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
2458a6d115
Merge branch 'upstream/openpilot/master' into sync-20251217
...
# Conflicts:
# docs/CARS.md
# opendbc_repo
2025-12-17 21:09:26 -05:00
9e4c2bcacf
bump opendbc ( #36878 )
...
* bump
* update docs
* bump
* gotta go fast
2025-12-15 16:41:16 -08:00
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
f01391a7d9
latcontrol_torque: delay independent jerk and lower kp and lower friction threshold ( #36619 )
2025-11-25 10:23:02 -08:00
ceed203de7
Merge remote-tracking branch 'openpilot/master' into nov-19-sync
2025-11-21 09:42:54 -08:00
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
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
736e1fa7b7
Revert "latcontrol_torque: make feed-forward jerk independent of individual platform lag ( #36334 )"
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This reverts commit fc4e5007fd
2025-11-03 10:31:27 -08:00
177c7f1cf3
Revert "latcontrol_torque: retune torque controller ( #36392 )"
...
This reverts commit 76c5cb6d87
2025-11-03 10:31:22 -08:00
76c5cb6d87
latcontrol_torque: retune torque controller ( #36392 )
2025-10-30 13:34:44 -07:00
fc4e5007fd
latcontrol_torque: make feed-forward jerk independent of individual platform lag ( #36334 )
2025-10-30 13:29:38 -07:00
936740201c
latcontrol_torque: refactor low speed factor into pid controller ( #36364 )
2025-10-22 11:50:37 -07:00
a2e7f3788f
LateralTorqueState: log controller version and desired lateral jerk ( #36421 )
2025-10-22 10:56:34 -07:00
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
de805e4af7
Lateral torque controller: use measurement rate as error rate ( #36291 )
2025-10-09 14:57:12 -07:00
226465e882
Latcontrol: refactor pid error to factor out lateral jerk component ( #36280 )
2025-10-08 18:29:54 -07:00
ecee67dd64
Locationd: reimplement liveLocationKalman and use position_geodetic in liveMapDataSP ( #1275 )
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* init
* desc
* llk welcome back
* more
* new param to write
* update mapd
* no migration
* no refactor for now
* exec
* rename
* bearing
* fix test
* lint
2025-09-22 23:39:55 -04:00
ec8f036850
Merge branch 'upstream/openpilot/master' into sync-20250908
...
# Conflicts:
# .github/workflows/selfdrive_tests.yaml
# README.md
# docs/CARS.md
# opendbc_repo
# panda
# selfdrive/car/tests/test_car_interfaces.py
# selfdrive/modeld/modeld.py
# selfdrive/selfdrived/selfdrived.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_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
# system/hardware/hardwared.py
# system/updated/updated.py
# tinygrad_repo
# uv.lock
2025-09-13 15:23:36 -04:00
ef870d5533
bump opendbc ( #36103 )
...
* bump
* update refs
2025-09-04 18:11:44 -07:00
76e91da3ad
process_replay: use LiveParametersV2 in custom params ( #36080 )
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Fill LiveParametersV2 in get_custom_params_from_lr
2025-08-28 20:11:20 +00:00
b976135d2f
torqued: apply offset (with more robust unit test) ( #36075 )
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* 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
f40f7f9ece
Revert "torqued: apply offset ( #36005 )"
...
This reverts commit 1d74a97ba6
2025-08-26 21:45:49 -07:00
1d74a97ba6
torqued: apply offset ( #36005 )
...
* 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
---------
Co-authored-by: felsager <d.felsager@gmail.com >
2025-08-25 13:50:10 -07:00
aea467ff02
[bot] Update Python packages ( #36053 )
...
* Update Python packages
* bump
---------
Co-authored-by: Vehicle Researcher <user@comma.ai >
Co-authored-by: Shane Smiskol <shane@smiskol.com >
2025-08-25 11:43:49 -07:00
798e9071d8
Merge branch 'upstream/openpilot/master' into sync-20250823
...
# Conflicts:
# .github/workflows/release.yaml
# README.md
# RELEASES.md
# common/params_keys.h
# docs/CARS.md
# opendbc_repo
# panda
# release/build_stripped.sh
# selfdrive/controls/lib/longitudinal_planner.py
# selfdrive/modeld/modeld.py
# selfdrive/ui/feedback/feedbackd.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_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
# system/version.py
# uv.lock
2025-08-24 14:52:21 -04:00
3d879dd1ae
[bot] Update Python packages ( #36012 )
...
* Update Python packages
* add psa
---------
Co-authored-by: Vehicle Researcher <user@comma.ai >
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
2025-08-17 17:53:50 -07:00
ab44c9a4ff
Torque controller: refactor calculations to be in accel space ( #35790 )
...
* clean up
* little confusing but works
* clean up
* fix
* pid outputs torque again, fix windup above max torque
* clean up
* fix
* fix
* typo
* fix conflicts
* fix PID
* cleanups
* seems correct
* updte
* inverse
* whitespace
* move
* small cleanup
* more cleanup
* update ref
---------
Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com >
2025-08-15 11:39:56 -07:00
5417efaa1d
bump opendbc ( #36001 )
2025-08-15 11:12:18 -07:00
6c4c0c00b4
Merge branch 'upstream/openpilot/master' into sync-20250812
...
# Conflicts:
# opendbc_repo
# selfdrive/controls/controlsd.py
# selfdrive/controls/lib/latcontrol_angle.py
# selfdrive/controls/lib/latcontrol_pid.py
# selfdrive/controls/lib/latcontrol_torque.py
2025-08-12 23:11:18 -04:00
455a6a586a
Misc PID refactors ( #35844 )
...
* Misc PID refactors
* dead
* finish rename
* unused import
* whitespace
* typo
* fix fan controller
* pid_log
* whitespace
* integral clipping in pid
* update ref
* cleaner
* rm print
* update ref
* revert fan changes
* forgot this
2025-08-11 14:25:29 -07:00
97c2d7e655
Merge branch 'upstream/openpilot/master' into sync-20250809
...
# Conflicts:
# common/params_keys.h
# opendbc_repo
# panda
# selfdrive/car/cruise.py
# selfdrive/controls/controlsd.py
# selfdrive/selfdrived/selfdrived.py
# selfdrive/test/process_replay/process_replay.py
# selfdrive/ui/qt/setup/setup.cc
# tinygrad_repo
2025-08-10 02:05:05 -04:00
7413982f0d
Lower ALLOW_THROTTLE_THRESHOLD ( #35928 )
...
* Lower ALLOW_THROTTLE_THRESHOLD
* Bumped process_replay refs
2025-08-05 17:35:54 -07:00
d7b0a5fa7e
Record feedback with LKAS button ( #35888 )
...
* record feedback with LKAS button
* fix alert test
* slightly simplify feedbackd
* "Audio Feedback Saved" upon time expiration or early stop
* earlySend --> earlyStop
* userFlag --> userBookmark
* RecordAudioFeedback param/toggle
* add audioFeedback test
* simplify feedbackd
* send bookmark regardless of toggle, show feedback event with higher priority
* add userBookmark to selfdrived sm
* fix mispelled param name
* default off and move to main
* segmentNum --> blockNum, earlyStop --> lastBlock
* preserve audioFeedback
* get rid of lastBlock and just send bookmark saved at the end
* update raylib side
* update toggle description and add raylib toggle
---------
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
2025-08-05 13:41:41 -07:00
c92add1280
process replay: don't wait for process to start ( #35897 )
...
* hmm
* test proc replay determinism
* clean up
* rm
* clean up
2025-08-02 12:34:13 -07:00
9dc98b36be
refactor: cleanup gravity constant handling ( #35866 )
...
* refactor: move lateral methods from init to lateral.py (#2594 )
* Extracting lateral methods to lateral.py
* cleaning
* more cleaning
* more cleaning
* Making sure it remains where it should
* Leave rate_limit where it belongs
* Moving things to `car/controls/`
* Moving rate limit to get a taste of the changes
* clean
* copy verbatim
* clean up
* more
* now we can format
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com >
* No need to change order of import
* refactor: consolidate ACCELERATION_DUE_TO_GRAVITY import path
* bump opendbc
* update refs
* don't import from opendbc
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com >
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
2025-08-02 11:20:18 -07:00
313f36712c
process replay: lock polled socket only ( #35887 )
...
* stash
* Revert "stash"
This reverts commit 333818b80f498e8e3dac3c1cd36e669e97521d52.
* works for paramsd
* INSANE
* format
* fater
* clean up
* more
* huh i thought order matterred?
* clean that up
* can remove this
* cmt
* check isisntance
* rename
* clean up
* clean up
* more
* more!
* sounds better
2025-08-02 00:45:29 -07:00
bdd6ff4f3e
process replay: remove frequency based recv callback ( #35886 )
...
* wtf is going on?
* rm it
* default
2025-08-01 21:46:32 -07:00
f2e100b0e1
process replay: clean up recv callbacks ( #35889 )
...
clean up callbacks
2025-08-01 21:36:15 -07:00
d6474aa0a9
Merge branch 'upstream/openpilot/master' into sync-20250731
...
# Conflicts:
# .github/workflows/selfdrive_tests.yaml
# common/params.h
# common/params_keys.h
# common/params_pyx.pyx
# docs/CARS.md
# opendbc_repo
# panda
# selfdrive/car/tests/test_models.py
# selfdrive/pandad/pandad.cc
# selfdrive/pandad/pandad.h
# selfdrive/selfdrived/selfdrived.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_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
# system/athena/athenad.py
# system/athena/manage_athenad.py
# system/manager/manager.py
# system/sentry.py
# uv.lock
Sync: `commaai/opendbc:master` into `sunnypilot/opendbc:master`
Sync: `commaai/panda:master` into `sunnypilot/panda:master`
2025-08-02 00:21:14 -04:00
db55f1275d
process replay: set selfdrived main_pub ( #35885 )
...
* save 1-2s for full route
* now more than halve the time on top of previous speedup!
* stash
* default should be most common!
* revert
* revert
* clean up
* clean up
* clean up
* clean up
2025-08-01 20:49:45 -07:00
8f9ee43d34
process replay: flip main_pub_drained default
2025-08-01 20:44:33 -07:00
37c4ee1532
process replay: only enter prefix when interacting with process ( #35884 )
...
* save 1-2s for full route
* cu
* stock
* Revert "stock"
This reverts commit 7cfb550817b124c3085cf005fda8c102ae53ae9d.
* clean up
2025-08-01 20:13:02 -07:00
5c73681be8
process replay: rm dummy sockets ( #35883 )
...
* rm dummy sockets
* debug
* clean up
* cu
2025-08-01 18:38:42 -07:00
dd09c4f341
process replay: speed up startup ( #35879 )
...
* format
* containers might not be set
* opts
* halves startup time for 12 procs (1.6 to 0.8s)
* stash
* clean up
* who knew going through entire list of msgs each time is so slow
* rewrite this to be more readable
* speed up lr
* clean up
* more
* more
2025-08-01 17:51:39 -07:00
4d01b7bec8
Fix up radarFault handling ( #35880 )
...
* fixup radarFault handling
* catch all
---------
Co-authored-by: Comma Device <device@comma.ai >
2025-08-01 16:27:26 -07:00
9117a414bb
process replay clean up ( #35878 )
...
* format
* containers might not be set
* opts
* halves startup time for 12 procs (1.6 to 0.8s)
* stash
* Revert "stash"
This reverts commit 3e119a9602e495bd5a57b94e73fa53d4f45051b1.
* Revert "halves startup time for 12 procs (1.6 to 0.8s)"
This reverts commit a39edf0a579f0c861ccb904a2718254fe32e03d0.
* Revert "opts"
This reverts commit 4dc1f75f0909a93650f8f7e8525af3e4eae08205.
* already set!
2025-08-01 15:20:50 -07:00
2e4de9b7d8
process replay: speed up multi-process replay ( #35867 )
...
* holy shit
* benchmark without this main pub drain stuff
* revert
* ??
* actually this is what we want
* what is going on this is python 3.11 sir
* stash
* this is how you dew it
* minor clean up
* fix
* clean up
* clean up
* this is madness!
* typing
* clean up
2025-08-01 03:32:03 -07:00
f2c17dd688
process replay: ordered dict is in Python
2025-08-01 03:26:45 -07:00
c4298ce287
process replay: create openpilot prefix directories once ( #35864 )
...
this is so slow
2025-07-31 23:42:02 -07:00
James Vecellio-Grant