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long control: new API (#32706)

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* Simplify long control

* Seperate

* Rename

* Try new api for toyota

* rm v_pid everywhere

* No speed in reset

* 0 is better default

* unassigned variable

* Update other cars

* Update gm

* SIMPLIFY

* simplify more

* fix API boundry

* Fix stopping bug

* Small fixes

* Update ref
old-commit-hash: bc303df6a0a4a9d52a2e92e5976b6c7aa5138b95
This commit is contained in:
Harald Schäfer
2024-06-14 00:08:58 -07:00
committed by GitHub
parent a854878499
commit 47d5601d8a
18 changed files with 74 additions and 136 deletions
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cereal/car.capnp
+2 -2
View File
@@ -541,8 +541,8 @@ struct CarParams {
kiBP @2 :List(Float32);
kiV @3 :List(Float32);
kf @6 :Float32;
deadzoneBP @4 :List(Float32);
deadzoneV @5 :List(Float32);
deadzoneBPDEPRECATED @4 :List(Float32);
deadzoneVDEPRECATED @5 :List(Float32);
}
struct LateralINDITuning {
cereal/log.capnp
+6 -2
View File
@@ -698,7 +698,6 @@ struct ControlsState @0x97ff69c53601abf1 {
personality @66 :LongitudinalPersonality;
longControlState @30 :Car.CarControl.Actuators.LongControlState;
vPid @2 :Float32;
vTargetLead @3 :Float32;
vCruise @22 :Float32; # actual set speed
vCruiseCluster @63 :Float32; # set speed to display in the UI
@@ -866,6 +865,7 @@ struct ControlsState @0x97ff69c53601abf1 {
canMonoTimesDEPRECATED @21 :List(UInt64);
desiredCurvatureRateDEPRECATED @62 :Float32;
canErrorCounterDEPRECATED @57 :UInt32;
vPidDEPRECATED @2 :Float32;
}
# All SI units and in device frame
@@ -1060,6 +1060,11 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
accels @32 :List(Float32);
speeds @33 :List(Float32);
jerks @34 :List(Float32);
aTarget @18 :Float32;
shouldStop @37: Bool;
allowThrottle @38: Bool;
allowBrake @39: Bool;
solverExecutionTime @35 :Float32;
@@ -1076,7 +1081,6 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
aCruiseDEPRECATED @17 :Float32;
vTargetDEPRECATED @3 :Float32;
vTargetFutureDEPRECATED @14 :Float32;
aTargetDEPRECATED @18 :Float32;
vStartDEPRECATED @26 :Float32;
aStartDEPRECATED @27 :Float32;
vMaxDEPRECATED @20 :Float32;