From 4db632d66960dd625fa3cb05f64501020c1d9c13 Mon Sep 17 00:00:00 2001 From: eFini Date: Fri, 12 Jul 2019 14:22:02 +1000 Subject: [PATCH 1/7] fix spacing in toyota/carstate.py (#736) --- selfdrive/car/toyota/carstate.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 9994e793d..d964f8c43 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/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) From c4159ba7a0a818f295a65b00246cc5dc7ac9ef1d Mon Sep 17 00:00:00 2001 From: dragonpilot Date: Fri, 12 Jul 2019 20:22:23 +1000 Subject: [PATCH 2/7] =?UTF-8?q?=E4=BF=AE=E6=AD=A3=E6=9A=AB=E5=AD=98?= =?UTF-8?q?=E6=8C=87=E7=B4=8B=E9=8C=AF=E8=AA=A4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- selfdrive/car/car_helpers.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 5977663df..85259df68 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -84,7 +84,7 @@ def fingerprint(logcan, sendcan): frame = 0 if params.get("DragonCacheCar") == "1" and params.get("DragonCachedFP") != "" and params.get("DragonCachedModel") != "": - candidate_cars = [params.get("DragonCachedModel")] + candidate_cars = params.get("DragonCachedModel") finger = params.get("DragonCachedFP") vin = params.get("DragonCachedVIN") else: From 4b5b49756dde6329354847a946b8c11cd0c3dfb9 Mon Sep 17 00:00:00 2001 From: dragonpilot Date: Fri, 12 Jul 2019 20:56:17 +1000 Subject: [PATCH 3/7] =?UTF-8?q?=E6=9B=B4=E6=96=B0APK?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit From 7ad0d8ca45b41e7adafa7a5874effdf61ab3986a Mon Sep 17 00:00:00 2001 From: Gernby Date: Fri, 12 Jul 2019 12:55:34 -0500 Subject: [PATCH 4/7] Fix lane centering with single lane line (#737) --- selfdrive/controls/lib/model_parser.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/model_parser.py b/selfdrive/controls/lib/model_parser.py index 0b4bb241d..9b28c66bb 100644 --- a/selfdrive/controls/lib/model_parser.py +++ b/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., 3.8]) + 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 From d7878df3dada5ab736bdb19f5951bb06fe8870d4 Mon Sep 17 00:00:00 2001 From: eFini Date: Sat, 13 Jul 2019 04:02:23 +1000 Subject: [PATCH 5/7] add loggered, gpsd, sensord to gitignore (#735) --- .gitignore | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.gitignore b/.gitignore index 27196b552..9bdfbc716 100644 --- a/.gitignore +++ b/.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 From a94ef2cacdc20c0aa9ab5276df4fdbaef83b6322 Mon Sep 17 00:00:00 2001 From: Riccardo Date: Fri, 12 Jul 2019 19:24:35 -0700 Subject: [PATCH 6/7] Improve Toyota Highlander tuning from https://github.com/commaai/openpilot/pull/690 --- selfdrive/car/toyota/interface.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index a1cffae95..29abfeb84 100755 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -130,10 +130,10 @@ 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 From 1253f1eebb6ed2761944049d5bf6f9a39bffc8fd Mon Sep 17 00:00:00 2001 From: dragonpilot Date: Sat, 13 Jul 2019 22:45:34 +1000 Subject: [PATCH 7/7] =?UTF-8?q?=E5=8A=A0=E5=85=A5=20pickle.loads=20?= =?UTF-8?q?=E8=AE=80=E5=8F=96=E6=9A=AB=E5=AD=98=E8=B3=87=E6=96=99?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- selfdrive/car/car_helpers.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 85259df68..5076c0d1c 100644 --- a/selfdrive/car/car_helpers.py +++ b/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)