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

selfdrive/car/tests/test_car_interfaces.py

@@ -93,7 +93,6 @@ class TestCarInterfaces(unittest.TestCase):
     for _ in range(10):
       car_interface.update(CC, [])
       car_interface.apply(CC.as_reader(), now_nanos)
-      car_interface.apply(CC.as_reader(), now_nanos)
       now_nanos += DT_CTRL * 1e9  # 10 ms
 
     CC = car.CarControl.new_message(**cc_msg)
@@ -101,7 +100,6 @@ class TestCarInterfaces(unittest.TestCase):
     for _ in range(10):
       car_interface.update(CC, [])
       car_interface.apply(CC.as_reader(), now_nanos)
-      car_interface.apply(CC.as_reader(), now_nanos)
       now_nanos += DT_CTRL * 1e9  # 10ms
 
     # Test controller initialization

selfdrive/car/toyota/carcontroller.py

@@ -102,11 +102,6 @@ class CarController(CarControllerBase):
     # *** gas and brake ***
     pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
 
-    # TODO: probably can delete this. CS.pcm_acc_status uses a different signal
-    # than CS.cruiseState.enabled. confirm they're not meaningfully different
-    if not CC.enabled and CS.pcm_acc_status:
-      pcm_cancel_cmd = 1
-
     # on entering standstill, send standstill request
     if CS.out.standstill and not self.last_standstill and (self.CP.carFingerprint not in NO_STOP_TIMER_CAR):
       self.standstill_req = True

selfdrive/modeld/models/dmonitoring_model.current

@@ -1,2 +1,2 @@
-60abed33-9f25-4e34-9937-aaf918d41dfc
-50887963963a3022e85ac0c94b0801aef955a608
+5ec97a39-0095-4cea-adfa-6d72b1966cc1
+26cac7a9757a27c783a365403040a1bd27ccdaea

selfdrive/modeld/models/dmonitoring_model.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9a667cbde6eca86c5b653f57853e3d33b9a875bceb557e193d1bef78c2df9c37
-size 16132779
+oid sha256:3dd3982940d823c4fbb0429b733a0b78b0688d7d67aa76ff7b754a3e2f3d8683
+size 16132780

selfdrive/modeld/models/dmonitoring_model_q.dlc

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f5729c457dd47f6c35e2a818eae14113526fd0bfac6417a809cbaf9d38697d9b
-size 4488413
+oid sha256:7c26f13816b143f5bb29ac2980f8557bd5687a75729e4d895313fb9a5a1f0f46
+size 4488449

selfdrive/monitoring/driver_monitor.py

@@ -31,8 +31,8 @@ class DRIVER_MONITOR_SETTINGS():
     self._SG_THRESHOLD = 0.9
     self._BLINK_THRESHOLD = 0.865
 
-    self._EE_THRESH11 = 0.241
-    self._EE_THRESH12 = 4.7
+    self._EE_THRESH11 = 0.25
+    self._EE_THRESH12 = 7.5
     self._EE_MAX_OFFSET1 = 0.06
     self._EE_MIN_OFFSET1 = 0.025
     self._EE_THRESH21 = 0.01

selfdrive/test/process_replay/model_replay_ref_commit

@@ -1 +1 @@
-69a3b169ebc478285dad5eea87658ed2cb8fee13
+73eb11111fb6407fa307c3f2bdd3331f2514c707

selfdrive/ui/qt/onroad/onroad_home.cc

@@ -1,6 +1,7 @@
 #include "selfdrive/ui/qt/onroad/onroad_home.h"
 
 #include <QPainter>
+#include <QStackedLayout>
 
 #ifdef ENABLE_MAPS
 #include "selfdrive/ui/qt/maps/map_helpers.h"