27035131cc
Sane curvature rate limit in plannerd ( #20366 )
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* safety limit
* should be in RADs
* add raw
* update refs
4 years ago
c23ec9f753
LateralPlanner should only compute curvature ( #20289 )
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* get curvature from planner
* no need to check active
* remove that
* remove self
* liveParams not needed
* cast
* fix test bug
* fixes
* fix ui.py
* fix radians
* update refs
* update refs
* bump cereal
* bump cereal
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
4 years ago
8df76b3980
Always linearize, better way of compensating for lag ( #20133 )
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* need to divide diff by 2
* simple linearization seems to work best
* update refs
4 years ago
312b681a46
cereal cleanup part 2 ( #20092 )
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* car stuff
* thermal
* Revert "car stuff"
This reverts commit 77fd1c65eb
4 years ago
8f9ee10b8a
Fix division by zero in lateral_planner.py ( #20071 )
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* Fix division by zero
* Change fix logic
4 years ago
0c900c8ce1
fix low speed lateral ( #20053 )
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* fix low speed lateral
* update ref
* fix failing CI jobs
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
4 years ago
c3707328f5
Different lag comp ( #20024 )
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* more sensible
* different names for different segs
* new ref
* this is checked somewhere
4 years ago
000bd226aa
Cereal cleanup ( #20003 )
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* start cleanup
* fan speed
* cleanup dm
* fix cereal
* hwType -> pandaType
* update refs
* update refs
* bump cereal
* freeSpacePercent
* cereal master
4 years ago
61a4e3e661
Remove curv factor ( #20011 )
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* cleaning crew
* need that to match
* smooth factor
* that didn't really work
* closer to previous
* new ref
* new names
4 years ago
3f2b42b4e3
Deal with long lag compensation ( #20004 )
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* add hack for big lags
* wrong bracket
* new pathplanner values
4 years ago
608f00f814
Split planner and pathplanner publishing into separate 'publish' methods ( #19860 )
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* Split planner and pathplanner publishing into separate 'publish' methods
* Updated test_following_distance.py
* Combined publish+send_mpc_solution methods
4 years ago
d628352098
important for indi ( #19926 )
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* important for indi
* dont change that in this pr
4 years ago
0e49919ab9
Cleanup pathplanner ( #19827 )
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* no divide by 0
* misc cleanup
* final fixes
* remove last polys
* new ref
* fix test
* update again
4 years ago
bf5332c491
back to open loop ( #19781 )
4 years ago
61b7527b95
fix tests
4 years ago
158210cde8
Mpc rework2 ( #19660 )
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* start again
* need that too
* this actually works
* not needed
* do properly
* still works
* still works
* still good
* all G without ll
* still works
* all still good
* cleanup building
* cleanup sconscript
* new lane planner
* how on earth is this silent too....
* update
* add rotation radius
* update
* pathplanner first pass
* misc fixes
* fix
* need deep_interp
* local again
* fix
* fix test
* very old
* new replay
* interp properly
* correct length
* another horrible silent bug
* like master
* fix that
* do doubles
* different delay compensation
* make robust to empty msg
* make pass with hack for now
* add some extra
* update ref for increased leg
* test cpu usage on this pr
* tiny bit faster
* purge numpy
* update ref
* not needed
* ready for merge
* try again after recompile
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
4 years ago
e6668625fa
set y too ( #2448 )
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* set y too
* new ref
5 years ago
ce85e402f4
Fix lane change when blinker is turned off early ( #2324 )
5 years ago
65e5032a97
Revert "tici: take into account frame timestamp ( #2199 )"
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This reverts commit 3a494e144b
5 years ago
3a494e144b
tici: take into account frame timestamp ( #2199 )
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* compensate for frame processing time
* add rolling shutter time
* Add max frame delay of 250ms
* only delay on tici
5 years ago
64aeb80dcc
fix blindspot detection
5 years ago
c4a3d7afb0
Block lane change start on blindspot detection ( #1712 )
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* use BSM to block lane change start
* remove duplicate entry
* add approaching
5 years ago
0f20ac728f
Bounds checks on liveParameters for testing on desk
5 years ago
6466ec982a
enable flake8 E502: backslash is redundant between brackets
5 years ago
67017d69fe
Minor fixes ( #1571 )
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* was 5 seconds not .2!
* threshold for moving car highers, this can give FPw
5 years ago
d099e09fb7
Handle posenet and sensor alerts in locationd ( #1541 )
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* handle posenet and senor alerts in locationd
* defaults now set in capnp file
* Cleanup c++ version of params learner
* update ref commit
5 years ago
65fcc7c45f
Better poly ( #1437 )
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- better polyfitting
- no mpc cost change during lane change
- model trained with better ll gt, sim noise and guaranteed memories
5 years ago
d39595cf10
Faster lane change ( #1381 )
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* final B2 for 0.75
* more aggression in lane changes
5 years ago
af5f99d7cf
fade ll out and in ( #1246 )
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* fade ll out and in
* bug fixes
* pretty important fixes
* safer in case model misses desire input
* Safer float compares
Co-authored-by: Willem Melching <willem.melching@gmail.com>
5 years ago
6ff881f789
initialize all messages in 1 line ( #1206 )
5 years ago
63d3bb517f
Pulse desire ( #1172 )
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* initial
* compilation fixes
* add desire
* pulse desire
* 0d5728f6-a918-40a6-bce3-a9d0f1238180/20
* cleaner
* inject model
* inject model
* test runs
* ah already done I see
* remove useless
* update
* updates, doesnt work
* fix generating new references
Co-authored-by: Willem Melching <willem.melching@gmail.com>
5 years ago
45718d9294
Add LaneChangeEnabled param and settings toggle ( #1093 )
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* add LaneChangeEnabled param and settings toggle
* Read lane change toggle in pathplanner.py
Co-authored-by: Willem Melching <willem.melching@gmail.com>
5 years ago
59bd58c940
Remove unused path offset learner
5 years ago
105b95ffd7
Cancel lane change on blinker off
5 years ago
fe9ccb27b1
Remember lane change direction when blinker turns off
5 years ago
b0260dadba
selfdrive/controls
5 years ago
HaraldSchafer
Willem Melching
Adeeb Shihadeh
Igor
Mitchell Goff
Adeeb Shihadeh
Shane Smiskol
Andrew Valish
George Hotz