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2dca9b49c70a4e4ffc0da094d64f9d368c871ac8
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50 Commits

Author SHA1 Message Date
Mitchell Goff d28831dbab Split planner and pathplanner publishing into separate 'publish' methods (#19860) 
* Split planner and pathplanner publishing into separate 'publish' methods

* Updated test_following_distance.py

* Combined publish+send_mpc_solution methods
old-commit-hash: 608f00f81485c674263eb403c201934e1b904fe4
 2021-01-26 20:27:24 -08:00
HaraldSchafer b3287a405b important for indi (#19926) 
* important for indi

* dont change that in this pr
old-commit-hash: d6283520980554454f7fb924f3c0f0bf63c52c8a
 2021-01-26 14:26:27 -08:00
HaraldSchafer 7af6dab1e8 Cleanup pathplanner (#19827) 
* no divide by 0

* misc cleanup

* final fixes

* remove last polys

* new ref

* fix test

* update again
old-commit-hash: 0e49919ab99b9cb85c5df271de5145e388d756ad
 2021-01-19 00:02:53 -08:00
HaraldSchafer 94b1be1ec9 back to open loop (#19781) 
old-commit-hash: bf5332c4918c2340126cada543b9068fea731716
 2021-01-16 13:43:30 -08:00
Harald Schafer 110605a723 fix tests 
old-commit-hash: 61b7527b95d7a573a8c11ff8c260a4f01cc15113
 2021-01-14 21:46:01 -08:00
HaraldSchafer c6d9b9565a Mpc rework2 (#19660) 
* start again

* need that too

* this actually works

* not needed

* do properly

* still works

* still works

* still good

* all G without ll

* still works

* all still good

* cleanup building

* cleanup sconscript

* new lane planner

* how on earth is this silent too....

* update

* add rotation radius

* update

* pathplanner first pass

* misc fixes

* fix

* need deep_interp

* local again

* fix

* fix test

* very old

* new replay

* interp properly

* correct length

* another horrible silent bug

* like master

* fix that

* do doubles

* different delay compensation

* make robust to empty msg

* make pass with hack for now

* add some extra

* update ref for increased leg

* test cpu usage on this pr

* tiny bit faster

* purge numpy

* update ref

* not needed

* ready for merge

* try again after recompile

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 158210cde8e689daa04bcaa1e502727cf7bfddb6
 2021-01-14 18:43:50 -08:00
HaraldSchafer fcb995e19c set y too (#2448) 
* set y too

* new ref
old-commit-hash: e6668625fa8c0dec0277a87ce3d5bfad4a1a55a6
 2020-11-04 19:52:05 -08:00
Willem Melching 94a947e59a Fix lane change when blinker is turned off early (#2324) 
old-commit-hash: ce85e402f4a7141d8ee739006c20a5492c06a2ea
 2020-10-13 17:42:29 +02:00
Willem Melching 2b95a9fec2 Revert "tici: take into account frame timestamp (#2199)" 
This reverts commit 58dc2982af6593d7a31464342d80190fa365287e.

old-commit-hash: 65e5032a97cba8c294e0763eeaaa430d4803a4d6
 2020-09-21 10:31:01 +02:00
Willem Melching 5d817c4f46 tici: take into account frame timestamp (#2199) 
* compensate for frame processing time

* add rolling shutter time

* Add max frame delay of 250ms

* only delay on tici
old-commit-hash: 3a494e144bd85166fe347cf3c0b8bfbf22d8e462
 2020-09-18 17:42:29 +02:00
Adeeb Shihadeh 8b2ae9319a fix blindspot detection 
old-commit-hash: 64aeb80dcc651de9836d46db08c2b4a17af364f0
 2020-06-30 13:44:56 -07:00
Adeeb Shihadeh 55225dcd56 Block lane change start on blindspot detection (#1712) 
* use BSM to block lane change start

* remove duplicate entry

* add approaching
old-commit-hash: c4a3d7afb0a190ea0abcf3deb0ec754b31de2cb3
 2020-06-24 17:31:09 -07:00
Willem Melching db4a918c2a Bounds checks on liveParameters for testing on desk 
old-commit-hash: 0f20ac728f4558ee8a849646f366d816a2479b62
 2020-06-03 11:31:12 -07:00
Adeeb Shihadeh 37a67a2a14 enable flake8 E502: backslash is redundant between brackets 
old-commit-hash: 6466ec982aa47bcbbc7c6a3a7cf60cec0163be84
 2020-05-31 17:41:18 -07:00
HaraldSchafer 3488486258 Minor fixes (#1571) 
* was 5 seconds not .2!

* threshold for moving car highers, this can give FPw
old-commit-hash: 67017d69fe02d9ed6a9cfba54565a403e59afcc4
 2020-05-27 14:35:01 -07:00
Willem Melching 6e41973c3c Handle posenet and sensor alerts in locationd (#1541) 
* handle posenet and senor alerts in locationd

* defaults now set in capnp file

* Cleanup c++ version of params learner

* update ref commit
old-commit-hash: d099e09fb77544eb00d13ba9aea34a0a3374a52e
 2020-05-19 16:45:20 -07:00
HaraldSchafer f3747d2fe5 Better poly (#1437) 
- better polyfitting
- no mpc cost change during lane change
- model trained with better ll gt, sim noise and guaranteed memories
old-commit-hash: 65fcc7c45ff1d4d747dc52ff5791afb84a18744a
 2020-05-08 17:14:43 -07:00
HaraldSchafer 5d72509104 Faster lane change (#1381) 
* final B2 for 0.75

* more aggression in lane changes
old-commit-hash: d39595cf10a7813e55139320daa252278dd7567d
 2020-04-16 18:13:37 -07:00
HaraldSchafer 054faf5f2e fade ll out and in (#1246) 
* fade ll out and in

* bug fixes

* pretty important fixes

* safer in case model misses desire input

* Safer float compares

Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: af5f99d7cfcc37574d893a86a1949f4b5bbbbe8f
 2020-03-16 16:19:01 -07:00
Shane Smiskol 682c866a55 initialize all messages in 1 line (#1206) 
old-commit-hash: 6ff881f7894d0117099787e56ec0966bfc63fa7c
 2020-03-05 17:32:52 -08:00
HaraldSchafer 544d198bed Pulse desire (#1172) 
* initial

* compilation fixes

* add desire

* pulse desire

* 0d5728f6-a918-40a6-bce3-a9d0f1238180/20

* cleaner

* inject model

* inject model

* test runs

* ah already done I see

* remove useless

* update

* updates, doesnt work

* fix generating new references

Co-authored-by: Willem Melching <willem.melching@gmail.com>

old-commit-hash: 63d3bb517fdac3d953e67ca4a16f2c742388cdc5
 2020-03-04 18:51:45 -08:00
Andrew Valish e46e9ada22 Add LaneChangeEnabled param and settings toggle (#1093) 
* add LaneChangeEnabled param and settings toggle

* Read lane change toggle in pathplanner.py

Co-authored-by: Willem Melching <willem.melching@gmail.com>

old-commit-hash: 45718d929468a1f6cd1b362bf169988e545241e1
 2020-02-14 15:24:59 -08:00
Willem Melching 5a8a2b2859 Remove unused path offset learner 
old-commit-hash: 59bd58c940673b4c4a6a86f299022614bcf42b22
 2020-02-06 13:48:56 -08:00
Willem Melching 009fb04b5e Cancel lane change on blinker off 
old-commit-hash: 105b95ffd712e462149ab1df2de8b3f1d2307850
 2020-02-06 13:48:20 -08:00
Willem Melching f00a8a1908 Remember lane change direction when blinker turns off 
old-commit-hash: fe9ccb27b12c9d3788bed8a402293985f5eb0448
 2020-01-27 16:19:22 -08:00
George Hotz 079eee7294 selfdrive/controls 
old-commit-hash: b0260dadba8997e015fa0f0071b8defc637cb973
 2020-01-17 12:48:30 -08:00
George Hotz 81dd5a50cf root commit 
old-commit-hash: 6c33a5c1f3878e1d8c8a9db600dd44d188f02c87
 2020-01-17 10:02:52 -08:00
Vehicle Researcher fa4b6f33d1 openpilot v0.7.1 release 
old-commit-hash: 8da8b6135c600ec653c16606239364ab9324fd98
 2020-01-15 14:05:04 -08:00
Vehicle Researcher 99b637c7ce openpilot v0.7 release 
old-commit-hash: c025b96e8a15640ee4d6e4d513fada6ed101afe5
 2019-12-13 13:03:08 -08:00
Vehicle Researcher 89d1d84c70 openpilot v0.6.5 release 
old-commit-hash: cf80f7a28bc737f50e096b21dea2dd2d6d4a1621
 2019-10-09 18:43:53 +00:00
Vehicle Researcher dfe603c178 openpilot v0.6.4 release 
old-commit-hash: 61229779e4a38431e934cabe700a93e120dfa468
 2019-09-09 23:03:02 +00:00
Vehicle Researcher 02cedeadd9 openpilot v0.6.3 release 
old-commit-hash: d5f9caa82d80cdcc7f1b7748f2cf3ccbf94f82a3
 2019-08-13 01:36:45 +00:00
Vehicle Researcher 3835061760 openpilot v0.6.2 release 
old-commit-hash: e90c41c576b4630f3039be671ad5f203a865f4c8
 2019-07-30 02:27:48 +00:00
Vehicle Researcher 9abcfabc5f openpilot v0.6 release 
old-commit-hash: 8a9ed94f5f33faf282b1918ebe2c37f06cef74e6
 2019-06-28 21:11:30 +00:00
Vehicle Researcher e47a2e6e30 openpilot v0.5.13 release 
old-commit-hash: dd34ccfe288ebda8e2568cf550994ae890379f45
 2019-06-06 04:38:45 +00:00
Vehicle Researcher 0932b367bd openpilot v0.5.12 release 
old-commit-hash: 3f9059fea886f1fa3b0c19a62a981d891dcc84eb
 2019-05-16 13:20:29 -07:00
Arne Schwarck 1de23f3d10 Add lane departure warning on dashboard for Toyota (#605) 
* Add lane departure alert in controlsd

* Need init values for LDA

* Add lane departure in interface.py

* Include LDA in CarControler

* Add logic for LDA in toyotacan

* Add speed condition and comments for LDA

* Correct right CS.vEgo

* Correct rPoly spelling

* Add left and rightLaneDepart to HUDControl in car.capnp

* Add left and rightLane_Depart in UI function

* set controlsd priority

* revert

* There must be a line to depart from

* Include changes from @pd0wm

* Remove redundant False allocation

leftLaneDepart and rightLaneDepart as False by default according to @pd0wm

* Modify variable names

right_lane_depart and left_lane_depart to conform with python naming convention

* Modify variable names

right_lane_depart and left_lane_depart to conform with python naming convention

* Wrap lane departure warning in one bool

old-commit-hash: f5044670fa7665bacab49d438e9631191312b833
 2019-05-06 22:19:00 +02:00
Drew Hintz 3ad68e4378 getting ready for Python 3 (#619) 
* tabs to spaces
python 2 to 3: https://portingguide.readthedocs.io/en/latest/syntax.html#tabs-and-spaces

* use the new except syntax
python 2 to 3: https://portingguide.readthedocs.io/en/latest/exceptions.html#the-new-except-syntax

* make relative imports absolute
python 2 to 3: https://portingguide.readthedocs.io/en/latest/imports.html#absolute-imports

* Queue renamed to queue in python 3
Use the six compatibility library to support both python 2 and 3: https://portingguide.readthedocs.io/en/latest/stdlib-reorg.html#renamed-modules

* replace dict.has_key() with in
python 2 to 3: https://portingguide.readthedocs.io/en/latest/dicts.html#removed-dict-has-key

* make dict views compatible with python 3
python 2 to 3: https://portingguide.readthedocs.io/en/latest/dicts.html#dict-views-and-iterators
Where needed, wrapping things that will be a view in python 3 with a list(). For example, if it's accessed with []
Python 3 has no iter*() methods, so just using the values() instead of itervalues() as long as it's not too performance intensive. Note that any minor performance hit of using a list instead of a view will go away when switching to python 3. If it is intensive, we could use the six version.

* Explicitly use truncating division
python 2 to 3: https://portingguide.readthedocs.io/en/latest/numbers.html#division
python 3 treats / as float division. When we want the result to be an integer, use //

* replace map() with list comprehension where a list result is needed.
In python 3, map() returns an iterator.
python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-map-and-filter

* replace filter() with list comprehension
In python 3, filter() returns an interatoooooooooooor.
python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-map-and-filter

* wrap zip() in list() where we need the result to be a list
python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-zip

* clean out some lint
Removes these pylint warnings:
************* Module selfdrive.car.chrysler.chryslercan
W: 15, 0: Unnecessary semicolon (unnecessary-semicolon)
W: 16, 0: Unnecessary semicolon (unnecessary-semicolon)
W: 25, 0: Unnecessary semicolon (unnecessary-semicolon)
************* Module common.dbc
W:101, 0: Anomalous backslash in string: '\?'. String constant might be missing an r prefix. (anomalous-backslash-in-string)
************* Module selfdrive.car.gm.interface
R:102, 6: Redefinition of ret.minEnableSpeed type from float to int (redefined-variable-type)
R:103, 6: Redefinition of ret.mass type from int to float (redefined-variable-type)
************* Module selfdrive.updated
R: 20, 6: Redefinition of r type from int to str (redefined-variable-type)

old-commit-hash: 9dae0bfac4e54ec2b2e488d2b4ead1495c8f56d8
 2019-05-02 11:08:59 -07:00
Vehicle Researcher 83dfc3ca1f openpilot v0.5.11 release 
old-commit-hash: 2f92d577f995ff6ae1945ef6b89df3cb69b92999
 2019-04-23 01:41:19 +00:00
Vehicle Researcher 30f7a33535 openpilot v0.5.10 release 
old-commit-hash: f74a201edcce4a81ae9e1ba388039a982a68f2fa
 2019-03-26 01:09:18 -07:00
Vehicle Researcher 2cc4edde68 openpilot v0.5.9 release 
old-commit-hash: 0207a970400ee28d3e366f2e8f5c551281accf02
 2019-02-20 01:39:02 +00:00
Vehicle Researcher 3bde47d556 openpilot v0.5.8 release 
old-commit-hash: b967da5fc1f7a07e3561db072dd714d325e857b0
 2019-01-23 15:34:52 -08:00
Vehicle Researcher e41a943dd0 openpilot v0.5 release 
old-commit-hash: de33bc46452b1046387ee2b3a03191b2c71135fb
 2018-07-12 18:52:06 -07:00
Vehicle Researcher 405e7c1b02 openpilot v0.4.7.2 release 
old-commit-hash: 95509a58cd906827bff61937f6132daa7460122e
 2018-06-25 13:48:52 -07:00
Vehicle Researcher 2c0cc6103a openpilot v0.3.7 release 
old-commit-hash: daf54ad54d6356d35061ea2864d6397dc6184f3f
 2017-09-30 19:05:03 -07:00
Vehicle Researcher 7d35ed0ae0 openpilot v0.3.6 tweaks 
old-commit-hash: 19dd5f3e3246c94fcb70a2a8e09b5213e1c4ba15
 2017-08-10 20:38:56 -07:00
Vehicle Researcher 46e0ee7750 openpilot v0.3.4 release 
old-commit-hash: 6f46f988d9d89b5bd18e38c5e5509b5c252ae2c1
 2017-07-28 03:23:57 -07:00
Vehicle Researcher 364c65e7fc openpilot v0.2.2 release 
old-commit-hash: a64b9aa9b8cb5863c917b6926516291a63c02fe5
 2017-01-10 11:10:04 -08:00
Vehicle Researcher dd743232f4 openpilot v0.2.1 release 
old-commit-hash: 17d9becd3c673091b22f09aa02559a9ed9230f50
 2016-12-14 21:29:12 -08:00
Vehicle Researcher 79ca8c9ec9 openpilot release 
old-commit-hash: e94a30bec07e719c5a7b037ca1f4db8312702cce
 2016-11-29 18:34:21 -08:00