* lat_mpc: make v_ego, rotation_radius parameters instead of states
* lat_mpc: remove rotation_radius argument, since it is part of the parameters
* lat_mpc: use qp_solver_cond_N = 1
slightly faster and in line with case study in Fig. 2/ 3 in Frison2016 - https://cdn.syscop.de/publications/Frison2016.pdf
An Efficient Implementation of Partial Condensing for Nonlinear Model Predictive Control
* adapt test_lateral_mpc to formulation with parameters
* lat_mpc: set parameters in reset() and copy values
* acados_ocp_solver_pyx: make options_set useable
* update ref
Co-authored-by: Willem Melching <willem.melching@gmail.com>
* make v_desired a FirstOrderFilter
* forgot one
* one more ref
* Add a new object for the filter
* fix
* fix tests
* update ref
Co-authored-by: Willem Melching <willem.melching@gmail.com>
* rename and add dep
* proto thresholds
* tweak vk
* update natural offset and clip offsets
* 95th looks good
* no punish for being relaxed
* yaw laplace only
* some pay more attention
* update ref
Co-authored-by: Willem Melching <willem.melching@gmail.com>
* alert text simplification
* little more
* user triggered
* little more
* less annoying ldw
* Update selfdrive/controls/lib/events.py
* update refs
* revert
* Add cost for creep
* more reasonable cost
* seems better than before
* science tune
* more chill
* closer follow
* stopping takes some leeway
* better cruise
* needed to be cumsum all along
* jerk not even needed
* matches better
* 6 is too much
* add back
* a little extra buffer is good for badly tuned cars
* new refs
* refs again
* new engage/disengage + amp config
* first family
* cleanup audible alerts
* tici isn't special
* fix up debug cycle alerts
* these were better
* extend range
* use distracted sound
* log scaling
* getting closer
* slightly louder
* prompt
* update tests
* update refs
* fix c2 test
* resolve todo
* adjust tolerance
* revert for now
* should work
Co-authored-by: Comma Device <device@comma.ai>
* modify reset logic
* remove debug statements
* use ecef pos and vel covariances during reset
* reset orientations initialized to 0,0,GPSbearing
* refactor nav fix
* add fake gps observations to control ecef pos and ecef vel std
* replace fake_P with individual fake cov
* set gps mode flag
* add gps invalid flag names
* update refs
* more accurate gps accuracy check + update refs
* set ECEF_POS valid flag to false if in no-gps mode
* modify valid flag for all ecef states before gps
* add calibrated valid when no gps
* update refs
* remove extra whitespace
* add invalid flag to all NED values pre gps
* update refs
* update correct refs
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* Mazda: disable hud alerts for now until we find a way to silence audible warnings
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
* Mazda: add hud alert for steer lockout
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
* show when above min steer speed
* update refs
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* add no gps observations
* use correct ecef_location, orientation vals and stds for nogps states
* remove earth radius obs
* move initial loc to the ocean
* remove unnecessary changes
* update refs
* disallow engagement if brake hold active
* we can check once
* move to common events
revert
* fix
* update refs
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* squash all PR commits for easy rebase
* merged all panda rx can into one message
* fix buffers in can_send
* more cleanup and minor fixes
* fix even more stuff
* fix non-allocated send buffer
* make connecting more robust
* fix bus offset
* fix controls_mismatch?
* simplify mismatch check
* C++ style struct
* fix connect loop
* update ref
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Harald Schafer
Jonathan Frey
Vivek Aithal
Shane Smiskol
Willem Melching
ZwX1616
Adeeb Shihadeh
Jason Young
Jafar Al-Gharaibeh
cydia2020
Robbe Derks