1f5570a96d
Longitudinal control: interpolate longitudinal plan ( #23787 )
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* interpolate longitudinal actuator delay
rename
* formatting
* interpolate v_target most importantly!
* fix interpolation and rename
* nicer setup
* left in from testing
* update refs
old-commit-hash: 2c7845fce0
2022-02-18 00:45:00 -08:00
849bbc8a2f
process replay: fix branch name alert ( #23783 )
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* env is modified after start
* update ref
old-commit-hash: 14260c01c6
2022-02-17 16:47:42 +01:00
ddde46c503
keep the new alert consistent for process replay
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old-commit-hash: f59adbeaaa
2022-02-16 23:47:02 -08:00
693b66c1e0
add branch name to startup master alert ( #23782 )
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* add branch name to startup master alert
* still orange
* update refs
old-commit-hash: ff965c772b
2022-02-16 20:27:07 -08:00
c12656f397
Longitudinal: add Kf to carParams ( #23752 )
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* sane_kf
* long_kf + cereal
* update ref
Co-authored-by: Willem Melching <willem.melching@gmail.com >
old-commit-hash: 9535dc606d
2022-02-16 15:38:22 +01:00
37349c0fef
add thneed optimizer ( #23772 )
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* add thneed optimizer
* local work group opt
* kernels and final mods
* release files
* build system touchups
* fix kernel path, rand inputs for self test
* broken since extra is gone
* update model replay ref
Co-authored-by: Comma Device <device@comma.ai >
old-commit-hash: 90beaebefb
2022-02-15 15:32:00 -08:00
1329847be0
controlsd: Fix Toyota steer angle sensor race condition ( #23747 )
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* fix steer angle race condition
* update ref
Co-authored-by: Willem Melching <willem.melching@gmail.com >
old-commit-hash: 3e915cf628
2022-02-11 13:54:17 +01:00
1cd3c05a70
Honda: fix brake pressed signal ( #23683 )
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* or brake_switch
* remove car exceptions
* Revert "remove car exceptions"
This reverts commit cad6a552aa4a17c69616014d3e9333d30c1fadd3.
* does have ts noise, use updated
* bump panda for tests
* bump
* messsssy draft
* clean up
* clean up
* bump
* CS: process all messages at once, like we do during real openpilot usage
* handle multiple messages updated in one cycle
* bump
* bump
* use less confusing, but equivalent cp.vl
* Update selfdrive/test/test_models.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
* no msg
* bump opendbc
* Update selfdrive/car/honda/carstate.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
* same test logic
* add brake_switch_prev to class
* need to set previous brake switch when not lagging (most of the time)
* need to compare
* only update previous if updated this cycle
rm
* need to maintain previous active state
* move brake_switch
* bump opendbc
* bump
* bump
* bump
* bump
* bump
* bump
* bump opendbc
* rename
* oops
* bump opendbc
* bump
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
old-commit-hash: 209bfe536b
2022-02-10 13:04:37 -08:00
1eb13fdc65
paramsd: fix VehicleModelInvalid errors ( #23726 )
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* bound steerratio, stiffness std
* remove start steer_ratio limits after looking at data
* reduce sf obs noise
* update refs
* update refs
* add comment explaining change
old-commit-hash: 8a2cbfe00b
2022-02-09 17:37:28 -08:00
5a78f1d29c
hide localizerMalfunction alert ( #23730 )
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* hide localizerMalfunction alert
* update ref
old-commit-hash: 8effa2d878
2022-02-08 22:22:03 -08:00
8343e21ea7
reduce shutdownd CPU usage ( #23723 )
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* reduce shutdownd CPU usage
* sync
Co-authored-by: Comma Device <device@comma.ai >
old-commit-hash: 4c766934be
2022-02-07 18:50:54 -08:00
3522f8dfad
small test_models.py speedup
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old-commit-hash: 48e97b7872
2022-02-07 16:10:20 -08:00
5b2973b308
Mazda CX-5 2022 Car port ( #23704 )
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* Mazda CX5 2022 FW
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com >
* CX-5 2022: No lockout and steer down to zero
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com >
* CX-5 2022: No dashcam!
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com >
* CX-5 2022: add to supported cars
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com >
* Mazda: stick with 800 max torque for now
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com >
* Update docs/CARS.md
* Apply suggestions from code review
* Mazda: set car models where needed
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com >
* Mazda: set minSteerSpeed per car
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com >
* unused
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com >
* cleanup
* Update selfdrive/car/mazda/interface.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
old-commit-hash: 341f5a4ae0
2022-02-04 23:34:37 -08:00
5d29eb6386
update refs
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old-commit-hash: af33998335
2022-01-30 20:46:40 -08:00
97ea3c8ff2
controlsd: only add startup event until initialized ( #23671 )
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* controlsd: only add startup event until initialized
* update refs
* update again
old-commit-hash: 602f92fc0e
2022-01-30 20:38:05 -08:00
12dcbe8617
test car models improvements ( #23668 )
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* run on all routes
* min segment length
* invalid
* revert that
old-commit-hash: c8429f913e
2022-01-30 11:17:51 -08:00
f4a10c631f
test car models: fix all panda safety mismatches ( #23616 )
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* remove tolerance
* fix nissan mismatches
* warm up
* remove additional bosch check
* another honda exception
* little more
* Update selfdrive/test/test_models.py
old-commit-hash: d2735d73fc
2022-01-29 22:14:27 -08:00
a96bed88da
Honda: fix controls mismatch for stock PCM configs ( #23662 )
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* Honda: fix controls mismatch for stock PCM configs
* ready to remove
* bump panda
old-commit-hash: 5219554b85
2022-01-29 17:01:26 -08:00
71da8d1250
No actuation while in pre-enabled state ( #23658 )
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* No actuation while in pre-enabled state
* update refs
old-commit-hash: 72e00a0768
2022-01-28 16:03:44 -08:00
fadba4b34d
CANParser: remove default values ( #23642 )
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* draft
* remove rest
* bump
* update radar interfaces
* do rest and formatting
* bump
* fix mising check
* try this
* Revert "try this"
This reverts commit 0d26d9a072f87dbc897ed525b70fb1db9cb04a06.
* update refs
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
old-commit-hash: 3645186d7c
2022-01-27 17:06:18 -08:00
9f202e63f5
clip steer saturation counter to steerLimitTimer ( #23638 )
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* clip steer saturation counter to steerLimitTimer
* update ref
old-commit-hash: ee71fd2fcc
2022-01-27 12:31:36 +01:00
ed3eef90b1
Toyota: Prius V 2017 support ( #23636 )
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* Add Toyota Prius Alpha support
* Fix opendbc link
* Update interface.py
* v
* revert opendbc
Co-authored-by: CT921 <tim.chen242@gmail.com >
Co-authored-by: 【TIM】 <90225659+CT921@users.noreply.github.com >
old-commit-hash: 2240b802be
2022-01-26 22:57:26 -08:00
c6e3e83a01
update refs
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old-commit-hash: 013cccf6a8
2022-01-26 17:46:12 -08:00
6101a6caca
INDI: replace internal rate limit by actuatorsOutput ( #23243 )
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* INDI: replace internal rate limit by actuatorsOutput
* update ref
old-commit-hash: cf9eee4272
2022-01-26 17:45:05 +01:00
179f5ac2e7
compare_logs: catch typeError ( #23632 )
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old-commit-hash: 5ac32705d0
2022-01-26 17:13:32 +01:00
beeb0442ce
base LatControl class ( #21967 )
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* base LatControl class, move sat check out of pid.py
clean up
clean up
* fix
* global variable for min control speed
* nicer name
* unify latcontrol class init arguments
* add to release files
* saturated if close to limit
* move angle mode saturation checks into class
* check_saturation function takes in current saturated status
undo
* apply latcontrol_angle's active checking to all controllers
* clean up
* move those back
* make abstract baseclass
* add test for saturation
* keep clip
* update ref
* fix static analysis
Co-authored-by: Willem Melching <willem.melching@gmail.com >
old-commit-hash: 9de8f8cd8c
2022-01-26 17:10:41 +01:00
455fd17008
Honda: Merge Pilot_2019 into Pilot ( #23590 )
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* merge pilot
* these weren't on the 2019 pilot
* add non essential ECUs
old-commit-hash: 4f827e2e9e
2022-01-24 21:19:40 -08:00
badf4dff4f
Toyota: move gas pedal definitions into common DBC ( #23582 )
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* Toyota: move gas pedal definitions into common DBC
* add rest of cars
* auto detection
* cleanup
* update refs
old-commit-hash: b18c4eeb82
2022-01-24 15:43:10 -08:00
70f1418256
remove community features toggle ( #23214 )
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* remove community features toggle
* bump cereal
* little more
* update refs
old-commit-hash: 3e9cb7fa12
2022-01-24 14:49:47 -08:00
cb45784238
process replay: disable alive checks for cpp replay
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old-commit-hash: c51561c2ca
2022-01-24 12:06:43 +01:00
0dbb4fb3b0
Add more type hinting ( #23595 )
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* Add more type hinting.
* Revert joystick_alert changes.
* Add typing to statsd.
* Update selfdrive/statsd.py
* Update selfdrive/test/test_fingerprints.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
old-commit-hash: aa9e635311
2022-01-21 15:11:16 -08:00
962201fff1
Ensure controlsd can engage again in process replay ( #23556 )
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* hacks to make process replay engage again
* dont change that
* enable engagement check again
* chmod +x
* first working regen
* proper logMonoTime
* fix video framerate consistency
* mpc is valid again
* proper alive checks
* revert loggerd change
* ensure engaged in regen, fix managerState, peripheralState
* ubloxRaw is unused
* add submaster config for gm
* regen all services we can run without HW
* fix loggerd
* loggerd: matroska without the extension
* update ref
old-commit-hash: d3d10e014a
2022-01-21 13:13:34 +01:00
490f9efc7d
Update refs for PR:#23584)
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old-commit-hash: 920829875f
2022-01-20 14:24:36 -08:00
6f4c93238f
work on acados lateral MPC ( #23558 )
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* lat_mpc: make v_ego, rotation_radius parameters instead of states
* lat_mpc: remove rotation_radius argument, since it is part of the parameters
* lat_mpc: use qp_solver_cond_N = 1
slightly faster and in line with case study in Fig. 2/ 3 in Frison2016 - https://cdn.syscop.de/publications/Frison2016.pdf
An Efficient Implementation of Partial Condensing for Nonlinear Model Predictive Control
* adapt test_lateral_mpc to formulation with parameters
* lat_mpc: set parameters in reset() and copy values
* acados_ocp_solver_pyx: make options_set useable
* update ref
Co-authored-by: Willem Melching <willem.melching@gmail.com >
old-commit-hash: 0681474840
2022-01-18 09:49:48 -08:00
fac18e0148
thermald refactor seems to have lower CPU usage
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old-commit-hash: 5b385c34a4
2022-01-18 16:17:54 +01:00
dce057d29f
Log MPC solver time ( #23566 )
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* add solve time to plan output
* add to process replay ignore list
* print in CI
old-commit-hash: f76328b426
2022-01-18 14:51:03 +01:00
b32725c94f
Chrysler: remove standstill exception for gas disengage ( #23515 )
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* Chrysler: remove standstill exception for gas disengage
* remove test exception
* bump panda
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
old-commit-hash: 57156c4482
2022-01-13 16:06:56 -08:00
e4c2c2cf2e
use roll std from locationd ( #23449 )
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* use roll std from locationd
* cleaner
* add todo
* new ref
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com >
old-commit-hash: f808b174af
2022-01-12 21:37:09 -08:00
14dbd6b1f5
process replay: handle inf and nan in absolute tolerance
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old-commit-hash: 9941c99f7c
2022-01-12 13:34:46 -08:00
1749e94ab6
Toyota: Support Avalon 2022 (TSS2.5) ( #23381 )
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* Add AVALON_TSS2
* Is TSS2 now!
* Add Avalon to CARS.md
* add to test_routes
add to test_routes
old-commit-hash: eb9f35946d
2022-01-12 09:41:07 -08:00
0e6de32847
thermald has slowly started to use more CPU
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old-commit-hash: 5fb9c6aa68
2022-01-11 15:40:18 +01:00
d05c173fe6
Longcontrol: remove starting state ( #23328 )
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* remove starting state
* new ref
* ready for merge
* try this
* cereal now on master
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com >
old-commit-hash: cf9792dc53
2022-01-04 15:40:39 -08:00
c90287391a
Controlsd: fix bug in curv rate limit ( #23250 )
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* Controlsd: fix bug in curv rate limit
* update ref
old-commit-hash: d3f064f5ca
2022-01-04 13:21:56 -08:00
ea8777890f
bump CPU usage slightly after adding glFlush
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old-commit-hash: aad7ebdc2a
2022-01-04 16:26:59 +01:00
efd1ff1452
Longitudinal planner: make v_desired a FirstOrderFilter ( #23341 )
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* make v_desired a FirstOrderFilter
* forgot one
* one more ref
* Add a new object for the filter
* fix
* fix tests
* update ref
Co-authored-by: Willem Melching <willem.melching@gmail.com >
old-commit-hash: 9f88ba188a
2022-01-04 12:17:33 +01:00
5eeb916f0e
Hyundai: Car Port for 2022 Santa Fe Plug-in Hybrid ( #23332 )
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* Add car port: Hyundai Santa Fe Plug-in Hybrid 2022
* Add test route
old-commit-hash: bd399693b6
2021-12-31 17:28:07 -08:00
44498de2e6
test/profiler: fix setting carParams
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old-commit-hash: 699b20ed44
2021-12-26 21:02:12 -08:00
f206ebd054
Pyupgrade 3.6: Update syntax with Python 3.6+ features ( #23305 )
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Updated Python code with Python 3.6+ features:
- utf-8 encoding is now the default (PEP 3120)
- Replace list comprehensions by Generator Expressions (PEP 289)
- Replace yield loop by yield from (PEP 380)
- Remove the (object) subclass when defining a class
- Replace the IOError alias by OSError (PEP 3151)
- Define sets with curly braces {} instead of set()
- Remove "r" parameter from open function, which is default
Co-Authored-By: Adeeb Shihadeh <8762862+adeebshihadeh@users.noreply.github.com >
Co-Authored-By: GregorKikelj <96022003+GregorKikelj@users.noreply.github.com >
Co-authored-by: Adeeb Shihadeh <8762862+adeebshihadeh@users.noreply.github.com >
Co-authored-by: GregorKikelj <96022003+GregorKikelj@users.noreply.github.com >
old-commit-hash: 332f568a82
2021-12-24 11:18:39 -08:00
f64c2974b4
Road Roll Compensation Rebased ( #23251 )
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* first commit
* update refs
old-commit-hash: cf466222f6
2021-12-16 17:34:12 -08:00
d5a1acd1b6
update model replay ref commit after increased model idx precision
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old-commit-hash: e49480185a
2021-12-16 15:58:56 -08:00
Shane Smiskol