* init
* slightly more
* check across all
* publish on CC_SP
* more infra setup
* try it out for HKG for now
* slight cleanup
* oops
* legacy
* send
* actually take over
* expose toggle
* icbm
* need to allow
* fix
* name
* small fixes
* actually send it now
* set default
* use cs is_metric
* offroad only lol
* allow them all
* fix
* send desire as-is
* use stock method
* clean up hysteresis
* speed cluster may be more accurate
* rename
* allow init and resume from pcmCruise
* just send it
* fix
* only allow custom v cruise after no button press at initial enabled
* no hysteresis for now
* fix tests
* fix min check
* only apply to non pcm changes
* add ICBM
* some more ui
* bump
* slight cleanup
* fixup
* cleanup
* type hints
* type hints
* bump
* bump
* bring back hysteresis
* fix ui
* do not spam if overriding or below allowed speed
* Controls: Vision Turn Speed Control
* fix
* Data type temp fix
* format
* more
* even more
* self contain targets
* state cleanup
* fix
* param updates
* no need
* use similar state machine
* raise exception if not found
* new state
* entirely internal
* use long active
* more
* rename and expose aTarget
* rename to SCC-V
* init tests
* slight tests
* expose toggle
* lint
* todo
* remove lat planner sub and mock sm data
* introduce aTarget
* rename
* rename
* update fill_model_msg.py to calculate PLAN_T_IDXS for lanelines and road edges
* sync upstream
* no SCC-V yet
* Revert "no SCC-V yet"
This reverts commit b67281bcac.
* wrap it with SCC main
* no SCC-V yet
* noqa now
* fix
* OP long for now, enable for ICBM once merged
* type hints
* let's get it straight from carcontrol instead
* not needed
* unused
* add source to track
* we can do this
---------
Co-authored-by: discountchubbs <alexgrant990@gmail.com>
* Add modelDataV2SP and lane turn logic implementation
Note: still need to hook up to other modeld's create unit test, fix stuff, and do the UI for it
* add unit tests for lane turn logic
* Add lane turn desire controls to models panel
* use `events_sp` instead of `events`
* integrate modelDataV2SP messaging to the other modeld controllers
* move this to that
* use min for general population here, on custom branches, change this to max :)
* Update events.py
Co-authored-by: royjr <royjr96@gmail.com>
* Update events.py
Co-authored-by: royjr <royjr96@gmail.com>
* refactor lane turn value control into one method
* Update selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
* add integration tests for lane turn desire
* 10 updates is possibly more representative of real life
* real objects ofc
* desc: add toggle description for clarity
---------
Co-authored-by: royjr <royjr96@gmail.com>
* 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
* 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>
* wrap the params
* just 1 class and use a single param for now
* refactor
* fix
* cache itself
* no longer
* rename
* type hint
* in helpers instead
* lint
* all
* init as 0 to pass ci
* init as 0 to pass ci
* return_default
* fix init
* add LAT_SMOOTH_SECONDS directly in modeld, temp remove dynamic desc, red difffffffff
* 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>
* 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
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* Localizer is too laggy for control
* typo
* typo
* fix test
* fix imports
* Revert "fix imports"
This reverts commit 5074f8050170f974b451e00d9fdc752f09a47d57.
* fix improt
* import
* gen 11 only api limit exceeded maybe not
* Try this for ModelDataV2.Action
* mpc mode
* Fix This
* Revert "Try this for ModelDataV2.Action"
This reverts commit e7db17980b.
* fix logic flaw
* Address comments for readability.
---------
Co-authored-by: Kumar <36933347+rav4kumar@users.noreply.github.com>
* Add live delay toggle to torqued.py and twilsonco NNLC
* Set this in init
* Clean up
* Live delay toggle refactor
* ModeldLagd -> LagdToggle
* This is for lagd_toggle.py
* Add to NNLC
* Lagd toggle:
Display current values on UI
* Add break
* LagdToggleDelay
Live edit software_delay when livedelay is toggled `off`
* Always show description
* Add description as to why values don't update offroad
---------
Co-authored-by: Kumar <36933347+rav4kumar@users.noreply.github.com>
* TorqueExtBase: use learned lag
lower non-zero limit for lag
restore original lag mod
* NNLC: use learned lat lag
* add test
* non-zero lag in test
* lower lag mod to 0.1s
* Update constant to reflect Twilsonco's recommendations.
Jason Wen