a9626f95b6
add openpilot prefix to imports ( #29498 )
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* add openpilot prefix to imports
* more
* more
* fix docs
* fix linter
* bump submodules
* fix patched tests
* update dynamic imports
* debug
* Revert "debug"
This reverts commit db5e13b991
2 years ago
4e9bddee5c
longcontrol: enter stopping state immediately ( #26879 )
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* enter stopping state immediately
* Update selfdrive/controls/lib/longcontrol.py
2 years ago
a19b5b91d2
longcontrol: ignore cruise standstill if interceptor ( #26597 )
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* ignore standstill
* cmt
* standstill
* rm cmt
* flip
2 years ago
a7ced7c54b
Longcontrol: faster transition from starting to stopping ( #26361 )
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* Never command accel when stopping
* Update ref_commit
3 years ago
84adb8d925
GM: raise max brake ( #25810 )
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* -4 didn't make any sense?
* comments
* comments
* update to 400
* bump panda
* remove unused iso limit vars
* update comments
* bump panda
* Update selfdrive/car/gm/values.py
* Update ref_commit
3 years ago
7df0e3efcf
remove blank whitespace ( #25921 )
3 years ago
056b2ec2ed
Longcontrol: fix possible reference before assignment ( #25715 )
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fix possible reference before assignment
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
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
c9be2f02c3
Clean up controllers ( #24340 )
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* clean up lat controllers
* pass CP once
* sort
3 years ago
634f7cebef
Make PI into a PID ( #24151 )
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* Make PI into a PID
* Cast like before
3 years ago
f1f40c117a
Add Disengage on Accelerator Toggle ( #23977 )
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* Squashed commit of the following:
commit 953bcf0ecf8d03f0fec9ce0d5442cc660ae2347d
Merge: b4198608d 333257bad0b9790dd281862fce7d60c44e03⛽ ➡️ 🔋
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 e91613bc6c88ced1f199c02bdd2db7b49c71820b198945fe00fb77820b19894991763f9ffd7c758d4b91763f9ff4🔥
commit 1885c9e2ba1f591736a9c70e8bca1f591736a2465811f0b7410160d0465811f0b40344363a53700efcb3f3e915cf62700efcb3f4220ce272fed273bb78ac1a85afd60ce3be32afc2f27203af3a04c0ad1a5499cf13caeb2230254ca787475e02cb
3 years ago
7254db3906
LongControl: fix control state oscillation ( #23333 )
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* check if plan is to accelerate or not
* remove comment
* needed to see it
needed to see it
* test logic with Toyota TSS2
* hackily log conditions
* Revert "hackily log conditions"
This reverts commit 7a6b5691e2b982c7a1e3911d980fb7530647affd.
Revert "test logic with Toyota TSS2"
This reverts commit e583d6e3caaa5f5b896165cd7949dfc1caabfd9a.
order
* revert
* fix
3 years ago
2c7845fce0
Longitudinal control: interpolate longitudinal plan ( #23787 )
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* interpolate longitudinal actuator delay
rename
* formatting
* interpolate v_target most importantly!
* fix interpolation and rename
* nicer setup
* left in from testing
* update refs
3 years ago
9535dc606d
Longitudinal: add Kf to carParams ( #23752 )
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* sane_kf
* long_kf + cereal
* update ref
Co-authored-by: Willem Melching <willem.melching@gmail.com>
3 years ago
9de8f8cd8c
base LatControl class ( #21967 )
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* base LatControl class, move sat check out of pid.py
clean up
clean up
* fix
* global variable for min control speed
* nicer name
* unify latcontrol class init arguments
* add to release files
* saturated if close to limit
* move angle mode saturation checks into class
* check_saturation function takes in current saturated status
undo
* apply latcontrol_angle's active checking to all controllers
* clean up
* move those back
* make abstract baseclass
* add test for saturation
* keep clip
* update ref
* fix static analysis
Co-authored-by: Willem Melching <willem.melching@gmail.com>
3 years ago
4208fe018e
LongControl: remove redundant check on active ( #23481 )
3 years ago
a2e762e0b9
longcontrol: check if speeds is empty ( #23410 )
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* check if speeds is empty
* move into existing check
Co-authored-by: Willem Melching <willem.melching@gmail.com>
3 years ago
cf9792dc53
Longcontrol: remove starting state ( #23328 )
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* remove starting state
* new ref
* ready for merge
* try this
* cereal now on master
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
3 years ago
5dc631fa1b
longcontrol/update: optimize capnp ( #23382 )
3 years ago
2799ef5292
Remove minSpeedCan ( #22991 )
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* Remove minCanSpeed
Remove minCanSpeed
* it actually only goes out to 2.5 seconds, this is okay to remove
* test to see if this preserves behavior
add minSpeedCan
* Revert "test to see if this preserves behavior"
This reverts commit 31b11f017f7e9da7654fc8064b5983d4a6cc22e5.
* preserve behavior (don't enter stopping as early)
* vEgoStopping needs to be less than or equal to vEgoStarting to avoid state oscillation
3 years ago
048cc3ac9f
Longcontrol : pid error should be 0 when plan is followed ( #23066 )
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* v_pid error should be 0 when plan is followed
* update ref
3 years ago
113988ae31
longitudinal: only apply overshoot prevention when braking ( #22986 )
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* only if braking is desired
* use v_target to determine stopping
* more clear?
3 years ago
bdaea086f8
Longcontrol: do not clip vEgo to minSpeedCan ( #22832 )
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* fix tss2 slow reacceleration in sng
(should) preserve stopping behavior
add comments since it's confusing
fix
* Revert "fix tss2 slow reacceleration in sng"
This reverts commit 42abde0eb945d8bc5ad9b502d1d89b3e3dc16f8a.
* don't max(vEgo)
* update ref
Co-authored-by: Willem Melching <willem.melching@gmail.com>
4 years ago
417e229624
Add upper/lower bounds for longitudinal lag ( #22235 )
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* Add upper/lower bounds for longitudinal lag
* add ref
* update ref
* bump cereal
* bump cereal
4 years ago
b7d1aac197
Parameterize longitudinal control using carParams ( #22200 )
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* use CP.startAccel
* missing values
* order
* update ref
* cereal
4 years ago
1e62b09e5d
Use CP.vEgoStopping and clean up CP.startAccel ( #22199 )
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* use CP.vEgoStopping and clean up
* update ref
4 years ago
74b6c87254
cleanup old nidec accel override logic ( #22181 )
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* cleanup old nidec accel override logic
* add ref without deprecated fields
* no more override
4 years ago
21ae64868e
put LongControlState in CarControl.Actuators ( #22154 )
4 years ago
b39f6efa3f
parameterize longitudinal actuator delay ( #22153 )
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* paremetrize longitudinal actuator delay
* update ref
4 years ago
f941111dcd
Clean up PID controller ACCEL_MIN/ACCEL_MAX ( #22148 )
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* use ISO 15622:2018 limits in PID controller
* allow more for nidec
* limit PID inputs
* CP is not needed
* add GM
* not used
* update ref
* fix honda bosch
4 years ago
ebf2a2279d
Prevent PID windup on Honda NIDEC ( #22112 )
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* add higher set speed
* freeze when close to cruise
* dont bias this
* higher set speed
* start high
* 2mph might be needed
* better condition
* limit accel windup like this
* wrong name
4 years ago
a4ae99a489
unused
4 years ago
edae2218d7
Smarter longitudinal lag compensations ( #22094 )
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* smarter lag compensations
* need to use speed from plan
* update ref
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
4 years ago
1ac89f14aa
Change car controller interface from gas/brake to acceleration ( #21911 )
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* retune civic
* seems smooth
* back to normal
* new ref
* fix conflict
* runs
* rm
* accel scale is 4
* toyota should be good
* more cleanup
* fixup
* better naming
* update ref
* deprecated
* sending brake when not enable causes a fault
* rm gas and brake
* unused
* update ref
* acura logic is no more
* wrong before
* revert tuning cleanup
* adress comments
* update ref
* already on master
Co-authored-by: Willem Melching <willem.melching@gmail.com>
4 years ago
737a79e556
longitudinal comments ( #21898 )
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* cmt
* Update longcontrol.py
4 years ago
be5ddd25cd
Refactor long ( #21433 )
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* refactor
* needs casting
* tests pass
* fix that test
* refactor in controls
* lets not go crazy
* change of names
* use constants
* better naming
* renamed
* soft constraints
* compile slack variables
* rm git conflict
* add slack variables
* unused
* new edition
* fcw
* fix tests
* dividing causes problems
* was way too slow
* take a step back
* byeeee
* for another time
* bad idxs
* little more cpu for cruise mpc
* update refs
* these limits seem fine
* rename
* test model timings fails sometimes
* add default
* save some cpu
* Revert "little more cpu for cruise mpc"
This reverts commit f0a8163ec90e8dc1eabb3c4a4268ad330d23374d.
* Revert "test model timings fails sometimes"
This reverts commit d259d845710ed2cbeb28b383e2600476527d4838.
* update refs
* less cpu
* Revert "Revert "test model timings fails sometimes""
This reverts commit e0263050d9929bfc7ee70c9788234541a4a8461c.
* Revert "less cpu"
This reverts commit 679007472bc2013e7fafb7b17de7a43d6f82359a.
* cleanup
* not too much until we clean up mpc
* more cost on jerk
* change ref
* add todo
* new ref
* indentation
4 years ago
717bc747c3
Parametrize startingBrakeRate ( #19511 )
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* Parametrize startingBrakeRate
* new ref_commit
4 years ago
d3c2a0e6c1
Parametrize stoppingBrakeRate ( #2745 )
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* Parametrize stoppingBrakeRate
* ref_commit updated
4 years ago
093456cc40
Parametrize MIN_CAN_SPEED in car interfaces ( #2684 )
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* Parametrize MIN_CAN_SPEED in car interfaces
* fixed instance in planner.py
* fix typo
* var name change
* changed var name to minSpeedCan for consistency with other uses of CAN in the capnproto files
* added default value to get_std_params, removed unneeded instances from car interface files
* Revert PEP8 autoformat corrections
* update refs
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
4 years ago
254814cc79
remove unused globals, use self.reset() ( #2220 )
...
Co-authored-by: user <email@web.com>
5 years ago
ebadb39e42
Fix hard deceleration after user accelerates above set cruise speed ( #1880 )
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* Fix hard deceleration after user accelerates above set cruise speed
* 2nd required change
5 years ago
6466ec982a
enable flake8 E502: backslash is redundant between brackets
5 years ago
08832ff29d
Controlsd refactor ( #1487 )
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* it's a class
* more refactor
* remove that
* car interface should create that
* that too
* not a dict
* don't create permanent events every iteration
* break up long lines
* fix honda
* small optimization
* less long lines
* dict is faster
* latcontrol less args
* longcontrol less args
* update profiling script
* few optimizations
* create events together
* clean up
* more clean up
* remove comment
* clean up
* simplify state transition
* more clean up
* update comments
5 years ago
b0260dadba
selfdrive/controls
5 years ago
Adeeb Shihadeh
Shane Smiskol
Harald Schäfer
Lee Jong Mun
ClockeNessMnstr
Dean Lee
Willem Melching
Igor
qadmus
Adeeb
George Hotz