The `steer_limited_by_safety` update in `publish()` is gated by
`selfdriveState.active`, which is False during MADS lateral-only
control. This causes the flag to never update once cruise deactivates
— it stays stuck at whatever value it had during the last ramp-up
(typically True), permanently suppressing the saturation timer in
`_check_saturation` and preventing the "Turn Exceeds Steering Limit"
alert from firing.
Use `CC.latActive` instead, which already accounts for MADS via
`get_lat_active()` in ControlsExt.
Bug was introduced in #446 (MADS), which updated `CC.latActive` to
use `mads.active` but missed updating the `steer_limited_by_safety`
gate in `publish()`.
* init
* no
* more
* tree it
* final
* comment
* only with enforce torque
* only with enforce torque
* missed
* no
* lint
* Apply suggestion from @sunnyhaibin
* sunnylink metadata sync
* Apply suggestion from @sunnyhaibin
---------
Co-authored-by: nayan <nayan8teen@gmail.com>
* init
* bump
* bump
* bump
* recheck openpilot long availability
* bump
* bump
* bump
* bump
* bump
* just base for now
* bump
* bump
* bump
* bump
* flipped
* apparently it's yucky, reverting most
* bump
* need to add for toyota
* should've been remove
* flipped
* bump
* no way
* fix
* test sdsu distance
* final tuning for pedal
* bump
* 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
* 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>
* Localizer is too laggy for control
* typo
* typo
* fix test
* fix imports
* Revert "fix imports"
This reverts commit 5074f8050170f974b451e00d9fdc752f09a47d57.
* fix improt
* import
* 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.
* car: initialize sunnypilot interface immediately
* init
* Revert "car: initialize sunnypilot interface immediately"
This reverts commit 2e0fc4d87eb312a3a74a61bb8cbc780e33efbfc7.
* show int
* show int
* work properly with cereal
* unused
* in its own module
* bump
* not yet
* not yet
* list comp and use structs directly
* allow default key if needed
* lint
* send it with None
* bump
* Add enhanced HyundaiCAN extension
Introduced HyundaiCanEXT for improved object parsing and control integration, leveraging new fields like lead distance and relative speed in CarControlSP.
Refactored controlsd to utilize a modular design with ControlsdExt for additional sunnypilot specific functionality.
* self.cc_sp
* Refactor CarControlSP handling for improved state updates
* refactor
* bool
* Refactor controlsd SP communication logic
Update `publish_sp` method to include `CC_SP` parameter and refine SP SubMaster to exclude `radarState`. Remove custom lead vehicle state processing as it is no longer needed.
* remove in this pr
* bump
* start cleanup
* inherit instead
* even more!
* lint
* type hint
* use the same objects for submaster and pubmaster
* more
---------
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* reset curvature while disabled
* comment
* duplicate line
* fix possible iso violation because it was unlimited while disengaged
* rename so you can't accidentally use
* update refs
* init
* more init
* keep it alive
* fixes
* more fixes
* more fix
* new submodule for nn data
* bump submodule
* update path to submodule
* spacing???
* update submodule path
* update submodule path
* bump
* dump
* bump
* introduce params
* Add Neural Network Lateral Control toggle to developer panel
This introduces a new toggle for enabling Neural Network Lateral Control (NNLC), providing detailed descriptions of its functionality and compatibility. It includes UI integration, car compatibility checks, and feedback links for unsupported vehicles.
* decouple even more
* static
* codespell
* remove debug
* in structs
* fix import
* convert to capnp
* fixes
* debug
* only initialize if NNLC is enabled or allow to enable
* oops
* fix initialization
* only allow engage if nnlc is off
* fix toggle param
* fix tests
* lint
* fix more test
* capnp test
* try this out
* validate if it's not None
* make it 33 to match
* align
* share the same friction input calculation
* return stock values if not enabled
* unused
* split base and child
* space
* rename
* NeuralNetworkFeedForwardModel
* less
* just use file name
* try this
* more explicit
* rename
* move it
* child class for additional controllers
* rename
* time to split out custom lateral acceleration
* move around
* space
* fix
* TODO-SP
* TODO-SP
* split nnlc and custom lat accel
* more
* not yet
* comment
* fix
---------
Co-authored-by: DevTekVE <devtekve@gmail.com>
* limit max curvature with lateral accel too
* not a guideline
* roll compensation in curv clip
* improve clipping and alerting
* typo
* clean up
* no float
* get ready
* good idea
* good
* redundant
* TODO
* test
* do max curvature clip last
* flip
---------
Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com>
* carControlSP and move MADS to outside structs
* publish it
* apply to all car controller
* migrate sunnypilotParams
* migrate madsEnabled
* tldr
* convert to capnp
* unused
* wrong module
* fix name
* cancer is right (all tests should be passing now)
* bump opendbc
* sp flags
* pass CP_SP to card and car interfaces
* CP_SP in radar interface
* bump opendbc
* use dataclass like old times
* bump opendbc
* write to params for controls
* fix test models
* fix
* need to use copy instead
* fix data type
* add service
* more
* fix
* Revert "fix"
This reverts commit 74723d7fb2.
* Revert "fix data type"
This reverts commit 02355f44df.
* missed
* more
* no more lagging
* Reapply "fix data type"
This reverts commit dbf1b8583f.
* Reapply "fix"
This reverts commit 9cbce9968a.
* Revert "Reapply "fix""
This reverts commit 1871919b63.
* Revert "Reapply "fix data type""
This reverts commit 5e95752fd5.
* no longer
* Revert "no longer"
This reverts commit 66ee1ba151.
* Reapply "Reapply "fix data type""
This reverts commit 670a384333.
* Reapply "Reapply "fix""
This reverts commit 42f09f955c.
* only for car params sp
* rename
* fix more test
* no need for process replay
* pass stock car params to sp set car params
* pass stock car params to sp set car params
* deprecate CarParams.sunnypilotFlags to CarParamsSP.flags
* missed arg
* fix tests
* tests fixed
* need to pass this too
* must generate cp_sp!
* fix typing
* must be initialized prior can comm callback!
* no more cancer (@devtekve)
* remove more cancer
* Refactor `get_non_essential_params_sp` to simplify arguments (#612)
* Refactor 'get_non_essential_params_sp' function calls in tests
In both `test_latcontrol.py` and `process_replay.py`, simplified the function calls to 'get_non_essential_params_sp'. Removed an unnecessary call to 'get_non_essential_params'. This change makes the code cleaner and more efficient by reducing redundancy in the function calls. This modification also ensures consistency across different code files.
* Refactor get_non_essential_params_sp to take car_params.
Simplify parameters by modifying `get_non_essential_params_sp` to use `car_params` as input. Adjust related calls in test files and process replay to match the updated method signature. This improves code clarity and reduces redundancy.
* bump opendbc
* Refactor parameter handling for `get_params_sp`.
Removed unnecessary reassignment of `car_params` in calls to `get_params_sp`, ensuring a cleaner and more streamlined code structure. This change improves code clarity and eliminates redundant operations. All relevant assertions and behavior remain unaffected.
* bumping opedbc
* bump opendbc
---------
Co-authored-by: DevTekVE <devtekve@gmail.com>
Jason Wen