openpilot_comma

Commit Graph

Author	SHA1	Message	Date
YassineYousfi	b7b827bdd2	min lane change speed 20mph (#26434 ) old-commit-hash: `7374080668`	3 years ago
Adeeb Shihadeh	74979a7c76	experimental mode (#26416 ) * experimental mode * rename param * red lights old-commit-hash: `9a3f468051`	3 years ago
Harald Schäfer	f86b44d516	E2e long model: calibrate model speed to wheel speed (#26395 ) * calibrate! * Fix test * Fix proc replay * check len * get v_ego from model 8501d20-bb59-4193-aa82-82b2737dedd6/449 609d90f3-65e6-4617-a60c-d6d99eead408/700 * bump cereal * initialize v_model_error * typo * better names * cleanup * bump cereal * update model replay ref commit * bump to cereal master Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu> old-commit-hash: `f63f0de80a`	3 years ago
Vivek Aithal	3029919422	[torqued] Fix high speed oscillations (#26338 ) * modify low speed factor during high speeds and rescale friction * update refs old-commit-hash: `e9eb5d99ff`	3 years ago
Harald Schäfer	f10cccb318	FCW: less false positives (#26366 ) * Less FP for FCW * enable fcw for e2e long old-commit-hash: `253e5d7f9d`	3 years ago
Harald Schäfer	e20020053d	Longcontrol: faster transition from starting to stopping (#26361 ) * Never command accel when stopping * Update ref_commit old-commit-hash: `a7ced7c54b`	3 years ago
HaraldSchafer	dd03dbc344	Eliminate toyota close radar glitches causing no resume (#26272 ) Eliminate toyota close radar glitches old-commit-hash: `f76a390daf`	3 years ago
HaraldSchafer	48f4c8b701	No fcw when standstill (#26252 ) old-commit-hash: `b80f2efdf2`	3 years ago
HaraldSchafer	742310271b	Long control: add a_change cost in e2e mode (#26237 ) Add e2e cost old-commit-hash: `dcde942d9f`	3 years ago
HaraldSchafer	3b62f66008	Use same minimum speed for lateral planning and controls (#26177 ) * Use same speed for lag adjustmenet * One is a nicer number * Update ref old-commit-hash: `4f84b29985`	3 years ago
Shane Smiskol	70249fae14	Rename gmAccFaultedTemp -> accFaultedTemp old-commit-hash: `b1efdab788`	3 years ago
HaraldSchafer	9c26b70a43	Partial revert, lax torque control (#26146 ) * Closer to original * Update ref old-commit-hash: `1548db8962`	3 years ago
Shane Smiskol	961c613005	GM camera ACC: prevent fault when engaging at a stop (#26079 ) * prevent bolt fault * comment * only for camera ACC * fixup alert * bump cereal to master * use new name * Update selfdrive/car/gm/interface.py * Update selfdrive/car/gm/interface.py * Update selfdrive/car/gm/interface.py * only care about prevent engagement when we look at PCM old-commit-hash: `4e82f68de2`	3 years ago
HaraldSchafer	f9b65f9189	Low speed lateral like before (#26022 ) * Add explicit cost on steering wheel movement * Laxer low speed control * Laxer low speed control * Lower min speed now there is a cost * 3m/s * Similar to old master * Add cost * Crazy high * Update ref * comment old-commit-hash: `2c9b150761`	3 years ago
HaraldSchafer	a13f2deeeb	Increase low speed jerk cost (#26008 ) * Increase low speed jerk cost * Update planner weight * Update ref_commit * Update lateral_planner.py * cleanup and refactor * Update ref_commit old-commit-hash: `fb07437819`	3 years ago
HaraldSchafer	3488569ac3	Divide by 0 bug fix lateral planner (#25995 ) * Divide by speed correctly * Update * Update lateral_planner.py * Update ref_commit old-commit-hash: `1ecf6f351c`	3 years ago
HaraldSchafer	a8ec6f4cfd	Rocket Launcher Model (#25963 ) * 1456d261-d232-4654-8885-4d9fde883894/440 6b7d7cec-ead8-40f3-86cc-86d52c9b03fe/300 * compute only 9 tokens: 1456d261-d232-4654-8885-4d9fde883894/440 6b7d7cec-ead8-40f3-86cc-86d52c9b03fe/300 * tinygrad: cleanup gather * 1456d261-d232-4654-8885-4d9fde883894/440 6b7d7cec-ead8-40f3-86cc-86d52c9b03fe/700 * empty commit for tests * bump tinygrad * dont use tinygrad matmul for now * bump tinygrad * 1456d261-d232-4654-8885-4d9fde883894/440 e63ab895-2222-4abd-a9a5-af86bb70e260/700 * float16 1456d261-d232-4654-8885-4d9fde883894/440 e63ab895-2222-4abd-a9a5-af86bb70e260/700 * increase steer rate cost * Revert "increase steer rate cost" This reverts commit 74ce9ab9be7ef17ecfec931f96851b12f37f2336. * fork tinygrad * empty commit for tests * basics * Kinda works * new lat * new tuning * Move LATMPCN so scons compiles * Update long weights * Add tinygrad optim * Update model ref * update weights * Update ref * Try * Error message for field ignore * update model regf * ref commit * Fix onnx test Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu> old-commit-hash: `cb0b7375b7`	3 years ago
HaraldSchafer	f25d434a01	Planner cleanup (#25969 ) old-commit-hash: `e5d2c3ce7a`	3 years ago
Shane Smiskol	8e1e6132c8	GM: raise max brake (#25810 ) * -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 old-commit-hash: `84adb8d925`	3 years ago
Shane Smiskol	ae2f2add1d	Longitudinal planner: clip a_desired to cruise limits (#25928 ) * Clip a_desired to cruise limits * Update selfdrive/controls/lib/longitudinal_planner.py * fix * update refs * explicit old-commit-hash: `4bd146ee7a`	3 years ago
Lee Jong Mun	f6700cb7ba	remove blank whitespace (#25921 ) old-commit-hash: `7df0e3efcf`	3 years ago
HaraldSchafer	10bc36ae58	Minor ACC fixes (#25911 ) * Change cruise accel limits * Long tuning script looks good * Cap cruise slowdown aggression in e2e mode * Revert atau change * Cleanup * Update ref * fix ref old-commit-hash: `1007df874f`	3 years ago
Vivek Aithal	51d25b2011	Live torque (#25456 ) * wip torqued * add basic logic * setup in manager * check sanity and publish msg * add first order filter to outputs * wire up controlsd, and update gains * rename intercept to offset * add cloudlog, live values are not updated * fix bugs, do not reset points for now * fix crashes * rename to main * fix bugs, works offline * fix float in cereal bug * add latacc filter * randomly choose points, approx for iid * add variable decay * local param to capnp instead of dict * verify works in replay * use torqued output in controlsd * use in controlsd; use points from past routes * controlsd bugfix * filter before updating gains, needs to be replaced * save all points to ensure smooth transition across routes, revert friction factor to 1.5 * add filters to prevent noisy low-speed data points; improve fit sanity * add engaged buffer * revert lat_acc thresh * use paramsd realtime process config * make latacc-to-torque generic, and overrideable * move freq to 4Hz, avoid storing in np.array, don't publish points in the message * float instead of np * remove constant while storing pts * rename slope, offset to lat_accet_factor, offset * resolve issues * use camelcase in all capnp params * use camelcase everywhere * reduce latacc threshold or sanity, add car_sane todo, save points properly * add and check tag * write param to disk at end of route * remove args * rebase op, cereal * save on exit * restore default handler * cpu usage check * add to process replay * handle reset better, reduce unnecessary computation * always publish raw values - useful for debug * regen routes * update refs * checks on cache restore * check tuning vals too * clean that up * reduce cpu usage * reduce cpu usage by 75% * cleanup * optimize further * handle reset condition better, don't put points in init, use only in corolla * bump cereal after rebasing * update refs * Update common/params.cc Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * remove unnecessary checks * Update RELEASES.md Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> old-commit-hash: `4fa62f1464`	3 years ago
Vivek Aithal	3326487104	Torque Refactor (#25822 ) * add torque gains refactor * update refs * avoid dict, use cereal struct * bugfix * no as_builder * address final comments old-commit-hash: `85ed5c4cb5`	3 years ago
Shane Smiskol	c1b9a202aa	controls: enter overriding state for steering override (#25617 ) * 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`. * full names * bump cereal * test every event type * update refs old-commit-hash: `992707c172`	3 years ago
Shane Smiskol	30ba3096a3	Longcontrol: fix possible reference before assignment (#25715 ) fix possible reference before assignment old-commit-hash: `056b2ec2ed`	3 years ago
Adeeb Shihadeh	c6e4fb646d	split out experimental long toggle (#25698 ) * split out experimental long toggle * clean up * update translations old-commit-hash: `3ef37fe2e8`	3 years ago
Adeeb Shihadeh	96be4599e7	reduce min lane change speed to 15mph (#25689 ) old-commit-hash: `445492a6d8`	3 years ago
HaraldSchafer	38f7880951	Live e2e long toggling (#25685 ) Live toggling old-commit-hash: `8857e02dd4`	3 years ago
HaraldSchafer	0b87a4ddb1	More conservative lead policy in e2e long mode (#25684 ) * 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 old-commit-hash: `7899fb79c1`	3 years ago
HaraldSchafer	1c2c840a8a	Let planner decide stopping state (#25643 ) * 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
HaraldSchafer	cd2636a712	Radard: ignore leads without model confirmation wider than 1.0m (#25664 ) Dont stop for cars next to you without model confirmation old-commit-hash: `4c05c88c10`	3 years ago
HaraldSchafer	b8a6a961fe	Remove lane planning code (#25651 ) * Remove all lane planning logic * Revert "Update ref" This reverts commit 8dcb08ebccbb5641443459ac40601a95cf605682. * bump cereal * Update ref old-commit-hash: `2eff6d0ebd`	3 years ago
HaraldSchafer	0cccf195f3	Add e2e long toggle (#25638 ) * Add toggle * Misc fixes * Update translations * pre alpha not great old-commit-hash: `faff2b8950`	3 years ago
HaraldSchafer	4b8547c7a4	Support e2e long in longitudinal planner (#25636 ) * 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
Adeeb Shihadeh	35ff65121e	pre-commit: add codespell (#25571 ) old-commit-hash: `6590fb2b93`	3 years ago
Adeeb Shihadeh	d9c279aea9	params: make python and c++ API match (#25573 ) * params: make python and c++ API match * few more old-commit-hash: `90a4565eb2`	3 years ago
Shane Smiskol	2bd8ee0974	controls: block resume if cruise not previously engaged (#25402 ) * 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`. * gm CC uses > 70 * bump cereal * comment * test on Honda * whoops * works * add exception with todo * moved button enable events to controlsd * get rid of that get rid of that * different values for now * car interfaces add enable event, controlsd can block it * Regen and update refs * delete if not set * One place one place * regen routes are uninitialized first few frames * Trim start of segment so it's like original segment * stash * regen * not working * clean up * more cleanup * revert * bump ceral * actually check resume button * whoops * pcmCruise cars don't use setSpeed, so we're good * engage correctly in sim * Update ref_commit * Update refs old-commit-hash: `5ed587ebef`	3 years ago
Chris Souers	179b0d1a81	Lateral planner: Don't prompt/initiate lane changes if lateral control is not active (#25436 ) * 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
HaraldSchafer	48522500ea	Falcon Punch Model: turn cutting improvements (#25413 ) * 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
Vivek Aithal	283970114e	Sensor Invalid Alert (#25303 ) * 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
Adeeb Shihadeh	5263356958	remove CS.steeringRateLimited (#25251 ) * remove CS.steeringRateLimited * bump cereal * update refs old-commit-hash: `d462a08056`	3 years ago
Adeeb Shihadeh	2ca2152573	less beeps for steering override faults (#25196 ) * less beeps for steering override faults * less repeat old-commit-hash: `278d6893fe`	3 years ago
Shane Smiskol	220db41bab	long planner: run when using stock longitudinal (#25017 ) * 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: `e088fde67` 86f0c5757 Author: Shane Smiskol <shane@smiskol.com> Date: Fri Jul 1 14:05:36 2022 -0700 Merge remote-tracking branch 'upstream/master' into enable-planner2 commit `e088fde67e` Author: Shane Smiskol <shane@smiskol.com> Date: Thu Jun 30 13:58:38 2022 -0700 no walrus commit `b7b425e530` Merge: `f8634266b` 8fd235fc6 Author: Shane Smiskol <shane@smiskol.com> Date: Thu Jun 30 13:54:30 2022 -0700 Merge remote-tracking branch 'upstream/master' into enable-planner commit `f8634266b4` Author: Shane Smiskol <shane@smiskol.com> Date: Wed Jun 29 16:07:35 2022 -0700 stricter test, speeds[-1] is 0.14 when starting here commit `c9e446ad21` Merge: `e6c4106ea` cb46531fe Author: Shane Smiskol <shane@smiskol.com> Date: Wed Jun 29 16:01:32 2022 -0700 Merge remote-tracking branch 'upstream/master' into enable-planner commit `e6c4106ea1` Author: Shane Smiskol <shane@smiskol.com> Date: Sat Jun 25 03:28:41 2022 -0700 fix test commit `0520c7f216` Author: Shane Smiskol <shane@smiskol.com> Date: Sat Jun 25 03:26:16 2022 -0700 add test for resuming commit `04db5f80bf` Merge: `e23b37d3f` d18a5ee5a Author: Shane Smiskol <shane@smiskol.com> Date: Wed Jun 22 20:15:50 2022 -0700 Merge remote-tracking branch 'upstream/master' into enable-planner commit `e23b37d3fe` Author: Shane Smiskol <shane@smiskol.com> Date: Tue Jun 21 12:46:04 2022 -0700 0.1 should be pretty safe commit `e7dc3960da` Author: Shane Smiskol <shane@smiskol.com> Date: Tue Jun 21 12:39:30 2022 -0700 try 0.2 commit `ff0597ec92` Author: Shane Smiskol <shane@smiskol.com> Date: Tue Jun 21 11:34:00 2022 -0700 Always run planner if not opLong commit `13997c5527` Merge: `d2f51ee55` 7bba47a10 Author: Shane Smiskol <shane@smiskol.com> Date: Tue Jun 21 11:29:22 2022 -0700 Merge remote-tracking branch 'upstream/master' into enable-planner commit `d2f51ee55f` Author: Shane Smiskol <shane@smiskol.com> Date: Tue Jun 21 11:27:45 2022 -0700 same for non-HDA2 commit `6a63bd60f0` Author: Shane Smiskol <shane@smiskol.com> Date: Mon Jun 20 23:37:07 2022 -0700 mazda: ensure no resume if cancelling commit `5771cdecab` Author: Shane Smiskol <shane@smiskol.com> Date: Mon Jun 20 23:27:58 2022 -0700 maintain original button msg rate commit `6c1fe0606f` Author: Shane Smiskol <shane@smiskol.com> Date: Wed Jun 15 23:45:26 2022 -0700 rename to resume commit `00b1df652f` Author: Shane Smiskol <shane@smiskol.com> Date: Wed Jun 15 21:57:54 2022 -0700 remove comments commit `325ea9bbd5` Author: Shane Smiskol <shane@smiskol.com> Date: Wed Jun 15 21:56:20 2022 -0700 vw commit `2c9061042b` Author: Shane Smiskol <shane@smiskol.com> Date: Wed Jun 15 21:54:37 2022 -0700 do rest but vw commit `3dc51f663d` Author: Shane Smiskol <shane@smiskol.com> Date: Wed Jun 15 16:34:48 2022 -0700 only spam resume when future is > vEgoStarting commit `5f32cd1fcb` Author: Shane Smiskol <shane@smiskol.com> Date: Wed Jun 15 16:09:43 2022 -0700 always log leads, we hide them in ui * reset when not CS.enabled remove comment * update refs old-commit-hash: `f797567ef8`	3 years ago
Willem Melching	297a0bd65b	controlsd: avoid lag on first iteration due to get_short_branch (#25031 ) * controlsd: avoid lag on first iteration due to get_short_branch * always cache old-commit-hash: `d4cc13c88a`	3 years ago
HaraldSchafer	2d945b2fd5	Torque control: higher low speed gains and better steering angle deadzone logic (#24980 ) * Try no friction and no deadzone * Learn fromd ata * update refs old-commit-hash: `b3226d505b`	3 years ago
Adeeb Shihadeh	145f3c96ba	cleanup torque tuning config (#24951 ) old-commit-hash: `062a8bcdbd`	3 years ago
HaraldSchafer	c4dcf67acc	Long e2e planner: better xva weights (#24893 ) better long xva weights old-commit-hash: `2c877ce490`	3 years ago
grekiki	cc0ba78b69	More accurate jerk limits (#24755 ) * 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
HaraldSchafer	b0b1aff5cc	Rocket league model (#24869 ) * 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

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656 Commits (a3eafc8cd543dba4f0a2e2bc3f35618357e42dec)