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13 Commits

Author SHA1 Message Date
Shane Smiskol bfa3f3cccb Add calPerc progress tracking for torque calibration (#35512) 
* Add calPerc field and torque progress

* Fix torqued test style and CarParams usage

* test: remove unused numpy import

* move here

* trying all combinations to see what's most linear

* clean up with best method

* no no

* epic

* clean up

* last min not needed

* doesn't hurt

* list comp
 2025-06-10 00:22:13 -07:00
Kacper Rączy f237649a7a Reapply "Online lateral lag learning" (#34975) 
* Online lateral lag learning (#34974)

This reverts commit b4cc9e68d1.

* pad to the best size for fft

* Fix static analysis

* Add typing

* Fix typing

* MAX_LAG

* Calculate cross correlation regardless if the points are valid

* Back to lagd

* Add lagd to process_config

* Lagd in test onroad

* Move lag estimator for lagd

* Remove duplicate entry from test_onroad

* Update process replay

* pre-fill the data

* Update cpu usage

* 25sec window

* Change the meaning of lateralDelayEstimate

* No newline

* Fix typing

* Prefill

* Update ref commit

* Add a unit test

* Fix static issues

* Time limit

* Or timeout

* Use mocker

* Update estimate every time

* empty test

* DT const

* enable RIVIAN again

* Update ref commit

* Update that again

* Improve the tests

* Fix static

* Add masking test

* Increase timeout

* Add liveDelay to selfdrived

* Add liveDelay to selfdrived in process_replay

* Fix block_avg restore after num_blocks

* regen most

* Update bolt

* Update ref commit

* Change the key name

* Add assert

* True weighted average
 2025-04-09 22:31:07 +00:00
Kacper Rączy 80bc61dc6c controlsd: use livePose (#33283) 
* Pose calibrator

* Fix static analysis

* Fix static

* Fix test_latcontrol

* Fix test_latcontrol

* Update services in process replay

* Fix static

* Matmul not mul

* Add assertion

* Move pose calibration to data_sample

* Update ref commit

* Remove llk from cycle alerts

* Deprecated nogps event

* Switch power_draw to lp

* Bring back noGps alert

* Add handling code back

* get_bool

* Bring inputsok back
old-commit-hash: 9734015bbb6d448bb6b0fb453370ec702fa73106
 2024-08-13 21:11:16 -07:00
Kacper Rączy 3740693956 paramsd: use livePose (#33099) 
* Use livePose instead  of llk

* Update process replay sockets

* Fix import

* Fix calib

* Fix field name

* Dont store device_from_calib

* Update ref commit
old-commit-hash: 84cff4fc03423acde611ba29b3b2ff9436ff2580
 2024-07-29 19:51:21 -07:00
Shane Smiskol 1b4583a63e torqued: clean up (#32958) 
* formatting

* function signatures didn't match

* function signatures didn't match

* filtered and raw mean something totally different when it comes to params

filtered and raw mean something totally different when it comes to params

* cmt

* probably better for organization

* add todo

* STASH

* revert some stuff

* clean up

* oof
old-commit-hash: fbc53a24a3b1977814b50c4021ba9c445c8f7f74
 2024-07-09 22:26:58 -07:00
Cameron Clough a09300385b mypy: use implicit-optional (#31590) 
* mypy: set implicit-optional = true

* find and replace '| None = None' -> '= None' in function args
old-commit-hash: 80da3aee147867e46f566b63a96f4fe199e0628d
 2024-02-25 13:29:18 -08:00
Cameron Clough 9bd90112d0 use pyupgrade to update to new typing syntax (#31580) 
* add pyupgrade hook

* run pyupgrade (pre-commit run -a)

* ruff --fix

* Revert "add pyupgrade hook"

This reverts commit 56ec18bb6b8602a0b612f3803d96cdad14b52066.

* revert changes to third_party/

* manual type fixes

* explicit Optional wrapping capnp objects
old-commit-hash: 995250ae4967943ee33a3699a1d89a7a770d95e9
 2024-02-24 16:41:23 -08:00
Shane Smiskol 9cc2677a7a torqued: log raw params if calculable (#31521) 
* log params when calculable

* better

* Update ref_commit

* this is redundant

* this is only used in one place, confusing which to use so remove

* better
old-commit-hash: c3e3103830ba62d70f45555bdd6fda554594f7a8
 2024-02-20 22:30:51 -08:00
Adeeb Shihadeh 3b73fce7ed fix put_nonblocking reference 
old-commit-hash: bd8a99ba285bebc498c41136dfa900bfdfa86ea5
 2023-12-13 20:52:43 -08:00
Jason Wen 995c951dae torqued: cache bucket points every minute while onroad (#30515) 
* torqued: cache bucket points every minute while onroad

* use put_nonblocking

* remove caching on exit

* unused

* more unused

* remove logging
old-commit-hash: fcc671297ee0cd44abc6f7535e1adddc11d58192
 2023-12-13 20:30:33 -08:00
Adeeb Shihadeh 59eb2988de swaglog.py goes in common/ (#30631) 
* swaglog.py goes in common/

* all of these go in release

* we'll even include the pyx
old-commit-hash: 35f819c8239b8ac3a000087a0f791b91ccea5e5e
 2023-12-06 17:27:51 -08:00
Vivek Aithal f8dce94688 params: Remove separate CarParams from each daemon (#30405) 
* remove separate previous route carparams from each daemon and add centrally to controlsd

* extract out sigint handler

* make process replay work for torqued

* don't write param if None
old-commit-hash: 2eb487c9a5a905b502433db2e7c5e52a52224f39
 2023-11-08 15:25:41 -08:00
Vivek Aithal db2344cdd2 torqued: Refactor to share code with magd (#30238) 
* refactor to extract common functions and classes out

* Add helpers.py to release files

* refactor
old-commit-hash: 9e24a11f17117caebc595165f59bfc0109af0287
 2023-10-13 17:24:04 -07:00