ebec632ea2
Make safetyParam unsigned ( #24160 )
...
* bump panda & cereal
* make unsigned in boardd
* update health packet version
bump panda
* fix definition
* bump
* regen TOYOTA2 route
* upload route
* oh, ndog param wasn't being set
* regenerate routes with non-zero safety params
* update refs
* regen routes and update refs
* bump panda
* update refs
* update refs
* bump submodules to master
old-commit-hash: 6e62df65d7
3 years ago
d82173e685
Toyota: resolve controls mismatch due to interceptor thresholds ( #23710 )
...
* remove gas interceptor exception
* panda
* bump submodules
* bump panda
* forgot carstate change
* revert
* add test route
* bump
* update refs for CS.gas
* bump submodules to master
old-commit-hash: 17cb65c4b7
3 years ago
806d7b1158
update refs after VW signal removal
...
old-commit-hash: b42b3a8f9f
3 years ago
955ca69cc4
Honda: do same standstill check as panda ( #24262 )
...
* check standstill against panda
* use XMISSION_SPEED for all, and compare to 0
* fix
* only check for Honda for now
* update comment
* update refs
* update refs and update check
* phantom commit
old-commit-hash: 6de434f2ec
3 years ago
2174005f05
Lateral torque-based control with roll on TSS2 corolla and TSSP rav4 ( #24260 )
...
* Initial commit
* Fix bugs
* Need more torque rate
* Cleanup cray cray control
* Write nicely
* Chiiil
* Not relevant for cray cray control
* Do some logging
* Seems like it has more torque than I thought
* Bit more feedforward
* Tune change
* Retune
* Retune
* Little more chill
* Add coroll
* Add corolla
* Give craycray a good name
* Update to proper logging
* D to the PI
* Should be in radians
* Add d
* Start oscillations
* Add D term
* Only change torque rate limits for new tune
* Add d logging
* Should be enough
* Wrong sign in D
* Downtune a little
* Needed to prevent faults
* Add lqr rav4 to tune
* Try derivative again
* Data based retune
* Data based retune
* add friction compensation
* Doesnt need too much P with friction comp
* remove lqr
* Remove kd
* Fix tests
* fix tests
* Too much error
* Get roll induced error under 1cm/deg
* Too much jitter
* Do roll comp
* Add ki
* Final update
* Update refs
* Cleanup latcontrol_torque a little more
old-commit-hash: fe0bcdaef6
3 years ago
e8ad31f32b
controlsd: handle controls mismatch race ( #24245 )
...
* controlsd: handle controls mismatch race
* update refs
old-commit-hash: 233a167cc9
3 years ago
3789587df1
add alert for CAN bus timeout ( #24162 )
...
* add alert for CAN bus timeout
* add alert
* set in interface
* cleanup
* cleanup
* add event
* fix mock
* bump
* bump opendbc
* update refs
* return reader
old-commit-hash: 49c2164814
3 years ago
b0444b39d2
Body cleanup + 100Hz locationd ( #24168 )
...
* use PID
* 100hz on the branch
* Better defaults
* fix int clip
* More cleanup
* Fix pid comments
* only notcar gets 100hz
* cleanup
* fix tests
* ignore
* update refs
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: f54e724b5d
3 years ago
f49522474c
GM: resolve cruise faults ( #24167 )
...
* these should be enabled
* bump panda
* bump
* allow in pre-enabled state
* bump panda
* add comment
* bump and update refs
* bump panda
* bump panda
old-commit-hash: 0f61a388c3
3 years ago
871ecc451b
commIssueAvgFreq: separate alert for avg freq check ( #24150 )
...
* commIssueAvgFreq: separate alert for avg freq check
* bump cereal
* bump cereal
* bump cereal
* freq_ok separate from alive
* bump cereal to master
* update_ref
* fix profiler
old-commit-hash: eaa5819211
3 years ago
758d423b86
body: control with joystick ( #24143 )
...
* control with joystick
* slow it down
* always joystick for not car
* clean ups
* not stateful
* move submaster
* only if we aren't in test mode
* update refs
* double ki speed, update ref
* this ref
Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 7dd71cc63d
3 years ago
42a81f4921
update ref commit for body tune change
...
old-commit-hash: 596417da37
3 years ago
df8476118b
Latency logging 2 ( #24058 )
...
* msg_order and gantt
* frameId in long/lat planner
* track frame id
* controls frame id
* graph tracked events
* graph json
* cloudlog timestamp
* c++ cloudlog
* add frame id
* bug fixes
* bug fixes
* frame id visionicp
* bug fixes and debug level
* timestamp log placement
* print timestamps in table
* translate events
* more logging
* bug fixes
* daemon boardd
* print logs with boardd
* more timestamp logs
* cleanup
* remove publish logs
* bug fix
* timestamp received
* timestamp received
* bug fixes
* use json lib
* ignore driver camera
* prep for new timestamp pipeline
* bug fix
* read new pipeline unfinnished
* read new pipeline
* bug fix
* add frame to controlsstate
* remove controlsstate
* print
* cleanup
* more cleanup + bug fix
* clock build issue
* remove unused imports
* format durations
* increase speed
* pr comments fixes
* conflicts
* set MANAGER_DAEMON for boardd
* clean script code
* bug fix + argparse
* remove rcv time
* bug fixes
* print without tabulate
* fix pre-commits
* plot gnatt
* color bug fix
* read without timestampextra
* bump panda
* mono time instead of frame id
* finnish script
* clean unused
* clean unused logging
* monotonic + json fixes
* del test
* remove whilelines
* bump laika
* cleanup
* remove deps
* logs nicer strings
* remove plotting from scirpt
* reset pipfile
* reset pipfile
* nicer strings
* bug fix
* bug fix
* pr comments cleaning
* remove plotting
* bug fix
* new demo route
* bump opendbc and panda
* cereal master
* cereal master
* script less komplex
* assertions
* matplotlib
* readme
* Update README.md
* graph html
* design fixes
* more code design
* Update common/logging_extra.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* whitespace
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* Update tools/latency_logger/latency_logger.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* pr comments
* bug fix
* readme + env once
* clean swaglog
* bug fix
* Update tools/latencylogger/README.md
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* revert
* revert
* clean swaglog with error
* remove typo file
* revert graph
* cereal
* submodules
* whitespaces
* update refs
Co-authored-by: Bruce Wayne <batman@workstation-openpilot2.internal>
Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 65fca83abe
3 years ago
f35a445b73
body: add debug ECU for git hash logging + fw version ( #24128 )
...
* non-essential ECU for logging
* bump cereal
* debug ECU
* match_fw_to_car_exact
* comment
* version instead of board date
* add old compatible value
* update_refs
old-commit-hash: 7908fb8829
3 years ago
a8546e8bf9
body: set fault state ( #24125 )
...
* body: set fault state
* fix that
* update refs
old-commit-hash: 6c5b0685da
3 years ago
474ba19c81
Add Disengage on Accelerator Toggle ( #23977 )
...
* Squashed commit of the following:
commit 953bcf0ecf8d03f0fec9ce0d5442cc660ae2347d
Merge: b4198608d efd04715e
Author: Shane Smiskol <shane@smiskol.com>
Date: Fri Apr 1 19:58:06 2022 -0700
Merge remote-tracking branch 'upstream/master' into disengage-on-gas
commit b4198608dac9595bfeb9443f95cd6c5d385cd62d
Merge: 24f90b2c8 0e983562d
Author: Shane Smiskol <shane@smiskol.com>
Date: Fri Apr 1 14:32:54 2022 -0700
Merge remote-tracking branch 'upstream/master' into disengage-on-gas
commit 24f90b2c8d6ae509c0776b6e33b743467aa08dee
Author: Shane Smiskol <shane@smiskol.com>
Date: Thu Mar 31 14:07:52 2022 -0700
revert changes and get ready for override
commit aa514df6b5e8431f0faa07f6b25eb5cb6c9f2749
Author: Shane Smiskol <shane@smiskol.com>
Date: Wed Mar 30 20:52:24 2022 -0700
temporary
commit c874e10c2555968c683f629c4582ab22e51d431f
Author: Shane Smiskol <shane@smiskol.com>
Date: Wed Mar 30 00:30:13 2022 -0700
move gasPressed to controlsd
commit fe670439dff5bc6dfc5963d79ca2febe0c5920c7
Merge: 49d3b6d11 c78701e47
Author: Shane Smiskol <shane@smiskol.com>
Date: Wed Mar 30 00:15:48 2022 -0700
Merge remote-tracking branch 'upstream/master' into disengage-on-gas
commit 49d3b6d1162893fa94b2294152f0718eeb4698ed
Merge: 475b27e74 3e819bc5a
Author: Shane Smiskol <shane@smiskol.com>
Date: Mon Mar 28 13:06:08 2022 -0700
Merge remote-tracking branch 'upstream/master' into disengage-on-gas
commit 475b27e74fd6479f1d148e9ded1eca6ee476865c
Author: Shane Smiskol <shane@smiskol.com>
Date: Thu Mar 24 20:24:59 2022 -0700
update SAFETY.md
commit 0798eadb82749e12ecbaa86f4e57b21bd3dbc7e8
Author: Shane Smiskol <shane@smiskol.com>
Date: Thu Mar 24 17:52:06 2022 -0700
⛽ ➡️ 🔋
bump
commit d2b64b89cf8d7265bc90848b4e3a2276c9a4cb78
Author: Shane Smiskol <shane@smiskol.com>
Date: Thu Mar 24 16:19:34 2022 -0700
these changes will be in border PR
these changes will be border PR
commit bed31e63de2244c161729773978fef8a9246ddb5
Merge: 491417640 603e07793
Author: Shane Smiskol <shane@smiskol.com>
Date: Thu Mar 24 16:17:31 2022 -0700
Merge remote-tracking branch 'upstream/master' into disengage-on-gas
commit 49141764098e3a701ff123ead52de4656b31db4d
Merge: 9291e9f00 46ed8bb8e
Author: Shane Smiskol <shane@smiskol.com>
Date: Wed Mar 23 19:00:26 2022 -0700
Merge remote-tracking branch 'upstream/master' into disengage-on-gas
commit 9291e9f0045780669b2ffa7f08fb10373c03b070
Merge: 2aed64157 2c947f193
Author: Shane Smiskol <shane@smiskol.com>
Date: Fri Mar 18 19:03:13 2022 -0700
Merge remote-tracking branch 'upstream/master' into disengage-on-gas
commit 2aed64157d6e9dc993d103a2c6abf7e643410562
Author: Shane Smiskol <shane@smiskol.com>
Date: Fri Mar 18 19:03:03 2022 -0700
Revert "send pre-enable state when gas is pressed"
This reverts commit 8d82e697dc2efade307413e767d14b56b4d2d079.
commit a219defe5342efa731a957b2ff4fd86292c1f239
Author: Shane Smiskol <shane@smiskol.com>
Date: Thu Mar 17 12:50:46 2022 -0700
bump cereal
commit 8d82e697dc2efade307413e767d14b56b4d2d079
Author: Shane Smiskol <shane@smiskol.com>
Date: Wed Mar 16 22:40:13 2022 -0700
send pre-enable state when gas is pressed
formatting and it's out
forgot one
allow gas press
show toggle
revert changes
revert changes
commit 5eb4d1ab1b77ac65bdd901f692ebfb848d5187ca
Merge: bad1bdc74 d0ef25959
Author: Shane Smiskol <shane@smiskol.com>
Date: Wed Mar 16 22:29:43 2022 -0700
Merge remote-tracking branch 'upstream/master' into disengage-on-gas
commit bad1bdc7428c5d8a4a765b259da504f0ade84424
Author: Shane Smiskol <shane@smiskol.com>
Date: Tue Mar 15 23:03:56 2022 -0700
clean up a bit
commit 7516ed9b786536a07f00a92b9c1742ca252a01d1
Author: Shane Smiskol <shane@smiskol.com>
Date: Tue Mar 15 22:55:09 2022 -0700
these are null checks right now
commit 408f5f1d633521b29b08d966c9b387fa79dff0d6
Author: Shane Smiskol <shane@smiskol.com>
Date: Tue Mar 15 22:51:14 2022 -0700
should work
commit be1978e29c03d8843cf073cc9ddf84020fd2b378
Author: Shane Smiskol <shane@smiskol.com>
Date: Tue Mar 15 22:36:16 2022 -0700
stash
commit f0bd4c47e9d27061c6cd3b88765a7c10995f42db
Author: Shane Smiskol <shane@smiskol.com>
Date: Tue Mar 15 22:26:24 2022 -0700
this was flipped
commit d5b6e30389a727e8559331acd706422e1b246f60
Merge: 820b19894820b19894991763f9ff91763f9ff4🔥
commit 1885c9e2ba1f591736a1f591736a2465811f0b465811f0b40344363a53700efcb3f700efcb3f4220ce272fed273bb78ac1a85afd60ce3be32afc2f27203af3a04c0ad1a5499cf13caeb2230254ca787475e02cbf1f40c117a
3 years ago
9e0a09868a
body: only control while engaged ( #24114 )
...
* body: only control while engaged
* bump panda
* remove that
* bump panda
* update refs
* update refs
old-commit-hash: 00ebd10b87
3 years ago
c64fd227ef
body: add crc and counter ( #24120 )
...
* add crc and counter for body
* add msg
* move counter
* whitespace
* ..
* bump opendbc
* update_refs
old-commit-hash: 7df1c025ae
3 years ago
56bfed0c15
calibrationd: support for not cars ( #24115 )
...
* calibrationd: support for not cars
* update refs
old-commit-hash: 7dffd0ac0b
3 years ago
b199e26dc1
Body leash tune ( #24105 )
...
* Cleanup variables
* Add clips
* Add good standstill for localizer
* Need abs
* Only on startup
* Cleanup more
* remove violence
* Unused variable
* Update ref
* Not good idea for now
* Update refs again
old-commit-hash: b2b6205e25
3 years ago
d8d1229580
Hyundai: always update set speed ( #24104 )
...
* don't reset set speed
* update refs
old-commit-hash: 18e7f85f70
3 years ago
01d005c322
update refs
...
old-commit-hash: a4353303d4
3 years ago
78bb03345e
better support non-car robots ( #24106 )
...
* better support non-car robots
* bump cereal
* update refs
old-commit-hash: e40c36f22b
3 years ago
abdcce3ad5
locationd: body support ( #24098 )
...
* body: locationd support
* fewer hacks
* my body is never still
* body on localizer
* minor change
* move wait back to 5 secs
* update refs
* try again
Co-authored-by: nuwandavek <vivekaithal44@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 0b9790dd24
3 years ago
df806cdbeb
car port: comma body ( #24019 )
...
* body FPv2
* ..
* ..
* ..
* Temp, REVERT!
* more cleanup
* typo
* ..
* del eyes
* should work?
* fix
* new dbc
* ..
* fixes
* static analysis
* cln balancing code
* no test route
* excluded_interfaces
* THE DOCS!
* comments on steer/speed mixin
* switch to bus 0
* less UDS
* FAKE bus 0 vin and fingerprint
* FAKE locationd
* Keep steady and remove handcoded offset
* Improve startup sequence, get closer to stock openpilot
* Forgot to define angle
* lowercase
* revert that
* little cleanup
* change safety model
* update refs
* body is gold
* handle no llk
* oops
* litte more
Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 031f79ba88
3 years ago
c319dfd924
controlsd: no cruise speed while main off ( #24052 )
...
* controlsd: no cruise speed while main off
* probably more accurate
* update refs
old-commit-hash: 49498aa7b5
3 years ago
d42962014c
CarParams: remove max steer ( #24044 )
...
* Remove max steer
* Update ref
old-commit-hash: adf34c3414
3 years ago
2f05c9381d
Honda Nidec: don't actuate while longitudinal is inactive ( #24028 )
...
* don't command any pcm_speed when long is not active
* update refs
old-commit-hash: c88ced1f10
3 years ago
b24d669861
Apply EU guideline lateral limits ( #23974 )
...
* Apply EU limits
* Lower bound v_ego
* Add curvature limit comment
* Remove comment
* Update ref
old-commit-hash: 4a8fffd0f4
3 years ago
45b028e39a
Add angular rates carcontroller packet ( #23980 )
...
* Controlsd: give carcontroller angular rates
* Update cereal
* Needs to be list
* Update refs
old-commit-hash: dcece099ff
3 years ago
ca394949cc
Move gas/brake pedal event logic to controlsd ( #23850 )
...
* move some state machine logic to controlsd
move some state machine logic to controlsd
* same order
same order
* move unsafeMode up
* disable at standstill
* save last CS
save last CS
* do we need to copy at all?
* don't copy
* rename
* Update selfdrive/controls/controlsd.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* Revert "Update selfdrive/controls/controlsd.py"
This reverts commit 10bb51a0f05fe00fb773
3 years ago
e8a8e37185
DM: more precision running on DSP + e2e outputs ( #23900 )
...
* update cereal
* run but not use
* log distraction type
* regression scaling
* clean up naming
* add calib buf
* add to header
* fake model
* no calib model
* adjust threshs
* 018a305f
* fix bn
* tweak1
* tweak2
* 0ff2/666
* tweak3
* t4
* t5
* fix out of bound
* skip when replaying old segments
* update ref
* fix onnxmodel
* get calib
* update model replay refs
* up ref
old-commit-hash: de4031c98e
3 years ago
069fe1a749
locationd: Commissue fix ( #23951 )
...
* check allAliveAndValid only at filter init
* revert cereal and bugfix test
* rename filterValid to filterInitialized
* bump cereal
* correct err
* update refs
old-commit-hash: dfc1292614
3 years ago
479ac5753c
longitudinal MPC: add MAX_T in T_IDXS_LST ( #23960 )
...
* longitudinal MPC: add MAX_T in T_IDXS_LST
* update refs
Co-authored-by: KexianShen <shenkexian@gmail.com>
old-commit-hash: f1aab78d08
3 years ago
3e61c7e6ae
carControl: add long and lat active fields ( #23859 )
...
* proof of concept
* actuators packet describes which actuators are active
* bump cereal
* fixes
* not needed for this PR
* Do Toyota
* add back controlsState.active
* bump cereal
* rest of cars
* in actuators
* add active back
* which
* use controlsState.active for now
* will make an issue
* Update selfdrive/controls/controlsd.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* move local lat_active checks into CC.latActive
* remove redundant checks
* move comment
move comment
* fix joystick mode
* get enabled from carcontrol
* do standstill check in controlsd
* make sure we consider the gas press case for GM
* use CC.actuators
* fix
* capitalization
* Bump cereal
Bump cereal
* make intermediate actuators
* similar convention to before
* clean that up
* update refs
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 629399a449
3 years ago
6303d97278
controlsd: fix vCruise jumping on pcmCruise cars ( #23388 )
...
* clean up v_cruise_kph
fix
fix
* Revert "clean up v_cruise_kph"
This reverts commit 211b5c3dbe073414ef5c39b19d6d2c6e8de2cf0b.
* always update vCruise and don't init if pcmCruise
* revert change
* update refs
old-commit-hash: 274885fc4d
3 years ago
0d5d9a43d3
Longitudinal MPC set qp tolerance to 1e-3 ( #23899 )
...
* initialize solverExecutionTime longitudinal_planner
* test_onroad: improve timing evaluation
* longitudinal MPC: set qp_tol to 1e-3
* update ref
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
old-commit-hash: ab371f888a
3 years ago
aa549592f7
remove trivial terminal constraint and associated CasADi generated functions ( #23898 )
...
* remove trivial terminal constraint and associated CasADi generated functions
* Update refs
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
old-commit-hash: 1801baba68
3 years ago
5bad0f4400
locationd, paramsd: Check conditions before updating kalman filters ( #23789 )
...
* update filters only when all messages are alivbe and valid
* update message valid and fix unit test
* update refs
* move check outside loop
* modify fake message fn in test
* deprecate inputsOK and resolve PR comments
* avoid double looped list comprehension
* follow import conventions
* modify paramsd valid to only be invalid in case of commIssue
* update refs
old-commit-hash: 7e6903b58f
3 years ago
baab5d7a7b
Cython acados and minor ( #23835 )
...
* acados_ocp_solver_pyx.pyx: implement get_stats for timings and ints
* long_mpc: use acados timers
* acados_ocp_solver_pyx.pyx: fix dynamics_get
* acados_ocp_solver_pyx.pyx: get statistics
* use acados_ocp_solver_pyx.pyx from commaai/cython2 branch
* acados_ocp_solver_pyx.pyx: implement store_iterate
* acados_ocp_solver_pyx.pyx: implement get_residuals
* acados_ocp_solver_pyx.pyx: fix set() for empty fields
* acados_ocp_solver_pyx.pyx: load_iterate
* cython acados: add print_statistics
* test_following_distance: fix typo
* test_longitudinal: unique names for test maneuvers
* longitudinal MPC: comments for evaluation
* longitudinal MPC: add comments to eval acados residuals
* long_mpc: use qp_solver_cond_N = 1
* long MPC: comments, simplify set_cur_state
* update acados version in build script
* longitudinal mpc: weigh a_change in 1 place only
* update ref
* Update ref
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
old-commit-hash: d09dffb7cd
3 years ago
9bd6dbea43
Subaru: remove Impreza CAN fingerprints ( #23841 )
...
* Subaru: remove Impreza CAN fingerprints
* fix process replay
* update refs
old-commit-hash: 04b2545ec0
3 years ago
dc16307917
longitudinal planner: disable change cost when stopped. not engaged or gas pressed ( #23639 )
...
* disable change cost completely on standstill and gas press
* cleanup
* set accel to zero
* clean up logic around standstill
* update ref
old-commit-hash: 428d412c1f
3 years ago
1f5570a96d
Longitudinal control: interpolate longitudinal plan ( #23787 )
...
* interpolate longitudinal actuator delay
rename
* formatting
* interpolate v_target most importantly!
* fix interpolation and rename
* nicer setup
* left in from testing
* update refs
old-commit-hash: 2c7845fce0
3 years ago
849bbc8a2f
process replay: fix branch name alert ( #23783 )
...
* env is modified after start
* update ref
old-commit-hash: 14260c01c6
3 years ago
ddde46c503
keep the new alert consistent for process replay
...
old-commit-hash: f59adbeaaa
3 years ago
693b66c1e0
add branch name to startup master alert ( #23782 )
...
* add branch name to startup master alert
* still orange
* update refs
old-commit-hash: ff965c772b
3 years ago
c12656f397
Longitudinal: add Kf to carParams ( #23752 )
...
* sane_kf
* long_kf + cereal
* update ref
Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: 9535dc606d
3 years ago
1329847be0
controlsd: Fix Toyota steer angle sensor race condition ( #23747 )
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* fix steer angle race condition
* update ref
Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: 3e915cf628
3 years ago
1eb13fdc65
paramsd: fix VehicleModelInvalid errors ( #23726 )
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* bound steerratio, stiffness std
* remove start steer_ratio limits after looking at data
* reduce sf obs noise
* update refs
* update refs
* add comment explaining change
old-commit-hash: 8a2cbfe00b
3 years ago
5a78f1d29c
hide localizerMalfunction alert ( #23730 )
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* hide localizerMalfunction alert
* update ref
old-commit-hash: 8effa2d878
3 years ago
Shane Smiskol
Adeeb Shihadeh
HaraldSchafer
Willem Melching
George Hotz
George Hotz
Lukas Petersson
Igor Biletskyy
ZwX1616
Vivek Aithal
Jonathan Frey
ClockeNessMnstr