* note for dsu cars
* don't hardcode dsu footnote (1/2)
* test
* revert the experimental long toggle
* another day:(
* DSU doesn't have to be toyota specific, it's a generic carParam!
* this is safe, just make sure it's unknown
* these cars do not have OP long for some reason
* UNSUPPORTED_DSU_CAR
* forgot this
* .
* .
* revert
* revert
* smaller diff
old-commit-hash: b0656f2c751df64fb3974c66423470b7a59bc1e6
* try a method to kill those faults
* cut torque for 1 frame
* sign doesn't seem to matter
* clean up
* better name
* Toyota allows you to keep your apply_steer, better control
* the logic was wrong entire time?
* cut steer for two frames
* Revert "cut steer for two frames"
This reverts commit 13a68ecc568fe1c0cd1f6f0b5f7ff6560efaf9e0.
* better variable names and comments
better variable names and comments
* should be good
* add safety
* actual number of frames
* constant
* bump panda
* bump panda
* bump panda
* bump panda
* bump panda
* bump panda
* bump panda
* fix to use min valid frames
* rm line
* simplify check
* bump panda
* bump panda to master
old-commit-hash: 50d117ed9a0c75a7374e76ec6e42d1a603bb11b0
* let can packer handle counter
* diff is expected
* update refs
* clean that up
* bump opendbc
* fix sim
old-commit-hash: 0ca62bf7df0fe81829c744fd8689c9b97cb6a36b
* Toyota: fill steerFaultPermanent
* same behavior as before, 0 is also fault (0 is most likely initializing)
* think this was just wrong (2 or 10 would mean we think it's a fault)
old-commit-hash: c955e273d40dfd5c07a8505dbaf7b34766eee42f
* Initial commit
* Fix bugs
* Need more torque rate
* Cleanup cray cray control
* Write nicely
* Chiiil
* Not relevant for cray cray control
* Do some logging
* Seems like it has more torque than I thought
* Bit more feedforward
* Tune change
* Retune
* Retune
* Little more chill
* Add coroll
* Add corolla
* Give craycray a good name
* Update to proper logging
* D to the PI
* Should be in radians
* Add d
* Start oscillations
* Add D term
* Only change torque rate limits for new tune
* Add d logging
* Should be enough
* Wrong sign in D
* Downtune a little
* Needed to prevent faults
* Add lqr rav4 to tune
* Try derivative again
* Data based retune
* Data based retune
* add friction compensation
* Doesnt need too much P with friction comp
* remove lqr
* Remove kd
* Fix tests
* fix tests
* Too much error
* Get roll induced error under 1cm/deg
* Too much jitter
* Do roll comp
* Add ki
* Final update
* Update refs
* Cleanup latcontrol_torque a little more
old-commit-hash: fe0bcdaef6b1fd3fc9d855aefeba755b35dfc222
* do tesla
* parentheses
* Do Chrysler
* Make sure Hyundai long never actuates when long inactive
.
* clean up Hyundai
* more clear
* formatting
* Stock sets these to zero
* fix params
* move jerk logic into CC
clean up
old-commit-hash: c8f5b217443036333bc18c29085a1c8ae8bd39f3
* clean up CarController with intermediate variables only accessed once or twice
* format
* fixes and move frame to CarController
old-commit-hash: facf6c109d00be7fb15aa5ba35cc3df4b8046ce8
* proof of concept
* actuators packet describes which actuators are active
* bump cereal
* fixes
* not needed for this PR
* Do Toyota
* add back controlsState.active
* bump cereal
* rest of cars
* in actuators
* add active back
* which
* use controlsState.active for now
* will make an issue
* Update selfdrive/controls/controlsd.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* move local lat_active checks into CC.latActive
* remove redundant checks
* move comment
move comment
* fix joystick mode
* get enabled from carcontrol
* do standstill check in controlsd
* make sure we consider the gas press case for GM
* use CC.actuators
* fix
* capitalization
* Bump cereal
Bump cereal
* make intermediate actuators
* similar convention to before
* clean that up
* update refs
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 629399a44925080b2c35b6dde35c093cc2e32035
* check in tuple instead of list
* Update selfdrive/car/toyota/carcontroller.py
Co-authored-by: Willem Melching <willem.melching@gmail.com>
* Update selfdrive/car/mazda/interface.py
Co-authored-by: Willem Melching <willem.melching@gmail.com>
Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: a653461dec18b1313148905172ba54bac9f5fdfd
* pedal redo
* add offset to compensate for creep and windbrake
* offset in standard units
* wrong size
* better creep values
* update ref
old-commit-hash: eda69930430da564251581814fd3962ca7af0372
* Add f/w firmware for Lexus RC under LEXUS_IS
`@ph33rl355#0529` 2020 Lexus RC F Track Edition DongleID/route 32696cea52831b02|2021-11-16--23-12-02
Doesn't seem to need a full port, per user feedback...
https://discord.com/channels/469524606043160576/524327905937850394/910400788319326229
* Update CARS.md
* Separated Lexus RC from IS... still using IS DBC
* match lexus IS for now
* Update wheelbase to match published specs
I'm hesitant to touch `mass`, even though I know it's different from the IS.
* Add TOYOTA.LEXUS_RC test route
Co-authored-by: Willem Melching <willem.melching@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: d630ec9092f039cb5e51c5dd6d92fc47b91407e4
* retune civic
* seems smooth
* back to normal
* new ref
* fix conflict
* runs
* rm
* accel scale is 4
* toyota should be good
* more cleanup
* fixup
* better naming
* update ref
* deprecated
* sending brake when not enable causes a fault
* rm gas and brake
* unused
* update ref
* acura logic is no more
* wrong before
* revert tuning cleanup
* adress comments
* update ref
* already on master
Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: 1ac89f14aa7c45c56049e8dbb0d6c5bb83a0fc6b
* ignore permanent low speed lockout
* should always check in case not seen
* use cp_cam
* not bus 0
* change signal name according to ref dbc
* bump
* we don't rely on this
* bump
* Revert "Toyota: debug logging for low speed lockout (#21526)"
This reverts commit c0d4c7e69a29e58a13573dab5a88792559b965b6.
* add back
* always add
* pass acc_type through
* Update selfdrive/car/toyota/carstate.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* Update selfdrive/car/toyota/carstate.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* only update acc_type if not enableDsu
* only add when using
* only for openpilot long cars
* only seen TSS2
* add todo
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 16e4f432bf592ad74dcd6085e55c01570d642757
* Emit correct alerts for LDW Left & Right on Subarus
This change switches the ldw event to use VisualAlert.ldw and
alters all cars to use the prior behaviour for that alert, except
global subarus - they emit the correct warning to the dash
* Remove whitespace, and add comment about not overwriting stock alerts
Co-authored-by: Crispin Flowerday <crispin@theflowerdays.com>
old-commit-hash: 7458e143e3c0123a95680b0b2db6c7a1f94405fa
* pedal improvements
* pedal tuning under 19 mph, stock tuning above
* Correctly set tuning, and a temporary reference script
* looking good
* use minEnableSpeed
* minEnableSpeed will always be -1 if pedal since it's used for lockout
* add hysteresis around 19 mph for enabling pedal use
* parameterize minAccSpeed (enable speed is -1 when stop and go to allow engage, acc is min limit for acc commands)
* fix Prius later, 5 mph gap around switch speed
* define min_acc_speed in interface and CC
* use pedal gains up to 22 mph, and correctly use hysteresis above the switch speed
* only check this if pedal
* consolidate comment
* Change BP to switch tuning at 19 mph, define global constant
* Start at interceptor status
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* update releases
* typo
* transition tuning from 19 to +3 mph
* change cmd names and update tuning comment
* Update RELEASES.md
* calculate new pedal gains
* little more clear
* even clearer
* same comment convention and hardcode new pedal tune
* bump cereal
* weird, got added in with the rebase
* three possible long tunings: pedal, improved non-pedal, and default non-pedal
* update refs
* future note: don't add submodules when rebasing!
* update refs
* update refs
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: ebc294296aa17a5aabeb9d1bb6f9cc38970173ba
* Fix TSS2 creep issue, no need to send standstill request
* Forgot to add import
* Changed set to look in from TSS2_CAR to NO_STOP_TIMER_CAR
old-commit-hash: d93f07f5e6d550731b024521a2bda33325bcc640
* try again with toyota LTA
* Fix dbc and send at 50Hz
* Add commented code
* Remove unused import
* Remove that
old-commit-hash: 49dd37b81b05c8d77d801c4a027d27d7b1b8094c
* don't need individual prev state vars since whole CS is copied
* don't need a whole function since toyota alerts were simplified
* better here
* abstract pcmEnable/pcmDisable events
* the flippening came to NEOS
* delete
* unused
* Revert "the flippening came to NEOS"
This reverts commit 91cfb73b2914f637863335f4e5f5952620b3e977.
old-commit-hash: 8d791d78dd4fbc973eb61ccd9df2ed4cf9bbbcd5
* Before abstraction, adding speed init from VW as well
* strting to abstract carstate class
* fix bug and update lock?
* revert pipfile change
* another bug
* fix linter
* bug fix
* remove a bunch of diplicated kf code
* better to not have class vars. will abstract __init__ anyway later
* abstract common instance vars in carstate init and a generic gear parser static method
* abstract gear parser for chrysler
* abstract gm gear parser too
* remove unnecessary random vars
* Chrysler: carstate returns capnp struct directly
* revert ref commit
* test ref
* WIP
* more WIP
* ops, missed this conflict
* ford as well
* not sure why this got deleted
* no need to copy
* remove copy
* remove copy import
* remove unnecessary intermediate variable
* remove obsolete comments
* GM: have carstate returning capnp struct directly
* Honda carstate also outputing capnp struct
* hyundai too now returns capnp from carstate
* ops, not meant this
* Subaru carstate also returning capnp
* Toyota: capnp struct as output of carstate
* fix bool
* minor simplififcation in Honda
* no need to negate
* VW carstate returning capnp struct (#1118)
* VW carstate also returning capnp struct
* fixed typo
* Remove unused blinker button (#1119)
* remove unused blinker button
* ops, this wasn't meant
* remove blinker button for VW as well
* update ref
Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: 0c67143c925f3ead6c3e88675e4fcfa4fa3f9c28
The function to send these values has been removed long ago and no other function is using them.
So it is time to remove them.
old-commit-hash: 85f7064ca644eb7286cd2d6a117bd006eebf3201
Shane Smiskol