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
3 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
3 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
3 years ago
a6bcd14abd
show which cameras are malfunctioning ( #24558 )
...
old-commit-hash: 0b1f6e3620
3 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
3 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
3 years ago
b9a07b8f05
Round model lagging frame drop percentage ( #24549 )
...
alerts: round model frame drop percentage
old-commit-hash: 076f0acd5f
3 years ago
0a2c2a6b28
Add unittest for alert callbacks ( #24551 )
...
add alert callback test
old-commit-hash: 31af13101b
3 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
3 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
3 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
3 years ago
7cd23af9b1
Mypy fixes for --check-untyped-defs ( #24372 )
...
more type fixes
old-commit-hash: 17e33978cd
3 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
3 years ago
a6f314bc56
increase cruiseMismatch threshold ( #24428 )
...
old-commit-hash: 1bc6f2fa7d
3 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
3 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
3 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
3 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
3 years ago
12d0a18a05
Clean up controllers ( #24340 )
...
* clean up lat controllers
* pass CP once
* sort
old-commit-hash: c9be2f02c3
3 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
3 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
3 years ago
82e5b382f1
longActive: consider longitudinal control ( #24295 )
...
* consider longitudinal control
* update refs
old-commit-hash: f4d1703b42
3 years ago
75174c93d7
more verbose debug alerts ( #24126 )
...
old-commit-hash: 70987fd9d9
3 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
3 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
3 years ago
e8ad31f32b
controlsd: handle controls mismatch race ( #24245 )
...
* controlsd: handle controls mismatch race
* update refs
old-commit-hash: 233a167cc9
3 years ago
636c902c65
controlsd: check if process should be running ( #24250 )
...
old-commit-hash: 067273b8e7
3 years ago
ebeadd9b41
fix csid map
...
old-commit-hash: b9e5ad8a64
3 years ago
598ba913ae
Fix camera error description ( #24202 )
...
* Fix camera error message
* Shorter
old-commit-hash: e0845752e3
3 years ago
3789587df1
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
old-commit-hash: 49c2164814
3 years ago
5ff61e95ad
controlsd: fix soft disable while overriding ( #24178 )
...
old-commit-hash: 37fc027e98
3 years ago
b0444b39d2
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>
old-commit-hash: f54e724b5d
3 years ago
305a7a6bc9
Make PI into a PID ( #24151 )
...
* Make PI into a PID
* Cast like before
old-commit-hash: 634f7cebef
3 years ago
e04e6fea87
bump cereal
...
old-commit-hash: 162e47456c
3 years ago
3683360f86
controlsd: fix long press set speed increment ( #24161 )
...
old-commit-hash: 1ea66ee244
3 years ago
83c103e46a
update camera CRC alert text ( #24156 )
...
old-commit-hash: fb344021aa
3 years ago
a47666d1fd
add cameraFrameRate alert ( #24152 )
...
* add cameraFrameRate alert
* bump cereal
old-commit-hash: 1848050fd9
3 years ago
871ecc451b
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
old-commit-hash: eaa5819211
3 years ago
758d423b86
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>
old-commit-hash: 7dd71cc63d
3 years ago
df8476118b
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>
old-commit-hash: 65fca83abe
3 years ago
bf744c0410
tests: add overriding to state machine test ( #24131 )
...
* add overriding to state machine test
* overriding should consider soft disable too
old-commit-hash: d7a708d6da
3 years ago
c97473248a
controls: add overriding to active states ( #24129 )
...
old-commit-hash: f0ac80806e
3 years ago
Shane Smiskol
HaraldSchafer
Willem Melching
Gijs Koning
Adeeb Shihadeh
ntegan1
ClockeNessMnstr
Dylan Herman
grekiki
Jason Young
Vivek Aithal
George Hotz
George Hotz
Lukas Petersson