mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-06-26 16:32:06 +08:00
* merged with 0.5.5
This commit is contained in:
Rick Lan
@@ -1,9 +1,9 @@
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[](#)
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[](#)
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Welcome to openpilot
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======
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[openpilot](http://github.com/commaai/openpilot) is an open source driving agent. Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for Hondas, Acuras, Toyotas, and a Chevy. It's about on par with Tesla Autopilot and GM Super Cruise, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
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[openpilot](http://github.com/commaai/openpilot) is an open source driving agent. Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for selected Honda, Toyota, Acura, Lexus, Chevrolet, Hyundai, Kia. It's about on par with Tesla Autopilot and GM Super Cruise, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
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The openpilot codebase has been written to be concise and enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.
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@@ -14,7 +14,7 @@ openpilot is developed by [comma.ai](https://comma.ai/) and users like you.
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We have a [Twitter you should follow](https://twitter.com/comma_ai).
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Also, we have a 3500+ person [community on slack](https://slack.comma.ai).
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Also, we have a several thousand people community on [slack](https://slack.comma.ai).
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<table>
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<tr>
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@@ -41,54 +41,54 @@ Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` dur
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Supported Cars
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------
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| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below |
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| -------------------| ----------------------| ---------------------| --------| ---------------| -----------------| ---------------|
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| Acura | ILX 2016 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph |
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| Acura | ILX 2017 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph |
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| Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 12mph |
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| GM<sup>3</sup> | Volt 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph |
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| GM<sup>3</sup> | Volt 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph |
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| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph |
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| Honda | Civic 2016 | Honda Sensing | Yes | Yes | 0mph | 12mph |
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| Honda | Civic 2017 | Honda Sensing | Yes | Yes | 0mph | 12mph |
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| Honda | Civic 2017 *(Hatch)* | Honda Sensing | Yes | Stock | 0mph | 12mph |
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| Honda | Civic 2018 | Honda Sensing | Yes | Yes | 0mph | 12mph |
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| Honda | Civic 2018 *(Hatch)* | Honda Sensing | Yes | Stock | 0mph | 12mph |
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| Honda | CR-V 2015 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph |
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| Honda | CR-V 2016 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph |
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| Honda | CR-V 2017 | Honda Sensing | Yes | Stock | 0mph | 12mph |
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| Honda | CR-V 2018 | Honda Sensing | Yes | Stock | 0mph | 12mph |
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| Honda | Odyssey 2017 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph |
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| Honda | Odyssey 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph |
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| Honda | Odyssey 2019 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph |
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| Honda | Pilot 2017 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
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| Honda | Pilot 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
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| Honda | Pilot 2019 | All | Yes | Yes | 25mph<sup>1</sup>| 12mph |
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| Honda | Ridgeline 2017 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
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| Honda | Ridgeline 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
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| Hyundai<sup>6</sup>| Santa Fe 2019 | All | Yes | Stock | 0mph | 0mph |
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| Hyundai<sup>6</sup>| Elantra 2017 | SCC + LKAS | Yes | Stock | 19mph | 34mph |
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| Hyundai<sup>6</sup>| Genesis 2018 | All | Yes | Stock | 19mph | 34mph |
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| Kia<sup>6</sup> | Sorento 2018 | All | Yes | Stock | 0mph | 0mph |
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| Kia<sup>6</sup> | Stinger 2018 | SCC + LKAS | Yes | Stock | 0mph | 0mph |
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| Lexus | RX Hybrid 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
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| Lexus | RX Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
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| Toyota | Camry 2018<sup>4</sup>| All | Yes | Stock | 0mph<sup>5</sup> | 0mph |
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| Toyota | C-HR 2018<sup>4</sup> | All | Yes | Stock | 0mph | 0mph |
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| Toyota | Corolla 2017 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
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| Toyota | Corolla 2018 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
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||||
| Toyota | Highlander 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
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||||
| Toyota | Highlander Hybrid 2018| All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
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||||
| Toyota | Prius 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius Prime 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
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||||
| Toyota | Prius Prime 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
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||||
| Toyota | Rav4 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph | 0mph |
|
||||
| Toyota | Rav4 2017 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
|
||||
| Toyota | Rav4 2018 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below |
|
||||
| ---------------------| ----------------------| ---------------------| --------| ---------------| -----------------| ---------------|
|
||||
| Acura | ILX 2016 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph |
|
||||
| Acura | ILX 2017 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph |
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||||
| Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 12mph |
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||||
| Chevrolet<sup>3</sup>| Volt 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph |
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| Chevrolet<sup>3</sup>| Volt 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph |
|
||||
| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph |
|
||||
| Honda | Civic 2016 | Honda Sensing | Yes | Yes | 0mph | 12mph |
|
||||
| Honda | Civic 2017 | Honda Sensing | Yes | Yes | 0mph | 12mph |
|
||||
| Honda | Civic 2017 *(Hatch)* | Honda Sensing | Yes | Stock | 0mph | 12mph |
|
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| Honda | Civic 2018 | Honda Sensing | Yes | Yes | 0mph | 12mph |
|
||||
| Honda | Civic 2018 *(Hatch)* | Honda Sensing | Yes | Stock | 0mph | 12mph |
|
||||
| Honda | CR-V 2015 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph |
|
||||
| Honda | CR-V 2016 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph |
|
||||
| Honda | CR-V 2017 | Honda Sensing | Yes | Stock | 0mph | 12mph |
|
||||
| Honda | CR-V 2018 | Honda Sensing | Yes | Stock | 0mph | 12mph |
|
||||
| Honda | Odyssey 2017 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph |
|
||||
| Honda | Odyssey 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph |
|
||||
| Honda | Odyssey 2019 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph |
|
||||
| Honda | Pilot 2017 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
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||||
| Honda | Pilot 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
|
||||
| Honda | Pilot 2019 | All | Yes | Yes | 25mph<sup>1</sup>| 12mph |
|
||||
| Honda | Ridgeline 2017 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
|
||||
| Honda | Ridgeline 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
|
||||
| Hyundai<sup>6</sup> | Santa Fe 2019 | All | Yes | Stock | 0mph | 0mph |
|
||||
| Hyundai<sup>6</sup> | Elantra 2017 | SCC + LKAS | Yes | Stock | 19mph | 34mph |
|
||||
| Hyundai<sup>6</sup> | Genesis 2018 | All | Yes | Stock | 19mph | 34mph |
|
||||
| Kia<sup>6</sup> | Sorento 2018 | All | Yes | Stock | 0mph | 0mph |
|
||||
| Kia<sup>6</sup> | Stinger 2018 | SCC + LKAS | Yes | Stock | 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Camry 2018<sup>4</sup>| All | Yes | Stock | 0mph<sup>5</sup> | 0mph |
|
||||
| Toyota | C-HR 2018<sup>4</sup> | All | Yes | Stock | 0mph | 0mph |
|
||||
| Toyota | Corolla 2017 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
|
||||
| Toyota | Corolla 2018 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
|
||||
| Toyota | Highlander 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2018| All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius Prime 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius Prime 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph | 0mph |
|
||||
| Toyota | Rav4 2017 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
|
||||
| Toyota | Rav4 2018 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
|
||||
<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***
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<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota)
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@@ -103,8 +103,11 @@ Community Maintained Cars
|
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| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below |
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| ------- | ---------------------- | -------------------- | ------- | ------------ | -------------- | -------------- |
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||||
| Honda | Fit 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
|
||||
| Tesla | Model S 2012 | All | Yes | Not yet | Not applicable | 0mph |
|
||||
| Tesla | Model S 2013 | All | Yes | Not yet | Not applicable | 0mph |
|
||||
|
||||
[[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266).
|
||||
[[Tesla Model S Pull Request]](https://github.com/commaai/openpilot/pull/246)
|
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|
||||
Community Maintained Cars are not confirmed by comma.ai to meet our [safety model](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Be extra cautious using them.
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||||
|
||||
|
||||
@@ -1,3 +1,9 @@
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Version 0.5.5 (2018-10-20)
|
||||
========================
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* Increase allowed Honda positive accelerations
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||||
* Fix sporadic unexpected braking when passing semi-trucks in Toyota
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* Fix gear reading bug in Hyundai Elantra thanks to emmertex!
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Version 0.5.4 (2018-09-25)
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========================
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* New Driving Model
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@@ -410,6 +410,7 @@ struct Live100Data {
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alertStatus @38 :AlertStatus;
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alertSize @39 :AlertSize;
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alertBlinkingRate @42 :Float32;
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alertType @44 :Text;
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awarenessStatus @26 :Float32;
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angleOffset @27 :Float32;
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gpsPlannerActive @40 :Bool;
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@@ -1558,6 +1559,13 @@ struct Boot {
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lastPmsg @2 :Data;
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}
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struct LiveParametersData {
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valid @0 :Bool;
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gyroBias @1 :Float32;
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angleOffset @2 :Float32;
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}
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struct Event {
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# in nanoseconds?
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logMonoTime @0 :UInt64;
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@@ -1623,5 +1631,6 @@ struct Event {
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orbFeaturesSummary @58 :OrbFeaturesSummary;
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driverMonitoring @59 :DriverMonitoring;
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boot @60 :Boot;
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liveParameters @61 :LiveParametersData;
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}
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}
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@@ -6,7 +6,7 @@ from cffi import FFI
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TMPDIR = "/tmp/ccache"
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|
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def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR):
|
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def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR, cflags="", libraries=[]):
|
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cache = name + "_" + hashlib.sha1(c_code).hexdigest()
|
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try:
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os.mkdir(tmpdir)
|
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@@ -21,19 +21,19 @@ def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR):
|
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mod = __import__(cache)
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||||
except Exception:
|
||||
print "cache miss", cache
|
||||
compile_code(cache, c_code, c_header, tmpdir)
|
||||
compile_code(cache, c_code, c_header, tmpdir, cflags, libraries)
|
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mod = __import__(cache)
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finally:
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os.close(fd)
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|
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return mod.ffi, mod.lib
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|
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def compile_code(name, c_code, c_header, directory):
|
||||
def compile_code(name, c_code, c_header, directory, cflags="", libraries=[]):
|
||||
ffibuilder = FFI()
|
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ffibuilder.set_source(name, c_code, source_extension='.cpp')
|
||||
ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
|
||||
ffibuilder.cdef(c_header)
|
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os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++11"
|
||||
os.environ['CFLAGS'] = ""
|
||||
os.environ['CFLAGS'] = cflags
|
||||
ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)
|
||||
|
||||
def wrap_compiled(name, directory):
|
||||
|
||||
@@ -182,80 +182,95 @@ BO_ 543 TRACK_A_15: 8 XXX
|
||||
BO_ 544 TRACK_B_0: 8 XXX
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
|
||||
SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 545 TRACK_B_1: 8 XXX
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
|
||||
SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 546 TRACK_B_2: 8 XXX
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
|
||||
SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 547 TRACK_B_3: 8 XXX
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
|
||||
SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 548 TRACK_B_4: 8 XXX
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
|
||||
SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 549 TRACK_B_5: 8 XXX
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
|
||||
SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 550 TRACK_B_6: 8 XXX
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
|
||||
SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 551 TRACK_B_7: 8 XXX
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
|
||||
SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 552 TRACK_B_8: 6 XXX
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
|
||||
SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 553 TRACK_B_9: 6 XXX
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
|
||||
SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 554 TRACK_B_10: 6 XXX
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
|
||||
SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 555 TRACK_B_11: 6 XXX
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
|
||||
SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 556 TRACK_B_12: 6 XXX
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
|
||||
SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 557 TRACK_B_13: 6 XXX
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
|
||||
SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 558 TRACK_B_14: 6 XXX
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
|
||||
SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 559 TRACK_B_15: 6 XXX
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
|
||||
SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
|
||||
+1
-1
@@ -1 +1 @@
|
||||
v1.1.5
|
||||
v1.1.6
|
||||
@@ -183,3 +183,13 @@ void init_tests_honda(void){
|
||||
brake_prev = 0;
|
||||
gas_prev = 0;
|
||||
}
|
||||
|
||||
|
||||
void set_gmlan_digital_output(int to_set){
|
||||
}
|
||||
|
||||
void reset_gmlan_switch_timeout(void){
|
||||
}
|
||||
|
||||
void gmlan_switch_init(int timeout_enable){
|
||||
}
|
||||
|
||||
@@ -10,7 +10,6 @@ from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET,
|
||||
from selfdrive.controls.lib.vehicle_model import VehicleModel
|
||||
from selfdrive.car.honda.carstate import CarState, get_can_parser
|
||||
from selfdrive.car.honda.values import CruiseButtons, CM, BP, AH, CAR, HONDA_BOSCH
|
||||
from selfdrive.controls.lib.planner import A_ACC_MAX
|
||||
|
||||
try:
|
||||
from selfdrive.car.honda.carcontroller import CarController
|
||||
@@ -128,7 +127,7 @@ class CarInterface(object):
|
||||
# accelOverride is more or less the max throttle allowed to pcm: usually set to a constant
|
||||
# unless aTargetMax is very high and then we scale with it; this help in quicker restart
|
||||
|
||||
return float(max(0.714, a_target / A_ACC_MAX)) * min(speedLimiter, accelLimiter)
|
||||
return float(min(speedLimiter, accelLimiter))
|
||||
|
||||
@staticmethod
|
||||
def get_params(candidate, fingerprint):
|
||||
|
||||
@@ -90,7 +90,7 @@ FINGERPRINTS = {
|
||||
57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 334: 8, 339: 7, 342: 6, 344: 8, 379: 8, 380: 8, 392: 6, 399: 7, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 507: 1, 512: 6, 513: 6, 538: 3, 542: 7, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 837: 5, 856: 7, 871: 8, 882: 2, 884: 7, 891: 8, 892: 8, 923: 2, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1088: 8, 1089: 8, 1108: 8, 1125: 8, 1296: 8, 1424: 5, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1616: 5, 1618: 5, 1668: 5
|
||||
}],
|
||||
CAR.PILOT_2019: [{
|
||||
57: 3, 145: 8, 228: 5, 308: 5, 316: 8, 334: 8, 342: 6, 344: 8, 379: 8, 380: 8, 399: 7, 411: 5, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 538: 3, 542: 7, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 817: 4, 819: 7, 821: 5, 825: 4, 829: 5, 837: 5, 856: 7, 871: 8, 881: 8, 882: 2, 884: 7, 891: 8, 892: 8, 923: 2, 927: 8, 929: 8, 983: 8, 985: 3, 1029: 8, 1052: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1110: 8, 1125: 8, 1296: 8, 1424: 5, 1445: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1614: 5, 1615: 8, 1616: 5, 1617: 8, 1618: 5, 1623: 5, 1668: 5
|
||||
57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 334: 8, 342: 6, 344: 8, 379: 8, 380: 8, 392: 6, 399: 7, 411: 5, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 538: 3, 542: 7, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 817: 4, 819: 7, 821: 5, 825: 4, 829: 5, 837: 5, 856: 7, 871: 8, 881: 8, 882: 2, 884: 7, 891: 8, 892: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1039: 8, 1052: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1110: 8, 1125: 8, 1296: 8, 1424: 5, 1445: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1614: 5, 1615: 8, 1616: 5, 1617: 8, 1618: 5, 1623: 5, 1668: 5
|
||||
}],
|
||||
# Ridgeline w/ Added Comma Pedal Support (512L & 513L)
|
||||
CAR.RIDGELINE: [{
|
||||
|
||||
@@ -10,24 +10,30 @@ import selfdrive.messaging as messaging
|
||||
from selfdrive.car.toyota.values import NO_DSU_CAR
|
||||
|
||||
|
||||
RADAR_MSGS = list(range(0x210, 0x220))
|
||||
RADAR_A_MSGS = list(range(0x210, 0x220))
|
||||
RADAR_B_MSGS = list(range(0x220, 0x230))
|
||||
|
||||
def _create_radard_can_parser():
|
||||
dbc_f = 'toyota_prius_2017_adas.dbc'
|
||||
msg_n = len(RADAR_MSGS)
|
||||
signals = zip(['LONG_DIST'] * msg_n + ['NEW_TRACK'] * msg_n + ['LAT_DIST'] * msg_n +
|
||||
['REL_SPEED'] * msg_n + ['VALID'] * msg_n,
|
||||
RADAR_MSGS * 5,
|
||||
[255] * msg_n + [1] * msg_n + [0] * msg_n + [0] * msg_n + [0] * msg_n)
|
||||
checks = zip(RADAR_MSGS, [20]*msg_n)
|
||||
|
||||
msg_a_n = len(RADAR_A_MSGS)
|
||||
msg_b_n = len(RADAR_B_MSGS)
|
||||
|
||||
signals = zip(['LONG_DIST'] * msg_a_n + ['NEW_TRACK'] * msg_a_n + ['LAT_DIST'] * msg_a_n +
|
||||
['REL_SPEED'] * msg_a_n + ['VALID'] * msg_a_n + ['SCORE'] * msg_b_n,
|
||||
RADAR_A_MSGS * 5 + RADAR_B_MSGS,
|
||||
[255] * msg_a_n + [1] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_b_n)
|
||||
|
||||
checks = zip(RADAR_A_MSGS + RADAR_B_MSGS, [20]*(msg_a_n + msg_b_n))
|
||||
|
||||
return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)
|
||||
|
||||
|
||||
class RadarInterface(object):
|
||||
def __init__(self, CP):
|
||||
# radar
|
||||
self.pts = {}
|
||||
self.validCnt = {key: 0 for key in RADAR_MSGS}
|
||||
self.seen_valid = {key: False for key in RADAR_A_MSGS}
|
||||
self.track_id = 0
|
||||
|
||||
self.delay = 0.0 # Delay of radar
|
||||
@@ -52,7 +58,7 @@ class RadarInterface(object):
|
||||
tm = int(sec_since_boot() * 1e9)
|
||||
updated_messages.update(self.rcp.update(tm, True))
|
||||
# TODO: do not hardcode last msg
|
||||
if 0x21f in updated_messages:
|
||||
if 0x22f in updated_messages:
|
||||
break
|
||||
|
||||
errors = []
|
||||
@@ -62,32 +68,33 @@ class RadarInterface(object):
|
||||
ret.canMonoTimes = canMonoTimes
|
||||
|
||||
for ii in updated_messages:
|
||||
cpt = self.rcp.vl[ii]
|
||||
if ii in RADAR_A_MSGS:
|
||||
cpt = self.rcp.vl[ii]
|
||||
|
||||
if cpt['LONG_DIST'] >=255 or cpt['NEW_TRACK']:
|
||||
self.validCnt[ii] = 0 # reset counter
|
||||
if cpt['LONG_DIST'] >= 255 or cpt['NEW_TRACK']:
|
||||
self.seen_valid[ii] = False # reset validity
|
||||
|
||||
if cpt['VALID'] and cpt['LONG_DIST'] < 255:
|
||||
self.validCnt[ii] += 1
|
||||
else:
|
||||
self.validCnt[ii] = max(self.validCnt[ii] -1, 0)
|
||||
#print ii, self.validCnt[ii], cpt['VALID'], cpt['LONG_DIST'], cpt['LAT_DIST']
|
||||
if cpt['LONG_DIST'] < 255 and cpt['VALID']:
|
||||
self.seen_valid[ii] = True
|
||||
|
||||
# radar point only valid if there have been enough valid measurements
|
||||
if self.validCnt[ii] > 0:
|
||||
if ii not in self.pts or cpt['NEW_TRACK']:
|
||||
self.pts[ii] = car.RadarState.RadarPoint.new_message()
|
||||
self.pts[ii].trackId = self.track_id
|
||||
self.track_id += 1
|
||||
self.pts[ii].dRel = cpt['LONG_DIST'] # from front of car
|
||||
self.pts[ii].yRel = -cpt['LAT_DIST'] # in car frame's y axis, left is positive
|
||||
self.pts[ii].vRel = cpt['REL_SPEED']
|
||||
self.pts[ii].aRel = float('nan')
|
||||
self.pts[ii].yvRel = float('nan')
|
||||
self.pts[ii].measured = bool(cpt['VALID'])
|
||||
else:
|
||||
if ii in self.pts:
|
||||
del self.pts[ii]
|
||||
score = self.rcp.vl[ii+16]['SCORE']
|
||||
# print ii, score, cpt['VALID'], cpt['LONG_DIST'], cpt['LAT_DIST']
|
||||
|
||||
# radar point only valid if it's a valid measurement and score is above 50
|
||||
if (cpt['VALID'] or score > 50) and cpt['LONG_DIST'] < 255 and self.seen_valid[ii]:
|
||||
if ii not in self.pts or cpt['NEW_TRACK']:
|
||||
self.pts[ii] = car.RadarState.RadarPoint.new_message()
|
||||
self.pts[ii].trackId = self.track_id
|
||||
self.track_id += 1
|
||||
self.pts[ii].dRel = cpt['LONG_DIST'] # from front of car
|
||||
self.pts[ii].yRel = -cpt['LAT_DIST'] # in car frame's y axis, left is positive
|
||||
self.pts[ii].vRel = cpt['REL_SPEED']
|
||||
self.pts[ii].aRel = float('nan')
|
||||
self.pts[ii].yvRel = float('nan')
|
||||
self.pts[ii].measured = bool(cpt['VALID'])
|
||||
else:
|
||||
if ii in self.pts:
|
||||
del self.pts[ii]
|
||||
|
||||
ret.points = self.pts.values()
|
||||
return ret
|
||||
|
||||
@@ -1 +1 @@
|
||||
#define COMMA_VERSION "0.5.4-release"
|
||||
#define COMMA_VERSION "0.5.5-release"
|
||||
|
||||
@@ -352,6 +352,7 @@ def data_send(perception_state, plan, plan_ts, CS, CI, CP, VM, state, events, ac
|
||||
"alertSize": AM.alert_size,
|
||||
"alertStatus": AM.alert_status,
|
||||
"alertBlinkingRate": AM.alert_rate,
|
||||
"alertType": AM.alert_type,
|
||||
"awarenessStatus": max(driver_status.awareness, 0.0) if isEnabled(state) else 0.0,
|
||||
"driverMonitoringOn": bool(driver_status.monitor_on),
|
||||
"canMonoTimes": list(CS.canMonoTimes),
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -4,6 +4,7 @@ CXX = clang++
|
||||
|
||||
PHONELIBS = ../../../../phonelibs
|
||||
|
||||
UNAME_S := $(shell uname -s)
|
||||
UNAME_M := $(shell uname -m)
|
||||
|
||||
CFLAGS = -O3 -fPIC -I.
|
||||
@@ -13,10 +14,12 @@ QPOASES_FLAGS = -I$(PHONELIBS)/qpoases -I$(PHONELIBS)/qpoases/INCLUDE -I$(PHONEL
|
||||
|
||||
ACADO_FLAGS = -I$(PHONELIBS)/acado/include -I$(PHONELIBS)/acado/include/acado
|
||||
|
||||
ifeq ($(UNAME_M),aarch64)
|
||||
ACADO_LIBS := -L $(PHONELIBS)/acado/aarch64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
|
||||
ifeq ($(UNAME_S),Darwin)
|
||||
ACADO_LIBS := -lacado_toolkit_s
|
||||
else ifeq ($(UNAME_M),aarch64)
|
||||
ACADO_LIBS := -L $(PHONELIBS)/acado/aarch64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
|
||||
else
|
||||
ACADO_LIBS := -L $(PHONELIBS)/acado/x64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
|
||||
ACADO_LIBS := -L $(PHONELIBS)/acado/x64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
|
||||
endif
|
||||
|
||||
OBJS = \
|
||||
@@ -67,7 +70,7 @@ lib_qp/%.o: $(PHONELIBS)/qpoases/SRC/%.cpp
|
||||
-c -o '$@' '$<'
|
||||
|
||||
generator: generator.cpp
|
||||
$(CXX) -Wall -std=c++11 \
|
||||
$(CXX) -v -Wall -std=c++11 \
|
||||
generator.cpp \
|
||||
-o generator \
|
||||
$(ACADO_FLAGS) \
|
||||
|
||||
@@ -3,6 +3,7 @@ CXX = clang++
|
||||
|
||||
PHONELIBS = ../../../../phonelibs
|
||||
|
||||
UNAME_S := $(shell uname -s)
|
||||
UNAME_M := $(shell uname -m)
|
||||
|
||||
CFLAGS = -O3 -fPIC -I.
|
||||
@@ -12,10 +13,12 @@ QPOASES_FLAGS = -I$(PHONELIBS)/qpoases -I$(PHONELIBS)/qpoases/INCLUDE -I$(PHONEL
|
||||
|
||||
ACADO_FLAGS = -I$(PHONELIBS)/acado/include -I$(PHONELIBS)/acado/include/acado
|
||||
|
||||
ifeq ($(UNAME_M),aarch64)
|
||||
ACADO_LIBS := -L $(PHONELIBS)/acado/aarch64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
|
||||
ifeq ($(UNAME_S),Darwin)
|
||||
ACADO_LIBS := -lacado_toolkit_s
|
||||
else ifeq ($(UNAME_M),aarch64)
|
||||
ACADO_LIBS := -L $(PHONELIBS)/acado/aarch64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
|
||||
else
|
||||
ACADO_LIBS := -L $(PHONELIBS)/acado/x64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
|
||||
ACADO_LIBS := -L $(PHONELIBS)/acado/x64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
|
||||
endif
|
||||
|
||||
OBJS = \
|
||||
|
||||
@@ -44,9 +44,6 @@ _A_TOTAL_MAX_BP = [0., 20., 40.]
|
||||
_FCW_A_ACT_V = [-3., -2.]
|
||||
_FCW_A_ACT_BP = [0., 30.]
|
||||
|
||||
# max acceleration allowed in acc, which happens in restart
|
||||
A_ACC_MAX = max(_A_CRUISE_MAX_V_FOLLOWING)
|
||||
|
||||
|
||||
def calc_cruise_accel_limits(v_ego, following):
|
||||
a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
|
||||
|
||||
@@ -142,14 +142,16 @@ def gen_solution(msg):
|
||||
'longitude': msg_data['lon']*1e-07, # longitude in degrees
|
||||
'speed': msg_data['gSpeed']*1e-03, # ground speed in meters
|
||||
'accuracy': msg_data['hAcc']*1e-03, # horizontal accuracy (1 sigma?)
|
||||
'timestamp': timestamp, # UTC time in ms since start of UTC stime
|
||||
'timestamp': timestamp, # UTC time in ms since start of UTC stime
|
||||
'vNED': [msg_data['velN']*1e-03,
|
||||
msg_data['velE']*1e-03,
|
||||
msg_data['velD']*1e-03], # velocity in NED frame in m/s
|
||||
'speedAccuracy': msg_data['sAcc']*1e-03, # speed accuracy in m/s
|
||||
'verticalAccuracy': msg_data['vAcc']*1e-03, # vertical accuracy in meters
|
||||
'bearingAccuracy': msg_data['headAcc']*1e-05, # heading accuracy in degrees
|
||||
'source': 'ublox'}
|
||||
'source': 'ublox',
|
||||
'flags': msg_data['flags'],
|
||||
}
|
||||
return log.Event.new_message(gpsLocationExternal=gps_fix)
|
||||
|
||||
def gen_nav_data(msg, nav_frame_buffer):
|
||||
|
||||
Binary file not shown.
@@ -7,7 +7,10 @@ from common.api import api_get
|
||||
from common.params import Params
|
||||
|
||||
def get_imei():
|
||||
return subprocess.check_output(["getprop", "oem.device.imeicache"]).strip()
|
||||
ret = subprocess.check_output(["getprop", "oem.device.imeicache"]).strip()
|
||||
if ret == "":
|
||||
ret = "000000000000000"
|
||||
return ret
|
||||
|
||||
def get_serial():
|
||||
return subprocess.check_output(["getprop", "ro.serialno"]).strip()
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -70,6 +70,7 @@ uiLayoutState: [8060, true]
|
||||
frontEncodeIdx: [8061, true]
|
||||
orbFeaturesSummary: [8062, true]
|
||||
driverMonitoring: [8063, true]
|
||||
liveParameters: [8064, true]
|
||||
|
||||
testModel: [8040, false]
|
||||
testLiveLocation: [8045, false]
|
||||
|
||||
Binary file not shown.
Reference in New Issue
Block a user