39d9bd31b0
Make longitudinal planning triggered on model ( #22641 )
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* Make long planning triggered on model
* fix process replay
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: efb5abec41
4 years ago
4099783375
add sdcard support ( #22703 )
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* generalize
* factory reset
old-commit-hash: f4c2398db4
4 years ago
b16c806e9e
plannerd: add useLaneLines to lateralPlan ( #22699 )
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* add laneless toggle in lateral plan message
* update cereal
* add refs
old-commit-hash: 2ea4feffb9
4 years ago
05aa510c25
always show lane lines on HUD ( #22693 )
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* always show lane lines on HUD
* update refs
old-commit-hash: f2b48a1803
4 years ago
300294d0c6
temporarily disable per-core cpu usage check
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old-commit-hash: 7394956a90
4 years ago
d50d9af755
e2e long planner: use position, speed and accel ( #22688 )
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* a little bit more moderate
* cleaner
old-commit-hash: 7868baeac9
4 years ago
01043f505a
more specific no fw startup alert
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old-commit-hash: 897492d27c
4 years ago
dcf3fc2089
[Lateral PID] Function for steer feedforward ( #22638 )
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* store a function for steer feedforward
* use classmethod
Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: 778374d3dd
4 years ago
3e3b875111
Only trigger model FCW on stock long when not already braking ( #22620 )
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* Only trigger model FCW on stock long when not already braking
* Split model_fcw checks for better readability
old-commit-hash: 38f775edfc
4 years ago
92c2da52a9
plannerd: position std size check bug
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old-commit-hash: 791de68689
4 years ago
3802eab361
only check low battery on EON
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old-commit-hash: 74a3c92704
4 years ago
b7aba92661
Remove accel cost in long MPC ( #22527 )
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* ACCEL not useful
* new ref
old-commit-hash: c4510024da
4 years ago
4814c30667
ACADOS fix non-convergence when long_plan changes ( #22495 )
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* debug commit
* cleanup
* some indexing bugs
* need more its
* BALANCE is way better it seems
* fix test
* this converges in 2000segs
* new ref
* less cpu
old-commit-hash: 04cf12cb00
4 years ago
58c99158a1
Make pandaState and safetyMode a list ( #22454 )
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* wip: move to pandaStates
* bump cereal
* wip: SafetyMode struct
* move to safetyMode
* fix typo
* this can be None
* fix potential empty pandaStates list
* fix thermald
* fix controlsd
* rename safetyModes to safetyConfigs
* update process_replay
* fix test_models
* bump cereal
old-commit-hash: 91987f38d4
4 years ago
627c6260cf
Fix cruise button mph increment ( #22487 )
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old-commit-hash: 5587964d58
4 years ago
5a1e44c417
Long MPC cleanup ( #22462 )
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* cleaner extrapolation
* some comments
* new ref
* more comments
* new ref
old-commit-hash: a4bc1bbb74
4 years ago
f495134be4
Retune long mpc ( #22445 )
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* first try
* looks decent
* finalize retune
* back to 3 its
* may need 4 still
* misc cleanup
* new ref
* SPEEEED
* new ref
old-commit-hash: 9ab09f5ae9
4 years ago
79d5c6107b
Set CarControl.active ( #22442 )
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* Set CarControl.active
* update ref
old-commit-hash: e636f03c7a
4 years ago
ca46acfd64
accel/decel button metric increments ( #22399 )
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* add metric values
Freedom units have weird multiples compared to metric. Modified so that it increments by 10 km/h on long press and 1 km/h on short press, rather than 8 and 1.6 km/h. This mimics stock hyundai behaviour on metric vehicles.
* use is_metric from controlsd
* use actual mph value instead of rounded
Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: 23b9316603
4 years ago
11066c6236
Split pandaState into peripheralState and pandaState ( #22385 )
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* publish peripheralState from boardd
* refactor consumers
* rename thread
* peripheralState has panda type too
* add to process replay
* fix device build
* properly remove hardware unsupported alert
* latest peripheralState
* remove pandaState from thermal_monitor
* put that back
* add back harness check
* fix cloudlog
* needs pandaState
* Update selfdrive/thermald/tests/test_power_monitoring.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* dont conflate
* Update selfdrive/thermald/tests/test_power_monitoring.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* pigeon is peripheral
* cleanup
* less global
* comment
* move rtc to peripheral_control_thread
* better diff?
* whitespace
* get msg
* bump cereal
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: f4e2537b12
4 years ago
810e859169
Lateral PID: move steer feedforward to CarInterface ( #22411 )
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* move steer feedforward to car interface, in car parameters
* LatControlPID.get_steer_feedforward()
old-commit-hash: 3461e25944
4 years ago
a131767d0b
accel/decel button short/long press 1mph/5mph ( #22013 )
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old-commit-hash: 92895f1e68
4 years ago
d91e0604e8
Change radar-based FCW to model-based FCW ( #22379 )
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* just use MPC for fcw checking
* thats already bad
* model FCW is always good
* better fcw
* should be good for now
* comment
* linting
* cleaner
* unused
old-commit-hash: a8b4249ebc
4 years ago
f02787eb75
Small long MPC optimizations ( #22360 )
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* Revert "temporarily relax camerad timings"
This reverts commit 59b8293b70e0cbd43567275dc2c6c1d29308fb84.
* cleanup
* wrong weight size
* changes ever so slightly
* seems enough
* Revert "seems enough"
This reverts commit 24f64e9b18583462206bb77c37ba7727b9e47245.
* new ref
old-commit-hash: 85dc43d166
4 years ago
a4194021bd
controls: only send cruise cancel while cruise is enabled ( #22359 )
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* controls: only send cruise cancel while cruise is enabled
* cleanup
* might actually do something
* update refs
* update refs again
* update refs
old-commit-hash: 3b8fa4b7fd
4 years ago
2b470f4e38
acados long merged ( #22224 )
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* rebased
* cleaner, seems to drive better?
* more stable
* wrong import
* new way of thinking
* reports look nice
* start move back
* works at leas
* good timestamps
* step by step
* somewhat work
* tests pass
* ALL CARS STOPPED
* should work
* fake a cruise obstacle
* cleaner costs
* pretty good except cruise braking
* works pretty well now!
* cleanup
* add source
* add source
* that is needed for unit tests
* nan recovery
* little cleaner
* stop wasting arrays
* unreasonable without unfair init
* this isnt needed without the exponential
* that works too
* unused
* uses less
* new ref
* long enough
* e2e long api
* DONT PUT IN A VIEW INTO ACADOS
* new ref for outside weights
* remove debug prints
old-commit-hash: fe983a7b8c
4 years ago
18097d7c06
change reverse gear event from immediate to user disable ( #22337 )
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old-commit-hash: 2fe91e6085
4 years ago
821f1f6cb6
remove community supported cars from community features ( #22330 )
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* remove community supported cars from community features
* remove bosch and hkg long
* remove test case
* update refs
old-commit-hash: 649af76fd4
4 years ago
b3601ce43b
Remove fuzzy fingerprint startup alert ( #22328 )
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* deprecate fuzzy fingerprint startup alert
* bump cereal
old-commit-hash: 88d248a5af
4 years ago
498e0f4212
Fix cruise MPC convergence bug and add test ( #22295 )
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* fix tests
* fix cruise convergence bug
* update refs
* Update selfdrive/controls/tests/test_cruise_speed.py
Co-authored-by: Willem Melching <willem.melching@gmail.com>
* Update selfdrive/controls/tests/test_cruise_speed.py
* add msgh
Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: fcda55fbf1
4 years ago
0512c89d34
various cleanup ( #22289 )
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old-commit-hash: cc6af379ce
4 years ago
aa4b201b96
Added update_with_xva method to long_mpc so it can be used in sim ( #22284 )
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old-commit-hash: 485afda79d
4 years ago
bc1882e3fb
More extreme lead init for lead mpc ( #22273 )
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* More harsh lead init for lead mpc
* update refs
old-commit-hash: 7495100177
4 years ago
b1e2f219c9
Clip radar acceleration for mpc stability
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old-commit-hash: a1fcedda21
4 years ago
e190dfaf13
Dont run plannerd for long tests ( #22260 )
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old-commit-hash: f0be9a57ac
4 years ago
8f84b2421a
sane lead clips to prevent reset ( #22255 )
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old-commit-hash: 5e995e5aff
4 years ago
3305024cfc
remove ACADO ( #22247 )
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* remove acado
* not relevant anymore
old-commit-hash: 42d93e94df
4 years ago
2d4b64ed04
Acados long fast ( #22233 )
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* acados long
* new ref
* SPPEEEEEDDD
* less iterations
* this shouldn't be so high
* reset only essentials
* minimal reset for long mpc
* more cpu usage plannerd
* Use lead mpc even when going to crash
* reset to current state
* Use open loop speed for lead mpc
* 1 iteration is too little for cruise mpc
* add whitespace
* update refs
old-commit-hash: 66c275b711
4 years ago
d688b62c62
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
old-commit-hash: 417e229624
4 years ago
8877772a95
Less QP iterations for lateral acados ( #22231 )
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* Less QP iterations for lateral acados
* update ref
old-commit-hash: 96a8f8a831
4 years ago
a8ce1288fd
Hyundai longitudinal prerequisites ( #22121 )
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* panda
* bring over changes
* dont check car model
* remove comment
* fix typo
* more stuff gated behind long
* not
* not used
* gate that too
* try honda tuning
* clip accel values
* fix up merge
* fix stopping
* add retry logic around knockout
* increase timeout
* keep flipping lead bit
* true for now
* less tuning
* update comment
* 0.1 s is fine now
* merge honda and hyundai knockout
* more lead fields
* another obj bit
* increase timeout
* fix stopping flag
* only lag compensate for braking
* no lead
* less tuning
* only do knockout if not readonly
* try controlling using jerk
* tuning
* try higher stopping rate
* set stopping flag at higher speed
* clip upper jerk when stopping
* remove comments
* tester present 1hz
* use positive start accel
* 1.0 to maybe improve low speed stuff
* no point going over 0
* bump panda
* bump panda
* revert that change
* update ref
old-commit-hash: c4bac6bd68
4 years ago
65a1b386dc
Fix 0 init bug for acados lateral ( #22225 )
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* this is needed somehow
* new ref
old-commit-hash: 0dc45eaf1c
4 years ago
c422cce205
Port lateral planning to ACADOS ( #22080 )
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* lateral acados
* looks good!
* add another solve, needed for init somehow
* use copy
* init correctly
* cleanup sconstruct
* Update files_common
* update cpu usage
* reset when invalid
* fix cpu usage
* cost_set doesnt leak
* new ref
* non leaky reset
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 7081ab4fb7
4 years ago
523219c678
Parameterize longitudinal control using carParams ( #22200 )
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* use CP.startAccel
* missing values
* order
* update ref
* cereal
old-commit-hash: b7d1aac197
4 years ago
b079219b93
Use CP.vEgoStopping and clean up CP.startAccel ( #22199 )
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* use CP.vEgoStopping and clean up
* update ref
old-commit-hash: 1e62b09e5d
4 years ago
cb1cd01bdf
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
old-commit-hash: 74b6c87254
4 years ago
52aaad7cad
plannerd: remove last of liveMpc
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old-commit-hash: da74a6cf73
4 years ago
7fc6a76f04
reduce startup alert duration to 10s ( #22163 )
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* reduce startup alert duration to 10s
* update refs
* update refs
* update refs
old-commit-hash: 1c750975fc
4 years ago
83ce6c65bb
actually set longControlState in actuators packet ( #22155 )
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* actually set longControlState in actuators packet
* update ref
old-commit-hash: 4f84e1b2ad
4 years ago
ab7d2f1d08
put LongControlState in CarControl.Actuators ( #22154 )
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old-commit-hash: 21ae64868e
4 years ago
Robbe Derks
Adeeb Shihadeh
Vivek Aithal
HaraldSchafer
qadmus
Mitchell Goff
Willem Melching
speedking456
Greg Hogan