85ed5c4cb5
Torque Refactor ( #25822 )
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* add torque gains refactor
* update refs
* avoid dict, use cereal struct
* bugfix
* no as_builder
* address final comments
3 years ago
992707c172
controls: enter overriding state for steering override ( #25617 )
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* lateral overriding is overriding
* Update test
* remove
* also could do something like this and only have one OVERRIDE ET
* Revert "also could do something like this and only have one OVERRIDE ET"
This reverts commit 5c381641c0
3 years ago
3f34a7082a
controlsd: fix regen init for multi-panda setups
3 years ago
056b2ec2ed
Longcontrol: fix possible reference before assignment ( #25715 )
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fix possible reference before assignment
3 years ago
3ef37fe2e8
split out experimental long toggle ( #25698 )
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* split out experimental long toggle
* clean up
* update translations
3 years ago
655a64b603
single longitudinal toggle for e2e and disable radar ( #25688 )
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* single longitudinal toggle for e2e and disable radar
* write disable radar param
* rename
* better param name
* clean that up
* update refs
* update translations
* not live for experimental
* write it out
* vanish
3 years ago
445492a6d8
reduce min lane change speed to 15mph ( #25689 )
3 years ago
e9c87daef6
rename esp ECU to abs ( #25640 )
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* rename esp ecu to abs
* bump cereal
3 years ago
8857e02dd4
Live e2e long toggling ( #25685 )
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Live toggling
3 years ago
7899fb79c1
More conservative lead policy in e2e long mode ( #25684 )
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* Add params for lead and danger
* fix long params
* E2e passes simple maneuver tests
* Make tests run with e2e long mode
* Slightly more error allowed in e2e mode
* FCW back and populate long source field
* Fix planner name
* FCW still doesnt work
* Slightly less aggressive
* Doesn't need to simulate from stop
3 years ago
210a6163ac
Let planner decide stopping state ( #25643 )
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* Let planner decide stopping
* Refactor stop/start state machine
* Stay stoppe condition
* 1sec from target
* Add starting state
* Add starting state logic
* Undo some changes
* Update ref
3 years ago
d222461a3e
LDW: fix deprecated ll prob reference ( #25681 )
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* fix crash when ldw is turned on
* in lane change
* Revert "in lane change"
This reverts commit 98e7224f81
3 years ago
4c05c88c10
Radard: ignore leads without model confirmation wider than 1.0m ( #25664 )
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Dont stop for cars next to you without model confirmation
3 years ago
2eff6d0ebd
Remove lane planning code ( #25651 )
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* Remove all lane planning logic
* Revert "Update ref"
This reverts commit 8dcb08ebccbb5641443459ac40601a95cf605682.
* bump cereal
* Update ref
3 years ago
faff2b8950
Add e2e long toggle ( #25638 )
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* Add toggle
* Misc fixes
* Update translations
* pre alpha not great
3 years ago
e1b7a37a1f
Support e2e long in longitudinal planner ( #25636 )
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* refactor
* Add planer modes to support offline, acc, and blended
* add acceleration
* Fix index
* Update model ref
* Read in model outputs
* Add model msg
* Add e2e logic
* Add source
3 years ago
6590fb2b93
pre-commit: add codespell ( #25571 )
3 years ago
90a4565eb2
params: make python and c++ API match ( #25573 )
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* params: make python and c++ API match
* few more
3 years ago
94f353a5e3
controlsd: disambiguate can error and can socket lag ( #25559 )
3 years ago
5ed587ebef
controls: block resume if cruise not previously engaged ( #25402 )
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* see if this works at all
* can revert this
* think adding a no entry conditionally is nicer
* then we can revert this
* 0 makes more sense
* Revert "0 makes more sense"
This reverts commit efc89e8a23
3 years ago
87ca42e993
process replay: initialize controlsState with original route ( #25461 )
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* push
* do process replay
* commit
* update refs
* clean up
* clean up controlsd
* clean up controlsd
* Add assert
* debubuggier param name
* can be peristent
* Revert "can be peristent"
This reverts commit 6e6d3f6423
3 years ago
5b1ba4f135
Lateral planner: Don't prompt/initiate lane changes if lateral control is not active ( #25436 )
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* Don't set lane change events if we're not able to steer.
* more specific variable name
* update process replay socket config
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
3 years ago
24645c92da
Use steeringAngleDeg for angle control saturation warnings ( #25404 )
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* use steeringAngleDeg for angle control cars
* update refs
3 years ago
041458f632
Falcon Punch Model: turn cutting improvements ( #25413 )
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* simplified change to mpc dynamics
* add jerk pts
* increase jerk cost
* increase jerk pts multipler to master value
* Add final commit
* 1456d261-d232-4654-8885-4d9fde883894/440 ac1a6744-85b0-4ec6-8ba7-608d0717b8f1/750
* some copies are useful
* update model replay ref
* less frames in model replay onnx cpu
* 1456d261-d232-4654-8885-4d9fde883894/440 264b67f5-3f52-4b58-b11f-58dd8aaf08bf/950
* 1456d261-d232-4654-8885-4d9fde883894/440 236fc556-fba3-4255-8ccf-684b22637160/950
* c9d10c64-bea4-41ec-8ca3-d8c886fda172/440 26d73dd2-862a-44ae-bbdd-32cc4f397ad7/900
* Fix couple tests
* Update ref
* Unused for now
* Add lateral factor comment
* Unused variable
Co-authored-by: nuwandavek <vivekaithal44@gmail.com>
Co-authored-by: Bruce Wayne <yassine@comma.ai>
Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu>
Co-authored-by: Bruce Wayne <batman@gpu06.internal>
3 years ago
f1fecc3da7
Sensor Invalid Alert ( #25303 )
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* modify text, add soft disable
* Update selfdrive/controls/lib/events.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* Update selfdrive/controls/lib/events.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
3 years ago
e77dc1ab44
Lateral Acceleration Error alert (Sensor Invalid) ( #25291 )
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* sensor flag in paramsd
* increase lateral acc err alert threshold
* add invalid sensor alert from paramsd
* update ref, bool before adding to msg
* account for sign difference in locationd and paramsd
* revert ref
3 years ago
d462a08056
remove CS.steeringRateLimited ( #25251 )
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* remove CS.steeringRateLimited
* bump cereal
* update refs
3 years ago
f300a8df2b
use v_cruise_cluster_kph for hudControl.setSpeed ( #25245 )
3 years ago
c3e95d5e19
prereq for matching speeds shown on cars dash ( #25222 )
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* prereq for matching speeds shown on cars dash
* also handle fallback in the ui for replay
* update translations
* update ref
3 years ago
278d6893fe
less beeps for steering override faults ( #25196 )
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* less beeps for steering override faults
* less repeat
3 years ago
505bbce29d
controlsd: handle radar missing + cleanup system error handling ( #25179 )
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* controlsd: handle radar missing + cleanup system erorr handling
* fix carla
* update refs
3 years ago
2ae52e9b22
process replay: ensure enabled for significant amount of time ( #25121 )
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* process replay: ensure enabled for significant amount of time
* update refs
* 10s is reasonable
3 years ago
be7f704168
Fix new steer saturated warning with joystick mode ( #25113 )
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Fix steer sat warning with joystick mode
3 years ago
fd2de54172
Stock longitudinal: spam resume button when lead starts moving ( #24873 )
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* always log leads, we hide them in ui
* only spam resume when future is > vEgoStarting
* do rest but vw
* vw
* remove comments
* rename to resume
* maintain original button msg rate
* mazda: ensure no resume if cancelling
* same for non-HDA2
* Always run planner if not opLong
* try 0.2
* 0.1 should be pretty safe
* add test for resuming
* fix test
* stricter test, speeds[-1] is 0.14 when starting here
* no walrus
* fixup mazda cc
* remove extra import
3 years ago
ea241bf3dc
FW fingerprinting: log all FW versions ( #25042 )
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* get_fw_versions returns all fw versions with request's brand
* keep track of everything received
* debug
* need to regen or write a hack in build_fw_dict
* to be safe, still replace old responses within same brands (hyundai responds to two queries, can fix later)
to be safe, still replace old responses within same brands (hyundai responds to two queries, can fix later)
* update test_fw_query_on_routes
* clean up
* better name
* slightly cleaner
* fix test_startup unit test
del
* fix imports
* fix test_fw_fingerprint
fix test_fw_fingerprint
fix
* fingerprint on all FW_VERSIONS, not just brands with requests
* support old routes in test_fw_query_on_routes
* regen and update refs
* similar function style to before
* better comment
* space
switch name
* try to exact match first
* useless else
* fix debug script
* simpler dictionary
* bump cereal to master
3 years ago
f797567ef8
long planner: run when using stock longitudinal ( #25017 )
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* Squashed commit of the following:
commit e27a5b4e2bfeab4e6a47440b1d4eb180ee4acf49
Author: Shane Smiskol <shane@smiskol.com>
Date: Fri Jul 1 14:10:06 2022 -0700
remove this test
remove this test
commit c3c10af82222ea4641d94c53a3a07b486cca8452
Author: Shane Smiskol <shane@smiskol.com>
Date: Fri Jul 1 14:08:15 2022 -0700
only planner changes
commit 50e0f1d8704c15acfce8987faf3515c99e8af4f4
Merge: e088fde67fcc5b3d70e088fde67eb7b425e530f8634266bc49f997bef8634266b4c9e446ad21e6c4106ea879a7c320e6c4106ea10520c7f21604db5f80bfe23b37d3fd8bfe2f00e23b37d3fee7dc3960daff0597ec9213997c5527d2f51ee5595d8517a8d2f51ee55f6a63bd60f05771cdecab6c1fe0606f00b1df652f325ea9bbd52c9061042b3dc51f663d5f32cd1fcb
3 years ago
d4cc13c88a
controlsd: avoid lag on first iteration due to get_short_branch ( #25031 )
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* controlsd: avoid lag on first iteration due to get_short_branch
* always cache
3 years ago
0c95493dc0
Torque control: max torque warning ( #25018 )
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* New steer torque warning
* typo
3 years ago
cdc7a6dbea
enable laikad ( #25013 )
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* enable laikad
* increase logprint for onroad test
3 years ago
b3226d505b
Torque control: higher low speed gains and better steering angle deadzone logic ( #24980 )
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* Try no friction and no deadzone
* Learn fromd ata
* update refs
3 years ago
062a8bcdbd
cleanup torque tuning config ( #24951 )
3 years ago
88f246b909
ui: change alerts to Inter ( #24937 )
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* ui: change alerts to Inter
* fix up test
3 years ago
2c877ce490
Long e2e planner: better xva weights ( #24893 )
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better long xva weights
3 years ago
7c826b4fa1
add param to override carParams.dashcamOnly ( #24857 )
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* add param to override carParams.dashcamOnly
* little cleaner
3 years ago
b941b39c56
More accurate jerk limits ( #24755 )
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* More accurate jerk limits
* Min is not - max
For example max_curvature_rate can be negative.
* reduce diff
3 years ago
9283040d84
Rocket league model ( #24869 )
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* dd9a502d-c8e2-4831-b365-804b0ae0739d/600 80041070-d276-4fed-bdb9-0075e5442908/420
* no elementwise op
* 9dabf0fe-2e60-44bf-8d3a-d20a74aca072/600 ae746590-0bb5-4a16-80db-15f02d314f03/300 c4663a12-b499-4c9b-90dd-b169e3948cb1/60
* explicit slice
* some copies are useful
* 1456d261-d232-4654-8885-4d9fde883894/440 c06eba55-1931-4e00-9d63-acad00161be0/700 af2eb6ba-1935-4318-aaf8-868db81a4932/425
* 154f663e-d3e9-4020-ad49-0e640588ebbe/399 badb5e69-504f-4544-a99e-ba75ed204b74/800 08330327-7663-4874-af7a-dcbd2c994ba7/800
* set steer rate cost to 1.0
* smaller temporal size
* Update model reg
* update model ref again
* This did upload somehow
* Update steer rate cost
Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu>
3 years ago
a6652a539d
Torque control: low speed boost ( #24859 )
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* Make very low speed more aggressive
* Less extreme low speed boost
* Update ref
3 years ago
0fce5d9045
Move a bunch of stuff to system/ part 3 ( #24829 )
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* move swaglog.py
* timezoned
* logmessaged
* version.py
* fix linter
3 years ago
1139fe507b
Move selfdrive/hardware/ to system/ ( #24725 )
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* move hardware to system/
* fix mypy
3 years ago
843e59f6f0
Misc torque control fixes ( #24801 )
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* Fiction compensation should be based on error
* Update refs
* Add deadzone
* update ref
3 years ago
Vivek Aithal
Shane Smiskol
Adeeb Shihadeh
Cameron Clough
HaraldSchafer
Chris Souers
Robbe Derks
Willem Melching
grekiki