65405bafa6
acados: copy c generated code ( #38050 )
2026-05-16 11:09:03 -07:00
38ffb324f8
radard: filter lead prob ( #37879 )
...
* filter lead prob
* rename
* try correcting model bias
* Revert "try correcting model bias"
This reverts commit b5e9b7147e58f200ca2e02ccea8adf88be99e206.
* fast gain slow lose
* cmt
* deb
* rename
* rename
* end
2026-05-11 00:25:15 -07:00
f87bc52405
use vendored acados ( #37992 )
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* use vendored acados
* fix
* cleanup
2026-05-09 19:32:54 -07:00
f364110a36
Reapply "Safer get accel ( #37918 )" ( #37943 )
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* Reapply "Safer get accel (#37918 )"
This reverts commit 3af3c7e748
2026-05-01 10:38:42 -07:00
3af3c7e748
Revert "Safer get accel ( #37918 )"
...
This reverts commit 545ad018e0
2026-04-26 10:15:12 -07:00
545ad018e0
Safer get accel ( #37918 )
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* more robust accel fun
* dead
2026-04-26 09:48:25 -07:00
389b639ef2
DriverMonitoringState v2 ( #37799 )
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* draft ds
* better names
* what is this
* build new
* better names2
* more
* bit more cleanup
* rm those
* .
* .2
* selfdrived
* depre
* hk
* fix test
* fix rest
* 1
* fix enum
* update cereal
* fix rest
* more
* add step
* fix all
* imports
* cant?
* .
* simplify
* bool
* fix some migrate
* cleanup
* fix fix
* Update cereal/log.capnp
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
* touchup
* what
---------
Co-authored-by: Comma Device <device@comma.ai >
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
2026-04-17 21:58:05 -07:00
508863e5a8
Long policy: less creepy ( #37755 )
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* fix
* better
2026-04-07 21:49:31 -07:00
8badc7d813
controls: HKG angle control saturation from car port safety ( #37746 )
2026-03-29 00:20:35 -04:00
6b94c47c6a
Lateral maneuver report ( #37562 )
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* 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
7fae59167e
paramsd/torqued: use the correct livePose timestamp ( #37704 )
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* 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
e42ee228c2
gitignore cleanups ( #37615 )
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* gitignore cleanups
* lil more
* one more
2026-03-08 18:31:11 -07:00
b28ff40d4d
insource parameterized ( #37280 )
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* insource parameterized
* lil more
* fix
2026-02-20 14:59:36 -08:00
a61badb564
test_following_distance: bump error margin when initial speed is 0 ( #37196 )
2026-02-12 20:59:14 -08:00
12597856da
long mpc: state name before subscript ( #37101 )
2026-02-06 14:26:20 -08:00
187d3a079c
long_mpc: use log.capnp source enum ( #37096 )
2026-02-06 13:36:51 -08:00
64f74dad27
Revert "long_mpc: use log.capnp source enum instead of list" ( #37095 )
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Revert "long_mpc: use log.capnp source enum instead of list (#37093 )"
This reverts commit 7e959c5a3e
2026-02-05 16:23:28 -08:00
7e959c5a3e
long_mpc: use log.capnp source enum instead of list ( #37093 )
2026-02-05 15:55:03 -08:00
ee7601ae9d
long planner: Min(stopping) is also important ( #37074 )
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Min(stopping) is also important
2026-02-03 15:55:13 -08:00
d76f756f42
long_mpc: simplify longitudinal planner by removing "modes" ( #37014 )
2026-01-26 15:02:57 -08:00
de024fd4a7
pandad: pure Python capnp helpers ( #37025 )
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* pandad: pure Python capnp helpers
* cleanup
2026-01-24 12:02:33 -08:00
c9cfe2c727
LatcontrolTorque: move jerk calculation and filtering outside if else ( #37011 )
2026-01-21 12:32:56 -08:00
bc979ea6aa
Latcontrol torque test: ensure desired lateral accel buffer is consistent ( #37004 )
2026-01-20 16:16:38 -08:00
adf6f28ebf
LatcontrolTorque: always fill buffer ( #36991 )
2026-01-20 15:34:57 -08:00
f01391a7d9
latcontrol_torque: delay independent jerk and lower kp and lower friction threshold ( #36619 )
2025-11-25 10:23:02 -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 )"
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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
d2bb8fe537
latcontrol_torque: more descriptive variable names ( #36422 )
2025-10-22 10:44:14 -07:00
b2e3dd17ea
torque gains not car specific ( #36404 )
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* 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
7534b2a160
PID: no more ff gain ( #36398 )
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* No more ff gain
* typo
2025-10-18 11:12:47 -07:00
3546b625e7
latcontrol_torque: change in kp should not affect effective low speed factor gain ( #36335 )
2025-10-14 13:22:17 -07:00
de805e4af7
Lateral torque controller: use measurement rate as error rate ( #36291 )
2025-10-09 14:57:12 -07:00
4c9ca91b98
Latcontrol: use more accurate naming for saturation time ( #36286 )
2025-10-09 10:34:26 -07:00
0736f325fc
Latcontrol torque: cleaner low_speed_factor calculation ( #36287 )
2025-10-09 10:29:35 -07:00
226465e882
Latcontrol: refactor pid error to factor out lateral jerk component ( #36280 )
2025-10-08 18:29:54 -07:00
2deb4e6f65
Lateral controllers: pass dt (delta time) explictly ( #36281 )
2025-10-08 14:39:05 -07:00
9f32f217e6
Latcontrol: type annotate update inputs and clip_curvature output ( #36282 )
2025-10-08 14:26:53 -07:00
1033d3d80e
Desire helper: set lane change direction on entering preLaneChange state ( #36074 )
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* set immediately to avoid flash on right lane changes
* one function
* name
* comment
2025-09-05 22:34:04 -07:00
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 )"
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This reverts commit 1d74a97ba6
2025-08-26 21:45:49 -07:00
1d74a97ba6
torqued: apply offset ( #36005 )
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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
---------
Co-authored-by: felsager <d.felsager@gmail.com >
2025-08-25 13:50:10 -07:00
ab44c9a4ff
Torque controller: refactor calculations to be in accel space ( #35790 )
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* 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
4536719353
longitudinal_planner: Convert self.mode to a local variable in update() ( #35999 )
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Make 'mode' variable local
2025-08-15 09:02:38 -07:00
455a6a586a
Misc PID refactors ( #35844 )
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* 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
7413982f0d
Lower ALLOW_THROTTLE_THRESHOLD ( #35928 )
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* Lower ALLOW_THROTTLE_THRESHOLD
* Bumped process_replay refs
2025-08-05 17:35:54 -07:00
9dc98b36be
refactor: cleanup gravity constant handling ( #35866 )
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* 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
YassineYousfi