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: e088fde67e088fde67eb7b425e530f8634266bf8634266b4c9e446ad21e6c4106eae6c4106ea10520c7f21604db5f80bfe23b37d3fe23b37d3fee7dc3960daff0597ec9213997c5527d2f51ee55d2f51ee55f6a63bd60f05771cdecab6c1fe0606f00b1df652f325ea9bbd52c9061042b3dc51f663d5f32cd1fcbf797567ef8
3 years ago
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
316de57010
Torque control: max torque warning ( #25018 )
...
* New steer torque warning
* typo
old-commit-hash: 0c95493dc0
3 years ago
0c2afda822
enable laikad ( #25013 )
...
* enable laikad
* increase logprint for onroad test
old-commit-hash: cdc7a6dbea
3 years ago
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
145f3c96ba
cleanup torque tuning config ( #24951 )
...
old-commit-hash: 062a8bcdbd
3 years ago
f22b124acf
ui: change alerts to Inter ( #24937 )
...
* ui: change alerts to Inter
* fix up test
old-commit-hash: 88f246b909
3 years ago
c4dcf67acc
Long e2e planner: better xva weights ( #24893 )
...
better long xva weights
old-commit-hash: 2c877ce490
3 years ago
8cd45d02c0
add param to override carParams.dashcamOnly ( #24857 )
...
* add param to override carParams.dashcamOnly
* little cleaner
old-commit-hash: 7c826b4fa1
3 years ago
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
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
5e002bff96
Torque control: low speed boost ( #24859 )
...
* Make very low speed more aggressive
* Less extreme low speed boost
* Update ref
old-commit-hash: a6652a539d
3 years ago
3c48bc47b7
Move a bunch of stuff to system/ part 3 ( #24829 )
...
* move swaglog.py
* timezoned
* logmessaged
* version.py
* fix linter
old-commit-hash: 0fce5d9045
3 years ago
9a45a3b99b
Move selfdrive/hardware/ to system/ ( #24725 )
...
* move hardware to system/
* fix mypy
old-commit-hash: 1139fe507b
3 years ago
bc679f735d
Misc torque control fixes ( #24801 )
...
* Fiction compensation should be based on error
* Update refs
* Add deadzone
* update ref
old-commit-hash: 843e59f6f0
3 years ago
52a28d8938
update DH names + notes for MPC output curvatures ( #24701 )
...
* 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
old-commit-hash: b215d611b1
3 years ago
1a2bf8412c
Car documentation: set steering torque star using car interface ( #24709 )
...
* 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...)
old-commit-hash: c6bc03311c
3 years ago
08ad733229
Remove laneless toggle ( #24738 )
...
* Remove laneless toggle
* Update refs
old-commit-hash: 7f16e19f79
3 years ago
753045c73d
less TICI when not needed ( #24698 )
...
* 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>
old-commit-hash: f49a9c9fd2
3 years ago
6a53db981b
Simulator: Speed up process by removing second camera ( #24679 )
...
* 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>
old-commit-hash: b5aed2bf67
3 years ago
f5a6a6dc77
Tssp prius torque control ( #24669 )
...
* use llk
* use steering sensor at low speed stil
* Try more simple
* rm prius tune
* updated ref
old-commit-hash: d708a134bd
3 years ago
39886246c9
Rerevert torque control ( #24649 )
...
* Revert "Revert torque control (#24565 )"
This reverts commit 93f434d047a92366c4ccefeece86fe101ed98d02.
* Move tune out of car specific stuff
* Update ref commit
old-commit-hash: d928972150
3 years ago
55085a12db
New model: better laneless ( #24605 )
...
* 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 69e57eb7e17da48ebdba
3 years ago
29e2b3f757
controlsd: ensure all system malfunction events have the right types ( #24635 )
...
old-commit-hash: 71901c94db
3 years ago
51165e5df5
Latcontrol torque: integrator need not be reset ( #24606 )
...
slow integrators need not be reset
old-commit-hash: 2181bbca71
4 years ago
56a44d41f8
controls: pressing set while gas pressed resets to vEgo ( #24100 )
...
* 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>
old-commit-hash: d3d210c183
4 years ago
efa559f9be
Revert torque control ( #24565 )
...
* torque reversal start
* Fix carmodel tests
* Update ref
* update ref
* Elif is better than if
old-commit-hash: 9f8b03753d
4 years ago
a6bcd14abd
show which cameras are malfunctioning ( #24558 )
...
old-commit-hash: 0b1f6e3620
4 years ago
cfc16a88c5
improved alert verbosity ( #24434 )
...
* improved alert verbosity
* better testing script
* better description
* speed diff
* touch ups
* fix that
old-commit-hash: b1858df00e
4 years ago
19aebce4f2
Round system overheated temperature ( #24544 )
...
* Update events.py
* Apply suggestions from code review
Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: 961a121fde
4 years ago
b9a07b8f05
Round model lagging frame drop percentage ( #24549 )
...
alerts: round model frame drop percentage
old-commit-hash: 076f0acd5f
4 years ago
0a2c2a6b28
Add unittest for alert callbacks ( #24551 )
...
add alert callback test
old-commit-hash: 31af13101b
4 years ago
a7dceb30ae
LatControlTorque: clean up class variable ( #24526 )
...
* move to super
* no class variable
* there's CP
* whitespace
* drop CI from latcontrol super
* Revert "drop CI from latcontrol super"
This reverts commit 9218273060a693b3a26b
4 years ago
f1f447d092
Add desired curvature to controlsState ( #24510 )
...
* Add desired_curvature to controlsState
* clean up
* bump
* bump
* update refs from GitHub!
Co-authored-by: Jason Shuler <jshuler@gmail.com>
old-commit-hash: 6518ecca8f
4 years ago
2dfba97175
add mypy check for return-any ( #24379 )
...
* 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>
old-commit-hash: d2eef1955c
4 years ago
7cd23af9b1
Mypy fixes for --check-untyped-defs ( #24372 )
...
more type fixes
old-commit-hash: 17e33978cd
4 years ago
3427eb411b
Latcontrol torque: fix integrator induced ping pong ( #24458 )
...
* Latcontrol torque: fix integrator induced ping pong
* Reset on disengage since unwind resets anywayh
* Might be overkill
* rm whitespace
* update ref
old-commit-hash: 29afd53d88
4 years ago
a6f314bc56
increase cruiseMismatch threshold ( #24428 )
...
old-commit-hash: 1bc6f2fa7d
4 years ago
af82274bac
LatControlTorque: log desired/actual lateral accel ( #24406 )
...
* log torque lateral accel
* bump cereal
* update refs
Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 9a44d4c4e0
4 years ago
247c153a35
controlsd: better alert precedence for system malfunctions ( #24366 )
...
* controlsd: better alert precedence for system malfunctions
* down to 20
* move that
* check can flags
* update refs
* update refs
old-commit-hash: be748c0d6a
4 years ago
fdf13d565b
controlsd: add lagging alert ( #24360 )
...
* controlsd: add lagging alert
* move those
* just this for now
* no camera malfunction
old-commit-hash: 3abbe827de
4 years ago
d82f65a1b7
Accept resumeCruise for resuming prior speed setpoint ( #24348 )
...
* accept two button types for resume
* retry CI
* Update selfdrive/controls/lib/drive_helpers.py
Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 45f131e0e7
4 years ago
12d0a18a05
Clean up controllers ( #24340 )
...
* clean up lat controllers
* pass CP once
* sort
old-commit-hash: c9be2f02c3
4 years ago
3e9694d3f3
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
old-commit-hash: e834b4d9be
4 years ago
8823b9e4a5
longitudinal_mpc: Compute forward distance from velocity ( #24328 )
...
* add vel integ as x in e2e long mpc
* add comment
old-commit-hash: 1a9f5d29d4
4 years ago
82e5b382f1
longActive: consider longitudinal control ( #24295 )
...
* consider longitudinal control
* update refs
old-commit-hash: f4d1703b42
4 years ago
75174c93d7
more verbose debug alerts ( #24126 )
...
old-commit-hash: 70987fd9d9
4 years ago
2174005f05
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
old-commit-hash: fe0bcdaef6
4 years ago
5a9644261f
remove comma two support ( #24248 )
...
* remove comma two support
* cleanup release files
* little more
* more libs
* no more gralloc
* add snpe back
old-commit-hash: 5c48e7bc86
4 years ago
e8ad31f32b
controlsd: handle controls mismatch race ( #24245 )
...
* controlsd: handle controls mismatch race
* update refs
old-commit-hash: 233a167cc9
4 years ago
Shane Smiskol
Willem Melching
HaraldSchafer
Adeeb Shihadeh
grekiki
ClockeNessMnstr
Gijs Koning
ntegan1
Dylan Herman
Jason Young
Vivek Aithal