1c2c840a8a
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
old-commit-hash: 210a6163ac
3 years ago
775d1beb66
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 98e7224f81d222461a3e
3 years ago
cd2636a712
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
old-commit-hash: 4c05c88c10
3 years ago
b8a6a961fe
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
old-commit-hash: 2eff6d0ebd
3 years ago
0cccf195f3
Add e2e long toggle ( #25638 )
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* Add toggle
* Misc fixes
* Update translations
* pre alpha not great
old-commit-hash: faff2b8950
3 years ago
4b8547c7a4
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
old-commit-hash: e1b7a37a1f
3 years ago
35ff65121e
pre-commit: add codespell ( #25571 )
...
old-commit-hash: 6590fb2b93
3 years ago
d9c279aea9
params: make python and c++ API match ( #25573 )
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* params: make python and c++ API match
* few more
old-commit-hash: 90a4565eb2
3 years ago
3b747049ad
controlsd: disambiguate can error and can socket lag ( #25559 )
...
old-commit-hash: 94f353a5e3
3 years ago
2bd8ee0974
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 efc89e8a235ed587ebef
3 years ago
28a60fb42e
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 6e6d3f642387ca42e993
3 years ago
179b0d1a81
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>
old-commit-hash: 5b1ba4f135
3 years ago
a353cc8627
Use steeringAngleDeg for angle control saturation warnings ( #25404 )
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* use steeringAngleDeg for angle control cars
* update refs
old-commit-hash: 24645c92da
3 years ago
48522500ea
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>
old-commit-hash: 041458f632
3 years ago
283970114e
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>
old-commit-hash: f1fecc3da7
3 years ago
e23f58937f
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
old-commit-hash: e77dc1ab44
3 years ago
5263356958
remove CS.steeringRateLimited ( #25251 )
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* remove CS.steeringRateLimited
* bump cereal
* update refs
old-commit-hash: d462a08056
3 years ago
862e3a8300
use v_cruise_cluster_kph for hudControl.setSpeed ( #25245 )
...
old-commit-hash: f300a8df2b
3 years ago
95fb15aa5f
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
old-commit-hash: c3e95d5e19
3 years ago
2ca2152573
less beeps for steering override faults ( #25196 )
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* less beeps for steering override faults
* less repeat
old-commit-hash: 278d6893fe
3 years ago
b73f02bf45
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
old-commit-hash: 505bbce29d
3 years ago
f3ddb32649
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
old-commit-hash: 2ae52e9b22
3 years ago
493d6ef693
Fix new steer saturated warning with joystick mode ( #25113 )
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Fix steer sat warning with joystick mode
old-commit-hash: be7f704168
3 years ago
9bc945c428
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
old-commit-hash: fd2de54172
3 years ago
4eabd3b9d9
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
old-commit-hash: ea241bf3dc
3 years ago
220db41bab
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: e088fde67e088fde67eb7b425e530f8634266bf8634266b4c9e446ad21e6c4106eae6c4106ea10520c7f21604db5f80bfe23b37d3fe23b37d3fee7dc3960daff0597ec9213997c5527d2f51ee55d2f51ee55f6a63bd60f05771cdecab6c1fe0606f00b1df652f325ea9bbd52c9061042b3dc51f663d5f32cd1fcbf797567ef8
3 years ago
297a0bd65b
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
old-commit-hash: d4cc13c88a
3 years ago
316de57010
Torque control: max torque warning ( #25018 )
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* New steer torque warning
* typo
old-commit-hash: 0c95493dc0
3 years ago
0c2afda822
enable laikad ( #25013 )
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* enable laikad
* increase logprint for onroad test
old-commit-hash: cdc7a6dbea
3 years ago
2d945b2fd5
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
old-commit-hash: b3226d505b
3 years ago
145f3c96ba
cleanup torque tuning config ( #24951 )
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old-commit-hash: 062a8bcdbd
3 years ago
f22b124acf
ui: change alerts to Inter ( #24937 )
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* ui: change alerts to Inter
* fix up test
old-commit-hash: 88f246b909
3 years ago
c4dcf67acc
Long e2e planner: better xva weights ( #24893 )
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better long xva weights
old-commit-hash: 2c877ce490
3 years ago
8cd45d02c0
add param to override carParams.dashcamOnly ( #24857 )
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* add param to override carParams.dashcamOnly
* little cleaner
old-commit-hash: 7c826b4fa1
3 years ago
cc0ba78b69
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
old-commit-hash: b941b39c56
3 years ago
b0b1aff5cc
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>
old-commit-hash: 9283040d84
3 years ago
5e002bff96
Torque control: low speed boost ( #24859 )
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* Make very low speed more aggressive
* Less extreme low speed boost
* Update ref
old-commit-hash: a6652a539d
3 years ago
3c48bc47b7
Move a bunch of stuff to system/ part 3 ( #24829 )
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* move swaglog.py
* timezoned
* logmessaged
* version.py
* fix linter
old-commit-hash: 0fce5d9045
3 years ago
9a45a3b99b
Move selfdrive/hardware/ to system/ ( #24725 )
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* move hardware to system/
* fix mypy
old-commit-hash: 1139fe507b
3 years ago
bc679f735d
Misc torque control fixes ( #24801 )
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* Fiction compensation should be based on error
* Update refs
* Add deadzone
* update ref
old-commit-hash: 843e59f6f0
3 years ago
52a28d8938
update DH names + notes for MPC output curvatures ( #24701 )
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* update names + notes for MPC outputs
"current_curvature" is not the correct description of what the MPC is outputting in it's curvature_ego state.
The MPC is integrating it's free variable, curvature_rate, such that curvature[0] is actually the desired_curvature before any delay.
inversely: the curvature_rate_desired is the desired rate of change to the setpoint and not the actual curvature rate.
If we were to set the initial curvature = measured curvature in the MPC initiation these names would be correct.
This was possibly how it was initially set up but the nomenclature here is now confusing.
* more notes
* match
* Clarify #1
old-commit-hash: b215d611b1
3 years ago
1a2bf8412c
Car documentation: set steering torque star using car interface ( #24709 )
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* Set good torque using torque controller tuning
* should be equal to
* save lateral accel to car params
* use maxLateralAccel
* always
* same convention
* nan will always evaluate to false
* The great good torque purge
* adjust default friction
* Add data for more cars
* adjust name
* Welcome back, guys. Only adjust good torque if maxLatAccel is set
* Update refs (1.7 is 1.7000001...)
old-commit-hash: c6bc03311c
3 years ago
08ad733229
Remove laneless toggle ( #24738 )
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* Remove laneless toggle
* Update refs
old-commit-hash: 7f16e19f79
3 years ago
753045c73d
less TICI when not needed ( #24698 )
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* less TICI when not needed
* fix process replay
* move reading voltages into hw abstraction layer
* Update selfdrive/hardware/tici/hardware.h
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* Update selfdrive/hardware/hw.h
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* Update selfdrive/hardware/base.h
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* rename init function
* Update selfdrive/athena/athenad.py
Co-authored-by: Robbe Derks <robbe.derks@gmail.com>
* Update selfdrive/boardd/boardd.cc
* Apply suggestions from code review
* Update selfdrive/thermald/thermald.py
* update ref
* fix alert width if all cameras are bad
* add ecam to test_loggerd
* bump cereal
* bump cereal
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Robbe Derks <robbe.derks@gmail.com>
old-commit-hash: f49a9c9fd2
3 years ago
6a53db981b
Simulator: Speed up process by removing second camera ( #24679 )
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* simulator: support running wide camera only
* proper frame id
* use param name that makes more sense
* do some cleanup
* Update tools/sim/bridge.py
Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: b5aed2bf67
3 years ago
f5a6a6dc77
Tssp prius torque control ( #24669 )
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* use llk
* use steering sensor at low speed stil
* Try more simple
* rm prius tune
* updated ref
old-commit-hash: d708a134bd
3 years ago
39886246c9
Rerevert torque control ( #24649 )
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* Revert "Revert torque control (#24565 )"
This reverts commit 93f434d047a92366c4ccefeece86fe101ed98d02.
* Move tune out of car specific stuff
* Update ref commit
old-commit-hash: d928972150
3 years ago
55085a12db
New model: better laneless ( #24605 )
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* Fix ping pong
* Fix hugging: e6fd3a62-aa86-46d1-a414-19137ed1babc/800
* Remove lateral toggle
* a6da6265-1952-48dd-986b-2b5996dd2642/950
* Model replay commit
* Revert "Remove lateral toggle"
This reverts commit 69e57eb7e17da48ebdba
3 years ago
29e2b3f757
controlsd: ensure all system malfunction events have the right types ( #24635 )
...
old-commit-hash: 71901c94db
3 years ago
51165e5df5
Latcontrol torque: integrator need not be reset ( #24606 )
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slow integrators need not be reset
old-commit-hash: 2181bbca71
3 years ago
HaraldSchafer
Shane Smiskol
Adeeb Shihadeh
Chris Souers
Robbe Derks
Vivek Aithal
Willem Melching
grekiki
ClockeNessMnstr
Gijs Koning