diff --git a/CHANGELOGS-D2.md b/CHANGELOGS-D2.md index e1b8e4595..29d8de43b 100644 --- a/CHANGELOGS-D2.md +++ b/CHANGELOGS-D2.md @@ -1,3 +1,7 @@ +2024-03-20 +======================== +* Bug fixes + 2024-03-19 ======================== * Attempt to fix 70 mins LKAS/Harness error on Toyotas. diff --git a/cereal/visionipc/visionipc_pyx.so b/cereal/visionipc/visionipc_pyx.so index 220ad4fb9..8700d7f98 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 ccb25f8e0..7049962e3 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 5ef8bb8ee..60576c174 100644 --- a/common/version.h +++ b/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "2024.03.19" +#define COMMA_VERSION "2024.04.18" diff --git a/opendbc/can/libdbc.so b/opendbc/can/libdbc.so index d1af3e11d..314c6dcad 100755 Binary files a/opendbc/can/libdbc.so and b/opendbc/can/libdbc.so differ diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin index f87658dee..a7d78bbdf 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/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin new file mode 100755 index 000000000..604ad5973 Binary files /dev/null and b/panda/board/obj/bootstub.panda_h7.bin differ diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index c67ae80cd..74dad8028 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed new file mode 100644 index 000000000..e797f8a12 Binary files /dev/null and b/panda/board/obj/panda_h7.bin.signed differ diff --git a/panda/python/__init__.py b/panda/python/__init__.py index 5b01a0cb8..32dcd934a 100644 --- a/panda/python/__init__.py +++ b/panda/python/__init__.py @@ -250,6 +250,7 @@ class Panda: FLAG_TESLA_POWERTRAIN = 1 FLAG_TESLA_LONG_CONTROL = 2 + FLAG_TESLA_RAVEN = 4 FLAG_VOLKSWAGEN_LONG_CONTROL = 1 diff --git a/rednose/helpers/ekf_sym_pyx.so b/rednose/helpers/ekf_sym_pyx.so index 5ca98e3f5..888775c40 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 af9233ca7..2bef121c5 100755 Binary files a/selfdrive/boardd/boardd and b/selfdrive/boardd/boardd differ diff --git a/selfdrive/camerad/camerad b/selfdrive/camerad/camerad index 671a8a528..6877f5fea 100755 Binary files a/selfdrive/camerad/camerad and b/selfdrive/camerad/camerad differ diff --git a/selfdrive/controls/lib/legacy_longitudinal_planner.py b/selfdrive/controls/lib/legacy_longitudinal_planner.py index 31792685b..2b8b731d0 100644 --- a/selfdrive/controls/lib/legacy_longitudinal_planner.py +++ b/selfdrive/controls/lib/legacy_longitudinal_planner.py @@ -76,7 +76,10 @@ class LongitudinalPlanner: self.dp_long_use_krkeegen_tune_active = False def read_param(self): - self.personality = int(self.params.get('LongitudinalPersonality')) + try: + self.personality = int(self.params.get('LongitudinalPersonality')) + except (ValueError, TypeError): + self.personality = log.LongitudinalPersonality.standard self.dp_long_use_df_tune = self.params.get_bool('dp_long_use_df_tune') self.dp_long_use_krkeegen_tune = self.params.get_bool('dp_long_use_krkeegen_tune') diff --git a/selfdrive/hybrid_modeld/_dmonitoringmodeld b/selfdrive/hybrid_modeld/_dmonitoringmodeld index d0568dd5b..795804da5 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 bd8c1ee03..d1144a4dd 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 0af1c2bd3..633b36d47 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 f5c0693d6..4d2ccd54d 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 76a3d572a..795a02723 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 aaf72280e..b575d5450 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 77eca2d32..8828fd02c 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_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_err_fun(double *nom_x, double *delta_x, double *out_7247719309480281051); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_2681782549687900672); +void car_H_mod_fun(double *state, double *out_137576970368068800); +void car_f_fun(double *state, double dt, double *out_7115045003314014650); +void car_F_fun(double *state, double dt, double *out_6431170143172849662); +void car_h_25(double *state, double *unused, double *out_4546935715871708115); +void car_H_25(double *state, double *unused, double *out_6641128993824440257); +void car_h_24(double *state, double *unused, double *out_5145588108859611737); +void car_H_24(double *state, double *unused, double *out_7059105752918602325); +void car_h_30(double *state, double *unused, double *out_7128973131487492565); +void car_H_30(double *state, double *unused, double *out_4122796035317191630); +void car_h_26(double *state, double *unused, double *out_3185015005230737899); +void car_H_26(double *state, double *unused, double *out_8064111761011055135); +void car_h_27(double *state, double *unused, double *out_148983634590079103); +void car_H_27(double *state, double *unused, double *out_1899201964133248413); +void car_h_29(double *state, double *unused, double *out_729931614073643419); +void car_H_29(double *state, double *unused, double *out_3612564691002799446); +void car_h_28(double *state, double *unused, double *out_5953535801143115287); +void car_H_28(double *state, double *unused, double *out_8694963708072330020); +void car_h_31(double *state, double *unused, double *out_3346003779012815244); +void car_H_31(double *state, double *unused, double *out_6610483031947479829); 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 9f8541c94..18b9ea5cf 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_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_err_fun(double *nom_x, double *delta_x, double *out_3268890645376421587); +void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_7549878915460633121); +void gnss_H_mod_fun(double *state, double *out_8094327699774317216); +void gnss_f_fun(double *state, double dt, double *out_6578835107177820652); +void gnss_F_fun(double *state, double dt, double *out_3329755413866591228); +void gnss_h_6(double *state, double *sat_pos, double *out_6067569867114337350); +void gnss_H_6(double *state, double *sat_pos, double *out_9148125727656389237); +void gnss_h_20(double *state, double *sat_pos, double *out_1046469546504212269); +void gnss_H_20(double *state, double *sat_pos, double *out_4611278801988723742); +void gnss_h_7(double *state, double *sat_pos_vel, double *out_826926030772729278); +void gnss_H_7(double *state, double *sat_pos_vel, double *out_8482751189000492385); +void gnss_h_21(double *state, double *sat_pos_vel, double *out_826926030772729278); +void gnss_H_21(double *state, double *sat_pos_vel, double *out_8482751189000492385); 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 d98ede51c..0759db926 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 df1aeb4a0..f7e84e966 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_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_H(double *in_vec, double *out_6098820432140574500); +void live_err_fun(double *nom_x, double *delta_x, double *out_4601634777746232731); +void live_inv_err_fun(double *nom_x, double *true_x, double *out_2164011828340702218); +void live_H_mod_fun(double *state, double *out_7015072859180032403); +void live_f_fun(double *state, double dt, double *out_5262866806977047040); +void live_F_fun(double *state, double dt, double *out_3307189770372178147); +void live_h_4(double *state, double *unused, double *out_3466064076171392479); +void live_H_4(double *state, double *unused, double *out_3127810815517879899); +void live_h_9(double *state, double *unused, double *out_8851415430512377173); +void live_H_9(double *state, double *unused, double *out_2886621168888289254); +void live_h_10(double *state, double *unused, double *out_6345005294715149579); +void live_H_10(double *state, double *unused, double *out_6395070488296842579); +void live_h_12(double *state, double *unused, double *out_3895333368456862926); +void live_H_12(double *state, double *unused, double *out_1891645592514081896); +void live_h_35(double *state, double *unused, double *out_8916426263363515962); +void live_H_35(double *state, double *unused, double *out_238851241854727477); +void live_h_32(double *state, double *unused, double *out_5644104248396255134); +void live_H_32(double *state, double *unused, double *out_4102153533878379411); +void live_h_13(double *state, double *unused, double *out_6400419631222940909); +void live_H_13(double *state, double *unused, double *out_5136038454533734638); +void live_h_14(double *state, double *unused, double *out_8851415430512377173); +void live_H_14(double *state, double *unused, double *out_2886621168888289254); +void live_h_33(double *state, double *unused, double *out_3148196720499366739); +void live_H_33(double *state, double *unused, double *out_3389408246493585081); 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 91773f8cf..b8d27187c 100755 Binary files a/selfdrive/loggerd/bootlog and b/selfdrive/loggerd/bootlog 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