WIP: Honda Steering Improvements (#983)

* move honda steer params to CarParams

* use breakpoints/values from firmware

* remove comment

* civic fw mod max included deadzone

* civic bosch needs to be separate

* script to measure steering accuracy

* civic tuning

* update cr-v values

* cleanup

* averaging over 10 samples was silly

* update stock civic and cr-v tuning

* remove comment

* update replay expected results

old-commit-hash: 57c44e3705a2e442a169ab9da5571aab4ef16ae4

selfdrive/debug/internal/measure_steering_accuracy.py

@@ -0,0 +1,80 @@
+#!/usr/bin/env python3
+import os
+import argparse
+import signal
+from collections import deque, defaultdict
+from statistics import mean
+
+import cereal.messaging as messaging
+
+def sigint_handler(signal, frame):
+  print("handler!")
+  exit(0)
+signal.signal(signal.SIGINT, sigint_handler)
+
+if __name__ == "__main__":
+
+  parser = argparse.ArgumentParser(description='Sniff a communcation socket')
+  parser.add_argument('--addr', default='127.0.0.1')
+  args = parser.parse_args()
+
+  if args.addr != "127.0.0.1":
+    os.environ["ZMQ"] = "1"
+    messaging.context = messaging.Context()
+
+  carControl = messaging.sub_sock('carControl', addr=args.addr, conflate=True)
+  sm = messaging.SubMaster(['carState', 'carControl', 'controlsState'], addr=args.addr)
+
+  msg_cnt = 0
+  stats = defaultdict(lambda: {'err': 0, "cnt": 0, "=": 0, "+": 0, "-": 0})
+  cnt = 0
+  total_error = 0
+  
+  while messaging.recv_one(carControl):
+    sm.update()
+    msg_cnt += 1
+
+    actual_speed = sm['carState'].vEgo
+    enabled = sm['controlsState'].enabled
+    steer_override = sm['controlsState'].steerOverride
+
+    # must be above 10 m/s, engaged and not overriding steering
+    if actual_speed > 10.0 and enabled and not steer_override:
+      cnt += 1
+
+      # wait 5 seconds after engage/override
+      if cnt >= 500:
+        # calculate error before rounding
+        actual_angle = sm['controlsState'].angleSteers
+        desired_angle = sm['carControl'].actuators.steerAngle
+        angle_error = abs(desired_angle - actual_angle)
+
+        # round numbers
+        actual_angle = round(actual_angle, 1)
+        desired_angle = round(desired_angle, 1)
+        angle_error = round(angle_error, 2)
+        angle_abs = int(abs(round(desired_angle, 0)))
+
+        # collect stats
+        stats[angle_abs]["err"] += angle_error
+        stats[angle_abs]["cnt"] += 1
+        if actual_angle == desired_angle:
+          stats[angle_abs]["="] += 1
+        else:
+          if desired_angle == 0.:
+            overshoot = True
+          else:
+            overshoot = desired_angle < actual_angle if desired_angle > 0. else desired_angle > actual_angle
+          stats[angle_abs]["+" if overshoot else "-"] += 1
+    else:
+      cnt = 0
+
+    if msg_cnt % 100 == 0:
+      print(chr(27) + "[2J")
+      if cnt != 0:
+        print("COLLECTING ...")
+      else:
+        print("DISABLED (speed too low, not engaged, or steer override)")
+      for k in sorted(stats.keys()):
+        v = stats[k]
+        print(f'angle: {k:#2} | error: {round(v["err"] / v["cnt"], 2):2.2f} | =:{int(v["="] / v["cnt"] * 100):#3}% | +:{int(v["+"] / v["cnt"] * 100):#4}% | -:{int(v["-"] / v["cnt"] * 100):#3}% | count: {v["cnt"]:#4}')

selfdrive/debug/internal/measure_torque_time_to_max.py

@@ -3,6 +3,8 @@ import os
 import sys
 import argparse
 import struct
+from collections import deque
+from statistics import mean
 
 from cereal import log
 import cereal.messaging as messaging
@@ -26,7 +28,7 @@ if __name__ == "__main__":
   start_v = 0
   max_v = 0
   max_t = 0
-  window = [0] * 10
+  window = deque(maxlen=10)
   avg = 0
   while 1:
     polld = poller.poll(1000)
@@ -49,8 +51,7 @@ if __name__ == "__main__":
         if item.address == 0x1ab and item.src == 0:
           motor_torque = ((item.dat[0] & 0x3) << 8) + item.dat[1]
           window.append(motor_torque)
-          window.pop(0)
-          avg = sum(window) / len(window)
+          avg = mean(window)
           #print(f'{evt.logMonoTime}: {avg}')
           if active and avg > max_v + 0.5:
             max_v = avg