d708a134bd
Tssp prius torque control ( #24669 )
...
* use llk
* use steering sensor at low speed stil
* Try more simple
* rm prius tune
* updated ref
3 years ago
d928972150
Rerevert torque control ( #24649 )
...
* Revert "Revert torque control (#24565 )"
This reverts commit 9f8b03753d
3 years ago
9f8b03753d
Revert torque control ( #24565 )
...
* torque reversal start
* Fix carmodel tests
* Update ref
* update ref
* Elif is better than if
3 years ago
6518ecca8f
Add desired curvature to controlsState ( #24510 )
...
* Add desired_curvature to controlsState
* clean up
* bump
* bump
* update refs from GitHub!
Co-authored-by: Jason Shuler <jshuler@gmail.com>
3 years ago
29afd53d88
Latcontrol torque: fix integrator induced ping pong ( #24458 )
...
* Latcontrol torque: fix integrator induced ping pong
* Reset on disengage since unwind resets anywayh
* Might be overkill
* rm whitespace
* update ref
3 years ago
9a44d4c4e0
LatControlTorque: log desired/actual lateral accel ( #24406 )
...
* log torque lateral accel
* bump cereal
* update refs
Co-authored-by: Shane Smiskol <shane@smiskol.com>
3 years ago
986a991a09
body: log charging status ( #24409 )
...
* body: log charging status
* update refs
3 years ago
8cdeaf9aee
Latcontrol torque: update tuning ( #24357 )
...
* Little more chill
* Update ref
* Update refs
3 years ago
4190d2608a
Change safetyParam to uint16_t ( #24376 )
...
* bump panda & cereal
* bump panda
* rest of references
* regen TOYOTA with safety param 578, TOYOTA2 with 329
* regen rest of routes
* update ref
* bump cereal
3 years ago
0bbfc63c9c
body: add fuelGauge to body carState ( #24386 )
3 years ago
be748c0d6a
controlsd: better alert precedence for system malfunctions ( #24366 )
...
* controlsd: better alert precedence for system malfunctions
* down to 20
* move that
* check can flags
* update refs
* update refs
3 years ago
c1caca104f
Support RAV4 Hybrid 2022 with stock longitudinal ( #23969 )
...
* add panda flag for toyota stock long with camera
* clean up
* Add 2022 RAV4 Hybrid from Philly
* fix wrong fw in interface, did this ever work?
* Must be a hybrid
* no radar parsing
* fix can error
* move to own platform
* generate docs
* fix
* Add 2022 Rav4 XSE Australia fingerprint parameters (#24303 )
* Update values.py
Add 2022 Rav4 XSE Australia
* add commas
Co-authored-by: Shane Smiskol <shane@smiskol.com>
* bump panda
* wait, the camera doesn't even send 0x343, right?
* use a set instead, more obvious
* don't test without a parser
* bump panda
* flip panda flag
* bump panda
* add commas
* regen and update refs
* set to none by default
* revert parenthesis
* update comment
* bump panda
* regen and update refs
* add test models and update readme
* bump to master
Co-authored-by: BrettLynch123 <34538435+BrettLynch123@users.noreply.github.com>
3 years ago
66dd8f934c
safety param: make uint16_t ( #24362 )
...
* only use half of the available bytes
* move to set_safety_model
* regen and update refs
* last two
* bump to master
3 years ago
3e098c9ba5
Toyota: add safety param flag for alt brake message ( #24341 )
...
* Toyota: add safety param flag for alt brake message
* update refs
* update refs
* bump panda
3 years ago
e834b4d9be
LatControlTorque: fix deadzone and missing steer saturated warning ( #24294 )
...
* fix steer saturated alert and deadzone
* fix and formatting
* update refs
* update refs
* not needed
* remove
3 years ago
efa98d2a06
HKG: only allow engagement on user button press ( #24140 )
...
* use deque for prev_cruise_buttons
* stash
* disallow engagement if resume or decel isn't pressed
* fix buttons
* reduce chances of causing 30-frame fault
Fix clu11
drive down cancel times
* Revert "reduce chances of causing 30-frame fault"
This reverts commit 0f54c051bf5a22b1f584718ec46e78bc3a82a0dd.
* consider pause/resume button
* stash
* Revert "stash"
This reverts commit 551ca7be6c45729f0747abc81cd81894cd621c32.
* sadly some cars need 8 op frames (identical to 4 updates from CLU11)
* add main button
* 6 should be safe
* use max
* clean up
* change to 4 samples and process all messages received, like panda
* bump panda
* test: replay segments with known re-engagements on-device
* Revert "test: replay segments with known re-engagements on-device"
This reverts commit 9730c3c14f942b82b6ed5ef2e81b8ae0126f3006.
* need prev_cruise_buttons as we don't run every CAN message through carstate
* more generic
* extend
* Update selfdrive/car/interfaces.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* 3% faster at 1000000 loops
* update refs
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
3 years ago
f4d1703b42
longActive: consider longitudinal control ( #24295 )
...
* consider longitudinal control
* update refs
3 years ago
6e62df65d7
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
3 years ago
17cb65c4b7
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
3 years ago
b42b3a8f9f
update refs after VW signal removal
3 years ago
6de434f2ec
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
3 years ago
fe0bcdaef6
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
3 years ago
233a167cc9
controlsd: handle controls mismatch race ( #24245 )
...
* controlsd: handle controls mismatch race
* update refs
3 years ago
49c2164814
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
3 years ago
f54e724b5d
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>
3 years ago
0f61a388c3
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
3 years ago
eaa5819211
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
3 years ago
7dd71cc63d
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>
3 years ago
596417da37
update ref commit for body tune change
3 years ago
65fca83abe
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>
3 years ago
7908fb8829
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
3 years ago
6c5b0685da
body: set fault state ( #24125 )
...
* body: set fault state
* fix that
* update refs
3 years ago
f1f40c117a
Add Disengage on Accelerator Toggle ( #23977 )
...
* 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
00ebd10b87
body: only control while engaged ( #24114 )
...
* body: only control while engaged
* bump panda
* remove that
* bump panda
* update refs
* update refs
3 years ago
7df1c025ae
body: add crc and counter ( #24120 )
...
* add crc and counter for body
* add msg
* move counter
* whitespace
* ..
* bump opendbc
* update_refs
3 years ago
7dffd0ac0b
calibrationd: support for not cars ( #24115 )
...
* calibrationd: support for not cars
* update refs
3 years ago
b2b6205e25
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
3 years ago
18e7f85f70
Hyundai: always update set speed ( #24104 )
...
* don't reset set speed
* update refs
3 years ago
a4353303d4
update refs
3 years ago
e40c36f22b
better support non-car robots ( #24106 )
...
* better support non-car robots
* bump cereal
* update refs
3 years ago
0b9790dd24
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>
3 years ago
031f79ba88
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>
3 years ago
49498aa7b5
controlsd: no cruise speed while main off ( #24052 )
...
* controlsd: no cruise speed while main off
* probably more accurate
* update refs
3 years ago
adf34c3414
CarParams: remove max steer ( #24044 )
...
* Remove max steer
* Update ref
3 years ago
c88ced1f10
Honda Nidec: don't actuate while longitudinal is inactive ( #24028 )
...
* don't command any pcm_speed when long is not active
* update refs
3 years ago
4a8fffd0f4
Apply EU guideline lateral limits ( #23974 )
...
* Apply EU limits
* Lower bound v_ego
* Add curvature limit comment
* Remove comment
* Update ref
3 years ago
dcece099ff
Add angular rates carcontroller packet ( #23980 )
...
* Controlsd: give carcontroller angular rates
* Update cereal
* Needs to be list
* Update refs
3 years ago
5fe00fb773
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 10bb51a0f0
3 years ago
de4031c98e
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
3 years ago
dfc1292614
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
3 years ago
HaraldSchafer
Shane Smiskol
ntegan1
Adeeb Shihadeh
Keyvan Fatehi
Willem Melching
George Hotz
George Hotz
Lukas Petersson
Igor Biletskyy
ZwX1616
Vivek Aithal