Merge branch 'devel-en' of https://github.com/dragonpilot/dragonpilot-dev into devel-en

# Conflicts:
#	apk/ai.comma.plus.offroad.apk

.gitignore

@@ -32,6 +32,9 @@ selfdrive/proclogd/proclogd
 selfdrive/ui/ui
 selfdrive/test/tests/plant/out
 selfdrive/visiond/visiond
+selfdrive/loggerd/loggerd
+selfdrive/sensord/gpsd
+selfdrive/sensord/sensord
 /src/
 
 one

selfdrive/car/car_helpers.py

@@ -84,9 +84,9 @@ def fingerprint(logcan, sendcan):
   frame = 0
 
   if params.get("DragonCacheCar") == "1" and params.get("DragonCachedFP") != "" and params.get("DragonCachedModel") != "":
-    candidate_cars = [params.get("DragonCachedModel")]
-    finger = params.get("DragonCachedFP")
-    vin = params.get("DragonCachedVIN")
+    candidate_cars = pickle.loads(params.get("DragonCachedModel"))
+    finger = pickle.loads(params.get("DragonCachedFP"))
+    vin = pickle.loads(params.get("DragonCachedVIN"))
   else:
     while True:
       a = messaging.recv_one(logcan)

selfdrive/car/toyota/carstate.py

@@ -69,8 +69,8 @@ def get_can_parser(CP):
 
   # add gas interceptor reading if we are using it
   if CP.enableGasInterceptor:
-      signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0))
-      checks.append(("GAS_SENSOR", 50))
+    signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0))
+    checks.append(("GAS_SENSOR", 50))
 
   return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0, timeout=100)
 

selfdrive/car/toyota/interface.py

@@ -131,10 +131,10 @@ class CarInterface(object):
       ret.safetyParam = 73
       ret.wheelbase = 2.78
       ret.steerRatio = 16.0
-      tire_stiffness_factor = 0.444  # not optimized yet
+      tire_stiffness_factor = 0.8
       ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG #mean between normal and hybrid limited
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.05]]
-      ret.lateralTuning.pid.kf = 0.00006
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.18], [0.015]]  # community tuning
+      ret.lateralTuning.pid.kf = 0.00012  # community tuning
 
     elif candidate == CAR.AVALON:
       stop_and_go = False

selfdrive/controls/lib/model_parser.py

@@ -44,7 +44,7 @@ class ModelParser(object):
     self.lane_width_certainty += 0.05 * (lr_prob - self.lane_width_certainty)
     current_lane_width = abs(l_poly[3] - r_poly[3])
     self.lane_width_estimate += 0.005 * (current_lane_width - self.lane_width_estimate)
-    speed_lane_width = interp(v_ego, [0., 31.], [3., 3.6])
+    speed_lane_width = interp(v_ego, [0., 31.], [2.8, 3.5])
     self.lane_width = self.lane_width_certainty * self.lane_width_estimate + \
                       (1 - self.lane_width_certainty) * speed_lane_width