openpilot v0.5.4 release

7 years ago · a422246dc3
parent e5b2ec4f01
commit a422246dc3
123 changed files with 927 additions and 395 deletions
--- a/Dockerfile.openpilot
+++ b/Dockerfile.openpilot
@ -17,3 +17,5 @@ COPY ./phonelibs /tmp/openpilot/phonelibs
 COPY ./pyextra /tmp/openpilot/pyextra

 RUN mkdir -p /tmp/openpilot/selfdrive/test/out
+RUN make -C /tmp/openpilot/selfdrive/controls/lib/longitudinal_mpc clean
+RUN make -C /tmp/openpilot/selfdrive/controls/lib/lateral_mpc clean
--- a/RELEASES.md
+++ b/RELEASES.md
@ -1,3 +1,14 @@
+Version 0.5.4 (2018-09-25)
+========================
+ * New Driving Model
+ * New Driver Monitoring Model
+ * Improve longitudinal mpc in mid-low speed braking
+ * Honda Accord hybrid support thanks to energee!
+ * Ship mpc binaries and sensibly reduce build time
+ * Calibration more stable
+ * More Hyundai and Kia cars supported thanks to emmertex!
+ * Various GM Volt improvements thanks to vntarasov!
+
 Version 0.5.3 (2018-09-03)
 ========================
 * Hyundai Santa Fe support!
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@ -42,7 +42,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    speedTooLow @17;
    outOfSpace @18;
    overheat @19;
-    calibrationInProgress @20;
+    calibrationIncomplete @20;
    calibrationInvalid @21;
    controlsMismatch @22;
    pcmEnable @23;
@ -69,6 +69,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    promptDriverUnresponsive @44;
    driverUnresponsive @45;
    belowSteerSpeed @46;
+    calibrationProgress @47;
+    lowBattery @48;
  }
 }

--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@ -276,6 +276,7 @@ struct ThermalData {
  startedTs @13 :UInt64;

  thermalStatus @14 :ThermalStatus;
+  chargerDisabled @17 :Bool;

  enum ThermalStatus {
    green @0;   # all processes run
--- a/common/dbc.py
+++ b/common/dbc.py
@ -1,7 +1,6 @@
 import re
 import os
 import struct
-import bitstring
 import sys
 import numbers
 from collections import namedtuple, defaultdict
@ -17,6 +16,7 @@ DBCSignal = namedtuple(
  "DBCSignal", ["name", "start_bit", "size", "is_little_endian", "is_signed",
                "factor", "offset", "tmin", "tmax", "units"])

+
 class dbc(object):
  def __init__(self, fn):
    self.name, _ = os.path.splitext(os.path.basename(fn))
@ -122,6 +122,16 @@ class dbc(object):
      msg_id = self.msg_name_to_address[msg_id]
    return msg_id

+  def reverse_bytes(self, x):
+    return ((x & 0xff00000000000000) >> 56) | \
+           ((x & 0x00ff000000000000) >> 40) | \
+           ((x & 0x0000ff0000000000) >> 24) | \
+           ((x & 0x000000ff00000000) >> 8) | \
+           ((x & 0x00000000ff000000) << 8) | \
+           ((x & 0x0000000000ff0000) << 24) | \
+           ((x & 0x000000000000ff00) << 40) | \
+           ((x & 0x00000000000000ff) << 56)
+
  def encode(self, msg_id, dd):
    """Encode a CAN message using the dbc.

@ -131,35 +141,40 @@ class dbc(object):
    """
    msg_id = self.lookup_msg_id(msg_id)

-    # TODO: Stop using bitstring, which is super slow.
    msg_def = self.msgs[msg_id]
    size = msg_def[0][1]

-    bsf = bitstring.Bits(hex="00"*size)
+    result = 0
    for s in msg_def[1]:
      ival = dd.get(s.name)
      if ival is not None:
-        ival = (ival / s.factor) - s.offset
-        ival = int(round(ival))

-        # should pack this
+        b2 = s.size
        if s.is_little_endian:
-          ss = s.start_bit
+          b1 = s.start_bit
        else:
-          ss = self.bits_index[s.start_bit]
+          b1 = (s.start_bit // 8) * 8 + (-s.start_bit - 1) % 8
+        bo = 64 - (b1 + s.size)
+
+        ival = (ival / s.factor) - s.offset
+        ival = int(round(ival))

+        if s.is_signed and ival < 0:
+          ival = (1 << b2) + ival

-        if s.is_signed:
-          tbs = bitstring.Bits(int=ival, length=s.size)
-        else:
-          tbs = bitstring.Bits(uint=ival, length=s.size)
+        shift = b1 if s.is_little_endian else bo
+        mask = ((1 << b2) - 1) << shift
+        dat = (ival & ((1 << b2) - 1)) << shift
+
+        if s.is_little_endian:
+          mask = self.reverse_bytes(mask)
+          dat = self.reverse_bytes(dat)

-        lpad = bitstring.Bits(bin="0b"+"0"*ss)
-        rpad = bitstring.Bits(bin="0b"+"0"*(8*size-(ss+s.size)))
-        tbs = lpad+tbs+rpad
+        result &= ~mask
+        result |= dat

-        bsf |= tbs
-    return bsf.tobytes()
+    result = struct.pack('>Q', result)
+    return result[:size]

  def decode(self, x, arr=None, debug=False):
    """Decode a CAN message using the dbc.
@ -195,55 +210,77 @@ class dbc(object):
    if debug:
      print name

-    blen = 8*len(x[2])
-
-    st = x[2].rjust(8, '\x00')
+    st = x[2].ljust(8, '\x00')
    le, be = None, None
-    size = msg[0][1]

    for s in msg[1]:
      if arr is not None and s[0] not in arr:
        continue

-      # big or little endian?
-      #   see http://vi-firmware.openxcplatform.com/en/master/config/bit-numbering.html
-      if s[3] is False:
-        ss = self.bits_index[s[1]]
-        if be is None:
-          be = struct.unpack(">Q", st)[0]
-        x2_int = be
-        data_bit_pos = (blen - (ss + s[2]))
+      start_bit = s[1]
+      signal_size = s[2]
+      little_endian = s[3]
+      signed = s[4]
+      factor = s[5]
+      offset = s[6]
+
+      b2 = signal_size
+      if little_endian:
+        b1 = start_bit
      else:
+        b1 = (start_bit // 8) * 8 + (-start_bit - 1) % 8
+      bo = 64 - (b1 + signal_size)
+
+      if little_endian:
        if le is None:
          le = struct.unpack("<Q", st)[0]
-        x2_int = le >> (64 - 8 * size)
-        ss = s[1]
-        data_bit_pos = ss
+        shift_amount = b1
+        tmp = le
+      else:
+        if be is None:
+          be = struct.unpack(">Q", st)[0]
+        shift_amount = bo
+        tmp = be

-      if data_bit_pos < 0:
+      if shift_amount < 0:
        continue
-      ival = (x2_int >> data_bit_pos) & ((1 << (s[2])) - 1)

-      if s[4] and (ival & (1<<(s[2]-1))): # signed
-        ival -= (1<<s[2])
+      tmp = (tmp >> shift_amount) & ((1 << b2) - 1)
+      if signed and (tmp >> (b2 - 1)):
+        tmp -= (1 << b2)

-      # control the offset
-      ival = (ival * s[5]) + s[6]
-      #if debug:
-      #  print "%40s  %2d %2d  %7.2f %s" % (s[0], s[1], s[2], ival, s[-1])
+      tmp = tmp * factor + offset
+
+      # if debug:
+      #   print "%40s  %2d %2d  %7.2f %s" % (s[0], s[1], s[2], tmp, s[-1])

      if arr is None:
-        out[s[0]] = ival
+        out[s[0]] = tmp
      else:
-        out[arr.index(s[0])] = ival
+        out[arr.index(s[0])] = tmp
    return name, out

  def get_signals(self, msg):
    msg = self.lookup_msg_id(msg)
    return [sgs.name for sgs in self.msgs[msg][1]]

+
 if __name__ == "__main__":
   from opendbc import DBC_PATH
+   import numpy as np
+
+   dbc_test = dbc(os.path.join(DBC_PATH, 'toyota_prius_2017_pt_generated.dbc'))
+   msg = ('STEER_ANGLE_SENSOR', {'STEER_ANGLE': -6.0, 'STEER_RATE': 4, 'STEER_FRACTION': -0.2})
+   encoded = dbc_test.encode(*msg)
+   decoded = dbc_test.decode((0x25, 0, encoded))
+   assert decoded == msg
+
+   dbc_test = dbc(os.path.join(DBC_PATH, 'hyundai_santa_fe_2019_ccan.dbc'))
+   decoded = dbc_test.decode((0x2b0, 0, "\xfa\xfe\x00\x07\x12"))
+   assert np.isclose(decoded[1]['SAS_Angle'], -26.2)
+
+   msg = ('SAS11', {'SAS_Stat': 7.0, 'MsgCount': 0.0, 'SAS_Angle': -26.200000000000003, 'SAS_Speed': 0.0, 'CheckSum': 0.0})
+   encoded = dbc_test.encode(*msg)
+   decoded = dbc_test.decode((0x2b0, 0, encoded))

-   dbc_test = dbc(os.path.join(DBC_PATH, sys.argv[1]))
-   print dbc_test.get_signals(0xe4)
+   assert decoded == msg
--- a/common/filter_simple.py
+++ b/common/filter_simple.py
@ -0,0 +1,10 @@
+class FirstOrderFilter():
+  # first order filter
+  def __init__(self, x0, ts, dt):
+    self.k = (dt / ts) / (1. + dt / ts)
+    self.x = x0
+
+  def update(self, x):
+    self.x = (1. - self.k) * self.x + self.k * x
+
+
--- a/common/transformations/model.py
+++ b/common/transformations/model.py
@ -57,6 +57,8 @@ model_frame_from_road_frame = np.dot(model_intrinsics,
 bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
  get_view_frame_from_road_frame(0, 0, 0, model_height))

+model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics))
+
 # 'camera from model camera'
 def get_model_height_transform(camera_frame_from_road_frame, height):
  camera_frame_from_road_ground = np.dot(camera_frame_from_road_frame, np.array([
--- a/selfdrive/boardd/Makefile
+++ b/selfdrive/boardd/Makefile
@ -13,8 +13,8 @@ WARN_FLAGS = -Werror=implicit-function-declaration \
             -Werror=return-type \
             -Werror=format-extra-args

-CFLAGS = -std=gnu11 -g -fPIC -I../../ -O2 $(WARN_FLAGS)
-CXXFLAGS = -std=c++11 -g -fPIC -I../../ -O2 $(WARN_FLAGS)
+CFLAGS = -std=gnu11 -g -fPIC -I../ -I../../ -O2 $(WARN_FLAGS)
+CXXFLAGS = -std=c++11 -g -fPIC -I../ -I../../ -O2 $(WARN_FLAGS)

 ZMQ_FLAGS = -I$(PHONELIBS)/zmq/aarch64/include
 ZMQ_LIBS = -L$(PHONELIBS)/zmq/aarch64/lib \
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@ -4,7 +4,7 @@ from selfdrive.config import Conversions as CV
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.gm import gmcan
-from selfdrive.car.gm.values import CAR, DBC
+from selfdrive.car.gm.values import CAR, DBC, AccState
 from selfdrive.can.packer import CANPacker


@ -29,11 +29,11 @@ class CarControllerParams():
    self.ADAS_KEEPALIVE_STEP = 10
    # pedal lookups, only for Volt
    MAX_GAS = 3072              # Only a safety limit
-    ZERO_GAS = 2048
+    self.ZERO_GAS = 2048
    MAX_BRAKE = 350             # Should be around 3.5m/s^2, including regen
    self.MAX_ACC_REGEN = 1404  # ACC Regen braking is slightly less powerful than max regen paddle
    self.GAS_LOOKUP_BP = [-0.25, 0., 0.5]
-    self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
+    self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, MAX_GAS]
    self.BRAKE_LOOKUP_BP = [-1., -0.25]
    self.BRAKE_LOOKUP_V = [MAX_BRAKE, 0]

@ -83,7 +83,6 @@ class CarController(object):
      return

    P = self.params
-
    # Send CAN commands.
    can_sends = []
    canbus = self.canbus
@ -131,12 +130,18 @@ class CarController(object):
      if (frame % 4) == 0:
        idx = (frame / 4) % 4

-        at_full_stop = enabled and CS.standstill
-        near_stop = enabled and (CS.v_ego < P.NEAR_STOP_BRAKE_PHASE)
+        car_stopping = apply_gas < P.ZERO_GAS
+        standstill = CS.pcm_acc_status == AccState.STANDSTILL
+        at_full_stop = enabled and standstill and car_stopping
+        near_stop = enabled and (CS.v_ego < P.NEAR_STOP_BRAKE_PHASE) and car_stopping
        can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, canbus.chassis, apply_brake, idx, near_stop, at_full_stop))

-        at_full_stop = enabled and CS.standstill
-        can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, canbus.powertrain, apply_gas, idx, enabled, at_full_stop))
+        # Auto-resume from full stop by resetting ACC control
+        acc_enabled = enabled
+        if standstill and not car_stopping:
+          acc_enabled = False
+
+        can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, canbus.powertrain, apply_gas, idx, acc_enabled, at_full_stop))

      # Send dashboard UI commands (ACC status), 25hz
      if (frame % 4) == 0:
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@ -60,17 +60,15 @@ def create_gas_regen_command(packer, bus, throttle, idx, acc_engaged, at_full_st

 def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_full_stop):

-  if apply_brake == 0:
-    mode = 0x1
-  else:
+  mode = 0x1
+  if apply_brake > 0:
    mode = 0xa

-    if at_full_stop:
-      mode = 0xd
-    # TODO: this is to have GM bringing the car to complete stop,
-    # but currently it conflicts with OP controls, so turned off.
-    #elif near_stop:
-    #  mode = 0xb
+  if near_stop:
+    mode = 0xb
+
+  if at_full_stop:
+    mode = 0xd

  brake = (0x1000 - apply_brake) & 0xfff
  checksum = (0x10000 - (mode << 12) - brake - idx) & 0xffff
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@ -4,7 +4,7 @@ from common.realtime import sec_since_boot
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
 from selfdrive.controls.lib.vehicle_model import VehicleModel
-from selfdrive.car.gm.values import DBC, CAR
+from selfdrive.car.gm.values import DBC, CAR, STOCK_CONTROL_MSGS
 from selfdrive.car.gm.carstate import CarState, CruiseButtons, get_powertrain_can_parser

 try:
@ -28,10 +28,6 @@ class CanBus(object):
    self.chassis = 2
    self.sw_gmlan = 3

-# 384 = "ASCMLKASteeringCmd"
-# 715 = "ASCMGasRegenCmd"
-CONTROL_MSGS = [384, 715]
-
 class CarInterface(object):
  def __init__(self, CP, sendcan=None):
    self.CP = CP
@ -74,7 +70,7 @@ class CarInterface(object):
    # Presence of a camera on the object bus is ok.
    # Have to go passive if ASCM is online (ACC-enabled cars),
    # or camera is on powertrain bus (LKA cars without ACC).
-    ret.enableCamera = not any(x for x in CONTROL_MSGS if x in fingerprint)
+    ret.enableCamera = not any(x for x in STOCK_CONTROL_MSGS[candidate] if x in fingerprint)

    std_cargo = 136

@ -197,7 +193,7 @@ class CarInterface(object):
    ret.cruiseState.available = bool(self.CS.main_on)
    cruiseEnabled = self.CS.pcm_acc_status != 0
    ret.cruiseState.enabled = cruiseEnabled
-    ret.cruiseState.standstill = self.CS.pcm_acc_status == 4
+    ret.cruiseState.standstill = False

    ret.leftBlinker = self.CS.left_blinker_on
    ret.rightBlinker = self.CS.right_blinker_on
@ -280,8 +276,6 @@ class CarInterface(object):
        events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
      if ret.gasPressed:
        events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
-      if ret.cruiseState.standstill:
-        events.append(create_event('resumeRequired', [ET.WARNING]))

      # handle button presses
      for b in ret.buttonEvents:
@ -298,7 +292,7 @@ class CarInterface(object):
        events.append(create_event('pcmEnable', [ET.ENABLE]))
      if not self.CS.acc_active:
        events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
-  
+
    ret.events = events

    # update previous brake/gas pressed
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@ -12,6 +12,12 @@ class CruiseButtons:
  MAIN        = 5
  CANCEL      = 6

+class AccState:
+  OFF        = 0
+  ACTIVE     = 1
+  FAULTED    = 3
+  STANDSTILL = 4
+
 def is_eps_status_ok(eps_status, car_fingerprint):
  valid_eps_status = []
  if car_fingerprint == CAR.VOLT:
@ -49,6 +55,12 @@ FINGERPRINTS = {

 STEER_THRESHOLD = 1.0

+
+STOCK_CONTROL_MSGS = {
+  CAR.VOLT: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
+  CAR.CADILLAC_CT6: [], # Cadillac does not require ASCMs to be disconnected
+}
+
 DBC = {
  CAR.VOLT: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
  CAR.CADILLAC_CT6: dbc_dict('cadillac_ct6_powertrain', 'cadillac_ct6_object', chassis_dbc='cadillac_ct6_chassis'),
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@ -17,7 +17,7 @@ def get_can_parser(CP):
    ("YAW_RATE", "ESP12", 0),

    ("CF_Gway_DrvSeatBeltInd", "CGW4", 1),
-    
+
    ("CF_Gway_DrvSeatBeltSw", "CGW1", 0),
    ("CF_Gway_TSigLHSw", "CGW1", 0),
    ("CF_Gway_TurnSigLh", "CGW1", 0),
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@ -70,13 +70,18 @@ class CarInterface(object):
    tireStiffnessRear_civic = 202500

    ret.steerActuatorDelay = 0.1  # Default delay
+    tire_stiffness_factor = 1.

    if candidate == CAR.SANTA_FE:
      ret.steerKf = 0.00005
      ret.steerRateCost = 0.5
      ret.mass = 3982 * CV.LB_TO_KG + std_cargo
      ret.wheelbase = 2.766
-      ret.steerRatio = 13.8 * 1.15   # 15% higher at the center seems reasonable
+
+      # Values from optimizer
+      ret.steerRatio = 16.55  # 13.8 is spec end-to-end
+      tire_stiffness_factor = 0.82
+
      ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
      ret.steerKpV, ret.steerKiV = [[0.37], [0.1]]
      ret.minSteerSpeed = 0.
@ -122,7 +127,6 @@ class CarInterface(object):
    ret.longitudinalKpV = [0.]
    ret.longitudinalKiBP = [0.]
    ret.longitudinalKiV = [0.]
-    tire_stiffness_factor = 1.

    ret.centerToFront = ret.wheelbase * 0.4

--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@ -145,6 +145,9 @@ class CarController(object):
    # only cut torque when steer state is a known fault
    if not enabled or CS.steer_state in [9, 25]:
      apply_steer = 0
+      apply_steer_req = 0
+    else:
+      apply_steer_req = 1

    self.steer_angle_enabled, self.ipas_reset_counter = \
      ipas_state_transition(self.steer_angle_enabled, enabled, CS.ipas_active, self.ipas_reset_counter)
@ -192,12 +195,12 @@ class CarController(object):
    # on consecutive messages
    if ECU.CAM in self.fake_ecus:
      if self.angle_control:
-        can_sends.append(create_steer_command(self.packer, 0., frame))
+        can_sends.append(create_steer_command(self.packer, 0., 0, frame))
      else:
-        can_sends.append(create_steer_command(self.packer, apply_steer, frame))
+        can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req, frame))

    if self.angle_control:
-      can_sends.append(create_ipas_steer_command(self.packer, apply_angle, self.steer_angle_enabled, 
+      can_sends.append(create_ipas_steer_command(self.packer, apply_angle, self.steer_angle_enabled,
                                                 ECU.APGS in self.fake_ecus))
    elif ECU.APGS in self.fake_ecus:
      can_sends.append(create_ipas_steer_command(self.packer, 0, 0, True))
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@ -52,11 +52,11 @@ def create_ipas_steer_command(packer, steer, enabled, apgs_enabled):
    return packer.make_can_msg("STEERING_IPAS_COMMA", 0, values)


-def create_steer_command(packer, steer, raw_cnt):
+def create_steer_command(packer, steer, steer_req, raw_cnt):
  """Creates a CAN message for the Toyota Steer Command."""

  values = {
-    "STEER_REQUEST": abs(steer) > 0.001,
+    "STEER_REQUEST": steer_req,
    "STEER_TORQUE_CMD": steer,
    "COUNTER": raw_cnt,
    "SET_ME_1": 1,
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@ -115,7 +115,7 @@ FINGERPRINTS = {
  #XLE and LE
  {
    36: 8, 37: 8, 119: 6, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 891: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1816: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  }, 
+  },
  #XSE and SE
  {
    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 888: 8, 889: 8, 891: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1816: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
--- a/selfdrive/common/ipc.c
+++ b/selfdrive/common/ipc.c
@ -0,0 +1,119 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <string.h>
+#include <unistd.h>
+#include <assert.h>
+#include <errno.h>
+
+#include <sys/mman.h>
+#include <sys/socket.h>
+#include <sys/un.h>
+
+#include "ipc.h"
+
+int ipc_connect(const char* socket_path) {
+  int err;
+
+  int sock = socket(AF_UNIX, SOCK_SEQPACKET, 0);
+  assert(sock >= 0);
+  struct sockaddr_un addr = {
+    .sun_family = AF_UNIX,
+  };
+  snprintf(addr.sun_path, sizeof(addr.sun_path), "%s", socket_path);
+  err = connect(sock, (struct sockaddr*)&addr, sizeof(addr));
+  if (err != 0) {
+    close(sock);
+    return -1;
+  }
+
+  return sock;
+}
+
+int ipc_bind(const char* socket_path) {
+  int err;
+
+  unlink(socket_path);
+
+  int sock = socket(AF_UNIX, SOCK_SEQPACKET, 0);
+  struct sockaddr_un addr = {
+    .sun_family = AF_UNIX,
+  };
+  snprintf(addr.sun_path, sizeof(addr.sun_path), "%s", socket_path);
+  err = bind(sock, (struct sockaddr *)&addr, sizeof(addr));
+  assert(err == 0);
+
+  err = listen(sock, 3);
+  assert(err == 0);
+
+  return sock;
+}
+
+
+int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
+                          int *out_num_fds) {
+  int err;
+
+  char control_buf[CMSG_SPACE(sizeof(int) * num_fds)];
+  memset(control_buf, 0, CMSG_SPACE(sizeof(int) * num_fds));
+
+  struct iovec iov = {
+    .iov_base = buf,
+    .iov_len = buf_size,
+  };
+  struct msghdr msg = {
+    .msg_iov = &iov,
+    .msg_iovlen = 1,
+  };
+
+  if (num_fds > 0) {
+    assert(fds);
+
+    msg.msg_control = control_buf;
+    msg.msg_controllen = CMSG_SPACE(sizeof(int) * num_fds);
+  }
+
+  if (send) {
+    if (num_fds) {
+      struct cmsghdr *cmsg = CMSG_FIRSTHDR(&msg);
+      assert(cmsg);
+      cmsg->cmsg_level = SOL_SOCKET;
+      cmsg->cmsg_type = SCM_RIGHTS;
+      cmsg->cmsg_len = CMSG_LEN(sizeof(int) * num_fds);
+      memcpy(CMSG_DATA(cmsg), fds, sizeof(int) * num_fds);
+      // printf("send clen %d -> %d\n", num_fds, cmsg->cmsg_len);
+    }
+    return sendmsg(fd, &msg, 0);
+  } else {
+    int r = recvmsg(fd, &msg, 0);
+    if (r < 0) return r;
+
+    int recv_fds = 0;
+    if (msg.msg_controllen > 0) {
+      struct cmsghdr *cmsg = CMSG_FIRSTHDR(&msg);
+      assert(cmsg);
+      assert(cmsg->cmsg_level == SOL_SOCKET && cmsg->cmsg_type == SCM_RIGHTS);
+      recv_fds = (cmsg->cmsg_len - CMSG_LEN(0));
+      assert(recv_fds > 0 && (recv_fds % sizeof(int)) == 0);
+      recv_fds /= sizeof(int);
+      // printf("recv clen %d -> %d\n", cmsg->cmsg_len, recv_fds);
+      // assert(cmsg->cmsg_len == CMSG_LEN(sizeof(int) * num_fds));
+
+      assert(fds && recv_fds <= num_fds);
+      memcpy(fds, CMSG_DATA(cmsg), sizeof(int) * recv_fds);
+    }
+
+    if (msg.msg_flags) {
+      for (int i=0; i<recv_fds; i++) {
+        close(fds[i]);
+      }
+      return -1;
+    }
+
+    if (fds) {
+      assert(out_num_fds);
+      *out_num_fds = recv_fds;
+    }
+    return r;
+  }
+}
--- a/selfdrive/common/ipc.h
+++ b/selfdrive/common/ipc.h
@ -0,0 +1,19 @@
+#ifndef IPC_H
+#define IPC_H
+
+#include <stdbool.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int ipc_connect(const char* socket_path);
+int ipc_bind(const char* socket_path);
+int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
+                          int *out_num_fds);
+
+#ifdef __cplusplus
+}  // extern "C"
+#endif
+
+#endif
--- a/selfdrive/common/params.cc
+++ b/selfdrive/common/params.cc
@ -1,4 +1,4 @@
-#include "selfdrive/common/params.h"
+#include "common/params.h"

 #ifndef _GNU_SOURCE
 #define _GNU_SOURCE
@ -13,8 +13,8 @@
 #include <map>
 #include <string>

-#include "selfdrive/common/util.h"
-#include "selfdrive/common/utilpp.h"
+#include "common/util.h"
+#include "common/utilpp.h"

 namespace {

--- a/selfdrive/common/utilpp.h
+++ b/selfdrive/common/utilpp.h
@ -9,10 +9,6 @@
 #include <sstream>
 #include <fstream>

-#ifdef __x86_64
-#include <linux/limits.h>
-#endif
-
 namespace util {

 inline bool starts_with(std::string s, std::string prefix) {
@ -56,13 +52,13 @@ inline std::string dir_name(std::string const & path) {
 }

 inline std::string readlink(std::string path) {
-    char buff[PATH_MAX];
-    ssize_t len = ::readlink(path.c_str(), buff, sizeof(buff)-1);
-    if (len != -1) {
-      buff[len] = '\0';
-      return std::string(buff);
-    }
-    return "";
+  char buff[4096];
+  ssize_t len = ::readlink(path.c_str(), buff, sizeof(buff)-1);
+  if (len != -1) {
+    buff[len] = '\0';
+    return std::string(buff);
+  }
+  return "";
 }

 }
--- a/selfdrive/common/version.h
+++ b/selfdrive/common/version.h
@ -1 +1 @@
-#define COMMA_VERSION "0.5.3-release"
+#define COMMA_VERSION "0.5.4-release"
--- a/selfdrive/common/visionimg.cc
+++ b/selfdrive/common/visionimg.cc
@ -36,14 +36,17 @@ extern "C" void compute_aligned_width_and_height(int width,
                                      int *aligned_h);
 #endif

-VisionImg visionimg_alloc_rgb24(int width, int height, VisionBuf *out_buf) {
-
-  int aligned_w = 0, aligned_h = 0;
+void visionimg_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h) {
 #ifdef QCOM
-  compute_aligned_width_and_height(ALIGN(width, 32), ALIGN(height, 32), 3, 0, 0, 512, &aligned_w, &aligned_h);
+  compute_aligned_width_and_height(ALIGN(width, 32), ALIGN(height, 32), 3, 0, 0, 512, aligned_w, aligned_h);
 #else
-  aligned_w = width; aligned_h = height;
+  *aligned_w = width; *aligned_h = height;
 #endif
+}
+
+VisionImg visionimg_alloc_rgb24(int width, int height, VisionBuf *out_buf) {
+  int aligned_w = 0, aligned_h = 0;
+  visionimg_compute_aligned_width_and_height(width, height, &aligned_w, &aligned_h);

  int stride = aligned_w * 3;
  size_t size = aligned_w * aligned_h * 3;
--- a/selfdrive/common/visionimg.h
+++ b/selfdrive/common/visionimg.h
@ -23,6 +23,7 @@ typedef struct VisionImg {
  size_t size;
 } VisionImg;

+void visionimg_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h);
 VisionImg visionimg_alloc_rgb24(int width, int height, VisionBuf *out_buf);

 #ifdef QCOM
--- a/selfdrive/common/visionipc.c
+++ b/selfdrive/common/visionipc.c
@ -10,6 +10,8 @@
 #include <sys/socket.h>
 #include <sys/un.h>

+#include "ipc.h"
+
 #include "visionipc.h"

 typedef struct VisionPacketWire {
@ -18,95 +20,14 @@ typedef struct VisionPacketWire {
 } VisionPacketWire;

 int vipc_connect() {
-  int err;
-
-  int sock = socket(AF_UNIX, SOCK_SEQPACKET, 0);
-  assert(sock >= 0);
-  struct sockaddr_un addr = {
-    .sun_family = AF_UNIX,
-    .sun_path = VIPC_SOCKET_PATH,
-  };
-  err = connect(sock, (struct sockaddr*)&addr, sizeof(addr));
-  if (err != 0) {
-    close(sock);
-    return -1;
-  }
-
-  return sock;
+  return ipc_connect(VIPC_SOCKET_PATH);
 }

-static int sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
-                             int *out_num_fds) {
-  int err;
-
-  char control_buf[CMSG_SPACE(sizeof(int) * num_fds)];
-  memset(control_buf, 0, CMSG_SPACE(sizeof(int) * num_fds));
-
-  struct iovec iov = {
-    .iov_base = buf,
-    .iov_len = buf_size,
-  };
-  struct msghdr msg = {
-    .msg_iov = &iov,
-    .msg_iovlen = 1,
-  };
-
-  if (num_fds > 0) {
-    assert(fds);
-
-    msg.msg_control = control_buf;
-    msg.msg_controllen = CMSG_SPACE(sizeof(int) * num_fds);
-  }
-
-  if (send) {
-    if (num_fds) {
-      struct cmsghdr *cmsg = CMSG_FIRSTHDR(&msg);
-      assert(cmsg);
-      cmsg->cmsg_level = SOL_SOCKET;
-      cmsg->cmsg_type = SCM_RIGHTS;
-      cmsg->cmsg_len = CMSG_LEN(sizeof(int) * num_fds);
-      memcpy(CMSG_DATA(cmsg), fds, sizeof(int) * num_fds);
-      // printf("send clen %d -> %d\n", num_fds, cmsg->cmsg_len);
-    }
-    return sendmsg(fd, &msg, 0);
-  } else {
-    int r = recvmsg(fd, &msg, 0);
-    if (r < 0) return r;
-
-    int recv_fds = 0;
-    if (msg.msg_controllen > 0) {
-      struct cmsghdr *cmsg = CMSG_FIRSTHDR(&msg);
-      assert(cmsg);
-      assert(cmsg->cmsg_level == SOL_SOCKET && cmsg->cmsg_type == SCM_RIGHTS);
-      recv_fds = (cmsg->cmsg_len - CMSG_LEN(0));
-      assert(recv_fds > 0 && (recv_fds % sizeof(int)) == 0);
-      recv_fds /= sizeof(int);
-      // printf("recv clen %d -> %d\n", cmsg->cmsg_len, recv_fds);
-      // assert(cmsg->cmsg_len == CMSG_LEN(sizeof(int) * num_fds));
-
-      assert(fds && recv_fds <= num_fds);
-      memcpy(fds, CMSG_DATA(cmsg), sizeof(int) * recv_fds);
-    }
-
-    if (msg.msg_flags) {
-      for (int i=0; i<recv_fds; i++) {
-        close(fds[i]);
-      }
-      return -1;
-    }
-
-    if (fds) {
-      assert(out_num_fds);
-      *out_num_fds = recv_fds;
-    }
-    return r;
-  }
-}

 int vipc_recv(int fd, VisionPacket *out_p) {
  VisionPacketWire p = {0};
  VisionPacket p2 = {0};
-  int ret = sendrecv_with_fds(false, fd, &p, sizeof(p), (int*)p2.fds, VIPC_MAX_FDS, &p2.num_fds);
+  int ret = ipc_sendrecv_with_fds(false, fd, &p, sizeof(p), (int*)p2.fds, VIPC_MAX_FDS, &p2.num_fds);
  if (ret < 0) {
    printf("vipc_recv err: %s\n", strerror(errno));
  } else {
@ -124,7 +45,7 @@ int vipc_send(int fd, const VisionPacket *p2) {
    .type = p2->type,
    .d = p2->d,
  };
-  return sendrecv_with_fds(true, fd, (void*)&p, sizeof(p), (int*)p2->fds, p2->num_fds, NULL);
+  return ipc_sendrecv_with_fds(true, fd, (void*)&p, sizeof(p), (int*)p2->fds, p2->num_fds, NULL);
 }

 void vipc_bufs_load(VIPCBuf *bufs, const VisionStreamBufs *stream_bufs,
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@ -46,8 +46,8 @@ def isEnabled(state):


 def data_sample(CI, CC, thermal, calibration, health, driver_monitor, gps_location,
-                poller, cal_status, overtemp, free_space, driver_status, geofence,
-                state, mismatch_counter, params):
+                poller, cal_status, cal_perc, overtemp, free_space, low_battery,
+                driver_status, geofence, state, mismatch_counter, params):

  # *** read can and compute car states ***
  CS = CI.update(CC)
@ -80,6 +80,12 @@ def data_sample(CI, CC, thermal, calibration, health, driver_monitor, gps_locati
    # under 15% of space free no enable allowed
    free_space = td.thermal.freeSpace < 0.15

+    # at zero percent battery, OP should not be allowed
+    low_battery = td.thermal.batteryPercent < 1
+
+  if low_battery:
+    events.append(create_event('lowBattery', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
+
  if overtemp:
    events.append(create_event('overheat', [ET.NO_ENTRY, ET.SOFT_DISABLE]))

@ -89,10 +95,11 @@ def data_sample(CI, CC, thermal, calibration, health, driver_monitor, gps_locati
  # *** read calibration status ***
  if cal is not None:
    cal_status = cal.liveCalibration.calStatus
+    cal_perc = cal.liveCalibration.calPerc

  if cal_status != Calibration.CALIBRATED:
    if cal_status == Calibration.UNCALIBRATED:
-      events.append(create_event('calibrationInProgress', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
+      events.append(create_event('calibrationIncomplete', [ET.NO_ENTRY, ET.SOFT_DISABLE, ET.PERMANENT]))
    else:
      events.append(create_event('calibrationInvalid', [ET.NO_ENTRY, ET.SOFT_DISABLE]))

@ -117,7 +124,7 @@ def data_sample(CI, CC, thermal, calibration, health, driver_monitor, gps_locati
  if geofence is not None and not geofence.in_geofence:
    events.append(create_event('geofence', [ET.NO_ENTRY, ET.WARNING]))

-  return CS, events, cal_status, overtemp, free_space, mismatch_counter
+  return CS, events, cal_status, cal_perc, overtemp, free_space, low_battery, mismatch_counter


 def calc_plan(CS, CP, events, PL, LaC, LoC, v_cruise_kph, driver_status, geofence):
@ -224,7 +231,7 @@ def state_transition(CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM


 def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM, rk,
-                  driver_status, PL, LaC, LoC, VM, angle_offset, passive, is_metric):
+                  driver_status, PL, LaC, LoC, VM, angle_offset, passive, is_metric, cal_perc):
  # Given the state, this function returns the actuators

  # reset actuators to zero
@ -258,13 +265,13 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,

    # parse warnings from car specific interface
    for e in get_events(events, [ET.WARNING]):
-      extra_text = ''
+      extra_text = ""
      if e == "belowSteerSpeed":
        if is_metric:
          extra_text = str(int(round(CP.minSteerSpeed * CV.MS_TO_KPH))) + " kph"
        else:
          extra_text = str(int(round(CP.minSteerSpeed * CV.MS_TO_MPH))) + " mph"
-      AM.add(e, enabled, extra_text=extra_text)
+      AM.add(e, enabled, extra_text_2=extra_text)

  # *** angle offset learning ***

@ -289,10 +296,13 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,

  # parse permanent warnings to display constantly
  for e in get_events(events, [ET.PERMANENT]):
-    AM.add(str(e) + "Permanent", enabled)
+    extra_text_1, extra_text_2 = "", ""
+    if e == "calibrationIncomplete":
+      extra_text_1 = str(cal_perc) + "%"
+      extra_text_2 = "35 kph" if is_metric else "15 mph"
+    AM.add(str(e) + "Permanent", enabled, extra_text_1=extra_text_1, extra_text_2=extra_text_2)

  # *** process alerts ***
-
  AM.process_alerts(sec_since_boot())

  return actuators, v_cruise_kph, driver_status, angle_offset
@ -475,8 +485,10 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
  v_cruise_kph_last = 0
  overtemp = False
  free_space = False
-  cal_status = Calibration.UNCALIBRATED
+  cal_status = Calibration.INVALID
+  cal_perc = 0
  mismatch_counter = 0
+  low_battery = False

  rk = Ratekeeper(rate, print_delay_threshold=2./1000)

@ -497,8 +509,8 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
    prof.checkpoint("Ratekeeper", ignore=True)

    # sample data and compute car events
-    CS, events, cal_status, overtemp, free_space, mismatch_counter = data_sample(CI, CC, thermal, cal, health,
-      driver_monitor, gps_location, poller, cal_status, overtemp, free_space, driver_status, geofence, state, mismatch_counter, params)
+    CS, events, cal_status, cal_perc, overtemp, free_space, low_battery, mismatch_counter = data_sample(CI, CC, thermal, cal, health,
+      driver_monitor, gps_location, poller, cal_status, cal_perc, overtemp, free_space, low_battery, driver_status, geofence, state, mismatch_counter, params)
    prof.checkpoint("Sample")

    # define plan
@ -513,7 +525,7 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):

    # compute actuators
    actuators, v_cruise_kph, driver_status, angle_offset = state_control(plan, CS, CP, state, events, v_cruise_kph,
-      v_cruise_kph_last, AM, rk, driver_status, PL, LaC, LoC, VM, angle_offset, passive, is_metric)
+      v_cruise_kph_last, AM, rk, driver_status, PL, LaC, LoC, VM, angle_offset, passive, is_metric, cal_perc)
    prof.checkpoint("State Control")

    # publish data
--- a/selfdrive/controls/lib/alertmanager.py
+++ b/selfdrive/controls/lib/alertmanager.py
@ -6,11 +6,12 @@ import copy

 # Priority
 class Priority:
-  HIGHEST = 4
-  HIGH = 3
-  MID = 2
-  LOW = 1
  LOWEST = 0
+  LOW_LOWEST = 1
+  LOW = 2
+  MID = 3
+  HIGH = 4
+  HIGHEST = 5

 AlertSize = log.Live100Data.AlertSize
 AlertStatus = log.Live100Data.AlertStatus
@ -155,7 +156,7 @@ class AlertManager(object):
        "Be ready to take over at any time",
        "Always keep hands on wheel and eyes on road",
        AlertStatus.normal, AlertSize.mid,
-        Priority.LOWEST, None, None, 0., 0., 15.),
+        Priority.LOW_LOWEST, None, None, 0., 0., 15.),

    "ethicalDilemma": Alert(
        "TAKE CONTROL IMMEDIATELY",
@ -242,6 +243,12 @@ class AlertManager(object):
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 2., 3.),

+    "lowBatteryNoEntry": Alert(
+        "openpilot Unavailable",
+        "Low Battery",
+        AlertStatus.normal, AlertSize.mid,
+        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
+
    # Cancellation alerts causing soft disabling
    "overheat": Alert(
        "TAKE CONTROL IMMEDIATELY",
@ -261,7 +268,7 @@ class AlertManager(object):
        AlertStatus.critical, AlertSize.full,
        Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),

-    "calibrationInProgress": Alert(
+    "calibrationIncomplete": Alert(
        "TAKE CONTROL IMMEDIATELY",
        "Calibration in Progress",
        AlertStatus.critical, AlertSize.full,
@ -285,6 +292,12 @@ class AlertManager(object):
        AlertStatus.critical, AlertSize.full,
        Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),

+    "lowBattery": Alert(
+        "TAKE CONTROL IMMEDIATELY",
+        "Low Battery",
+        AlertStatus.critical, AlertSize.full,
+        Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
+
    # Cancellation alerts causing immediate disabling
    "radarCommIssue": Alert(
        "TAKE CONTROL IMMEDIATELY",
@ -324,13 +337,13 @@ class AlertManager(object):

    "steerUnavailable": Alert(
        "TAKE CONTROL IMMEDIATELY",
-        "Steer Fault: Restart the Car",
+        "LKAS Fault: Restart the Car",
        AlertStatus.critical, AlertSize.full,
        Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),

    "brakeUnavailable": Alert(
        "TAKE CONTROL IMMEDIATELY",
-        "Brake Fault: Restart the Car",
+        "Cruise Fault: Restart the Car",
        AlertStatus.critical, AlertSize.full,
        Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),

@ -390,7 +403,7 @@ class AlertManager(object):
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 2., 3.),

-    "calibrationInProgressNoEntry": Alert(
+    "calibrationIncompleteNoEntry": Alert(
        "openpilot Unavailable",
        "Calibration in Progress",
        AlertStatus.normal, AlertSize.mid,
@ -452,13 +465,13 @@ class AlertManager(object):

    "steerUnavailableNoEntry": Alert(
        "openpilot Unavailable",
-        "Steer Fault: Restart the Car",
+        "LKAS Fault: Restart the Car",
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 2., 3.),

    "brakeUnavailableNoEntry": Alert(
        "openpilot Unavailable",
-        "Brake Fault: Restart the Car",
+        "Cruise Fault: Restart the Car",
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 2., 3.),

@ -492,23 +505,29 @@ class AlertManager(object):
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 2., 3.),

-    # permanent alerts to display on small UI upper box
+    # permanent alerts
    "steerUnavailablePermanent": Alert(
-        "STEER FAULT: Restart the car to engage",
+        "LKAS Fault: Restart the car to engage",
        "",
        AlertStatus.normal, AlertSize.small,
-        Priority.LOWEST, None, None, 0., 0., .2),
+        Priority.LOW_LOWEST, None, None, 0., 0., .2),

    "brakeUnavailablePermanent": Alert(
-        "BRAKE FAULT: Restart the car to engage",
+        "Cruise Fault: Restart the car to engage",
        "",
        AlertStatus.normal, AlertSize.small,
-        Priority.LOWEST, None, None, 0., 0., .2),
+        Priority.LOW_LOWEST, None, None, 0., 0., .2),

    "lowSpeedLockoutPermanent": Alert(
-        "CRUISE FAULT: Restart the car to engage",
+        "Cruise Fault: Restart the car to engage",
        "",
        AlertStatus.normal, AlertSize.small,
+        Priority.LOW_LOWEST, None, None, 0., 0., .2),
+
+    "calibrationIncompletePermanent": Alert(
+        "Calibration in Progress: ",
+        "Drive Above ",
+        AlertStatus.normal, AlertSize.mid,
        Priority.LOWEST, None, None, 0., 0., .2),
  }

@ -518,10 +537,11 @@ class AlertManager(object):
  def alertPresent(self):
    return len(self.activealerts) > 0

-  def add(self, alert_type, enabled=True, extra_text=''):
+  def add(self, alert_type, enabled=True, extra_text_1='', extra_text_2=''):
    alert_type = str(alert_type)
    added_alert = copy.copy(self.alerts[alert_type])
-    added_alert.alert_text_2 += extra_text
+    added_alert.alert_text_1 += extra_text_1
+    added_alert.alert_text_2 += extra_text_2
    added_alert.start_time = sec_since_boot()

    # if new alert is higher priority, log it
--- a/selfdrive/controls/lib/driver_monitor.py
+++ b/selfdrive/controls/lib/driver_monitor.py
@ -1,12 +1,14 @@
 import numpy as np
 from common.realtime import sec_since_boot
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
+from common.filter_simple import FirstOrderFilter

 _DT = 0.01                  # update runs at 100Hz
+_DTM = 0.1                  # DM runs at 10Hz
 _AWARENESS_TIME = 180       # 3 minutes limit without user touching steering wheels make the car enter a terminal status
 _AWARENESS_PRE_TIME = 20.   # a first alert is issued 20s before expiration
 _AWARENESS_PROMPT_TIME = 5. # a second alert is issued 5s before start decelerating the car
-_DISTRACTED_TIME = 8.
+_DISTRACTED_TIME = 7.
 _DISTRACTED_PRE_TIME = 4.
 _DISTRACTED_PROMPT_TIME = 2.
 # measured 1 rad in x FOV. 1152x864 is original image, 160x320 is a right crop for model
@ -18,13 +20,10 @@ _CAMERA_X_CONV = 0.375      # 160*864/320/1152
 _PITCH_WEIGHT = 1.5  # pitch matters a lot more
 _METRIC_THRESHOLD = 0.4
 _PITCH_POS_ALLOWANCE = 0.08  # rad, to not be too sensitive on positive pitch
-_DTM = 0.1                   # driver monitor runs at 10Hz
 _PITCH_NATURAL_OFFSET = 0.1  # people don't seem to look straight when they drive relaxed, rather a bit up
 _STD_THRESHOLD = 0.1         # above this standard deviation consider the measurement invalid
-_DISTRACTED_FILTER_F = 0.6   # 0.6Hz, 0.25s ts
-_DISTRACTED_FILTER_K = 2 * np.pi * _DISTRACTED_FILTER_F * _DTM / (1 + 2 * np.pi * _DISTRACTED_FILTER_F * _DTM)
-_VARIANCE_FILTER_F = 0.008    # 0.008Hz, 20s ts
-_VARIANCE_FILTER_K = 2 * np.pi * _VARIANCE_FILTER_F * _DTM / (1 + 2 * np.pi * _VARIANCE_FILTER_F * _DTM)
+_DISTRACTED_FILTER_TS = 0.25 # 0.6Hz
+_VARIANCE_FILTER_TS = 20.    # 0.008Hz


 class _DriverPose():
@ -47,15 +46,15 @@ class DriverStatus():
    self.monitor_valid = True   # variance needs to be low
    self.awareness = 1.
    self.driver_distracted = False
-    self.driver_distraction_level = 0.
+    self.driver_distraction_filter = FirstOrderFilter(0., _DISTRACTED_FILTER_TS, _DTM)
    self.variance_high = False
-    self.variance_level = 0.
+    self.variance_filter = FirstOrderFilter(0., _VARIANCE_FILTER_TS, _DTM)
    self.ts_last_check = 0.
    self._set_timers()

  def _reset_filters(self):
-    self.driver_distraction_level = 0.
-    self.variance_level = 0.
+    self.driver_distraction_filter.x = 0.
+    self.variance_filter.x = 0.
    self.monitor_valid = True

  def _set_timers(self):
@ -90,11 +89,9 @@ class DriverStatus():
    self.pose.pitch_offset = -driver_monitoring.descriptor[4] * _CAMERA_FOV_Y  # positive y is down
    self.driver_distracted = self._is_driver_distracted(self.pose)
    # first order filters
-    self.driver_distraction_level = (1. - _DISTRACTED_FILTER_K) * self.driver_distraction_level + \
-                                    _DISTRACTED_FILTER_K * self.driver_distracted
+    self.driver_distraction_filter.update(self.driver_distracted)
    self.variance_high = driver_monitoring.std > _STD_THRESHOLD
-    self.variance_level = (1. - _VARIANCE_FILTER_K) * self.variance_level + \
-                          _VARIANCE_FILTER_K * self.variance_high
+    self.variance_filter.update(self.variance_high)

    monitor_param_on_prev = self.monitor_param_on
    monitor_valid_prev = self.monitor_valid
@ -105,7 +102,7 @@ class DriverStatus():
      self.monitor_param_on = params.get("IsDriverMonitoringEnabled") == "1"
      self.ts_last_check = ts

-    self.monitor_valid = _monitor_hysteresys(self.variance_level, monitor_valid_prev)
+    self.monitor_valid = _monitor_hysteresys(self.variance_filter.x, monitor_valid_prev)
    self.monitor_on = self.monitor_valid and self.monitor_param_on
    if monitor_param_on_prev != self.monitor_param_on:
      self._reset_filters()
@ -114,13 +111,13 @@ class DriverStatus():

  def update(self, events, driver_engaged, ctrl_active, standstill):

-    driver_engaged |= (self.driver_distraction_level < 0.37 and self.monitor_on)
+    driver_engaged |= (self.driver_distraction_filter.x < 0.37 and self.monitor_on)

    if (driver_engaged and self.awareness > 0.) or not ctrl_active:
      # always reset if driver is in control (unless we are in red alert state) or op isn't active
      self.awareness = 1.

-    if (not self.monitor_on or (self.driver_distraction_level > 0.63 and self.driver_distracted)) and \
+    if (not self.monitor_on or (self.driver_distraction_filter.x > 0.63 and self.driver_distracted)) and \
       not (standstill and self.awareness - self.step_change <= self.threshold_prompt):
      self.awareness = max(self.awareness - self.step_change, -0.1)

@ -142,11 +139,11 @@ class DriverStatus():

 if __name__ == "__main__":
  ds = DriverStatus(True)
-  ds.driver_distraction_level = 1.
+  ds.driver_distraction_filter.x = 0.
  ds.driver_distracted = 1
-  for i in range(1000):
-    ds.update([], False, True, True)
-    print(ds.awareness, ds.driver_distracted, ds.driver_distraction_level)
+  for i in range(10):
+    ds.update([], False, True, False)
+    print(ds.awareness, ds.driver_distracted, ds.driver_distraction_filter.x)
  ds.update([], True, True, False)
-  print(ds.awareness, ds.driver_distracted, ds.driver_distraction_level)
+  print(ds.awareness, ds.driver_distracted, ds.driver_distraction_filter.x)

--- a/selfdrive/controls/lib/lateral_mpc/Makefile
+++ b/selfdrive/controls/lib/lateral_mpc/Makefile
@ -20,58 +20,49 @@ ACADO_LIBS := -L $(PHONELIBS)/acado/x64/lib -l:libacado_toolkit.a -l:libacado_ca
 endif

 OBJS = \
-  qp/Bounds.o \
-  qp/Constraints.o \
-  qp/CyclingManager.o \
-  qp/Indexlist.o \
-  qp/MessageHandling.o \
-  qp/QProblem.o \
-  qp/QProblemB.o \
-  qp/SubjectTo.o \
-  qp/Utils.o \
-  qp/EXTRAS/SolutionAnalysis.o \
-	mpc_export/acado_qpoases_interface.o \
-  mpc_export/acado_integrator.o \
-  mpc_export/acado_solver.o \
-  mpc_export/acado_auxiliary_functions.o \
-  mpc.o
+  lib_qp/Bounds.o \
+  lib_qp/Constraints.o \
+  lib_qp/CyclingManager.o \
+  lib_qp/Indexlist.o \
+  lib_qp/MessageHandling.o \
+  lib_qp/QProblem.o \
+  lib_qp/QProblemB.o \
+  lib_qp/SubjectTo.o \
+  lib_qp/Utils.o \
+  lib_qp/EXTRAS/SolutionAnalysis.o \
+	lib_mpc_export/acado_qpoases_interface.o \
+  lib_mpc_export/acado_integrator.o \
+  lib_mpc_export/acado_solver.o \
+  lib_mpc_export/acado_auxiliary_functions.o \
+  lateral_mpc.o

 DEPS := $(OBJS:.o=.d)

 .PHONY: all
-all: libcommampc.so
+all: libmpc.so

-libcommampc.so: $(OBJS)
+libmpc.so: $(OBJS)
 	$(CXX) -shared -o '$@' $^ -lm

-
-qp/%.o: $(PHONELIBS)/qpoases/SRC/%.cpp
-	@echo "[ CXX ] $@"
-	mkdir -p qp
-	$(CXX) $(CXXFLAGS) -MMD \
-           -I mpc_export/ \
-           $(QPOASES_FLAGS) \
-           -c -o '$@' '$<'
-
-qp/EXTRAS/%.o: $(PHONELIBS)/qpoases/SRC/EXTRAS/%.cpp
+lib_qp/%.o: $(PHONELIBS)/qpoases/SRC/%.cpp
 	@echo "[ CXX ] $@"
-	mkdir -p qp/EXTRAS
+	mkdir -p lib_qp/EXTRAS
 	$(CXX) $(CXXFLAGS) -MMD \
-           -I mpc_export/ \
+           -I lib_mpc_export/ \
           $(QPOASES_FLAGS) \
           -c -o '$@' '$<'

 %.o: %.cpp
 	@echo "[ CXX ] $@"
 	$(CXX) $(CXXFLAGS) -MMD \
-           -I mpc_export/ \
+           -I lib_mpc_export/ \
           $(QPOASES_FLAGS) \
           -c -o '$@' '$<'

 %.o: %.c
 	@echo "[ CC ] $@"
 	$(CC) $(CFLAGS) -MMD \
-           -I mpc_export/ \
+           -I lib_mpc_export/ \
           $(QPOASES_FLAGS) \
           -c -o '$@' '$<'

@ -88,6 +79,6 @@ generate: generator

 .PHONY: clean
 clean:
-	rm -f libcommampc.so generator $(OBJS) $(DEPS)
+	rm -f *.so generator $(OBJS) $(DEPS)

 -include $(DEPS)
--- a/selfdrive/controls/lib/lateral_mpc/generator.cpp
+++ b/selfdrive/controls/lib/lateral_mpc/generator.cpp
@ -141,7 +141,7 @@ int main( )
  mpc.set( GENERATE_MATLAB_INTERFACE, NO );
  mpc.set( GENERATE_SIMULINK_INTERFACE, NO );

-  if (mpc.exportCode( "mpc_export" ) != SUCCESSFUL_RETURN)
+  if (mpc.exportCode( "lib_mpc_export" ) != SUCCESSFUL_RETURN)
    exit( EXIT_FAILURE );

  mpc.printDimensionsQP( );
--- a/selfdrive/controls/lib/lateral_mpc/lateral_mpc.c
+++ b/selfdrive/controls/lib/lateral_mpc/lateral_mpc.c
--- a/selfdrive/controls/lib/lateral_mpc/lateral_mpc.d
+++ b/selfdrive/controls/lib/lateral_mpc/lateral_mpc.d
@ -0,0 +1,3 @@
+lateral_mpc.o: lateral_mpc.c lib_mpc_export/acado_common.h \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  lib_mpc_export/acado_auxiliary_functions.h
--- a/selfdrive/controls/lib/lateral_mpc/lateral_mpc.o
+++ b/selfdrive/controls/lib/lateral_mpc/lateral_mpc.o
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_auxiliary_functions.c
+++ b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_auxiliary_functions.c
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_auxiliary_functions.d
+++ b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_auxiliary_functions.d
@ -0,0 +1,5 @@
+lib_mpc_export/acado_auxiliary_functions.o: \
+  lib_mpc_export/acado_auxiliary_functions.c \
+  lib_mpc_export/acado_auxiliary_functions.h \
+  lib_mpc_export/acado_common.h \
+  lib_mpc_export/acado_qpoases_interface.hpp
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_auxiliary_functions.h
+++ b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_auxiliary_functions.h
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_auxiliary_functions.o
+++ b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_auxiliary_functions.o
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_common.h
+++ b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_common.h
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_integrator.c
+++ b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_integrator.c
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_integrator.d
+++ b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_integrator.d
@ -0,0 +1,3 @@
+lib_mpc_export/acado_integrator.o: lib_mpc_export/acado_integrator.c \
+  lib_mpc_export/acado_common.h \
+  lib_mpc_export/acado_qpoases_interface.hpp
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_integrator.o
+++ b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_integrator.o
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_qpoases_interface.cpp
+++ b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_qpoases_interface.cpp
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_qpoases_interface.d
+++ b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_qpoases_interface.d
@ -0,0 +1,24 @@
+lib_mpc_export/acado_qpoases_interface.o: \
+  lib_mpc_export/acado_qpoases_interface.cpp \
+  lib_mpc_export/acado_common.h \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/QProblem.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/QProblemB.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Bounds.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
+  ../../../../phonelibs/qpoases/SRC/Utils.ipp \
+  ../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
+  ../../../../phonelibs/qpoases/SRC/SubjectTo.ipp \
+  ../../../../phonelibs/qpoases/SRC/Bounds.ipp \
+  ../../../../phonelibs/qpoases/SRC/QProblemB.ipp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constraints.hpp \
+  ../../../../phonelibs/qpoases/SRC/Constraints.ipp \
+  ../../../../phonelibs/qpoases/INCLUDE/CyclingManager.hpp \
+  ../../../../phonelibs/qpoases/SRC/CyclingManager.ipp \
+  ../../../../phonelibs/qpoases/SRC/QProblem.ipp
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_qpoases_interface.hpp
+++ b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_qpoases_interface.hpp
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_qpoases_interface.o
+++ b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_qpoases_interface.o
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_solver.c
+++ b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_solver.c
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_solver.d
+++ b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_solver.d
@ -0,0 +1,3 @@
+lib_mpc_export/acado_solver.o: lib_mpc_export/acado_solver.c \
+  lib_mpc_export/acado_common.h \
+  lib_mpc_export/acado_qpoases_interface.hpp
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_solver.o
+++ b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_solver.o
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/Bounds.d
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/Bounds.d
@ -0,0 +1,14 @@
+lib_qp/Bounds.o: ../../../../phonelibs/qpoases/SRC/Bounds.cpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Bounds.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
+  ../../../../phonelibs/qpoases/SRC/Utils.ipp \
+  ../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
+  ../../../../phonelibs/qpoases/SRC/SubjectTo.ipp \
+  ../../../../phonelibs/qpoases/SRC/Bounds.ipp
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/Bounds.o
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/Bounds.o
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/Constraints.d
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/Constraints.d
@ -0,0 +1,14 @@
+lib_qp/Constraints.o: ../../../../phonelibs/qpoases/SRC/Constraints.cpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constraints.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
+  ../../../../phonelibs/qpoases/SRC/Utils.ipp \
+  ../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
+  ../../../../phonelibs/qpoases/SRC/SubjectTo.ipp \
+  ../../../../phonelibs/qpoases/SRC/Constraints.ipp
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/Constraints.o
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/Constraints.o
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/CyclingManager.d
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/CyclingManager.d
@ -0,0 +1,11 @@
+lib_qp/CyclingManager.o: \
+  ../../../../phonelibs/qpoases/SRC/CyclingManager.cpp \
+  ../../../../phonelibs/qpoases/INCLUDE/CyclingManager.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
+  ../../../../phonelibs/qpoases/SRC/Utils.ipp \
+  ../../../../phonelibs/qpoases/SRC/CyclingManager.ipp
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/CyclingManager.o
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/CyclingManager.o
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/EXTRAS/SolutionAnalysis.d
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/EXTRAS/SolutionAnalysis.d
@ -0,0 +1,24 @@
+lib_qp/EXTRAS/SolutionAnalysis.o: \
+  ../../../../phonelibs/qpoases/SRC/EXTRAS/SolutionAnalysis.cpp \
+  ../../../../phonelibs/qpoases/INCLUDE/EXTRAS/SolutionAnalysis.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/QProblem.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/QProblemB.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Bounds.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
+  ../../../../phonelibs/qpoases/SRC/Utils.ipp \
+  ../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
+  ../../../../phonelibs/qpoases/SRC/SubjectTo.ipp \
+  ../../../../phonelibs/qpoases/SRC/Bounds.ipp \
+  ../../../../phonelibs/qpoases/SRC/QProblemB.ipp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constraints.hpp \
+  ../../../../phonelibs/qpoases/SRC/Constraints.ipp \
+  ../../../../phonelibs/qpoases/INCLUDE/CyclingManager.hpp \
+  ../../../../phonelibs/qpoases/SRC/CyclingManager.ipp \
+  ../../../../phonelibs/qpoases/SRC/QProblem.ipp
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/EXTRAS/SolutionAnalysis.o
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/EXTRAS/SolutionAnalysis.o
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/Indexlist.d
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/Indexlist.d
@ -0,0 +1,10 @@
+lib_qp/Indexlist.o: ../../../../phonelibs/qpoases/SRC/Indexlist.cpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
+  ../../../../phonelibs/qpoases/SRC/Utils.ipp \
+  ../../../../phonelibs/qpoases/SRC/Indexlist.ipp
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/Indexlist.o
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/Indexlist.o
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/MessageHandling.d
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/MessageHandling.d
@ -0,0 +1,9 @@
+lib_qp/MessageHandling.o: \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.cpp \
+  ../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
+  ../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
+  ../../../../phonelibs/qpoases/SRC/Utils.ipp
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/MessageHandling.o
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/MessageHandling.o
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/QProblem.d
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/QProblem.d
@ -0,0 +1,22 @@
+lib_qp/QProblem.o: ../../../../phonelibs/qpoases/SRC/QProblem.cpp \
+  ../../../../phonelibs/qpoases/INCLUDE/QProblem.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/QProblemB.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Bounds.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
+  ../../../../phonelibs/qpoases/SRC/Utils.ipp \
+  ../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
+  ../../../../phonelibs/qpoases/SRC/SubjectTo.ipp \
+  ../../../../phonelibs/qpoases/SRC/Bounds.ipp \
+  ../../../../phonelibs/qpoases/SRC/QProblemB.ipp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constraints.hpp \
+  ../../../../phonelibs/qpoases/SRC/Constraints.ipp \
+  ../../../../phonelibs/qpoases/INCLUDE/CyclingManager.hpp \
+  ../../../../phonelibs/qpoases/SRC/CyclingManager.ipp \
+  ../../../../phonelibs/qpoases/SRC/QProblem.ipp
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/QProblem.o
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/QProblem.o
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/QProblemB.d
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/QProblemB.d
@ -0,0 +1,16 @@
+lib_qp/QProblemB.o: ../../../../phonelibs/qpoases/SRC/QProblemB.cpp \
+  ../../../../phonelibs/qpoases/INCLUDE/QProblemB.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Bounds.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
+  ../../../../phonelibs/qpoases/SRC/Utils.ipp \
+  ../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
+  ../../../../phonelibs/qpoases/SRC/SubjectTo.ipp \
+  ../../../../phonelibs/qpoases/SRC/Bounds.ipp \
+  ../../../../phonelibs/qpoases/SRC/QProblemB.ipp
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/QProblemB.o
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/QProblemB.o
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/SubjectTo.d
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/SubjectTo.d
@ -0,0 +1,12 @@
+lib_qp/SubjectTo.o: ../../../../phonelibs/qpoases/SRC/SubjectTo.cpp \
+  ../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
+  ../../../../phonelibs/qpoases/SRC/Utils.ipp \
+  ../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
+  ../../../../phonelibs/qpoases/SRC/SubjectTo.ipp
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/SubjectTo.o
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/SubjectTo.o
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/Utils.d
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/Utils.d
@ -0,0 +1,8 @@
+lib_qp/Utils.o: ../../../../phonelibs/qpoases/SRC/Utils.cpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
+  ../../../../phonelibs/qpoases/SRC/Utils.ipp
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/Utils.o
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/Utils.o
--- a/selfdrive/controls/lib/lateral_mpc/libmpc.so
+++ b/selfdrive/controls/lib/lateral_mpc/libmpc.so
--- a/selfdrive/controls/lib/lateral_mpc/libmpc_py.py
+++ b/selfdrive/controls/lib/lateral_mpc/libmpc_py.py
@ -4,7 +4,7 @@ import subprocess
 from cffi import FFI

 mpc_dir = os.path.dirname(os.path.abspath(__file__))
-libmpc_fn = os.path.join(mpc_dir, "libcommampc.so")
+libmpc_fn = os.path.join(mpc_dir, "libmpc.so")
 subprocess.check_call(["make", "-j4"], cwd=mpc_dir)

 ffi = FFI()
--- a/selfdrive/controls/lib/longitudinal_mpc/Makefile
+++ b/selfdrive/controls/lib/longitudinal_mpc/Makefile
@ -19,60 +19,52 @@ ACADO_LIBS := -L $(PHONELIBS)/acado/x64/lib -l:libacado_toolkit.a -l:libacado_ca
 endif

 OBJS = \
-  qp/Bounds.o \
-  qp/Constraints.o \
-  qp/CyclingManager.o \
-  qp/Indexlist.o \
-  qp/MessageHandling.o \
-  qp/QProblem.o \
-  qp/QProblemB.o \
-  qp/SubjectTo.o \
-  qp/Utils.o \
-  qp/EXTRAS/SolutionAnalysis.o \
-	mpc_export/acado_qpoases_interface.o \
-  mpc_export/acado_integrator.o \
-  mpc_export/acado_solver.o \
-  mpc_export/acado_auxiliary_functions.o \
-  mpc.o
+  lib_qp/Bounds.o \
+  lib_qp/Constraints.o \
+  lib_qp/CyclingManager.o \
+  lib_qp/Indexlist.o \
+  lib_qp/MessageHandling.o \
+  lib_qp/QProblem.o \
+  lib_qp/QProblemB.o \
+  lib_qp/SubjectTo.o \
+  lib_qp/Utils.o \
+  lib_qp/EXTRAS/SolutionAnalysis.o \
+	lib_mpc_export/acado_qpoases_interface.o \
+  lib_mpc_export/acado_integrator.o \
+  lib_mpc_export/acado_solver.o \
+  lib_mpc_export/acado_auxiliary_functions.o \
+  longitudinal_mpc.o

 DEPS := $(OBJS:.o=.d)

 .PHONY: all
-all: libcommampc1.so libcommampc2.so
+all: libmpc1.so libmpc2.so

-libcommampc1.so: $(OBJS)
+libmpc1.so: $(OBJS)
 	$(CXX) -shared -o '$@' $^ -lm

-libcommampc2.so: libcommampc1.so
-	cp libcommampc1.so libcommampc2.so
+libmpc2.so: libmpc1.so
+	cp libmpc1.so libmpc2.so

-qp/%.o: $(PHONELIBS)/qpoases/SRC/%.cpp
+lib_qp/%.o: $(PHONELIBS)/qpoases/SRC/%.cpp
 	@echo "[ CXX ] $@"
-	mkdir -p qp
+	mkdir -p lib_qp/EXTRAS
 	$(CXX) $(CXXFLAGS) -MMD \
-           -I mpc_export/ \
-           $(QPOASES_FLAGS) \
-           -c -o '$@' '$<'
-
-qp/EXTRAS/%.o: $(PHONELIBS)/qpoases/SRC/EXTRAS/%.cpp
-	@echo "[ CXX ] $@"
-	mkdir -p qp/EXTRAS
-	$(CXX) $(CXXFLAGS) -MMD \
-           -I mpc_export/ \
+           -I lib_mpc_export/ \
           $(QPOASES_FLAGS) \
           -c -o '$@' '$<'

 %.o: %.cpp
 	@echo "[ CXX ] $@"
 	$(CXX) $(CXXFLAGS) -MMD \
-           -I mpc_export/ \
+           -I lib_mpc_export/ \
           $(QPOASES_FLAGS) \
           -c -o '$@' '$<'

 %.o: %.c
 	@echo "[ CC ] $@"
 	$(CC) $(CFLAGS) -MMD \
-           -I mpc_export/ \
+           -I lib_mpc_export/ \
           $(QPOASES_FLAGS) \
           -c -o '$@' '$<'

@ -89,6 +81,6 @@ generate: generator

 .PHONY: clean
 clean:
-	rm -f libcommampc1.so libcommampc2.so generator $(OBJS) $(DEPS)
+	rm -f *.so generator $(OBJS) $(DEPS)

 -include $(DEPS)
--- a/selfdrive/controls/lib/longitudinal_mpc/generator.cpp
+++ b/selfdrive/controls/lib/longitudinal_mpc/generator.cpp
@ -18,15 +18,18 @@ int main( )
  DifferentialEquation f;

  DifferentialState x_ego, v_ego, a_ego;
-  DifferentialState x_l, v_l, a_l;
+  DifferentialState x_l, v_l, t;

-  OnlineData lambda;
+  OnlineData lambda, a_l_0;

  Control j_ego;

  auto desired = 4.0 + RW(v_ego, v_l);
  auto d_l = x_l - x_ego;

+  // Directly calculate a_l to prevent instabilites due to discretization
+  auto a_l = a_l_0 * exp(-lambda * t * t / 2);
+
  // Equations of motion
  f << dot(x_ego) == v_ego;
  f << dot(v_ego) == a_ego;
@ -34,7 +37,7 @@ int main( )

  f << dot(x_l) == v_l;
  f << dot(v_l) == a_l;
-  f << dot(a_l) == -lambda * a_l;
+  f << dot(t) == 1;

  // Running cost
  Function h;
@ -76,7 +79,7 @@ int main( )
  ocp.minimizeLSQEndTerm(QN, hN);

  ocp.subjectTo( 0.0 <= v_ego);
-  ocp.setNOD(1);
+  ocp.setNOD(2);

  OCPexport mpc(ocp);
  mpc.set( HESSIAN_APPROXIMATION, GAUSS_NEWTON );
@ -94,7 +97,7 @@ int main( )
  mpc.set( GENERATE_MATLAB_INTERFACE, NO );
  mpc.set( GENERATE_SIMULINK_INTERFACE, NO );

-  if (mpc.exportCode( "mpc_export" ) != SUCCESSFUL_RETURN)
+  if (mpc.exportCode( "lib_mpc_export" ) != SUCCESSFUL_RETURN)
    exit( EXIT_FAILURE );

  mpc.printDimensionsQP( );
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_auxiliary_functions.c
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_auxiliary_functions.c
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_auxiliary_functions.d
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_auxiliary_functions.d
@ -0,0 +1,5 @@
+lib_mpc_export/acado_auxiliary_functions.o: \
+  lib_mpc_export/acado_auxiliary_functions.c \
+  lib_mpc_export/acado_auxiliary_functions.h \
+  lib_mpc_export/acado_common.h \
+  lib_mpc_export/acado_qpoases_interface.hpp
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_auxiliary_functions.h
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_auxiliary_functions.h
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_auxiliary_functions.o
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_auxiliary_functions.o
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_common.h
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_common.h
@ -64,7 +64,7 @@ extern "C"
 /** Number of control/estimation intervals. */
 #define ACADO_N 20
 /** Number of online data values. */
-#define ACADO_NOD 1
+#define ACADO_NOD 2
 /** Number of path constraints. */
 #define ACADO_NPAC 0
 /** Number of control variables. */
@ -114,11 +114,11 @@ real_t x[ 126 ];
 */
 real_t u[ 20 ];

-/** Column vector of size: 21
+/** Matrix of size: 21 x 2 (row major format)
 * 
 *  Matrix containing 21 online data vectors.
 */
-real_t od[ 21 ];
+real_t od[ 42 ];

 /** Column vector of size: 80
 * 
@ -155,16 +155,19 @@ real_t x0[ 6 ];
 */
 typedef struct ACADOworkspace_
 {
+/** Column vector of size: 10 */
+real_t rhs_aux[ 10 ];
+
 real_t rk_ttt;

-/** Row vector of size: 50 */
-real_t rk_xxx[ 50 ];
+/** Row vector of size: 51 */
+real_t rk_xxx[ 51 ];

 /** Matrix of size: 4 x 48 (row major format) */
 real_t rk_kkk[ 192 ];

-/** Row vector of size: 50 */
-real_t state[ 50 ];
+/** Row vector of size: 51 */
+real_t state[ 51 ];

 /** Column vector of size: 120 */
 real_t d[ 120 ];
@ -184,8 +187,8 @@ real_t evGu[ 120 ];
 /** Column vector of size: 30 */
 real_t objAuxVar[ 30 ];

-/** Row vector of size: 8 */
-real_t objValueIn[ 8 ];
+/** Row vector of size: 9 */
+real_t objValueIn[ 9 ];

 /** Row vector of size: 32 */
 real_t objValueOut[ 32 ];
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_integrator.c
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_integrator.c
@ -25,14 +25,28 @@ void acado_rhs_forw(const real_t* in, real_t* out)
 const real_t* xd = in;
 const real_t* u = in + 48;
 const real_t* od = in + 49;
+/* Vector of auxiliary variables; number of elements: 10. */
+real_t* a = acadoWorkspace.rhs_aux;
+
+/* Compute intermediate quantities: */
+a[0] = (exp((((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[5])/(real_t)(2.0000000000000000e+00))));
+a[1] = ((real_t)(1.0000000000000000e+00)/(real_t)(2.0000000000000000e+00));
+a[2] = (exp((((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[5])/(real_t)(2.0000000000000000e+00))));
+a[3] = (((((((real_t)(0.0000000000000000e+00)-od[0])*xd[36])*xd[5])+((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[36]))*a[1])*a[2]);
+a[4] = (((((((real_t)(0.0000000000000000e+00)-od[0])*xd[37])*xd[5])+((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[37]))*a[1])*a[2]);
+a[5] = (((((((real_t)(0.0000000000000000e+00)-od[0])*xd[38])*xd[5])+((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[38]))*a[1])*a[2]);
+a[6] = (((((((real_t)(0.0000000000000000e+00)-od[0])*xd[39])*xd[5])+((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[39]))*a[1])*a[2]);
+a[7] = (((((((real_t)(0.0000000000000000e+00)-od[0])*xd[40])*xd[5])+((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[40]))*a[1])*a[2]);
+a[8] = (((((((real_t)(0.0000000000000000e+00)-od[0])*xd[41])*xd[5])+((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[41]))*a[1])*a[2]);
+a[9] = (((((((real_t)(0.0000000000000000e+00)-od[0])*xd[47])*xd[5])+((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[47]))*a[1])*a[2]);

 /* Compute outputs: */
 out[0] = xd[1];
 out[1] = xd[2];
 out[2] = u[0];
 out[3] = xd[4];
-out[4] = xd[5];
-out[5] = (((real_t)(0.0000000000000000e+00)-od[0])*xd[5]);
+out[4] = (od[1]*a[0]);
+out[5] = (real_t)(1.0000000000000000e+00);
 out[6] = xd[12];
 out[7] = xd[13];
 out[8] = xd[14];
@ -57,24 +71,24 @@ out[26] = xd[32];
 out[27] = xd[33];
 out[28] = xd[34];
 out[29] = xd[35];
-out[30] = xd[36];
-out[31] = xd[37];
-out[32] = xd[38];
-out[33] = xd[39];
-out[34] = xd[40];
-out[35] = xd[41];
-out[36] = (((real_t)(0.0000000000000000e+00)-od[0])*xd[36]);
-out[37] = (((real_t)(0.0000000000000000e+00)-od[0])*xd[37]);
-out[38] = (((real_t)(0.0000000000000000e+00)-od[0])*xd[38]);
-out[39] = (((real_t)(0.0000000000000000e+00)-od[0])*xd[39]);
-out[40] = (((real_t)(0.0000000000000000e+00)-od[0])*xd[40]);
-out[41] = (((real_t)(0.0000000000000000e+00)-od[0])*xd[41]);
+out[30] = (od[1]*a[3]);
+out[31] = (od[1]*a[4]);
+out[32] = (od[1]*a[5]);
+out[33] = (od[1]*a[6]);
+out[34] = (od[1]*a[7]);
+out[35] = (od[1]*a[8]);
+out[36] = (real_t)(0.0000000000000000e+00);
+out[37] = (real_t)(0.0000000000000000e+00);
+out[38] = (real_t)(0.0000000000000000e+00);
+out[39] = (real_t)(0.0000000000000000e+00);
+out[40] = (real_t)(0.0000000000000000e+00);
+out[41] = (real_t)(0.0000000000000000e+00);
 out[42] = xd[43];
 out[43] = xd[44];
 out[44] = (real_t)(1.0000000000000000e+00);
 out[45] = xd[46];
-out[46] = xd[47];
-out[47] = (((real_t)(0.0000000000000000e+00)-od[0])*xd[47]);
+out[46] = (od[1]*a[9]);
+out[47] = (real_t)(0.0000000000000000e+00);
 }

 /* Fixed step size:0.2 */
@ -130,6 +144,7 @@ rk_eta[46] = 0.0000000000000000e+00;
 rk_eta[47] = 0.0000000000000000e+00;
 acadoWorkspace.rk_xxx[48] = rk_eta[48];
 acadoWorkspace.rk_xxx[49] = rk_eta[49];
+acadoWorkspace.rk_xxx[50] = rk_eta[50];

 for (run1 = 0; run1 < 1; ++run1)
 {
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_integrator.d
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_integrator.d
@ -0,0 +1,3 @@
+lib_mpc_export/acado_integrator.o: lib_mpc_export/acado_integrator.c \
+  lib_mpc_export/acado_common.h \
+  lib_mpc_export/acado_qpoases_interface.hpp
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_integrator.o
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_integrator.o
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.cpp
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.cpp
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.d
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.d
@ -0,0 +1,24 @@
+lib_mpc_export/acado_qpoases_interface.o: \
+  lib_mpc_export/acado_qpoases_interface.cpp \
+  lib_mpc_export/acado_common.h \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/QProblem.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/QProblemB.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Bounds.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
+  ../../../../phonelibs/qpoases/SRC/Utils.ipp \
+  ../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
+  ../../../../phonelibs/qpoases/SRC/SubjectTo.ipp \
+  ../../../../phonelibs/qpoases/SRC/Bounds.ipp \
+  ../../../../phonelibs/qpoases/SRC/QProblemB.ipp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constraints.hpp \
+  ../../../../phonelibs/qpoases/SRC/Constraints.ipp \
+  ../../../../phonelibs/qpoases/INCLUDE/CyclingManager.hpp \
+  ../../../../phonelibs/qpoases/SRC/CyclingManager.ipp \
+  ../../../../phonelibs/qpoases/SRC/QProblem.ipp
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.hpp
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.hpp
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.o
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.o
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.c
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.c
@ -45,7 +45,8 @@ acadoWorkspace.state[4] = acadoVariables.x[lRun1 * 6 + 4];
 acadoWorkspace.state[5] = acadoVariables.x[lRun1 * 6 + 5];

 acadoWorkspace.state[48] = acadoVariables.u[lRun1];
-acadoWorkspace.state[49] = acadoVariables.od[lRun1];
+acadoWorkspace.state[49] = acadoVariables.od[lRun1 * 2];
+acadoWorkspace.state[50] = acadoVariables.od[lRun1 * 2 + 1];

 ret = acado_integrate(acadoWorkspace.state, 1, lRun1);

@ -382,7 +383,8 @@ acadoWorkspace.objValueIn[3] = acadoVariables.x[runObj * 6 + 3];
 acadoWorkspace.objValueIn[4] = acadoVariables.x[runObj * 6 + 4];
 acadoWorkspace.objValueIn[5] = acadoVariables.x[runObj * 6 + 5];
 acadoWorkspace.objValueIn[6] = acadoVariables.u[runObj];
-acadoWorkspace.objValueIn[7] = acadoVariables.od[runObj];
+acadoWorkspace.objValueIn[7] = acadoVariables.od[runObj * 2];
+acadoWorkspace.objValueIn[8] = acadoVariables.od[runObj * 2 + 1];

 acado_evaluateLSQ( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
 acadoWorkspace.Dy[runObj * 4] = acadoWorkspace.objValueOut[0];
@ -401,7 +403,8 @@ acadoWorkspace.objValueIn[2] = acadoVariables.x[122];
 acadoWorkspace.objValueIn[3] = acadoVariables.x[123];
 acadoWorkspace.objValueIn[4] = acadoVariables.x[124];
 acadoWorkspace.objValueIn[5] = acadoVariables.x[125];
-acadoWorkspace.objValueIn[6] = acadoVariables.od[20];
+acadoWorkspace.objValueIn[6] = acadoVariables.od[40];
+acadoWorkspace.objValueIn[7] = acadoVariables.od[41];
 acado_evaluateLSQEndTerm( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );

 acadoWorkspace.DyN[0] = acadoWorkspace.objValueOut[0];
@ -5202,7 +5205,8 @@ acadoWorkspace.state[3] = acadoVariables.x[index * 6 + 3];
 acadoWorkspace.state[4] = acadoVariables.x[index * 6 + 4];
 acadoWorkspace.state[5] = acadoVariables.x[index * 6 + 5];
 acadoWorkspace.state[48] = acadoVariables.u[index];
-acadoWorkspace.state[49] = acadoVariables.od[index];
+acadoWorkspace.state[49] = acadoVariables.od[index * 2];
+acadoWorkspace.state[50] = acadoVariables.od[index * 2 + 1];

 acado_integrate(acadoWorkspace.state, index == 0, index);

@ -5253,7 +5257,8 @@ else
 {
 acadoWorkspace.state[48] = acadoVariables.u[19];
 }
-acadoWorkspace.state[49] = acadoVariables.od[20];
+acadoWorkspace.state[49] = acadoVariables.od[40];
+acadoWorkspace.state[50] = acadoVariables.od[41];

 acado_integrate(acadoWorkspace.state, 1, 19);

@ -5328,7 +5333,8 @@ acadoWorkspace.objValueIn[3] = acadoVariables.x[lRun1 * 6 + 3];
 acadoWorkspace.objValueIn[4] = acadoVariables.x[lRun1 * 6 + 4];
 acadoWorkspace.objValueIn[5] = acadoVariables.x[lRun1 * 6 + 5];
 acadoWorkspace.objValueIn[6] = acadoVariables.u[lRun1];
-acadoWorkspace.objValueIn[7] = acadoVariables.od[lRun1];
+acadoWorkspace.objValueIn[7] = acadoVariables.od[lRun1 * 2];
+acadoWorkspace.objValueIn[8] = acadoVariables.od[lRun1 * 2 + 1];

 acado_evaluateLSQ( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
 acadoWorkspace.Dy[lRun1 * 4] = acadoWorkspace.objValueOut[0] - acadoVariables.y[lRun1 * 4];
@ -5342,7 +5348,8 @@ acadoWorkspace.objValueIn[2] = acadoVariables.x[122];
 acadoWorkspace.objValueIn[3] = acadoVariables.x[123];
 acadoWorkspace.objValueIn[4] = acadoVariables.x[124];
 acadoWorkspace.objValueIn[5] = acadoVariables.x[125];
-acadoWorkspace.objValueIn[6] = acadoVariables.od[20];
+acadoWorkspace.objValueIn[6] = acadoVariables.od[40];
+acadoWorkspace.objValueIn[7] = acadoVariables.od[41];
 acado_evaluateLSQEndTerm( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
 acadoWorkspace.DyN[0] = acadoWorkspace.objValueOut[0] - acadoVariables.yN[0];
 acadoWorkspace.DyN[1] = acadoWorkspace.objValueOut[1] - acadoVariables.yN[1];
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.d
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.d
@ -0,0 +1,3 @@
+lib_mpc_export/acado_solver.o: lib_mpc_export/acado_solver.c \
+  lib_mpc_export/acado_common.h \
+  lib_mpc_export/acado_qpoases_interface.hpp
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.o
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.o
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_qp/Bounds.d
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_qp/Bounds.d
@ -0,0 +1,14 @@
+lib_qp/Bounds.o: ../../../../phonelibs/qpoases/SRC/Bounds.cpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Bounds.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
+  ../../../../phonelibs/qpoases/SRC/Utils.ipp \
+  ../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
+  ../../../../phonelibs/qpoases/SRC/SubjectTo.ipp \
+  ../../../../phonelibs/qpoases/SRC/Bounds.ipp
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_qp/Bounds.o
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_qp/Bounds.o
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_qp/Constraints.d
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_qp/Constraints.d
@ -0,0 +1,14 @@
+lib_qp/Constraints.o: ../../../../phonelibs/qpoases/SRC/Constraints.cpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constraints.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
+  ../../../../phonelibs/qpoases/SRC/Utils.ipp \
+  ../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
+  ../../../../phonelibs/qpoases/SRC/SubjectTo.ipp \
+  ../../../../phonelibs/qpoases/SRC/Constraints.ipp
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_qp/Constraints.o
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_qp/Constraints.o
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_qp/CyclingManager.d
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_qp/CyclingManager.d
@ -0,0 +1,11 @@
+lib_qp/CyclingManager.o: \
+  ../../../../phonelibs/qpoases/SRC/CyclingManager.cpp \
+  ../../../../phonelibs/qpoases/INCLUDE/CyclingManager.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
+  ../../../../phonelibs/qpoases/SRC/Utils.ipp \
+  ../../../../phonelibs/qpoases/SRC/CyclingManager.ipp
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_qp/CyclingManager.o
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_qp/CyclingManager.o
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_qp/EXTRAS/SolutionAnalysis.d
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_qp/EXTRAS/SolutionAnalysis.d
@ -0,0 +1,24 @@
+lib_qp/EXTRAS/SolutionAnalysis.o: \
+  ../../../../phonelibs/qpoases/SRC/EXTRAS/SolutionAnalysis.cpp \
+  ../../../../phonelibs/qpoases/INCLUDE/EXTRAS/SolutionAnalysis.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/QProblem.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/QProblemB.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Bounds.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
+  ../../../../phonelibs/qpoases/SRC/Utils.ipp \
+  ../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
+  ../../../../phonelibs/qpoases/SRC/SubjectTo.ipp \
+  ../../../../phonelibs/qpoases/SRC/Bounds.ipp \
+  ../../../../phonelibs/qpoases/SRC/QProblemB.ipp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constraints.hpp \
+  ../../../../phonelibs/qpoases/SRC/Constraints.ipp \
+  ../../../../phonelibs/qpoases/INCLUDE/CyclingManager.hpp \
+  ../../../../phonelibs/qpoases/SRC/CyclingManager.ipp \
+  ../../../../phonelibs/qpoases/SRC/QProblem.ipp
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_qp/EXTRAS/SolutionAnalysis.o
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_qp/EXTRAS/SolutionAnalysis.o
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_qp/Indexlist.d
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_qp/Indexlist.d
@ -0,0 +1,10 @@
+lib_qp/Indexlist.o: ../../../../phonelibs/qpoases/SRC/Indexlist.cpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
+  ../../../../phonelibs/qpoases/SRC/Utils.ipp \
+  ../../../../phonelibs/qpoases/SRC/Indexlist.ipp
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_qp/Indexlist.o
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_qp/Indexlist.o
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_qp/MessageHandling.d
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_qp/MessageHandling.d
@ -0,0 +1,9 @@
+lib_qp/MessageHandling.o: \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.cpp \
+  ../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
+  ../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
+  ../../../../phonelibs/qpoases/SRC/Utils.ipp
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_qp/MessageHandling.o
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_qp/MessageHandling.o
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_qp/QProblem.d
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_qp/QProblem.d
@ -0,0 +1,22 @@
+lib_qp/QProblem.o: ../../../../phonelibs/qpoases/SRC/QProblem.cpp \
+  ../../../../phonelibs/qpoases/INCLUDE/QProblem.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/QProblemB.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Bounds.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
+  ../../../../phonelibs/qpoases/SRC/Utils.ipp \
+  ../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
+  ../../../../phonelibs/qpoases/SRC/SubjectTo.ipp \
+  ../../../../phonelibs/qpoases/SRC/Bounds.ipp \
+  ../../../../phonelibs/qpoases/SRC/QProblemB.ipp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constraints.hpp \
+  ../../../../phonelibs/qpoases/SRC/Constraints.ipp \
+  ../../../../phonelibs/qpoases/INCLUDE/CyclingManager.hpp \
+  ../../../../phonelibs/qpoases/SRC/CyclingManager.ipp \
+  ../../../../phonelibs/qpoases/SRC/QProblem.ipp
--- a/Show More
+++ b/Show More