e088fde67e
no walrus
3 years ago
b3226d505b
Torque control: higher low speed gains and better steering angle deadzone logic ( #24980 )
...
* 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
e23b37d3fe
0.1 should be pretty safe
3 years ago
e7dc3960da
try 0.2
3 years ago
ff0597ec92
Always run planner if not opLong
3 years ago
6a63bd60f0
mazda: ensure no resume if cancelling
3 years ago
6c1fe0606f
rename to resume
3 years ago
2c9061042b
do rest but vw
3 years ago
3dc51f663d
only spam resume when future is > vEgoStarting
3 years ago
5f32cd1fcb
always log leads, we hide them in ui
3 years ago
2c877ce490
Long e2e planner: better xva weights ( #24893 )
...
better long xva weights
3 years ago
7c826b4fa1
add param to override carParams.dashcamOnly ( #24857 )
...
* 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 )
...
* 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 )
...
* 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 )
...
* 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 )
...
* Remove laneless toggle
* Update refs
3 years ago
f49a9c9fd2
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>
3 years ago
b5aed2bf67
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>
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 )
...
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 )
...
* 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 )
...
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 )
...
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
Shane Smiskol
HaraldSchafer
Adeeb Shihadeh
Willem Melching
grekiki
ClockeNessMnstr
Gijs Koning
ntegan1
Dylan Herman
Jason Young
Vivek Aithal