, "LEXUS RX HYBRID 2017": 1.577216425446677, "HONDA CIVIC 2022": 2.69252285552613, "GENESIS G70 2018": 3.866842361627636, "CHRYSLER PACIFICA HYBRID 2018": 1.5771851419640903, "VOLKSWAGEN PASSAT 8TH GEN": 1.2985597059739313, "HONDA CR-V 2016": 0.7745984062630755, "HYUNDAI IONIQ PHEV 2020": 2.5696218908589383, "GMC ACADIA DENALI 2018": 1.3310088601868082, "HYUNDAI SONATA 2019": 1.9736552675022665, "TOYOTA AVALON 2019": 1.7245149905226294, "TOYOTA C-HR 2018": 1.5895016960662856, "HONDA CR-V HYBRID 2019": 2.0687746810729193, "CHRYSLER PACIFICA 2020": 1.40536880000744, "HYUNDAI IONIQ ELECTRIC 2020": 3.3220838625838667, "VOLKSWAGEN TIGUAN 2ND GEN": NaN, "LEXUS NX 2018": 1.7753192756242595, "KIA OPTIMA SX 2019 & 2016": 3.12625562280304, "TOYOTA AVALON HYBRID 2019": 1.7681286449373381, "TOYOTA RAV4 HYBRID 2022": 2.5518187542231816, "HONDA PASSPORT 2021": 1.5174924139130355, "KIA K5 2021": 2.482916204106975, "ACURA ILX 2016": 1.5237423964720282, "HYUNDAI IONIQ HYBRID 2017-2019": 2.3723887901632645, "KIA NIRO EV 2020": 2.924651969180446, "SUBARU IMPREZA SPORT 2020": 2.5317689549587694, "CHRYSLER PACIFICA HYBRID 2017": 1.167126725149114, "HYUNDAI KONA ELECTRIC 2019": 4.201092987427836, "HYUNDAI ELANTRA HYBRID 2021": 3.7153193626001926, "HYUNDAI SANTA FE HYBRID 2022": 3.3049230586030545, "CHRYSLER PACIFICA 2018": 1.524867383058782, "NISSAN ROGUE 2019": NaN, "KIA SORENTO GT LINE 2018": 2.5970979517766213, "COMMA BODY": NaN, "NISSAN LEAF 2018 Instrument Cluster": NaN, "LEXUS RX HYBRID 2020": 1.5460982690267173, "MAZDA CX-9 2021": 1.9514800984278198, "HYUNDAI SANTA FE 2022": 3.5354982200434524, "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": 1.8902492836532216, "HONDA HRV 2019": 2.1262957371020352, "TOYOTA AVALON HYBRID 2022": 2.4142150048378683, "SUBARU IMPREZA LIMITED 2019": 1.2203463907025918, "GENESIS G80 2017": 2.4086794443413906, "VOLKSWAGEN TAOS 1ST GEN": 2.0031666974545947, "KIA FORTE E 2018 & GT 2021": 2.022553820222557, "CADILLAC ESCALADE ESV 2016": 1.5522339636408988, "TOYOTA C-HR 2021": 1.6519334844316687, "TOYOTA C-HR HYBRID 2018": 1.3193315010905482}, "MAX_LAT_ACCEL_MEASURED": {"HONDA PILOT 2017": 0.9069354290994807, "HONDA CIVIC 2016": 0.4030275472529351, "TOYOTA CAMRY 2018": 1.686123168195758, "TOYOTA COROLLA HYBRID TSS2 2019": 1.9139332621491167, "TOYOTA RAV4 2019": 2.234047196286479, "HYUNDAI PALISADE 2020": 1.8303582523301922, "TOYOTA SIENNA 2018": 1.4752503435300715, "ACURA RDX 2020": 0.40911581320000334, "TOYOTA RAV4 2017": 1.6622227720995595, "HONDA RIDGELINE 2017": 0.8224685813281227, "TOYOTA PRIUS 2017": 1.4548827870876067, "TOYOTA HIGHLANDER HYBRID 2020": 2.0649784271823037, "HYUNDAI SONATA 2020": 2.243989856570093, "KIA STINGER GT2 2018": 1.9531287107084392, "TOYOTA HIGHLANDER 2020": 1.659381392090836, "HONDA ACCORD 2018": 0.40486739531686267, "TOYOTA PRIUS TSS2 2021": 1.861541601048098, "NISSAN LEAF 2018": NaN, "CHRYSLER PACIFICA HYBRID 2019": 1.1930739374812243, "LEXUS NX 2020": 1.565268724838564, "TOYOTA RAV4 HYBRID 2019": 2.0915384047218426, "HONDA CIVIC (BOSCH) 2019": 0.4062886118517984, "KIA NIRO HYBRID 2021": NaN, "HONDA ACCORD HYBRID 2018": 0.35128914564548286, "LEXUS NX HYBRID 2018": 1.81821359787186, "TOYOTA COROLLA TSS2 2019": 1.911280958056631, "VOLKSWAGEN ARTEON 1ST GEN": 1.2587939472578302, "TOYOTA CAMRY HYBRID 2021": 2.312510643730013, "VOLKSWAGEN JETTA 7TH GEN": 1.232161945396623, "HONDA INSIGHT 2019": 0.5174836462945298, "SUBARU FORESTER 2019": 2.29255993930968, "HYUNDAI ELANTRA 2021": NaN, "HYUNDAI IONIQ ELECTRIC LIMITED 2019": 2.133978602602408, "HYUNDAI KONA HYBRID 2020": NaN, "HONDA ODYSSEY 2018": 0.8254773781363679, "LEXUS RX 2016": 1.0954776820595344, "TOYOTA COROLLA 2017": 2.2012870528168964, "LEXUS ES 2019": 2.069508805495439, "HYUNDAI SANTA FE 2019": 2.3763720477660253, "TOYOTA AVALON 2022": 2.531962323786023, "JEEP GRAND CHEROKEE V6 2018": 1.4193323242487865, "CHEVROLET VOLT PREMIER 2017": 1.8576430337666092, "TOYOTA RAV4 HYBRID 2017": 1.7425797219020926, "LEXUS RX 2020": 1.5118835180227874, "TOYOTA HIGHLANDER HYBRID 2018": 1.6872527654528833, "TOYOTA CAMRY HYBRID 2018": 1.6793468378089895, "TESLA AP2 MODEL S": NaN, "VOLKSWAGEN GOLF 7TH GEN": 1.5614447712441282, "TOYOTA MIRAI 2021": 2.271146483563897, "LEXUS IS 2018": NaN, "TOYOTA HIGHLANDER 2017": 1.6573774863189379, "HYUNDAI SONATA HYBRID 2021": 1.9464120717803253, "VOLKSWAGEN ATLAS 1ST GEN": 1.6867005451451638, "LEXUS ES HYBRID 2019": 1.956450687999482, "HYUNDAI GENESIS 2015-2016": 1.5359761378898085, "JEEP GRAND CHEROKEE 2019": 1.2418961305308847, "SUBARU ASCENT LIMITED 2019": NaN, "HONDA CR-V 2017": 0.2642062271814174, "HONDA FIT 2018": 0.5896345937094754, "TOYOTA CAMRY 2021": 2.1783533980215166, "AUDI Q3 2ND GEN": 1.1582239457022647, "AUDI A3 3RD GEN": 1.598699116126939, "LEXUS RX HYBRID 2017": 1.319771127672888, "HONDA CIVIC 2022": 1.1806949852580793, "GENESIS G70 2018": 2.2496820850331134, "CHRYSLER PACIFICA HYBRID 2018": 1.294798200968084, "VOLKSWAGEN PASSAT 8TH GEN": 1.247540921731637, "HONDA CR-V 2016": 0.6991119250342539, "HYUNDAI IONIQ PHEV 2020": 1.9062392690595655, "GMC ACADIA DENALI 2018": 1.2986994230652662, "HYUNDAI SONATA 2019": 1.257445187146704, "TOYOTA AVALON 2019": 1.664577368475227, "TOYOTA C-HR 2018": 1.308490445144888, "HONDA CR-V HYBRID 2019": 0.4693072746041504, "CHRYSLER PACIFICA 2020": 1.1712413003138664, "HYUNDAI IONIQ ELECTRIC 2020": NaN, "VOLKSWAGEN TIGUAN 2ND GEN": 1.1573057001955744, "LEXUS NX 2018": 1.9457312007432144, "KIA OPTIMA SX 2019 & 2016": 2.0928228595938845, "TOYOTA AVALON HYBRID 2019": NaN, "TOYOTA RAV4 HYBRID 2022": 1.7647290773049569, "HONDA PASSPORT 2021": 0.8248357750132685, "KIA K5 2021": 1.4628018983720577, "ACURA ILX 2016": 0.6330753921140401, "HYUNDAI IONIQ HYBRID 2017-2019": NaN, "KIA NIRO EV 2020": 2.020186575503497, "SUBARU IMPREZA SPORT 2020": 2.136786720514988, "CHRYSLER PACIFICA HYBRID 2017": 1.0642918033307907, "HYUNDAI KONA ELECTRIC 2019": NaN, "HYUNDAI ELANTRA HYBRID 2021": NaN, "HYUNDAI SANTA FE HYBRID 2022": NaN, "CHRYSLER PACIFICA 2018": 1.3654603720349934, "NISSAN ROGUE 2019": NaN, "KIA SORENTO GT LINE 2018": NaN, "COMMA BODY": NaN, "NISSAN LEAF 2018 Instrument Cluster": NaN, "LEXUS RX HYBRID 2020": 1.255230465866663, "MAZDA CX-9 2021": NaN, "HYUNDAI SANTA FE 2022": 3.3823387508235827, "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": 1.544104124172169, "HONDA HRV 2019": 0.7492792210307291, "TOYOTA AVALON HYBRID 2022": NaN, "SUBARU IMPREZA LIMITED 2019": 0.8127509604734238, "GENESIS G80 2017": NaN, "VOLKSWAGEN TAOS 1ST GEN": 1.6590543949912684, "KIA FORTE E 2018 & GT 2021": 2.3970573789339786, "CADILLAC ESCALADE ESV 2016": NaN, "TOYOTA C-HR 2021": 1.3559230155096402, "TOYOTA C-HR HYBRID 2018": 0.8910235787356033}, "FRICTION": {"HONDA PILOT 2017": 0.2168217463499328, "HONDA CIVIC 2016": 0.28406761310944795, "TOYOTA CAMRY 2018": 0.1327947477896041, "TOYOTA COROLLA HYBRID TSS2 2019": 0.21792021497538405, "TOYOTA RAV4 2019": 0.12757022360707945, "HYUNDAI PALISADE 2020": 0.13391574986922777, "TOYOTA SIENNA 2018": 0.1853443239485906, "ACURA RDX 2020": 0.18058553315570297, "TOYOTA RAV4 2017": 0.14319170324556796, "HONDA RIDGELINE 2017": 0.2380553573913589, "TOYOTA PRIUS 2017": 0.2079869382946584, "TOYOTA HIGHLANDER HYBRID 2020": 0.14038812589302646, "HYUNDAI SONATA 2020": 0.08266051305053168, "KIA STINGER GT2 2018": 0.11909534626930472, "TOYOTA HIGHLANDER 2020": 0.14658637853444048, "HONDA ACCORD 2018": 0.21616610462729247, "TOYOTA PRIUS TSS2 2021": 0.20613763260512002, "NISSAN LEAF 2018": NaN, "CHRYSLER PACIFICA HYBRID 2019": 0.16250373743651828, "LEXUS NX 2020": 0.14404022591302845, "TOYOTA RAV4 HYBRID 2019": 0.1319247989758836, "HONDA CIVIC (BOSCH) 2019": 0.2575217845562353, "KIA NIRO HYBRID 2021": 0.14468633728800306, "HONDA ACCORD HYBRID 2018": 0.21150723931119184, "LEXUS NX HYBRID 2018": 0.16117151597250162, "TOYOTA COROLLA TSS2 2019": 0.21045927995242877, "VOLKSWAGEN ARTEON 1ST GEN": 0.17828895368353925, "TOYOTA CAMRY HYBRID 2021": 0.16283734136957057, "VOLKSWAGEN JETTA 7TH GEN": 0.19508489725001105, "HONDA INSIGHT 2019": 0.25750800088299297, "SUBARU FORESTER 2019": 0.11783702069698135, "HYUNDAI ELANTRA 2021": 0.09377564130711125, "HYUNDAI IONIQ ELECTRIC LIMITED 2019": 0.14740189509875762, "HYUNDAI KONA HYBRID 2020": 0.0863709736632968, "HONDA ODYSSEY 2018": 0.2125595696498247, "LEXUS RX 2016": 0.21475140622981923, "TOYOTA COROLLA 2017": 0.12325064090161544, "LEXUS ES 2019": 0.12757526660498053, "HYUNDAI SANTA FE 2019": 0.12230125806479573, "TOYOTA AVALON 2022": 0.11030226705639488, "JEEP GRAND CHEROKEE V6 2018": 0.12871972792344108, "CHEVROLET VOLT PREMIER 2017": 0.16697256960295873, "TOYOTA RAV4 HYBRID 2017": 0.14074453855329072, "LEXUS RX 2020": 0.2249895411716623, "TOYOTA HIGHLANDER HYBRID 2018": 0.16692807938039034, "TOYOTA CAMRY HYBRID 2018": 0.13418904852016877, "TESLA AP2 MODEL S": NaN, "VOLKSWAGEN GOLF 7TH GEN": 0.19324413131475543, "TOYOTA MIRAI 2021": 0.20035237756713503, "LEXUS IS 2018": 0.073103111226694, "TOYOTA HIGHLANDER 2017": 0.17502689439420385, "HYUNDAI SONATA HYBRID 2021": 0.09518615688045734, "VOLKSWAGEN ATLAS 1ST GEN": 0.12761803335799474, "LEXUS ES HYBRID 2019": 0.1682771025433274, "HYUNDAI GENESIS 2015-2016": 0.10254237048034251, "JEEP GRAND CHEROKEE 2019": 0.15702739382013717, "SUBARU ASCENT LIMITED 2019": 0.12936982863095342, "HONDA CR-V 2017": 0.22518506713451308, "HONDA FIT 2018": 0.10803295063463647, "TOYOTA CAMRY 2021": 0.15512845523424743, "AUDI Q3 2ND GEN": 0.14083949977629878, "AUDI A3 3RD GEN": 0.1611945965384188, "LEXUS RX HYBRID 2017": 0.19322020114452776, "HONDA CIVIC 2022": 0.24279247053469405, "GENESIS G70 2018": 0.06869638264150804, "CHRYSLER PACIFICA HYBRID 2018": 0.13887505891474383, "VOLKSWAGEN PASSAT 8TH GEN": 0.21714039653367842, "HONDA CR-V 2016": 0.41726236462791455, "HYUNDAI IONIQ PHEV 2020": 0.13800461817330806, "GMC ACADIA DENALI 2018": 0.3447163106452739, "HYUNDAI SONATA 2019": 0.15371520337813344, "TOYOTA AVALON 2019": 0.10392921606262978, "TOYOTA C-HR 2018": 0.2015190716953846, "HONDA CR-V HYBRID 2019": 0.19595630321202379, "CHRYSLER PACIFICA 2020": 0.14337114313208268, "HYUNDAI IONIQ ELECTRIC 2020": 0.08104502306679212, "VOLKSWAGEN TIGUAN 2ND GEN": NaN, "LEXUS NX 2018": 0.1471001686544422, "KIA OPTIMA SX 2019 & 2016": 0.11703652166984638, "TOYOTA AVALON HYBRID 2019": 0.10863628402866225, "TOYOTA RAV4 HYBRID 2022": 0.14334213238415072, "HONDA PASSPORT 2021": 0.19826160782809032, "KIA K5 2021": 0.1027179720106188, "ACURA ILX 2016": 0.35663988815912573, "HYUNDAI IONIQ HYBRID 2017-2019": 0.12332151728479951, "KIA NIRO EV 2020": 0.0892074288578785, "SUBARU IMPREZA SPORT 2020": 0.15841234487251604, "CHRYSLER PACIFICA HYBRID 2017": 0.1345638758810282, "HYUNDAI KONA ELECTRIC 2019": 0.08503096350356723, "HYUNDAI ELANTRA HYBRID 2021": 0.09887804390243872, "HYUNDAI SANTA FE HYBRID 2022": 0.11171499761140577, "CHRYSLER PACIFICA 2018": 0.13611561752951415, "NISSAN ROGUE 2019": NaN, "KIA SORENTO GT LINE 2018": 0.10502695501512567, "COMMA BODY": NaN, "NISSAN LEAF 2018 Instrument Cluster": NaN, "LEXUS RX HYBRID 2020": 0.21818156330777305, "MAZDA CX-9 2021": 0.1793735649504697, "HYUNDAI SANTA FE 2022": 0.09184808719698756, "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": 0.14050744688135813, "HONDA HRV 2019": 0.17840321248608593, "TOYOTA AVALON HYBRID 2022": 0.16159049452515487, "SUBARU IMPREZA LIMITED 2019": 0.20322553080306893, "GENESIS G80 2017": 0.07934444681782107, "VOLKSWAGEN TAOS 1ST GEN": 0.18276122764341485, "KIA FORTE E 2018 & GT 2021": 0.11406160665068436, "CADILLAC ESCALADE ESV 2016": 0.15063766975884627, "TOYOTA C-HR 2021": 0.22798633346500694, "TOYOTA C-HR HYBRID 2018": 0.2036375866375624}, "ERROR_RATIO": {"HONDA PILOT 2017": 0.6158457247286419, "HONDA CIVIC 2016": 2.0785618623350928, "TOYOTA CAMRY 2018": 0.17356565057429169, "TOYOTA COROLLA HYBRID TSS2 2019": 0.10094741777075293, "TOYOTA RAV4 2019": 0.11812042718338775, "HYUNDAI PALISADE 2020": 0.30639442561268304, "TOYOTA SIENNA 2018": 0.1117307389748361, "ACURA RDX 2020": 1.9801454495960717, "TOYOTA RAV4 2017": 0.08589486116378196, "HONDA RIDGELINE 2017": 0.4319851914417577, "TOYOTA PRIUS 2017": 0.17281316158588575, "TOYOTA HIGHLANDER HYBRID 2020": 0.046325388721577, "HYUNDAI SONATA 2020": 0.4109860794021653, "KIA STINGER GT2 2018": 0.3517628781488943, "TOYOTA HIGHLANDER 2020": 0.14155072865224166, "HONDA ACCORD 2018": 2.510398061115294, "TOYOTA PRIUS TSS2 2021": 0.13593456264106363, "NISSAN LEAF 2018": NaN, "CHRYSLER PACIFICA HYBRID 2019": 0.08794943266738546, "LEXUS NX 2020": 0.3743942573190866, "TOYOTA RAV4 HYBRID 2019": 0.0845492503791727, "HONDA CIVIC (BOSCH) 2019": 2.4329816697390063, "KIA NIRO HYBRID 2021": NaN, "HONDA ACCORD HYBRID 2018": 2.9252406767451804, "LEXUS NX HYBRID 2018": 0.23060712246809048, "TOYOTA COROLLA TSS2 2019": 0.13822363784977285, "VOLKSWAGEN ARTEON 1ST GEN": 0.009661691674299285, "TOYOTA CAMRY HYBRID 2021": 0.029451711159377333, "VOLKSWAGEN JETTA 7TH GEN": 0.16591473170144055, "HONDA INSIGHT 2019": 1.3398692842898896, "SUBARU FORESTER 2019": 0.5269683780697442, "HYUNDAI ELANTRA 2021": NaN, "HYUNDAI IONIQ ELECTRIC LIMITED 2019": 0.02971857401969039, "HYUNDAI KONA HYBRID 2020": NaN, "HONDA ODYSSEY 2018": 1.0245957242729038, "LEXUS RX 2016": 0.07392586589971588, "TOYOTA COROLLA 2017": 0.31336988069649124, "LEXUS ES 2019": 0.08933657038050916, "HYUNDAI SANTA FE 2019": 0.2276812089092099, "TOYOTA AVALON 2022": 0.07120118798045925, "JEEP GRAND CHEROKEE V6 2018": 0.2065164316228118, "CHEVROLET VOLT PREMIER 2017": 0.2316223989408518, "TOYOTA RAV4 HYBRID 2017": 0.055653752888652736, "LEXUS RX 2020": 0.047792182371008345, "TOYOTA HIGHLANDER HYBRID 2018": 0.019259474082467202, "TOYOTA CAMRY HYBRID 2018": 0.11949733140330816, "TESLA AP2 MODEL S": NaN, "VOLKSWAGEN GOLF 7TH GEN": 0.1996863736436734, "TOYOTA MIRAI 2021": 0.11019259478417197, "LEXUS IS 2018": NaN, "TOYOTA HIGHLANDER 2017": 0.05279963713251727, "HYUNDAI SONATA HYBRID 2021": 0.3543918194389536, "VOLKSWAGEN ATLAS 1ST GEN": 0.21694647502209782, "LEXUS ES HYBRID 2019": 0.14775474433507507, "HYUNDAI GENESIS 2015-2016": 0.0814892037361157, "JEEP GRAND CHEROKEE 2019": 0.3126997097753535, "SUBARU ASCENT LIMITED 2019": NaN, "HONDA CR-V 2017": 5.652613829506629, "HONDA FIT 2018": 1.5217432826711779, "TOYOTA CAMRY 2021": 0.07910435053686729, "AUDI Q3 2ND GEN": 0.13535089102138698, "AUDI A3 3RD GEN": 0.14353941401245793, "LEXUS RX HYBRID 2017": 0.048663813961824696, "HONDA CIVIC 2022": 1.0748206908458815, "GENESIS G70 2018": 0.688303429295532, "CHRYSLER PACIFICA HYBRID 2018": 0.11083725786301112, "VOLKSWAGEN PASSAT 8TH GEN": 0.13315924904555493, "HONDA CR-V 2016": 0.488871482749128, "HYUNDAI IONIQ PHEV 2020": 0.2756096845519595, "GMC ACADIA DENALI 2018": 0.24055364003040136, "HYUNDAI SONATA 2019": 0.4473315280277132, "TOYOTA AVALON 2019": 0.026428086100632363, "TOYOTA C-HR 2018": 0.06075105822970755, "HONDA CR-V HYBRID 2019": 2.9906016360828276, "CHRYSLER PACIFICA 2020": 0.07748732608487266, "HYUNDAI IONIQ ELECTRIC 2020": NaN, "VOLKSWAGEN TIGUAN 2ND GEN": NaN, "LEXUS NX 2018": 0.16318394527060903, "KIA OPTIMA SX 2019 & 2016": 0.4378756841929454, "TOYOTA AVALON HYBRID 2019": NaN, "TOYOTA RAV4 HYBRID 2022": 0.36478548056633514, "HONDA PASSPORT 2021": 0.5993860184637646, "KIA K5 2021": 0.6271500841947655, "ACURA ILX 2016": 0.8435442647921855, "HYUNDAI IONIQ HYBRID 2017-2019": NaN, "KIA NIRO EV 2020": 0.40355577782011604, "SUBARU IMPREZA SPORT 2020": 0.11071291640854522, "CHRYSLER PACIFICA HYBRID 2017": 0.029812269495458284, "HYUNDAI KONA ELECTRIC 2019": NaN, "HYUNDAI ELANTRA HYBRID 2021": NaN, "HYUNDAI SANTA FE HYBRID 2022": NaN, "CHRYSLER PACIFICA 2018": 0.01705753895996445, "NISSAN ROGUE 2019": NaN, "KIA SORENTO GT LINE 2018": NaN, "COMMA BODY": NaN, "NISSAN LEAF 2018 Instrument Cluster": NaN, "LEXUS RX HYBRID 2020": 0.05790668871480552, "MAZDA CX-9 2021": NaN, "HYUNDAI SANTA FE 2022": 0.018126919430513307, "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": 0.1331760659016062, "HONDA HRV 2019": 1.599688433820939, "TOYOTA AVALON HYBRID 2022": NaN, "SUBARU IMPREZA LIMITED 2019": 0.2514545160390271, "GENESIS G80 2017": NaN, "VOLKSWAGEN TAOS 1ST GEN": 0.09725484306423876, "KIA FORTE E 2018 & GT 2021": 0.20381871942480628, "CADILLAC ESCALADE ESV 2016": NaN, "TOYOTA C-HR 2021": 0.05016813984196128, "TOYOTA C-HR HYBRID 2018": 0.2521485862766935}}
\ No newline at end of file
diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
new file mode 100644
index 0000000000..362313220a
--- /dev/null
+++ b/selfdrive/car/torque_data/override.yaml
@@ -0,0 +1,33 @@
+legend: [LAT_ACCEL_FACTOR, MAX_LAT_ACCEL_MEASURED, FRICTION]
+### angle control
+# Nissan appears to have torque
+NISSAN X-TRAIL 2017: [.nan, 1.5, .nan]
+NISSAN ALTIMA 2020: [.nan, 1.5, .nan]
+NISSAN LEAF 2018 Instrument Cluster: [.nan, 1.5, .nan]
+NISSAN LEAF 2018: [.nan, 1.5, .nan]
+NISSAN ROGUE 2019: [.nan, 1.5, .nan]
+
+# Tesla has high torque
+TESLA AP1 MODEL S: [.nan, 2.5, .nan]
+TESLA AP2 MODEL S: [.nan, 2.5, .nan]
+
+# Guess
+FORD ESCAPE 4TH GEN: [.nan, 1.5, .nan]
+FORD FOCUS 4TH GEN: [.nan, 1.5, .nan]
+###
+
+# No steering wheel
+COMMA BODY: [.nan, 1000, .nan]
+
+# Totally new car
+KIA EV6 2022: [3.0, 2.5, 0.0]
+
+# Dashcam or fallback configured as ideal car
+mock: [10.0, 10, 0.0]
+
+# Manually checked
+HONDA CIVIC 2022: [2.5, 1.2, 0.15]
+
+# New GM Cars
+CHEVROLET SILVERADO 1500 2020: [.nan, 1.5, .nan]
+CHEVROLET BOLT EUV PREMIER 2022: [.nan, 1.5, .nan]
diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml
new file mode 100644
index 0000000000..160f605488
--- /dev/null
+++ b/selfdrive/car/torque_data/params.yaml
@@ -0,0 +1,96 @@
+ACURA ILX 2016: [1.524988973896102, 0.519011053086259, 0.34236219253028]
+ACURA RDX 2018: [0.9987728568686902, 0.5323765166196301, 0.303218805715844]
+ACURA RDX 2020: [1.4314459806646749, 0.33874701282109954, 0.18048847083897598]
+AUDI A3 3RD GEN: [1.5122414863077502, 1.7443517531719404, 0.15194151892450905]
+AUDI Q3 2ND GEN: [1.4439223359448605, 1.2254955789112076, 0.1413798895978097]
+CHEVROLET VOLT PREMIER 2017: [1.5961527626411784, 1.8422651988094612, 0.1572393918005158]
+CHRYSLER PACIFICA 2018: [1.593387270257916, 1.3366521181047952, 0.13776367250652022]
+CHRYSLER PACIFICA 2020: [1.4323553627965695, 1.509076559398423, 0.14328246159386085]
+CHRYSLER PACIFICA HYBRID 2017: [1.3032470208409048, 1.06831764583744, 0.13287170990024627]
+CHRYSLER PACIFICA HYBRID 2018: [1.6068280248761635, 1.2943025830995154, 0.1358557824293823]
+CHRYSLER PACIFICA HYBRID 2019: [1.4624643614072217, 1.1958788168371808, 0.15748488008472716]
+GENESIS G70 2018: [3.8520195946707947, 2.354697063349854, 0.06830285485626221]
+GMC ACADIA DENALI 2018: [1.3181430320331884, 1.1853735340610179, 0.3450592280031644]
+HONDA ACCORD 2018: [1.7135052593468778, 0.3461280068322071, 0.21579936052863807]
+HONDA ACCORD HYBRID 2018: [1.6651615004829625, 0.30322180951193245, 0.2083000440586149]
+HONDA CIVIC (BOSCH) 2019: [1.691708637466905, 0.40132900729454185, 0.25460295304024094]
+HONDA CIVIC 2016: [1.6528895627785531, 0.4018518740819229, 0.25458812851328544]
+HONDA CR-V 2016: [0.7667141440182675, 0.5927571534745969, 0.40909087636157127]
+HONDA CR-V 2017: [2.01323205142022, 0.2700612209345081, 0.2238412881331528]
+HONDA CR-V HYBRID 2019: [2.072034634644233, 0.7152085160516978, 0.20237105008376083]
+HONDA FIT 2018: [1.5719981427109775, 0.5712761407108976, 0.110773383324281]
+HONDA HRV 2019: [2.0661212805710205, 0.7521343418694775, 0.17760375789242094]
+HONDA INSIGHT 2019: [1.5201671214069354, 0.5660229120683284, 0.25808042580281876]
+HONDA ODYSSEY 2018: [1.8774809275211801, 0.8394431662987996, 0.2096978613792822]
+HONDA PASSPORT 2021: [1.5305538930036766, 0.7956063674638759, 0.19599407381531284]
+HONDA PILOT 2017: [1.7262026201812795, 0.9470005614967523, 0.21351430733218763]
+HONDA RIDGELINE 2017: [1.4146525028237624, 0.7356572861629564, 0.23307177552211328]
+HYUNDAI GENESIS 2015-2016: [1.8466226943929824, 1.5552063647830634, 0.0984484465421171]
+HYUNDAI IONIQ ELECTRIC LIMITED 2019: [1.7662975472852054, 1.613755614526594, 0.17087579756306276]
+HYUNDAI IONIQ PHEV 2020: [3.2928700076638537, 2.1193482926455656, 0.12463700961468778]
+HYUNDAI IONIQ PLUG-IN HYBRID 2019: [2.970807902012267, 1.6312321830002083, 0.1088964990357482]
+HYUNDAI KONA ELECTRIC 2019: [4.398306735170212, 3.2961956260770484, 0.08651833437845884]
+HYUNDAI PALISADE 2020: [2.544642494803999, 1.8721703683337008, 0.1301424599248651]
+HYUNDAI SANTA FE 2019: [3.0787027729757632, 2.6173437483495565, 0.1207019341823945]
+HYUNDAI SANTA FE HYBRID 2022: [3.501877602644835, 2.729064118456137, 0.10384068104538963]
+HYUNDAI SANTA FE PlUG-IN HYBRID 2022: [1.6953050513611045, 1.5837614296206861, 0.12672855941458458]
+HYUNDAI SONATA 2019: [2.2200457811703953, 1.2967330275895228, 0.14039920986586393]
+HYUNDAI SONATA 2020: [3.284505627881726, 2.1259108157250735, 0.08452048323586728]
+HYUNDAI SONATA HYBRID 2021: [2.8990264092395734, 2.061410192222139, 0.0899805488717382]
+JEEP GRAND CHEROKEE 2019: [1.7321233388827006, 1.289689569171081, 0.15046331002097185]
+JEEP GRAND CHEROKEE V6 2018: [1.8776598027756923, 1.4057367824262523, 0.11725947414922003]
+KIA K5 2021: [2.405339728085138, 1.460032270828705, 0.11650989850813716]
+KIA NIRO EV 2020: [2.9215954981365337, 2.1500583840260044, 0.09236802474810267]
+KIA SORENTO GT LINE 2018: [2.464854685101844, 1.5335274218367956, 0.12056170567599558]
+KIA STINGER GT2 2018: [2.7499043387418967, 1.849652021986449, 0.12048334239559202]
+LEXUS ES 2019: [2.0203086922726112, 2.134803912579666, 0.12757526789308554]
+LEXUS ES HYBRID 2019: [2.392442298703042, 1.863360677810788, 0.17690002108856212]
+LEXUS NX 2018: [2.302625600642627, 2.1382378491466625, 0.14986840878892838]
+LEXUS NX 2020: [2.4331999786982936, 2.1045680431705414, 0.14099899317761067]
+LEXUS NX HYBRID 2018: [2.4025593501080955, 1.8080446063815507, 0.15349361249519017]
+LEXUS RX 2016: [1.5876816543130423, 1.0427699298523752, 0.21334066732397142]
+LEXUS RX 2020: [1.5228812994274734, 1.431102486563665, 0.2093316728710659]
+LEXUS RX HYBRID 2017: [1.6984261557042386, 1.3211501880159107, 0.1820354534928893]
+LEXUS RX HYBRID 2020: [1.5522309889823778, 1.255230465866663, 0.2220954003055114]
+MAZDA CX-9 2021: [1.7601682915983443, 1.0889677335154337, 0.17713792194297195]
+SKODA SUPERB 3RD GEN: [1.166437404652981, 1.1686163012668165, 0.12194533036948708]
+SUBARU FORESTER 2019: [3.6617001649776793, 2.342197172531713, 0.11075960785398745]
+SUBARU IMPREZA LIMITED 2019: [1.0670704910352047, 0.8234374840709592, 0.20986563268614938]
+SUBARU IMPREZA SPORT 2020: [2.6068223389108303, 2.134872342760203, 0.15261513193561627]
+TOYOTA AVALON 2016: [2.5185770183845646, 1.7153346784214922, 0.10603968787111022]
+TOYOTA AVALON 2019: [1.7036141952825095, 1.239619084240008, 0.08459830394899492]
+TOYOTA AVALON 2022: [2.3154403649717357, 2.7777922854327124, 0.11453999639164605]
+TOYOTA C-HR 2018: [1.5591084333664578, 1.271271459066948, 0.20259087058453193]
+TOYOTA C-HR 2021: [1.7678810166088303, 1.3742176337919942, 0.2319674583741509]
+TOYOTA CAMRY 2018: [2.1172995371905015, 1.7156177222420887, 0.13519250664782062]
+TOYOTA CAMRY 2021: [2.6922769557433055, 2.3476510120007434, 0.1450430192989234]
+TOYOTA CAMRY HYBRID 2018: [2.0974120828287774, 1.7996193116697359, 0.13823613467632756]
+TOYOTA CAMRY HYBRID 2021: [2.6426668350384457, 2.3901492458927986, 0.16103875108816076]
+TOYOTA COROLLA 2017: [3.117154369115421, 1.8438132575043773, 0.12289685869250652]
+TOYOTA COROLLA HYBRID TSS2 2019: [2.3287672277252005, 1.8118712531729109, 0.2215868445753317]
+TOYOTA COROLLA TSS2 2019: [2.4204464833010175, 1.9258612322678952, 0.20670411068012526]
+TOYOTA HIGHLANDER 2017: [1.8696367437248915, 1.626293990451463, 0.17485372210240796]
+TOYOTA HIGHLANDER 2020: [2.022340166827233, 1.6183134804881791, 0.14592306380054457]
+TOYOTA HIGHLANDER HYBRID 2018: [1.9421825202382728, 1.6433903296845025, 0.16928956792275918]
+TOYOTA HIGHLANDER HYBRID 2020: [2.103373061114133, 2.104015182965606, 0.14447040132184993]
+TOYOTA MIRAI 2021: [2.506899832157829, 1.7417213930750164, 0.20182618449440565]
+TOYOTA PRIUS 2017: [2.0183401513314294, 1.5023147650693636, 0.20856908464957724]
+TOYOTA PRIUS TSS2 2021: [2.327639738920072, 1.9104337425537743, 0.2030762265549664]
+TOYOTA RAV4 2017: [2.085695074355425, 2.2142832316984733, 0.13339165270103975]
+TOYOTA RAV4 2019: [2.5038362866776835, 2.0993589721530252, 0.1552425356342368]
+TOYOTA RAV4 2019 8965: [2.5084506298290377, 2.4216520504763475, 0.11992835265067918]
+TOYOTA RAV4 2019 x02: [2.7209621987605024, 2.2148637653781593, 0.10862567142268198]
+TOYOTA RAV4 HYBRID 2017: [1.9796257271652042, 1.7503987331707576, 0.14628860048885406]
+TOYOTA RAV4 HYBRID 2019: [2.2271858492309153, 2.074844961405639, 0.14382216826893632]
+TOYOTA RAV4 HYBRID 2019 8965: [2.1077397198131336, 1.8162215166877735, 0.13891369391200137]
+TOYOTA RAV4 HYBRID 2019 x02: [2.803624333289342, 2.272367966572498, 0.11364569214387774]
+TOYOTA RAV4 HYBRID 2022: [2.241883248393209, 1.9304407208090029, 0.1565442715453653]
+TOYOTA RAV4 HYBRID 2022 x02: [3.044930631831037, 2.3979189796380918, 0.14023209146703736]
+TOYOTA SIENNA 2018: [1.8660896232147548, 1.3208264576110418, 0.18799149615227198]
+VOLKSWAGEN ARTEON 1ST GEN: [1.45136518053819, 1.3639364049316804, 0.23806361745695032]
+VOLKSWAGEN ATLAS 1ST GEN: [1.4677006726964945, 1.6733266634075656, 0.12959584092073367]
+VOLKSWAGEN GOLF 7TH GEN: [1.3750394140491293, 1.5814743077200641, 0.2018321939386586]
+VOLKSWAGEN JETTA 7TH GEN: [1.2271623034089392, 1.216955117387, 0.19437384688370712]
+VOLKSWAGEN PASSAT 8TH GEN: [1.3432120736752917, 1.7087275587362314, 0.19444383787326647]
+VOLKSWAGEN TIGUAN 2ND GEN: [0.9711965500094828, 1.0001565939459098, 0.1465626137072916]
+legend: [LAT_ACCEL_FACTOR, MAX_LAT_ACCEL_MEASURED, FRICTION]
diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml
new file mode 100644
index 0000000000..d368b2c672
--- /dev/null
+++ b/selfdrive/car/torque_data/substitute.yaml
@@ -0,0 +1,75 @@
+MAZDA 3: MAZDA CX-9 2021
+MAZDA 6: MAZDA CX-9 2021
+MAZDA CX-5: MAZDA CX-9 2021
+MAZDA CX-5 2022: MAZDA CX-9 2021
+MAZDA CX-9: MAZDA CX-9 2021
+
+TOYOTA ALPHARD HYBRID 2021 : TOYOTA SIENNA 2018
+TOYOTA ALPHARD 2020: TOYOTA SIENNA 2018
+TOYOTA PRIUS v 2017 : TOYOTA PRIUS 2017
+TOYOTA RAV4 2022: TOYOTA RAV4 HYBRID 2022
+TOYOTA C-HR HYBRID 2018: TOYOTA C-HR 2018
+LEXUS IS 2018: LEXUS NX 2018
+LEXUS CT HYBRID 2018 : LEXUS NX 2018
+LEXUS ES HYBRID 2018: TOYOTA CAMRY HYBRID 2018
+LEXUS NX HYBRID 2020: LEXUS NX 2020
+LEXUS RC 2020: LEXUS NX 2020
+TOYOTA AVALON HYBRID 2019: TOYOTA AVALON 2019
+TOYOTA AVALON HYBRID 2022: TOYOTA AVALON 2022
+
+KIA OPTIMA SX 2019 & 2016: HYUNDAI SONATA 2020
+KIA OPTIMA HYBRID 2017 & SPORTS 2019: HYUNDAI SONATA 2020
+KIA FORTE E 2018 & GT 2021: HYUNDAI SONATA 2020
+KIA CEED INTRO ED 2019: HYUNDAI SONATA 2020
+KIA SELTOS 2021: HYUNDAI SONATA 2020
+KIA NIRO HYBRID 2019: KIA NIRO EV 2020
+KIA NIRO HYBRID 2021: KIA NIRO EV 2020
+HYUNDAI VELOSTER 2019: HYUNDAI SONATA 2019
+HYUNDAI I30 N LINE 2019 & GT 2018 DCT: HYUNDAI SONATA 2019
+HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019
+HYUNDAI KONA HYBRID 2020: HYUNDAI KONA ELECTRIC 2019
+HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019
+HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019
+HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019
+HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019
+HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020
+HYUNDAI ELANTRA 2021: HYUNDAI SONATA 2020
+HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019
+HYUNDAI SANTA FE 2022: HYUNDAI SANTA FE HYBRID 2022
+GENESIS G90 2017: GENESIS G70 2018
+GENESIS G80 2017: GENESIS G70 2018
+GENESIS G70 2020: HYUNDAI SONATA 2020
+
+HONDA FREED 2020: HONDA ODYSSEY 2018
+HONDA CR-V EU 2016: HONDA CR-V 2016
+HONDA CIVIC SEDAN 1.6 DIESEL 2019: HONDA CIVIC (BOSCH) 2019
+HONDA E 2020: HONDA CIVIC (BOSCH) 2019
+HONDA ODYSSEY CHN 2019: HONDA ODYSSEY 2018
+
+BUICK REGAL ESSENCE 2018: CHEVROLET VOLT PREMIER 2017
+CADILLAC ESCALADE ESV 2016: CHEVROLET VOLT PREMIER 2017
+CADILLAC ATS Premium Performance 2018: CHEVROLET VOLT PREMIER 2017
+CHEVROLET MALIBU PREMIER 2017: CHEVROLET VOLT PREMIER 2017
+HOLDEN ASTRA RS-V BK 2017: CHEVROLET VOLT PREMIER 2017
+
+SKODA OCTAVIA 3RD GEN: SKODA SUPERB 3RD GEN
+SKODA SCALA 1ST GEN: SKODA SUPERB 3RD GEN
+SKODA KODIAQ 1ST GEN: SKODA SUPERB 3RD GEN
+SKODA KAROQ 1ST GEN: SKODA SUPERB 3RD GEN
+SKODA KAMIQ 1ST GEN: SKODA SUPERB 3RD GEN
+VOLKSWAGEN T-ROC 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
+VOLKSWAGEN T-CROSS 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
+VOLKSWAGEN TOURAN 2ND GEN: VOLKSWAGEN TIGUAN 2ND GEN
+VOLKSWAGEN TRANSPORTER T6.1: VOLKSWAGEN TIGUAN 2ND GEN
+AUDI Q2 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
+VOLKSWAGEN TAOS 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
+VOLKSWAGEN POLO 6TH GEN: VOLKSWAGEN GOLF 7TH GEN
+SEAT LEON 3RD GEN: VOLKSWAGEN GOLF 7TH GEN
+SEAT ATECA 1ST GEN: VOLKSWAGEN GOLF 7TH GEN
+
+# Old subarus don't have much data guessing it's like low torque impreza
+SUBARU OUTBACK 2018 - 2019: SUBARU IMPREZA LIMITED 2019
+SUBARU OUTBACK 2015 - 2017: SUBARU IMPREZA LIMITED 2019
+SUBARU FORESTER 2017 - 2018: SUBARU IMPREZA LIMITED 2019
+SUBARU LEGACY 2015 - 2018: SUBARU IMPREZA LIMITED 2019
+SUBARU ASCENT LIMITED 2019: SUBARU FORESTER 2019
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index d0f4789775..fdb923f693 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -2,7 +2,6 @@
from cereal import car
from common.conversions import Conversions as CV
from panda import Panda
-from selfdrive.controls.lib.latcontrol_torque import set_torque_tune
from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune
from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
@@ -32,9 +31,8 @@ class CarInterface(CarInterfaceBase):
ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop
stop_and_go = False
- torque_params = CarInterfaceBase.get_torque_params(candidate)
steering_angle_deadzone_deg = 0.0
- set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg)
+ CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
if candidate == CAR.PRIUS:
stop_and_go = True
@@ -46,7 +44,7 @@ class CarInterface(CarInterfaceBase):
for fw in car_fw:
if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00':
steering_angle_deadzone_deg = 1.0
- set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg)
+ CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
elif candidate == CAR.PRIUS_V:
stop_and_go = True
@@ -54,10 +52,7 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 17.4
tire_stiffness_factor = 0.5533
ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG
- # TODO override until there is enough data
- ret.maxLateralAccel = 1.8
- torque_params = CarInterfaceBase.get_torque_params(CAR.PRIUS)
- set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg)
+ CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
elif candidate in (CAR.RAV4, CAR.RAV4H):
stop_and_go = True if (candidate in CAR.RAV4H) else False
@@ -132,10 +127,6 @@ class CarInterface(CarInterfaceBase):
ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid
set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
- # TODO: remove once there's data
- if candidate == CAR.RAV4_TSS2_2022:
- ret.maxLateralAccel = CarInterfaceBase.get_torque_params(CAR.RAV4H_TSS2_2022)['MAX_LAT_ACCEL_MEASURED']
-
# 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
# See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
for fw in car_fw:
diff --git a/selfdrive/car/toyota/tunes.py b/selfdrive/car/toyota/tunes.py
index 3de6daae21..a8b8758d89 100644
--- a/selfdrive/car/toyota/tunes.py
+++ b/selfdrive/car/toyota/tunes.py
@@ -1,6 +1,5 @@
#!/usr/bin/env python3
from enum import Enum
-from selfdrive.controls.lib.latcontrol_torque import set_torque_tune
class LongTunes(Enum):
PEDAL = 0
@@ -24,7 +23,6 @@ class LatTunes(Enum):
PID_L = 13
PID_M = 14
PID_N = 15
- TORQUE = 16
###### LONG ######
@@ -51,9 +49,7 @@ def set_long_tune(tune, name):
###### LAT ######
def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=0.01, steering_angle_deadzone_deg=0.0, use_steering_angle=True):
- if name == LatTunes.TORQUE:
- set_torque_tune(tune, MAX_LAT_ACCEL, FRICTION, steering_angle_deadzone_deg)
- elif 'PID' in str(name):
+ if 'PID' in str(name):
tune.init('pid')
tune.pid.kiBP = [0.0]
tune.pid.kpBP = [0.0]
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index b1c6da922b..32f66b6fa0 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -99,6 +99,7 @@ class Footnote(Enum):
class ToyotaCarInfo(CarInfo):
package: str = "All"
harness: Enum = Harness.toyota
+ good_torque: bool = True
CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 9b6f6a16c3..0148a138a2 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -438,6 +438,7 @@ FW_VERSIONS = {
},
CAR.PASSAT_MK8: {
(Ecu.engine, 0x7e0, None): [
+ b'\xf1\x8703N906026E \xf1\x892114',
b'\xf1\x8704E906023AH\xf1\x893379',
b'\xf1\x8704L906026ET\xf1\x891990',
b'\xf1\x8704L906026GA\xf1\x892013',
@@ -450,17 +451,20 @@ FW_VERSIONS = {
b'\xf1\x870D9300014L \xf1\x895002',
b'\xf1\x870D9300041A \xf1\x894801',
b'\xf1\x870DD300045T \xf1\x891601',
+ b'\xf1\x870DL300011H \xf1\x895201',
b'\xf1\x870GC300042H \xf1\x891404',
],
(Ecu.srs, 0x715, None): [
b'\xf1\x873Q0959655AE\xf1\x890195\xf1\x82\r56140056130012416612124111',
b'\xf1\x873Q0959655AN\xf1\x890306\xf1\x82\r58160058140013036914110311',
+ b'\xf1\x873Q0959655BA\xf1\x890195\xf1\x82\r56140056130012516612125111',
b'\xf1\x873Q0959655BB\xf1\x890195\xf1\x82\r56140056130012026612120211',
b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\0165915005914001344701311442900',
b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e5915005914001305701311052900',
b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02315120011111200631145171716121691132111',
],
(Ecu.eps, 0x712, None): [
+ b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00611A1',
b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0060803',
b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0080803',
b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521B00606A1',
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index f72ffc4b88..014c3480b8 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -22,16 +22,6 @@ from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
FRICTION_THRESHOLD = 0.2
-def set_torque_tune(tune, MAX_LAT_ACCEL=2.5, FRICTION=0.01, steering_angle_deadzone_deg=0.0):
- tune.init('torque')
- tune.torque.useSteeringAngle = True
- tune.torque.kp = 1.0 / MAX_LAT_ACCEL
- tune.torque.kf = 1.0 / MAX_LAT_ACCEL
- tune.torque.ki = 0.1 / MAX_LAT_ACCEL
- tune.torque.friction = FRICTION
- tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg
-
-
class LatControlTorque(LatControl):
def __init__(self, CP, CI):
super().__init__(CP, CI)
diff --git a/selfdrive/controls/tests/test_alerts.py b/selfdrive/controls/tests/test_alerts.py
index 2bd904b575..79c56d6bc0 100755
--- a/selfdrive/controls/tests/test_alerts.py
+++ b/selfdrive/controls/tests/test_alerts.py
@@ -48,20 +48,17 @@ class TestAlerts(unittest.TestCase):
# ensure alert text doesn't exceed allowed width
def test_alert_text_length(self):
font_path = os.path.join(BASEDIR, "selfdrive/assets/fonts")
- regular_font_path = os.path.join(font_path, "opensans_semibold.ttf")
- bold_font_path = os.path.join(font_path, "opensans_semibold.ttf")
- semibold_font_path = os.path.join(font_path, "opensans_semibold.ttf")
-
- max_text_width = 1920 - 300 # full screen width is useable, minus sidebar
- # TODO: get exact scale factor. found this empirically, works well enough
- font_scale_factor = 1.55 # factor to scale from nanovg units to PIL
+ regular_font_path = os.path.join(font_path, "Inter-SemiBold.ttf")
+ bold_font_path = os.path.join(font_path, "Inter-Bold.ttf")
+ semibold_font_path = os.path.join(font_path, "Inter-SemiBold.ttf")
+ max_text_width = 2160 - 300 # full screen width is useable, minus sidebar
draw = ImageDraw.Draw(Image.new('RGB', (0, 0)))
fonts = {
- AlertSize.small: [ImageFont.truetype(semibold_font_path, int(40 * font_scale_factor))],
- AlertSize.mid: [ImageFont.truetype(bold_font_path, int(48 * font_scale_factor)),
- ImageFont.truetype(regular_font_path, int(36 * font_scale_factor))],
+ AlertSize.small: [ImageFont.truetype(semibold_font_path, 74)],
+ AlertSize.mid: [ImageFont.truetype(bold_font_path, 88),
+ ImageFont.truetype(regular_font_path, 66)],
}
for alert in ALERTS:
diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py
index c3870e0f9e..93dd5bdc47 100755
--- a/selfdrive/debug/count_events.py
+++ b/selfdrive/debug/count_events.py
@@ -1,8 +1,11 @@
#!/usr/bin/env python3
import sys
+import math
+import datetime
from collections import Counter
from pprint import pprint
from tqdm import tqdm
+from typing import cast
from cereal.services import service_list
from tools.lib.route import Route
@@ -17,6 +20,8 @@ if __name__ == "__main__":
cams = [s for s in service_list if s.endswith('CameraState')]
cnt_cameras = dict.fromkeys(cams, 0)
+ start_time = math.inf
+ end_time = -math.inf
for q in tqdm(r.qlog_paths()):
if q is None:
continue
@@ -31,6 +36,10 @@ if __name__ == "__main__":
if not msg.valid:
cnt_valid[msg.which()] += 1
+ end_time = max(end_time, msg.logMonoTime)
+ start_time = min(start_time, msg.logMonoTime)
+
+ duration = (end_time - start_time) / 1e9
print("Events")
pprint(cnt_events)
@@ -42,4 +51,9 @@ if __name__ == "__main__":
print("\n")
print("Cameras")
for k, v in cnt_cameras.items():
- print(" ", k.ljust(20), v)
+ s = service_list[k]
+ expected_frames = int(s.frequency * duration / cast(float, s.decimation))
+ print(" ", k.ljust(20), f"{v}, {v/expected_frames:.1%} of expected")
+
+ print("\n")
+ print("Route duration", datetime.timedelta(seconds=duration))
diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index f1997bceb0..ba665b7530 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -62,6 +62,16 @@ class Laikad:
cls=CacheSerializer))
self.last_cached_t = t
+ def get_est_pos(self, t, processed_measurements):
+ if self.last_pos_fix_t is None or abs(self.last_pos_fix_t - t) >= 2:
+ min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in processed_measurements) else 4
+ pos_fix, pos_fix_residual = calc_pos_fix_gauss_newton(processed_measurements, self.posfix_functions, min_measurements=min_measurements)
+ if len(pos_fix) > 0:
+ self.last_pos_fix = pos_fix[:3]
+ self.last_pos_residual = pos_fix_residual
+ self.last_pos_fix_t = t
+ return self.last_pos_fix
+
def process_ublox_msg(self, ublox_msg, ublox_mono_time: int, block=False):
if ublox_msg.which == 'measurementReport':
t = ublox_mono_time * 1e-9
@@ -73,17 +83,11 @@ class Laikad:
new_meas = read_raw_ublox(report)
processed_measurements = process_measurements(new_meas, self.astro_dog)
- if self.last_pos_fix_t is None or abs(self.last_pos_fix_t - t) >= 2:
- min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in processed_measurements) else 4
- pos_fix, pos_fix_residual = calc_pos_fix_gauss_newton(processed_measurements, self.posfix_functions, min_measurements=min_measurements)
- if len(pos_fix) > 0:
- self.last_pos_fix = pos_fix[:3]
- self.last_pos_residual = pos_fix_residual
- self.last_pos_fix_t = t
+ est_pos = self.get_est_pos(t, processed_measurements)
- corrected_measurements = correct_measurements(processed_measurements, self.last_pos_fix, self.astro_dog) if self.last_pos_fix_t is not None else []
+ corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog) if len(est_pos) > 0 else []
- self.update_localizer(self.last_pos_fix, t, corrected_measurements)
+ self.update_localizer(est_pos, t, corrected_measurements)
kf_valid = all(self.kf_valid(t))
ecef_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist()
ecef_vel = self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist()
@@ -116,7 +120,7 @@ class Laikad:
valid = self.kf_valid(t)
if not all(valid):
if not valid[0]:
- cloudlog.info("Init gnss kalman filter")
+ cloudlog.info("Kalman filter uninitialized")
elif not valid[1]:
cloudlog.error("Time gap of over 10s detected, gnss kalman reset")
elif not valid[2]:
@@ -133,7 +137,7 @@ class Laikad:
# Ensure gnss filter is updated even with no new measurements
self.gnss_kf.predict(t)
- def kf_valid(self, t: float):
+ def kf_valid(self, t: float) -> List[bool]:
filter_time = self.gnss_kf.filter.filter_time
return [filter_time is not None,
filter_time is not None and abs(t - filter_time) < MAX_TIME_GAP,
diff --git a/selfdrive/loggerd/encoder/ffmpeg_encoder.cc b/selfdrive/loggerd/encoder/ffmpeg_encoder.cc
index 22587819a4..5f8d140e8b 100644
--- a/selfdrive/loggerd/encoder/ffmpeg_encoder.cc
+++ b/selfdrive/loggerd/encoder/ffmpeg_encoder.cc
@@ -68,7 +68,9 @@ void FfmpegEncoder::encoder_open(const char* path) {
void FfmpegEncoder::encoder_close() {
if (!is_open) return;
+
writer_close();
+ avcodec_free_context(&codec_ctx);
is_open = false;
}
diff --git a/selfdrive/loggerd/logger.cc b/selfdrive/loggerd/logger.cc
index 5aed47e291..8038f1926c 100644
--- a/selfdrive/loggerd/logger.cc
+++ b/selfdrive/loggerd/logger.cc
@@ -19,15 +19,6 @@
#include "common/swaglog.h"
#include "common/version.h"
-// ***** logging helpers *****
-
-void append_property(const char* key, const char* value, void *cookie) {
- std::vector > *properties =
- (std::vector > *)cookie;
-
- properties->push_back(std::make_pair(std::string(key), std::string(value)));
-}
-
// ***** log metadata *****
kj::Array logger_build_init_data() {
MessageBuilder msg;
diff --git a/selfdrive/loggerd/loggerd.cc b/selfdrive/loggerd/loggerd.cc
index 4086f4991e..a75ab2c92b 100644
--- a/selfdrive/loggerd/loggerd.cc
+++ b/selfdrive/loggerd/loggerd.cc
@@ -6,7 +6,6 @@ ExitHandler do_exit;
struct LoggerdState {
LoggerState logger = {};
char segment_path[4096];
- std::mutex rotate_lock;
std::atomic rotate_segment;
std::atomic last_camera_seen_tms;
std::atomic ready_to_rotate; // count of encoders ready to rotate
@@ -15,15 +14,12 @@ struct LoggerdState {
};
void logger_rotate(LoggerdState *s) {
- {
- std::unique_lock lk(s->rotate_lock);
- int segment = -1;
- int err = logger_next(&s->logger, LOG_ROOT.c_str(), s->segment_path, sizeof(s->segment_path), &segment);
- assert(err == 0);
- s->rotate_segment = segment;
- s->ready_to_rotate = 0;
- s->last_rotate_tms = millis_since_boot();
- }
+ int segment = -1;
+ int err = logger_next(&s->logger, LOG_ROOT.c_str(), s->segment_path, sizeof(s->segment_path), &segment);
+ assert(err == 0);
+ s->rotate_segment = segment;
+ s->ready_to_rotate = 0;
+ s->last_rotate_tms = millis_since_boot();
LOGW((s->logger.part == 0) ? "logging to %s" : "rotated to %s", s->segment_path);
}
diff --git a/selfdrive/modeld/models/dmonitoring.cc b/selfdrive/modeld/models/dmonitoring.cc
index 8c7e14edb2..e7e6d46612 100644
--- a/selfdrive/modeld/models/dmonitoring.cc
+++ b/selfdrive/modeld/models/dmonitoring.cc
@@ -20,7 +20,6 @@ static inline T *get_buffer(std::vector &buf, const size_t size) {
}
void dmonitoring_init(DMonitoringModelState* s) {
- s->is_rhd = Params().getBool("IsRHD");
#ifdef USE_ONNX_MODEL
s->m = new ONNXModel("models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, false, true);
diff --git a/selfdrive/modeld/models/dmonitoring.h b/selfdrive/modeld/models/dmonitoring.h
index 874722cd93..ae2bf05394 100644
--- a/selfdrive/modeld/models/dmonitoring.h
+++ b/selfdrive/modeld/models/dmonitoring.h
@@ -38,7 +38,6 @@ typedef struct DMonitoringModelResult {
typedef struct DMonitoringModelState {
RunModel *m;
- bool is_rhd;
float output[OUTPUT_SIZE];
std::vector net_input_buf;
float calib[CALIB_LEN];
diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py
index f2d0524422..48d4303aa5 100644
--- a/selfdrive/monitoring/driver_monitor.py
+++ b/selfdrive/monitoring/driver_monitor.py
@@ -120,7 +120,7 @@ class DriverStatus():
self.settings = settings
# init driver status
- # self.wheelpos_learner = RunningStatFilter()
+ self.wheelpos_learner = RunningStatFilter()
self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT)
self.pose_calibrated = False
self.blink = DriverBlink()
@@ -137,7 +137,8 @@ class DriverStatus():
self.distracted_types = []
self.driver_distracted = False
self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON)
- self.wheel_on_right = rhd
+ self.wheel_on_right = False
+ self.rhd_toggled = rhd
self.face_detected = False
self.terminal_alert_cnt = 0
self.terminal_time = 0
@@ -225,14 +226,14 @@ class DriverStatus():
self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD
def update_states(self, driver_state, cal_rpy, car_speed, op_engaged):
- # rhd_pred = driver_state.wheelOnRightProb
- # if car_speed > 0.01:
- # self.wheelpos_learner.push_and_update(rhd_pred)
- # if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT:
- # self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
- # else:
- # self.wheel_on_right = rhd_pred > self.settings._WHEELPOS_THRESHOLD
- driver_data = driver_state.rightDriverData if self.wheel_on_right else driver_state.leftDriverData
+ rhd_pred = driver_state.wheelOnRightProb
+ if car_speed > 0.01:
+ self.wheelpos_learner.push_and_update(rhd_pred)
+ if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT:
+ self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
+ else:
+ self.wheel_on_right = rhd_pred > self.settings._WHEELPOS_THRESHOLD
+ driver_data = driver_state.rightDriverData if self.rhd_toggled else driver_state.leftDriverData
if not all(len(x) > 0 for x in (driver_data.faceOrientation, driver_data.facePosition,
driver_data.faceOrientationStd, driver_data.facePositionStd,
driver_data.readyProb, driver_data.notReadyProb)):
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 8ed68d5bdd..662f8cc5b8 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-ed1dfb8b155ebcd8fdad4e06462b3bb7869fc67b
+41161c8d151b0c2017214cad0aad3156533ab868
diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh
index 99acc050ea..2e5ffeacc6 100755
--- a/selfdrive/test/setup_device_ci.sh
+++ b/selfdrive/test/setup_device_ci.sh
@@ -36,6 +36,8 @@ fi
tee $CONTINUE_PATH << EOF
#!/usr/bin/bash
+sudo abctl --set_success
+
while true; do
if ! sudo systemctl is-active -q ssh; then
sudo systemctl start ssh
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index d92cf36b89..2759416236 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -146,18 +146,18 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
p.setPen(QColor(0xff, 0xff, 0xff));
p.setRenderHint(QPainter::TextAntialiasing);
if (alert.size == cereal::ControlsState::AlertSize::SMALL) {
- configFont(p, "Open Sans", 74, "SemiBold");
+ configFont(p, "Inter", 74, "SemiBold");
p.drawText(r, Qt::AlignCenter, alert.text1);
} else if (alert.size == cereal::ControlsState::AlertSize::MID) {
- configFont(p, "Open Sans", 88, "Bold");
+ configFont(p, "Inter", 88, "Bold");
p.drawText(QRect(0, c.y() - 125, width(), 150), Qt::AlignHCenter | Qt::AlignTop, alert.text1);
- configFont(p, "Open Sans", 66, "Regular");
+ configFont(p, "Inter", 66, "Regular");
p.drawText(QRect(0, c.y() + 21, width(), 90), Qt::AlignHCenter, alert.text2);
} else if (alert.size == cereal::ControlsState::AlertSize::FULL) {
bool l = alert.text1.length() > 15;
- configFont(p, "Open Sans", l ? 132 : 177, "Bold");
+ configFont(p, "Inter", l ? 132 : 177, "Bold");
p.drawText(QRect(0, r.y() + (l ? 240 : 270), width(), 600), Qt::AlignHCenter | Qt::TextWordWrap, alert.text1);
- configFont(p, "Open Sans", 88, "Regular");
+ configFont(p, "Inter", 88, "Regular");
p.drawText(QRect(0, r.height() - (l ? 361 : 420), width(), 300), Qt::AlignHCenter | Qt::TextWordWrap, alert.text2);
}
}
@@ -259,10 +259,10 @@ void NvgWindow::drawHud(QPainter &p) {
} else {
p.setPen(QColor(0xa6, 0xa6, 0xa6, 0xff));
}
- configFont(p, "Open Sans", 40, "SemiBold");
+ configFont(p, "Inter", 40, "SemiBold");
QRect max_rect = getTextRect(p, Qt::AlignCenter, "MAX");
max_rect.moveCenter({set_speed_rect.center().x(), 0});
- max_rect.moveTop(set_speed_rect.top() + 23);
+ max_rect.moveTop(set_speed_rect.top() + 27);
p.drawText(max_rect, Qt::AlignCenter, "MAX");
// Draw set speed
@@ -279,10 +279,10 @@ void NvgWindow::drawHud(QPainter &p) {
} else {
p.setPen(QColor(0x72, 0x72, 0x72, 0xff));
}
- configFont(p, "Open Sans", 90, "Bold");
+ configFont(p, "Inter", 90, "Bold");
QRect speed_rect = getTextRect(p, Qt::AlignCenter, setSpeedStr);
speed_rect.moveCenter({set_speed_rect.center().x(), 0});
- speed_rect.moveTop(set_speed_rect.top() + 67);
+ speed_rect.moveTop(set_speed_rect.top() + 77);
p.drawText(speed_rect, Qt::AlignCenter, setSpeedStr);
@@ -306,23 +306,23 @@ void NvgWindow::drawHud(QPainter &p) {
p.drawRoundedRect(sign_rect, 16, 16);
// "SPEED"
- configFont(p, "Open Sans", 28, "SemiBold");
+ configFont(p, "Inter", 28, "SemiBold");
QRect text_speed_rect = getTextRect(p, Qt::AlignCenter, "SPEED");
text_speed_rect.moveCenter({sign_rect.center().x(), 0});
- text_speed_rect.moveTop(sign_rect_outer.top() + 20);
+ text_speed_rect.moveTop(sign_rect_outer.top() + 22);
p.drawText(text_speed_rect, Qt::AlignCenter, "SPEED");
// "LIMIT"
QRect text_limit_rect = getTextRect(p, Qt::AlignCenter, "LIMIT");
text_limit_rect.moveCenter({sign_rect.center().x(), 0});
- text_limit_rect.moveTop(sign_rect_outer.top() + 48);
+ text_limit_rect.moveTop(sign_rect_outer.top() + 51);
p.drawText(text_limit_rect, Qt::AlignCenter, "LIMIT");
// Speed limit value
- configFont(p, "Open Sans", 70, "Bold");
+ configFont(p, "Inter", 70, "Bold");
QRect speed_limit_rect = getTextRect(p, Qt::AlignCenter, speedLimitStr);
speed_limit_rect.moveCenter({sign_rect.center().x(), 0});
- speed_limit_rect.moveTop(sign_rect.top() + 70);
+ speed_limit_rect.moveTop(sign_rect_outer.top() + 85);
p.drawText(speed_limit_rect, Qt::AlignCenter, speedLimitStr);
}
@@ -343,10 +343,8 @@ void NvgWindow::drawHud(QPainter &p) {
p.drawEllipse(center, inner_radius_2, inner_radius_2);
// Speed limit value
- if (speedLimit < 1 ) center -= {0, 2}; // Make sure dash is centered if no speed limit available
-
- int font_size = (speedLimitStr.size() >= 3) ? 62 : 70;
- configFont(p, "Open Sans", font_size, "Bold");
+ int font_size = (speedLimitStr.size() >= 3) ? 60 : 70;
+ configFont(p, "Inter", font_size, "Bold");
QRect speed_limit_rect = getTextRect(p, Qt::AlignCenter, speedLimitStr);
speed_limit_rect.moveCenter(center);
p.setPen(blackColor());
@@ -354,9 +352,9 @@ void NvgWindow::drawHud(QPainter &p) {
}
// current speed
- configFont(p, "Open Sans", 176, "Bold");
+ configFont(p, "Inter", 176, "Bold");
drawText(p, rect().center().x(), 210, speedStr);
- configFont(p, "Open Sans", 66, "Regular");
+ configFont(p, "Inter", 66, "Regular");
drawText(p, rect().center().x(), 290, speedUnit, 200);
// engage-ability icon
diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc
index 312d8d8a59..00e72b352c 100644
--- a/selfdrive/ui/qt/sidebar.cc
+++ b/selfdrive/ui/qt/sidebar.cc
@@ -4,13 +4,13 @@
#include "selfdrive/ui/qt/util.h"
-void Sidebar::drawMetric(QPainter &p, const QString &label, QColor c, int y) {
- const QRect rect = {30, y, 240, label.contains("\n") ? 124 : 100};
+void Sidebar::drawMetric(QPainter &p, const QPair &label, QColor c, int y) {
+ const QRect rect = {30, y, 240, 126};
p.setPen(Qt::NoPen);
p.setBrush(QBrush(c));
- p.setClipRect(rect.x() + 6, rect.y(), 18, rect.height(), Qt::ClipOperation::ReplaceClip);
- p.drawRoundedRect(QRect(rect.x() + 6, rect.y() + 6, 100, rect.height() - 12), 10, 10);
+ p.setClipRect(rect.x() + 4, rect.y(), 18, rect.height(), Qt::ClipOperation::ReplaceClip);
+ p.drawRoundedRect(QRect(rect.x() + 4, rect.y() + 4, 100, 118), 18, 18);
p.setClipping(false);
QPen pen = QPen(QColor(0xff, 0xff, 0xff, 0x55));
@@ -20,9 +20,16 @@ void Sidebar::drawMetric(QPainter &p, const QString &label, QColor c, int y) {
p.drawRoundedRect(rect, 20, 20);
p.setPen(QColor(0xff, 0xff, 0xff));
- configFont(p, "Open Sans", 35, "Bold");
- const QRect r = QRect(rect.x() + 30, rect.y(), rect.width() - 40, rect.height());
- p.drawText(r, Qt::AlignCenter, label);
+ configFont(p, "Inter", 35, "SemiBold");
+
+ QRect label_rect = getTextRect(p, Qt::AlignCenter, label.first);
+ label_rect.setWidth(218);
+ label_rect.moveLeft(rect.left() + 22);
+ label_rect.moveTop(rect.top() + 19);
+ p.drawText(label_rect, Qt::AlignCenter, label.first);
+
+ label_rect.moveTop(rect.top() + 65);
+ p.drawText(label_rect, Qt::AlignCenter, label.second);
}
Sidebar::Sidebar(QWidget *parent) : QFrame(parent) {
@@ -57,26 +64,26 @@ void Sidebar::updateState(const UIState &s) {
ItemStatus connectStatus;
auto last_ping = deviceState.getLastAthenaPingTime();
if (last_ping == 0) {
- connectStatus = ItemStatus{"CONNECT\nOFFLINE", warning_color};
+ connectStatus = ItemStatus{{"CONNECT", "OFFLINE"}, warning_color};
} else {
- connectStatus = nanos_since_boot() - last_ping < 80e9 ? ItemStatus{"CONNECT\nONLINE", good_color} : ItemStatus{"CONNECT\nERROR", danger_color};
+ connectStatus = nanos_since_boot() - last_ping < 80e9 ? ItemStatus{{"CONNECT", "ONLINE"}, good_color} : ItemStatus{{"CONNECT", "ERROR"}, danger_color};
}
setProperty("connectStatus", QVariant::fromValue(connectStatus));
- ItemStatus tempStatus = {"TEMP\nHIGH", danger_color};
+ ItemStatus tempStatus = {{"TEMP", "HIGH"}, danger_color};
auto ts = deviceState.getThermalStatus();
if (ts == cereal::DeviceState::ThermalStatus::GREEN) {
- tempStatus = {"TEMP\nGOOD", good_color};
+ tempStatus = {{"TEMP", "GOOD"}, good_color};
} else if (ts == cereal::DeviceState::ThermalStatus::YELLOW) {
- tempStatus = {"TEMP\nOK", warning_color};
+ tempStatus = {{"TEMP", "OK"}, warning_color};
}
setProperty("tempStatus", QVariant::fromValue(tempStatus));
- ItemStatus pandaStatus = {"VEHICLE\nONLINE", good_color};
+ ItemStatus pandaStatus = {{"VEHICLE", "ONLINE"}, good_color};
if (s.scene.pandaType == cereal::PandaState::PandaType::UNKNOWN) {
- pandaStatus = {"NO\nPANDA", danger_color};
+ pandaStatus = {{"NO", "PANDA"}, danger_color};
} else if (s.scene.started && !sm["liveLocationKalman"].getLiveLocationKalman().getGpsOK()) {
- pandaStatus = {"GPS\nSEARCH", warning_color};
+ pandaStatus = {{"GPS", "SEARCH"}, warning_color};
}
setProperty("pandaStatus", QVariant::fromValue(pandaStatus));
}
@@ -103,7 +110,7 @@ void Sidebar::paintEvent(QPaintEvent *event) {
x += 37;
}
- configFont(p, "Open Sans", 35, "Regular");
+ configFont(p, "Inter", 35, "Regular");
p.setPen(QColor(0xff, 0xff, 0xff));
const QRect r = QRect(50, 247, 100, 50);
p.drawText(r, Qt::AlignCenter, net_type);
diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h
index ab3e990e61..98ae6564d6 100644
--- a/selfdrive/ui/qt/sidebar.h
+++ b/selfdrive/ui/qt/sidebar.h
@@ -6,7 +6,7 @@
#include "common/params.h"
#include "selfdrive/ui/ui.h"
-typedef QPair ItemStatus;
+typedef QPair, QColor> ItemStatus;
Q_DECLARE_METATYPE(ItemStatus);
class Sidebar : public QFrame {
@@ -30,7 +30,7 @@ public slots:
protected:
void paintEvent(QPaintEvent *event) override;
void mouseReleaseEvent(QMouseEvent *event) override;
- void drawMetric(QPainter &p, const QString &label, QColor c, int y);
+ void drawMetric(QPainter &p, const QPair &label, QColor c, int y);
QPixmap home_img, settings_img;
const QMap network_type = {
diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc
index d9613df0d0..04ce15ef23 100644
--- a/selfdrive/ui/qt/window.cc
+++ b/selfdrive/ui/qt/window.cc
@@ -45,9 +45,6 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
});
// load fonts
- QFontDatabase::addApplicationFont("../assets/fonts/opensans_regular.ttf");
- QFontDatabase::addApplicationFont("../assets/fonts/opensans_bold.ttf");
- QFontDatabase::addApplicationFont("../assets/fonts/opensans_semibold.ttf");
QFontDatabase::addApplicationFont("../assets/fonts/Inter-Black.ttf");
QFontDatabase::addApplicationFont("../assets/fonts/Inter-Bold.ttf");
QFontDatabase::addApplicationFont("../assets/fonts/Inter-ExtraBold.ttf");
diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py
index b212abc431..0b8b4fe0a1 100755
--- a/tools/replay/can_replay.py
+++ b/tools/replay/can_replay.py
@@ -2,6 +2,7 @@
import os
import time
import threading
+import multiprocessing
from tqdm import tqdm
os.environ['FILEREADER_CACHE'] = '1'
@@ -9,7 +10,7 @@ os.environ['FILEREADER_CACHE'] = '1'
from common.basedir import BASEDIR
from common.realtime import config_realtime_process, Ratekeeper, DT_CTRL
from selfdrive.boardd.boardd import can_capnp_to_can_list
-from tools.lib.logreader import LogReader
+from tools.plotjuggler.juggle import load_segment
from panda import Panda
try:
@@ -94,11 +95,10 @@ if __name__ == "__main__":
ROUTE = "77611a1fac303767/2020-03-24--09-50-38"
REPLAY_SEGS = list(range(10, 16)) # route has 82 segments available
CAN_MSGS = []
- for i in tqdm(REPLAY_SEGS):
- log_url = f"https://commadataci.blob.core.windows.net/openpilotci/{ROUTE}/{i}/rlog.bz2"
- lr = LogReader(log_url)
- CAN_MSGS += [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can']
-
+ logs = [f"https://commadataci.blob.core.windows.net/openpilotci/{ROUTE}/{i}/rlog.bz2" for i in REPLAY_SEGS]
+ with multiprocessing.Pool(24) as pool:
+ for lr in tqdm(pool.map(load_segment, logs)):
+ CAN_MSGS += [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can']
# set both to cycle ignition
IGN_ON = int(os.getenv("ON", "0"))
diff --git a/tools/serial/connect.sh b/tools/serial/connect.sh
index 037152019f..a073310b0a 100755
--- a/tools/serial/connect.sh
+++ b/tools/serial/connect.sh
@@ -1,8 +1,8 @@
#!/bin/bash
while true; do
- if ls /dev/ttyUSB* 2> /dev/null; then
- sudo screen /dev/ttyUSB* 115200
+ if ls /dev/serial/by-id/usb-FTDI_FT230X* 2> /dev/null; then
+ sudo screen /dev/serial/by-id/usb-FTDI_FT230X* 115200
fi
sleep 0.005
done
diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py
index faf67c3ef5..17dc2c7a62 100755
--- a/tools/sim/bridge.py
+++ b/tools/sim/bridge.py
@@ -198,12 +198,12 @@ def gps_callback(gps, vehicle_state):
def fake_driver_monitoring(exit_event: threading.Event):
- pm = messaging.PubMaster(['driverState', 'driverMonitoringState'])
+ pm = messaging.PubMaster(['driverStateV2', 'driverMonitoringState'])
while not exit_event.is_set():
# dmonitoringmodeld output
- dat = messaging.new_message('driverState')
- dat.driverState.faceProb = 1.0
- pm.send('driverState', dat)
+ dat = messaging.new_message('driverStateV2')
+ dat.driverStateV2.leftDriverData.faceProb = 1.0
+ pm.send('driverStateV2', dat)
# dmonitoringd output
dat = messaging.new_message('driverMonitoringState')
diff --git a/tools/sim/lib/can.py b/tools/sim/lib/can.py
index 2b1048fef2..939d081a80 100755
--- a/tools/sim/lib/can.py
+++ b/tools/sim/lib/can.py
@@ -63,7 +63,7 @@ def can_function(pm, speed, angle, idx, cruise_button, is_engaged):
msg.append(packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1}, idx))
msg.append(packer.make_can_msg("POWERTRAIN_DATA", 0, {"ACC_STATUS": int(is_engaged)}, idx))
msg.append(packer.make_can_msg("HUD_SETTING", 0, {}))
- msg.append(packer.make_can_msg("CAR_SPEED", 0, {}))
+ msg.append(packer.make_can_msg("CAR_SPEED", 0, {}, idx))
# *** cam bus ***
msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}, idx))