3afc818433
Long policy: strictly squared stopped equivalence function ( #23118 )
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* new ref
* never let lead stopped equivalence go down
* no overbraking
* stricter again
* cleanup
* updated refs
old-commit-hash: 0dcdf9c30fdb14e907015cb2b0195238e6121b05
2021-12-03 16:12:30 -08:00
23ef06428a
add desired angle to log ( #23115 )
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* add desired angle to log
* update ref
* bump cereal
old-commit-hash: bbd0f94d9d72e86fec79269b9decd424d0050872
2021-12-03 21:35:34 +01:00
c6964152bb
Reaction buffer on follow distance ( #23112 )
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* Reaction time buffer
* new ref
old-commit-hash: 5b0e10ea33e89fb1c8132cf9014a3a927e93bd6f
2021-12-02 23:56:02 -08:00
08ac1b33ba
Human inspired follow distance ( #22937 )
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* Add cost for creep
* more reasonable cost
* seems better than before
* science tune
* more chill
* closer follow
* stopping takes some leeway
* better cruise
* needed to be cumsum all along
* jerk not even needed
* matches better
* 6 is too much
* add back
* a little extra buffer is good for badly tuned cars
* new refs
* refs again
old-commit-hash: 46fd5892bf41add3dc15d413bced81693d0f8853
2021-12-02 14:42:13 -08:00
6c2182c026
Newer sounds ( #23091 )
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* new prompt sound
* padding
* prompt distracted
* debug
* fix spelling
* lower min volume
* better volume at low speeds
* revert debug
* revert that
* fix tests
* update refs
Co-authored-by: Comma Device <device@comma.ai >
old-commit-hash: 3b367e68728c29eea057d99f3948d64ed6cbfa92
2021-12-02 00:28:25 -08:00
e3f9919b5c
Set accel trajectory to a_ego when not engaged ( #23100 )
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* Set accel trajectory to a_ego when not engaged
* update ref
old-commit-hash: 68015f75ed7f60a5901af728d31b6c11b98edbf4
2021-12-01 23:12:11 -08:00
dccb8b4010
New sounds ( #22652 )
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* new engage/disengage + amp config
* first family
* cleanup audible alerts
* tici isn't special
* fix up debug cycle alerts
* these were better
* extend range
* use distracted sound
* log scaling
* getting closer
* slightly louder
* prompt
* update tests
* update refs
* fix c2 test
* resolve todo
* adjust tolerance
* revert for now
* should work
Co-authored-by: Comma Device <device@comma.ai >
old-commit-hash: e679d05d9e98e267047c21c0b6b67fe9d61f8ed6
2021-11-30 19:47:33 -08:00
fb1cf5b1bf
Longcontrol : pid error should be 0 when plan is followed ( #23066 )
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* v_pid error should be 0 when plan is followed
* update ref
old-commit-hash: 048cc3ac9f86ed2b3b9fe82cb28ec243cc8e7bac
2021-11-29 15:22:02 -08:00
996594fa29
longitudinal: only apply overshoot prevention when braking ( #22986 )
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* only if braking is desired
* use v_target to determine stopping
* more clear?
old-commit-hash: 113988ae31bd32db1576d88d5160be01faa63cb5
2021-11-29 11:29:32 +01:00
1b79236fa0
Clean up planner files ( #23031 )
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* clean up planner files
clean up planner files
* fix plant instance
old-commit-hash: 93fd662adf91eda4a17a0ebedbf9dfba61c09901
2021-11-26 14:57:39 +01:00
2bcaee3678
add offroad alerts for car unrecognized ( #22934 )
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Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
Co-authored-by: Chris McCammon <chrismccammon123@gmail.com >
old-commit-hash: 2a72e2a5140a7b02c3a13f167e91b4238a01eba0
2021-11-17 20:29:00 -08:00
6eb5dce881
Lateral planner: lower max cost ( #22960 )
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* prevent ping pong when tuning is not so great
* update refs
old-commit-hash: 24aadaf1f35d61f26637377bc353539d25989f94
2021-11-17 20:24:10 -08:00
1ffe047666
improve crc camera error ( #22943 )
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old-commit-hash: 5296ca8d73573a59a5198b73770d2a4f20cbc9c2
2021-11-16 22:57:22 -08:00
345d52e957
Add cost to long plan change for smoother lag comp ( #22923 )
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* add plan changing cost
* fix compile
* set weights
* try this cost
* horizon problem
* looks pretty good
* update refs
* update refs
* smoother plan changes
old-commit-hash: b3b45c8d29d0afb741c829fea8145fb47ffa7462
2021-11-16 17:57:55 -08:00
8a66c54064
Revert "add offroad alerts for car unrecognized"
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This reverts commit 2ffaadb4d2eaabf6e8d86423fbc25328e81dfff0.
old-commit-hash: d8a5c415cd73b50a3424a28f644466fee263e09c
2021-11-16 13:31:10 -08:00
08bfdb151b
add offroad alerts for car unrecognized
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old-commit-hash: fb1e8ce086ec5e2dc7b2150b62fdd99368eb7e66
2021-11-16 13:30:33 -08:00
d1eacc4619
alerts: make soft disables an orange alert ( #22925 )
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old-commit-hash: 833399e9418db26df70169d37c2dff90051d89c7
2021-11-16 13:11:32 -08:00
9f84f9ad97
put cruiseMismatch event in logging only mode
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old-commit-hash: 33022390138df73199ac626cb7b5ab7fac1a89a6
2021-11-15 21:16:54 -08:00
ee15159a3b
alert cleanup ( #22919 )
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old-commit-hash: 5265c36de7be6a2519488fa4a46462f13918b1fb
2021-11-15 16:14:31 -08:00
9042f18afd
cython wrapper for acados ( #22784 )
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* cython wrapper for acados
* fix building
* sconscript cleanup
* no cython numpy
* cleanup
* upgrade build script
* try without slices
* new acados commit
* c3 update acados libs
* c2 libs
* make faster
* undo profiling
* fix build
* somewhat faster
* tryout cost_set_slice
* Revert "tryout cost_set_slice"
This reverts commit d358d93a133270e4edab9e7c07ffb6f577c52bd6.
* cleanup
* undo t_renderer change
Co-authored-by: Comma Device <device@comma.ai >
old-commit-hash: 89d0a52d16872c403c69426ab32e5788a41ee2ec
2021-11-12 17:09:08 +01:00
29f6b5cb98
allow update snoozing ( #22876 )
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* allow update snoozing
* not immediately visible
* dismiss and close
* grey button
old-commit-hash: e528e2e3e2760c52266b126a803a0f7bb872cf3d
2021-11-11 15:32:25 -08:00
731d85c522
alerts: use repeating warning2 sound for steerSaturated ( #22874 )
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old-commit-hash: 308219c5b1850da4e947ea587e131df29024a402
2021-11-11 11:55:34 -08:00
9c994173ed
Longcontrol: do not clip vEgo to minSpeedCan ( #22832 )
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* fix tss2 slow reacceleration in sng
(should) preserve stopping behavior
add comments since it's confusing
fix
* Revert "fix tss2 slow reacceleration in sng"
This reverts commit 42abde0eb945d8bc5ad9b502d1d89b3e3dc16f8a.
* don't max(vEgo)
* update ref
Co-authored-by: Willem Melching <willem.melching@gmail.com >
old-commit-hash: bdaea086f8bd5ea079c4ea98abc5a3d48ca08401
2021-11-11 13:24:38 +01:00
a142638899
increase engagement alerts duration
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old-commit-hash: 327464fb845dd01533f390ac89d9fd78fbfb02d7
2021-11-10 22:11:14 -08:00
d6c42f11f4
controlsd: alert on cruise mismatch for >1s ( #22841 )
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* controlsd: alert on cruise mismatch for >1s
* bump cereal
* update refs
* bump allowed soundd cpu
* bump cereal
old-commit-hash: 035bc0c20fd27490cc353a33f3c373201288a10a
2021-11-10 13:01:42 -08:00
448d5f9e93
alerts: use a single duration for sound, text, and HUD ( #22856 )
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* alerts: use a single duration for sound, text, and HUD
* little cleanup
* update refs
old-commit-hash: c5d6b85c9014386b8d1cb2a17f8767abef3afd57
2021-11-10 11:54:12 -08:00
450471058b
controlsd: optimize alert management ( #22846 )
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* controlsd: optimize alert management
* little cleanup
* dataclass is nice
* fix tests
* update refs
* sort by start frame
* update refs
Co-authored-by: Comma Device <device@comma.ai >
old-commit-hash: 93ba52c76c20baf36e07c25d28a98bc8e9ea6219
2021-11-10 10:54:18 -08:00
a283e88f37
Fix momentary false blind spot alerts when changing lanes ( #22819 )
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* reset LaneChangeDirection after finishing
* update ref
Co-authored-by: Willem Melching <willem.melching@gmail.com >
old-commit-hash: 2006fff2b66329e2d11300691301bf7a4531b18a
2021-11-10 17:21:36 +01:00
caa01d2f95
ACADOS: partial condensing ( #22830 )
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* partial condense
* new refs
* new ref
* newerest refs
old-commit-hash: 35d6ed10148adbb07c2a4b0c787342b6e101aa05
2021-11-09 19:29:55 -08:00
da7cd6bbaa
soundd: don't loop controls unresponsive sound infinitely ( #22839 )
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* soundd: don't loop controls unresponsive sound infinitely
* update tests
* actually fix
old-commit-hash: 445a5aaca4431962d189cc3e54da2d5cd13d0aac
2021-11-09 16:58:21 -08:00
18ff2f5cbd
alerts: show min enable speed in "speed too low" alert ( #22755 )
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* alerts: show min enable speed in "speed too low" alert
* commonize display speed construction
old-commit-hash: 8c501f026581c5690e5f3b253198cd0a13dc1cc3
2021-11-02 14:10:07 +01:00
d2a6eeae42
lower profile below steer speed alert ( #22740 )
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old-commit-hash: 3312bf6d15ebe16ca21229c2387617d7048ab132
2021-10-29 13:39:12 -07:00
dbe4641e04
Multipanda support ( #22402 )
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* squash all PR commits for easy rebase
* merged all panda rx can into one message
* fix buffers in can_send
* more cleanup and minor fixes
* fix even more stuff
* fix non-allocated send buffer
* make connecting more robust
* fix bus offset
* fix controls_mismatch?
* simplify mismatch check
* C++ style struct
* fix connect loop
* update ref
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
old-commit-hash: 585c16cd2aba6e2504c2427aaf1855b97035eb41
2021-10-29 13:04:26 +02:00
4099783375
add sdcard support ( #22703 )
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* generalize
* factory reset
old-commit-hash: f4c2398db4c2dacc690d4115c04c7afb98a52a08
2021-10-26 19:34:08 -07:00
b16c806e9e
plannerd: add useLaneLines to lateralPlan ( #22699 )
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* add laneless toggle in lateral plan message
* update cereal
* add refs
old-commit-hash: 2ea4feffb9a70483eee63331f91962ce6e51d485
2021-10-26 14:32:41 -07:00
d50d9af755
e2e long planner: use position, speed and accel ( #22688 )
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* a little bit more moderate
* cleaner
old-commit-hash: 7868baeac9541f3e17c99ec0ddbf952b1c1f8a7f
2021-10-25 14:03:41 -07:00
01043f505a
more specific no fw startup alert
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old-commit-hash: 897492d27c416b1b8f70fee00de5e4db8c168ba8
2021-10-21 16:24:01 -07:00
dcf3fc2089
[Lateral PID] Function for steer feedforward ( #22638 )
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* store a function for steer feedforward
* use classmethod
Co-authored-by: Willem Melching <willem.melching@gmail.com >
old-commit-hash: 778374d3dd8ebd3bdd51149228b3c70767bc64ec
2021-10-21 11:38:03 +02:00
92c2da52a9
plannerd: position std size check bug
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old-commit-hash: 791de686896c45aa400d9e5f8c1b2bb2ba09e89f
2021-10-17 19:52:11 -07:00
b7aba92661
Remove accel cost in long MPC ( #22527 )
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* ACCEL not useful
* new ref
old-commit-hash: c4510024da75b7684cdfb300aaab639078b3f62b
2021-10-11 17:20:40 -07:00
4814c30667
ACADOS fix non-convergence when long_plan changes ( #22495 )
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* debug commit
* cleanup
* some indexing bugs
* need more its
* BALANCE is way better it seems
* fix test
* this converges in 2000segs
* new ref
* less cpu
old-commit-hash: 04cf12cb0064f42e507fd6ae907564cecf140d28
2021-10-10 00:05:29 -07:00
627c6260cf
Fix cruise button mph increment ( #22487 )
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old-commit-hash: 5587964d589761142bd23eef8e08b0134b30ed6e
2021-10-08 11:10:29 +02:00
5a1e44c417
Long MPC cleanup ( #22462 )
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* cleaner extrapolation
* some comments
* new ref
* more comments
* new ref
old-commit-hash: a4bc1bbb74a1560d196a8e5f207c4e39f4464130
2021-10-06 17:51:23 -07:00
f495134be4
Retune long mpc ( #22445 )
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* first try
* looks decent
* finalize retune
* back to 3 its
* may need 4 still
* misc cleanup
* new ref
* SPEEEED
* new ref
old-commit-hash: 9ab09f5ae98362a31c23593ba3ab8f4f6fcb3a0f
2021-10-06 09:37:53 -07:00
ca46acfd64
accel/decel button metric increments ( #22399 )
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* add metric values
Freedom units have weird multiples compared to metric. Modified so that it increments by 10 km/h on long press and 1 km/h on short press, rather than 8 and 1.6 km/h. This mimics stock hyundai behaviour on metric vehicles.
* use is_metric from controlsd
* use actual mph value instead of rounded
Co-authored-by: Willem Melching <willem.melching@gmail.com >
old-commit-hash: 23b931660336b7fdd21b8942cedb5f79401aa357
2021-10-04 21:11:17 +02:00
11066c6236
Split pandaState into peripheralState and pandaState ( #22385 )
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* publish peripheralState from boardd
* refactor consumers
* rename thread
* peripheralState has panda type too
* add to process replay
* fix device build
* properly remove hardware unsupported alert
* latest peripheralState
* remove pandaState from thermal_monitor
* put that back
* add back harness check
* fix cloudlog
* needs pandaState
* Update selfdrive/thermald/tests/test_power_monitoring.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
* dont conflate
* Update selfdrive/thermald/tests/test_power_monitoring.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
* pigeon is peripheral
* cleanup
* less global
* comment
* move rtc to peripheral_control_thread
* better diff?
* whitespace
* get msg
* bump cereal
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
old-commit-hash: f4e2537b124d3d1c0d697a12d8b243b54b76501b
2021-10-04 11:30:11 +02:00
810e859169
Lateral PID: move steer feedforward to CarInterface ( #22411 )
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* move steer feedforward to car interface, in car parameters
* LatControlPID.get_steer_feedforward()
old-commit-hash: 3461e25944ae4f4ba4f55960a9748c0f57236c76
2021-10-04 10:03:53 +02:00
a131767d0b
accel/decel button short/long press 1mph/5mph ( #22013 )
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old-commit-hash: 92895f1e68f76f1092d2fcea8e672eef7309aaf2
2021-10-01 11:09:56 +02:00
d91e0604e8
Change radar-based FCW to model-based FCW ( #22379 )
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* just use MPC for fcw checking
* thats already bad
* model FCW is always good
* better fcw
* should be good for now
* comment
* linting
* cleaner
* unused
old-commit-hash: a8b4249ebcf21c2868e298ef86ee37ac96d2715e
2021-09-29 11:55:54 -07:00
f02787eb75
Small long MPC optimizations ( #22360 )
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* Revert "temporarily relax camerad timings"
This reverts commit 59b8293b70e0cbd43567275dc2c6c1d29308fb84.
* cleanup
* wrong weight size
* changes ever so slightly
* seems enough
* Revert "seems enough"
This reverts commit 24f64e9b18583462206bb77c37ba7727b9e47245.
* new ref
old-commit-hash: 85dc43d166f6ad8286dfbed39c609959195fbac0
2021-09-28 17:37:31 -07:00
HaraldSchafer