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
fac18e0148
thermald refactor seems to have lower CPU usage
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old-commit-hash: 5b385c34a4
2022-01-18 16:17:54 +01:00
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
b32725c94f
Chrysler: remove standstill exception for gas disengage ( #23515 )
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* Chrysler: remove standstill exception for gas disengage
* remove test exception
* bump panda
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
old-commit-hash: 57156c4482
2022-01-13 16:06:56 -08:00
e4c2c2cf2e
use roll std from locationd ( #23449 )
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* use roll std from locationd
* cleaner
* add todo
* new ref
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com >
old-commit-hash: f808b174af
2022-01-12 21:37:09 -08:00
14dbd6b1f5
process replay: handle inf and nan in absolute tolerance
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old-commit-hash: 9941c99f7c
2022-01-12 13:34:46 -08:00
1749e94ab6
Toyota: Support Avalon 2022 (TSS2.5) ( #23381 )
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* Add AVALON_TSS2
* Is TSS2 now!
* Add Avalon to CARS.md
* add to test_routes
add to test_routes
old-commit-hash: eb9f35946d
2022-01-12 09:41:07 -08:00
0e6de32847
thermald has slowly started to use more CPU
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old-commit-hash: 5fb9c6aa68
2022-01-11 15:40:18 +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
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
ea8777890f
bump CPU usage slightly after adding glFlush
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old-commit-hash: aad7ebdc2a
2022-01-04 16:26:59 +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
5eeb916f0e
Hyundai: Car Port for 2022 Santa Fe Plug-in Hybrid ( #23332 )
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* Add car port: Hyundai Santa Fe Plug-in Hybrid 2022
* Add test route
old-commit-hash: bd399693b6
2021-12-31 17:28:07 -08:00
44498de2e6
test/profiler: fix setting carParams
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old-commit-hash: 699b20ed44
2021-12-26 21:02:12 -08:00
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
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
d5a1acd1b6
update model replay ref commit after increased model idx precision
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old-commit-hash: e49480185a
2021-12-16 15:58:56 -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
24c730f083
model replay: more consistent replay ( #23237 )
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* first cleanup
* don't send calib and desire
* should always be valid
* little more
old-commit-hash: 66ee3e9ef9
2021-12-15 16:12:24 -08:00
b99c359d61
Subaru: Add Impreza/Crosstrek 2020 ( #21011 )
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* Add Subaru Impreza/Crosstrek 2020
* Update selfdrive/test/test_routes.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
old-commit-hash: 7fd98757b4
2021-12-15 15:13:31 -08:00
8d8b61e73f
Update ref with minSpeedCAN removed
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old-commit-hash: c25ed45437
2021-12-14 12:31:30 -08:00
f464a02782
DM: more adaptive pose policy ( #23184 )
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* rename and add dep
* proto thresholds
* tweak vk
* update natural offset and clip offsets
* 95th looks good
* no punish for being relaxed
* yaw laplace only
* some pay more attention
* update ref
Co-authored-by: Willem Melching <willem.melching@gmail.com >
old-commit-hash: af5a418fa6
2021-12-14 12:13:59 -08:00
0c76321224
update refs
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old-commit-hash: af125f3c51
2021-12-12 13:49:14 -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
189c41a614
Merge 2021 Accords into 2018 Accords ( #23174 )
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* Merge 2021 Accords into 2018 Accords
* last of them
old-commit-hash: 1638975627
2021-12-08 14:40:14 -08:00
42591a19a7
New model: 224877e7-dfcf-4b28-9482-371655918fe1/950 ( #23170 )
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* New model: 224877e7-dfcf-4b28-9482-371655918fe1/950
* Updated model replay ref
old-commit-hash: 1d119999c2
2021-12-08 13:55:30 -08:00
3de0f112c0
onroad test fixes ( #23164 )
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old-commit-hash: 2f78cfcbfd
2021-12-07 21:02:17 -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
de54dd20ec
jenkins: improve overall robustness ( #23117 )
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* test onroad: more reliable log finding
* Update selfdrive/test/test_onroad.py
* write continue.sh in device setup
* clone
* try different delimeter
* try this instead
* fix keys path
* executable
* remove orphaned lock
old-commit-hash: 7c291a1b39
2021-12-04 21:07:57 -08:00
5dd1a30d51
VW MQB: Audi Q3 Mk2 ( #23128 )
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old-commit-hash: 8a4ab7f46d
2021-12-04 18:55:02 -08:00
9e4cc1f7ff
Python: Replace more lists with generators ( #23116 )
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* Replace lists with generators v2
* Replace set with {}
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
* Replace more set() with {}
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
old-commit-hash: 6951b3271d
2021-12-03 22:57:19 -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
b8ab21bd64
add CarParams.wheelSpeedFactor ( #23079 )
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* add CarParams.wheelSpeedFactor
* Fudge speed for Lexus RX
* should have been the TSS2 model
* bump cereal
* refactor into function
* update refs
old-commit-hash: e6180738fd
2021-12-03 14:57:53 +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
104ad1d833
New model: d2053554-6094-43ce-943a-7bee3f43458d/950 ( #23097 )
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* New model: d2053554-6094-43ce-943a-7bee3f43458d/950
* Updated model replay ref
* Revert "Updated model replay ref"
This reverts commit e83e0a1adc79dd20232b74932de202d858ebb485.
* New refs (again)
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
old-commit-hash: be89044c51
2021-12-01 22:43:13 -08:00
dae1950ba5
test car models: add test for addr checks ( #23093 )
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* test car models: add test for addr checks
* revert that
* add checks
* ugh broken cars
* which seg
* f
* move that
old-commit-hash: 36a13e8245
2021-12-01 17:23:49 -08:00
1222957224
ci: improve valgrind test robustness ( #23092 )
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old-commit-hash: fa34bd912e
2021-12-01 17:54:06 +01:00
73cfd04ec9
test car models: ignore more fake buses
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old-commit-hash: d78be47a90
2021-11-30 21:52:44 -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
2a57577b9d
process replay: set full env in cpp replay
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old-commit-hash: b3b5beb627
2021-11-30 18:18:12 -08:00
4d9d215996
Toyota pedal rewrite ( #23067 )
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* pedal redo
* add offset to compensate for creep and windbrake
* offset in standard units
* wrong size
* better creep values
* update ref
old-commit-hash: eda6993043
2021-11-30 10:50:06 -08:00
9b0fcaeb84
rename yuv streams ( #23071 )
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* rename yuv streams
* bump cereal
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
old-commit-hash: 348d2d2b0d
2021-11-29 18:14:59 -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
Jonathan Frey