843e59f6f0
Misc torque control fixes ( #24801 )
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* Fiction compensation should be based on error
* Update refs
* Add deadzone
* update ref
2022-06-10 22:52:48 -07:00
b215d611b1
update DH names + notes for MPC output curvatures ( #24701 )
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* update names + notes for MPC outputs
"current_curvature" is not the correct description of what the MPC is outputting in it's curvature_ego state.
The MPC is integrating it's free variable, curvature_rate, such that curvature[0] is actually the desired_curvature before any delay.
inversely: the curvature_rate_desired is the desired rate of change to the setpoint and not the actual curvature rate.
If we were to set the initial curvature = measured curvature in the MPC initiation these names would be correct.
This was possibly how it was initially set up but the nomenclature here is now confusing.
* more notes
* match
* Clarify #1
2022-06-07 09:41:03 -07:00
c6bc03311c
Car documentation: set steering torque star using car interface ( #24709 )
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* Set good torque using torque controller tuning
* should be equal to
* save lateral accel to car params
* use maxLateralAccel
* always
* same convention
* nan will always evaluate to false
* The great good torque purge
* adjust default friction
* Add data for more cars
* adjust name
* Welcome back, guys. Only adjust good torque if maxLatAccel is set
* Update refs (1.7 is 1.7000001...)
2022-06-03 17:41:20 -07:00
7f16e19f79
Remove laneless toggle ( #24738 )
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* Remove laneless toggle
* Update refs
2022-06-03 14:04:14 -07:00
f49a9c9fd2
less TICI when not needed ( #24698 )
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* less TICI when not needed
* fix process replay
* move reading voltages into hw abstraction layer
* Update selfdrive/hardware/tici/hardware.h
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
* Update selfdrive/hardware/hw.h
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
* Update selfdrive/hardware/base.h
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
* rename init function
* Update selfdrive/athena/athenad.py
Co-authored-by: Robbe Derks <robbe.derks@gmail.com >
* Update selfdrive/boardd/boardd.cc
* Apply suggestions from code review
* Update selfdrive/thermald/thermald.py
* update ref
* fix alert width if all cameras are bad
* add ecam to test_loggerd
* bump cereal
* bump cereal
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
Co-authored-by: Robbe Derks <robbe.derks@gmail.com >
2022-06-02 15:20:51 +02:00
b5aed2bf67
Simulator: Speed up process by removing second camera ( #24679 )
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* simulator: support running wide camera only
* proper frame id
* use param name that makes more sense
* do some cleanup
* Update tools/sim/bridge.py
Co-authored-by: Willem Melching <willem.melching@gmail.com >
2022-05-30 15:25:07 +02:00
d708a134bd
Tssp prius torque control ( #24669 )
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* use llk
* use steering sensor at low speed stil
* Try more simple
* rm prius tune
* updated ref
2022-05-27 10:21:02 -07:00
d928972150
Rerevert torque control ( #24649 )
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* Revert "Revert torque control (#24565 )"
This reverts commit 9f8b03753d
2022-05-24 17:52:33 -07:00
7da48ebdba
New model: better laneless ( #24605 )
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* Fix ping pong
* Fix hugging: e6fd3a62-aa86-46d1-a414-19137ed1babc/800
* Remove lateral toggle
* a6da6265-1952-48dd-986b-2b5996dd2642/950
* Model replay commit
* Revert "Remove lateral toggle"
This reverts commit 69e57eb7e1a72e4bad5e12bcfded6ff431a21a0e.
2022-05-24 09:11:31 -07:00
71901c94db
controlsd: ensure all system malfunction events have the right types ( #24635 )
2022-05-23 17:46:46 -07:00
2181bbca71
Latcontrol torque: integrator need not be reset ( #24606 )
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slow integrators need not be reset
2022-05-20 13:50:47 -07:00
d3d210c183
controls: pressing set while gas pressed resets to vEgo ( #24100 )
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* set while gas pressed to resume
* better order
* what was I thinking?
* Update selfdrive/controls/lib/drive_helpers.py
Co-authored-by: Gijs Koning <gijs-koning@live.nl >
* Update selfdrive/controls/lib/drive_helpers.py
Co-authored-by: Gijs Koning <gijs-koning@live.nl >
* only if under set speed
* some clean up and ciel the v_cruise_kph
* clean up
* actually floor
* Should be cruise min
* On phone, will clean up
* Think no floor is fine
* clean up and catch setCruise
* update comment and just always do rounding and clipping
update comment
* flip order
Co-authored-by: Gijs Koning <gijs-koning@live.nl >
2022-05-19 03:28:50 -07:00
9f8b03753d
Revert torque control ( #24565 )
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* torque reversal start
* Fix carmodel tests
* Update ref
* update ref
* Elif is better than if
2022-05-17 19:00:57 -07:00
0b1f6e3620
show which cameras are malfunctioning ( #24558 )
2022-05-16 22:01:04 -07:00
b1858df00e
improved alert verbosity ( #24434 )
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* improved alert verbosity
* better testing script
* better description
* speed diff
* touch ups
* fix that
2022-05-16 21:19:38 -07:00
961a121fde
Round system overheated temperature ( #24544 )
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* Update events.py
* Apply suggestions from code review
Co-authored-by: Willem Melching <willem.melching@gmail.com >
2022-05-16 18:08:02 +02:00
076f0acd5f
Round model lagging frame drop percentage ( #24549 )
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alerts: round model frame drop percentage
2022-05-16 16:26:18 +02:00
31af13101b
Add unittest for alert callbacks ( #24551 )
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add alert callback test
2022-05-16 16:25:52 +02:00
a693b3a26b
LatControlTorque: clean up class variable ( #24526 )
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* move to super
* no class variable
* there's CP
* whitespace
* drop CI from latcontrol super
* Revert "drop CI from latcontrol super"
This reverts commit 9218273060ade6431c4fc4c310b27e7e210158b9.
Co-authored-by: Shane Smiskol <shane@smiskol.com >
2022-05-13 16:52:20 -07:00
6518ecca8f
Add desired curvature to controlsState ( #24510 )
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* Add desired_curvature to controlsState
* clean up
* bump
* bump
* update refs from GitHub!
Co-authored-by: Jason Shuler <jshuler@gmail.com >
2022-05-12 16:59:52 -07:00
d2eef1955c
add mypy check for return-any ( #24379 )
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* add mypy check for return-any
* remove unused import
* typing
* remove unnecessary variable typing
* cleanup
* cleanup
* bump submodules
* small fixes
* only a problem on mac
Co-authored-by: Willem Melching <willem.melching@gmail.com >
2022-05-12 14:59:00 +02:00
17e33978cd
Mypy fixes for --check-untyped-defs ( #24372 )
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more type fixes
2022-05-12 14:08:11 +02:00
29afd53d88
Latcontrol torque: fix integrator induced ping pong ( #24458 )
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* Latcontrol torque: fix integrator induced ping pong
* Reset on disengage since unwind resets anywayh
* Might be overkill
* rm whitespace
* update ref
2022-05-06 22:17:21 -07:00
1bc6f2fa7d
increase cruiseMismatch threshold ( #24428 )
2022-05-04 15:58:08 -07:00
9a44d4c4e0
LatControlTorque: log desired/actual lateral accel ( #24406 )
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* log torque lateral accel
* bump cereal
* update refs
Co-authored-by: Shane Smiskol <shane@smiskol.com >
2022-05-03 14:18:46 -07:00
be748c0d6a
controlsd: better alert precedence for system malfunctions ( #24366 )
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* controlsd: better alert precedence for system malfunctions
* down to 20
* move that
* check can flags
* update refs
* update refs
2022-04-29 13:36:25 -07:00
3abbe827de
controlsd: add lagging alert ( #24360 )
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* controlsd: add lagging alert
* move those
* just this for now
* no camera malfunction
2022-04-28 19:51:42 -07:00
45f131e0e7
Accept resumeCruise for resuming prior speed setpoint ( #24348 )
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* accept two button types for resume
* retry CI
* Update selfdrive/controls/lib/drive_helpers.py
Co-authored-by: Shane Smiskol <shane@smiskol.com >
2022-04-28 17:46:58 -07:00
c9be2f02c3
Clean up controllers ( #24340 )
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* clean up lat controllers
* pass CP once
* sort
2022-04-28 00:42:52 -07:00
e834b4d9be
LatControlTorque: fix deadzone and missing steer saturated warning ( #24294 )
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* fix steer saturated alert and deadzone
* fix and formatting
* update refs
* update refs
* not needed
* remove
2022-04-27 01:18:05 -07:00
1a9f5d29d4
longitudinal_mpc: Compute forward distance from velocity ( #24328 )
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* add vel integ as x in e2e long mpc
* add comment
2022-04-25 20:15:04 -07:00
f4d1703b42
longActive: consider longitudinal control ( #24295 )
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* consider longitudinal control
* update refs
2022-04-22 20:32:36 -07:00
70987fd9d9
more verbose debug alerts ( #24126 )
2022-04-22 16:12:54 -07:00
fe0bcdaef6
Lateral torque-based control with roll on TSS2 corolla and TSSP rav4 ( #24260 )
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* Initial commit
* Fix bugs
* Need more torque rate
* Cleanup cray cray control
* Write nicely
* Chiiil
* Not relevant for cray cray control
* Do some logging
* Seems like it has more torque than I thought
* Bit more feedforward
* Tune change
* Retune
* Retune
* Little more chill
* Add coroll
* Add corolla
* Give craycray a good name
* Update to proper logging
* D to the PI
* Should be in radians
* Add d
* Start oscillations
* Add D term
* Only change torque rate limits for new tune
* Add d logging
* Should be enough
* Wrong sign in D
* Downtune a little
* Needed to prevent faults
* Add lqr rav4 to tune
* Try derivative again
* Data based retune
* Data based retune
* add friction compensation
* Doesnt need too much P with friction comp
* remove lqr
* Remove kd
* Fix tests
* fix tests
* Too much error
* Get roll induced error under 1cm/deg
* Too much jitter
* Do roll comp
* Add ki
* Final update
* Update refs
* Cleanup latcontrol_torque a little more
2022-04-19 19:34:31 -07:00
5c48e7bc86
remove comma two support ( #24248 )
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* remove comma two support
* cleanup release files
* little more
* more libs
* no more gralloc
* add snpe back
2022-04-18 17:55:23 -07:00
233a167cc9
controlsd: handle controls mismatch race ( #24245 )
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* controlsd: handle controls mismatch race
* update refs
2022-04-18 17:08:25 -07:00
067273b8e7
controlsd: check if process should be running ( #24250 )
2022-04-18 14:57:04 -07:00
b9e5ad8a64
fix csid map
2022-04-14 13:17:32 -07:00
e0845752e3
Fix camera error description ( #24202 )
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* Fix camera error message
* Shorter
2022-04-13 09:56:37 -07:00
49c2164814
add alert for CAN bus timeout ( #24162 )
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* add alert for CAN bus timeout
* add alert
* set in interface
* cleanup
* cleanup
* add event
* fix mock
* bump
* bump opendbc
* update refs
* return reader
2022-04-12 22:58:34 -07:00
37fc027e98
controlsd: fix soft disable while overriding ( #24178 )
2022-04-11 10:50:00 -07:00
f54e724b5d
Body cleanup + 100Hz locationd ( #24168 )
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* use PID
* 100hz on the branch
* Better defaults
* fix int clip
* More cleanup
* Fix pid comments
* only notcar gets 100hz
* cleanup
* fix tests
* ignore
* update refs
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
2022-04-09 15:22:29 -07:00
634f7cebef
Make PI into a PID ( #24151 )
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* Make PI into a PID
* Cast like before
2022-04-07 11:34:45 -07:00
162e47456c
bump cereal
2022-04-06 22:25:59 -07:00
1ea66ee244
controlsd: fix long press set speed increment ( #24161 )
2022-04-06 22:03:40 -07:00
fb344021aa
update camera CRC alert text ( #24156 )
2022-04-06 17:46:56 -07:00
1848050fd9
add cameraFrameRate alert ( #24152 )
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* add cameraFrameRate alert
* bump cereal
2022-04-06 17:11:39 -07:00
eaa5819211
commIssueAvgFreq: separate alert for avg freq check ( #24150 )
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* commIssueAvgFreq: separate alert for avg freq check
* bump cereal
* bump cereal
* bump cereal
* freq_ok separate from alive
* bump cereal to master
* update_ref
* fix profiler
2022-04-06 16:43:32 -07:00
7dd71cc63d
body: control with joystick ( #24143 )
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* control with joystick
* slow it down
* always joystick for not car
* clean ups
* not stateful
* move submaster
* only if we aren't in test mode
* update refs
* double ki speed, update ref
* this ref
Co-authored-by: Comma Device <device@comma.ai >
2022-04-06 11:31:31 -07:00
65fca83abe
Latency logging 2 ( #24058 )
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* msg_order and gantt
* frameId in long/lat planner
* track frame id
* controls frame id
* graph tracked events
* graph json
* cloudlog timestamp
* c++ cloudlog
* add frame id
* bug fixes
* bug fixes
* frame id visionicp
* bug fixes and debug level
* timestamp log placement
* print timestamps in table
* translate events
* more logging
* bug fixes
* daemon boardd
* print logs with boardd
* more timestamp logs
* cleanup
* remove publish logs
* bug fix
* timestamp received
* timestamp received
* bug fixes
* use json lib
* ignore driver camera
* prep for new timestamp pipeline
* bug fix
* read new pipeline unfinnished
* read new pipeline
* bug fix
* add frame to controlsstate
* remove controlsstate
* print
* cleanup
* more cleanup + bug fix
* clock build issue
* remove unused imports
* format durations
* increase speed
* pr comments fixes
* conflicts
* set MANAGER_DAEMON for boardd
* clean script code
* bug fix + argparse
* remove rcv time
* bug fixes
* print without tabulate
* fix pre-commits
* plot gnatt
* color bug fix
* read without timestampextra
* bump panda
* mono time instead of frame id
* finnish script
* clean unused
* clean unused logging
* monotonic + json fixes
* del test
* remove whilelines
* bump laika
* cleanup
* remove deps
* logs nicer strings
* remove plotting from scirpt
* reset pipfile
* reset pipfile
* nicer strings
* bug fix
* bug fix
* pr comments cleaning
* remove plotting
* bug fix
* new demo route
* bump opendbc and panda
* cereal master
* cereal master
* script less komplex
* assertions
* matplotlib
* readme
* Update README.md
* graph html
* design fixes
* more code design
* Update common/logging_extra.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
* whitespace
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
* Update tools/latency_logger/latency_logger.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
* pr comments
* bug fix
* readme + env once
* clean swaglog
* bug fix
* Update tools/latencylogger/README.md
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
* revert
* revert
* clean swaglog with error
* remove typo file
* revert graph
* cereal
* submodules
* whitespaces
* update refs
Co-authored-by: Bruce Wayne <batman@workstation-openpilot2.internal >
Co-authored-by: Comma Device <device@comma.ai >
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
2022-04-05 21:05:45 -07:00
HaraldSchafer