* car: initialize sunnypilot interface immediately
* init
* Revert "car: initialize sunnypilot interface immediately"
This reverts commit 2e0fc4d87eb312a3a74a61bb8cbc780e33efbfc7.
* show int
* show int
* work properly with cereal
* unused
* in its own module
* bump
* not yet
* not yet
* list comp and use structs directly
* allow default key if needed
* lint
* send it with None
* bump
* expandable_row widget
* make MinMaxValue protected to allow inheritence
* add function to set width
* no more layout warnings
* format
---------
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* MADS: Tesla and Rivian support
* request lateral if acc is engaged
* try this out
* fix
* make sure we keep the toggle off for tesla
* namedtuple
* disallow steering past 90 degrees for rivian
* whoops
* Revert "Revert "MADS: Steering Mode on Brake Pedal Press (#687)" (#789)"
This reverts commit 8dec4ea5
* both rivian and tesla
* enforce disengage on brake steering mode for Rivian and Tesla
* wrong one
* MADS: Steering Mode on Brake Pedal Press
* bump
* bump
* descriptions
* bump
* bump
* no tesla or rivian yet
* codecov v5
* Revert "codecov v5"
This reverts commit a347e3fb27c0fbf2510b69fe8148b254fa93b8de.
* cleanup
* refactor description
* sync name
* fix
* make sure we don't allow if brake was already being pressed
* no longer needed
* proper ui!
* allow LKAS tx at all times with MADS
* extra
* this ain't right
* try this
* test only
* bring them back
* some dynamic checks
* dynamic description for mads toggle
* one place for limited platforms
* update tests
* angle when long, lkas when mads
* bump
* MADS: Tesla and Rivian support
* request lateral if acc is engaged
* try this out
* fix
* make sure we keep the toggle off for tesla
* namedtuple
* disallow steering past 90 degrees for rivian
* whoops
* Revert "Revert "MADS: Steering Mode on Brake Pedal Press (#687)" (#789)"
This reverts commit 8dec4ea5
* both rivian and tesla
* enforce disengage on brake steering mode for Rivian and Tesla
* wrong one
* MADS: Steering Mode on Brake Pedal Press
* bump
* bump
* descriptions
* bump
* bump
* no tesla or rivian yet
* codecov v5
* Revert "codecov v5"
This reverts commit a347e3fb27c0fbf2510b69fe8148b254fa93b8de.
* cleanup
* refactor description
* sync name
* fix
* make sure we don't allow if brake was already being pressed
* no longer needed
* proper ui!
* allow LKAS tx at all times with MADS
* extra
* this ain't right
* try this
* test only
* bring them back
* some dynamic checks
* dynamic description for mads toggle
* one place for limited platforms
* just rivian
* not here
* Revert "not here"
This reverts commit 53271b942839feb706e393254a3516097cc72890.
* get them out
* get them out
* no longer needed
* Revert "get them out"
This reverts commit 532b671bfb8bf76d5b4ef6349e5a1e3cd760dc3e.
* bump
* bump
* less
* Revert "bump"
This reverts commit 05ee4be04f190aaaa61bf18b0884b09accd74522.
* MADS: prerequisite for partial platform support
* ui: support specific button enabled selections for `ButtonParamControlSP`
Replaced setDisabledSelectedButton with setEnableSelectedButtons for improved flexibility. The new implementation allows enabling multiple buttons based on a given list and maintains clarity in handling button states. This enhances functionality and aligns with better code practices.
* don't think we need to
* update
* ui: Add utility function to check if a brand is in a list
Introduces `isBrandInList` to simplify checking if a given brand exists within a list of strings. This improves code clarity and avoids repetitive implementations for the same logic.
* Revert "ui: Add utility function to check if a brand is in a list"
This reverts commit 26cde3a73e59cda678c9e017536702de45c8d151.
* ui: Add utility function to check if a brand is in a list
ui: support specific button enabled selections for `ButtonParamControlSP`
Replaced setDisabledSelectedButton with setEnableSelectedButtons for improved flexibility. The new implementation allows enabling multiple buttons based on a given list and maintains clarity in handling button states. This enhances functionality and aligns with better code practices.
* Revert "MADS: `wrongCarMode` alert only with selfdrive enable (#931)"
This reverts commit 6d516a7704.
* Reapply "MADS: `wrongCarMode` alert only with selfdrive enable (#931)"
This reverts commit c9487597e4ae4aa10a7111d963c5933d472bc88e.
* Reapply "MADS: `wrongCarMode` alert only with selfdrive enable (#931)"
This reverts commit c9487597e4ae4aa10a7111d963c5933d472bc88e.
* MADS: Refactor Unified Engagement Mode
* init
* bring back pedal pressed event while trying to engage long
* MADS: prep for refactor
* no longer
* this is cleaner?
* in another pr
* Revert "in another pr"
This reverts commit 31aec8a7aabc798c1b19c365488efe04a47869e9.
* less
* rename
* type hint
* MADS: Refactor Unified Engagement Mode
* init
* bring back pedal pressed event while trying to engage long
* MADS: prep for refactor
* no longer
* this is cleaner?
* in another pr
* fw version for my car, and added scc radar module firmware to enable radar points
* bump points
* bump
---------
Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* Add enhanced HyundaiCAN extension
Introduced HyundaiCanEXT for improved object parsing and control integration, leveraging new fields like lead distance and relative speed in CarControlSP.
Refactored controlsd to utilize a modular design with ControlsdExt for additional sunnypilot specific functionality.
* self.cc_sp
* Refactor CarControlSP handling for improved state updates
* refactor
* bool
* Refactor controlsd SP communication logic
Update `publish_sp` method to include `CC_SP` parameter and refine SP SubMaster to exclude `radarState`. Remove custom lead vehicle state processing as it is no longer needed.
* remove in this pr
* bump
* start cleanup
* inherit instead
* even more!
* lint
* type hint
* use the same objects for submaster and pubmaster
* more
---------
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* 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
Refactor variable names for clarity in 20Hz model logic.
Renamed `full_features_20Hz` to `full_features_buffer` and `desire_20Hz` to `full_desire` for better readability and consistency. This improves code maintainability and aligns variable names with their intended purpose.
* init
* more
* description
* init them to true
* back to false
* fix
* add description
update colors
fix stretch
* yellow & orange are too similar - use blue
* slight updates
* dynamic description
* split it out
* more
---------
Co-authored-by: nayan8teen <nayan8teen@gmail.com>
* Fixes an issue on the long planner since Tomb Raider models, where the models are now meant to output the acceleration target and the "should stop" instead of it being calculated. However, older models (particularly those running on modeld_v2 from SP) do not output this. Leading to a "coasting" situation instead of braking when only e2e is used which is totally wrong.
* 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>
Jason Wen