6f4c93238f
work on acados lateral MPC ( #23558 )
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* lat_mpc: make v_ego, rotation_radius parameters instead of states
* lat_mpc: remove rotation_radius argument, since it is part of the parameters
* lat_mpc: use qp_solver_cond_N = 1
slightly faster and in line with case study in Fig. 2/ 3 in Frison2016 - https://cdn.syscop.de/publications/Frison2016.pdf
An Efficient Implementation of Partial Condensing for Nonlinear Model Predictive Control
* adapt test_lateral_mpc to formulation with parameters
* lat_mpc: set parameters in reset() and copy values
* acados_ocp_solver_pyx: make options_set useable
* update ref
Co-authored-by: Willem Melching <willem.melching@gmail.com >
old-commit-hash: 0681474840
2022-01-18 09:49:48 -08:00
dce057d29f
Log MPC solver time ( #23566 )
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* add solve time to plan output
* add to process replay ignore list
* print in CI
old-commit-hash: f76328b426
2022-01-18 14:51:03 +01:00
c2a23fa24c
clear no entry alerts if engaged ( #23559 )
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* clear no entry alerts if engaged
* fix test
old-commit-hash: 59894a6666
2022-01-17 13:57:53 -08:00
d0bfd37a95
controlsd: remove extra space ( #23553 )
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old-commit-hash: 5cd103c3d4
2022-01-17 13:51:44 +01:00
2013e086ba
shutdownd is non essential
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old-commit-hash: c6b892fe58
2022-01-14 11:59:04 -08:00
a1d3ab2ea1
controlsd: cleanup parsing android log ( #23421 )
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* cleanup parse android log
* global CSID_MAP
* use generator express
* cleanup
* no walrus
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
old-commit-hash: fd042a5924
2022-01-13 19:43:22 -08:00
7f9069cb34
controlsd: check self.enabled out of the any() ( #23507 )
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old-commit-hash: 48b6dfa15d
2022-01-13 11:53:04 +01:00
384857f2b4
lateral_planner: use nympy.isnan().any() ( #23500 )
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old-commit-hash: dbae5e7601
2022-01-12 15:56:41 +01:00
54bdb321bd
cleanup iterate keys in dictionaries ( #23497 )
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old-commit-hash: a186bcc9f1
2022-01-12 12:42:50 +01:00
58cafc8060
AlertManager: cleanup add_many ( #23438 )
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old-commit-hash: 678732d0ce
2022-01-11 14:16:52 -08:00
55233b753b
use ndarray.tolist to convert numpy array to float ( #23485 )
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old-commit-hash: 35ec6ac1cb
2022-01-11 14:34:47 +01:00
56b3c7f790
LanePlanner: offsets cleanup ( #23459 )
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* update comments
* model y axis was flipped so flip the offsets as well
* fix
old-commit-hash: 233a6e4a62
2022-01-10 13:08:45 -08:00
54a4dece4d
Ignore statsd for running process check ( #23483 )
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old-commit-hash: 1a54d7f6ae
2022-01-10 19:54:41 +01:00
97c4cdc0cc
LongControl: remove redundant check on active ( #23481 )
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old-commit-hash: 4208fe018e
2022-01-10 18:46:02 +01:00
98de810849
check in tuple instead of list ( #23477 )
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* check in tuple instead of list
* Update selfdrive/car/toyota/carcontroller.py
Co-authored-by: Willem Melching <willem.melching@gmail.com >
* Update selfdrive/car/mazda/interface.py
Co-authored-by: Willem Melching <willem.melching@gmail.com >
Co-authored-by: Willem Melching <willem.melching@gmail.com >
old-commit-hash: a653461dec
2022-01-10 16:36:51 +01:00
75d00872e8
events: cleanup function any ( #23479 )
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old-commit-hash: 8eec818ae6
2022-01-10 14:32:07 +01:00
61a28b2fb7
controlsd: check all_valid only if not initialized ( #23437 )
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* check all valid in if statement
* apply review
old-commit-hash: 67af095692
2022-01-10 12:13:58 +01:00
df63cf059a
controlsd: save lat_plan.dPathPoints to local variable ( #23462 )
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old-commit-hash: 2d08f8b318
2022-01-10 11:27:31 +01:00
7276bf8197
controls: check contents in tuple instead of list ( #23463 )
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old-commit-hash: b2beb5e6ba
2022-01-10 11:26:58 +01:00
296925cd6a
optimize alertmanager ( #23433 )
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old-commit-hash: 09a835916b
2022-01-06 22:15:32 -08:00
60a22bbc0c
controlsd/state_transition: remove redundant check in elif ( #23428 )
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old-commit-hash: e0338fd77b
2022-01-06 15:54:19 +01:00
521e3d843b
longcontrol: check if speeds is empty ( #23410 )
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* check if speeds is empty
* move into existing check
Co-authored-by: Willem Melching <willem.melching@gmail.com >
old-commit-hash: a2e762e0b9
2022-01-05 14:23:08 +01:00
d05c173fe6
Longcontrol: remove starting state ( #23328 )
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* remove starting state
* new ref
* ready for merge
* try this
* cereal now on master
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com >
old-commit-hash: cf9792dc53
2022-01-04 15:40:39 -08:00
0a03f65b2b
controlsd: remove duplicate event relayMalfunction ( #23392 )
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old-commit-hash: 0357cf2af0
2022-01-04 14:07:36 -08:00
c90287391a
Controlsd: fix bug in curv rate limit ( #23250 )
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* Controlsd: fix bug in curv rate limit
* update ref
old-commit-hash: d3f064f5ca
2022-01-04 13:21:56 -08:00
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
ea519c31e4
controlsd/publish_logs: follow capnp best practices ( #23372 )
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* follow follow capnp best practices
* cleanup
old-commit-hash: 960e0cf6a7
2022-01-04 12:04:03 +01:00
a55046c949
longcontrol/update: optimize capnp ( #23382 )
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old-commit-hash: 5dc631fa1b
2022-01-04 11:32:54 +01:00
a2e38be31a
radard/update: optimize capnp ( #23380 )
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old-commit-hash: 7b612d47b6
2022-01-03 17:26:32 -08:00
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
98c8147ec3
CAN receive error is a comm issue ( #23362 )
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old-commit-hash: 1e41f4723b
2022-01-03 14:13:45 -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
83136e8016
increase cruise mismatch threshold
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old-commit-hash: 7f618b16bf
2021-12-12 13:35:12 -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
3d72ed6ea1
alerts: add test for creation delay
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old-commit-hash: 45f3662cf0
2021-12-09 14:29:50 -08:00
cf3c8cd301
fix max speed comments
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old-commit-hash: 44adea73ce
2021-12-08 17:13:43 -08:00
Jonathan Frey