diff --git a/CHANGELOGS-D2.md b/CHANGELOGS-D2.md index dfa2701cb..e1b8e4595 100644 --- a/CHANGELOGS-D2.md +++ b/CHANGELOGS-D2.md @@ -1,3 +1,7 @@ +2024-03-19 +======================== +* Attempt to fix 70 mins LKAS/Harness error on Toyotas. + 2024-03-01 ======================== * Display correct changelogs. diff --git a/cereal/visionipc/visionipc_pyx.so b/cereal/visionipc/visionipc_pyx.so index 423cf6530..220ad4fb9 100755 Binary files a/cereal/visionipc/visionipc_pyx.so and b/cereal/visionipc/visionipc_pyx.so differ diff --git a/common/params_pyx.so b/common/params_pyx.so index 025719692..ccb25f8e0 100755 Binary files a/common/params_pyx.so and b/common/params_pyx.so differ diff --git a/common/version.h b/common/version.h index c73c51e77..5ef8bb8ee 100644 --- a/common/version.h +++ b/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "2024.03.01" +#define COMMA_VERSION "2024.03.19" diff --git a/opendbc/can/libdbc.so b/opendbc/can/libdbc.so index c5f53ffe4..d1af3e11d 100755 Binary files a/opendbc/can/libdbc.so and b/opendbc/can/libdbc.so differ diff --git a/opendbc/can/parser_pyx.so b/opendbc/can/parser_pyx.so index af1f7c694..2b2afd824 100755 Binary files a/opendbc/can/parser_pyx.so and b/opendbc/can/parser_pyx.so differ diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin index 99e384983..f87658dee 100755 Binary files a/panda/board/obj/bootstub.panda.bin and b/panda/board/obj/bootstub.panda.bin differ diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index eee07f5a6..c67ae80cd 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/rednose/helpers/ekf_sym_pyx.so b/rednose/helpers/ekf_sym_pyx.so index 718c480e3..5ca98e3f5 100755 Binary files a/rednose/helpers/ekf_sym_pyx.so and b/rednose/helpers/ekf_sym_pyx.so differ diff --git a/selfdrive/boardd/boardd b/selfdrive/boardd/boardd index adf301589..af9233ca7 100755 Binary files a/selfdrive/boardd/boardd and b/selfdrive/boardd/boardd differ diff --git a/selfdrive/camerad/camerad b/selfdrive/camerad/camerad index fca524e5f..671a8a528 100755 Binary files a/selfdrive/camerad/camerad and b/selfdrive/camerad/camerad differ diff --git a/selfdrive/hybrid_modeld/_dmonitoringmodeld b/selfdrive/hybrid_modeld/_dmonitoringmodeld index 31a328692..d0568dd5b 100755 Binary files a/selfdrive/hybrid_modeld/_dmonitoringmodeld and b/selfdrive/hybrid_modeld/_dmonitoringmodeld differ diff --git a/selfdrive/hybrid_modeld/_modeld b/selfdrive/hybrid_modeld/_modeld index f0a117dad..bd8c1ee03 100755 Binary files a/selfdrive/hybrid_modeld/_modeld and b/selfdrive/hybrid_modeld/_modeld differ diff --git a/selfdrive/hybrid_modeld/models/supercombo.thneed b/selfdrive/hybrid_modeld/models/supercombo.thneed index 203c8c53b..0af1c2bd3 100644 Binary files a/selfdrive/hybrid_modeld/models/supercombo.thneed and b/selfdrive/hybrid_modeld/models/supercombo.thneed differ diff --git a/selfdrive/legacy_modeld/_modeld b/selfdrive/legacy_modeld/_modeld index 5bc0ed25f..f5c0693d6 100755 Binary files a/selfdrive/legacy_modeld/_modeld and b/selfdrive/legacy_modeld/_modeld differ diff --git a/selfdrive/legacy_modeld/models/supercombo.thneed b/selfdrive/legacy_modeld/models/supercombo.thneed index c464669ed..76a3d572a 100644 Binary files a/selfdrive/legacy_modeld/models/supercombo.thneed and b/selfdrive/legacy_modeld/models/supercombo.thneed differ diff --git a/selfdrive/locationd/locationd b/selfdrive/locationd/locationd index e0e797d19..aaf72280e 100755 Binary files a/selfdrive/locationd/locationd and b/selfdrive/locationd/locationd differ diff --git a/selfdrive/locationd/models/generated/car.h b/selfdrive/locationd/models/generated/car.h index e563dba12..77eca2d32 100644 --- a/selfdrive/locationd/models/generated/car.h +++ b/selfdrive/locationd/models/generated/car.h @@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); -void car_err_fun(double *nom_x, double *delta_x, double *out_5707134025468540196); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_1436040563472290876); -void car_H_mod_fun(double *state, double *out_3949928528883118484); -void car_f_fun(double *state, double dt, double *out_7070584549021633741); -void car_F_fun(double *state, double dt, double *out_6590587311256226805); -void car_h_25(double *state, double *unused, double *out_5654373301579232004); -void car_H_25(double *state, double *unused, double *out_7074661439769165345); -void car_h_24(double *state, double *unused, double *out_6513601548719522224); -void car_H_24(double *state, double *unused, double *out_499089633177647244); -void car_h_30(double *state, double *unused, double *out_3209738123313789182); -void car_H_30(double *state, double *unused, double *out_157971098277548590); -void car_h_26(double *state, double *unused, double *out_3813054007990266699); -void car_H_26(double *state, double *unused, double *out_3770135470008364744); -void car_h_27(double *state, double *unused, double *out_2617587250134899319); -void car_H_27(double *state, double *unused, double *out_2332734410077973501); -void car_h_29(double *state, double *unused, double *out_4153247976215451617); -void car_H_29(double *state, double *unused, double *out_4046097136947524534); -void car_h_28(double *state, double *unused, double *out_7032847359308655157); -void car_H_28(double *state, double *unused, double *out_9128496154017055108); -void car_h_31(double *state, double *unused, double *out_5379179239294726115); -void car_H_31(double *state, double *unused, double *out_2013810742651908); +void car_err_fun(double *nom_x, double *delta_x, double *out_8398572426417880298); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_8550243317389602002); +void car_H_mod_fun(double *state, double *out_2446351589466899685); +void car_f_fun(double *state, double dt, double *out_3483379115055167654); +void car_F_fun(double *state, double dt, double *out_1479224434010073741); +void car_h_25(double *state, double *unused, double *out_7644021312554520659); +void car_H_25(double *state, double *unused, double *out_2503344116145806535); +void car_h_24(double *state, double *unused, double *out_8913457371165772029); +void car_H_24(double *state, double *unused, double *out_1054581482656516601); +void car_h_30(double *state, double *unused, double *out_5825939176296356298); +void car_H_30(double *state, double *unused, double *out_2632683063289046605); +void car_h_26(double *state, double *unused, double *out_4544604859564383315); +void car_H_26(double *state, double *unused, double *out_6244847435019862759); +void car_h_27(double *state, double *unused, double *out_6284393781545150831); +void car_H_27(double *state, double *unused, double *out_4807446375089471516); +void car_h_29(double *state, double *unused, double *out_4882429323394693863); +void car_H_29(double *state, double *unused, double *out_2122451718974654421); +void car_h_28(double *state, double *unused, double *out_2002829940301490323); +void car_H_28(double *state, double *unused, double *out_4557178830393696298); +void car_h_31(double *state, double *unused, double *out_237251338199528526); +void car_H_31(double *state, double *unused, double *out_2472698154268846107); void car_predict(double *in_x, double *in_P, double *in_Q, double dt); void car_set_mass(double x); void car_set_rotational_inertia(double x); diff --git a/selfdrive/locationd/models/generated/gnss.h b/selfdrive/locationd/models/generated/gnss.h index 954235913..9f8541c94 100644 --- a/selfdrive/locationd/models/generated/gnss.h +++ b/selfdrive/locationd/models/generated/gnss.h @@ -5,18 +5,18 @@ void gnss_update_6(double *in_x, double *in_P, double *in_z, double *in_R, doubl void gnss_update_20(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void gnss_update_7(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void gnss_update_21(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); -void gnss_err_fun(double *nom_x, double *delta_x, double *out_7770421545425657173); -void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_6164518556458829483); -void gnss_H_mod_fun(double *state, double *out_2919674671833270942); -void gnss_f_fun(double *state, double dt, double *out_6013352302135505178); -void gnss_F_fun(double *state, double dt, double *out_8801647677645000288); -void gnss_h_6(double *state, double *sat_pos, double *out_1045578979136692424); -void gnss_H_6(double *state, double *sat_pos, double *out_241828252807820164); -void gnss_h_20(double *state, double *sat_pos, double *out_4714342939399742881); -void gnss_H_20(double *state, double *sat_pos, double *out_5855007215558211037); -void gnss_h_7(double *state, double *sat_pos_vel, double *out_8728837866926503241); -void gnss_H_7(double *state, double *sat_pos_vel, double *out_6725550507955256095); -void gnss_h_21(double *state, double *sat_pos_vel, double *out_8728837866926503241); -void gnss_H_21(double *state, double *sat_pos_vel, double *out_6725550507955256095); +void gnss_err_fun(double *nom_x, double *delta_x, double *out_9035463591687765688); +void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_4584995547093836909); +void gnss_H_mod_fun(double *state, double *out_485515789311103855); +void gnss_f_fun(double *state, double dt, double *out_2804668263201152505); +void gnss_F_fun(double *state, double dt, double *out_5897584534679452406); +void gnss_h_6(double *state, double *sat_pos, double *out_7299654809535441585); +void gnss_H_6(double *state, double *sat_pos, double *out_4935507375780414315); +void gnss_h_20(double *state, double *sat_pos, double *out_2539033399603050808); +void gnss_H_20(double *state, double *sat_pos, double *out_5887166057814938); +void gnss_h_7(double *state, double *sat_pos_vel, double *out_3700295129188825651); +void gnss_H_7(double *state, double *sat_pos_vel, double *out_3222417806161331882); +void gnss_h_21(double *state, double *sat_pos_vel, double *out_3700295129188825651); +void gnss_H_21(double *state, double *sat_pos_vel, double *out_3222417806161331882); void gnss_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/libkf.so b/selfdrive/locationd/models/generated/libkf.so index 59df9173a..d98ede51c 100755 Binary files a/selfdrive/locationd/models/generated/libkf.so and b/selfdrive/locationd/models/generated/libkf.so differ diff --git a/selfdrive/locationd/models/generated/live.h b/selfdrive/locationd/models/generated/live.h index 5baa4d5a3..df1aeb4a0 100644 --- a/selfdrive/locationd/models/generated/live.h +++ b/selfdrive/locationd/models/generated/live.h @@ -10,29 +10,29 @@ void live_update_32(double *in_x, double *in_P, double *in_z, double *in_R, doub void live_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void live_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void live_update_33(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); -void live_H(double *in_vec, double *out_924166259539900593); -void live_err_fun(double *nom_x, double *delta_x, double *out_2624644257926435556); -void live_inv_err_fun(double *nom_x, double *true_x, double *out_4025951560506220674); -void live_H_mod_fun(double *state, double *out_5841896394523971320); -void live_f_fun(double *state, double dt, double *out_4088780942343910929); -void live_F_fun(double *state, double dt, double *out_5395698791493054447); -void live_h_4(double *state, double *unused, double *out_1475320639733206747); -void live_H_4(double *state, double *unused, double *out_6765011008485871039); -void live_h_9(double *state, double *unused, double *out_8384748376343217020); -void live_H_9(double *state, double *unused, double *out_6523821361856280394); -void live_h_10(double *state, double *unused, double *out_6382193643629262946); -void live_H_10(double *state, double *unused, double *out_6166121520443452896); -void live_h_12(double *state, double *unused, double *out_4546335320385339077); -void live_H_12(double *state, double *unused, double *out_6143911983438277372); -void live_h_35(double *state, double *unused, double *out_3599039103483015387); -void live_H_35(double *state, double *unused, double *out_3398348951113263663); -void live_h_32(double *state, double *unused, double *out_5930648090888766425); -void live_H_32(double *state, double *unused, double *out_8133530618902171597); -void live_h_13(double *state, double *unused, double *out_6616808016354863787); -void live_H_13(double *state, double *unused, double *out_3244583673599752062); -void live_h_14(double *state, double *unused, double *out_8384748376343217020); -void live_H_14(double *state, double *unused, double *out_6523821361856280394); -void live_h_33(double *state, double *unused, double *out_4385004923179070765); -void live_H_33(double *state, double *unused, double *out_247791946474406059); +void live_H(double *in_vec, double *out_6142139148085243549); +void live_err_fun(double *nom_x, double *delta_x, double *out_7221775709047634355); +void live_inv_err_fun(double *nom_x, double *true_x, double *out_7708138673724865102); +void live_H_mod_fun(double *state, double *out_606820068770458248); +void live_f_fun(double *state, double dt, double *out_8552173667168449856); +void live_F_fun(double *state, double dt, double *out_7518165017466021174); +void live_h_4(double *state, double *unused, double *out_1872526693599117952); +void live_H_4(double *state, double *unused, double *out_6588697467925331782); +void live_h_9(double *state, double *unused, double *out_2674948355925126045); +void live_H_9(double *state, double *unused, double *out_6347507821295741137); +void live_h_10(double *state, double *unused, double *out_2559390531990348826); +void live_H_10(double *state, double *unused, double *out_1384317159145848313); +void live_h_12(double *state, double *unused, double *out_3028429799449360277); +void live_H_12(double *state, double *unused, double *out_1569241059893369987); +void live_h_35(double *state, double *unused, double *out_8338918323392468458); +void live_H_35(double *state, double *unused, double *out_1176321972431643722); +void live_h_32(double *state, double *unused, double *out_7926082639028507978); +void live_H_32(double *state, double *unused, double *out_1710159450416810774); +void live_h_13(double *state, double *unused, double *out_8080423631789857062); +void live_H_13(double *state, double *unused, double *out_5143337386914164914); +void live_h_14(double *state, double *unused, double *out_2674948355925126045); +void live_H_14(double *state, double *unused, double *out_6347507821295741137); +void live_h_33(double *state, double *unused, double *out_6864593969968010794); +void live_H_33(double *state, double *unused, double *out_4326878977070501326); void live_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/loggerd/bootlog b/selfdrive/loggerd/bootlog index 49023a7fa..91773f8cf 100755 Binary files a/selfdrive/loggerd/bootlog and b/selfdrive/loggerd/bootlog differ diff --git a/selfdrive/loggerd/loggerd b/selfdrive/loggerd/loggerd index 2122591de..acb29f7c3 100755 Binary files a/selfdrive/loggerd/loggerd and b/selfdrive/loggerd/loggerd differ diff --git a/selfdrive/ui/_ui b/selfdrive/ui/_ui index 2111f46e7..b78308ecd 100755 Binary files a/selfdrive/ui/_ui and b/selfdrive/ui/_ui differ diff --git a/selfdrive/ui/qt/spinner b/selfdrive/ui/qt/spinner index a5c4bedd4..6f08037cb 100755 Binary files a/selfdrive/ui/qt/spinner and b/selfdrive/ui/qt/spinner differ diff --git a/selfdrive/ui/qt/text b/selfdrive/ui/qt/text index a79554d73..b68c62251 100755 Binary files a/selfdrive/ui/qt/text and b/selfdrive/ui/qt/text differ diff --git a/selfdrive/ui/soundd/_soundd b/selfdrive/ui/soundd/_soundd index 2ea9a6d70..64233c367 100755 Binary files a/selfdrive/ui/soundd/_soundd and b/selfdrive/ui/soundd/_soundd differ diff --git a/system/proclogd/proclogd b/system/proclogd/proclogd index 70efa6b51..4a5d639d4 100755 Binary files a/system/proclogd/proclogd and b/system/proclogd/proclogd differ diff --git a/system/sensord/_sensord b/system/sensord/_sensord index 5b482539a..cce6c8b74 100755 Binary files a/system/sensord/_sensord and b/system/sensord/_sensord differ diff --git a/system/ubloxd/ubloxd b/system/ubloxd/ubloxd index 585aedb03..d7a7143ab 100755 Binary files a/system/ubloxd/ubloxd and b/system/ubloxd/ubloxd differ