mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-23 09:13:43 +08:00
openpilot v0.5.12 release
This commit is contained in:
Vehicle Researcher
+12
-12
@@ -6,24 +6,24 @@ GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
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JS := gen/js/car.capnp.js gen/js/log.capnp.js
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UNAME_M ?= $(shell uname -m)
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# only generate C++ for docker tests
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ifneq ($(OPTEST),1)
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GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/include/c++.capnp.h gen/c/include/java.capnp.h
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ifeq ($(UNAME_M),x86_64)
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ifneq (, $(shell which capnpc-java))
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GENS += gen/java/Car.java gen/java/Log.java
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else
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$(warning capnpc-java not found, skipping java build)
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endif
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endif
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GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/include/c++.capnp.h gen/c/include/java.capnp.h
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ifeq ($(UNAME_M),x86_64)
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ifneq (, $(shell which capnpc-java))
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GENS += gen/java/Car.java gen/java/Log.java
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else
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$(warning capnpc-java not found, skipping java build)
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endif
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endif
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ifeq ($(UNAME_M),aarch64)
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CAPNPC=PATH=$(PWD)/../phonelibs/capnp-cpp/aarch64/bin/:$$PATH capnpc
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CAPNPC=PATH=$(PWD)/../phonelibs/capnp-cpp/aarch64/bin/:$$PATH capnpc
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else
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CAPNPC=capnpc
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CAPNPC=capnpc
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endif
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.PHONY: all
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+74
-61
@@ -73,6 +73,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
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lowBattery @48;
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invalidGiraffeHonda @49;
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vehicleModelInvalid @50;
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controlsFailed @51;
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}
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}
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@@ -281,31 +282,83 @@ struct CarControl {
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struct CarParams {
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carName @0 :Text;
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radarNameDEPRECATED @1 :Text;
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carFingerprint @2 :Text;
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carFingerprint @1 :Text;
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enableSteerDEPRECATED @3 :Bool;
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enableGasInterceptor @4 :Bool;
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enableBrakeDEPRECATED @5 :Bool;
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enableCruise @6 :Bool;
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enableCamera @26 :Bool;
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enableDsu @27 :Bool; # driving support unit
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enableApgs @28 :Bool; # advanced parking guidance system
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enableGasInterceptor @2 :Bool;
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enableCruise @3 :Bool;
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enableCamera @4 :Bool;
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enableDsu @5 :Bool; # driving support unit
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enableApgs @6 :Bool; # advanced parking guidance system
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minEnableSpeed @17 :Float32;
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minSteerSpeed @49 :Float32;
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safetyModel @18 :Int16;
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safetyParam @41 :Int16;
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minEnableSpeed @7 :Float32;
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minSteerSpeed @8 :Float32;
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safetyModel @9 :Int16;
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safetyParam @10 :Int16;
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steerMaxBP @19 :List(Float32);
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steerMaxV @20 :List(Float32);
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gasMaxBP @21 :List(Float32);
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gasMaxV @22 :List(Float32);
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brakeMaxBP @23 :List(Float32);
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brakeMaxV @24 :List(Float32);
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steerMaxBP @11 :List(Float32);
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steerMaxV @12 :List(Float32);
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gasMaxBP @13 :List(Float32);
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gasMaxV @14 :List(Float32);
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brakeMaxBP @15 :List(Float32);
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brakeMaxV @16 :List(Float32);
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# things about the car in the manual
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mass @17 :Float32; # [kg] running weight
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wheelbase @18 :Float32; # [m] distance from rear to front axle
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centerToFront @19 :Float32; # [m] GC distance to front axle
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steerRatio @20 :Float32; # [] ratio between front wheels and steering wheel angles
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steerRatioRear @21 :Float32; # [] rear steering ratio wrt front steering (usually 0)
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# things we can derive
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rotationalInertia @22 :Float32; # [kg*m2] body rotational inertia
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tireStiffnessFront @23 :Float32; # [N/rad] front tire coeff of stiff
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tireStiffnessRear @24 :Float32; # [N/rad] rear tire coeff of stiff
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longitudinalTuning @25 :LongitudinalPIDTuning;
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lateralTuning :union {
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pid @26 :LateralPIDTuning;
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indi @27 :LateralINDITuning;
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}
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steerLimitAlert @28 :Bool;
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vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
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directAccelControl @30 :Bool; # Does the car have direct accel control or just gas/brake
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stoppingControl @31 :Bool; # Does the car allows full control even at lows speeds when stopping
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startAccel @32 :Float32; # Required acceleraton to overcome creep braking
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steerRateCost @33 :Float32; # Lateral MPC cost on steering rate
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steerControlType @34 :SteerControlType;
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radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
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steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
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openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
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struct LateralPIDTuning {
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kpBP @0 :List(Float32);
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kpV @1 :List(Float32);
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kiBP @2 :List(Float32);
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kiV @3 :List(Float32);
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kf @4 :Float32;
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}
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struct LongitudinalPIDTuning {
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kpBP @0 :List(Float32);
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kpV @1 :List(Float32);
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kiBP @2 :List(Float32);
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kiV @3 :List(Float32);
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deadzoneBP @4 :List(Float32);
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deadzoneV @5 :List(Float32);
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}
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struct LateralINDITuning {
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outerLoopGain @0 :Float32;
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innerLoopGain @1 :Float32;
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timeConstant @2 :Float32;
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actuatorEffectiveness @3 :Float32;
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}
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longPidDeadzoneBP @32 :List(Float32);
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longPidDeadzoneV @33 :List(Float32);
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enum SafetyModels {
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# does NOT match board setting
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@@ -323,46 +376,6 @@ struct CarParams {
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subaru @11;
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}
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# things about the car in the manual
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mass @7 :Float32; # [kg] running weight
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wheelbase @8 :Float32; # [m] distance from rear to front axle
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centerToFront @9 :Float32; # [m] GC distance to front axle
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steerRatio @10 :Float32; # [] ratio between front wheels and steering wheel angles
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steerRatioRear @11 :Float32; # [] rear steering ratio wrt front steering (usually 0)
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# things we can derive
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rotationalInertia @12 :Float32; # [kg*m2] body rotational inertia
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tireStiffnessFront @13 :Float32; # [N/rad] front tire coeff of stiff
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tireStiffnessRear @14 :Float32; # [N/rad] rear tire coeff of stiff
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# Kp and Ki for the lateral control
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steerKpBP @42 :List(Float32);
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steerKpV @43 :List(Float32);
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steerKiBP @44 :List(Float32);
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steerKiV @45 :List(Float32);
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steerKpDEPRECATED @15 :Float32;
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steerKiDEPRECATED @16 :Float32;
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steerKf @25 :Float32;
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# Kp and Ki for the longitudinal control
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longitudinalKpBP @36 :List(Float32);
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longitudinalKpV @37 :List(Float32);
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longitudinalKiBP @38 :List(Float32);
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longitudinalKiV @39 :List(Float32);
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steerLimitAlert @29 :Bool;
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vEgoStopping @30 :Float32; # Speed at which the car goes into stopping state
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directAccelControl @31 :Bool; # Does the car have direct accel control or just gas/brake
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stoppingControl @34 :Bool; # Does the car allows full control even at lows speeds when stopping
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startAccel @35 :Float32; # Required acceleraton to overcome creep braking
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steerRateCost @40 :Float32; # Lateral MPC cost on steering rate
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steerControlType @46 :SteerControlType;
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radarOffCan @47 :Bool; # True when radar objects aren't visible on CAN
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steerActuatorDelay @48 :Float32; # Steering wheel actuator delay in seconds
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openpilotLongitudinalControl @50 :Bool; # is openpilot doing the longitudinal control?
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enum SteerControlType {
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torque @0;
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angle @1;
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+35
-4
@@ -388,9 +388,9 @@ struct Live100Data {
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ufAccelCmd @33 :Float32;
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yActualDEPRECATED @6 :Float32;
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yDesDEPRECATED @7 :Float32;
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upSteer @8 :Float32;
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uiSteer @9 :Float32;
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ufSteer @34 :Float32;
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upSteerDEPRECATED @8 :Float32;
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uiSteerDEPRECATED @9 :Float32;
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ufSteerDEPRECATED @34 :Float32;
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aTargetMinDEPRECATED @10 :Float32;
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aTargetMaxDEPRECATED @11 :Float32;
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aTarget @35 :Float32;
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@@ -428,6 +428,11 @@ struct Live100Data {
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vCurvature @46 :Float32;
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decelForTurn @47 :Bool;
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lateralControlState :union {
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indiState @52 :LateralINDIState;
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pidState @53 :LateralPIDState;
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}
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enum ControlState {
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disabled @0;
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preEnabled @1;
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@@ -455,6 +460,31 @@ struct Live100Data {
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full @3; # full screen
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}
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struct LateralINDIState {
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active @0 :Bool;
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steerAngle @1 :Float32;
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steerRate @2 :Float32;
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steerAccel @3 :Float32;
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rateSetPoint @4 :Float32;
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accelSetPoint @5 :Float32;
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accelError @6 :Float32;
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delayedOutput @7 :Float32;
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delta @8 :Float32;
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output @9 :Float32;
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}
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struct LateralPIDState {
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active @0 :Bool;
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steerAngle @1 :Float32;
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steerRate @2 :Float32;
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angleError @3 :Float32;
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p @4 :Float32;
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i @5 :Float32;
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f @6 :Float32;
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output @7 :Float32;
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saturated @8 :Bool;
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}
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}
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struct LiveEventData {
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@@ -545,7 +575,7 @@ struct LogRotate {
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struct Plan {
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mdMonoTime @9 :UInt64;
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l20MonoTime @10 :UInt64;
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events @13 :List(Car.CarEvent);
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eventsDEPRECATED @13 :List(Car.CarEvent);
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# lateral, 3rd order polynomial
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lateralValidDEPRECATED @0 :Bool;
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@@ -583,6 +613,7 @@ struct Plan {
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decelForTurn @22 :Bool;
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mapValid @25 :Bool;
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radarValid @28 :Bool;
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radarCommIssue @30 :Bool;
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processingDelay @29 :Float32;
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