b500034b8d
LongitudinalMpc: Remove class accel_limit_arr ( #23295 )
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* remove class accel_limit_arr
remove class accel_limit_arr
* make it static
* only set static parameters once
* just use existing function
style
* Update selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
* Update selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
Co-authored-by: Willem Melching <willem.melching@gmail.com >
old-commit-hash: 9cb0ebe37d
2022-01-04 16:00:29 +01:00
efd1ff1452
Longitudinal planner: make v_desired a FirstOrderFilter ( #23341 )
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* make v_desired a FirstOrderFilter
* forgot one
* one more ref
* Add a new object for the filter
* fix
* fix tests
* update ref
Co-authored-by: Willem Melching <willem.melching@gmail.com >
old-commit-hash: 9f88ba188a
2022-01-04 12:17:33 +01:00
a55046c949
longcontrol/update: optimize capnp ( #23382 )
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old-commit-hash: 5dc631fa1b
2022-01-04 11:32:54 +01:00
3723b3a877
lane_planner.py/parse_model: follow capnp best practices ( #23368 )
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old-commit-hash: f2520b6e80
2022-01-03 15:08:24 -08:00
5fbbb129a6
lateral_planner.py/publish: follow capnp best practices ( #23359 )
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old-commit-hash: 2ca0925da7
2022-01-02 11:55:24 -08:00
86a39e838b
Add More Types for mypy ( #23268 )
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* mypy passes
* a few more
* a few in manager
* more types, will lint
* more
* simple types
* events type
* Update selfdrive/thermald/thermald.py
* Apply suggestions from code review
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
old-commit-hash: dc96d4bee7
2021-12-28 18:07:00 +01:00
d5bf8e0e65
LongitudinalMpc: minor clean up ( #23296 )
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* correct order
* formatting
* Revert "formatting"
This reverts commit 481c390f400179f5d0d8f9b5a3066cb68e484d0c.
* use np.zeros
* typos and formatting
* typo
* typo
old-commit-hash: 5387806400
2021-12-28 12:05:52 +01:00
f206ebd054
Pyupgrade 3.6: Update syntax with Python 3.6+ features ( #23305 )
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Updated Python code with Python 3.6+ features:
- utf-8 encoding is now the default (PEP 3120)
- Replace list comprehensions by Generator Expressions (PEP 289)
- Replace yield loop by yield from (PEP 380)
- Remove the (object) subclass when defining a class
- Replace the IOError alias by OSError (PEP 3151)
- Define sets with curly braces {} instead of set()
- Remove "r" parameter from open function, which is default
Co-Authored-By: Adeeb Shihadeh <8762862+adeebshihadeh@users.noreply.github.com >
Co-Authored-By: GregorKikelj <96022003+GregorKikelj@users.noreply.github.com >
Co-authored-by: Adeeb Shihadeh <8762862+adeebshihadeh@users.noreply.github.com >
Co-authored-by: GregorKikelj <96022003+GregorKikelj@users.noreply.github.com >
old-commit-hash: 332f568a82
2021-12-24 11:18:39 -08:00
8f09da4407
bump cereal
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old-commit-hash: 256c51e16a
2021-12-20 23:04:27 -08:00
55d6972d08
Revert "Mazda: alert when LKAS is disabled ( #23273 )"
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This reverts commit e67713edb1f62957974f20a0f7eceb2fc9efb1f4.
old-commit-hash: c92199ab1a
2021-12-20 23:02:02 -08:00
9b7dd754c4
Mazda: alert when LKAS is disabled ( #23273 )
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* Mazda: alert when LKAS is disabled
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com >
* Update selfdrive/controls/lib/events.py
* Update selfdrive/car/mazda/interface.py
* bump cereal
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
old-commit-hash: f25121b736
2021-12-20 14:58:46 -08:00
6bac4f1c4a
build for mac ( #23048 )
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old-commit-hash: 16dd7ce1fe
2021-12-18 22:00:09 -08:00
f64c2974b4
Road Roll Compensation Rebased ( #23251 )
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* first commit
* update refs
old-commit-hash: cf466222f6
2021-12-16 17:34:12 -08:00
a962365292
Convert format strings strings to f-strings ( #23241 )
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* Convert all text strings to f-strings
Reformats all the text from the old "%-formatted" and .format(...) format to the newer f-string format, as defined in PEP 498. This requires Python 3.6+.
Flynt 0.69 was used to reformat the strings. 120 f-strings were created in 51 files.
F-strings are in general more readable, concise and performant. See also: https://www.python.org/dev/peps/pep-0498/#rationale
* revert pyextra changes
* revert ublox.py
Co-authored-by: Willem Melching <willem.melching@gmail.com >
old-commit-hash: 55390d273f
2021-12-16 14:58:17 +01:00
7b3e330def
Log actuators after applying rate limits in CarController ( #23230 )
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* return actuators from carcontroller
* log it
* pass to latcontrol
* chrysler
* gm
* honda
* more brands
* rest of the brands
* gm cleanup
* hyundai cleanup
* update ref
* rename field
* fix subaru
* add types
* more subaru fixes #23240
* consistent whitespace
* bump cereal
old-commit-hash: 4f1eb4278a
2021-12-16 13:08:20 +01:00
91ff6918e5
Remove minSpeedCan ( #22991 )
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* Remove minCanSpeed
Remove minCanSpeed
* it actually only goes out to 2.5 seconds, this is okay to remove
* test to see if this preserves behavior
add minSpeedCan
* Revert "test to see if this preserves behavior"
This reverts commit 31b11f017f7e9da7654fc8064b5983d4a6cc22e5.
* preserve behavior (don't enter stopping as early)
* vEgoStopping needs to be less than or equal to vEgoStarting to avoid state oscillation
old-commit-hash: 2799ef5292
2021-12-14 12:09:32 -08:00
06a9b3448d
alerts: escalate soft disable alert near disengagement ( #23198 )
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* alerts: escalate soft disable alert if resulted in disengagement
* show 0.5s before disengagement
old-commit-hash: 8068df0b2a
2021-12-11 17:07:37 -08:00
700ad9ec50
alerts: handle min duration properly ( #23191 )
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* alerts: handle min duration properly
* add active
* tests
* cleanup test
* update refs
old-commit-hash: 07b971d473
2021-12-10 19:20:07 -08:00
853dc0d016
alert text simplification ( #23186 )
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* alert text simplification
* little more
* user triggered
* little more
* less annoying ldw
* Update selfdrive/controls/lib/events.py
* update refs
* revert
old-commit-hash: 4627d201b6
2021-12-10 15:21:37 -08:00
cf3c8cd301
fix max speed comments
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old-commit-hash: 44adea73ce
2021-12-08 17:13:43 -08:00
00749bd3cd
XVA long policy: prev_a becomes numpy anyway ( #23175 )
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old-commit-hash: c41a0cae4b
2021-12-08 16:06:09 -08:00
3ee06e92ed
Long mpc: fix xva policy for sim
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old-commit-hash: 7e20fe7ca2
2021-12-08 15:42:30 -08:00
0dbf0a0106
Cruise speed: up to 90mph max ( #23161 )
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* Cruise speed: up to 90mph max
* update ref
old-commit-hash: d1b003c5d2
2021-12-07 15:47:57 -08:00
b19b5fdb98
long planner: no reset when starting ( #23149 )
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* long planner: no reset when starting
* let go to 2m/s
* update ref
old-commit-hash: 77a99e7d6d
2021-12-06 23:10:16 -08:00
3a6a87ffe0
add a change cost
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old-commit-hash: 9afc95474d
2021-12-06 16:17:11 -08:00
3afc818433
Long policy: strictly squared stopped equivalence function ( #23118 )
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* new ref
* never let lead stopped equivalence go down
* no overbraking
* stricter again
* cleanup
* updated refs
old-commit-hash: 0dcdf9c30f
2021-12-03 16:12:30 -08:00
23ef06428a
add desired angle to log ( #23115 )
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* add desired angle to log
* update ref
* bump cereal
old-commit-hash: bbd0f94d9d
2021-12-03 21:35:34 +01:00
c6964152bb
Reaction buffer on follow distance ( #23112 )
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* Reaction time buffer
* new ref
old-commit-hash: 5b0e10ea33
2021-12-02 23:56:02 -08:00
08ac1b33ba
Human inspired follow distance ( #22937 )
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* Add cost for creep
* more reasonable cost
* seems better than before
* science tune
* more chill
* closer follow
* stopping takes some leeway
* better cruise
* needed to be cumsum all along
* jerk not even needed
* matches better
* 6 is too much
* add back
* a little extra buffer is good for badly tuned cars
* new refs
* refs again
old-commit-hash: 46fd5892bf
2021-12-02 14:42:13 -08:00
6c2182c026
Newer sounds ( #23091 )
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* new prompt sound
* padding
* prompt distracted
* debug
* fix spelling
* lower min volume
* better volume at low speeds
* revert debug
* revert that
* fix tests
* update refs
Co-authored-by: Comma Device <device@comma.ai >
old-commit-hash: 3b367e6872
2021-12-02 00:28:25 -08:00
e3f9919b5c
Set accel trajectory to a_ego when not engaged ( #23100 )
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* Set accel trajectory to a_ego when not engaged
* update ref
old-commit-hash: 68015f75ed
2021-12-01 23:12:11 -08:00
dccb8b4010
New sounds ( #22652 )
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* new engage/disengage + amp config
* first family
* cleanup audible alerts
* tici isn't special
* fix up debug cycle alerts
* these were better
* extend range
* use distracted sound
* log scaling
* getting closer
* slightly louder
* prompt
* update tests
* update refs
* fix c2 test
* resolve todo
* adjust tolerance
* revert for now
* should work
Co-authored-by: Comma Device <device@comma.ai >
old-commit-hash: e679d05d9e
2021-11-30 19:47:33 -08:00
fb1cf5b1bf
Longcontrol : pid error should be 0 when plan is followed ( #23066 )
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* v_pid error should be 0 when plan is followed
* update ref
old-commit-hash: 048cc3ac9f
2021-11-29 15:22:02 -08:00
996594fa29
longitudinal: only apply overshoot prevention when braking ( #22986 )
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* only if braking is desired
* use v_target to determine stopping
* more clear?
old-commit-hash: 113988ae31
2021-11-29 11:29:32 +01:00
1b79236fa0
Clean up planner files ( #23031 )
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* clean up planner files
clean up planner files
* fix plant instance
old-commit-hash: 93fd662adf
2021-11-26 14:57:39 +01:00
2bcaee3678
add offroad alerts for car unrecognized ( #22934 )
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Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
Co-authored-by: Chris McCammon <chrismccammon123@gmail.com >
old-commit-hash: 2a72e2a514
2021-11-17 20:29:00 -08:00
6eb5dce881
Lateral planner: lower max cost ( #22960 )
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* prevent ping pong when tuning is not so great
* update refs
old-commit-hash: 24aadaf1f3
2021-11-17 20:24:10 -08:00
1ffe047666
improve crc camera error ( #22943 )
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old-commit-hash: 5296ca8d73
2021-11-16 22:57:22 -08:00
345d52e957
Add cost to long plan change for smoother lag comp ( #22923 )
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* add plan changing cost
* fix compile
* set weights
* try this cost
* horizon problem
* looks pretty good
* update refs
* update refs
* smoother plan changes
old-commit-hash: b3b45c8d29
2021-11-16 17:57:55 -08:00
8a66c54064
Revert "add offroad alerts for car unrecognized"
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This reverts commit 2ffaadb4d2eaabf6e8d86423fbc25328e81dfff0.
old-commit-hash: d8a5c415cd
2021-11-16 13:31:10 -08:00
08bfdb151b
add offroad alerts for car unrecognized
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old-commit-hash: fb1e8ce086
2021-11-16 13:30:33 -08:00
d1eacc4619
alerts: make soft disables an orange alert ( #22925 )
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old-commit-hash: 833399e941
2021-11-16 13:11:32 -08:00
9f84f9ad97
put cruiseMismatch event in logging only mode
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old-commit-hash: 3302239013
2021-11-15 21:16:54 -08:00
ee15159a3b
alert cleanup ( #22919 )
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old-commit-hash: 5265c36de7
2021-11-15 16:14:31 -08:00
9042f18afd
cython wrapper for acados ( #22784 )
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* cython wrapper for acados
* fix building
* sconscript cleanup
* no cython numpy
* cleanup
* upgrade build script
* try without slices
* new acados commit
* c3 update acados libs
* c2 libs
* make faster
* undo profiling
* fix build
* somewhat faster
* tryout cost_set_slice
* Revert "tryout cost_set_slice"
This reverts commit d358d93a133270e4edab9e7c07ffb6f577c52bd6.
* cleanup
* undo t_renderer change
Co-authored-by: Comma Device <device@comma.ai >
old-commit-hash: 89d0a52d16
2021-11-12 17:09:08 +01:00
29f6b5cb98
allow update snoozing ( #22876 )
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* allow update snoozing
* not immediately visible
* dismiss and close
* grey button
old-commit-hash: e528e2e3e2
2021-11-11 15:32:25 -08:00
731d85c522
alerts: use repeating warning2 sound for steerSaturated ( #22874 )
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old-commit-hash: 308219c5b1
2021-11-11 11:55:34 -08:00
9c994173ed
Longcontrol: do not clip vEgo to minSpeedCan ( #22832 )
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* fix tss2 slow reacceleration in sng
(should) preserve stopping behavior
add comments since it's confusing
fix
* Revert "fix tss2 slow reacceleration in sng"
This reverts commit 42abde0eb945d8bc5ad9b502d1d89b3e3dc16f8a.
* don't max(vEgo)
* update ref
Co-authored-by: Willem Melching <willem.melching@gmail.com >
old-commit-hash: bdaea086f8
2021-11-11 13:24:38 +01:00
a142638899
increase engagement alerts duration
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old-commit-hash: 327464fb84
2021-11-10 22:11:14 -08:00
d6c42f11f4
controlsd: alert on cruise mismatch for >1s ( #22841 )
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* controlsd: alert on cruise mismatch for >1s
* bump cereal
* update refs
* bump allowed soundd cpu
* bump cereal
old-commit-hash: 035bc0c20f
2021-11-10 13:01:42 -08:00
Shane Smiskol