8a2cbfe00b
paramsd: fix VehicleModelInvalid errors ( #23726 )
...
* bound steerratio, stiffness std
* remove start steer_ratio limits after looking at data
* reduce sf obs noise
* update refs
* update refs
* add comment explaining change
2022-02-09 17:37:28 -08:00
8effa2d878
hide localizerMalfunction alert ( #23730 )
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* hide localizerMalfunction alert
* update ref
2022-02-08 22:22:03 -08:00
4c766934be
reduce shutdownd CPU usage ( #23723 )
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* reduce shutdownd CPU usage
* sync
Co-authored-by: Comma Device <device@comma.ai >
2022-02-07 18:50:54 -08:00
48e97b7872
small test_models.py speedup
2022-02-07 16:10:20 -08:00
341f5a4ae0
Mazda CX-5 2022 Car port ( #23704 )
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* Mazda CX5 2022 FW
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com >
* CX-5 2022: No lockout and steer down to zero
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com >
* CX-5 2022: No dashcam!
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com >
* CX-5 2022: add to supported cars
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com >
* Mazda: stick with 800 max torque for now
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com >
* Update docs/CARS.md
* Apply suggestions from code review
* Mazda: set car models where needed
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com >
* Mazda: set minSteerSpeed per car
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com >
* unused
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com >
* cleanup
* Update selfdrive/car/mazda/interface.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
2022-02-04 23:34:37 -08:00
af33998335
update refs
2022-01-30 20:46:40 -08:00
602f92fc0e
controlsd: only add startup event until initialized ( #23671 )
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* controlsd: only add startup event until initialized
* update refs
* update again
2022-01-30 20:38:05 -08:00
c8429f913e
test car models improvements ( #23668 )
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* run on all routes
* min segment length
* invalid
* revert that
2022-01-30 11:17:51 -08:00
d2735d73fc
test car models: fix all panda safety mismatches ( #23616 )
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* remove tolerance
* fix nissan mismatches
* warm up
* remove additional bosch check
* another honda exception
* little more
* Update selfdrive/test/test_models.py
2022-01-29 22:14:27 -08:00
5219554b85
Honda: fix controls mismatch for stock PCM configs ( #23662 )
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* Honda: fix controls mismatch for stock PCM configs
* ready to remove
* bump panda
2022-01-29 17:01:26 -08:00
72e00a0768
No actuation while in pre-enabled state ( #23658 )
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* No actuation while in pre-enabled state
* update refs
2022-01-28 16:03:44 -08:00
3645186d7c
CANParser: remove default values ( #23642 )
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* draft
* remove rest
* bump
* update radar interfaces
* do rest and formatting
* bump
* fix mising check
* try this
* Revert "try this"
This reverts commit 0d26d9a072f87dbc897ed525b70fb1db9cb04a06.
* update refs
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
2022-01-27 17:06:18 -08:00
ee71fd2fcc
clip steer saturation counter to steerLimitTimer ( #23638 )
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* clip steer saturation counter to steerLimitTimer
* update ref
2022-01-27 12:31:36 +01:00
2240b802be
Toyota: Prius V 2017 support ( #23636 )
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* Add Toyota Prius Alpha support
* Fix opendbc link
* Update interface.py
* v
* revert opendbc
Co-authored-by: CT921 <tim.chen242@gmail.com >
Co-authored-by: 【TIM】 <90225659+CT921@users.noreply.github.com >
2022-01-26 22:57:26 -08:00
013cccf6a8
update refs
2022-01-26 17:46:12 -08:00
cf9eee4272
INDI: replace internal rate limit by actuatorsOutput ( #23243 )
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* INDI: replace internal rate limit by actuatorsOutput
* update ref
2022-01-26 17:45:05 +01:00
5ac32705d0
compare_logs: catch typeError ( #23632 )
2022-01-26 17:13:32 +01:00
9de8f8cd8c
base LatControl class ( #21967 )
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* base LatControl class, move sat check out of pid.py
clean up
clean up
* fix
* global variable for min control speed
* nicer name
* unify latcontrol class init arguments
* add to release files
* saturated if close to limit
* move angle mode saturation checks into class
* check_saturation function takes in current saturated status
undo
* apply latcontrol_angle's active checking to all controllers
* clean up
* move those back
* make abstract baseclass
* add test for saturation
* keep clip
* update ref
* fix static analysis
Co-authored-by: Willem Melching <willem.melching@gmail.com >
2022-01-26 17:10:41 +01:00
4f827e2e9e
Honda: Merge Pilot_2019 into Pilot ( #23590 )
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* merge pilot
* these weren't on the 2019 pilot
* add non essential ECUs
2022-01-24 21:19:40 -08:00
b18c4eeb82
Toyota: move gas pedal definitions into common DBC ( #23582 )
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* Toyota: move gas pedal definitions into common DBC
* add rest of cars
* auto detection
* cleanup
* update refs
2022-01-24 15:43:10 -08:00
3e9cb7fa12
remove community features toggle ( #23214 )
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* remove community features toggle
* bump cereal
* little more
* update refs
2022-01-24 14:49:47 -08:00
c51561c2ca
process replay: disable alive checks for cpp replay
2022-01-24 12:06:43 +01:00
aa9e635311
Add more type hinting ( #23595 )
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* Add more type hinting.
* Revert joystick_alert changes.
* Add typing to statsd.
* Update selfdrive/statsd.py
* Update selfdrive/test/test_fingerprints.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
2022-01-21 15:11:16 -08:00
d3d10e014a
Ensure controlsd can engage again in process replay ( #23556 )
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* hacks to make process replay engage again
* dont change that
* enable engagement check again
* chmod +x
* first working regen
* proper logMonoTime
* fix video framerate consistency
* mpc is valid again
* proper alive checks
* revert loggerd change
* ensure engaged in regen, fix managerState, peripheralState
* ubloxRaw is unused
* add submaster config for gm
* regen all services we can run without HW
* fix loggerd
* loggerd: matroska without the extension
* update ref
2022-01-21 13:13:34 +01:00
920829875f
Update refs for PR:#23584)
2022-01-20 14:24:36 -08:00
0681474840
work on acados lateral MPC ( #23558 )
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* lat_mpc: make v_ego, rotation_radius parameters instead of states
* lat_mpc: remove rotation_radius argument, since it is part of the parameters
* lat_mpc: use qp_solver_cond_N = 1
slightly faster and in line with case study in Fig. 2/ 3 in Frison2016 - https://cdn.syscop.de/publications/Frison2016.pdf
An Efficient Implementation of Partial Condensing for Nonlinear Model Predictive Control
* adapt test_lateral_mpc to formulation with parameters
* lat_mpc: set parameters in reset() and copy values
* acados_ocp_solver_pyx: make options_set useable
* update ref
Co-authored-by: Willem Melching <willem.melching@gmail.com >
2022-01-18 09:49:48 -08:00
5b385c34a4
thermald refactor seems to have lower CPU usage
2022-01-18 16:17:54 +01:00
f76328b426
Log MPC solver time ( #23566 )
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* add solve time to plan output
* add to process replay ignore list
* print in CI
2022-01-18 14:51:03 +01:00
57156c4482
Chrysler: remove standstill exception for gas disengage ( #23515 )
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* Chrysler: remove standstill exception for gas disengage
* remove test exception
* bump panda
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
2022-01-13 16:06:56 -08:00
f808b174af
use roll std from locationd ( #23449 )
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* use roll std from locationd
* cleaner
* add todo
* new ref
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com >
2022-01-12 21:37:09 -08:00
9941c99f7c
process replay: handle inf and nan in absolute tolerance
2022-01-12 13:34:46 -08:00
eb9f35946d
Toyota: Support Avalon 2022 (TSS2.5) ( #23381 )
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* Add AVALON_TSS2
* Is TSS2 now!
* Add Avalon to CARS.md
* add to test_routes
add to test_routes
2022-01-12 09:41:07 -08:00
5fb9c6aa68
thermald has slowly started to use more CPU
2022-01-11 15:40:18 +01:00
cf9792dc53
Longcontrol: remove starting state ( #23328 )
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* remove starting state
* new ref
* ready for merge
* try this
* cereal now on master
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com >
2022-01-04 15:40:39 -08:00
d3f064f5ca
Controlsd: fix bug in curv rate limit ( #23250 )
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* Controlsd: fix bug in curv rate limit
* update ref
2022-01-04 13:21:56 -08:00
aad7ebdc2a
bump CPU usage slightly after adding glFlush
2022-01-04 16:26:59 +01:00
9f88ba188a
Longitudinal planner: make v_desired a FirstOrderFilter ( #23341 )
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* make v_desired a FirstOrderFilter
* forgot one
* one more ref
* Add a new object for the filter
* fix
* fix tests
* update ref
Co-authored-by: Willem Melching <willem.melching@gmail.com >
2022-01-04 12:17:33 +01:00
bd399693b6
Hyundai: Car Port for 2022 Santa Fe Plug-in Hybrid ( #23332 )
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* Add car port: Hyundai Santa Fe Plug-in Hybrid 2022
* Add test route
2021-12-31 17:28:07 -08:00
699b20ed44
test/profiler: fix setting carParams
2021-12-26 21:02:12 -08:00
332f568a82
Pyupgrade 3.6: Update syntax with Python 3.6+ features ( #23305 )
...
Updated Python code with Python 3.6+ features:
- utf-8 encoding is now the default (PEP 3120)
- Replace list comprehensions by Generator Expressions (PEP 289)
- Replace yield loop by yield from (PEP 380)
- Remove the (object) subclass when defining a class
- Replace the IOError alias by OSError (PEP 3151)
- Define sets with curly braces {} instead of set()
- Remove "r" parameter from open function, which is default
Co-Authored-By: Adeeb Shihadeh <8762862+adeebshihadeh@users.noreply.github.com >
Co-Authored-By: GregorKikelj <96022003+GregorKikelj@users.noreply.github.com >
Co-authored-by: Adeeb Shihadeh <8762862+adeebshihadeh@users.noreply.github.com >
Co-authored-by: GregorKikelj <96022003+GregorKikelj@users.noreply.github.com >
2021-12-24 11:18:39 -08:00
cf466222f6
Road Roll Compensation Rebased ( #23251 )
...
* first commit
* update refs
2021-12-16 17:34:12 -08:00
e49480185a
update model replay ref commit after increased model idx precision
2021-12-16 15:58:56 -08:00
55390d273f
Convert format strings strings to f-strings ( #23241 )
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* Convert all text strings to f-strings
Reformats all the text from the old "%-formatted" and .format(...) format to the newer f-string format, as defined in PEP 498. This requires Python 3.6+.
Flynt 0.69 was used to reformat the strings. 120 f-strings were created in 51 files.
F-strings are in general more readable, concise and performant. See also: https://www.python.org/dev/peps/pep-0498/#rationale
* revert pyextra changes
* revert ublox.py
Co-authored-by: Willem Melching <willem.melching@gmail.com >
2021-12-16 14:58:17 +01:00
4f1eb4278a
Log actuators after applying rate limits in CarController ( #23230 )
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* return actuators from carcontroller
* log it
* pass to latcontrol
* chrysler
* gm
* honda
* more brands
* rest of the brands
* gm cleanup
* hyundai cleanup
* update ref
* rename field
* fix subaru
* add types
* more subaru fixes #23240
* consistent whitespace
* bump cereal
2021-12-16 13:08:20 +01:00
66ee3e9ef9
model replay: more consistent replay ( #23237 )
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* first cleanup
* don't send calib and desire
* should always be valid
* little more
2021-12-15 16:12:24 -08:00
7fd98757b4
Subaru: Add Impreza/Crosstrek 2020 ( #21011 )
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* Add Subaru Impreza/Crosstrek 2020
* Update selfdrive/test/test_routes.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
2021-12-15 15:13:31 -08:00
c25ed45437
Update ref with minSpeedCAN removed
2021-12-14 12:31:30 -08:00
af5a418fa6
DM: more adaptive pose policy ( #23184 )
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* rename and add dep
* proto thresholds
* tweak vk
* update natural offset and clip offsets
* 95th looks good
* no punish for being relaxed
* yaw laplace only
* some pay more attention
* update ref
Co-authored-by: Willem Melching <willem.melching@gmail.com >
2021-12-14 12:13:59 -08:00
af125f3c51
update refs
2021-12-12 13:49:14 -08:00
07b971d473
alerts: handle min duration properly ( #23191 )
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* alerts: handle min duration properly
* add active
* tests
* cleanup test
* update refs
2021-12-10 19:20:07 -08:00
Vivek Aithal