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
2b470f4e38
acados long merged ( #22224 )
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* rebased
* cleaner, seems to drive better?
* more stable
* wrong import
* new way of thinking
* reports look nice
* start move back
* works at leas
* good timestamps
* step by step
* somewhat work
* tests pass
* ALL CARS STOPPED
* should work
* fake a cruise obstacle
* cleaner costs
* pretty good except cruise braking
* works pretty well now!
* cleanup
* add source
* add source
* that is needed for unit tests
* nan recovery
* little cleaner
* stop wasting arrays
* unreasonable without unfair init
* this isnt needed without the exponential
* that works too
* unused
* uses less
* new ref
* long enough
* e2e long api
* DONT PUT IN A VIEW INTO ACADOS
* new ref for outside weights
* remove debug prints
old-commit-hash: fe983a7b8ce7ad63c73663284d8b8e093a280308
2021-09-27 19:48:28 -07:00
18097d7c06
change reverse gear event from immediate to user disable ( #22337 )
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old-commit-hash: 2fe91e6085072db547c34bb603da1164aac6a1fe
2021-09-24 10:27:51 -07:00
b3601ce43b
Remove fuzzy fingerprint startup alert ( #22328 )
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* deprecate fuzzy fingerprint startup alert
* bump cereal
old-commit-hash: 88d248a5af55a5b184b313e3c3223edd77461db9
2021-09-23 17:15:33 -07:00
498e0f4212
Fix cruise MPC convergence bug and add test ( #22295 )
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* fix tests
* fix cruise convergence bug
* update refs
* Update selfdrive/controls/tests/test_cruise_speed.py
Co-authored-by: Willem Melching <willem.melching@gmail.com >
* Update selfdrive/controls/tests/test_cruise_speed.py
* add msgh
Co-authored-by: Willem Melching <willem.melching@gmail.com >
old-commit-hash: fcda55fbf1371e95c82755da2069ccb547d47983
2021-09-21 12:19:05 -07:00
0512c89d34
various cleanup ( #22289 )
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old-commit-hash: cc6af379ce0930ec3b635fda9d441654d2ac0c03
2021-09-20 16:26:10 -07:00
aa4b201b96
Added update_with_xva method to long_mpc so it can be used in sim ( #22284 )
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old-commit-hash: 485afda79db7b65d00eb03553511c14f4b2f5301
2021-09-20 14:20:01 -07:00
bc1882e3fb
More extreme lead init for lead mpc ( #22273 )
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* More harsh lead init for lead mpc
* update refs
old-commit-hash: 7495100177acd53f06e553a49207b8413db9e2e2
2021-09-20 09:35:55 -07:00
b1e2f219c9
Clip radar acceleration for mpc stability
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old-commit-hash: a1fcedda21d1ff7d53bd647dc4359c5e5941bf47
2021-09-18 22:21:03 -07:00
e190dfaf13
Dont run plannerd for long tests ( #22260 )
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old-commit-hash: f0be9a57ac1cf4931d7ebbfeb80a25e5d185167b
2021-09-16 20:45:13 -07:00
8f84b2421a
sane lead clips to prevent reset ( #22255 )
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old-commit-hash: 5e995e5aff9f6b25b8c0a0e9d898add039294019
2021-09-16 17:31:32 -07:00
3305024cfc
remove ACADO ( #22247 )
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* remove acado
* not relevant anymore
old-commit-hash: 42d93e94df410dc38b7f96e8061cff462a97d646
2021-09-15 21:14:11 -07:00
2d4b64ed04
Acados long fast ( #22233 )
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* acados long
* new ref
* SPPEEEEEDDD
* less iterations
* this shouldn't be so high
* reset only essentials
* minimal reset for long mpc
* more cpu usage plannerd
* Use lead mpc even when going to crash
* reset to current state
* Use open loop speed for lead mpc
* 1 iteration is too little for cruise mpc
* add whitespace
* update refs
old-commit-hash: 66c275b71128355d634d4daf0f5c18891d4fb047
2021-09-15 19:00:12 -07:00
Adeeb Shihadeh