be7f704168
Fix new steer saturated warning with joystick mode ( #25113 )
...
Fix steer sat warning with joystick mode
3 years ago
fd2de54172
Stock longitudinal: spam resume button when lead starts moving ( #24873 )
...
* 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
3 years ago
ea241bf3dc
FW fingerprinting: log all FW versions ( #25042 )
...
* 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
3 years ago
f797567ef8
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: e088fde67fcc5b3d70e088fde67eb7b425e530f8634266bc49f997bef8634266b4c9e446ad21e6c4106ea879a7c320e6c4106ea10520c7f21604db5f80bfe23b37d3fd8bfe2f00e23b37d3fee7dc3960daff0597ec9213997c5527d2f51ee5595d8517a8d2f51ee55f6a63bd60f05771cdecab6c1fe0606f00b1df652f325ea9bbd52c9061042b3dc51f663d5f32cd1fcb
3 years ago
d4cc13c88a
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
3 years ago
0c95493dc0
Torque control: max torque warning ( #25018 )
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* New steer torque warning
* typo
3 years ago
cdc7a6dbea
enable laikad ( #25013 )
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* enable laikad
* increase logprint for onroad test
3 years ago
b3226d505b
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
3 years ago
062a8bcdbd
cleanup torque tuning config ( #24951 )
3 years ago
88f246b909
ui: change alerts to Inter ( #24937 )
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* ui: change alerts to Inter
* fix up test
3 years ago
2c877ce490
Long e2e planner: better xva weights ( #24893 )
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better long xva weights
3 years ago
7c826b4fa1
add param to override carParams.dashcamOnly ( #24857 )
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* add param to override carParams.dashcamOnly
* little cleaner
3 years ago
b941b39c56
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
3 years ago
9283040d84
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>
3 years ago
a6652a539d
Torque control: low speed boost ( #24859 )
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* Make very low speed more aggressive
* Less extreme low speed boost
* Update ref
3 years ago
0fce5d9045
Move a bunch of stuff to system/ part 3 ( #24829 )
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* move swaglog.py
* timezoned
* logmessaged
* version.py
* fix linter
3 years ago
1139fe507b
Move selfdrive/hardware/ to system/ ( #24725 )
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* move hardware to system/
* fix mypy
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
b215d611b1
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
3 years ago
c6bc03311c
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...)
3 years ago
7f16e19f79
Remove laneless toggle ( #24738 )
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* Remove laneless toggle
* Update refs
3 years ago
f49a9c9fd2
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>
3 years ago
b5aed2bf67
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>
3 years ago
d708a134bd
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
3 years ago
d928972150
Rerevert torque control ( #24649 )
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* Revert "Revert torque control (#24565 )"
This reverts commit 9f8b03753d
3 years ago
7da48ebdba
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 69e57eb7e1
3 years ago
71901c94db
controlsd: ensure all system malfunction events have the right types ( #24635 )
3 years ago
2181bbca71
Latcontrol torque: integrator need not be reset ( #24606 )
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slow integrators need not be reset
3 years ago
d3d210c183
controls: pressing set while gas pressed resets to vEgo ( #24100 )
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* set while gas pressed to resume
* better order
* what was I thinking?
* Update selfdrive/controls/lib/drive_helpers.py
Co-authored-by: Gijs Koning <gijs-koning@live.nl>
* Update selfdrive/controls/lib/drive_helpers.py
Co-authored-by: Gijs Koning <gijs-koning@live.nl>
* only if under set speed
* some clean up and ciel the v_cruise_kph
* clean up
* actually floor
* Should be cruise min
* On phone, will clean up
* Think no floor is fine
* clean up and catch setCruise
* update comment and just always do rounding and clipping
update comment
* flip order
Co-authored-by: Gijs Koning <gijs-koning@live.nl>
3 years ago
9f8b03753d
Revert torque control ( #24565 )
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* torque reversal start
* Fix carmodel tests
* Update ref
* update ref
* Elif is better than if
3 years ago
0b1f6e3620
show which cameras are malfunctioning ( #24558 )
3 years ago
b1858df00e
improved alert verbosity ( #24434 )
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* improved alert verbosity
* better testing script
* better description
* speed diff
* touch ups
* fix that
3 years ago
961a121fde
Round system overheated temperature ( #24544 )
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* Update events.py
* Apply suggestions from code review
Co-authored-by: Willem Melching <willem.melching@gmail.com>
3 years ago
076f0acd5f
Round model lagging frame drop percentage ( #24549 )
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alerts: round model frame drop percentage
3 years ago
31af13101b
Add unittest for alert callbacks ( #24551 )
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add alert callback test
3 years ago
a693b3a26b
LatControlTorque: clean up class variable ( #24526 )
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* move to super
* no class variable
* there's CP
* whitespace
* drop CI from latcontrol super
* Revert "drop CI from latcontrol super"
This reverts commit 9218273060
3 years ago
6518ecca8f
Add desired curvature to controlsState ( #24510 )
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* Add desired_curvature to controlsState
* clean up
* bump
* bump
* update refs from GitHub!
Co-authored-by: Jason Shuler <jshuler@gmail.com>
3 years ago
d2eef1955c
add mypy check for return-any ( #24379 )
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* add mypy check for return-any
* remove unused import
* typing
* remove unnecessary variable typing
* cleanup
* cleanup
* bump submodules
* small fixes
* only a problem on mac
Co-authored-by: Willem Melching <willem.melching@gmail.com>
3 years ago
17e33978cd
Mypy fixes for --check-untyped-defs ( #24372 )
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more type fixes
3 years ago
29afd53d88
Latcontrol torque: fix integrator induced ping pong ( #24458 )
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* Latcontrol torque: fix integrator induced ping pong
* Reset on disengage since unwind resets anywayh
* Might be overkill
* rm whitespace
* update ref
3 years ago
1bc6f2fa7d
increase cruiseMismatch threshold ( #24428 )
3 years ago
9a44d4c4e0
LatControlTorque: log desired/actual lateral accel ( #24406 )
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* log torque lateral accel
* bump cereal
* update refs
Co-authored-by: Shane Smiskol <shane@smiskol.com>
3 years ago
be748c0d6a
controlsd: better alert precedence for system malfunctions ( #24366 )
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* controlsd: better alert precedence for system malfunctions
* down to 20
* move that
* check can flags
* update refs
* update refs
3 years ago
3abbe827de
controlsd: add lagging alert ( #24360 )
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* controlsd: add lagging alert
* move those
* just this for now
* no camera malfunction
3 years ago
45f131e0e7
Accept resumeCruise for resuming prior speed setpoint ( #24348 )
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* accept two button types for resume
* retry CI
* Update selfdrive/controls/lib/drive_helpers.py
Co-authored-by: Shane Smiskol <shane@smiskol.com>
3 years ago
c9be2f02c3
Clean up controllers ( #24340 )
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* clean up lat controllers
* pass CP once
* sort
3 years ago
e834b4d9be
LatControlTorque: fix deadzone and missing steer saturated warning ( #24294 )
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* fix steer saturated alert and deadzone
* fix and formatting
* update refs
* update refs
* not needed
* remove
3 years ago
1a9f5d29d4
longitudinal_mpc: Compute forward distance from velocity ( #24328 )
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* add vel integ as x in e2e long mpc
* add comment
3 years ago
f4d1703b42
longActive: consider longitudinal control ( #24295 )
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* consider longitudinal control
* update refs
3 years ago
70987fd9d9
more verbose debug alerts ( #24126 )
3 years ago
Shane Smiskol
Willem Melching
HaraldSchafer
Adeeb Shihadeh
grekiki
ClockeNessMnstr
Gijs Koning
ntegan1
Dylan Herman
Jason Young
Vivek Aithal