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firestar5683
2026-05-02 20:39:08 -05:00
parent 5312ce3082
commit 1c38b731bf
73 changed files with 1736 additions and 1468 deletions
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common/libcommon.a
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common/params_keys.h
+14 -15
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@@ -150,7 +150,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"AdvancedLateralTune", {PERSISTENT, BOOL, "1", "0", 2}},
{"AdvancedLongitudinalTune", {PERSISTENT, BOOL, "1", "0", 3}},
{"AggressiveFollow", {PERSISTENT, FLOAT, "1.25", "1.25", 2}},
{"AggressiveFollowHigh", {PERSISTENT, FLOAT, "1.25", "1.25", 2}},
{"AggressiveFollowHigh", {PERSISTENT, FLOAT, "1.0", "1.0", 2}},
{"AggressiveJerkAcceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
{"AggressiveJerkDanger", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
{"AggressiveJerkDeceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
@@ -193,7 +193,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"CESpeedLead", {PERSISTENT, FLOAT, "0.0", "0.0", 1}},
{"CEStatus", {CLEAR_ON_OFFROAD_TRANSITION, INT, "0", "0"}},
{"CEStopLights", {PERSISTENT, BOOL, "1", "0", 1}},
{"CEStoppedLead", {PERSISTENT, BOOL, "1", "0", 1}},
{"CEStoppedLead", {PERSISTENT, BOOL, "0", "0", 1}},
{"ClusterOffset", {PERSISTENT, FLOAT, "1.0", "1.0", 2}},
{"ColorScheme", {PERSISTENT, STRING, "frog", "stock", 0}},
{"ColorToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
@@ -275,7 +275,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"ForceFingerprint", {PERSISTENT, BOOL, "0", "0", 2}},
{"ForceOffroad", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
{"ForceOnroad", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
{"ForceStops", {PERSISTENT, BOOL, "0", "0", 2}},
{"ForceStops", {PERSISTENT, BOOL, "1", "0", 2}},
{"ForceStopDistanceOffset", {PERSISTENT, INT, "0", "0", 2}},
{"ForceStandstill", {PERSISTENT, BOOL, "0", "0", 2}},
{"ForceTorqueController", {PERSISTENT, BOOL, "0", "0", 3}},
@@ -298,7 +298,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"HigherBitrate", {PERSISTENT, BOOL, "0", "0", 2}},
{"HolidayThemes", {PERSISTENT, BOOL, "1", "0", 0}},
{"HumanAcceleration", {PERSISTENT, BOOL, "0", "0", 2}},
{"HumanFollowing", {PERSISTENT, BOOL, "0", "0", 2}},
{"CoastUpToLeads", {PERSISTENT, BOOL, "1", "1", 2}},
{"HumanLaneChanges", {PERSISTENT, BOOL, "0", "0", 2}},
{"IconPack", {PERSISTENT, STRING, "frog-animated", "stock", 0}},
@@ -425,13 +424,13 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"ReduceLateralAccelerationRainStorm", {PERSISTENT, INT, "0", "0", 2}},
{"ReduceLateralAccelerationSnow", {PERSISTENT, INT, "0", "0", 2}},
{"RefuseVolume", {PERSISTENT, INT, "101", "101", 2}},
{"RelaxedFollow", {PERSISTENT, FLOAT, "1.75", "1.75", 2}},
{"RelaxedFollowHigh", {PERSISTENT, FLOAT, "1.75", "1.75", 2}},
{"RelaxedJerkAcceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
{"RelaxedFollow", {PERSISTENT, FLOAT, "1.6", "1.6", 2}},
{"RelaxedFollowHigh", {PERSISTENT, FLOAT, "1.4", "1.4", 2}},
{"RelaxedJerkAcceleration", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
{"RelaxedJerkDanger", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
{"RelaxedJerkDeceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
{"RelaxedJerkSpeed", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
{"RelaxedJerkSpeedDecrease", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
{"RelaxedJerkDeceleration", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
{"RelaxedJerkSpeed", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
{"RelaxedJerkSpeedDecrease", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
{"ReverseCruise", {PERSISTENT, BOOL, "0", "0", 1}},
{"RecoveryPower", {PERSISTENT, FLOAT, "1.0", "1.0", 2}},
{"RoadEdgesWidth", {PERSISTENT, FLOAT, "2.0", "2.0", 2}},
@@ -496,12 +495,12 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"VisionSpeedLimitDetection", {PERSISTENT, BOOL, "0", "0", 0}},
{"VisionSpeedLimitTrainingCollector", {PERSISTENT, BOOL, "1", "1", 0}},
{"StandardFollow", {PERSISTENT, FLOAT, "1.45", "1.45", 2}},
{"StandardFollowHigh", {PERSISTENT, FLOAT, "1.45", "1.45", 2}},
{"StandardJerkAcceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
{"StandardFollowHigh", {PERSISTENT, FLOAT, "1.2", "1.2", 2}},
{"StandardJerkAcceleration", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
{"StandardJerkDanger", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
{"StandardJerkDeceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
{"StandardJerkSpeed", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
{"StandardJerkSpeedDecrease", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
{"StandardJerkDeceleration", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
{"StandardJerkSpeed", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
{"StandardJerkSpeedDecrease", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
{"StandbyMode", {PERSISTENT, BOOL, "0", "0", 1}},
{"StartAccel", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
{"StartAccelStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
common/params_pyx.so
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opendbc_repo/opendbc/car/car_helpers.py
+16 -2
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@@ -11,6 +11,7 @@ from opendbc.car.structs import CarParams, CarParamsT
from opendbc.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
from opendbc.car.fw_versions import ObdCallback, get_fw_versions_ordered, get_present_ecus, match_fw_to_car
from opendbc.car.mock.values import CAR as MOCK
from opendbc.car.toyota.values import ToyotaSafetyFlags
from opendbc.car.values import BRANDS
from opendbc.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
from openpilot.common.params import Params
@@ -108,6 +109,20 @@ def _normalize_gm_bolt_candidate(candidate: str | None, fingerprints: dict[int,
return candidate
def _apply_disable_openpilot_long(CP: CarParams, FPCP: StarPilotCarParams) -> None:
CP.openpilotLongitudinalControl = False
CP.pcmCruise = True
FPCP.openpilotLongitudinalControlDisabled = True
if CP.brand == "toyota":
# Toyota stock longitudinal safety changes the forwarding rules so the
# camera's ACC_CONTROL message can reach the PT bus again.
for cfg in CP.safetyConfigs:
cfg.safetyParam |= ToyotaSafetyFlags.STOCK_LONGITUDINAL.value
for cfg in FPCP.safetyConfigs:
cfg.safetyParam |= ToyotaSafetyFlags.STOCK_LONGITUDINAL.value
def _normalize_gm_volt_candidate(candidate: str | None, fingerprints: dict[int, dict]) -> str | None:
cam = fingerprints.get(GM_CAMERA_BUS, {})
has_live_camera_msg = GM_VOLT_CAMERA_MSG in cam
@@ -318,8 +333,7 @@ def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multip
FPCP: StarPilotCarParams = CarInterface.get_starpilot_params(candidate, fingerprints, car_fw, CP, starpilot_toggles)
if not CP.alphaLongitudinalAvailable and starpilot_toggles.disable_openpilot_long:
CP.openpilotLongitudinalControl = False
FPCP.openpilotLongitudinalControlDisabled = True
_apply_disable_openpilot_long(CP, FPCP)
return interfaces[CP.carFingerprint](CP, FPCP)
opendbc_repo/opendbc/car/gm/interface.py
+2 -2
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@@ -571,9 +571,9 @@ class CarInterface(CarInterfaceBase):
ret.openpilotLongitudinalControl = not disable_openpilot_long
volt_test_tune_active = (
testing_ground.use_2 and
ret.openpilotLongitudinalControl and
candidate in VOLT_LONG_TEST_TUNE_CARS
candidate in VOLT_LONG_TEST_TUNE_CARS and
(testing_ground.use_2 or not ret.enableGasInterceptorDEPRECATED)
)
if volt_test_tune_active:
# Volt long can still fall back to an all-I tune on both the interceptor and
opendbc_repo/opendbc/car/gm/tests/test_gm.py
+25 -10
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@@ -60,24 +60,39 @@ class TestGMInterface:
assert car_params.minSteerSpeed == pytest.approx(7 * CV.MPH_TO_MS)
@parameterized.expand([
("interceptor", True),
("ascm_int", False),
])
def test_volt_testing_ground_tune_sets_nonzero_p_and_starting_state(self, _name, pedal_present, monkeypatch):
def test_volt_testing_ground_tune_sets_nonzero_p_and_starting_state(self, monkeypatch):
CarInterface = interfaces[CAR.CHEVROLET_VOLT_ASCM]
fingerprint = _empty_fingerprint()
if pedal_present:
fingerprint[0][0x201] = 8 # pedal detected
fingerprint[0][0x201] = 8 # pedal detected
fingerprint[0][0x2FF] = 8 # SASCM detected
monkeypatch.setattr(gm_interface.testing_ground, "use_2", True, raising=False)
monkeypatch.setattr(gm_interface, "testing_ground", SimpleNamespace(use_2=True), raising=False)
car_params = CarInterface.get_params(CAR.CHEVROLET_VOLT_ASCM, fingerprint, [], alpha_long=False, is_release=False, docs=False,
starpilot_toggles=_test_starpilot_toggles())
assert list(car_params.longitudinalTuning.kpV) == [0.10, 0.072, 0.05, 0.04]
assert list(car_params.longitudinalTuning.kiV) == [0.025, 0.03, 0.04, 0.055]
assert list(car_params.longitudinalTuning.kpV) == pytest.approx([0.10, 0.072, 0.05, 0.04])
assert list(car_params.longitudinalTuning.kiV) == pytest.approx([0.025, 0.03, 0.04, 0.055])
assert car_params.startingState
assert car_params.startAccel == pytest.approx(1.15)
@parameterized.expand([
("volt_2019", CAR.CHEVROLET_VOLT_2019, True),
("volt_ascm", CAR.CHEVROLET_VOLT_ASCM, True),
])
def test_non_pedal_volt_alpha_long_uses_volt_tune_by_default(self, _name, car_model, needs_sascm):
CarInterface = interfaces[car_model]
fingerprint = _empty_fingerprint()
if needs_sascm:
fingerprint[0][0x2FF] = 8 # SASCM detected
car_params = CarInterface.get_params(car_model, fingerprint, [], alpha_long=True, is_release=False, docs=False,
starpilot_toggles=_test_starpilot_toggles())
assert car_params.openpilotLongitudinalControl
assert not car_params.enableGasInterceptorDEPRECATED
assert list(car_params.longitudinalTuning.kpV) == pytest.approx([0.10, 0.072, 0.05, 0.04])
assert list(car_params.longitudinalTuning.kiV) == pytest.approx([0.025, 0.03, 0.04, 0.055])
assert car_params.startingState
assert car_params.startAccel == pytest.approx(1.15)
opendbc_repo/opendbc/car/hyundai/carcontroller.py
+6 -5
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@@ -27,10 +27,10 @@ HYUNDAI_CANFD_SCC_DECEL_STEP = 12.5 / 50.0
IONIQ_6_RESPONSE_MULTIPLIER = 1.2
IONIQ_6_CANFD_SCC_ACCEL_STEP = (6.0 / 50.0) * IONIQ_6_RESPONSE_MULTIPLIER
IONIQ_6_CANFD_SCC_DECEL_STEP = (15.0 / 50.0) * IONIQ_6_RESPONSE_MULTIPLIER
GENESIS_G90_STOP_HOLD_SPEED_BP = [0.0, 0.03, 0.08, 0.16, 0.3, 0.5]
GENESIS_G90_STOP_HOLD_ACCEL_V = [-0.12, -0.12, -0.15, -0.22, -0.50, -0.95]
GENESIS_G90_STOP_HOLD_RELAX_SPEED_BP = [0.0, 0.08, 0.16, 0.3, 0.5]
GENESIS_G90_STOP_HOLD_RELAX_STEP_V = [0.08, 0.08, 0.06, 0.04, 0.025]
GENESIS_G90_STOP_HOLD_SPEED_BP = [0.0, 0.03, 0.08, 0.16, 0.3, 0.5, 0.8, 1.2, 2.0, 3.0]
GENESIS_G90_STOP_HOLD_ACCEL_V = [-0.10, -0.10, -0.12, -0.18, -0.30, -0.50, -0.75, -1.00, -1.40, -1.80]
GENESIS_G90_STOP_HOLD_RELAX_SPEED_BP = [0.0, 0.08, 0.16, 0.3, 0.5, 0.8, 1.2, 2.0, 3.0]
GENESIS_G90_STOP_HOLD_RELAX_STEP_V = [0.10, 0.10, 0.08, 0.06, 0.04, 0.035, 0.03, 0.022, 0.018]
GENESIS_G90_RELEASE_SPEED_BP = [0.0, 0.3, 0.6]
GENESIS_G90_RELEASE_ACCEL_STEP_V = [0.05, 0.07, 0.11]
GENESIS_G90_RELEASE_DECEL_STEP_V = [0.16, 0.18, 0.18]
@@ -163,7 +163,8 @@ def update_genesis_g90_longitudinal_tuning(state: GenesisG90LongitudinalTuningSt
stopping = long_control_state == LongCtrlState.stopping
if stopping and v_ego <= GENESIS_G90_STOP_HOLD_SPEED_BP[-1]:
state.release_active = False
target_hold = float(np.interp(v_ego, GENESIS_G90_STOP_HOLD_SPEED_BP, GENESIS_G90_STOP_HOLD_ACCEL_V))
stop_brake_cap = float(np.interp(v_ego, GENESIS_G90_STOP_HOLD_SPEED_BP, GENESIS_G90_STOP_HOLD_ACCEL_V))
target_hold = min(0.0, max(accel_cmd, stop_brake_cap))
if state.actual_accel < target_hold:
relax_step = float(np.interp(v_ego, GENESIS_G90_STOP_HOLD_RELAX_SPEED_BP, GENESIS_G90_STOP_HOLD_RELAX_STEP_V))
state.actual_accel = min(state.actual_accel + relax_step, target_hold)
opendbc_repo/opendbc/car/hyundai/carstate.py
+24 -3
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@@ -7,7 +7,8 @@ from opendbc.can import CANDefine, CANParser
from opendbc.car import Bus, create_button_events, structs
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.hyundai.hyundaicanfd import CanBus
from opendbc.car.hyundai.values import HyundaiFlags, HyundaiStarPilotFlags, CAR, DBC, Buttons, CarControllerParams
from opendbc.car.hyundai.values import HyundaiFlags, HyundaiStarPilotFlags, CAR, DBC, Buttons, CarControllerParams, \
hyundai_cancel_button_enables_cruise
from opendbc.car.interfaces import CarStateBase
ButtonType = structs.CarState.ButtonEvent.Type
@@ -59,6 +60,7 @@ class CarState(CarStateBase):
self.left_paddle = 0
self.mode_button = 0
self.custom_button = 0
self.cancel_button_enable_in_progress = False
self.gear_msg_canfd = "ACCELERATOR" if CP.flags & HyundaiFlags.EV else \
"GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \
@@ -109,6 +111,25 @@ class CarState(CarStateBase):
# Main button also can trigger an engagement on these cars
return any(btn in ENABLE_BUTTONS for btn in self.cruise_buttons) or any(self.main_buttons)
def create_cruise_button_events(self, cur_button: int, prev_button: int) -> list[structs.CarState.ButtonEvent]:
if cur_button != prev_button and prev_button != Buttons.CANCEL and cur_button == Buttons.CANCEL:
self.cancel_button_enable_in_progress = (
self.CP.openpilotLongitudinalControl and
hyundai_cancel_button_enables_cruise(self.CP.carFingerprint) and
not self.out.cruiseState.enabled
)
buttons_dict = BUTTONS_DICT
if self.cancel_button_enable_in_progress:
buttons_dict = BUTTONS_DICT | {Buttons.CANCEL: ButtonType.accelCruise}
events = create_button_events(cur_button, prev_button, buttons_dict)
if cur_button != Buttons.CANCEL:
self.cancel_button_enable_in_progress = False
return events
def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
cp = can_parsers[Bus.pt]
cp_cam = can_parsers[Bus.cam]
@@ -249,7 +270,7 @@ class CarState(CarStateBase):
if self.CP.flags & HyundaiFlags.HAS_LDA_BUTTON:
self.lda_button = cp.vl["BCM_PO_11"]["LDA_BTN"]
ret.buttonEvents = [*create_button_events(self.cruise_buttons[-1], prev_cruise_buttons, BUTTONS_DICT),
ret.buttonEvents = [*self.create_cruise_button_events(self.cruise_buttons[-1], prev_cruise_buttons),
*create_button_events(self.main_buttons[-1], prev_main_buttons, {1: ButtonType.mainCruise}),
*create_button_events(self.lda_button, prev_lda_button, {1: ButtonType.lkas})]
@@ -375,7 +396,7 @@ class CarState(CarStateBase):
if cp.ts_nanos["BLINKER_STALKS"]["CHECKSUM_MAYBE"] > 0:
self.stock_blinker_stalks_ts = cp.ts_nanos["BLINKER_STALKS"]["CHECKSUM_MAYBE"]
ret.buttonEvents = [*create_button_events(self.cruise_buttons[-1], prev_cruise_buttons, BUTTONS_DICT),
ret.buttonEvents = [*self.create_cruise_button_events(self.cruise_buttons[-1], prev_cruise_buttons),
*create_button_events(self.main_buttons[-1], prev_main_buttons, {1: ButtonType.mainCruise}),
*create_button_events(self.lda_button, prev_lda_button, {1: ButtonType.lkas}),
*create_button_events(self.left_paddle, prev_left_paddle, {1: ButtonType.altButton2})]
opendbc_repo/opendbc/car/hyundai/interface.py
+8 -1
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@@ -4,7 +4,8 @@ from opendbc.car.hyundai.hyundaicanfd import CanBus
from opendbc.car.hyundai.values import HyundaiFlags, CAR, DBC, \
CANFD_UNSUPPORTED_LONGITUDINAL_CAR, \
CANFD_SECURITYACCESS_CAR, \
UNSUPPORTED_LONGITUDINAL_CAR, HyundaiSafetyFlags
UNSUPPORTED_LONGITUDINAL_CAR, HyundaiSafetyFlags, \
hyundai_cancel_button_enables_cruise
from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
from opendbc.car.interfaces import CarInterfaceBase
from opendbc.car.disable_ecu import disable_ecu, ecu_log
@@ -138,6 +139,8 @@ class CarInterface(CarInterfaceBase):
ret.flags |= HyundaiFlags.HAS_LDA_BUTTON.value
if ret.flags & HyundaiFlags.CAN_CANFD_BLENDED:
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CAN_CANFD_BLENDED.value
if hyundai_cancel_button_enables_cruise(candidate):
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANCEL_BTN_ENABLE.value
if candidate == CAR.KIA_FORTE:
has_scc_fw = any(fw.ecu == Ecu.fwdRadar for fw in car_fw)
@@ -189,6 +192,10 @@ class CarInterface(CarInterfaceBase):
# Car specific configuration overrides
if candidate == CAR.GENESIS_G90:
ret.stoppingDecelRate = 0.55
ret.vEgoStopping = 0.8
if candidate == CAR.KIA_OPTIMA_G4_FL:
ret.steerActuatorDelay = 0.2
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+40 -4
View File
@@ -17,7 +17,7 @@ from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
from opendbc.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \
HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, LEGACY_SAFETY_MODE_CAR, CANFD_FUZZY_WHITELIST, \
UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \
CarControllerParams, DBC, HyundaiFlags, get_platform_codes, HyundaiSafetyFlags
CarControllerParams, DBC, HyundaiFlags, get_platform_codes, HyundaiSafetyFlags, Buttons
LongCtrlState = CarControl.Actuators.LongControlState
from opendbc.car.hyundai.fingerprints import FW_VERSIONS
@@ -101,6 +101,24 @@ class TestHyundaiFingerprint:
assert palisade_2023.flags & HyundaiFlags.CAN_CANFD_BLENDED
assert DBC[palisade_2023.carFingerprint][Bus.pt] == "hyundai_palisade_2023_generated"
assert palisade_2023.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CAN_CANFD_BLENDED
assert palisade_2023.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CANCEL_BTN_ENABLE
def test_palisade_2023_pause_resume_button_maps_to_enable(self):
toggles = get_test_toggles()
CP = CarInterface.get_params(CAR.HYUNDAI_PALISADE_2023, gen_empty_fingerprint(), [], True, False, False, toggles)
FPCP = CarInterface.get_starpilot_params(CAR.HYUNDAI_PALISADE_2023, gen_empty_fingerprint(), [], CP, toggles)
car_state = CarState(CP, FPCP)
car_state.out.cruiseState.enabled = False
events = car_state.create_cruise_button_events(Buttons.CANCEL, Buttons.NONE)
assert [(be.type, be.pressed) for be in events] == [(ButtonType.accelCruise, True)]
events = car_state.create_cruise_button_events(Buttons.NONE, Buttons.CANCEL)
assert [(be.type, be.pressed) for be in events] == [(ButtonType.accelCruise, False)]
car_state.out.cruiseState.enabled = True
events = car_state.create_cruise_button_events(Buttons.CANCEL, Buttons.NONE)
assert [(be.type, be.pressed) for be in events] == [(ButtonType.cancel, True)]
def test_palisade_2023_disable_failure_falls_back_to_stock_acc(self, monkeypatch):
toggles = get_test_toggles()
@@ -130,6 +148,13 @@ class TestHyundaiFingerprint:
assert CP.longitudinalActuatorDelay == pytest.approx(0.5)
assert CP.startingState
def test_genesis_g90_longitudinal_params_bias_toward_earlier_stop_handoff(self):
toggles = get_test_toggles()
CP = CarInterface.get_params(CAR.GENESIS_G90, gen_empty_fingerprint(), [], True, False, False, toggles)
assert CP.vEgoStopping == pytest.approx(0.8)
assert CP.stoppingDecelRate == pytest.approx(0.55)
def test_kia_forte_no_scc_fw_match(self):
car_fw = [
CarParams.CarFw(
@@ -333,7 +358,7 @@ class TestHyundaiFingerprint:
state = update_genesis_g90_longitudinal_tuning(state, accel_cmd=-2.0, v_ego=0.02,
long_control_state=LongCtrlState.stopping, long_active=True)
assert state.actual_accel == pytest.approx(-0.12)
assert state.actual_accel == pytest.approx(-0.10)
assert not state.release_active
def test_genesis_g90_longitudinal_tuning_gradually_unwinds_into_stop_hold(self):
@@ -341,11 +366,22 @@ class TestHyundaiFingerprint:
state = update_genesis_g90_longitudinal_tuning(state, accel_cmd=-2.0, v_ego=0.5,
long_control_state=LongCtrlState.stopping, long_active=True)
assert state.actual_accel == pytest.approx(-1.975)
assert state.actual_accel == pytest.approx(-1.96)
state = update_genesis_g90_longitudinal_tuning(state, accel_cmd=-2.0, v_ego=0.3,
long_control_state=LongCtrlState.stopping, long_active=True)
assert state.actual_accel == pytest.approx(-1.935)
assert state.actual_accel == pytest.approx(-1.9)
def test_genesis_g90_longitudinal_tuning_caps_low_speed_stop_brake(self):
state = GenesisG90LongitudinalTuningState(actual_accel=-1.0)
state = update_genesis_g90_longitudinal_tuning(state, accel_cmd=-0.4, v_ego=0.3,
long_control_state=LongCtrlState.stopping, long_active=True)
assert state.actual_accel == pytest.approx(-0.94)
state = update_genesis_g90_longitudinal_tuning(state, accel_cmd=-0.4, v_ego=0.3,
long_control_state=LongCtrlState.stopping, long_active=True)
assert state.actual_accel == pytest.approx(-0.88)
def test_genesis_g90_longitudinal_tuning_ramps_out_of_stop_hold(self):
state = GenesisG90LongitudinalTuningState(actual_accel=-0.12, long_control_state_last=LongCtrlState.stopping)
opendbc_repo/opendbc/car/hyundai/values.py
+10
View File
@@ -107,6 +107,7 @@ class HyundaiSafetyFlags(IntFlag):
CANFD_ANGLE_STEERING = 1024
NON_SCC = 4096
CAN_CANFD_BLENDED = 8192
CANCEL_BTN_ENABLE = 16384
class HyundaiStarPilotSafetyFlags(IntFlag):
@@ -672,6 +673,15 @@ class Buttons:
CANCEL = 4 # on newer models, this is a pause/resume button
CANCEL_BUTTON_ENABLE_CARS = frozenset({
CAR.HYUNDAI_PALISADE_2023,
})
def hyundai_cancel_button_enables_cruise(car_fingerprint) -> bool:
return car_fingerprint in CANCEL_BUTTON_ENABLE_CARS
def get_platform_codes(fw_versions: list[bytes]) -> set[tuple[bytes, bytes | None]]:
# Returns unique, platform-specific identification codes for a set of versions
codes = set() # (code-Optional[part], date)
opendbc_repo/opendbc/car/tests/test_car_interfaces.py
+36 -1
View File
@@ -9,7 +9,7 @@ from typing import Any
from cereal import custom
from opendbc.car import DT_CTRL, CanData, structs
from opendbc.car.car_helpers import interfaces
from opendbc.car.car_helpers import _apply_disable_openpilot_long, interfaces
from opendbc.car.chrysler.carstate import CarState as ChryslerCarState
from opendbc.car.fingerprints import FW_VERSIONS
from opendbc.car.fw_versions import FW_QUERY_CONFIGS
@@ -18,6 +18,7 @@ from opendbc.car.hyundai.values import CAR as HYUNDAI_CAR, HyundaiStarPilotSafet
from opendbc.car.gm.values import CAR as GM_CAR, CanBus as GMCanBus, GMSafetyFlags
from opendbc.car.interfaces import CarInterfaceBase, CarStateBase, get_interface_attr
from opendbc.car.mock.values import CAR as MOCK
from opendbc.car.toyota.values import CAR as TOYOTA_CAR, ToyotaSafetyFlags
from opendbc.car.values import PLATFORMS
DrawType = Callable[[st.SearchStrategy], Any]
@@ -213,6 +214,40 @@ class TestCarInterfaces:
)
assert fp_car_params.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
def test_toyota_disable_openpilot_long_sets_stock_long_safety_flag(self):
CarInterface = interfaces[TOYOTA_CAR.TOYOTA_PRIUS_TSS2]
fingerprint = {bus: {} for bus in range(8)}
toggles = get_test_starpilot_toggles()
car_params = CarInterface.get_params(
TOYOTA_CAR.TOYOTA_PRIUS_TSS2,
fingerprint,
[],
alpha_long=False,
is_release=False,
docs=False,
starpilot_toggles=toggles,
)
assert car_params.openpilotLongitudinalControl
assert not car_params.alphaLongitudinalAvailable
assert not (car_params.safetyConfigs[0].safetyParam & ToyotaSafetyFlags.STOCK_LONGITUDINAL.value)
fp_car_params = CarInterface.get_starpilot_params(
TOYOTA_CAR.TOYOTA_PRIUS_TSS2,
fingerprint,
[],
car_params,
toggles,
)
_apply_disable_openpilot_long(car_params, fp_car_params)
assert not car_params.openpilotLongitudinalControl
assert car_params.pcmCruise
assert fp_car_params.openpilotLongitudinalControlDisabled
assert car_params.safetyConfigs[0].safetyParam & ToyotaSafetyFlags.STOCK_LONGITUDINAL.value
assert fp_car_params.safetyConfigs[0].safetyParam & ToyotaSafetyFlags.STOCK_LONGITUDINAL.value
# FIXME: Due to the lists used in carParams, Phase.target is very slow and will cause
# many generated examples to overrun when max_examples > ~20, don't use it
@pytest.mark.parametrize("car_name", sorted(PLATFORMS))
opendbc_repo/opendbc/safety/modes/hyundai_common.h
+9 -2
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@@ -54,6 +54,9 @@ bool hyundai_aol_lkas_on_engage = false;
extern bool hyundai_non_scc;
bool hyundai_non_scc = false;
extern bool hyundai_cancel_button_enable;
bool hyundai_cancel_button_enable = false;
static uint8_t hyundai_last_button_interaction; // button messages since the user pressed an enable button
void hyundai_common_init(uint16_t param) {
@@ -69,6 +72,7 @@ void hyundai_common_init(uint16_t param) {
const uint16_t HYUNDAI_PARAM_AOL_LKAS_ON_ENGAGE = 2048;
const uint16_t HYUNDAI_PARAM_NON_SCC = 4096;
const uint16_t HYUNDAI_PARAM_CAN_CANFD_BLENDED = 8192;
const uint16_t HYUNDAI_PARAM_CANCEL_BTN_ENABLE = 16384;
hyundai_ev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_EV_GAS);
hyundai_hybrid_gas_signal = !hyundai_ev_gas_signal && GET_FLAG(param, HYUNDAI_PARAM_HYBRID_GAS);
@@ -82,6 +86,7 @@ void hyundai_common_init(uint16_t param) {
hyundai_has_lda_button = GET_FLAG(param, HYUNDAI_PARAM_HAS_LDA_BUTTON);
hyundai_aol_lkas_on_engage = GET_FLAG(param, HYUNDAI_PARAM_AOL_LKAS_ON_ENGAGE);
hyundai_non_scc = GET_FLAG(param, HYUNDAI_PARAM_NON_SCC);
hyundai_cancel_button_enable = GET_FLAG(param, HYUNDAI_PARAM_CANCEL_BTN_ENABLE);
hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES;
@@ -125,7 +130,9 @@ void hyundai_common_cruise_buttons_check(const int cruise_button, const bool mai
// enter controls on falling edge of resume or set
bool set = (cruise_button != HYUNDAI_BTN_SET) && (cruise_button_prev == HYUNDAI_BTN_SET);
bool res = (cruise_button != HYUNDAI_BTN_RESUME) && (cruise_button_prev == HYUNDAI_BTN_RESUME);
if (set || res) {
bool cancel_enable = hyundai_cancel_button_enable && !cruise_engaged_prev &&
(cruise_button != HYUNDAI_BTN_CANCEL) && (cruise_button_prev == HYUNDAI_BTN_CANCEL);
if (set || res || cancel_enable) {
controls_allowed = true;
if (hyundai_aol_lkas_on_engage && ((alternative_experience & ALT_EXP_ALWAYS_ON_LATERAL) != 0)) {
@@ -134,7 +141,7 @@ void hyundai_common_cruise_buttons_check(const int cruise_button, const bool mai
}
// exit controls on cancel press
if (cruise_button == HYUNDAI_BTN_CANCEL) {
if ((cruise_button == HYUNDAI_BTN_CANCEL) && !(hyundai_cancel_button_enable && !cruise_engaged_prev)) {
controls_allowed = false;
}
opendbc_repo/opendbc/safety/tests/test_hyundai.py
+11 -1
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@@ -291,7 +291,8 @@ class TestHyundaiCanCanfdBlendedLongitudinalSafety(HyundaiLongitudinalBase, Test
def setUp(self):
self.packer = CANPackerSafety("hyundai_palisade_2023_generated")
self.safety = libsafety_py.libsafety
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.CAN_CANFD_BLENDED | HyundaiSafetyFlags.LONG)
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai,
HyundaiSafetyFlags.CAN_CANFD_BLENDED | HyundaiSafetyFlags.LONG | HyundaiSafetyFlags.CANCEL_BTN_ENABLE)
self.safety.init_tests()
def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
@@ -304,6 +305,15 @@ class TestHyundaiCanCanfdBlendedLongitudinalSafety(HyundaiLongitudinalBase, Test
def test_no_aeb_fca11(self):
pass
def test_cancel_button_enables_controls_from_standby(self):
self.assertFalse(self.safety.get_controls_allowed())
self._rx(self._button_msg(Buttons.CANCEL))
self.assertFalse(self.safety.get_controls_allowed())
self._rx(self._button_msg(Buttons.NONE))
self.assertTrue(self.safety.get_controls_allowed())
class TestHyundaiLongitudinalSafetyCameraSCC(HyundaiLongitudinalBase, TestHyundaiSafety):
TX_MSGS = [[0x340, 0], [0x4F1, 2], [0x485, 0], [0x420, 0], [0x421, 0], [0x50A, 0], [0x389, 0], [0x4A2, 0]]
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panda/board/obj/gitversion.h
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@@ -1,2 +1,2 @@
extern const uint8_t gitversion[19];
const uint8_t gitversion[19] = "DEV-87327537-DEBUG";
const uint8_t gitversion[19] = "DEV-5312ce30-DEBUG";
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panda/board/obj/version
+1 -1
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@@ -1 +1 @@
DEV-87327537-DEBUG
DEV-5312ce30-DEBUG
selfdrive/controls/lib/latcontrol_pid.py
+4 -4
View File
@@ -15,13 +15,13 @@ def civic_bosch_modified_lateral_testing_ground_active() -> bool:
def get_civic_bosch_modified_pid_output_scale(desired_angle_deg: float, desired_angle_delta_deg: float, v_ego: float) -> float:
abs_angle = abs(desired_angle_deg)
speed_weight = min(max((v_ego - 4.0) / 10.0, 0.0), 1.0)
center_speed_weight = 0.55 + (0.45 * speed_weight)
center_weight = min(max((12.0 - abs_angle) / 12.0, 0.0), 1.0)
angle_weight = min(max((abs_angle - 12.0) / 16.0, 0.0), 1.0)
center_speed_weight = 0.60 + (0.40 * speed_weight)
center_weight = min(max((14.0 - abs_angle) / 14.0, 0.0), 1.0)
angle_weight = min(max((abs_angle - 14.0) / 14.0, 0.0), 1.0)
phase = desired_angle_deg * desired_angle_delta_deg
is_left = desired_angle_deg > 0.0
center_taper = 0.22
center_taper = 0.26
base_scale = 0.10 if is_left else 0.12
turn_in_scale = 0.10 if is_left else 0.14
unwind_scale = 0.14 if is_left else 0.20
selfdrive/controls/lib/latcontrol_torque.py
+14 -14
View File
@@ -211,21 +211,21 @@ IONIQ_6_FF_CUTOFF = 0.48
IONIQ_6_FF_CUTOFF_WIDTH = 0.12
IONIQ_6_TRANSITION_SPEED = 10.0
IONIQ_6_PHASE_SCALE = 0.10
IONIQ_6_TURN_IN_BOOST_LEFT = 1.02
IONIQ_6_TURN_IN_BOOST_RIGHT = 1.12
IONIQ_6_UNWIND_TAPER_LEFT = 1.66
IONIQ_6_UNWIND_TAPER_RIGHT = 3.50
IONIQ_6_TURN_IN_BOOST_LEFT = 1.08
IONIQ_6_TURN_IN_BOOST_RIGHT = 1.24
IONIQ_6_UNWIND_TAPER_LEFT = 1.84
IONIQ_6_UNWIND_TAPER_RIGHT = 4.10
IONIQ_6_FRICTION_MULT = 0.995
IONIQ_6_FRICTION_LAT_RISE = 0.20
IONIQ_6_FRICTION_JERK_RISE = 0.24
IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.31
IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.46
IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 1.92
IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 4.40
IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.16
IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.28
IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 1.66
IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 3.95
IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.34
IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.54
IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 2.15
IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 5.00
IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.18
IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.34
IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 1.86
IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 4.55
IONIQ_6_CENTER_TAPER_MAX = 0.046
IONIQ_6_CENTER_TAPER_LAT = 0.18
IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.02
@@ -242,8 +242,8 @@ IONIQ_6_DIRECTIONAL_TAPER_LAT_END = 0.90
IONIQ_6_DIRECTIONAL_TAPER_LAT_WIDTH = 0.08
IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT = 0.05
IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT = 0.47
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 0.90
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 2.30
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 1.00
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 2.65
IONIQ_6_OUTPUT_TAPER_SPEED = 8.5
IONIQ_6_OUTPUT_TAPER_SPEED_WIDTH = 2.5
IONIQ_6_OUTPUT_CENTER_TAPER_BLEND = 0.90
selfdrive/controls/tests/test_latcontrol.py
+2 -1
View File
@@ -383,8 +383,9 @@ class TestLatControl:
assert get_civic_bosch_modified_pid_output_scale(0.0, 0.0, 12.0) < 1.0
assert get_civic_bosch_modified_pid_output_scale(8.0, 0.0, 12.0) < 1.0
assert get_civic_bosch_modified_pid_output_scale(10.0, 0.0, 12.0) < 1.0
assert get_civic_bosch_modified_pid_output_scale(12.0, 0.0, 12.0) < 1.0
assert get_civic_bosch_modified_pid_output_scale(0.0, 0.0, 6.0) < 0.9
assert get_civic_bosch_modified_pid_output_scale(12.0, 0.0, 12.0) > get_civic_bosch_modified_pid_output_scale(8.0, 0.0, 12.0)
assert get_civic_bosch_modified_pid_output_scale(14.0, 0.0, 12.0) > get_civic_bosch_modified_pid_output_scale(8.0, 0.0, 12.0)
assert get_civic_bosch_modified_pid_output_scale(20.0, 0.5, 12.0) > get_civic_bosch_modified_pid_output_scale(20.0, 0.0, 12.0)
assert get_civic_bosch_modified_pid_output_scale(-20.0, -0.5, 12.0) > get_civic_bosch_modified_pid_output_scale(-20.0, 0.0, 12.0)
assert get_civic_bosch_modified_pid_output_scale(20.0, -0.5, 12.0) < get_civic_bosch_modified_pid_output_scale(20.0, 0.0, 12.0)
selfdrive/locationd/models/generated/car.cpp
+342 -342
View File
@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
* *
* This file is part of 'ekf' *
******************************************************************************/
void err_fun(double *nom_x, double *delta_x, double *out_7404715378150782082) {
out_7404715378150782082[0] = delta_x[0] + nom_x[0];
out_7404715378150782082[1] = delta_x[1] + nom_x[1];
out_7404715378150782082[2] = delta_x[2] + nom_x[2];
out_7404715378150782082[3] = delta_x[3] + nom_x[3];
out_7404715378150782082[4] = delta_x[4] + nom_x[4];
out_7404715378150782082[5] = delta_x[5] + nom_x[5];
out_7404715378150782082[6] = delta_x[6] + nom_x[6];
out_7404715378150782082[7] = delta_x[7] + nom_x[7];
out_7404715378150782082[8] = delta_x[8] + nom_x[8];
void err_fun(double *nom_x, double *delta_x, double *out_8994217345304474551) {
out_8994217345304474551[0] = delta_x[0] + nom_x[0];
out_8994217345304474551[1] = delta_x[1] + nom_x[1];
out_8994217345304474551[2] = delta_x[2] + nom_x[2];
out_8994217345304474551[3] = delta_x[3] + nom_x[3];
out_8994217345304474551[4] = delta_x[4] + nom_x[4];
out_8994217345304474551[5] = delta_x[5] + nom_x[5];
out_8994217345304474551[6] = delta_x[6] + nom_x[6];
out_8994217345304474551[7] = delta_x[7] + nom_x[7];
out_8994217345304474551[8] = delta_x[8] + nom_x[8];
}
void inv_err_fun(double *nom_x, double *true_x, double *out_1067581222048175770) {
out_1067581222048175770[0] = -nom_x[0] + true_x[0];
out_1067581222048175770[1] = -nom_x[1] + true_x[1];
out_1067581222048175770[2] = -nom_x[2] + true_x[2];
out_1067581222048175770[3] = -nom_x[3] + true_x[3];
out_1067581222048175770[4] = -nom_x[4] + true_x[4];
out_1067581222048175770[5] = -nom_x[5] + true_x[5];
out_1067581222048175770[6] = -nom_x[6] + true_x[6];
out_1067581222048175770[7] = -nom_x[7] + true_x[7];
out_1067581222048175770[8] = -nom_x[8] + true_x[8];
void inv_err_fun(double *nom_x, double *true_x, double *out_8635883422281677209) {
out_8635883422281677209[0] = -nom_x[0] + true_x[0];
out_8635883422281677209[1] = -nom_x[1] + true_x[1];
out_8635883422281677209[2] = -nom_x[2] + true_x[2];
out_8635883422281677209[3] = -nom_x[3] + true_x[3];
out_8635883422281677209[4] = -nom_x[4] + true_x[4];
out_8635883422281677209[5] = -nom_x[5] + true_x[5];
out_8635883422281677209[6] = -nom_x[6] + true_x[6];
out_8635883422281677209[7] = -nom_x[7] + true_x[7];
out_8635883422281677209[8] = -nom_x[8] + true_x[8];
}
void H_mod_fun(double *state, double *out_7894099950222537712) {
out_7894099950222537712[0] = 1.0;
out_7894099950222537712[1] = 0.0;
out_7894099950222537712[2] = 0.0;
out_7894099950222537712[3] = 0.0;
out_7894099950222537712[4] = 0.0;
out_7894099950222537712[5] = 0.0;
out_7894099950222537712[6] = 0.0;
out_7894099950222537712[7] = 0.0;
out_7894099950222537712[8] = 0.0;
out_7894099950222537712[9] = 0.0;
out_7894099950222537712[10] = 1.0;
out_7894099950222537712[11] = 0.0;
out_7894099950222537712[12] = 0.0;
out_7894099950222537712[13] = 0.0;
out_7894099950222537712[14] = 0.0;
out_7894099950222537712[15] = 0.0;
out_7894099950222537712[16] = 0.0;
out_7894099950222537712[17] = 0.0;
out_7894099950222537712[18] = 0.0;
out_7894099950222537712[19] = 0.0;
out_7894099950222537712[20] = 1.0;
out_7894099950222537712[21] = 0.0;
out_7894099950222537712[22] = 0.0;
out_7894099950222537712[23] = 0.0;
out_7894099950222537712[24] = 0.0;
out_7894099950222537712[25] = 0.0;
out_7894099950222537712[26] = 0.0;
out_7894099950222537712[27] = 0.0;
out_7894099950222537712[28] = 0.0;
out_7894099950222537712[29] = 0.0;
out_7894099950222537712[30] = 1.0;
out_7894099950222537712[31] = 0.0;
out_7894099950222537712[32] = 0.0;
out_7894099950222537712[33] = 0.0;
out_7894099950222537712[34] = 0.0;
out_7894099950222537712[35] = 0.0;
out_7894099950222537712[36] = 0.0;
out_7894099950222537712[37] = 0.0;
out_7894099950222537712[38] = 0.0;
out_7894099950222537712[39] = 0.0;
out_7894099950222537712[40] = 1.0;
out_7894099950222537712[41] = 0.0;
out_7894099950222537712[42] = 0.0;
out_7894099950222537712[43] = 0.0;
out_7894099950222537712[44] = 0.0;
out_7894099950222537712[45] = 0.0;
out_7894099950222537712[46] = 0.0;
out_7894099950222537712[47] = 0.0;
out_7894099950222537712[48] = 0.0;
out_7894099950222537712[49] = 0.0;
out_7894099950222537712[50] = 1.0;
out_7894099950222537712[51] = 0.0;
out_7894099950222537712[52] = 0.0;
out_7894099950222537712[53] = 0.0;
out_7894099950222537712[54] = 0.0;
out_7894099950222537712[55] = 0.0;
out_7894099950222537712[56] = 0.0;
out_7894099950222537712[57] = 0.0;
out_7894099950222537712[58] = 0.0;
out_7894099950222537712[59] = 0.0;
out_7894099950222537712[60] = 1.0;
out_7894099950222537712[61] = 0.0;
out_7894099950222537712[62] = 0.0;
out_7894099950222537712[63] = 0.0;
out_7894099950222537712[64] = 0.0;
out_7894099950222537712[65] = 0.0;
out_7894099950222537712[66] = 0.0;
out_7894099950222537712[67] = 0.0;
out_7894099950222537712[68] = 0.0;
out_7894099950222537712[69] = 0.0;
out_7894099950222537712[70] = 1.0;
out_7894099950222537712[71] = 0.0;
out_7894099950222537712[72] = 0.0;
out_7894099950222537712[73] = 0.0;
out_7894099950222537712[74] = 0.0;
out_7894099950222537712[75] = 0.0;
out_7894099950222537712[76] = 0.0;
out_7894099950222537712[77] = 0.0;
out_7894099950222537712[78] = 0.0;
out_7894099950222537712[79] = 0.0;
out_7894099950222537712[80] = 1.0;
void H_mod_fun(double *state, double *out_5835492163818982048) {
out_5835492163818982048[0] = 1.0;
out_5835492163818982048[1] = 0.0;
out_5835492163818982048[2] = 0.0;
out_5835492163818982048[3] = 0.0;
out_5835492163818982048[4] = 0.0;
out_5835492163818982048[5] = 0.0;
out_5835492163818982048[6] = 0.0;
out_5835492163818982048[7] = 0.0;
out_5835492163818982048[8] = 0.0;
out_5835492163818982048[9] = 0.0;
out_5835492163818982048[10] = 1.0;
out_5835492163818982048[11] = 0.0;
out_5835492163818982048[12] = 0.0;
out_5835492163818982048[13] = 0.0;
out_5835492163818982048[14] = 0.0;
out_5835492163818982048[15] = 0.0;
out_5835492163818982048[16] = 0.0;
out_5835492163818982048[17] = 0.0;
out_5835492163818982048[18] = 0.0;
out_5835492163818982048[19] = 0.0;
out_5835492163818982048[20] = 1.0;
out_5835492163818982048[21] = 0.0;
out_5835492163818982048[22] = 0.0;
out_5835492163818982048[23] = 0.0;
out_5835492163818982048[24] = 0.0;
out_5835492163818982048[25] = 0.0;
out_5835492163818982048[26] = 0.0;
out_5835492163818982048[27] = 0.0;
out_5835492163818982048[28] = 0.0;
out_5835492163818982048[29] = 0.0;
out_5835492163818982048[30] = 1.0;
out_5835492163818982048[31] = 0.0;
out_5835492163818982048[32] = 0.0;
out_5835492163818982048[33] = 0.0;
out_5835492163818982048[34] = 0.0;
out_5835492163818982048[35] = 0.0;
out_5835492163818982048[36] = 0.0;
out_5835492163818982048[37] = 0.0;
out_5835492163818982048[38] = 0.0;
out_5835492163818982048[39] = 0.0;
out_5835492163818982048[40] = 1.0;
out_5835492163818982048[41] = 0.0;
out_5835492163818982048[42] = 0.0;
out_5835492163818982048[43] = 0.0;
out_5835492163818982048[44] = 0.0;
out_5835492163818982048[45] = 0.0;
out_5835492163818982048[46] = 0.0;
out_5835492163818982048[47] = 0.0;
out_5835492163818982048[48] = 0.0;
out_5835492163818982048[49] = 0.0;
out_5835492163818982048[50] = 1.0;
out_5835492163818982048[51] = 0.0;
out_5835492163818982048[52] = 0.0;
out_5835492163818982048[53] = 0.0;
out_5835492163818982048[54] = 0.0;
out_5835492163818982048[55] = 0.0;
out_5835492163818982048[56] = 0.0;
out_5835492163818982048[57] = 0.0;
out_5835492163818982048[58] = 0.0;
out_5835492163818982048[59] = 0.0;
out_5835492163818982048[60] = 1.0;
out_5835492163818982048[61] = 0.0;
out_5835492163818982048[62] = 0.0;
out_5835492163818982048[63] = 0.0;
out_5835492163818982048[64] = 0.0;
out_5835492163818982048[65] = 0.0;
out_5835492163818982048[66] = 0.0;
out_5835492163818982048[67] = 0.0;
out_5835492163818982048[68] = 0.0;
out_5835492163818982048[69] = 0.0;
out_5835492163818982048[70] = 1.0;
out_5835492163818982048[71] = 0.0;
out_5835492163818982048[72] = 0.0;
out_5835492163818982048[73] = 0.0;
out_5835492163818982048[74] = 0.0;
out_5835492163818982048[75] = 0.0;
out_5835492163818982048[76] = 0.0;
out_5835492163818982048[77] = 0.0;
out_5835492163818982048[78] = 0.0;
out_5835492163818982048[79] = 0.0;
out_5835492163818982048[80] = 1.0;
}
void f_fun(double *state, double dt, double *out_18918990587173632) {
out_18918990587173632[0] = state[0];
out_18918990587173632[1] = state[1];
out_18918990587173632[2] = state[2];
out_18918990587173632[3] = state[3];
out_18918990587173632[4] = state[4];
out_18918990587173632[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
out_18918990587173632[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
out_18918990587173632[7] = state[7];
out_18918990587173632[8] = state[8];
void f_fun(double *state, double dt, double *out_9046400166044584491) {
out_9046400166044584491[0] = state[0];
out_9046400166044584491[1] = state[1];
out_9046400166044584491[2] = state[2];
out_9046400166044584491[3] = state[3];
out_9046400166044584491[4] = state[4];
out_9046400166044584491[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
out_9046400166044584491[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
out_9046400166044584491[7] = state[7];
out_9046400166044584491[8] = state[8];
}
void F_fun(double *state, double dt, double *out_164532203047016632) {
out_164532203047016632[0] = 1;
out_164532203047016632[1] = 0;
out_164532203047016632[2] = 0;
out_164532203047016632[3] = 0;
out_164532203047016632[4] = 0;
out_164532203047016632[5] = 0;
out_164532203047016632[6] = 0;
out_164532203047016632[7] = 0;
out_164532203047016632[8] = 0;
out_164532203047016632[9] = 0;
out_164532203047016632[10] = 1;
out_164532203047016632[11] = 0;
out_164532203047016632[12] = 0;
out_164532203047016632[13] = 0;
out_164532203047016632[14] = 0;
out_164532203047016632[15] = 0;
out_164532203047016632[16] = 0;
out_164532203047016632[17] = 0;
out_164532203047016632[18] = 0;
out_164532203047016632[19] = 0;
out_164532203047016632[20] = 1;
out_164532203047016632[21] = 0;
out_164532203047016632[22] = 0;
out_164532203047016632[23] = 0;
out_164532203047016632[24] = 0;
out_164532203047016632[25] = 0;
out_164532203047016632[26] = 0;
out_164532203047016632[27] = 0;
out_164532203047016632[28] = 0;
out_164532203047016632[29] = 0;
out_164532203047016632[30] = 1;
out_164532203047016632[31] = 0;
out_164532203047016632[32] = 0;
out_164532203047016632[33] = 0;
out_164532203047016632[34] = 0;
out_164532203047016632[35] = 0;
out_164532203047016632[36] = 0;
out_164532203047016632[37] = 0;
out_164532203047016632[38] = 0;
out_164532203047016632[39] = 0;
out_164532203047016632[40] = 1;
out_164532203047016632[41] = 0;
out_164532203047016632[42] = 0;
out_164532203047016632[43] = 0;
out_164532203047016632[44] = 0;
out_164532203047016632[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
out_164532203047016632[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
out_164532203047016632[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
out_164532203047016632[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
out_164532203047016632[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
out_164532203047016632[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
out_164532203047016632[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
out_164532203047016632[52] = dt*stiffness_front*state[0]/(mass*state[1]);
out_164532203047016632[53] = -9.8100000000000005*dt;
out_164532203047016632[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
out_164532203047016632[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
out_164532203047016632[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_164532203047016632[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_164532203047016632[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
out_164532203047016632[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
out_164532203047016632[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
out_164532203047016632[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_164532203047016632[62] = 0;
out_164532203047016632[63] = 0;
out_164532203047016632[64] = 0;
out_164532203047016632[65] = 0;
out_164532203047016632[66] = 0;
out_164532203047016632[67] = 0;
out_164532203047016632[68] = 0;
out_164532203047016632[69] = 0;
out_164532203047016632[70] = 1;
out_164532203047016632[71] = 0;
out_164532203047016632[72] = 0;
out_164532203047016632[73] = 0;
out_164532203047016632[74] = 0;
out_164532203047016632[75] = 0;
out_164532203047016632[76] = 0;
out_164532203047016632[77] = 0;
out_164532203047016632[78] = 0;
out_164532203047016632[79] = 0;
out_164532203047016632[80] = 1;
void F_fun(double *state, double dt, double *out_8585883916966185499) {
out_8585883916966185499[0] = 1;
out_8585883916966185499[1] = 0;
out_8585883916966185499[2] = 0;
out_8585883916966185499[3] = 0;
out_8585883916966185499[4] = 0;
out_8585883916966185499[5] = 0;
out_8585883916966185499[6] = 0;
out_8585883916966185499[7] = 0;
out_8585883916966185499[8] = 0;
out_8585883916966185499[9] = 0;
out_8585883916966185499[10] = 1;
out_8585883916966185499[11] = 0;
out_8585883916966185499[12] = 0;
out_8585883916966185499[13] = 0;
out_8585883916966185499[14] = 0;
out_8585883916966185499[15] = 0;
out_8585883916966185499[16] = 0;
out_8585883916966185499[17] = 0;
out_8585883916966185499[18] = 0;
out_8585883916966185499[19] = 0;
out_8585883916966185499[20] = 1;
out_8585883916966185499[21] = 0;
out_8585883916966185499[22] = 0;
out_8585883916966185499[23] = 0;
out_8585883916966185499[24] = 0;
out_8585883916966185499[25] = 0;
out_8585883916966185499[26] = 0;
out_8585883916966185499[27] = 0;
out_8585883916966185499[28] = 0;
out_8585883916966185499[29] = 0;
out_8585883916966185499[30] = 1;
out_8585883916966185499[31] = 0;
out_8585883916966185499[32] = 0;
out_8585883916966185499[33] = 0;
out_8585883916966185499[34] = 0;
out_8585883916966185499[35] = 0;
out_8585883916966185499[36] = 0;
out_8585883916966185499[37] = 0;
out_8585883916966185499[38] = 0;
out_8585883916966185499[39] = 0;
out_8585883916966185499[40] = 1;
out_8585883916966185499[41] = 0;
out_8585883916966185499[42] = 0;
out_8585883916966185499[43] = 0;
out_8585883916966185499[44] = 0;
out_8585883916966185499[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
out_8585883916966185499[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
out_8585883916966185499[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
out_8585883916966185499[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
out_8585883916966185499[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
out_8585883916966185499[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
out_8585883916966185499[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
out_8585883916966185499[52] = dt*stiffness_front*state[0]/(mass*state[1]);
out_8585883916966185499[53] = -9.8100000000000005*dt;
out_8585883916966185499[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
out_8585883916966185499[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
out_8585883916966185499[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_8585883916966185499[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_8585883916966185499[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
out_8585883916966185499[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
out_8585883916966185499[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
out_8585883916966185499[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_8585883916966185499[62] = 0;
out_8585883916966185499[63] = 0;
out_8585883916966185499[64] = 0;
out_8585883916966185499[65] = 0;
out_8585883916966185499[66] = 0;
out_8585883916966185499[67] = 0;
out_8585883916966185499[68] = 0;
out_8585883916966185499[69] = 0;
out_8585883916966185499[70] = 1;
out_8585883916966185499[71] = 0;
out_8585883916966185499[72] = 0;
out_8585883916966185499[73] = 0;
out_8585883916966185499[74] = 0;
out_8585883916966185499[75] = 0;
out_8585883916966185499[76] = 0;
out_8585883916966185499[77] = 0;
out_8585883916966185499[78] = 0;
out_8585883916966185499[79] = 0;
out_8585883916966185499[80] = 1;
}
void h_25(double *state, double *unused, double *out_513824514853683092) {
out_513824514853683092[0] = state[6];
void h_25(double *state, double *unused, double *out_1895365982627284096) {
out_1895365982627284096[0] = state[6];
}
void H_25(double *state, double *unused, double *out_4371119300233046035) {
out_4371119300233046035[0] = 0;
out_4371119300233046035[1] = 0;
out_4371119300233046035[2] = 0;
out_4371119300233046035[3] = 0;
out_4371119300233046035[4] = 0;
out_4371119300233046035[5] = 0;
out_4371119300233046035[6] = 1;
out_4371119300233046035[7] = 0;
out_4371119300233046035[8] = 0;
void H_25(double *state, double *unused, double *out_3357696062093255189) {
out_3357696062093255189[0] = 0;
out_3357696062093255189[1] = 0;
out_3357696062093255189[2] = 0;
out_3357696062093255189[3] = 0;
out_3357696062093255189[4] = 0;
out_3357696062093255189[5] = 0;
out_3357696062093255189[6] = 1;
out_3357696062093255189[7] = 0;
out_3357696062093255189[8] = 0;
}
void h_24(double *state, double *unused, double *out_1763325166754368628) {
out_1763325166754368628[0] = state[4];
out_1763325166754368628[1] = state[5];
void h_24(double *state, double *unused, double *out_5360338391580302842) {
out_5360338391580302842[0] = state[4];
out_5360338391580302842[1] = state[5];
}
void H_24(double *state, double *unused, double *out_813193701430722899) {
out_813193701430722899[0] = 0;
out_813193701430722899[1] = 0;
out_813193701430722899[2] = 0;
out_813193701430722899[3] = 0;
out_813193701430722899[4] = 1;
out_813193701430722899[5] = 0;
out_813193701430722899[6] = 0;
out_813193701430722899[7] = 0;
out_813193701430722899[8] = 0;
out_813193701430722899[9] = 0;
out_813193701430722899[10] = 0;
out_813193701430722899[11] = 0;
out_813193701430722899[12] = 0;
out_813193701430722899[13] = 0;
out_813193701430722899[14] = 1;
out_813193701430722899[15] = 0;
out_813193701430722899[16] = 0;
out_813193701430722899[17] = 0;
void H_24(double *state, double *unused, double *out_5530345661098754755) {
out_5530345661098754755[0] = 0;
out_5530345661098754755[1] = 0;
out_5530345661098754755[2] = 0;
out_5530345661098754755[3] = 0;
out_5530345661098754755[4] = 1;
out_5530345661098754755[5] = 0;
out_5530345661098754755[6] = 0;
out_5530345661098754755[7] = 0;
out_5530345661098754755[8] = 0;
out_5530345661098754755[9] = 0;
out_5530345661098754755[10] = 0;
out_5530345661098754755[11] = 0;
out_5530345661098754755[12] = 0;
out_5530345661098754755[13] = 0;
out_5530345661098754755[14] = 1;
out_5530345661098754755[15] = 0;
out_5530345661098754755[16] = 0;
out_5530345661098754755[17] = 0;
}
void h_30(double *state, double *unused, double *out_2433901475501801869) {
out_2433901475501801869[0] = state[4];
void h_30(double *state, double *unused, double *out_2052552650978413241) {
out_2052552650978413241[0] = state[4];
}
void H_30(double *state, double *unused, double *out_4500458247376286105) {
out_4500458247376286105[0] = 0;
out_4500458247376286105[1] = 0;
out_4500458247376286105[2] = 0;
out_4500458247376286105[3] = 0;
out_4500458247376286105[4] = 1;
out_4500458247376286105[5] = 0;
out_4500458247376286105[6] = 0;
out_4500458247376286105[7] = 0;
out_4500458247376286105[8] = 0;
void H_30(double *state, double *unused, double *out_839363103586006562) {
out_839363103586006562[0] = 0;
out_839363103586006562[1] = 0;
out_839363103586006562[2] = 0;
out_839363103586006562[3] = 0;
out_839363103586006562[4] = 1;
out_839363103586006562[5] = 0;
out_839363103586006562[6] = 0;
out_839363103586006562[7] = 0;
out_839363103586006562[8] = 0;
}
void h_26(double *state, double *unused, double *out_1451817382166503757) {
out_1451817382166503757[0] = state[7];
void h_26(double *state, double *unused, double *out_2655868535654890758) {
out_2655868535654890758[0] = state[7];
}
void H_26(double *state, double *unused, double *out_8112622619107102259) {
out_8112622619107102259[0] = 0;
out_8112622619107102259[1] = 0;
out_8112622619107102259[2] = 0;
out_8112622619107102259[3] = 0;
out_8112622619107102259[4] = 0;
out_8112622619107102259[5] = 0;
out_8112622619107102259[6] = 0;
out_8112622619107102259[7] = 1;
out_8112622619107102259[8] = 0;
void H_26(double *state, double *unused, double *out_53170092332454588) {
out_53170092332454588[0] = 0;
out_53170092332454588[1] = 0;
out_53170092332454588[2] = 0;
out_53170092332454588[3] = 0;
out_53170092332454588[4] = 0;
out_53170092332454588[5] = 0;
out_53170092332454588[6] = 0;
out_53170092332454588[7] = 1;
out_53170092332454588[8] = 0;
}
void h_27(double *state, double *unused, double *out_8950950386849027759) {
out_8950950386849027759[0] = state[3];
void h_27(double *state, double *unused, double *out_3774772722470275260) {
out_3774772722470275260[0] = state[3];
}
void H_27(double *state, double *unused, double *out_6675221559176711016) {
out_6675221559176711016[0] = 0;
out_6675221559176711016[1] = 0;
out_6675221559176711016[2] = 0;
out_6675221559176711016[3] = 1;
out_6675221559176711016[4] = 0;
out_6675221559176711016[5] = 0;
out_6675221559176711016[6] = 0;
out_6675221559176711016[7] = 0;
out_6675221559176711016[8] = 0;
void H_27(double *state, double *unused, double *out_1384230967597936655) {
out_1384230967597936655[0] = 0;
out_1384230967597936655[1] = 0;
out_1384230967597936655[2] = 0;
out_1384230967597936655[3] = 1;
out_1384230967597936655[4] = 0;
out_1384230967597936655[5] = 0;
out_1384230967597936655[6] = 0;
out_1384230967597936655[7] = 0;
out_1384230967597936655[8] = 0;
}
void h_29(double *state, double *unused, double *out_7435574743162647514) {
out_7435574743162647514[0] = state[1];
void h_29(double *state, double *unused, double *out_4656957971787110892) {
out_4656957971787110892[0] = state[1];
}
void H_29(double *state, double *unused, double *out_8388584286046262049) {
out_8388584286046262049[0] = 0;
out_8388584286046262049[1] = 1;
out_8388584286046262049[2] = 0;
out_8388584286046262049[3] = 0;
out_8388584286046262049[4] = 0;
out_8388584286046262049[5] = 0;
out_8388584286046262049[6] = 0;
out_8388584286046262049[7] = 0;
out_8388584286046262049[8] = 0;
void H_29(double *state, double *unused, double *out_329131759271614378) {
out_329131759271614378[0] = 0;
out_329131759271614378[1] = 1;
out_329131759271614378[2] = 0;
out_329131759271614378[3] = 0;
out_329131759271614378[4] = 0;
out_329131759271614378[5] = 0;
out_329131759271614378[6] = 0;
out_329131759271614378[7] = 0;
out_329131759271614378[8] = 0;
}
void h_28(double *state, double *unused, double *out_4494120419199678212) {
out_4494120419199678212[0] = state[0];
void h_28(double *state, double *unused, double *out_1170367401661577609) {
out_1170367401661577609[0] = state[0];
}
void H_28(double *state, double *unused, double *out_6424954014480935798) {
out_6424954014480935798[0] = 1;
out_6424954014480935798[1] = 0;
out_6424954014480935798[2] = 0;
out_6424954014480935798[3] = 0;
out_6424954014480935798[4] = 0;
out_6424954014480935798[5] = 0;
out_6424954014480935798[6] = 0;
out_6424954014480935798[7] = 0;
out_6424954014480935798[8] = 0;
void H_28(double *state, double *unused, double *out_5411530776341144952) {
out_5411530776341144952[0] = 1;
out_5411530776341144952[1] = 0;
out_5411530776341144952[2] = 0;
out_5411530776341144952[3] = 0;
out_5411530776341144952[4] = 0;
out_5411530776341144952[5] = 0;
out_5411530776341144952[6] = 0;
out_5411530776341144952[7] = 0;
out_5411530776341144952[8] = 0;
}
void h_31(double *state, double *unused, double *out_6257010711496667844) {
out_6257010711496667844[0] = state[8];
void h_31(double *state, double *unused, double *out_1437164620468722434) {
out_1437164620468722434[0] = state[8];
}
void H_31(double *state, double *unused, double *out_4340473338356085607) {
out_4340473338356085607[0] = 0;
out_4340473338356085607[1] = 0;
out_4340473338356085607[2] = 0;
out_4340473338356085607[3] = 0;
out_4340473338356085607[4] = 0;
out_4340473338356085607[5] = 0;
out_4340473338356085607[6] = 0;
out_4340473338356085607[7] = 0;
out_4340473338356085607[8] = 1;
void H_31(double *state, double *unused, double *out_7725407483200662889) {
out_7725407483200662889[0] = 0;
out_7725407483200662889[1] = 0;
out_7725407483200662889[2] = 0;
out_7725407483200662889[3] = 0;
out_7725407483200662889[4] = 0;
out_7725407483200662889[5] = 0;
out_7725407483200662889[6] = 0;
out_7725407483200662889[7] = 0;
out_7725407483200662889[8] = 1;
}
#include <eigen3/Eigen/Dense>
#include <iostream>
@@ -518,68 +518,68 @@ void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, doubl
void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
update<1, 3, 0>(in_x, in_P, h_31, H_31, NULL, in_z, in_R, in_ea, MAHA_THRESH_31);
}
void car_err_fun(double *nom_x, double *delta_x, double *out_7404715378150782082) {
err_fun(nom_x, delta_x, out_7404715378150782082);
void car_err_fun(double *nom_x, double *delta_x, double *out_8994217345304474551) {
err_fun(nom_x, delta_x, out_8994217345304474551);
}
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1067581222048175770) {
inv_err_fun(nom_x, true_x, out_1067581222048175770);
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8635883422281677209) {
inv_err_fun(nom_x, true_x, out_8635883422281677209);
}
void car_H_mod_fun(double *state, double *out_7894099950222537712) {
H_mod_fun(state, out_7894099950222537712);
void car_H_mod_fun(double *state, double *out_5835492163818982048) {
H_mod_fun(state, out_5835492163818982048);
}
void car_f_fun(double *state, double dt, double *out_18918990587173632) {
f_fun(state, dt, out_18918990587173632);
void car_f_fun(double *state, double dt, double *out_9046400166044584491) {
f_fun(state, dt, out_9046400166044584491);
}
void car_F_fun(double *state, double dt, double *out_164532203047016632) {
F_fun(state, dt, out_164532203047016632);
void car_F_fun(double *state, double dt, double *out_8585883916966185499) {
F_fun(state, dt, out_8585883916966185499);
}
void car_h_25(double *state, double *unused, double *out_513824514853683092) {
h_25(state, unused, out_513824514853683092);
void car_h_25(double *state, double *unused, double *out_1895365982627284096) {
h_25(state, unused, out_1895365982627284096);
}
void car_H_25(double *state, double *unused, double *out_4371119300233046035) {
H_25(state, unused, out_4371119300233046035);
void car_H_25(double *state, double *unused, double *out_3357696062093255189) {
H_25(state, unused, out_3357696062093255189);
}
void car_h_24(double *state, double *unused, double *out_1763325166754368628) {
h_24(state, unused, out_1763325166754368628);
void car_h_24(double *state, double *unused, double *out_5360338391580302842) {
h_24(state, unused, out_5360338391580302842);
}
void car_H_24(double *state, double *unused, double *out_813193701430722899) {
H_24(state, unused, out_813193701430722899);
void car_H_24(double *state, double *unused, double *out_5530345661098754755) {
H_24(state, unused, out_5530345661098754755);
}
void car_h_30(double *state, double *unused, double *out_2433901475501801869) {
h_30(state, unused, out_2433901475501801869);
void car_h_30(double *state, double *unused, double *out_2052552650978413241) {
h_30(state, unused, out_2052552650978413241);
}
void car_H_30(double *state, double *unused, double *out_4500458247376286105) {
H_30(state, unused, out_4500458247376286105);
void car_H_30(double *state, double *unused, double *out_839363103586006562) {
H_30(state, unused, out_839363103586006562);
}
void car_h_26(double *state, double *unused, double *out_1451817382166503757) {
h_26(state, unused, out_1451817382166503757);
void car_h_26(double *state, double *unused, double *out_2655868535654890758) {
h_26(state, unused, out_2655868535654890758);
}
void car_H_26(double *state, double *unused, double *out_8112622619107102259) {
H_26(state, unused, out_8112622619107102259);
void car_H_26(double *state, double *unused, double *out_53170092332454588) {
H_26(state, unused, out_53170092332454588);
}
void car_h_27(double *state, double *unused, double *out_8950950386849027759) {
h_27(state, unused, out_8950950386849027759);
void car_h_27(double *state, double *unused, double *out_3774772722470275260) {
h_27(state, unused, out_3774772722470275260);
}
void car_H_27(double *state, double *unused, double *out_6675221559176711016) {
H_27(state, unused, out_6675221559176711016);
void car_H_27(double *state, double *unused, double *out_1384230967597936655) {
H_27(state, unused, out_1384230967597936655);
}
void car_h_29(double *state, double *unused, double *out_7435574743162647514) {
h_29(state, unused, out_7435574743162647514);
void car_h_29(double *state, double *unused, double *out_4656957971787110892) {
h_29(state, unused, out_4656957971787110892);
}
void car_H_29(double *state, double *unused, double *out_8388584286046262049) {
H_29(state, unused, out_8388584286046262049);
void car_H_29(double *state, double *unused, double *out_329131759271614378) {
H_29(state, unused, out_329131759271614378);
}
void car_h_28(double *state, double *unused, double *out_4494120419199678212) {
h_28(state, unused, out_4494120419199678212);
void car_h_28(double *state, double *unused, double *out_1170367401661577609) {
h_28(state, unused, out_1170367401661577609);
}
void car_H_28(double *state, double *unused, double *out_6424954014480935798) {
H_28(state, unused, out_6424954014480935798);
void car_H_28(double *state, double *unused, double *out_5411530776341144952) {
H_28(state, unused, out_5411530776341144952);
}
void car_h_31(double *state, double *unused, double *out_6257010711496667844) {
h_31(state, unused, out_6257010711496667844);
void car_h_31(double *state, double *unused, double *out_1437164620468722434) {
h_31(state, unused, out_1437164620468722434);
}
void car_H_31(double *state, double *unused, double *out_4340473338356085607) {
H_31(state, unused, out_4340473338356085607);
void car_H_31(double *state, double *unused, double *out_7725407483200662889) {
H_31(state, unused, out_7725407483200662889);
}
void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
predict(in_x, in_P, in_Q, dt);
selfdrive/locationd/models/generated/car.h
+21 -21
View File
@@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl
void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
void car_err_fun(double *nom_x, double *delta_x, double *out_7404715378150782082);
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1067581222048175770);
void car_H_mod_fun(double *state, double *out_7894099950222537712);
void car_f_fun(double *state, double dt, double *out_18918990587173632);
void car_F_fun(double *state, double dt, double *out_164532203047016632);
void car_h_25(double *state, double *unused, double *out_513824514853683092);
void car_H_25(double *state, double *unused, double *out_4371119300233046035);
void car_h_24(double *state, double *unused, double *out_1763325166754368628);
void car_H_24(double *state, double *unused, double *out_813193701430722899);
void car_h_30(double *state, double *unused, double *out_2433901475501801869);
void car_H_30(double *state, double *unused, double *out_4500458247376286105);
void car_h_26(double *state, double *unused, double *out_1451817382166503757);
void car_H_26(double *state, double *unused, double *out_8112622619107102259);
void car_h_27(double *state, double *unused, double *out_8950950386849027759);
void car_H_27(double *state, double *unused, double *out_6675221559176711016);
void car_h_29(double *state, double *unused, double *out_7435574743162647514);
void car_H_29(double *state, double *unused, double *out_8388584286046262049);
void car_h_28(double *state, double *unused, double *out_4494120419199678212);
void car_H_28(double *state, double *unused, double *out_6424954014480935798);
void car_h_31(double *state, double *unused, double *out_6257010711496667844);
void car_H_31(double *state, double *unused, double *out_4340473338356085607);
void car_err_fun(double *nom_x, double *delta_x, double *out_8994217345304474551);
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8635883422281677209);
void car_H_mod_fun(double *state, double *out_5835492163818982048);
void car_f_fun(double *state, double dt, double *out_9046400166044584491);
void car_F_fun(double *state, double dt, double *out_8585883916966185499);
void car_h_25(double *state, double *unused, double *out_1895365982627284096);
void car_H_25(double *state, double *unused, double *out_3357696062093255189);
void car_h_24(double *state, double *unused, double *out_5360338391580302842);
void car_H_24(double *state, double *unused, double *out_5530345661098754755);
void car_h_30(double *state, double *unused, double *out_2052552650978413241);
void car_H_30(double *state, double *unused, double *out_839363103586006562);
void car_h_26(double *state, double *unused, double *out_2655868535654890758);
void car_H_26(double *state, double *unused, double *out_53170092332454588);
void car_h_27(double *state, double *unused, double *out_3774772722470275260);
void car_H_27(double *state, double *unused, double *out_1384230967597936655);
void car_h_29(double *state, double *unused, double *out_4656957971787110892);
void car_H_29(double *state, double *unused, double *out_329131759271614378);
void car_h_28(double *state, double *unused, double *out_1170367401661577609);
void car_H_28(double *state, double *unused, double *out_5411530776341144952);
void car_h_31(double *state, double *unused, double *out_1437164620468722434);
void car_H_31(double *state, double *unused, double *out_7725407483200662889);
void car_predict(double *in_x, double *in_P, double *in_Q, double dt);
void car_set_mass(double x);
void car_set_rotational_inertia(double x);
selfdrive/locationd/models/generated/pose.cpp
+969 -969
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selfdrive/locationd/models/generated/pose.h
+13 -13
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@@ -5,18 +5,18 @@ void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, doubl
void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
void pose_err_fun(double *nom_x, double *delta_x, double *out_5984861409348236479);
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1707565234864444406);
void pose_H_mod_fun(double *state, double *out_938651669609787352);
void pose_f_fun(double *state, double dt, double *out_336566407888546136);
void pose_F_fun(double *state, double dt, double *out_5996324224975557063);
void pose_h_4(double *state, double *unused, double *out_2660879566845649022);
void pose_H_4(double *state, double *unused, double *out_6786733476361746073);
void pose_h_10(double *state, double *unused, double *out_323021619404120390);
void pose_H_10(double *state, double *unused, double *out_4140593631986057126);
void pose_h_13(double *state, double *unused, double *out_3801171022701447110);
void pose_H_13(double *state, double *unused, double *out_3574459651029413272);
void pose_h_14(double *state, double *unused, double *out_7703097660121677315);
void pose_H_14(double *state, double *unused, double *out_2823492620022261544);
void pose_err_fun(double *nom_x, double *delta_x, double *out_5188089899736494345);
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_516319331577825853);
void pose_H_mod_fun(double *state, double *out_4951567132479851062);
void pose_f_fun(double *state, double dt, double *out_898454825503606476);
void pose_F_fun(double *state, double dt, double *out_906698228237069812);
void pose_h_4(double *state, double *unused, double *out_6577940567349030778);
void pose_H_4(double *state, double *unused, double *out_913158878120160673);
void pose_h_10(double *state, double *unused, double *out_3373051515203641771);
void pose_H_10(double *state, double *unused, double *out_7288760212554836769);
void pose_h_13(double *state, double *unused, double *out_413669578140119338);
void pose_H_13(double *state, double *unused, double *out_8523790086436861602);
void pose_h_14(double *state, double *unused, double *out_8770101800505378255);
void pose_H_14(double *state, double *unused, double *out_4876399734459645202);
void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
}
selfdrive/pandad/pandad
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selfdrive/ui/layouts/settings/starpilot/longitudinal.py
+1 -6
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@@ -686,12 +686,7 @@ class StarPilotLongitudinalTuneLayout(_SettingsPage):
set_state=lambda s: self._params.put_bool("CoastUpToLeads", s),
visible=self._longitudinal_enabled),
], column_pair="human_driving", row_height=UTILITY_ROW_HEIGHT),
SettingSection(tr_noop("Following"), [
SettingRow("HumanFollowing", "toggle", tr_noop("Human-Like Following"),
subtitle=tr_noop("More natural following behavior behind other vehicles."),
get_state=lambda: self._params.get_bool("HumanFollowing"),
set_state=lambda s: self._params.put_bool("HumanFollowing", s),
visible=self._longitudinal_enabled),
SettingSection(tr_noop("Lane Changes"), [
SettingRow("HumanLaneChanges", "toggle", tr_noop("Human-Like Lane Changes"),
subtitle=tr_noop("Radar-informed behavior during lane changes."),
get_state=lambda: self._params.get_bool("HumanLaneChanges"),
selfdrive/ui/translations/main_uk.qm
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selfdrive/ui/translations/main_uk.ts
-8
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@@ -2246,14 +2246,6 @@
<source>&lt;b&gt;Acceleration that mimics human behavior&lt;/b&gt; by easing the throttle at low speeds and adding extra power when taking off from a stop.</source>
<translation>&lt;b&gt;Прискорення, що імітує поведінку людини&lt;/b&gt;, шляхом послаблення дросельної заслінки на низьких швидкостях і додавання додаткової потужності при рушанні з місця.</translation>
</message>
<message>
<source>Human-Like Following</source>
<translation>Людиноподібне слідування</translation>
</message>
<message>
<source>&lt;b&gt;Following behavior that mimics human drivers&lt;/b&gt; by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking.</source>
<translation>&lt;b&gt;Поведінка, що імітує поведінку водіїв-людей&lt;/b&gt;, шляхом скорочення відстані за швидшими транспортними засобами для швидшого старту та динамічного регулювання бажаної відстані для більш плавного та ефективного гальмування.</translation>
</message>
<message>
<source>Lead Detection Sensitivity</source>
<translation>Чутливість виявлення лідера</translation>
selfdrive/ui/ui
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starpilot/common/safe_mode.py
-1
View File
@@ -67,7 +67,6 @@ SAFE_MODE_MANAGED_KEYS = (
"AccelerationProfile",
"DecelerationProfile",
"HumanAcceleration",
"HumanFollowing",
"CoastUpToLeads",
"HumanLaneChanges",
"LeadDetectionThreshold",
starpilot/common/starpilot_variables.py
-1
View File
@@ -946,7 +946,6 @@ class StarPilotVariables:
else:
toggle.custom_accel_profile_values = [custom_accel_defaults[key] for key in CUSTOM_ACCEL_PROFILE_PARAM_KEYS]
toggle.human_acceleration = self.get_value("HumanAcceleration", condition=longitudinal_tuning)
toggle.human_following = self.get_value("HumanFollowing", condition=longitudinal_tuning)
toggle.coast_up_to_leads = self.get_value("CoastUpToLeads", condition=longitudinal_tuning)
if longitudinal_tuning and self.params.get("CoastUpToLeads") is None:
toggle.coast_up_to_leads = True
starpilot/controls/lib/starpilot_following.py
+1 -17
View File
@@ -99,23 +99,7 @@ class StarPilotFollowing:
self.desired_follow_distance = 0
def update_follow_values(self, lead_distance, v_ego, v_lead, starpilot_toggles):
if starpilot_toggles.human_following and v_lead > v_ego:
distance_factor = max(lead_distance - (v_ego * self.t_follow), 1)
from starpilot.common.starpilot_variables import get_starpilot_toggles
fp_toggles = get_starpilot_toggles()
accelerating_offset = float(np.clip(fp_toggles.stop_distance - v_ego, 1, distance_factor))
self.acceleration_jerk /= accelerating_offset
self.speed_jerk /= accelerating_offset
self.t_follow /= accelerating_offset
if (starpilot_toggles.conditional_slower_lead or starpilot_toggles.human_following) and v_lead < v_ego:
if starpilot_toggles.conditional_slower_lead and v_lead < v_ego:
distance_factor = max(lead_distance - (v_lead * self.t_follow), 1)
braking_offset = float(np.clip(min(v_ego - v_lead, v_lead) - COMFORT_BRAKE, 1, distance_factor))
if starpilot_toggles.human_following:
from starpilot.common.starpilot_variables import get_starpilot_toggles
fp_toggles = get_starpilot_toggles()
far_lead_offset = max(lead_distance - (v_ego * self.t_follow) - fp_toggles.stop_distance, 0)
self.t_follow /= braking_offset + far_lead_offset
self.slower_lead = braking_offset > 1
starpilot/system/the_pond/assets/components/tools/device_settings_layout.json
+1 -9
View File
@@ -832,7 +832,7 @@
{
"key": "RelaxedFollow",
"label": "Following Distance",
"description": "How many seconds openpilot follows behind lead vehicles when using the \"Relaxed\" profile. Increase for more space; decrease for tighter gaps.\n\nDefault: 1.75 seconds.",
"description": "How many seconds openpilot follows behind lead vehicles when using the \"Relaxed\" profile. Increase for more space; decrease for tighter gaps.\n\nDefault: 1.6 seconds.",
"data_type": "float",
"ui_type": "numeric",
"min": 0.5,
@@ -970,14 +970,6 @@
"ui_type": "toggle",
"parent_key": "LongitudinalTune"
},
{
"key": "HumanFollowing",
"label": "Human-Like Following",
"description": "Following behavior that mimics human drivers by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking.",
"data_type": "bool",
"ui_type": "toggle",
"parent_key": "LongitudinalTune"
},
{
"key": "CoastUpToLeads",
"label": "Coast Up To Leads",
starpilot/ui/qt/offroad/longitudinal_settings.cc
+1 -2
View File
@@ -134,7 +134,7 @@ StarPilotLongitudinalPanel::StarPilotLongitudinalPanel(StarPilotSettingsWindow *
{"ResetStandardPersonality", tr("Reset to Defaults"), tr("<b>Reset the \"Standard\" profile to defaults.</b>"), ""},
{"RelaxedPersonalityProfile", tr("Relaxed"), tr("<b>Customize the \"Relaxed\" personality profile.</b> Designed for smoother, more comfortable driving with larger gaps."), "../../starpilot/assets/stock_theme/distance_icons/relaxed.png"},
{"RelaxedFollow", tr("Following Distance"), tr("<b>How many seconds openpilot follows behind lead vehicles when using the \"Relaxed\" profile.</b> Increase for more space; decrease for tighter gaps.<br><br>Default: 1.75 seconds."), ""},
{"RelaxedFollow", tr("Following Distance"), tr("<b>How many seconds openpilot follows behind lead vehicles when using the \"Relaxed\" profile.</b> Increase for more space; decrease for tighter gaps.<br><br>Default: 1.6 seconds."), ""},
{"RelaxedFollowHigh", tr("High Speed Following Distance"), tr("<b>Following distance for higher speeds in the \"Relaxed\" profile.</b> openpilot smoothly blends from the base value to this value as speed rises."), ""},
{"RelaxedJerkAcceleration", tr("Acceleration Smoothness"), tr("<b>How smoothly openpilot accelerates with the \"Relaxed\" profile.</b> Increase for gentler starts; decrease for faster but more abrupt takeoffs."), ""},
{"RelaxedJerkDeceleration", tr("Braking Smoothness"), tr("<b>How smoothly openpilot brakes with the \"Relaxed\" profile.</b> Increase for gentler stops; decrease for quicker but sharper braking."), ""},
@@ -147,7 +147,6 @@ StarPilotLongitudinalPanel::StarPilotLongitudinalPanel(StarPilotSettingsWindow *
{"AccelerationProfile", tr("Acceleration Profile"), tr("<b>How quickly openpilot speeds up.</b> \"Eco\" is gentle and efficient, \"Sport\" is firmer and more responsive, and \"Sport+\" accelerates at the maximum rate allowed."), ""},
{"DecelerationProfile", tr("Deceleration Profile"), tr("<b>How firmly openpilot slows down.</b> \"Eco\" favors coasting, \"Sport\" applies stronger braking."), ""},
{"HumanAcceleration", tr("Human-Like Acceleration"), tr("<b>Acceleration that mimics human behavior</b> by easing the throttle at low speeds and adding extra power when taking off from a stop."), ""},
{"HumanFollowing", tr("Human-Like Following"), tr("<b>Following behavior that mimics human drivers</b> by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking."), ""},
{"CoastUpToLeads", tr("Coast Up To Leads"), tr("<b>Allow openpilot to coast toward far leads before resuming normal throttle.</b> Disable this if your vehicle shows noticeable gas/brake alternation while approaching distant traffic."), ""},
{"HumanLaneChanges", tr("Human-Like Lane Changes"), tr("<b>Lane-change behavior that mimics human drivers</b> by anticipating and tracking adjacent vehicles during lane changes."), ""},
{"LeadDetectionThreshold", tr("Lead Detection Sensitivity"), tr("<b>How sensitive openpilot is to detecting vehicles.</b> Higher sensitivity allows quicker detection at longer distances but may react to non-vehicle objects; lower sensitivity is more conservative and reduces false detections."), ""},
starpilot/ui/qt/offroad/longitudinal_settings.h
+1 -1
View File
@@ -33,7 +33,7 @@ private:
QSet<QString> conditionalExperimentalKeys = {"PersistExperimentalState", "CESpeed", "CESpeedLead", "CECurves", "CELead", "CEModelStopTime", "CESignalSpeed", "CEStopLights", "ShowCEMStatus"};
QSet<QString> curveSpeedKeys = {"CalibratedLateralAcceleration", "CalibrationProgress", "ResetCurveData", "ShowCSCStatus"};
QSet<QString> customDrivingPersonalityKeys = {"AggressivePersonalityProfile", "RelaxedPersonalityProfile", "StandardPersonalityProfile", "TrafficPersonalityProfile"};
QSet<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "HumanAcceleration", "HumanFollowing", "CoastUpToLeads", "HumanLaneChanges", "LeadDetectionThreshold", "TacoTune"};
QSet<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "HumanAcceleration", "CoastUpToLeads", "HumanLaneChanges", "LeadDetectionThreshold", "TacoTune"};
QSet<QString> qolKeys = {"CustomCruise", "CustomCruiseLong", "ForceStops", "ForceStopDistanceOffset", "ForceStandstill", "IncreasedStoppedDistance", "MapGears", "ReverseCruise", "SetSpeedOffset", "WeatherPresets"};
QSet<QString> relaxedPersonalityKeys = {"RelaxedFollow", "RelaxedFollowHigh", "RelaxedJerkAcceleration", "RelaxedJerkDeceleration", "RelaxedJerkDanger", "RelaxedJerkSpeed", "RelaxedJerkSpeedDecrease", "ResetRelaxedPersonality"};
QSet<QString> speedLimitControllerKeys = {"SLCOffsets", "SLCFallback", "SLCOverride", "SLCPriority", "SLCQOL", "SLCVisuals"};
system/camerad/camerad
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system/loggerd/bootlog
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system/loggerd/encoderd
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system/loggerd/loggerd
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system/manager/launch_param_migrations.py
+61 -2
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@@ -15,6 +15,39 @@ LEGACY_STEER_KP = 0.7
QT_STEER_KP_PLACEHOLDER = 1.0
LAUNCH_PARAM_MIGRATION_MARKER = ".starpilot_launch_param_migrations_v2"
BRANCH_DEFAULTS_MIGRATION_MARKER = ".starpilot_branch_defaults_migrations_v1"
BRANCH_BOOL_DEFAULTS = {
"ConditionalExperimental": True,
"CELead": True,
"CESlowerLead": True,
"CEStoppedLead": False,
"ForceStops": True,
}
BRANCH_FLOAT_DEFAULTS = {
"AggressiveFollow": 1.25,
"AggressiveFollowHigh": 1.0,
"AggressiveJerkAcceleration": 50.0,
"AggressiveJerkDanger": 100.0,
"AggressiveJerkDeceleration": 50.0,
"AggressiveJerkSpeed": 50.0,
"AggressiveJerkSpeedDecrease": 50.0,
"StandardFollow": 1.45,
"StandardFollowHigh": 1.2,
"StandardJerkAcceleration": 100.0,
"StandardJerkDanger": 100.0,
"StandardJerkDeceleration": 100.0,
"StandardJerkSpeed": 100.0,
"StandardJerkSpeedDecrease": 100.0,
"RelaxedFollow": 1.6,
"RelaxedFollowHigh": 1.4,
"RelaxedJerkAcceleration": 100.0,
"RelaxedJerkDanger": 100.0,
"RelaxedJerkDeceleration": 100.0,
"RelaxedJerkSpeed": 100.0,
"RelaxedJerkSpeedDecrease": 100.0,
}
class ParamsLike(Protocol):
@@ -33,8 +66,11 @@ def _default_marker_path(params: ParamsLike) -> Path:
return Path(params.get_param_path()) / LAUNCH_PARAM_MIGRATION_MARKER
def apply_launch_param_migrations(params: ParamsLike, marker_path: Path | None = None) -> None:
marker = marker_path or _default_marker_path(params)
def _branch_defaults_marker_path(params: ParamsLike) -> Path:
return Path(params.get_param_path()) / BRANCH_DEFAULTS_MIGRATION_MARKER
def _apply_legacy_launch_param_migrations(params: ParamsLike, marker: Path) -> None:
if marker.exists():
return
@@ -61,6 +97,29 @@ def apply_launch_param_migrations(params: ParamsLike, marker_path: Path | None =
marker.touch()
def _apply_branch_default_migration(params: ParamsLike, marker: Path) -> None:
if marker.exists():
return
marker.parent.mkdir(parents=True, exist_ok=True)
for key, value in BRANCH_BOOL_DEFAULTS.items():
params.put_bool(key, value)
for key, value in BRANCH_FLOAT_DEFAULTS.items():
params.put_float(key, value)
marker.touch()
def apply_launch_param_migrations(params: ParamsLike, marker_path: Path | None = None,
branch_defaults_marker_path: Path | None = None) -> None:
_apply_legacy_launch_param_migrations(params, marker_path or _default_marker_path(params))
# Keep branch-default rollout on its own marker so older installs that already
# have the legacy marker still receive this one-time param reset.
_apply_branch_default_migration(params, branch_defaults_marker_path or _branch_defaults_marker_path(params))
def main() -> int:
try:
from openpilot.common.params import Params
system/manager/manager.py
+32 -2
View File
@@ -40,6 +40,7 @@ STARPILOT_COAST_UP_TO_LEADS_MIGRATION_FLAG = Path("/data") / "starpilot_coast_up
STARPILOT_PARAM_RENAME_MIGRATION_FLAG = Path("/data") / "starpilot_param_rename_v1"
STARPILOT_PARAM_CANONICALIZATION_MIGRATION_FLAG = Path("/data") / "starpilot_param_canonicalization_v1"
STARPILOT_PC_ROOT_MIGRATION_FLAG = Path("/data") / "starpilot_pc_root_v1"
STARPILOT_REMOVED_PARAM_KEYS = ("HumanFollowing",)
LEGACY_CARMODEL_MIGRATIONS = {
"CHEVROLET_BOLT_CC_2019_2021": "CHEVROLET_BOLT_CC_2018_2021",
}
@@ -148,6 +149,35 @@ def _has_persisted_param_file(params: Params, key: str | bytes) -> bool:
return bool(path) and os.path.isfile(path)
def _remove_persisted_param_file(params: Params, key: str | bytes) -> bool:
try:
path = params.get_param_path(key)
except Exception:
return False
if not path or not os.path.isfile(path):
return False
try:
os.remove(path)
return True
except Exception:
cloudlog.exception(f"Failed to remove deprecated param file: {key}")
return False
def cleanup_removed_starpilot_params(params: Params, params_cache: Params) -> None:
removed_keys = []
for key in STARPILOT_REMOVED_PARAM_KEYS:
removed = _remove_persisted_param_file(params, key)
removed = _remove_persisted_param_file(params_cache, key) or removed
if removed:
removed_keys.append(key)
if removed_keys:
cloudlog.warning(f"Removed deprecated StarPilot params: {removed_keys}")
def migrate_starpilot_param_renames(params: Params, params_cache: Params) -> None:
if STARPILOT_PARAM_RENAME_MIGRATION_FLAG.exists():
return
@@ -337,7 +367,6 @@ def migrate_starpilot_default_parity(params: Params, params_cache: Params) -> No
"AdvancedLateralTune": True,
"ForceAutoTuneOff": True,
"HumanAcceleration": False,
"HumanFollowing": False,
"NNFF": False,
"NNFFLite": False,
}
@@ -385,7 +414,7 @@ def migrate_disable_humanlike_defaults(params: Params, params_cache: Params) ->
disabled_keys: list[str] = []
for key in ("HumanAcceleration", "HumanFollowing", "HumanLaneChanges"):
for key in ("HumanAcceleration", "HumanLaneChanges"):
if not (params.get_bool(key) or params_cache.get_bool(key)):
continue
@@ -615,6 +644,7 @@ def manager_init() -> None:
# Canonicalize legacy string encodings (e.g. INT params stored as "26.000000")
# before bulk reads below to avoid repeated cast warnings and UI-side churn.
migrate_param_type_canonicalization(params)
cleanup_removed_starpilot_params(params, params_cache)
migrate_starpilot_default_parity(params, params_cache)
migrate_disable_humanlike_defaults(params, params_cache)
migrate_cluster_offset_default(params, params_cache)
system/manager/test/test_launch_param_migrations.py
+57
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@@ -1,6 +1,7 @@
from pathlib import Path
from openpilot.system.manager.launch_param_migrations import (
BRANCH_DEFAULTS_MIGRATION_MARKER,
DEFAULT_STEER_KP,
LAUNCH_PARAM_MIGRATION_MARKER,
apply_launch_param_migrations,
@@ -84,3 +85,59 @@ def test_apply_launch_param_migrations_does_not_reapply_after_marker(tmp_path):
assert not params.get_bool("LongPitch")
assert params.get_float("SteerKP") == 0.65
assert params.get_float("SteerKPStock") == DEFAULT_STEER_KP
def test_apply_launch_param_migrations_applies_branch_defaults_for_existing_installs(tmp_path):
params = FileBackedFakeParams(tmp_path / "params")
params.put_bool("LongPitch", False)
params.put_bool("ConditionalExperimental", False)
params.put_bool("CELead", False)
params.put_bool("CESlowerLead", False)
params.put_bool("CEStoppedLead", True)
params.put_bool("ForceStops", False)
params.put_float("AggressiveFollowHigh", 1.25)
params.put_float("StandardFollowHigh", 1.45)
params.put_float("StandardJerkAcceleration", 50.0)
params.put_float("RelaxedFollow", 1.75)
params.put_float("RelaxedFollowHigh", 1.75)
params.put_float("RelaxedJerkSpeed", 50.0)
(tmp_path / "params" / LAUNCH_PARAM_MIGRATION_MARKER).touch()
apply_launch_param_migrations(params)
assert not params.get_bool("LongPitch")
assert params.get_bool("ConditionalExperimental")
assert params.get_bool("CELead")
assert params.get_bool("CESlowerLead")
assert not params.get_bool("CEStoppedLead")
assert params.get_bool("ForceStops")
assert params.get_float("AggressiveFollowHigh") == 1.0
assert params.get_float("StandardFollowHigh") == 1.2
assert params.get_float("StandardJerkAcceleration") == 100.0
assert params.get_float("RelaxedFollow") == 1.6
assert params.get_float("RelaxedFollowHigh") == 1.4
assert params.get_float("RelaxedJerkSpeed") == 100.0
assert (tmp_path / "params" / BRANCH_DEFAULTS_MIGRATION_MARKER).is_file()
def test_apply_launch_param_migrations_does_not_reapply_branch_defaults_after_marker(tmp_path):
params = FileBackedFakeParams(tmp_path / "params")
branch_defaults_marker = tmp_path / "params" / BRANCH_DEFAULTS_MIGRATION_MARKER
params.put_bool("ConditionalExperimental", False)
params.put_bool("CEStoppedLead", True)
params.put_bool("ForceStops", False)
params.put_float("AggressiveFollowHigh", 2.0)
params.put_float("StandardJerkAcceleration", 25.0)
params.put_float("RelaxedFollow", 2.0)
branch_defaults_marker.touch()
apply_launch_param_migrations(params)
assert not params.get_bool("ConditionalExperimental")
assert params.get_bool("CEStoppedLead")
assert not params.get_bool("ForceStops")
assert params.get_float("AggressiveFollowHigh") == 2.0
assert params.get_float("StandardJerkAcceleration") == 25.0
assert params.get_float("RelaxedFollow") == 2.0
system/manager/test/test_manager.py
+13 -6
View File
@@ -168,15 +168,11 @@ class TestManager:
assert params.get("CEModelStopTime") == "3.5"
assert params_cache.get_bool("NNFF")
assert Path(params.get_param_path("HumanFollowing")).is_file()
assert not params.get_bool("HumanFollowing")
def test_migrate_disable_humanlike_defaults(self, tmp_path, monkeypatch):
monkeypatch.setattr(manager, "STARPILOT_HUMANLIKE_DISABLE_MIGRATION_FLAG", tmp_path / "starpilot_humanlike_disable_v1")
params = FileBackedFakeParams(tmp_path / "params", {
"HumanAcceleration": True,
"HumanFollowing": True,
})
params_cache = FileBackedFakeParams(tmp_path / "cache", {
"HumanLaneChanges": True,
@@ -185,12 +181,23 @@ class TestManager:
manager.migrate_disable_humanlike_defaults(params, params_cache)
assert not params.get_bool("HumanAcceleration")
assert not params.get_bool("HumanFollowing")
assert not params.get_bool("HumanLaneChanges")
assert not params_cache.get_bool("HumanAcceleration")
assert not params_cache.get_bool("HumanFollowing")
assert not params_cache.get_bool("HumanLaneChanges")
def test_cleanup_removed_starpilot_params(self, tmp_path):
params = FileBackedFakeParams(tmp_path / "params", {
"HumanFollowing": True,
})
params_cache = FileBackedFakeParams(tmp_path / "cache", {
"HumanFollowing": False,
})
manager.cleanup_removed_starpilot_params(params, params_cache)
assert not Path(params.get_param_path("HumanFollowing")).exists()
assert not Path(params_cache.get_param_path("HumanFollowing")).exists()
def test_migrate_cluster_offset_default_resets_legacy_default_only(self, tmp_path, monkeypatch):
monkeypatch.setattr(manager, "STARPILOT_CLUSTER_OFFSET_MIGRATION_FLAG", tmp_path / "starpilot_cluster_offset_v1")
tools/StarPilot/feasibleparams.txt
-1
View File
@@ -132,7 +132,6 @@ HideSpeedLimit
HigherBitrate
HolidayThemes
HumanAcceleration
HumanFollowing
IncreaseThermalLimits
IncreasedStoppedDistance
IsDriverViewEnabled