mirror of
https://github.com/infiniteCable2/openpilot.git
synced 2026-08-06 00:36:29 +08:00
Merge branch 'master' of https://github.com/infiniteCable2/openpilot into simple_long
This commit is contained in:
infiniteCable2
@@ -118,8 +118,8 @@ jobs:
|
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run: |
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# Use GitHub API to get PRs with specific label, ordered by creation date
|
||||
PR_LIST=$(gh api graphql -f query='
|
||||
query($label:String!) {
|
||||
search(query: $label, type:ISSUE, first:100) {
|
||||
query($search_query:String!) {
|
||||
search(query: $search_query, type:ISSUE, first:100) {
|
||||
nodes {
|
||||
... on PullRequest {
|
||||
number
|
||||
@@ -149,7 +149,7 @@ jobs:
|
||||
}
|
||||
}
|
||||
}
|
||||
}' -F label="is:pr is:open label:${PR_LABEL} draft:false sort:created-asc")
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}' -F search_query="repo:${{ github.repository }} is:pr is:open label:${PR_LABEL},${PR_LABEL}-c3 draft:false sort:created-asc")
|
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|
||||
PR_LIST=${PR_LIST//\'/}
|
||||
echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT
|
||||
|
||||
@@ -255,4 +255,13 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
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{"MapTargetVelocities", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
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{"SmartCruiseControlMap", {PERSISTENT | BACKUP, BOOL, "0"}},
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{"SmartCruiseControlVision", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
// Torque lateral control custom params
|
||||
{"CustomTorqueParams", {PERSISTENT | BACKUP , BOOL}},
|
||||
{"EnforceTorqueControl", {PERSISTENT | BACKUP, BOOL}},
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{"LiveTorqueParamsToggle", {PERSISTENT | BACKUP , BOOL}},
|
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{"LiveTorqueParamsRelaxedToggle", {PERSISTENT | BACKUP , BOOL}},
|
||||
{"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
|
||||
{"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},
|
||||
};
|
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|
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+6
-3
@@ -4,7 +4,7 @@
|
||||
|
||||
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
|
||||
|
||||
# 334 Supported Cars
|
||||
# 337 Supported Cars
|
||||
|
||||
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br> |Video|Setup Video|
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||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
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||||
@@ -83,7 +83,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Civic Hatchback Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025">Buy Here</a></sub></details>|||
|
||||
|Honda|Clarity 2018-21|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector + Honda Clarity Proxy Board<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://shop.retropilot.org/product/honda-clarity-proxy-board-kit">Buy Here</a></sub></details>|||
|
||||
@@ -99,7 +99,9 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2021-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Pilot 2023-25|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
|
||||
@@ -163,6 +165,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Kia|EV6 (without HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2019-21">Buy Here</a></sub></details>|||
|
||||
|Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2022-23">Buy Here</a></sub></details>|||
|
||||
|Kia|Forte Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte Non-SCC 2019">Buy Here</a></sub></details>|||
|
||||
|Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 2021-24">Buy Here</a></sub></details>|||
|
||||
|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Kia|K8 Hybrid (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|||
|
||||
@@ -259,7 +262,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW4) 2024[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard 2019-20">Buy Here</a></sub></details>|||
|
||||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
|
||||
|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
|
||||
|
||||
+1
-1
Submodule opendbc_repo updated: 64b1f603c9...fe7c0a92ca
@@ -48,6 +48,10 @@ class LatControlTorque(LatControl):
|
||||
self.lateral_accel_from_torque(-self.steer_max, self.torque_params))
|
||||
|
||||
def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
|
||||
# Override torque params from extension
|
||||
if self.extension.update_override_torque_params(self.torque_params):
|
||||
self.update_limits()
|
||||
|
||||
pid_log = log.ControlsState.LateralTorqueState.new_message()
|
||||
if not active:
|
||||
output_torque = 0.0
|
||||
|
||||
@@ -11,6 +11,7 @@ from openpilot.common.filter_simple import FirstOrderFilter
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, PoseCalibrator, Pose
|
||||
from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
|
||||
from openpilot.sunnypilot.selfdrive.locationd.torqued_ext import TorqueEstimatorExt
|
||||
|
||||
HISTORY = 5 # secs
|
||||
POINTS_PER_BUCKET = 1500
|
||||
@@ -50,9 +51,10 @@ class TorqueBuckets(PointBuckets):
|
||||
break
|
||||
|
||||
|
||||
class TorqueEstimator(ParameterEstimator):
|
||||
class TorqueEstimator(ParameterEstimator, TorqueEstimatorExt):
|
||||
def __init__(self, CP, decimated=False, track_all_points=False):
|
||||
super().__init__()
|
||||
ParameterEstimator.__init__(self)
|
||||
TorqueEstimatorExt.__init__(self, CP)
|
||||
self.CP = CP
|
||||
self.hist_len = int(HISTORY / DT_MDL)
|
||||
self.lag = 0.0
|
||||
@@ -82,6 +84,8 @@ class TorqueEstimator(ParameterEstimator):
|
||||
|
||||
self.calibrator = PoseCalibrator()
|
||||
|
||||
TorqueEstimatorExt.initialize_custom_params(self, decimated)
|
||||
|
||||
self.reset()
|
||||
|
||||
initial_params = {
|
||||
@@ -260,6 +264,8 @@ def main(demo=False):
|
||||
t = sm.logMonoTime[which] * 1e-9
|
||||
estimator.handle_log(t, which, sm[which])
|
||||
|
||||
TorqueEstimatorExt.update_use_params(estimator)
|
||||
|
||||
# 4Hz driven by livePose
|
||||
if sm.frame % 5 == 0:
|
||||
pm.send('liveTorqueParameters', estimator.get_msg(valid=sm.all_checks()))
|
||||
|
||||
@@ -51,6 +51,8 @@ lateral_panel_qt_src = [
|
||||
"sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc",
|
||||
"sunnypilot/qt/offroad/settings/lateral/mads_settings.cc",
|
||||
"sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc",
|
||||
"sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.cc",
|
||||
"sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.cc",
|
||||
]
|
||||
|
||||
longitudinal_panel_qt_src = [
|
||||
|
||||
+11
-3
@@ -10,14 +10,15 @@
|
||||
NeuralNetworkLateralControl::NeuralNetworkLateralControl() :
|
||||
ParamControl("NeuralNetworkLateralControl", tr("Neural Network Lateral Control (NNLC)"), "", "") {
|
||||
setConfirmation(true, false);
|
||||
updateToggle();
|
||||
updateToggle(offroad);
|
||||
}
|
||||
|
||||
void NeuralNetworkLateralControl::updateToggle() {
|
||||
void NeuralNetworkLateralControl::updateToggle(bool _offroad) {
|
||||
QString statusInitText = "<font color='yellow'>" + STATUS_CHECK_COMPATIBILITY + "</font>";
|
||||
QString notLoadedText = "<font color='yellow'>" + STATUS_NOT_LOADED + "</font>";
|
||||
QString loadedText = "<font color=#00ff00>" + STATUS_LOADED + "</font>";
|
||||
|
||||
bool allowed = true;
|
||||
auto cp_bytes = params.get("CarParamsPersistent");
|
||||
auto cp_sp_bytes = params.get("CarParamsSPPersistent");
|
||||
if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
|
||||
@@ -31,7 +32,7 @@ void NeuralNetworkLateralControl::updateToggle() {
|
||||
if (CP.getSteerControlType() == cereal::CarParams::SteerControlType::ANGLE) {
|
||||
params.remove("NeuralNetworkLateralControl");
|
||||
setDescription(nnffDescriptionBuilder(STATUS_NOT_AVAILABLE));
|
||||
setEnabled(false);
|
||||
allowed = false;
|
||||
} else {
|
||||
QString nn_model_name = QString::fromStdString(CP_SP.getNeuralNetworkLateralControl().getModel().getName());
|
||||
QString nn_fuzzy = CP_SP.getNeuralNetworkLateralControl().getFuzzyFingerprint() ?
|
||||
@@ -56,4 +57,11 @@ void NeuralNetworkLateralControl::updateToggle() {
|
||||
if (getDescription() != getBaseDescription()) {
|
||||
showDescription();
|
||||
}
|
||||
|
||||
bool enforce_torque_toggle = params.getBool("EnforceTorqueControl");
|
||||
setEnabled(_offroad && allowed && !enforce_torque_toggle);
|
||||
|
||||
refresh();
|
||||
|
||||
offroad = _offroad;
|
||||
}
|
||||
|
||||
+2
-1
@@ -20,10 +20,11 @@ public:
|
||||
NeuralNetworkLateralControl();
|
||||
|
||||
public slots:
|
||||
void updateToggle();
|
||||
void updateToggle(bool _offroad);
|
||||
|
||||
private:
|
||||
Params params;
|
||||
bool offroad;
|
||||
|
||||
// Status messages
|
||||
const QString STATUS_NOT_AVAILABLE = tr("NNLC is currently not available on this platform.");
|
||||
|
||||
+58
@@ -0,0 +1,58 @@
|
||||
/**
|
||||
* Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
*
|
||||
* This file is part of sunnypilot and is licensed under the MIT License.
|
||||
* See the LICENSE.md file in the root directory for more details.
|
||||
*/
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.h"
|
||||
|
||||
TorqueLateralControlCustomParams::TorqueLateralControlCustomParams(const QString ¶m, const QString &title, const QString &description, const QString &icon, QWidget *parent)
|
||||
: ExpandableToggleRow(param, title, description, icon, parent) {
|
||||
|
||||
QFrame *frame = new QFrame(this);
|
||||
QGridLayout *frame_layout = new QGridLayout();
|
||||
frame->setLayout(frame_layout);
|
||||
frame_layout->setSpacing(0);
|
||||
|
||||
torqueLateralControlParamsOverride = new ParamControl(
|
||||
"TorqueParamsOverrideEnabled",
|
||||
tr("Manual Real-Time Tuning"),
|
||||
tr("Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values."),
|
||||
"../assets/offroad/icon_blank.png",
|
||||
this
|
||||
);
|
||||
connect(torqueLateralControlParamsOverride, &ParamControl::toggleFlipped, this, &TorqueLateralControlCustomParams::refresh);
|
||||
|
||||
torqueParamsOverrideLatAccelFactor = new OptionControlSP("TorqueParamsOverrideLatAccelFactor", tr("Lateral Acceleration Factor"), "", "", {1, 500}, 1, false, nullptr, true, false);
|
||||
connect(torqueParamsOverrideLatAccelFactor, &OptionControlSP::updateLabels, this, &TorqueLateralControlCustomParams::refresh);
|
||||
torqueParamsOverrideLatAccelFactor->setFixedWidth(280);
|
||||
|
||||
torqueParamsOverrideFriction = new OptionControlSP("TorqueParamsOverrideFriction", tr("Friction"), "", "", {1, 100}, 1, false, nullptr, true, false);
|
||||
connect(torqueParamsOverrideFriction, &OptionControlSP::updateLabels, this, &TorqueLateralControlCustomParams::refresh);
|
||||
torqueParamsOverrideFriction->setFixedWidth(280);
|
||||
|
||||
frame_layout->addWidget(torqueLateralControlParamsOverride, 0, 0, 1, 2);
|
||||
QSpacerItem *spacer = new QSpacerItem(20, 40);
|
||||
frame_layout->addItem(spacer, 1, 0, 1, 2);
|
||||
frame_layout->addWidget(torqueParamsOverrideLatAccelFactor, 2, 0, Qt::AlignCenter);
|
||||
frame_layout->addWidget(torqueParamsOverrideFriction, 2, 1, Qt::AlignCenter);
|
||||
|
||||
addItem(frame);
|
||||
|
||||
refresh();
|
||||
}
|
||||
|
||||
void TorqueLateralControlCustomParams::refresh() {
|
||||
bool torque_override_param = params.getBool("TorqueParamsOverrideEnabled");
|
||||
float laf_param = QString::fromStdString(params.get("TorqueParamsOverrideLatAccelFactor")).toFloat();
|
||||
const QString laf_unit = "m/s²";
|
||||
|
||||
float friction_param = QString::fromStdString(params.get("TorqueParamsOverrideFriction")).toFloat();
|
||||
|
||||
torqueParamsOverrideLatAccelFactor->setTitle(tr("Lateral Acceleration Factor") + "\n(" + (torque_override_param ? tr("Real-time and Offline") : tr("Offline Only")) + ")");
|
||||
torqueParamsOverrideFriction->setTitle(tr("Friction") + "\n(" + (torque_override_param ? tr("Real-time and Offline") : tr("Offline Only")) + ")");
|
||||
|
||||
torqueParamsOverrideLatAccelFactor->setLabel(QString::number(laf_param, 'f', 2) + " " + laf_unit);
|
||||
torqueParamsOverrideFriction->setLabel(QString::number(friction_param, 'f', 2));
|
||||
}
|
||||
+27
@@ -0,0 +1,27 @@
|
||||
/**
|
||||
* Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
*
|
||||
* This file is part of sunnypilot and is licensed under the MIT License.
|
||||
* See the LICENSE.md file in the root directory for more details.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/ui.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
|
||||
|
||||
class TorqueLateralControlCustomParams : public ExpandableToggleRow {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
TorqueLateralControlCustomParams(const QString ¶m, const QString &title, const QString &description, const QString &icon, QWidget *parent = nullptr);
|
||||
void refresh();
|
||||
|
||||
private:
|
||||
Params params;
|
||||
ParamControl *torqueLateralControlParamsOverride;
|
||||
OptionControlSP *torqueParamsOverrideFriction;
|
||||
OptionControlSP *torqueParamsOverrideLatAccelFactor;
|
||||
};
|
||||
+81
@@ -0,0 +1,81 @@
|
||||
/**
|
||||
* Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
*
|
||||
* This file is part of sunnypilot and is licensed under the MIT License.
|
||||
* See the LICENSE.md file in the root directory for more details.
|
||||
*/
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.h"
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
|
||||
|
||||
TorqueLateralControlSettings::TorqueLateralControlSettings(QWidget *parent) : QWidget(parent) {
|
||||
QVBoxLayout *main_layout = new QVBoxLayout(this);
|
||||
main_layout->setContentsMargins(50, 20, 50, 20);
|
||||
main_layout->setSpacing(20);
|
||||
|
||||
// Back button
|
||||
PanelBackButton *back = new PanelBackButton();
|
||||
connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
|
||||
main_layout->addWidget(back, 0, Qt::AlignLeft);
|
||||
|
||||
ListWidget *list = new ListWidget(this, false);
|
||||
// param, title, desc, icon
|
||||
std::vector<std::tuple<QString, QString, QString, QString>> toggle_defs{
|
||||
{
|
||||
"LiveTorqueParamsToggle",
|
||||
tr("Self-Tune"),
|
||||
tr("Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default."),
|
||||
"../assets/offroad/icon_blank.png",
|
||||
},
|
||||
{
|
||||
"LiveTorqueParamsRelaxedToggle",
|
||||
tr("Less Restrict Settings for Self-Tune (Beta)"),
|
||||
tr("Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values."),
|
||||
"../assets/offroad/icon_blank.png",
|
||||
}
|
||||
};
|
||||
|
||||
for (auto &[param, title, desc, icon] : toggle_defs) {
|
||||
auto toggle = new ParamControlSP(param, title, desc, icon, this);
|
||||
list->addItem(toggle);
|
||||
toggles[param.toStdString()] = toggle;
|
||||
}
|
||||
|
||||
torqueLateralControlCustomParams = new TorqueLateralControlCustomParams(
|
||||
"CustomTorqueParams",
|
||||
tr("Enable Custom Tuning"),
|
||||
tr("Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within \"opendbc/car/torque_data\". "
|
||||
"The values will also be used live when \"Manual Real-Time Tuning\" toggle is enabled."),
|
||||
"../assets/offroad/icon_blank.png",
|
||||
this);
|
||||
list->addItem(torqueLateralControlCustomParams);
|
||||
|
||||
QObject::connect(uiState(), &UIState::offroadTransition, this, &TorqueLateralControlSettings::updateToggles);
|
||||
QObject::connect(toggles["LiveTorqueParamsToggle"], &ParamControlSP::toggleFlipped, [=](bool state) {
|
||||
if (!state) {
|
||||
params.remove("LiveTorqueParamsRelaxedToggle");
|
||||
toggles["LiveTorqueParamsRelaxedToggle"]->refresh();
|
||||
}
|
||||
|
||||
updateToggles(offroad);
|
||||
});
|
||||
|
||||
main_layout->addWidget(new ScrollViewSP(list, this));
|
||||
}
|
||||
|
||||
void TorqueLateralControlSettings::showEvent(QShowEvent *event) {
|
||||
updateToggles(offroad);
|
||||
}
|
||||
|
||||
void TorqueLateralControlSettings::updateToggles(bool _offroad) {
|
||||
bool live_toggle = toggles["LiveTorqueParamsToggle"]->isToggled();
|
||||
|
||||
toggles["LiveTorqueParamsToggle"]->setEnabled(_offroad);
|
||||
toggles["LiveTorqueParamsRelaxedToggle"]->setEnabled(_offroad && live_toggle);
|
||||
|
||||
torqueLateralControlCustomParams->setEnabled(_offroad);
|
||||
torqueLateralControlCustomParams->refresh();
|
||||
|
||||
offroad = _offroad;
|
||||
}
|
||||
@@ -0,0 +1,36 @@
|
||||
/**
|
||||
* Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
*
|
||||
* This file is part of sunnypilot and is licensed under the MIT License.
|
||||
* See the LICENSE.md file in the root directory for more details.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "selfdrive/ui/qt/util.h"
|
||||
#include "selfdrive/ui/sunnypilot/ui.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
|
||||
|
||||
class TorqueLateralControlSettings : public QWidget {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit TorqueLateralControlSettings(QWidget *parent = nullptr);
|
||||
|
||||
void showEvent(QShowEvent *event) override;
|
||||
|
||||
signals:
|
||||
void backPress();
|
||||
|
||||
public slots:
|
||||
void updateToggles(bool _offroad);
|
||||
|
||||
private:
|
||||
Params params;
|
||||
bool offroad;
|
||||
std::map<std::string, ParamControlSP*> toggles;
|
||||
|
||||
TorqueLateralControlCustomParams *torqueLateralControlCustomParams;
|
||||
};
|
||||
@@ -75,6 +75,36 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
|
||||
|
||||
list->addItem(horizontal_line());
|
||||
|
||||
// Customized Torque Lateral Control
|
||||
torqueLateralControlToggle = new ParamControl(
|
||||
"EnforceTorqueControl",
|
||||
tr("Enforce Torque Lateral Control"),
|
||||
tr("Enable this to enforce sunnypilot to steer with Torque lateral control."),
|
||||
"");
|
||||
list->addItem(torqueLateralControlToggle);
|
||||
|
||||
torqueLateralControlSettingsButton = new PushButtonSP(tr("Customize Params"));
|
||||
torqueLateralControlSettingsButton->setObjectName("torque_btn");
|
||||
connect(torqueLateralControlSettingsButton, &QPushButton::clicked, [=]() {
|
||||
sunnypilotScroller->setLastScrollPosition();
|
||||
main_layout->setCurrentWidget(torqueLateralControlWidget);
|
||||
});
|
||||
QObject::connect(torqueLateralControlToggle, &ToggleControl::toggleFlipped, [=](bool state) {
|
||||
torqueLateralControlSettingsButton->setEnabled(state);
|
||||
nnlcToggle->updateToggle(offroad);
|
||||
updateToggles(offroad);
|
||||
});
|
||||
|
||||
torqueLateralControlWidget = new TorqueLateralControlSettings(this);
|
||||
connect(torqueLateralControlWidget, &TorqueLateralControlSettings::backPress, [=]() {
|
||||
sunnypilotScroller->restoreScrollPosition();
|
||||
main_layout->setCurrentWidget(sunnypilotScreen);
|
||||
});
|
||||
list->addItem(torqueLateralControlSettingsButton);
|
||||
|
||||
list->addItem(vertical_space(0));
|
||||
list->addItem(horizontal_line());
|
||||
|
||||
// Neural Network Lateral Control
|
||||
nnlcToggle = new NeuralNetworkLateralControl();
|
||||
list->addItem(nnlcToggle);
|
||||
@@ -86,12 +116,10 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
|
||||
nnlcToggle->hideDescription();
|
||||
}
|
||||
|
||||
nnlcToggle->updateToggle();
|
||||
nnlcToggle->updateToggle(offroad);
|
||||
updateToggles(offroad);
|
||||
});
|
||||
|
||||
toggleOffroadOnly = {
|
||||
madsToggle, nnlcToggle,
|
||||
};
|
||||
QObject::connect(uiState(), &UIState::offroadTransition, this, &LateralPanel::updateToggles);
|
||||
|
||||
sunnypilotScroller = new ScrollViewSP(list, this);
|
||||
@@ -100,6 +128,7 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
|
||||
main_layout->addWidget(sunnypilotScreen);
|
||||
main_layout->addWidget(madsWidget);
|
||||
main_layout->addWidget(laneChangeWidget);
|
||||
main_layout->addWidget(torqueLateralControlWidget);
|
||||
|
||||
setStyleSheet(R"(
|
||||
#back_btn {
|
||||
@@ -120,7 +149,7 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
|
||||
}
|
||||
|
||||
void LateralPanel::showEvent(QShowEvent *event) {
|
||||
nnlcToggle->updateToggle();
|
||||
nnlcToggle->updateToggle(offroad);
|
||||
updateToggles(offroad);
|
||||
}
|
||||
|
||||
@@ -129,10 +158,7 @@ void LateralPanel::hideEvent(QHideEvent *event) {
|
||||
}
|
||||
|
||||
void LateralPanel::updateToggles(bool _offroad) {
|
||||
for (auto *toggle : toggleOffroadOnly) {
|
||||
toggle->setEnabled(_offroad);
|
||||
}
|
||||
|
||||
bool torque_allowed = true;
|
||||
auto cp_bytes = params.get("CarParamsPersistent");
|
||||
auto cp_sp_bytes = params.get("CarParamsSPPersistent");
|
||||
if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
|
||||
@@ -148,12 +174,24 @@ void LateralPanel::updateToggles(bool _offroad) {
|
||||
} else {
|
||||
madsToggle->setDescription(descriptionBuilder(STATUS_MADS_SETTINGS_FULL_COMPATIBILITY, MADS_BASE_DESC));
|
||||
}
|
||||
|
||||
if (CP.getSteerControlType() == cereal::CarParams::SteerControlType::ANGLE) {
|
||||
params.remove("EnforceTorqueControl");
|
||||
torque_allowed = false;
|
||||
}
|
||||
} else {
|
||||
madsToggle->setDescription(descriptionBuilder(STATUS_MADS_CHECK_COMPATIBILITY, MADS_BASE_DESC));
|
||||
|
||||
params.remove("EnforceTorqueControl");
|
||||
torque_allowed = false;
|
||||
}
|
||||
|
||||
madsToggle->setEnabled(_offroad);
|
||||
madsSettingsButton->setEnabled(madsToggle->isToggled());
|
||||
|
||||
torqueLateralControlToggle->setEnabled(_offroad && torque_allowed && !nnlcToggle->isToggled());
|
||||
torqueLateralControlSettingsButton->setEnabled(torqueLateralControlToggle->isToggled());
|
||||
|
||||
blinkerPauseLateralSettings->refresh();
|
||||
|
||||
offroad = _offroad;
|
||||
|
||||
@@ -15,6 +15,7 @@
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.h"
|
||||
#include "selfdrive/ui/qt/util.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
|
||||
@@ -35,7 +36,6 @@ private:
|
||||
QStackedLayout* main_layout = nullptr;
|
||||
QWidget* sunnypilotScreen = nullptr;
|
||||
ScrollViewSP *sunnypilotScroller = nullptr;
|
||||
std::vector<ParamControl *> toggleOffroadOnly;
|
||||
bool offroad;
|
||||
|
||||
ParamControl *madsToggle;
|
||||
@@ -45,6 +45,9 @@ private:
|
||||
LaneChangeSettings *laneChangeWidget = nullptr;
|
||||
NeuralNetworkLateralControl *nnlcToggle = nullptr;
|
||||
BlinkerPauseLateralSettings *blinkerPauseLateralSettings = nullptr;
|
||||
ParamControl *torqueLateralControlToggle;
|
||||
PushButtonSP *torqueLateralControlSettingsButton;
|
||||
TorqueLateralControlSettings *torqueLateralControlWidget = nullptr;
|
||||
|
||||
const QString MADS_BASE_DESC = tr("Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).");
|
||||
|
||||
|
||||
@@ -22,8 +22,18 @@ def log_fingerprint(CP: structs.CarParams) -> None:
|
||||
sentry.capture_fingerprint(CP.carFingerprint, CP.brand)
|
||||
|
||||
|
||||
def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
|
||||
params: Params = None, enabled: bool = False) -> None:
|
||||
def _enforce_torque_lateral_control(CP: structs.CarParams, params: Params = None, enabled: bool = False) -> bool:
|
||||
if params is None:
|
||||
params = Params()
|
||||
|
||||
if CP.steerControlType != structs.CarParams.SteerControlType.angle:
|
||||
enabled = params.get_bool("EnforceTorqueControl")
|
||||
|
||||
return enabled
|
||||
|
||||
|
||||
def _initialize_neural_network_lateral_control(CP: structs.CarParams, CP_SP: structs.CarParamsSP,
|
||||
params: Params = None, enabled: bool = False) -> bool:
|
||||
if params is None:
|
||||
params = Params()
|
||||
|
||||
@@ -35,13 +45,12 @@ def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs
|
||||
if nnlc_model_name != "MOCK" and CP.steerControlType != structs.CarParams.SteerControlType.angle:
|
||||
enabled = params.get_bool("NeuralNetworkLateralControl")
|
||||
|
||||
if enabled:
|
||||
CI.configure_torque_tune(CP.carFingerprint, CP.lateralTuning)
|
||||
|
||||
CP_SP.neuralNetworkLateralControl.model.path = nnlc_model_path
|
||||
CP_SP.neuralNetworkLateralControl.model.name = nnlc_model_name
|
||||
CP_SP.neuralNetworkLateralControl.fuzzyFingerprint = not exact_match
|
||||
|
||||
return enabled
|
||||
|
||||
|
||||
def _initialize_intelligent_cruise_button_management(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None) -> None:
|
||||
if params is None:
|
||||
@@ -52,12 +61,19 @@ def _initialize_intelligent_cruise_button_management(CP: structs.CarParams, CP_S
|
||||
CP_SP.pcmCruiseSpeed = False
|
||||
|
||||
|
||||
def _initialize_torque_lateral_control(CI: CarInterfaceBase, CP: structs.CarParams, enforce_torque: bool, nnlc_enabled: bool) -> None:
|
||||
if nnlc_enabled or enforce_torque:
|
||||
CI.configure_torque_tune(CP.carFingerprint, CP.lateralTuning)
|
||||
|
||||
|
||||
def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
|
||||
CP = CI.CP
|
||||
CP_SP = CI.CP_SP
|
||||
|
||||
_initialize_neural_network_lateral_control(CI, CP, CP_SP, params)
|
||||
enforce_torque = _enforce_torque_lateral_control(CP, params)
|
||||
nnlc_enabled = _initialize_neural_network_lateral_control(CP, CP_SP, params)
|
||||
_initialize_intelligent_cruise_button_management(CP, CP_SP, params)
|
||||
_initialize_torque_lateral_control(CI, CP, enforce_torque, nnlc_enabled)
|
||||
|
||||
|
||||
def initialize_params(params) -> list[dict[str, Any]]:
|
||||
|
||||
@@ -54,5 +54,5 @@ class E2EAlertsHelper:
|
||||
self.lead_depart_alert = (self.lead_depart_alert_enabled and CS.standstill and model_x[max_idx] > 30
|
||||
and has_lead and lead_vRel > 1 and not CS.gasPressed)
|
||||
|
||||
if self.green_light_alert or self.green_light_alert:
|
||||
if self.green_light_alert or self.lead_depart_alert:
|
||||
events_sp.add(custom.OnroadEventSP.EventName.e2eChime)
|
||||
|
||||
@@ -6,11 +6,13 @@ See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.nnlc import NeuralNetworkLateralControl
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_override import LatControlTorqueExtOverride
|
||||
|
||||
|
||||
class LatControlTorqueExt(NeuralNetworkLateralControl):
|
||||
class LatControlTorqueExt(NeuralNetworkLateralControl, LatControlTorqueExtOverride):
|
||||
def __init__(self, lac_torque, CP, CP_SP, CI):
|
||||
super().__init__(lac_torque, CP, CP_SP, CI)
|
||||
NeuralNetworkLateralControl.__init__(self, lac_torque, CP, CP_SP, CI)
|
||||
LatControlTorqueExtOverride.__init__(self, CP)
|
||||
|
||||
def update(self, CS, VM, pid, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
|
||||
desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
|
||||
|
||||
@@ -0,0 +1,34 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
from openpilot.common.params import Params
|
||||
|
||||
|
||||
class LatControlTorqueExtOverride:
|
||||
def __init__(self, CP):
|
||||
self.CP = CP
|
||||
self.params = Params()
|
||||
self.enforce_torque_control_toggle = self.params.get_bool("EnforceTorqueControl") # only during init
|
||||
self.torque_override_enabled = self.params.get_bool("TorqueParamsOverrideEnabled")
|
||||
self.frame = -1
|
||||
|
||||
def update_override_torque_params(self, torque_params) -> bool:
|
||||
if not self.enforce_torque_control_toggle:
|
||||
return False
|
||||
|
||||
self.frame += 1
|
||||
if self.frame % 300 == 0:
|
||||
self.torque_override_enabled = self.params.get_bool("TorqueParamsOverrideEnabled")
|
||||
|
||||
if not self.torque_override_enabled:
|
||||
return False
|
||||
|
||||
torque_params.latAccelFactor = float(self.params.get("TorqueParamsOverrideLatAccelFactor", return_default=True))
|
||||
torque_params.friction = float(self.params.get("TorqueParamsOverrideFriction", return_default=True))
|
||||
return True
|
||||
|
||||
return False
|
||||
@@ -0,0 +1,65 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
import numpy as np
|
||||
|
||||
from cereal import car
|
||||
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
|
||||
|
||||
RELAXED_MIN_BUCKET_POINTS = np.array([0, 200, 300, 500, 500, 300, 200, 0])
|
||||
|
||||
ALLOWED_CARS = ['toyota', 'hyundai', 'rivian', 'honda']
|
||||
|
||||
|
||||
|
||||
class TorqueEstimatorExt:
|
||||
def __init__(self, CP: car.CarParams):
|
||||
self.CP = CP
|
||||
self._params = Params()
|
||||
self.frame = -1
|
||||
|
||||
self.enforce_torque_control_toggle = self._params.get_bool("EnforceTorqueControl") # only during init
|
||||
self.use_params = self.CP.brand in ALLOWED_CARS and self.CP.lateralTuning.which() == 'torque'
|
||||
self.use_live_torque_params = self._params.get_bool("LiveTorqueParamsToggle")
|
||||
self.torque_override_enabled = self._params.get_bool("TorqueParamsOverrideEnabled")
|
||||
self.min_bucket_points = RELAXED_MIN_BUCKET_POINTS
|
||||
self.factor_sanity = 0.0
|
||||
self.friction_sanity = 0.0
|
||||
self.offline_latAccelFactor = 0.0
|
||||
self.offline_friction = 0.0
|
||||
|
||||
def initialize_custom_params(self, decimated=False):
|
||||
self.update_use_params()
|
||||
|
||||
if self.enforce_torque_control_toggle:
|
||||
if self._params.get_bool("LiveTorqueParamsRelaxedToggle"):
|
||||
self.min_bucket_points = RELAXED_MIN_BUCKET_POINTS / (10 if decimated else 1)
|
||||
self.factor_sanity = 0.5 if decimated else 1.0
|
||||
self.friction_sanity = 0.8 if decimated else 1.0
|
||||
|
||||
if self._params.get_bool("CustomTorqueParams"):
|
||||
self.offline_latAccelFactor = float(self._params.get("TorqueParamsOverrideLatAccelFactor", return_default=True))
|
||||
self.offline_friction = float(self._params.get("TorqueParamsOverrideFriction", return_default=True))
|
||||
|
||||
def _update_params(self):
|
||||
if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
|
||||
self.use_live_torque_params = self._params.get_bool("LiveTorqueParamsToggle")
|
||||
self.torque_override_enabled = self._params.get_bool("TorqueParamsOverrideEnabled")
|
||||
|
||||
def update_use_params(self):
|
||||
self._update_params()
|
||||
|
||||
if self.enforce_torque_control_toggle:
|
||||
if self.torque_override_enabled:
|
||||
self.use_params = False
|
||||
else:
|
||||
self.use_params = self.use_live_torque_params
|
||||
|
||||
self.frame += 1
|
||||
Reference in New Issue
Block a user