c9be2f02c3
Clean up controllers ( #24340 )
...
* clean up lat controllers
* pass CP once
* sort
3 years ago
e834b4d9be
LatControlTorque: fix deadzone and missing steer saturated warning ( #24294 )
...
* 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 )
...
* add vel integ as x in e2e long mpc
* add comment
3 years ago
f4d1703b42
longActive: consider longitudinal control ( #24295 )
...
* consider longitudinal control
* update refs
3 years ago
70987fd9d9
more verbose debug alerts ( #24126 )
3 years ago
fe0bcdaef6
Lateral torque-based control with roll on TSS2 corolla and TSSP rav4 ( #24260 )
...
* 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
3 years ago
5c48e7bc86
remove comma two support ( #24248 )
...
* remove comma two support
* cleanup release files
* little more
* more libs
* no more gralloc
* add snpe back
3 years ago
233a167cc9
controlsd: handle controls mismatch race ( #24245 )
...
* controlsd: handle controls mismatch race
* update refs
3 years ago
067273b8e7
controlsd: check if process should be running ( #24250 )
3 years ago
b9e5ad8a64
fix csid map
3 years ago
e0845752e3
Fix camera error description ( #24202 )
...
* Fix camera error message
* Shorter
3 years ago
49c2164814
add alert for CAN bus timeout ( #24162 )
...
* add alert for CAN bus timeout
* add alert
* set in interface
* cleanup
* cleanup
* add event
* fix mock
* bump
* bump opendbc
* update refs
* return reader
3 years ago
37fc027e98
controlsd: fix soft disable while overriding ( #24178 )
3 years ago
f54e724b5d
Body cleanup + 100Hz locationd ( #24168 )
...
* use PID
* 100hz on the branch
* Better defaults
* fix int clip
* More cleanup
* Fix pid comments
* only notcar gets 100hz
* cleanup
* fix tests
* ignore
* update refs
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
3 years ago
634f7cebef
Make PI into a PID ( #24151 )
...
* Make PI into a PID
* Cast like before
3 years ago
162e47456c
bump cereal
3 years ago
1ea66ee244
controlsd: fix long press set speed increment ( #24161 )
3 years ago
fb344021aa
update camera CRC alert text ( #24156 )
3 years ago
1848050fd9
add cameraFrameRate alert ( #24152 )
...
* add cameraFrameRate alert
* bump cereal
3 years ago
eaa5819211
commIssueAvgFreq: separate alert for avg freq check ( #24150 )
...
* commIssueAvgFreq: separate alert for avg freq check
* bump cereal
* bump cereal
* bump cereal
* freq_ok separate from alive
* bump cereal to master
* update_ref
* fix profiler
3 years ago
7dd71cc63d
body: control with joystick ( #24143 )
...
* control with joystick
* slow it down
* always joystick for not car
* clean ups
* not stateful
* move submaster
* only if we aren't in test mode
* update refs
* double ki speed, update ref
* this ref
Co-authored-by: Comma Device <device@comma.ai>
3 years ago
65fca83abe
Latency logging 2 ( #24058 )
...
* msg_order and gantt
* frameId in long/lat planner
* track frame id
* controls frame id
* graph tracked events
* graph json
* cloudlog timestamp
* c++ cloudlog
* add frame id
* bug fixes
* bug fixes
* frame id visionicp
* bug fixes and debug level
* timestamp log placement
* print timestamps in table
* translate events
* more logging
* bug fixes
* daemon boardd
* print logs with boardd
* more timestamp logs
* cleanup
* remove publish logs
* bug fix
* timestamp received
* timestamp received
* bug fixes
* use json lib
* ignore driver camera
* prep for new timestamp pipeline
* bug fix
* read new pipeline unfinnished
* read new pipeline
* bug fix
* add frame to controlsstate
* remove controlsstate
* print
* cleanup
* more cleanup + bug fix
* clock build issue
* remove unused imports
* format durations
* increase speed
* pr comments fixes
* conflicts
* set MANAGER_DAEMON for boardd
* clean script code
* bug fix + argparse
* remove rcv time
* bug fixes
* print without tabulate
* fix pre-commits
* plot gnatt
* color bug fix
* read without timestampextra
* bump panda
* mono time instead of frame id
* finnish script
* clean unused
* clean unused logging
* monotonic + json fixes
* del test
* remove whilelines
* bump laika
* cleanup
* remove deps
* logs nicer strings
* remove plotting from scirpt
* reset pipfile
* reset pipfile
* nicer strings
* bug fix
* bug fix
* pr comments cleaning
* remove plotting
* bug fix
* new demo route
* bump opendbc and panda
* cereal master
* cereal master
* script less komplex
* assertions
* matplotlib
* readme
* Update README.md
* graph html
* design fixes
* more code design
* Update common/logging_extra.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* whitespace
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* Update tools/latency_logger/latency_logger.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* pr comments
* bug fix
* readme + env once
* clean swaglog
* bug fix
* Update tools/latencylogger/README.md
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* revert
* revert
* clean swaglog with error
* remove typo file
* revert graph
* cereal
* submodules
* whitespaces
* update refs
Co-authored-by: Bruce Wayne <batman@workstation-openpilot2.internal>
Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
3 years ago
d7a708d6da
tests: add overriding to state machine test ( #24131 )
...
* add overriding to state machine test
* overriding should consider soft disable too
3 years ago
f0ac80806e
controls: add overriding to active states ( #24129 )
3 years ago
f1f40c117a
Add Disengage on Accelerator Toggle ( #23977 )
...
* Squashed commit of the following:
commit 953bcf0ecf8d03f0fec9ce0d5442cc660ae2347d
Merge: b4198608d 333257bad0b9790dd281862fce7d60c44e03⛽ ➡️ 🔋
bump
commit d2b64b89cf8d7265bc90848b4e3a2276c9a4cb78
Author: Shane Smiskol <shane@smiskol.com>
Date: Thu Mar 24 16:19:34 2022 -0700
these changes will be in border PR
these changes will be border PR
commit bed31e63de2244c161729773978fef8a9246ddb5
Merge: 491417640 e91613bc6c88ced1f199c02bdd2db7b49c71820b198945fe00fb77820b19894991763f9ffd7c758d4b91763f9ff4🔥
commit 1885c9e2ba1f591736a9c70e8bca1f591736a2465811f0b7410160d0465811f0b40344363a53700efcb3f3e915cf62700efcb3f4220ce272fed273bb78ac1a85afd60ce3be32afc2f27203af3a04c0ad1a5499cf13caeb2230254ca787475e02cb
3 years ago
00ebd10b87
body: only control while engaged ( #24114 )
...
* body: only control while engaged
* bump panda
* remove that
* bump panda
* update refs
* update refs
3 years ago
2624b4cb27
controlsState: add override state with grey border ( #24030 )
...
* Squashed commit of the following:
commit f0cf822666fb8f78a486d721fe474e8f37da6970
Author: Shane Smiskol <shane@smiskol.com>
Date: Mon Apr 4 17:24:00 2022 -0700
clean up
commit 4364bdb79b1b055daa7542267eb3f37740723fd4
Merge: d448664cf d4f3304470b9790dd2d932cb0678e34ddc70
3 years ago
d4f330447a
controlsd: add state machine tests ( #24107 )
...
* Handle NO_ENTRY in PRE_ENABLED
* add test
* add preEnabled NO_ENTRY test
* stash
* test soft disable
* tuples
* remove overriding until it's merged in
* use Events class
* fix tests and split out
* don't rely on controlsd's counter
3 years ago
8031a68e55
alerts: Don't use Malfunction twice
3 years ago
a4353303d4
update refs
3 years ago
ca3171c0f9
bump cereal
3 years ago
a9bac5acf8
longitudinal MPC: use reset() function instead of recreating the solver in ( #24091 )
...
* scons: add acados_template as dependency for lat and long mpc
* long MPC: use acados reset instead of recreating the solver
* long MPC: print timings and reset commented
* update acados x86_64
* update acados include folder
* update acados Python interface
* update acados reference commit to latest acados/master
* update x86 libs
* update comma two
* update acados again with commit 8ea8827fafb1b23b4c7da1c4cf650de1cbd73584
* update comma two
* update comma three
* update x86
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
3 years ago
5a8b4bbcaa
LongitudinaPlanner: add comment about lateral accel calculation ( #24096 )
...
* space
* if
3 years ago
f1719aab84
Contact Support -> Hardware Malfunction ( #24076 )
...
* Contact Support -> Hardware Malfunction
* missed that one
3 years ago
49498aa7b5
controlsd: no cruise speed while main off ( #24052 )
...
* controlsd: no cruise speed while main off
* probably more accurate
* update refs
3 years ago
adf34c3414
CarParams: remove max steer ( #24044 )
...
* Remove max steer
* Update ref
3 years ago
e91613bc62
update unsafeMode to alternativeExperience ( #23995 )
...
* update unsafeMode to alternativeExperience
* fix
* fix
* bump submodules
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
3 years ago
4a8fffd0f4
Apply EU guideline lateral limits ( #23974 )
...
* Apply EU limits
* Lower bound v_ego
* Add curvature limit comment
* Remove comment
* Update ref
3 years ago
a6d4bb5d01
Add warning for unsupported NVME ( #23972 )
...
* Add warning for unsupported NVME
* fix it up
* fix typo
Co-authored-by: Comma Device <device@comma.ai>
3 years ago
dcece099ff
Add angular rates carcontroller packet ( #23980 )
...
* Controlsd: give carcontroller angular rates
* Update cereal
* Needs to be list
* Update refs
3 years ago
5fe00fb773
Move gas/brake pedal event logic to controlsd ( #23850 )
...
* move some state machine logic to controlsd
move some state machine logic to controlsd
* same order
same order
* move unsafeMode up
* disable at standstill
* save last CS
save last CS
* do we need to copy at all?
* don't copy
* rename
* Update selfdrive/controls/controlsd.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* Revert "Update selfdrive/controls/controlsd.py"
This reverts commit 10bb51a0f0
3 years ago
08c2d066cf
Improve style in drive_helpers ( #23962 )
3 years ago
f1aab78d08
longitudinal MPC: add MAX_T in T_IDXS_LST ( #23960 )
...
* longitudinal MPC: add MAX_T in T_IDXS_LST
* update refs
Co-authored-by: KexianShen <shenkexian@gmail.com>
3 years ago
5c3f3e44bc
break up selfdrive.config ( #23959 )
...
* break up selfdrive.config
* add to release files
* fix import order
3 years ago
629399a449
carControl: add long and lat active fields ( #23859 )
...
* proof of concept
* actuators packet describes which actuators are active
* bump cereal
* fixes
* not needed for this PR
* Do Toyota
* add back controlsState.active
* bump cereal
* rest of cars
* in actuators
* add active back
* which
* use controlsState.active for now
* will make an issue
* Update selfdrive/controls/controlsd.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* move local lat_active checks into CC.latActive
* remove redundant checks
* move comment
move comment
* fix joystick mode
* get enabled from carcontrol
* do standstill check in controlsd
* make sure we consider the gas press case for GM
* use CC.actuators
* fix
* capitalization
* Bump cereal
Bump cereal
* make intermediate actuators
* similar convention to before
* clean that up
* update refs
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
3 years ago
d653dd843a
Upstreamed and update acados ( #23927 )
...
* change acados version to finalized PR https://github.com/acados/acados/pull/791
* acados: update include and x86_64 build
* acados: update pyextra
* adapt mpc files to updated acados
* acados buid: clear acados_template and include dir before updating
* update acados again
* acados MPC: only generate solver, building is done via scons
* update acados to latest acados/master
* c3 libs
* c2 libs
* acados scons files: add acados build script as a dependency
* acados scons files: add libacados.so and ocp_nlp_interface.h, build script not in files_common
* update acados
* adapts long & lat MPC file
* update acados reference commit to acados/master
Co-authored-by: Comma Device <device@comma.ai>
3 years ago
37a8b09cad
lower model FCW + stock longitudinal threshold to -1.25m/s^2 ( #23915 )
3 years ago
274885fc4d
controlsd: fix vCruise jumping on pcmCruise cars ( #23388 )
...
* clean up v_cruise_kph
fix
fix
* Revert "clean up v_cruise_kph"
This reverts commit 211b5c3dbe073414ef5c39b19d6d2c6e8de2cf0b.
* always update vCruise and don't init if pcmCruise
* revert change
* update refs
3 years ago
7254db3906
LongControl: fix control state oscillation ( #23333 )
...
* check if plan is to accelerate or not
* remove comment
* needed to see it
needed to see it
* test logic with Toyota TSS2
* hackily log conditions
* Revert "hackily log conditions"
This reverts commit 7a6b5691e2b982c7a1e3911d980fb7530647affd.
Revert "test logic with Toyota TSS2"
This reverts commit e583d6e3caaa5f5b896165cd7949dfc1caabfd9a.
order
* revert
* fix
3 years ago
ab371f888a
Longitudinal MPC set qp tolerance to 1e-3 ( #23899 )
...
* initialize solverExecutionTime longitudinal_planner
* test_onroad: improve timing evaluation
* longitudinal MPC: set qp_tol to 1e-3
* update ref
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
3 years ago
Shane Smiskol
Vivek Aithal
Adeeb Shihadeh
HaraldSchafer
George Hotz
Gijs Koning
Willem Melching
George Hotz
Lukas Petersson
Jonathan Frey
Gregor Kikelj
Jonathan Frey