Jason Wen
9541692eb0
Merge branch 'upstream/openpilot/master' into sync-20260412
...
# Conflicts:
# cereal/log.capnp
# docs/CARS.md
# opendbc_repo
# panda
# selfdrive/modeld/SConscript
# selfdrive/monitoring/test_monitoring.py
# selfdrive/ui/soundd.py
# tinygrad_repo
# uv.lock
2026-04-12 16:19:47 -04:00
Harald Schäfer
508863e5a8
Long policy: less creepy ( #37755 )
...
* fix
* better
2026-04-07 21:49:31 -07:00
Jason Wen
d398f9951e
Merge branch 'upstream/openpilot/master' into sync-20260401
...
# Conflicts:
# .github/workflows/auto_pr_review.yaml
# .github/workflows/repo-maintenance.yaml
# README.md
# SConstruct
# docs/CARS.md
# opendbc_repo
# panda
# selfdrive/car/card.py
# selfdrive/controls/controlsd.py
# selfdrive/selfdrived/selfdrived.py
# selfdrive/test/process_replay/migration.py
# selfdrive/ui/translations/app_fr.po
Platform List: sync with latest
Sync: `commaai/panda:master` → `sunnypilot/panda:master`
2026-04-02 21:14:23 -04:00
Jason Young
8badc7d813
controls: HKG angle control saturation from car port safety ( #37746 )
2026-03-29 00:20:35 -04:00
Daniel Koepping
6b94c47c6a
Lateral maneuver report ( #37562 )
...
* lateral report
* mutually exclude buttons
* gating
* set maneuver
* add timer
* timer text
* fix plot
* use curvature
* more curves
* fix gating
* rm delay
* highway speed only
* msg
* add sine
* add step-down
* use relative
* text
* stabilize
* tuning
* windup
* text
* winddown
* no windup
* tuning
* more tuning
* more
* formatting
* test faster
* extend sine
* report crossings
* add readme
* clean report
* fix lint
* gating
* fix
* straighter
* compensate roll
* rm abs roll
* len
* Revert "rm abs roll"
This reverts commit a22d6bb136f90d2bf997e6b9aeee2f784398ef42.
* Revert "compensate roll"
This reverts commit dfda52119cc4a2e29ac2854b9154c08459086fea.
* print actuators
* show curve and roll
* tune roll
* text
* slower
* timer
* too much banked streets in US
* readme
* filter incomplete
* plot jerk
* plot angle jerk
* lil edits
* fix lint
* apply suggestions
* better table
* apply comments
* clean
* shane comments
* deflicker
---------
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
2026-03-27 13:31:00 -07:00
Kacper Rączy
7fae59167e
paramsd/torqued: use the correct livePose timestamp ( #37704 )
...
* Use the correct filter time in torqued/paramsd
* Fix
* Check if lp valid
* Update tests fake data with new required fields
2026-03-21 02:10:59 +00:00
Jason Wen
d5b25e14fd
Merge branch 'upstream/openpilot/master' into sync-20260317
...
# Conflicts:
# .github/workflows/auto_pr_review.yaml
# .gitignore
# opendbc_repo
# panda
# selfdrive/ui/mici/layouts/home.py
# selfdrive/ui/mici/layouts/onboarding.py
# selfdrive/ui/mici/layouts/settings/device.py
# selfdrive/ui/tests/diff/replay.py
# selfdrive/ui/translations/app_fr.po
# system/ui/mici_setup.py
Sync: `commaai/opendbc:master` → `sunnypilot/opendbc:master`
Sync: `commaai/panda:master` → `sunnypilot/panda:master`
2026-03-17 23:02:10 -04:00
Adeeb Shihadeh
e42ee228c2
gitignore cleanups ( #37615 )
...
* gitignore cleanups
* lil more
* one more
2026-03-08 18:31:11 -07:00
Jason Wen
59a16b9cdc
Merge branch 'upstream/openpilot/master' into sync-20260225
...
# Conflicts:
# .github/workflows/auto_pr_review.yaml
# .github/workflows/badges.yaml
# .github/workflows/mici_raylib_ui_preview.yaml
# .github/workflows/prebuilt.yaml
# .github/workflows/raylib_ui_preview.yaml
# .github/workflows/release.yaml
# .github/workflows/repo-maintenance.yaml
# .github/workflows/tests.yaml
# .gitignore
# Dockerfile.openpilot_base
# SConstruct
# docs/CARS.md
# opendbc_repo
# panda
# release/build_release.sh
# selfdrive/modeld/SConscript
# selfdrive/modeld/modeld.py
# selfdrive/pandad/panda_safety.cc
# selfdrive/pandad/pandad.cc
# selfdrive/pandad/pandad.py
# selfdrive/test/process_replay/process_replay.py
# selfdrive/ui/layouts/onboarding.py
# selfdrive/ui/mici/layouts/home.py
# selfdrive/ui/tests/diff/replay.py
# selfdrive/ui/tests/test_ui/raylib_screenshots.py
# tools/mac_setup.sh
# uv.lock
2026-02-27 16:12:57 -05:00
Zeph
7a43e2cb67
controlsd: fix steer_limited_by_safety not updating under MADS ( #1716 )
...
The `steer_limited_by_safety` update in `publish()` is gated by
`selfdriveState.active`, which is False during MADS lateral-only
control. This causes the flag to never update once cruise deactivates
— it stays stuck at whatever value it had during the last ramp-up
(typically True), permanently suppressing the saturation timer in
`_check_saturation` and preventing the "Turn Exceeds Steering Limit"
alert from firing.
Use `CC.latActive` instead, which already accounts for MADS via
`get_lat_active()` in ControlsExt.
Bug was introduced in #446 (MADS), which updated `CC.latActive` to
use `mads.active` but missed updating the `steer_limited_by_safety`
gate in `publish()`.
2026-02-25 01:52:48 -05:00
Adeeb Shihadeh
b28ff40d4d
insource parameterized ( #37280 )
...
* insource parameterized
* lil more
* fix
2026-02-20 14:59:36 -08:00
Jason Wen
e8f65bc652
Controls: Support for Torque Lateral Control v0 Tune ( #1693 )
...
* init
* no
* more
* tree it
* final
* comment
* only with enforce torque
* only with enforce torque
* missed
* no
* lint
* Apply suggestion from @sunnyhaibin
* sunnylink metadata sync
* Apply suggestion from @sunnyhaibin
---------
Co-authored-by: nayan <nayan8teen@gmail.com >
2026-02-17 13:17:03 -05:00
felsager
a61badb564
test_following_distance: bump error margin when initial speed is 0 ( #37196 )
2026-02-12 20:59:14 -08:00
Jason Wen
52fb0b8171
Merge branch 'upstream/openpilot/master' into sync-20260211
...
# Conflicts:
# .github/workflows/auto_pr_review.yaml
# .github/workflows/tests.yaml
# opendbc_repo
# panda
# selfdrive/pandad/pandad.py
# selfdrive/test/process_replay/test_processes.py
2026-02-11 20:16:02 -05:00
felsager
12597856da
long mpc: state name before subscript ( #37101 )
2026-02-06 14:26:20 -08:00
felsager
187d3a079c
long_mpc: use log.capnp source enum ( #37096 )
2026-02-06 13:36:51 -08:00
Harald Schäfer
64f74dad27
Revert "long_mpc: use log.capnp source enum instead of list" ( #37095 )
...
Revert "long_mpc: use log.capnp source enum instead of list (#37093 )"
This reverts commit 7e959c5a3e
2026-02-05 16:23:28 -08:00
felsager
7e959c5a3e
long_mpc: use log.capnp source enum instead of list ( #37093 )
2026-02-05 15:55:03 -08:00
Jason Wen
f309be9038
DEC: refactor mode conditions with Experimental Mode
2026-02-04 00:31:55 -05:00
Jason Wen
959ebd22d8
Merge branch 'upstream/openpilot/master' into sync-20260201
...
# Conflicts:
# .github/workflows/auto_pr_review.yaml
# .github/workflows/docs.yaml
# .github/workflows/repo-maintenance.yaml
# .gitignore
# docs/CARS.md
# opendbc_repo
# panda
# pyproject.toml
# selfdrive/controls/lib/longitudinal_planner.py
# selfdrive/test/process_replay/ref_commit
# tinygrad_repo
2026-02-04 00:14:58 -05:00
Harald Schäfer
ee7601ae9d
long planner: Min(stopping) is also important ( #37074 )
...
Min(stopping) is also important
2026-02-03 15:55:13 -08:00
Jason Wen
8f970bcb99
Reapply "latcontrol_torque: lower kp and lower friction threshold (commaai/openpilot#36619)" ( #1581 ) ( #1669 )
...
* Reapply "latcontrol_torque: lower kp and lower friction threshold (commaai/openpilot#36619)" (#1581 )
This reverts commit 7560497f
2026-02-02 22:13:37 -05:00
felsager
d76f756f42
long_mpc: simplify longitudinal planner by removing "modes" ( #37014 )
2026-01-26 15:02:57 -08:00
Adeeb Shihadeh
de024fd4a7
pandad: pure Python capnp helpers ( #37025 )
...
* pandad: pure Python capnp helpers
* cleanup
2026-01-24 12:02:33 -08:00
felsager
c9cfe2c727
LatcontrolTorque: move jerk calculation and filtering outside if else ( #37011 )
2026-01-21 12:32:56 -08:00
felsager
bc979ea6aa
Latcontrol torque test: ensure desired lateral accel buffer is consistent ( #37004 )
2026-01-20 16:16:38 -08:00
Harald Schäfer
adf6f28ebf
LatcontrolTorque: always fill buffer ( #36991 )
2026-01-20 15:34:57 -08:00
James Vecellio-Grant
7560497f15
Revert "latcontrol_torque: lower kp and lower friction threshold (commaai/openpilot#36619)" ( #1581 )
...
* Revert " latcontrol_torque: delay independent jerk and lower kp and lower friction threshold (#36619 )"
This reverts commit f01391a7d9haibin.wen3@gmail.com >
2025-12-17 21:32:18 -05:00
Jason Wen
03c8494dbc
Merge branch 'upstream/openpilot/master' into sync-20251213
...
# Conflicts:
# README.md
# common/api.py
# docs/CARS.md
# opendbc_repo
# panda
# selfdrive/ui/mici/layouts/offroad_alerts.py
# system/ui/README.md
# system/version.py
2025-12-13 01:50:42 -05:00
Jason Wen
023b842e3c
controlsd_ext: use time.monotonic to check params intervals ( #1481 )
...
* controlsd_ext: use time.monotonic to check params intervals
* test
* Revert "test"
This reverts commit 151ac3bc6812cdd1693c1a7650f44bb3bcd8910e.
2025-11-29 03:58:58 -05:00
felsager
f01391a7d9
latcontrol_torque: delay independent jerk and lower kp and lower friction threshold ( #36619 )
2025-11-25 10:23:02 -08:00
Jason Wen
08e85808c5
Merge branch 'upstream/openpilot/master' into sync-20251114
...
# Conflicts:
# .github/workflows/ci_weekly_run.yaml
# .github/workflows/raylib_ui_preview.yaml
# .github/workflows/tests.yaml
# .gitmodules
# README.md
# SConstruct
# common/api.py
# common/params_keys.h
# docs/CARS.md
# msgq_repo
# opendbc_repo
# panda
# selfdrive/car/tests/test_car_interfaces.py
# selfdrive/controls/controlsd.py
# selfdrive/controls/lib/latcontrol.py
# selfdrive/controls/lib/latcontrol_angle.py
# selfdrive/controls/lib/latcontrol_pid.py
# selfdrive/controls/lib/latcontrol_torque.py
# selfdrive/controls/tests/test_latcontrol.py
# selfdrive/monitoring/helpers.py
# selfdrive/ui/SConscript
# selfdrive/ui/main.cc
# selfdrive/ui/qt/body.h
# selfdrive/ui/qt/home.cc
# selfdrive/ui/qt/home.h
# selfdrive/ui/qt/network/networking.cc
# selfdrive/ui/qt/network/networking.h
# selfdrive/ui/qt/network/wifi_manager.cc
# selfdrive/ui/qt/offroad/developer_panel.cc
# selfdrive/ui/qt/offroad/developer_panel.h
# selfdrive/ui/qt/offroad/experimental_mode.cc
# selfdrive/ui/qt/offroad/firehose.cc
# selfdrive/ui/qt/offroad/firehose.h
# selfdrive/ui/qt/offroad/onboarding.cc
# selfdrive/ui/qt/offroad/onboarding.h
# selfdrive/ui/qt/offroad/settings.cc
# selfdrive/ui/qt/offroad/settings.h
# selfdrive/ui/qt/offroad/software_settings.cc
# selfdrive/ui/qt/onroad/alerts.cc
# selfdrive/ui/qt/onroad/annotated_camera.h
# selfdrive/ui/qt/onroad/buttons.cc
# selfdrive/ui/qt/onroad/buttons.h
# selfdrive/ui/qt/onroad/driver_monitoring.cc
# selfdrive/ui/qt/onroad/hud.cc
# selfdrive/ui/qt/onroad/hud.h
# selfdrive/ui/qt/onroad/model.cc
# selfdrive/ui/qt/onroad/model.h
# selfdrive/ui/qt/onroad/onroad_home.cc
# selfdrive/ui/qt/onroad/onroad_home.h
# selfdrive/ui/qt/request_repeater.h
# selfdrive/ui/qt/sidebar.cc
# selfdrive/ui/qt/sidebar.h
# selfdrive/ui/qt/util.cc
# selfdrive/ui/qt/widgets/cameraview.h
# selfdrive/ui/qt/widgets/controls.cc
# selfdrive/ui/qt/widgets/controls.h
# selfdrive/ui/qt/widgets/input.cc
# selfdrive/ui/qt/widgets/input.h
# selfdrive/ui/qt/widgets/prime.cc
# selfdrive/ui/qt/widgets/prime.h
# selfdrive/ui/qt/widgets/ssh_keys.h
# selfdrive/ui/qt/widgets/toggle.h
# selfdrive/ui/qt/widgets/wifi.cc
# selfdrive/ui/qt/widgets/wifi.h
# selfdrive/ui/qt/window.cc
# selfdrive/ui/qt/window.h
# selfdrive/ui/tests/cycle_offroad_alerts.py
# selfdrive/ui/tests/test_ui/run.py
# selfdrive/ui/translations/main_ar.ts
# selfdrive/ui/translations/main_de.ts
# selfdrive/ui/translations/main_es.ts
# selfdrive/ui/translations/main_fr.ts
# selfdrive/ui/translations/main_ja.ts
# selfdrive/ui/translations/main_ko.ts
# selfdrive/ui/translations/main_nl.ts
# selfdrive/ui/translations/main_pl.ts
# selfdrive/ui/translations/main_pt-BR.ts
# selfdrive/ui/translations/main_th.ts
# selfdrive/ui/translations/main_tr.ts
# selfdrive/ui/translations/main_zh-CHS.ts
# selfdrive/ui/translations/main_zh-CHT.ts
# selfdrive/ui/ui.cc
# selfdrive/ui/ui.h
# system/manager/build.py
# system/version.py
2025-11-16 02:50:28 -05:00
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
THERoenPR
707e2aedae
controlsd: add CP_SP to get_pid_accel_limits ( #1410 )
...
* Add CP_SP to get_pid_accel_limits() call in controlsd
Match input parameters of CP_SP commit
* bump
* bump
---------
Co-authored-by: roenthomas <43324106+roenthomas@users.noreply.github.com >
Co-authored-by: Jason Wen <haibin.wen3@gmail.com >
2025-10-28 22:13:39 -04:00
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
felsager
d2bb8fe537
latcontrol_torque: more descriptive variable names ( #36422 )
2025-10-22 10:44:14 -07:00
Jason Wen
7097e69aa3
Speed Limit Assist: generalize availability helper ( #1416 )
...
* init infra to disable sla in certain conditions
* a bit more
* in another PR
* in another PR
* since when?
* start here
2025-10-22 11:17:02 -04:00
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
Harald Schäfer
7534b2a160
PID: no more ff gain ( #36398 )
...
* No more ff gain
* typo
2025-10-18 11:12:47 -07:00
Jason Wen
2825c00fcc
controlsd: update lateral delay param in a separate thread ( #1402 )
2025-10-17 22:53:31 -04:00
James Vecellio-Grant
734151f59b
Reapply "capnp: consolidate TurnDirection enum" ( #1376 ) ( #1382 )
...
* Reapply "capnp: consolidate TurnDirection enum" (#1376 )
This reverts commit 339bc0b8b3haibin.wen3@gmail.com >
2025-10-14 23:32:10 -04:00
felsager
3546b625e7
latcontrol_torque: change in kp should not affect effective low speed factor gain ( #36335 )
2025-10-14 13:22:17 -07:00
Jason Wen
339bc0b8b3
Revert "capnp: consolidate TurnDirection enum" ( #1376 )
...
Revert "capnp: consolidate TurnDirection enum (#1370 )"
This reverts commit 7229c7541e
2025-10-14 00:19:21 -04:00
James Vecellio-Grant
7229c7541e
capnp: consolidate TurnDirection enum ( #1370 )
...
Co-authored-by: Jason Wen <haibin.wen3@gmail.com >
2025-10-13 22:02:53 -04:00
felsager
de805e4af7
Lateral torque controller: use measurement rate as error rate ( #36291 )
2025-10-09 14:57:12 -07:00
felsager
4c9ca91b98
Latcontrol: use more accurate naming for saturation time ( #36286 )
2025-10-09 10:34:26 -07:00
