210a6163ac
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
3 years ago
4c05c88c10
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
3 years ago
2eff6d0ebd
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
3 years ago
faff2b8950
Add e2e long toggle ( #25638 )
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* Add toggle
* Misc fixes
* Update translations
* pre alpha not great
3 years ago
e1b7a37a1f
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
3 years ago
6590fb2b93
pre-commit: add codespell ( #25571 )
3 years ago
90a4565eb2
params: make python and c++ API match ( #25573 )
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* params: make python and c++ API match
* few more
3 years ago
5ed587ebef
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 efc89e8a23
3 years ago
5b1ba4f135
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>
3 years ago
041458f632
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>
3 years ago
f1fecc3da7
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>
3 years ago
d462a08056
remove CS.steeringRateLimited ( #25251 )
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* remove CS.steeringRateLimited
* bump cereal
* update refs
3 years ago
278d6893fe
less beeps for steering override faults ( #25196 )
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* less beeps for steering override faults
* less repeat
3 years ago
f797567ef8
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: 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
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
2c877ce490
Long e2e planner: better xva weights ( #24893 )
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better long xva weights
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
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
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
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 )
...
* 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
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
4 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>
4 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
4 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>
4 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
4 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>
4 years ago
c9be2f02c3
Clean up controllers ( #24340 )
...
* clean up lat controllers
* pass CP once
* sort
4 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
4 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
4 years ago
70987fd9d9
more verbose debug alerts ( #24126 )
4 years ago
fe0bcdaef6
Lateral torque-based control with roll on TSS2 corolla and TSSP rav4 ( #24260 )
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* Initial commit
* Fix bugs
* Need more torque rate
* Cleanup cray cray control
* Write nicely
* Chiiil
* Not relevant for cray cray control
* Do some logging
* Seems like it has more torque than I thought
* Bit more feedforward
* Tune change
* Retune
* Retune
* Little more chill
* Add coroll
* Add corolla
* Give craycray a good name
* Update to proper logging
* D to the PI
* Should be in radians
* Add d
* Start oscillations
* Add D term
* Only change torque rate limits for new tune
* Add d logging
* Should be enough
* Wrong sign in D
* Downtune a little
* Needed to prevent faults
* Add lqr rav4 to tune
* Try derivative again
* Data based retune
* Data based retune
* add friction compensation
* Doesnt need too much P with friction comp
* remove lqr
* Remove kd
* Fix tests
* fix tests
* Too much error
* Get roll induced error under 1cm/deg
* Too much jitter
* Do roll comp
* Add ki
* Final update
* Update refs
* Cleanup latcontrol_torque a little more
4 years ago
5c48e7bc86
remove comma two support ( #24248 )
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* remove comma two support
* cleanup release files
* little more
* more libs
* no more gralloc
* add snpe back
4 years ago
233a167cc9
controlsd: handle controls mismatch race ( #24245 )
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* controlsd: handle controls mismatch race
* update refs
4 years ago
HaraldSchafer
Adeeb Shihadeh
Shane Smiskol
Chris Souers
Vivek Aithal
Willem Melching
grekiki
ClockeNessMnstr
ntegan1
Dylan Herman
Jason Young