* Hyundai CAN: re-enable auto-enable radar tracks
* check if radar tracks config bit is already enabled
* only show success message if already enabled
* test if it would actually skip
* 5 bytes only
* tested skipping, revert
* lint
* move to opendbc right after fping
* more
* lint
* bump
* Reapply "Hyundai: custom longitudinal tuning" (#892)
This reverts commit 68c593db5f.
* fix panel behavior
* dynamic description
* try to merge and use the same scrollview
* fix for all to update
* dynamic update and fix description
* minimize changes for all brands
* init
* minimize changes for all brands
* more
* even less diff
* more
* even less diff
* more less
* wow srsly
* more less
* wow srsly
* Maybe I was asleep but somehow it worked.
* Maybe I was asleep but somehow it worked.
* 70/30 split
* 60/35 split
* 67:33 split
* use Sqrt for tiny values to increase factor. Oh, also add a test file.
* use Sqrt for tiny values to increase factor. Oh, also add a test file.
* use Sqrt for tiny values to increase factor. Oh, also add a test file.
* Raise these to restart tests
* Raise these to restart tests
* Update jerk calculation mimicking j_ego math.
* README.md
* Update timestep
* Fix test
* Readability
* Lower time
* Add higher limits for CANFD
* Send these as a floating object. update comments to add TODO msg.
* Conditional flags
* yes its a little weird but heres why:
` "aReqValue": long_state.accel_value if enabled else a_val`
its only to not have merge conflicts with syncs from this file, because if not enabled a_val is already at 0 anyways.
* Make it easier to read
* Chronological order
* Trigger rebuild
* This is an internal test on my end. Disregard, for now
* fw version for my car...
* remove fw version as that was a test
* bump submodules
* refactor that while passing internal tests
* bump safety mutation test
* all should match 50 Hz
* bump safety mutation test
* match stock behavior for accel
* do our own clipping
* apply upper/lower dynamically
* bump test
* bump test
* Higher lower limit
* move desired accel force zero in tuning controller
* bump
* bump
* abs it here
* fix logic
* make sure it resets to 0, enforced in safety
* Test a few things
* Higher jerk for VOACC
* Elantra specific
* raise `off` to stock
* bump opendbc test
* allow jerk calculations at all times
* bump
* bump
* match aReqVale
* we dont need such high accel jerk when above 20m/s. This is cruise control, not a racecar.
* 0.45 default long actuator delay
* align type hint
* add lower jerk multiplier for HYUNDAI_IONIQ
* Change min jerk
* should be float
* Change min jerk
* Change min jerk upper
* Change max jerk upper
* Change max jerk upper
* Change max jerk upper
* step + threshold + first order filter to smooth
* constants
* nah
* multiplier to 1.5
* step updates for parabolic accel/braking
* step updates for parabolic accel/braking
* even less
* test multiplier
* Merge remote-tracking branch 'sunnypilot/opendbc/master-new' into HKG-long-tune
* back to default delay for now
* update test
* update config
* update test
* update config.py
* update test
* Remove stoppingDecelRate **No need for this anymore**
* multiplier to 1.0
* Variable lower dependency
* Variable lower dependency
* Variable lower jerk minimum
* Variable lower jerk minimum
planned_accel -> desired_acel
* Revert some scaling
* .01 here
* .01 here
* try even smoother stopping
* missed a `tuning` here that instead calls itself to inf.
* what is math
* Red Diff
* Red Diff
* bring some back
* bring some back
* stronger when needed
* something simple
* simplify more
* simplify more
* dont use future
* whoops
* why
* reset
* Refactor longitudinal controller for better jerk handling
Revised `calculate_a_value` and jerk processing logic to improve acceleration and jerk handling, particularly under dynamic conditions. Adjusted test cases to cover the new logic.
* Refactor longitudinal controller for better jerk handling
Revised `calculate_a_value` and jerk processing logic to improve acceleration and jerk handling, particularly under dynamic conditions. Adjusted test cases to cover the new logic.
* Refactor longitudinal controller for better jerk handling
Revised `calculate_a_value` and jerk processing logic to improve acceleration and jerk handling, particularly under dynamic conditions. Adjusted test cases to cover the new logic.
* Adjust lower_jerk interpolation for improved accuracy
* Lowered the acceleration error threshold from -0.01 to -0.001
* Adjust jerk interpolation thresholds for Hyundai tuning.
Updated the interpolation range for smaller acceleration errors.
* Move it up
* -.03 not -.05
* radarUnavailable = higher limit patch
* Commit the real change
* Updated the interpolation values and logic for lower_jerk to refine acceleration behavior.
* Updated the interpolation values and logic for lower_jerk to refine acceleration behavior.
* Updated the interpolation values and logic for lower_jerk to refine acceleration behavior.
* Updated the interpolation values and logic for lower_jerk to refine acceleration behavior.
* THIS. THIS WILL STOP FOR LEADS
* Higher for VOACC
* Higher for VOACC
* Rename `make_jerk` to `calculate_jerk` in test cases.
* Adjust jerk tuning for Hyundai longitudinal control
Updated the interpolation table for lower jerk values to improve deceleration handling. This adjustment refines control behavior during higher deceleration requests.
* Updated the interpolation breakpoint from -0.03 to -0.025
* Adjust longitudinal control jerk tuning for smoother response
Updated interpolation values in the jerk tuning logic to improve acceleration smoothing in Hyundai longitudinal control. These changes aim to provide a more consistent and predictable driving experience, particularly during deceleration scenarios.
* Handle radar unavailability in longitudinal tuning check
* Introduce `toggleDisableMsg` to streamline determining toggle states and descriptions.
* `sunnypilot`
* `Refactor longitudinal control acceleration and jerk handling`
Removed unused `FirstOrderFilter` and simplified acceleration and jerk calculations for improved clarity and maintainability. Adjusted logic to replace redundant return statements, streamline jerk computation, and reduce unnecessary dependencies.
* `Refactor longitudinal control acceleration and jerk handling`
Removed unused `FirstOrderFilter` and simplified acceleration and jerk calculations for improved clarity and maintainability. Adjusted logic to replace redundant return statements, streamline jerk computation, and reduce unnecessary dependencies.
* Simplify test to be straight to the point.
* Adjust upper_speed_factor and integrate ramp_update logic
* Adjust upper_speed_factor and integrate ramp_update logic
* Adjust upper_speed_factor and integrate ramp_update logic
* Refine acceleration and jerk tuning logic.
* greater than 0
* bump
* bring back ramp update for jerk upper
* Update opendbc_repo
* Revert "Update opendbc_repo"
This reverts commit b790387c9080b3a553694fbae850e9aa8bb6e125.
* bump
* bump
* bump
* using count seems to work better
* Refine jerk tuning logic and expand test coverage
* bump vals
* fix logic
* Adjust jerk tuning parameters for Hyundai longitudinal control
* retry lfs check
* bump submodule
* Fix acceleration blending and enhance test coverage
* Update lower_jerk breakpoints
* bump
* Adjust lower jerk parameters and include accel_cmd condition
* Adjust vars
* "Adjust Hyundai longitudinal jerk limits and tuning logic"
* Adjust jerk limits and tuning logic for better control
* Update Hyundai longitudinal tuning and add dynamic jerk logic
Refactored longitudinal configuration to include "lookahead" parameters and revised "jerk_limits" for improved tuning flexibility. Implemented dynamic jerk adaptation logic (Gen1) for smoother braking and acceleration transitions.
* Adjust Hyundai longitudinal control parameters for tuning
* bump to original branch
* QSize Policy to stretch toggle to screen size
* bump
* completely blocked xD
* Sunnypilot -> openpilot
* Whitespace
* Clean up toggle name
* Still allow ramp while in standstill for EV
* Adjust Kia Niro EV tuning parameters for smoother control
* self.cp.flags
* bump submodule
* bump
* Remove ramp for lower desired jerk
* update README.md
* update README.md
* Adjust lookahead_jerk_lower_v values in Hyundai longitudinal config.
* update tuning
* Update tune one last time to vals from device which are much smoother.
* Accel error
* bump
* fix
* rename flag and slight cleanup
* start ui stuff
* long_state -> tuning
* Prep for clean up
* small changes
* less in main
* no longer
* format
* bump
* init panel
* expose signal for other panels to interact with
* split into its own
* unused
* move around
* actually modify CP_SP
* fix offroad transition
* rename
* back
* don't update unless we're looking at it
* move around
* use min length
* do this
* whoops
* move
* bump
* bump
* this is fine
* bump
---------
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: royjr <royjr96@gmail.com>
* now alpha long
* fix
* rename param
* thought i did this
* debug
* debug
* more
* more
* moar
* Revert "moar"
This reverts commit e347106246583982e1be206485ad4d8eb944f817.
* Revert "more"
This reverts commit 0746e6d2e400ce1715614c62af84a9680c4d65c1.
* Revert "more"
This reverts commit 0db5a8792c01bb2d687f9152e6ba37fb76d4a453.
* Revert "debug"
This reverts commit 72f235b13727980e4331ff487998ddc7c7f7fb63.
* Revert "debug"
This reverts commit 7871b69f8c1bdffed386c2baac99542fcc50f7eb.
* Max Time Offroad
* Refactor & Fix param
* Error Handling
* rename SP variable
* Update selfdrive/ui/sunnypilot/qt/widgets/controls.h
Co-authored-by: DevTekVE <devtekve@gmail.com>
* Update selfdrive/ui/sunnypilot/qt/widgets/controls.h
Co-authored-by: DevTekVE <devtekve@gmail.com>
* Update selfdrive/ui/sunnypilot/qt/widgets/controls.h
Co-authored-by: DevTekVE <devtekve@gmail.com>
* Update selfdrive/ui/sunnypilot/qt/widgets/controls.h
Co-authored-by: DevTekVE <devtekve@gmail.com>
* Update selfdrive/ui/sunnypilot/qt/widgets/controls.cc
Co-authored-by: DevTekVE <devtekve@gmail.com>
* Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/max_time_offroad.h
Co-authored-by: DevTekVE <devtekve@gmail.com>
* Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/max_time_offroad.cc
Co-authored-by: DevTekVE <devtekve@gmail.com>
* UI layout changes for better alignment
selector is not big enough -> make it bigger ;)
OptionControlSP now includes a QMap argument to allow actual values to be set in param directly
* Rebase & resolve reviews
* change default to be closer to OP default
* me dumb
* MaxTimeOffroad: Add support for 30h limit and improve label formatting
* power_monitoring: Refactor MaxTimeOffroad parameter handling for clarity
* test: Add unit tests for MaxTimeOffroad parameter handling
* power_monitoring: Update MaxTimeOffroad handling to use seconds and improve shutdown logic
* power_monitoring: Improve exception handling and remove redundant shutdown check for MaxTimeOffroad
---------
Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* Online lateral lag learning (#34974)
This reverts commit b4cc9e68d1.
* pad to the best size for fft
* Fix static analysis
* Add typing
* Fix typing
* MAX_LAG
* Calculate cross correlation regardless if the points are valid
* Back to lagd
* Add lagd to process_config
* Lagd in test onroad
* Move lag estimator for lagd
* Remove duplicate entry from test_onroad
* Update process replay
* pre-fill the data
* Update cpu usage
* 25sec window
* Change the meaning of lateralDelayEstimate
* No newline
* Fix typing
* Prefill
* Update ref commit
* Add a unit test
* Fix static issues
* Time limit
* Or timeout
* Use mocker
* Update estimate every time
* empty test
* DT const
* enable RIVIAN again
* Update ref commit
* Update that again
* Improve the tests
* Fix static
* Add masking test
* Increase timeout
* Add liveDelay to selfdrived
* Add liveDelay to selfdrived in process_replay
* Fix block_avg restore after num_blocks
* regen most
* Update bolt
* Update ref commit
* Change the key name
* Add assert
* True weighted average
* LiveParametersV2 key
* Param key
* Fix tests
* Remove old params if error
* Update exception message
* Update the test
* Add test for corrupted byte format in v1
* Rename params_reader => params
* Add struct and services
* Proof of concept
* Use vego
* Process replay support
* Fix issues
* Max not min
* Remove print
* Make lag positive
* Points and updates
* Sliding cross corr
* Stuff
* Remove redundant param
* Move to lagd
* Update alert
* Something that works
* Report isEstimated
* Corr field
* Use skimage masked corr
* Fixes
* Move to lat_accel_loc
* Use the delay it in the model
* Mark as executable
* Add 0.2 to initial
* add install line
* Back to 5m window
* Move the import up
* corr window 120
* Show is estimated
* Sort messages
* New impl
* Fix
* Params
* Set initial_lag elsewhere
* Add param
* Rename Param
* Fix type isues
* More blocks
* Masked fft NCC implementation
* Remove package installation
* Use 20hz data and interp the correlation peak
* Move ncc code to separate function
* steering_saturated support
* Constants
* Add recovery buffer
* Fix static
* min_valid_block_count nad liveDelay
* lateralDelayEstimate
* Fix comm issues. Do estimations at 4hz
* Fix
* Display the estimate
* Increase the block size
* Cache every minute
* DEBUG flag
* Add progress to the alert
* Fix crash
* points only in debug
* Fix BlockAverage restoration
* Comment
* Move estimators into estimator directory
* Remove lagd
* Feed only relevant messages
* Rewrite as a set literal
* np.diag with P_initial
* Fix static
* Struct renames
* Update ref commit
* Make it nicer
* Some renames
* init alc controller
* only for sunny
* rebase fix
* ui
* add ui preview
* Update common/params_keys.h
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* Update selfdrive/ui/sunnypilot/SConscript
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* review sugg
* code review
* renaming
* move around
* style
* fix types and params exceptions handling
* take out magic numbers
* more
* rename
* shorter
* make sure reset happens at the end of every DH loop
* split into multiple updates
* just 3 seconds
* use default states
* oops
* more readable
* oops
* some space and lines
* run in DH loop directly
* adjust ui preview
* nudgeless should process immediately
* check option instead
* more explicit
* even more explicit
* tests
* brake pedal release should not allow auto lane change (caught by test)
* unnecessary
* no continuous auto lane change
* Revert "unnecessary"
This reverts commit 93d135b54a812e94d23951ca8ea52ff944cfd29a.
* more tests
* less
* less less
* update again
* more cleanup
* better
* AutoLaneChangeState -> AutoLaneChangeMode
* update
* lint
* unused
* test all states
* license
---------
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
infiniteCable