From b81f0caf62064d7a35e03db9f3ad786c600c6834 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Thu, 19 Sep 2024 16:56:39 -0400 Subject: [PATCH] small cleanups --- docs/car-porting/support-guidelines.md | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/docs/car-porting/support-guidelines.md b/docs/car-porting/support-guidelines.md index bced20b299..9ae9bae9d1 100644 --- a/docs/car-porting/support-guidelines.md +++ b/docs/car-porting/support-guidelines.md @@ -85,9 +85,9 @@ at shop.comma.ai. They are all actively maintained, with full CI testing. * Lateral API fault signals must be populated in CarState, must alert on loss of control * If the car's API is torque based, use the lat accel torque controller unless justified not to * Lateral control operates within safe limits - * 2.5 m/s/s lateral accel for torque - * XXX what are steering angle control limits? - * XXX what are curvature control limits? + * 2.5 m/s/s lateral accel for torque control + * TODO: what are the steering angle control limits? + * TODO: what are the curvature control limits? * Handles variability in actuator performance between cars (see HKG) * Driver override is handled correctly and safely * openpilot should detect driver input and back off @@ -101,8 +101,8 @@ at shop.comma.ai. They are all actively maintained, with full CI testing. * Maximum actuation limits don't exceed comma safety guidelines * Good driving plan conformance, check with PlotJuggler * Test lane changes on both flat and road crown boundaries - * XXX Test std dev? - * XXX Test cost with algorithm from controls challenge? + * TODO: Can we test std dev between desired and actual? + * TODO: Can we test cost with the algorithm from the controls challenge? * Reasonable steerActuatorDelay, check with PlotJuggler * Reasonable wheel touch threshold (DM, lane change) * Sane learned value for tire stiffness, CarParams startup value is set similarly @@ -183,7 +183,7 @@ Applies to both stock and openpilot longitudinal control. * openpilot longitudinal control * Radar points * BSM - * Verify both normal and warning states if applicable + * Verify both presence/not-blinking and warning/blinking states * FCW/AEB * Detect activation of stock FCW/AEB (may be a good application for comma car dataset) * Signals for FCW/AEB actuation (this is still in development, extreme care required)