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1335 Commits

Author SHA1 Message Date
Harald Schäfer c9d77fb3fb process_replay/migration: doesnt need to import acados (#38040) 
process_replay/migration: drop transitive dep on long_mpc/acados

migrate_longitudinalPlan only needs get_accel_from_plan + CONTROL_N_T_IDX,
both available from drive_helpers + ModelConstants directly. Importing
from longitudinal_planner instead pulled in long_mpc -> libacados.so as
an eager side-effect, which downstream log-migration consumers (e.g.
commaai/xx pipeline) shouldn't pay for.
 2026-05-14 10:38:09 -07:00
Shane Smiskol 3a764c0ae3 Params: rm nonblocking funcs (#38016) 
* rm nonblocking funcs

* same behavior

* and put_bool

* missing!

* and nonblocking

* cmt
 2026-05-11 20:00:00 -07:00
ZwX1616 2596de8543 Revert "DM: Lancia Delta HF Integrale model (#37696)" (#37971) 
This reverts commit d8569b07eb.
 2026-05-06 19:25:34 -07:00
Mitchell Goff 57d0a58855 Round trip through bytes to save 30x on migration memory usage (#37963) 2026-05-04 20:11:03 -07:00
Adeeb Shihadeh 2266a9dd9c sensord: clean up SensorEventData struct (#37883) 2026-04-22 13:13:39 -07:00
Adeeb Shihadeh 04b23ff849 model replay: relax driverState timing (#37868) 2026-04-20 21:13:07 -07:00
ZwX1616 389b639ef2 DriverMonitoringState v2 (#37799) 
* draft ds

* better names

* what is this

* build new

* better names2

* more

* bit more cleanup

* rm those

* .

* .2

* selfdrived

* depre

* hk

* fix test

* fix rest

* 1

* fix enum

* update cereal

* fix rest

* more

* add step

* fix all

* imports

* cant?

* .

* simplify

* bool

* fix some migrate

* cleanup

* fix fix

* Update cereal/log.capnp

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* touchup

* what

---------

Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2026-04-17 21:58:05 -07:00
Daniel Koepping d5f1d8c33a fix compare_logs crash on list field size changes (#37829) 
fix crash on list-length changes
 2026-04-14 20:18:31 -07:00
Adeeb Shihadeh a89ed55b65 cereal: group inline deprecated fields (#37791) 2026-04-09 10:41:04 -07:00
Adeeb Shihadeh 8b53f9158d Rename DM alerts to numbered stages (#37783) 
* Rename DM alerts to numbered stages

* Handle renamed DM events in replay migration

* Remove replay migration test

* Skip unknown replay event names
 2026-04-08 14:29:32 -07:00
Shane Smiskol b0b9079437 bump opendbc (#37775) 
fix opendbc
 2026-04-07 17:57:44 -07:00
ZwX1616 d8569b07eb DM: Lancia Delta HF Integrale model (#37696) 
* 00c00ac7-7b6e-4546-b86f-7ddd5f0596b4

* mici cleanup

* update msg

* rename
 2026-04-01 16:14:15 -07:00
Kacper Rączy d75b8f4540 process_replay: fix logMonoTime simulation (#37708) 
* Fix logMonoTime

* Fix last drain

* Remove import

* Bring it back
 2026-03-23 20:25:31 +00:00
Daniel Koepping f4b8384332 Process replay: add diff report (#37048) 
* rm upload

* use ci-artifacts

* sanitize

* rm ref_commit

* add ci

* handle exept

* bootstrap

* always

* fix

* replay

* keep ref_commit fork compatibility

* remove upload-only

* apply comments

* safe diffs in master

* Revert "safe diffs in master"

This reverts commit 369fccac786a67799193e9152488813c6df20414.

* continue on master diff

* imports

* copy formatting from car_diff

* main

* setup refs and cur

* copy diff

* copy formatting

* comment

* rm token

* rm hash

* continue on master diff

* use ci-artifacts refs

* add run card diff

* checkout

* shebang

* card_diff.yml

* rm ci-artifacts

* apply ci-artifacts

* call differ

* rename

* uv lock

* tests

* readme

* checkout

* add all configs

* import base_url

* rename yaml

* integrate in test_processes

* fix diff report

* var names

* extract to module

* print report

* add msg count to diff

* traceback

* diff format

* typing

* name step

* allow NaN

* replace join
 2026-03-23 09:41:52 -07:00
Kacper Rączy 08d8bb9975 livePose timestamp migration (#37705) 
* Add livePose migraiton

* Fix
 2026-03-21 01:19:47 +00:00
Kacper Rączy d5e75dd0af locationd: publish filter time (#37697) 
* Include filter time in the message

* Move the line up

* Use nantonum
 2026-03-20 22:29:58 +00:00
Kacper Rączy 1c14375796 locationd: cam odo delay compensation (#37543) 
* Delay compensation for camera odomtry

* Frame skip definition

* CAM_ODO_POSE_DELAY const

* Remove import

* Use timestampEof

* CAM_ODO_STD_MULT

* locationd processing_time=0.01

* Update angular velocity Q

* Try 075

* Acc obs std 0.75

* Adjust Cam odo std mults

* More tweaking

* Smoothing in lld tests

* Comment

* Remove import

* Revert gyro bias P update

* Tweak to 0.75
 2026-03-20 02:35:10 +00:00
Adeeb Shihadeh e42ee228c2 gitignore cleanups (#37615) 
* gitignore cleanups

* lil more

* one more
 2026-03-08 18:31:11 -07:00
Adeeb Shihadeh b28ff40d4d insource parameterized (#37280) 
* insource parameterized

* lil more

* fix
 2026-02-20 14:59:36 -08:00
Adeeb Shihadeh 66687746f9 replace dictdiffer with native capnp differ (#37279) 
* replace dictdiffer with native capnp differ

* capnp diff
 2026-02-20 14:20:02 -08:00
Harald Schäfer 132f10365a relax dm timing tgwarp (#37191) 2026-02-12 19:52:22 -08:00
Harald Schäfer af1583cdfc Reapply tgwarp w NV12 fix (#37168) 
* Revert "Revert tgwarp again (#37161)"

This reverts commit 45099e7fcd.

* Weird uv sizes

* Fix interleaving

* Fix on CPU

* make CPU safe

* Prevent corruption without clone

* Claude knows speeed

* fix interleaving

* less kernels

* blob caching

* This is still slightly faster

* Comment for blob cache
 2026-02-12 08:59:19 -08:00
Harald Schäfer 45099e7fcd Revert tgwarp again (#37161) 
* Reapply "revert tg calib and opencl cleanup (#37113)" (#37115)

This reverts commit 667f3bb32f.

* revert msgq too

* msgq on master
 2026-02-10 23:12:41 -08:00
Daniel Koepping a18ddf12eb remove azure deps (#37084) 
* remove azure deps

* fix lint

* restore scripts
 2026-02-10 17:51:09 -08:00
Daniel Koepping e35a1eca99 Process replay: move refs to ci-artifacts (#37049) 
* rm upload

* use ci-artifacts

* sanitize

* rm ref_commit

* add ci

* handle exept

* bootstrap

* always

* fix

* replay

* keep ref_commit fork compatibility

* remove upload-only

* apply comments

* safe diffs in master

* Revert "safe diffs in master"

This reverts commit 369fccac786a67799193e9152488813c6df20414.

* continue on master diff

* Update .github/workflows/tests.yaml

Co-authored-by: Shane Smiskol <shane@smiskol.com>

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
 2026-02-09 21:37:20 -08:00
Adeeb Shihadeh 667f3bb32f Revert "revert tg calib and opencl cleanup (#37113)" (#37115) 
* Revert "revert tg calib and opencl cleanup (#37113)"

This reverts commit 51312afd3d.

* power draw is a lil higher

* just don't miss a cycle

* fix warp targets

* fix tinygrad dep
 2026-02-07 21:36:44 -08:00
Adeeb Shihadeh 55a31d7657 replace tabulate with simple helper (#37122) 2026-02-07 18:27:16 -08:00
Harald Schäfer 51312afd3d revert tg calib and opencl cleanup (#37113) 
* Revert "Remove all the OpenCL (#37105)"

This reverts commit d5cbb89d84.

* Revert "rm common/mat.h"

This reverts commit 4ce701150a.

* Revert "Calibrate in tg (#36621)"

This reverts commit 593c3a0c8e.
 2026-02-07 09:10:29 -08:00
Harald Schäfer 593c3a0c8e Calibrate in tg (#36621) 
* squash

* bump tg

* fix linmt

* Ready to merge

* cleaner

* match modeld

* more dead stuff
 2026-02-06 14:13:46 -08:00
Adeeb Shihadeh c35df583a5 tools: enable log caching by default (#36962) 2026-01-31 15:52:50 -08:00
Shane Smiskol df7f426405 bump opendbc (#37043) 
* bump opendbc

* update refs
 2026-01-30 00:09:19 -08:00
felsager c9cfe2c727 LatcontrolTorque: move jerk calculation and filtering outside if else (#37011) 2026-01-21 12:32:56 -08:00
Harald Schäfer adf6f28ebf LatcontrolTorque: always fill buffer (#36991) 2026-01-20 15:34:57 -08:00
Harald Schäfer f51c2aeced Modeld: less lat smoothing (#36987) 
* lat is plenty smooth!

* fix
 2026-01-09 15:04:33 -08:00
Adeeb Shihadeh ea01a53711 switch from mypy to ty (#36961) 2025-12-28 10:42:49 -08:00
Shane Smiskol 9e4c2bcacf bump opendbc (#36878) 
* bump

* update docs

* bump

* gotta go fast
 2025-12-15 16:41:16 -08:00
felsager f01391a7d9 latcontrol_torque: delay independent jerk and lower kp and lower friction threshold (#36619) 2025-11-25 10:23:02 -08:00
ZwX1616 b778da1d7c dmonitoringmodeld: clean up data structures (#36624) 
* update onnx

* get meta

* start

* cast

* deprecate notready

* more

* line too long

* 2
 2025-11-14 14:29:04 -08:00
felsager 736e1fa7b7 Revert "latcontrol_torque: make feed-forward jerk independent of individual platform lag (#36334)" 
This reverts commit fc4e5007fd.
 2025-11-03 10:31:27 -08:00
felsager 177c7f1cf3 Revert "latcontrol_torque: retune torque controller (#36392)" 
This reverts commit 76c5cb6d87.
 2025-11-03 10:31:22 -08:00
felsager 76c5cb6d87 latcontrol_torque: retune torque controller (#36392) 2025-10-30 13:34:44 -07:00
felsager fc4e5007fd latcontrol_torque: make feed-forward jerk independent of individual platform lag (#36334) 2025-10-30 13:29:38 -07:00
felsager 936740201c latcontrol_torque: refactor low speed factor into pid controller (#36364) 2025-10-22 11:50:37 -07:00
felsager a2e7f3788f LateralTorqueState: log controller version and desired lateral jerk (#36421) 2025-10-22 10:56:34 -07:00
Harald Schäfer b2e3dd17ea torque gains not car specific (#36404) 
* torque gains not car specific

* remove opendbc interfaces longitudinal control kf field assignment that makes hitl test fail

* typo

* another typo

* bump

* bump openbc

* update ref

---------

Co-authored-by: felsager <d.felsager@gmail.com>
 2025-10-20 17:16:03 -07:00
felsager de805e4af7 Lateral torque controller: use measurement rate as error rate (#36291) 2025-10-09 14:57:12 -07:00
felsager 226465e882 Latcontrol: refactor pid error to factor out lateral jerk component (#36280) 2025-10-08 18:29:54 -07:00
Shane Smiskol ef870d5533 bump opendbc (#36103) 
* bump

* update refs
 2025-09-04 18:11:44 -07:00
Kacper Rączy 76e91da3ad process_replay: use LiveParametersV2 in custom params (#36080) 
Fill LiveParametersV2 in get_custom_params_from_lr
 2025-08-28 20:11:20 +00:00
felsager b976135d2f torqued: apply offset (with more robust unit test) (#36075) 
* torqued: apply latAccelOffset to torque control feed forward

* test learned latAccelOffset captures roll compensation bias on straight road driving, when the device is not flush in roll relative to the car

* test correct torqued latAccelOffset parameter convergence
 2025-08-27 13:06:01 -07:00