Merge remote-tracking branch 'upstream/master' into take-steering

RELEASES.md

@@ -2,9 +2,10 @@ Version 0.8.17 (2022-XX-XX)
 ========================
 * New driving model
   * Internal feature space accuracy increased tenfold during training, this makes the model dramatically more accurate.
+* New driver monitoring model
+  * New end-to-end distracted trigger
 * Self-tuning torque lateral controller parameters
   * Parameters learned live for each car
-  * Enabled only on Toyota Corolla for now
 * UI updates
   * Multi-language in navigation
   * Matched speeds shown on car's dash
@@ -12,6 +13,7 @@ Version 0.8.17 (2022-XX-XX)
   * Border turns grey while overriding steering
   * Added button to bookmark events while driving; view them later in comma connect
 * AGNOS 6
+* tools: new and improved cabana thanks to deanlee!
 * Kia Sportage Hybrid 2023 support thanks to sunnyhaibin!
 
 Version 0.8.16 (2022-08-26)

selfdrive/car/gm/carstate.py

@@ -30,7 +30,7 @@ class CarState(CarStateBase):
     self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
 
     # Variables used for avoiding LKAS faults
-    self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]) > 0
+    self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
     if self.CP.networkLocation == NetworkLocation.fwdCamera:
       self.camera_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
 

selfdrive/car/hyundai/carstate.py

@@ -189,13 +189,13 @@ class CarState(CarStateBase):
                                                                       cp.vl["BLINKERS"]["RIGHT_LAMP"])
 
     ret.cruiseState.available = True
-    ret.cruiseState.enabled = cp.vl["SCC1"]["CRUISE_ACTIVE"] == 1
     self.is_metric = cp.vl["CLUSTER_INFO"]["DISTANCE_UNIT"] != 1
     if not self.CP.openpilotLongitudinalControl:
       speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
       cp_cruise_info = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam
       ret.cruiseState.speed = cp_cruise_info.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor
       ret.cruiseState.standstill = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STANDSTILL"] == 1
+      ret.cruiseState.enabled = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STATUS"] != 0
       self.cruise_info = copy.copy(cp_cruise_info.vl["CRUISE_INFO"])
 
     cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS"
@@ -452,6 +452,7 @@ class CarState(CarStateBase):
 
     if CP.flags & HyundaiFlags.CANFD_HDA2 and not CP.openpilotLongitudinalControl:
       signals += [
+        ("CRUISE_STATUS", "CRUISE_INFO"),
         ("SET_SPEED", "CRUISE_INFO"),
         ("CRUISE_STANDSTILL", "CRUISE_INFO"),
       ]

selfdrive/monitoring/driver_monitor.py

@@ -32,7 +32,8 @@ class DRIVER_MONITOR_SETTINGS():
     self._BLINK_THRESHOLD = 0.895
 
     self._EE_THRESH11 = 0.275
-    self._EE_THRESH12 = 3.0
+    self._EE_THRESH12 = 5.5
+    self._EE_MAX_OFFSET1 = 0.06
     self._EE_THRESH21 = 0.01
     self._EE_THRESH22 = 0.35
 
@@ -204,7 +205,7 @@ class DriverStatus():
       distracted_types.append(DistractedType.DISTRACTED_BLINK)
 
     if self.ee1_calibrated:
-      ee1_dist = self.eev1 > self.ee1_offseter.filtered_stat.M * self.settings._EE_THRESH12
+      ee1_dist = self.eev1 > min(self.ee1_offseter.filtered_stat.M, self.settings._EE_MAX_OFFSET1) * self.settings._EE_THRESH12
     else:
       ee1_dist = self.eev1 > self.settings._EE_THRESH11
     # if self.ee2_calibrated:

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-a87455caf93e91fae0f3704aa476e0732d066b77
+1f41cd8bbf2431ae89c489a81698120d14a44145