Merge remote-tracking branch 'upstream/master' into rl-multilang

opendbc_repo

@@ -1 +1 @@
-Subproject commit dfa6807ebf9f0edb593189a703b857c834a88a75
+Subproject commit b59f8bdcca8d375b4a5a652d2f2d2ec9cd3503d3

selfdrive/car/tests/test_models.py

@@ -183,7 +183,7 @@ class TestCarModelBase(unittest.TestCase):
       if tuning == 'pid':
         self.assertTrue(len(self.CP.lateralTuning.pid.kpV))
       elif tuning == 'torque':
-        self.assertTrue(self.CP.lateralTuning.torque.kf > 0)
+        self.assertTrue(self.CP.lateralTuning.torque.latAccelFactor > 0)
       else:
         raise Exception("unknown tuning")
 

selfdrive/controls/lib/latcontrol_torque.py

@@ -24,6 +24,9 @@ from openpilot.common.pid import PIDController
 
 LOW_SPEED_X = [0, 10, 20, 30]
 LOW_SPEED_Y = [15, 13, 10, 5]
+KP = 1.0
+KI = 0.3
+KD = 0.0
 
 
 class LatControlTorque(LatControl):
@@ -32,7 +35,7 @@ class LatControlTorque(LatControl):
     self.torque_params = CP.lateralTuning.torque.as_builder()
     self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
     self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
-    self.pid = PIDController(self.torque_params.kp, self.torque_params.ki, rate=1/self.dt)
+    self.pid = PIDController(KP, KI, k_d=KD, rate=1/self.dt)
     self.update_limits()
     self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
     self.LATACCEL_REQUEST_BUFFER_NUM_FRAMES = int(1 / self.dt)
@@ -76,7 +79,7 @@ class LatControlTorque(LatControl):
       low_speed_factor = (np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y) / max(CS.vEgo, MIN_SPEED)) ** 2
       setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel
       error = setpoint - measurement
-      error_lsf = error + low_speed_factor / self.torque_params.kp * error
+      error_lsf = error + low_speed_factor / KP * error
 
       # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
       pid_log.error = float(error_lsf)

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-5342f5684c2498a33d6178f3b59efd5e83b73acc
+55e82ab6370865a1427ebc1d559921a5354d9cbf

selfdrive/ui/tests/test_translations.py

@@ -93,7 +93,7 @@ class TestTranslations:
   def test_bad_language(self):
     IGNORED_WORDS = {'pédale'}
 
-    match = re.search(r'_([a-zA-Z]{2,3})', self.file)
+    match = re.search(r'([a-zA-Z]{2,3})', self.file)
     assert match, f"{self.name} - could not parse language"
 
     try:

selfdrive/ui/translations/languages.json

@@ -1,14 +1,14 @@
 {
-  "English": "main_en",
+  "English": "en",
-  "Deutsch": "main_de",
+  "Deutsch": "de",
-  "Français": "main_fr",
+  "Français": "fr",
-  "Português": "main_pt-BR",
+  "Português": "pt-BR",
-  "Español": "main_es",
+  "Español": "es",
-  "Türkçe": "main_tr",
+  "Türkçe": "tr",
-  "العربية": "main_ar",
+  "العربية": "ar",
-  "ไทย": "main_th",
+  "ไทย": "th",
-  "中文（繁體）": "main_zh-CHT",
+  "中文（繁體）": "zh-CHT",
-  "中文（简体）": "main_zh-CHS",
+  "中文（简体）": "zh-CHS",
-  "한국어": "main_ko",
+  "한국어": "ko",
-  "日本語": "main_ja"
+  "日本語": "ja"
 }

tools/op.sh

@@ -284,7 +284,7 @@ function op_venv() {
 
 function op_adb() {
   op_before_cmd
-  op_run_command tools/scripts/adb_ssh.sh
+  op_run_command tools/scripts/adb_ssh.sh "$@"
 }
 
 function op_ssh() {

tools/scripts/adb_ssh.sh

@@ -4,4 +4,4 @@ set -e
 # this is a little nicer than "adb shell" since
 # "adb shell" doesn't do full terminal emulation
 adb forward tcp:2222 tcp:22
-ssh comma@localhost -p 2222
+ssh comma@localhost -p 2222 "$@"