47197d7009
events: reword ESP off alert ( #27304 )
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* Rename event
* rename to Control
* rename to disabled
old-commit-hash: 4f2134468f2b2b94daa24d9ba80cc70da0ad8224
2023-02-10 23:46:48 -08:00
bc61a6b1fd
controlsd: higher default set speed in experimental mode ( #27279 )
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* controlsd: higher default set speed in experimental mode
* update tests
* update tests
old-commit-hash: 5ab2d35f7b7d1f224b531e245db7e35925da5e33
2023-02-09 19:27:51 -08:00
0ceb423ccc
Car interface: require fingerprint and FW versions to get params ( #26932 )
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* require fingerprint and FW versions
* add get_non_essential_params()
* comment
* all required
* classmethod, need to allow subclasses to override _get_params
* fix that
* fix
* fix
* wrong fix 🤦
old-commit-hash: b00bc4f57e2c9a3acb9e3b10528b7e30cbde43f1
2023-01-12 12:25:24 -08:00
b67646e1ab
Revert "Car interface: require fingerprint and FW versions to get params ( #26766 )"
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This reverts commit ff80ac0f7525916211da2cd0fce2c9c5f35ef89d.
old-commit-hash: f14deae475f32af5b04fc2ef3744a77445ad8177
2023-01-12 11:28:04 -08:00
28ceb52c33
Car interface: require fingerprint and FW versions to get params ( #26766 )
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* require fingerprint and FW versions
* add get_non_essential_params()
* comment
* all required
* classmethod, need to allow subclasses to override _get_params
* fix that
* fix
old-commit-hash: b68dabb689104ef0819a6c881b800076deb866f6
2023-01-11 23:44:50 -08:00
fda55793d0
controlsd: set latActive with max minimum steer speed ( #26805 )
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* refactor minimum lateral speed handling
* rename for clarity
* simplify without joystick at standstill
* intermediate standstill variable, check notCar
* check joystick for now
* cmt
Co-authored-by: Shane Smiskol <shane@smiskol.com >
old-commit-hash: cb88b3ed6528a7ad840be7bcd33fe7023b4f3719
2023-01-10 20:51:10 -08:00
f941060caa
Longitudinal tests: test forceDecel ( #26765 )
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* test with forceDecel
* test all combos
* fix
* fix
* fix
* ...
* remove print
* clean up
* just set cruise to 0
* update ref commit
Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com >
old-commit-hash: b45dda2d0a365946e4cfc3c4a08023c05e2d58c7
2023-01-10 14:46:43 -08:00
6008b2e71a
longcontrol: enter stopping state immediately ( #26879 )
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* enter stopping state immediately
* Update selfdrive/controls/lib/longcontrol.py
old-commit-hash: 4e9bddee5cbabe4807e690a93408a23ce66225d5
2023-01-10 13:02:43 -08:00
b3e47c691b
move all third party stuff into third_party/ ( #26853 )
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* mv fastcluster
* move msm_kgsl.h
* camerad include
* update path
* mv pyextra
* fix tici build
* add acados_template to release build
Co-authored-by: Comma Device <device@comma.ai >
old-commit-hash: cd8e03d53ed210aec46a2ff728cb4a830314a21a
2022-12-31 21:00:50 -08:00
bbed3a961a
Events: actionable accFaulted alert text ( #26783 )
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same alert text as steer and brake unavailable
old-commit-hash: 9e9600a4f4fb69dd99cc24b791ccdd62540348f1
2022-12-13 00:16:36 -08:00
e13e373bfb
alert: smaller standstill alert ( #26751 )
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smaller standstill alert
old-commit-hash: 2545dd195efc164da9561ae9ae2115482eb9f931
2022-12-09 23:30:41 -08:00
a98e7d49cc
LatControlAngle: fix setting saturation check speed ( #26752 )
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set in init function
old-commit-hash: 84340f07abdef408f3fa29083af2f1a55cd3308e
2022-12-09 23:29:56 -08:00
de8ddbb73f
LatControlAngle: lower saturation check speed ( #26749 )
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lower speed for angle
old-commit-hash: d5ffb90a048d9a6d727e723e3551d5333abddef7
2022-12-09 21:43:55 -08:00
333464b3d3
controlsd: set steer_limited for angle cars ( #26748 )
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* Set steer limited for angle cars
* closer to torque threshold
old-commit-hash: c1b3d696bc5bdd799a937f569c94e0834230c89e
2022-12-09 21:43:27 -08:00
4bf3cebb21
planner: read experimental mode from controlsState ( #26553 )
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read from controlsState
old-commit-hash: e6fcc2d6aa582f90fd3a2b2192616005f875fcb2
2022-12-05 13:58:15 -08:00
634a6c9802
Deprecate noTarget event ( #26638 )
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deprecate notarget
old-commit-hash: 5409895ab2668284df7b688ce513fa0ef1e57be2
2022-11-30 02:32:47 -08:00
d1dee4625a
controlsd: preEnable on brake at a standstill ( #26273 )
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* pre-enable on brake at standstill
* test by getting rid of noTarget
* Update events.py
* rename
* stash what we got so far
* cmt
* not sure if best way to fix, but enabled with current states defs is fine
* no noEntry in preEnabled
* bumpcereal
* uncomment
* Update ref_commit
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
old-commit-hash: dbe512d167a51f02fe276e17a8794de2137d0e14
2022-11-29 17:34:10 -08:00
238e63bc2a
[controlsd] Refactor apply_deadzone in Lateral Torque Control ( #26626 )
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rename apply_slack to apply_center_deadzone, remove unused prius offline values
old-commit-hash: 3a4f19f0ee454a9c8d7c55d66e794ef20c4b4f01
2022-11-29 12:46:08 -08:00
5bc529bf20
[controlsd] Toyota Prius 2017 ( #26455 )
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* increase lag on prius
* better offline values computation
* split prius ecu more, set deadzone to 0
* add deadzone back
* replace deadzone with slack
* reduce deadzone to 0.2
* update refs
old-commit-hash: 0706b03e8cf41f7d51c9a42f01bda2084bfe3be6
2022-11-29 10:47:13 -08:00
bcdbd8edb9
Toyota: alert when in standstill ( #26585 )
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* add resume required alert
* possibly need this (pressing resume with brake held does nothing)
* better text (has both meanings)
* try this
* Revert "try this"
This reverts commit 5b2991929b62f5bcd9bfa0767d709b5fe83b094b.
* no alert with interceptor
* check long
old-commit-hash: 3253b8590002fa5f56e003add3f5f47a21870873
2022-11-25 16:00:58 -08:00
db8028fa63
longcontrol: ignore cruise standstill if interceptor ( #26597 )
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* ignore standstill
* cmt
* standstill
* rm cmt
* flip
old-commit-hash: a19b5b91d2bcc0cd405599193828b9e9e187c52e
2022-11-24 18:17:36 -08:00
7c96e7876a
cleanup panda types everywhere ( #26574 )
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* cleanup panda types everywhere
* one more
old-commit-hash: 65fa87a96965000986e76604ac868891e35a86bc
2022-11-21 23:43:24 -08:00
b94dfd81c6
controlsd: add test around cruise speed gas pressed behavior ( #26486 )
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* test
* test
* debug
* test
* test
* test
* clean up
* clean up
* add test
* stash
* clean up
* clean up
* clean up
* assert equal
old-commit-hash: 23a7a987f6ab75ebee4dd856ba0a0c179b2f90b0
2022-11-21 17:05:13 -08:00
7d5a2309a7
long_mpc: fix e2e source condition ( #26546 )
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* fix long_mpc source param
* rm print
* add back space for formatting
old-commit-hash: ded66e6307825d9327c12145e1bc6acd2e835346
2022-11-21 15:25:23 -08:00
270fe5aac3
controlsd cruise speed: fix missing initial value
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old-commit-hash: f15d169289c0d806a49af123678bd49b8b3ba4f1
2022-11-14 11:01:01 -08:00
a0539910bf
controlsd: no speed increment if enabled on button rising edge ( #26490 )
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* don't increment speed if we enabled on rising edge
* more realistic test
old-commit-hash: e46063086f079eff6292a32ae9aeeafa3aa523a3
2022-11-13 16:34:26 -08:00
0f3aeb531c
controlsd: clean up v_cruise updating ( #26479 )
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* clean up
* clean up
* clean up
old-commit-hash: 870b79818566ab91159d23f1197183f3e6567608
2022-11-11 23:56:35 -08:00
dd6f16fcfd
controlsd v_cruise: fix unknown buttons ( #26474 )
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Fix button being None
old-commit-hash: d3f971b365613329a35a3140b9418977baebd856
2022-11-11 20:10:12 -08:00
0371e47fac
controlsd: resume does not increment speed while cruise standstill ( #25470 )
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* fix runaway set speed for GM
* fix runaway set speed for GM
* Handle resuming to exit standstill generically
* clean that up
* ugh i want to fix all the formatting
* class that manages v_cruise
* better name
* move around
* add depressed_state
* fine to update on pressed change, better name
* cmt
* we need to check CS. button_change_state only works if we exit standstill on rising edge not falling edge
* no defaultdict
old-commit-hash: 76ac3d4c99df24f068aee3baedb796f65dfcca66
2022-11-11 19:43:30 -08:00
a7828e1ae3
controlsd: add cruise speed helper class ( #26472 )
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* fix runaway set speed for GM
* fix runaway set speed for GM
* Handle resuming to exit standstill generically
* clean that up
* ugh i want to fix all the formatting
* class that manages v_cruise
* better name
* move around
* add depressed_state
* fine to update on pressed change, better name
* revert gm stuff
* revert standstill stuff
* remove
* revert that
* we can put this in here now!
* below update
* actually only used here
* one line
old-commit-hash: 811c096e6454dc2bbdd1e15a08952979c3fb7be1
2022-11-11 18:53:48 -08:00
054cb1f8c1
Hyundai: fix button enable controls mismatch ( #26471 )
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* bump panda
* buttonCancel needs to be a noEntry
* bompo
* Update ref_commit
old-commit-hash: 89b88fc7a23c393b1d74c5c74aacd5c4ee254d81
2022-11-11 14:49:38 -08:00
400b36a57f
longitudinal tests: add disabled maneuver ( #26470 )
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* undeclared variable
* run first second disabled
* only test
* test disabled as a new maneuver
* bottom
old-commit-hash: 9f80a97eee52d128559b7fef0593b8c328a6142d
2022-11-11 14:02:09 -08:00
3fb09283a6
planner: fix undeclared variable ( #26468 )
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* undeclared variable
* run first second disabled
* revert test
* rev
old-commit-hash: 98206fb92e6a071127f6d6e4fec456d0c437444f
2022-11-11 13:22:56 -08:00
dfd47a5f4d
Add force decel to e2e long ( #26448 )
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* add force decel to e2e
* Update longitudinal_planner.py
old-commit-hash: f23296bc87a79c59d9ab011f2ba35ed1049beb72
2022-11-11 10:46:03 -05:00
b7b827bdd2
min lane change speed 20mph ( #26434 )
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old-commit-hash: 737408066895452f31f08144c129551b94e64662
2022-11-09 22:04:57 -08:00
74979a7c76
experimental mode ( #26416 )
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* experimental mode
* rename param
* red lights
old-commit-hash: 9a3f46805104c4bcb5cffa304b9b322874ccf412
2022-11-08 14:45:01 -08:00
f86b44d516
E2e long model: calibrate model speed to wheel speed ( #26395 )
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* calibrate!
* Fix test
* Fix proc replay
* check len
* get v_ego from model 8501d20-bb59-4193-aa82-82b2737dedd6/449 609d90f3-65e6-4617-a60c-d6d99eead408/700
* bump cereal
* initialize v_model_error
* typo
* better names
* cleanup
* bump cereal
* update model replay ref commit
* bump to cereal master
Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu >
old-commit-hash: f63f0de80a78ade6ad12fe98ea27094035d97457
2022-11-07 17:49:36 -08:00
3029919422
[torqued] Fix high speed oscillations ( #26338 )
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* modify low speed factor during high speeds and rescale friction
* update refs
old-commit-hash: e9eb5d99ff659a3f5e1b4e0bead321c469d8d889
2022-11-07 17:01:24 -08:00
f10cccb318
FCW: less false positives ( #26366 )
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* Less FP for FCW
* enable fcw for e2e long
old-commit-hash: 253e5d7f9d7741e61f010f2ffd6b82a2e908019a
2022-11-06 12:17:07 -08:00
e20020053d
Longcontrol: faster transition from starting to stopping ( #26361 )
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* Never command accel when stopping
* Update ref_commit
old-commit-hash: a7ced7c54b86107cb4095423158e28398aa62143
2022-11-04 13:21:34 -07:00
dd03dbc344
Eliminate toyota close radar glitches causing no resume ( #26272 )
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Eliminate toyota close radar glitches
old-commit-hash: f76a390daf677700fbce49253f93412dd44eee0d
2022-10-27 17:31:15 -07:00
48f4c8b701
No fcw when standstill ( #26252 )
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old-commit-hash: b80f2efdf29fb5095ea2fa258ec7695730467515
2022-10-26 14:53:01 -07:00
742310271b
Long control: add a_change cost in e2e mode ( #26237 )
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Add e2e cost
old-commit-hash: dcde942d9fb05575dcc70f0b24f9c3c6b7c220ab
2022-10-25 16:53:24 -07:00
3b62f66008
Use same minimum speed for lateral planning and controls ( #26177 )
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* Use same speed for lag adjustmenet
* One is a nicer number
* Update ref
old-commit-hash: 4f84b2998579a630e1577e60dd1d30d23261cd28
2022-10-20 14:34:36 -07:00
70249fae14
Rename gmAccFaultedTemp -> accFaultedTemp
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old-commit-hash: b1efdab788da77380dfd3f5765bb6cc03ccc3a77
2022-10-19 01:31:12 -07:00
9c26b70a43
Partial revert, lax torque control ( #26146 )
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* Closer to original
* Update ref
old-commit-hash: 1548db8962c2555b53843ec361453ece7abdbc16
2022-10-18 21:25:06 -07:00
961c613005
GM camera ACC: prevent fault when engaging at a stop ( #26079 )
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* prevent bolt fault
* comment
* only for camera ACC
* fixup alert
* bump cereal to master
* use new name
* Update selfdrive/car/gm/interface.py
* Update selfdrive/car/gm/interface.py
* Update selfdrive/car/gm/interface.py
* only care about prevent engagement when we look at PCM
old-commit-hash: 4e82f68de2641e628f0df1aa82e5a5e935c8cce6
2022-10-14 22:21:53 -07:00
f9b65f9189
Low speed lateral like before ( #26022 )
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* Add explicit cost on steering wheel movement
* Laxer low speed control
* Laxer low speed control
* Lower min speed now there is a cost
* 3m/s
* Similar to old master
* Add cost
* Crazy high
* Update ref
* comment
old-commit-hash: 2c9b150761f533a6132fac3639df24bb286386bb
2022-10-11 14:53:43 -07:00
a13f2deeeb
Increase low speed jerk cost ( #26008 )
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* Increase low speed jerk cost
* Update planner weight
* Update ref_commit
* Update lateral_planner.py
* cleanup and refactor
* Update ref_commit
old-commit-hash: fb074378194db28067dbb77e8cd15db6ab5fd882
2022-10-07 19:15:04 -07:00
3488569ac3
Divide by 0 bug fix lateral planner ( #25995 )
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* Divide by speed correctly
* Update
* Update lateral_planner.py
* Update ref_commit
old-commit-hash: 1ecf6f351c35de24affbb1e2cb5675aea1a36f10
2022-10-07 00:16:18 -07:00
Shane Smiskol