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1114 Commits

Author SHA1 Message Date
Shane Smiskol
8427bf76cf typo 2025-05-17 22:54:01 -07:00
Shane Smiskol
49c422e872 Tesla: fix angle control saturation (#35256) 
* we shouldn't need this

* or this?

* stash junk

* hmm

* comment

* cc

* sadly we have to maintain behavior

* bump
 2025-05-16 21:29:16 -07:00
Harald Schäfer
e9cea3ae5c Revert TR again (#35179) 
Revert "Tomb Raider 7 (#35114)"

This reverts commit 0fb4aafa35.
 2025-05-11 08:24:46 -07:00
Harald Schäfer
0fb4aafa35 Tomb Raider 7 (#35114) 
* Revert "Revert TR (#35110)"

This reverts commit df4f2955dc.

* eb5f884a-10ad-49fd-ae5c-e2818c26e568/400

* 1cc828ab-95e5-4620-aa07-b98918b4268d/400

* 5790a2c1-b487-4bef-a3c3-db1fcd5a756d/400

* raw plan
 2025-05-07 18:06:41 -07:00
Harald Schäfer
df4f2955dc Revert TR (#35110) 
* Revert "Tomb raider 2 (#35029)"

This reverts commit 2c162d9b75.

* bugfix

* fix policy

* min control speed
 2025-05-02 20:54:42 -07:00
Harald Schäfer
9f1e462faa Tomb Raider 6 (#35087) 
* 5ec366c3-7883-4004-84a2-e4b14bac5b1d/400

* Use lat plan

* fix import

* fix

* 8d0a1b3b-9972-4e53-b9c5-3e13e5e3e404/400

* whitespace

* whitespace
 2025-04-30 17:19:53 -07:00
Jason Young
37839ea0c5 controls: publish current curvature in CarControl (#34679) 
* controls: publish current curvature in CarControl

* clean up

* update refs

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
 2025-04-25 13:57:18 -07:00
Bruce Wayne
a029d13398 update smooth 2025-04-21 15:44:30 -07:00
Harald Schäfer
33a7d853f0 Modeld: small refactor (#35044) 
refactor
 2025-04-21 15:10:41 -07:00
Harald Schäfer
34514ef176 Long planner: make work with training (#35043) 
* revert useless

* update ref
 2025-04-21 14:11:57 -07:00
Harald Schäfer
2c162d9b75 Tomb raider 2 (#35029) 
* db56b8fb-9135-4ab6-af18-99b7df7b2245/400

* fixes

* linter unhappy

* 6dbe0991-baa1-49ad-836a-ab370d1f0d92/400

* This one is good: 19387087-1005-475e-9015-9458dd8e7c5f/400

* Better every day: 39ed911c-0937-417f-97d2-58a8bb3caa53/400

* Actually end-to-end

* typo

* smooooooth: 94e23541-eb84-4fef-9f51-6a2d82aff314/360

* Revert "smooooooth: 94e23541-eb84-4fef-9f51-6a2d82aff314/360"

This reverts commit edd4f02386d83d82dd8a188985cde80ed1646b7f.

* 11632ef7-f555-489c-8480-e3bf97d9285e/400

* 08712d27-f6bd-4536-a30e-c729e5f62356/400

* 0a92a35e-1f72-476a-8cb6-c9f103f36822/400

* ee6d2394-2072-420c-a664-b4c0d4ed0b61/400

* no prev curv

* No double work

* fix bug

* smooth

* update prev action

* whitespace

* add little accel

* new ref

* Update plant.py
 2025-04-17 23:21:25 -07:00
Harald Schäfer
b42ec33a63 Update modeld action logic (#35032) 
* add action logic

* magic numbers

* unused

* plot accel

* more changes
 2025-04-17 17:59:15 -07:00
Shane Smiskol
a2859090d8 controls: reset desired curvature while disabled (#34943) 
* reset curvature while disabled

* comment

* duplicate line

* fix possible iso violation because it was unlimited while disengaged

* rename so you can't accidentally use

* update refs
 2025-03-26 22:41:26 -07:00
Adeeb Shihadeh
ea4554526e Keep steering active at standstill (#34918) 
* Keep steering active at standstill

* bump opendbc

* bump opendbc

* update refs
 2025-03-25 14:00:24 -07:00
Shane Smiskol
9571fc5607 radard: use a filter for aLeadTau (#34883) 
use a filter
 2025-03-15 23:49:22 -07:00
Shane Smiskol
5c3020844e car interfaces: each specify their own dependencies (#34874) 
* remove these

* fix

* oops

* clean up

* nl

* bump
 2025-03-14 22:37:49 -07:00
Shane Smiskol
4e7c605a79 Ford: radar is invalid while in reverse (#34866) 
* temp unavailable

* fix

* replay multiple

* clean up

* bump

* rename

* reason is in liveTracks

* more rename

* bump

* fix

* bump

* fix

* need to totally ignore it, or it will throw commIssues for radarErrors or not alive

* this is just simpler -- good thing kept struct

* rm
 2025-03-14 21:08:30 -07:00
Shane Smiskol
714348e17e liveTracks: bool error fields (#34869) 
* bool fields

* liveTracks.valid is already set using errors

* fix

* clean up

* same but diff

* fix

* fix

* fix test

* clean up

* rm radarErrors

* whoops

* no struct

* Revert "no struct"

This reverts commit ed8ec02493673f850800344c73c969508fc38991.

* bump

* update
 2025-03-14 20:40:28 -07:00
Shane Smiskol
811272dc28 radarState: check average frequency (#34872) 
* always check radarState freq since it polls on modelV2 and sends at a fixed rate

* fine

* can just check this since valid is all_checks on liveTracks, and liveTracks.valid is len(errors) as well

full circle
 2025-03-14 19:37:27 -07:00
Shane Smiskol
349d569dfa radard: radar errors are captured in valid flag (#34870) 
* already set valid from this

* clean up
 2025-03-14 17:21:02 -07:00
Dean Lee
06d6f254df radard: use dict comprehension for ar_pts construction (#34824) 
use dict comprehension
 2025-03-09 18:10:30 -07:00
Shane Smiskol
6891b795c4 controls: limit max curvature from lateral acceleration (#34651) 
* limit max curvature with lateral accel too

* not a guideline

* roll compensation in curv clip

* improve clipping and alerting

* typo

* clean up

* no float

* get ready

* good idea

* good

* redundant

* TODO

* test

* do max curvature clip last

* flip

---------

Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com>
 2025-03-03 19:47:52 -08:00
Shane Smiskol
68d22b960b rename steer_limited (#34763) 
rename
 2025-03-03 16:28:49 -08:00
Shane Smiskol
8f3e773977 actuators: rename steer to torque (#34724) 
* bump

* temp fix

* fix

* forgot these
 2025-02-27 16:12:55 -08:00
Shane Smiskol
6723106bf5 Move vehicle_model.py to opendbc (#34681) 
* move

* fix

* move test too

* bump

* better

* bump to master
 2025-02-26 17:35:43 -08:00
Shane Smiskol
d2c0bcf7b9 use model aLead in MPC (#34598) 
* use model aLead in MPC

* update
 2025-02-16 21:24:41 -08:00
Harald Schäfer
77a442c4e8 Long planner: allow negative accel constraint (#34565) 
* allow negative accel constraint

* dont let MPC do clipping

* Typo

* whitespace

* Fix tests

* More cruise accel

* rm print

* ref commit
 2025-02-12 13:11:32 -08:00
Shane Smiskol
1d86afdf83 carName -> brand (#34474) 
* bump

* brand

* body is lower
 2025-01-25 01:39:06 -06:00
Sammohana
8eebce75ac Getting rid of openpilot.common.numpy_fast (#34368) 
* Got rid openpilot.common.numpy_fast

* fixed some data type erros

* importing numpy instead of importing specific functions

* fixing some numpy importing mistakes

* Update selfdrive/car/cruise.py

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2025-01-14 14:52:56 -08:00
Harald Schäfer
383893d39e Long planner get accel: new function args (#34288) 
* Change function args

* typo

* typo

* ref commit
 2024-12-18 16:41:57 -08:00
Harald Schäfer
8743bc4fe2 Null Pointer Model (#34111) 
* e8cb7f27-e448-4c15-90c2-ac440cd5a042/400

* 0078ad07-4d46-4086-820f-23d61c90e07f/400

* 4bd74082-70af-47da-8156-e84ebf4d4812/400

* 2a074022-5c2c-4628-97f9-f54849a936a6/400

* 0660aa81-93c5-41b7-9cc2-dc8816a512cd/400

* Clip curvature to reasonable limits

* Better curvature and speed clips

* typo

* typo

* 31aa62c3-b373-4878-8f2e-5107305de187/400

* 384690ca-9b8a-41fe-9bcd-389b20fc6aa4/400

* ref commit

---------

Co-authored-by: Yassine <yassine.y10@gmail.com>
 2024-12-13 19:14:21 -08:00
Maxime Desroches
4170534c02 ci: faster process_replay (#33989) 
* try

* fix

* try

* try

* try

* monitor

* no

* how fast

* more

* timeout

* remove

* ruff

* try

* less

* cons

* less

* cons

* revert

* more and less

* more?

* more?

* cons

* cons

* cons

* cons

* cons
 2024-11-12 14:26:21 -08:00
Mitchell Goff
b470bef140 Fix low-speed allow_throttle behavior in long planner (#33894) 
* Misc fixes

* don't check allow_throttle slowdown for e2e

* Removed unused variable

* believe this clip is still necessary

* Update process replay refs

---------

Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com>
 2024-10-30 14:15:19 -07:00
Shane Smiskol
b943cbd421 Reapply "Remove steering wheel offset for planner slow down for curves" (#33848) (#33849) 
* Reapply "Remove steering wheel offset for planner slow down for curves" (#33848)

This reverts commit 4f8b11257e.

* careless

* Update ref_commit
 2024-10-24 19:24:11 -07:00
Shane Smiskol
07ad6e27d0 radard: remove deprecated function 2024-10-23 22:13:08 -07:00
Kacper Rączy
0ff498cc83 longitudinal_planner: allow for zero actuator delay (#33855) 
Allow zero actuator delay
 2024-10-22 20:49:10 -07:00
Shane Smiskol
4f8b11257e Revert "Remove steering wheel offset for planner slow down for curves" (#33848) 
Revert "Remove steering wheel offset for planner slow down for curves (#33827)"

This reverts commit d26730ffd5.
 2024-10-22 12:58:06 -07:00
Tim Wilson
d26730ffd5 Remove steering wheel offset for planner slow down for curves (#33827) 
* long planner: use vehicle model w/ avg steer offset for limit accel in turns

* remove unused CP in limit_accel_in_turns

* revert use of vehicle model, keeping angle offset in limit accel in turns

* only the offset fix, check valid, and fix process replay

* update refs (valid two frames later)

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
 2024-10-22 12:50:06 -07:00
Shane Smiskol
af727d41bb long planner: allow throttle reflects usage (#33792) 
* UI is now accurate

* update refs
 2024-10-14 20:54:42 -07:00
Shane Smiskol
7556233cca Reapply "move car.capnp to opendbc (#33722)" (#33728) 
* Reapply "move car.capnp to opendbc" (#33725)

This reverts commit 9d52a5b485.

* why can't i repro?!

* Revert "why can't i repro?!"

This reverts commit 0435d218f790faf7b7aaed27d05ab9ee67b087e6.

* does this cause card to try and read it?

* better place

* wtf

* Reapply "why can't i repro?!"

This reverts commit d24fd5a0abf454f47d5591e3b39039fdc4d0251c.

* also here
 2024-10-03 22:47:03 -07:00
Shane Smiskol
9d52a5b485 Revert "move car.capnp to opendbc" (#33725) 
Revert "move car.capnp to opendbc (#33722)"

This reverts commit 8149f7cb11.
 2024-10-03 16:57:45 -07:00
Shane Smiskol
8149f7cb11 move car.capnp to opendbc (#33722) 
* move car.capnp to opendbc

* bump

* do card

* fix some more tests

* rm helpers

* format fp

* more

* whoops

* bump

* bump to master
 2024-10-03 16:40:24 -07:00
Shane Smiskol
9cbd34158f GM: signed wheel speeds (#33697) 
* signed wheel speeds

* clean up

* bump to master

* bump to master again

* did a sanity check for negative vego

* bump
 2024-10-01 21:17:24 -07:00
Mitchell Goff
47cc314b14 Gate acceleration on model gas press predictions (#33643) 
* no ui squash

* already calibrated

* Already calibrated

* Add longitudinal maneuver tests

* Fix linter errors

* Added get_coast_accel function

---------

Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com>
 2024-09-30 18:13:51 -07:00
YassineYousfi
36a9687d5d long planner: use temporalPose for v_model_error calibration (#33655) 
* long planner: add flag to disable v_model_error calibration

* use temporal pose instead of flag

* udpate model replay ref
 2024-09-26 11:01:56 -07:00
Harald Schäfer
e8bea2c78f Tomb Raider Model (#33629) 
* 69acff08-5383-4103-beea-822f0d228c76/160

* 53f39907-4763-4d19-ba26-e757527c2b61/200

* 21afb89f-1397-4652-b423-abc2da32417a/200

* 21afb89f-1397-4652-b423-abc2da32417a/400

* 53f39907-4763-4d19-ba26-e757527c2b61/400

* 3fb967fd-16a8-4569-ba57-359e54deeab3/395

* Try other policy again

* 3fb967fd-16a8-4569-ba57-359e54deeab3/400

* 0136cabf-539a-4a43-bc7f-06c3654a493c/4400

* 473c0686-1ac9-4c05-9b0b-d1f1afdb6cc3/400

* 83b7993d-51a9-4e3f-904e-3fcd5763c231/400

* 021566c7-cff3-431d-8da2-17a96c888c5f/400

* Fix bugs

* Update longitudinal_planner.py

* Update fill_model_msg.py

* 8be6b59d-4449-42fd-b8e0-93c48387070f/400

* f670a748-3591-4489-a0b3-215118ddad01/400

* 790a2950-c713-4eec-838b-4f55f4fe0ccb/400

* Update model ref

* Plans start at ego

* Update ref
 2024-09-23 14:26:28 -07:00
Shane Smiskol
2e6e977c93 Longitudinal planner: wait for valid cruise speed (#33568) 
* Revert "only vCruise changes here"

This reverts commit 4f5659b5d53e9bac3357781bce262a29d3b1d14e.

* less nonsense
 2024-09-16 16:06:02 -07:00
Adeeb Shihadeh
b168c6f9af controlsd is driven by selfdriveState (#33541) 
* controlsd is driven by selfdriveState

* update refs
 2024-09-11 15:02:38 -07:00
Adeeb Shihadeh
e04455cbaa selfdrived: controlsd only does controls (#33485) 
* selfdrived

* process replay

* lil more

* set the valids

* rename that
 2024-09-06 17:16:32 -07:00
Adeeb Shihadeh
e459cee1e7 Setup driverAssistance service (#33495) 
* Move LDW and FCW to driverAssitance service

* move ldw

* cleanup
 2024-09-06 15:30:14 -07:00