diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index a0ecf017cf..de6fd5be1f 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -67,15 +67,7 @@ jobs:
timeout-minutes: 1
run: |
cd $STRIPPED_DIR
- ${{ env.RUN }} "release/check-dirty.sh && \
- MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car system/manager"
- - name: Static analysis
- timeout-minutes: 1
- run: |
- cd $GITHUB_WORKSPACE
- cp pyproject.toml $STRIPPED_DIR
- cd $STRIPPED_DIR
- ${{ env.RUN }} "scripts/lint/lint.sh --skip check_added_large_files"
+ ${{ env.RUN }} "release/check-dirty.sh"
build:
runs-on:
diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index 2739cc5e8e..3e8c2be4ba 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -86,7 +86,7 @@ jobs:
run: >-
sudo apt-get install -y imagemagick
- scenes="homescreen settings_device settings_software settings_sunnylink settings_toggles settings_sunnypilot settings_sunnypilot_mads settings_trips settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
+ scenes="homescreen settings_device settings_software settings_sunnylink settings_toggles settings_sunnypilot settings_sunnypilot_mads settings_trips settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard keyboard_uppercase"
A=($scenes)
DIFF=""
diff --git a/RELEASES.md b/RELEASES.md
index dbec5206cc..d326af1d0a 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,16 +1,23 @@
-Version 0.9.8 (2024-XX-XX)
+Version 0.9.9 (2025-03-30)
+========================
+* Coming soon
+ * Rivian support
+ * F-150 & Mach-E support
+ * Tesla Model 3 support
+
+Version 0.9.8 (2025-01-30)
========================
-* New driving model
- * Trained in brand new ML simulator
- * Model now gates applying positive accel in Chill mode
* New driving monitoring model
* Reduced false positives related to passengers
* Image processing pipeline moved to the ISP
* More GPU time for driving models
- * Power draw reduced 0.5W, which means your device runs cooler
+ * Power draw reduced 0.5W, which means your device runs cooler
* Added toggle to enable driver monitoring even when openpilot is not engaged
* Enable openpilot longitudinal control for Ford Q3 vehicles
* New Toyota TSS2 longitudinal tune
+* Coming soon
+ * New driving model with gas gating
+ * Training data upload mode
Version 0.9.7 (2024-06-13)
========================
diff --git a/cereal/log.capnp b/cereal/log.capnp
index fb38185dfe..0f838b7f73 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -483,6 +483,7 @@ struct GpsLocationData {
speedAccuracy @12 :Float32;
hasFix @13 :Bool;
+ satelliteCount @14 :Int8;
enum SensorSource {
android @0;
diff --git a/common/clutil.cc b/common/clutil.cc
index 4f2a783d3e..ee43ef36d5 100644
--- a/common/clutil.cc
+++ b/common/clutil.cc
@@ -79,6 +79,10 @@ cl_context cl_create_context(cl_device_id device_id) {
return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
}
+void cl_release_context(cl_context context) {
+ clReleaseContext(context);
+}
+
cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
return cl_program_from_source(ctx, device_id, util::read_file(path), args);
}
diff --git a/common/clutil.h b/common/clutil.h
index af986d6434..c8bd2cd38f 100644
--- a/common/clutil.h
+++ b/common/clutil.h
@@ -23,6 +23,7 @@
cl_device_id cl_get_device_id(cl_device_type device_type);
cl_context cl_create_context(cl_device_id device_id);
+void cl_release_context(cl_context context);
cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args = nullptr);
cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);
diff --git a/common/pid.py b/common/pid.py
index 36cbf9c4e9..f2ab935f45 100644
--- a/common/pid.py
+++ b/common/pid.py
@@ -1,9 +1,6 @@
import numpy as np
from numbers import Number
-from openpilot.common.numpy_fast import clip, interp
-
-
class PIDController:
def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
self._k_p = k_p
@@ -28,15 +25,15 @@ class PIDController:
@property
def k_p(self):
- return interp(self.speed, self._k_p[0], self._k_p[1])
+ return np.interp(self.speed, self._k_p[0], self._k_p[1])
@property
def k_i(self):
- return interp(self.speed, self._k_i[0], self._k_i[1])
+ return np.interp(self.speed, self._k_i[0], self._k_i[1])
@property
def k_d(self):
- return interp(self.speed, self._k_d[0], self._k_d[1])
+ return np.interp(self.speed, self._k_d[0], self._k_d[1])
@property
def error_integral(self):
@@ -64,10 +61,10 @@ class PIDController:
# Clip i to prevent exceeding control limits
control_no_i = self.p + self.d + self.f
- control_no_i = clip(control_no_i, self.neg_limit, self.pos_limit)
- self.i = clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
+ control_no_i = np.clip(control_no_i, self.neg_limit, self.pos_limit)
+ self.i = np.clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
control = self.p + self.i + self.d + self.f
- self.control = clip(control, self.neg_limit, self.pos_limit)
+ self.control = np.clip(control, self.neg_limit, self.pos_limit)
return self.control
diff --git a/common/swaglog.cc b/common/swaglog.cc
index 7864a6355a..62a405a2b6 100644
--- a/common/swaglog.cc
+++ b/common/swaglog.cc
@@ -26,6 +26,9 @@ public:
zmq_setsockopt(sock, ZMQ_LINGER, &timeout, sizeof(timeout));
zmq_connect(sock, Path::swaglog_ipc().c_str());
+ // workaround for https://github.com/dropbox/json11/issues/38
+ setlocale(LC_NUMERIC, "C");
+
print_level = CLOUDLOG_WARNING;
if (const char* print_lvl = getenv("LOGPRINT")) {
if (strcmp(print_lvl, "debug") == 0) {
diff --git a/common/tests/test_numpy_fast.py b/common/tests/test_numpy_fast.py
deleted file mode 100644
index aa53851db0..0000000000
--- a/common/tests/test_numpy_fast.py
+++ /dev/null
@@ -1,21 +0,0 @@
-import numpy as np
-
-from openpilot.common.numpy_fast import interp
-
-
-class TestInterp:
- def test_correctness_controls(self):
- _A_CRUISE_MIN_BP = np.asarray([0., 5., 10., 20., 40.])
- _A_CRUISE_MIN_V = np.asarray([-1.0, -.8, -.67, -.5, -.30])
- v_ego_arr = [-1, -1e-12, 0, 4, 5, 6, 7, 10, 11, 15.2, 20, 21, 39,
- 39.999999, 40, 41]
-
- expected = np.interp(v_ego_arr, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
- actual = interp(v_ego_arr, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
-
- np.testing.assert_equal(actual, expected)
-
- for v_ego in v_ego_arr:
- expected = np.interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
- actual = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
- np.testing.assert_equal(actual, expected)
diff --git a/common/time.py b/common/time_helpers.py
similarity index 100%
rename from common/time.py
rename to common/time_helpers.py
diff --git a/docs/CARS.md b/docs/CARS.md
index 10d10d4cfc..331fae54f1 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -88,7 +88,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|Parts
- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|
-|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|Parts
- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here