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dev-c3
..
staging-c3
| Author | SHA1 | Date | |
|---|---|---|---|
 DevTekVE
|
dff2c1987e | ||
|
Jason Wen
|
f1cb76c2b4 |
+3
-21
@@ -5,16 +5,9 @@ sunnypilot - 0.9.8.0 (2024-xx-xx)
|
||||
* UPDATED: Synced with commaai's openpilot
|
||||
* master commit 4ef757c (July 06, 2024)
|
||||
* NEW❗: Default Driving Model: Notre Dame (July 01, 2024)
|
||||
* NEW❗: Longitudinal: Acceleration Personality thanks to kegman, rav4kumar, and arne1282! (CTV 2.0: GlideTech)
|
||||
* NEW❗: Longitudinal: Acceleration Personality thanks to kegman, rav4kumar, and arne1282!
|
||||
* Select from three distinct acceleration personalities: Eco, Normal, and Sport
|
||||
* Acceleration personalities are integrated directly into the model's acceleration matrix and can be activated in real-time!
|
||||
* NEW❗: Toyota - Drive Mode Selector
|
||||
* When enabled you can control acceleration personality just with press of button!
|
||||
* UPDATED: Dynamic Experimental Control
|
||||
* Switched to weighted moving averages to enhance responsiveness to recent data.
|
||||
* Goal is to improve real-time detection accuracy in dynamic conditions.
|
||||
* Capable of handling the increased complexity that comes with this approach.
|
||||
* Particularly beneficial in environments where recent changes are critical to performance.
|
||||
* NEW❗: Longitudinal: Dynamic Personality thanks to rav4kumar!
|
||||
* Dynamically adjusts following distance and reaction based on your "Driving Personality" setting
|
||||
* Personalities adapt in real-time to your speed and the distance to the lead car
|
||||
@@ -33,14 +26,11 @@ sunnypilot - 0.9.8.0 (2024-xx-xx)
|
||||
* Toyota TSS1/1.5, equipped with factory Blind Spot Monitoring (BSM)
|
||||
* Prius TSS2, equipped with factory Blind Spot Monitoring (BSM)
|
||||
* NOTE: Only enable this feature if your Toyota/Lexus vehicle has factory Blind Spot Monitor equipped, and mentioned in the supported platforms list
|
||||
* UPDATED: Toyota: TSS2 longitudinal: Custom Tuning (CTV 2.0: GlideTech)
|
||||
* Re-tuned and tested by the community (September 29, 2024)
|
||||
* UPDATED: Toyota: TSS2 longitudinal: Custom Tuning
|
||||
* Re-tuned and tested by the community (July 1, 2024)
|
||||
* UPDATED: Driving Model Selector v5
|
||||
* NEW❗: Driving Model additions
|
||||
* Notre Dame (July 01, 2024) - NDv3
|
||||
* UPDATED: Neural Network Lateral Control (NNLC)
|
||||
* NEW❗: Remove Lateral Jerk Response (Alpha)
|
||||
* FIXED: Hotfix for "lazy" steering performance in tighter curves thanks to twilsonco!
|
||||
* UPDATED: Toyota: Continued support for Smart DSU (SDSU) and Radar CAN Filter
|
||||
* In response to the official deprecation of support for Smart DSU (SDSU) and Radar CAN Filter in the upstream ([commaai/openpilot#32777](https://github.com/commaai/openpilot/pull/32777)), sunnypilot will continue maintaining software support for Smart DSU (SDSU) and Radar CAN Filter
|
||||
* UPDATED: Continued support for Mapbox navigation
|
||||
@@ -58,10 +48,6 @@ sunnypilot - 0.9.8.0 (2024-xx-xx)
|
||||
* NEW❗: Time to Lead Car
|
||||
* Displays the time to reach the position previously occupied by the lead car
|
||||
* NEW❗: Display Distance, Speed, and Time to Lead Car simultaneously
|
||||
* Ford F-150 2022-23 support
|
||||
* Ford F-150 Lightning 2021-23 support
|
||||
* Ford Mustang Mach-E 2021-23 support
|
||||
* Hyundai Kona Electric Non-SCC 2019 support thanks to NikitaNekrasov!
|
||||
* Kia Ceed Plug-in Hybrid Non-SCC 2022 support thanks to TerminatorNL!
|
||||
|
||||
sunnypilot - 0.9.7.1 (2024-06-13)
|
||||
@@ -99,8 +85,6 @@ sunnypilot - 0.9.7.1 (2024-06-13)
|
||||
* Force sunnypilot in the offroad state even when the car is on
|
||||
* When Forced Offroad mode is on, allows changing offroad-only settings even when the car is turned on
|
||||
* To engage/disengage Force Offroad, go to Settings -> Device panel
|
||||
* NEW❗: Ford CAN-FD longitudinal
|
||||
* NEW❗: Parse speed limit sign recognition from camera for certain supported platforms
|
||||
* UPDATED: Auto Lane Change Timer -> Auto Lane Change by Blinker
|
||||
* NEW❗: New "Off" option to disable lane change by blinker
|
||||
* UPDATED: Pause Lateral Below Speed with Blinker
|
||||
@@ -108,8 +92,6 @@ sunnypilot - 0.9.7.1 (2024-06-13)
|
||||
* Pause lateral actuation with blinker when traveling below the desired speed selected. Default is 20 MPH or 32 km/h.
|
||||
* UPDATED: Hyundai CAN Longitudinal
|
||||
* Auto-enable radar tracks on platforms with applicable Mando radar
|
||||
* UPDATED: Hyundai CAN-FD Radar-based SCC
|
||||
* Longitudinal support for CAN-FD Radar-based SCC cars
|
||||
* UPDATED: Hyundai CAN-FD Camera-based SCC
|
||||
* NEW❗: Parse lead info for camera-based SCC platforms with longitudinal support
|
||||
* Improve lead tracking when using openpilot longitudinal
|
||||
|
||||
@@ -48,7 +48,6 @@ Join the official sunnypilot Discord server to stay up to date with all the late
|
||||
To use sunnypilot in a car, you need the following:
|
||||
* A supported device to run this software
|
||||
* a [comma three](https://comma.ai/shop/products/three), or
|
||||
* a comma two (only with older versions below 0.8.13)
|
||||
* This software
|
||||
* One of [the 250+ supported cars](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
|
||||
* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car
|
||||
@@ -115,40 +114,12 @@ Please refer to [Recommended Branches](#-recommended-branches) to find your pref
|
||||
|
||||
Requires further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
|
||||
|
||||
comma two
|
||||
------
|
||||
|
||||
1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
|
||||
2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
|
||||
3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```https://smiskol.com/fork/sunnyhaibin/0.8.12-4-prod```
|
||||
4. Complete the rest of the installation following the onscreen instructions.
|
||||
|
||||
Requires further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
|
||||
|
||||
</details>
|
||||
|
||||
<details>
|
||||
<summary>SSH (More Versatile)</summary>
|
||||
<br>
|
||||
|
||||
Prerequisites: [How to SSH](https://github.com/commaai/openpilot/wiki/SSH)
|
||||
|
||||
If you are looking to install sunnypilot via SSH, run the following command in an SSH terminal after connecting to your device:
|
||||
|
||||
comma three:
|
||||
------
|
||||
* [`release-c3`](https://github.com/sunnyhaibin/openpilot/tree/release-c3):
|
||||
|
||||
```
|
||||
cd /data; rm -rf ./openpilot; git clone -b release-c3 --recurse-submodules https://github.com/sunnyhaibin/sunnypilot.git openpilot; cd openpilot; sudo reboot
|
||||
```
|
||||
|
||||
comma two:
|
||||
------
|
||||
* [`0.8.12-prod-personal-hkg`](https://github.com/sunnyhaibin/openpilot/tree/0.8.12-prod-personal-hkg):
|
||||
|
||||
```
|
||||
cd /data; rm -rf ./openpilot; git clone -b 0.8.12-prod-personal-hkg --recurse-submodules https://github.com/sunnyhaibin/sunnypilot.git openpilot; cd openpilot; sudo reboot
|
||||
cd /data && rm -rf ./openpilot && git clone -b release-c3 --recurse-submodules https://github.com/sunnyhaibin/sunnypilot.git openpilot && cd openpilot && sudo reboot
|
||||
```
|
||||
|
||||
After running the command to install the desired branch, your comma device should reboot.
|
||||
@@ -223,7 +194,7 @@ The goal of Modified Assistive Driving Safety (MADS) is to enhance the user driv
|
||||
* `SET-` button enables ACC/SCC
|
||||
* `CANCEL` button only disables ACC/SCC
|
||||
* `CRUISE (MAIN)` must be `ON` to use ACC/SCC
|
||||
* `CRUISE (MAIN)` button disables ACC/SCC completely when `OFF` **(strictly enforced in panda safety code)**
|
||||
* `CRUISE (MAIN)` button disables sunnypilot completely when `OFF` **(strictly enforced in panda safety code)**
|
||||
|
||||
### Disengage Lateral ALC on Brake Press Mode toggle
|
||||
Dedicated toggle to handle Lateral state on brake pedal press and release:
|
||||
@@ -355,7 +326,7 @@ Example:
|
||||
|
||||
---
|
||||
|
||||
How-To instructions can be found in [HOW-TOS.md](https://github.com/sunnyhaibin/openpilot/blob/(!)README/HOW-TOS.md).
|
||||
How-To instructions can be found in [HOW-TOS.md](HOW-TOS.md).
|
||||
|
||||
</details>
|
||||
|
||||
|
||||
+1
-10
@@ -16,7 +16,6 @@ enum LongitudinalPersonalitySP {
|
||||
moderate @1;
|
||||
standard @2;
|
||||
relaxed @3;
|
||||
overtake @4;
|
||||
}
|
||||
|
||||
enum AccelerationPersonality {
|
||||
@@ -35,17 +34,11 @@ enum ModelGeneration {
|
||||
five @5;
|
||||
}
|
||||
|
||||
enum MpcSource {
|
||||
acc @0;
|
||||
blended @1;
|
||||
}
|
||||
|
||||
struct ControlsStateSP @0x81c2f05a394cf4af {
|
||||
lateralState @0 :Text;
|
||||
personality @8 :LongitudinalPersonalitySP;
|
||||
dynamicPersonality @9 :Bool;
|
||||
accelPersonality @10 :AccelerationPersonality;
|
||||
overtakingAccelerationAssist @11 :Bool;
|
||||
|
||||
lateralControlState :union {
|
||||
indiState @1 :LateralINDIState;
|
||||
@@ -97,10 +90,8 @@ struct LongitudinalPlanSP @0xaedffd8f31e7b55d {
|
||||
desiredTF @13 :Float32;
|
||||
notSpeedLimit @14 :Int16;
|
||||
e2eX @15 :List(Float32);
|
||||
e2eBlendedDEPRECATED @18 :Text;
|
||||
e2eBlended @18 :Text;
|
||||
e2eStatus @22 :Bool;
|
||||
mpcSource @23 :MpcSource;
|
||||
dynamicExperimentalControl @24 :Bool;
|
||||
|
||||
distToTurn @7 :Float32;
|
||||
turnSpeed @8 :Float32;
|
||||
|
||||
+117
-212
@@ -5,7 +5,7 @@
|
||||
|
||||
namespace capnp {
|
||||
namespace schemas {
|
||||
static const ::capnp::_::AlignedData<43> b_d92113aa7c18cdf6 = {
|
||||
static const ::capnp::_::AlignedData<38> b_d92113aa7c18cdf6 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
246, 205, 24, 124, 170, 19, 33, 217,
|
||||
13, 0, 0, 0, 2, 0, 0, 0,
|
||||
@@ -15,7 +15,7 @@ static const ::capnp::_::AlignedData<43> b_d92113aa7c18cdf6 = {
|
||||
21, 0, 0, 0, 58, 1, 0, 0,
|
||||
37, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
33, 0, 0, 0, 127, 0, 0, 0,
|
||||
33, 0, 0, 0, 103, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
@@ -24,21 +24,18 @@ static const ::capnp::_::AlignedData<43> b_d92113aa7c18cdf6 = {
|
||||
108, 80, 101, 114, 115, 111, 110, 97,
|
||||
108, 105, 116, 121, 83, 80, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0,
|
||||
20, 0, 0, 0, 1, 0, 2, 0,
|
||||
16, 0, 0, 0, 1, 0, 2, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
53, 0, 0, 0, 90, 0, 0, 0,
|
||||
41, 0, 0, 0, 90, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
49, 0, 0, 0, 74, 0, 0, 0,
|
||||
37, 0, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
2, 0, 0, 0, 0, 0, 0, 0,
|
||||
45, 0, 0, 0, 74, 0, 0, 0,
|
||||
33, 0, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
3, 0, 0, 0, 0, 0, 0, 0,
|
||||
41, 0, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
4, 0, 0, 0, 0, 0, 0, 0,
|
||||
33, 0, 0, 0, 74, 0, 0, 0,
|
||||
29, 0, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
97, 103, 103, 114, 101, 115, 115, 105,
|
||||
118, 101, 0, 0, 0, 0, 0, 0,
|
||||
@@ -46,16 +43,14 @@ static const ::capnp::_::AlignedData<43> b_d92113aa7c18cdf6 = {
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
115, 116, 97, 110, 100, 97, 114, 100,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
114, 101, 108, 97, 120, 101, 100, 0,
|
||||
111, 118, 101, 114, 116, 97, 107, 101,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, }
|
||||
114, 101, 108, 97, 120, 101, 100, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_d92113aa7c18cdf6 = b_d92113aa7c18cdf6.words;
|
||||
#if !CAPNP_LITE
|
||||
static const uint16_t m_d92113aa7c18cdf6[] = {0, 1, 4, 3, 2};
|
||||
static const uint16_t m_d92113aa7c18cdf6[] = {0, 1, 3, 2};
|
||||
const ::capnp::_::RawSchema s_d92113aa7c18cdf6 = {
|
||||
0xd92113aa7c18cdf6, b_d92113aa7c18cdf6.words, 43, nullptr, m_d92113aa7c18cdf6,
|
||||
0, 5, nullptr, nullptr, nullptr, { &s_d92113aa7c18cdf6, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
0xd92113aa7c18cdf6, b_d92113aa7c18cdf6.words, 38, nullptr, m_d92113aa7c18cdf6,
|
||||
0, 4, nullptr, nullptr, nullptr, { &s_d92113aa7c18cdf6, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
CAPNP_DEFINE_ENUM(LongitudinalPersonalitySP_d92113aa7c18cdf6, d92113aa7c18cdf6);
|
||||
@@ -158,43 +153,7 @@ const ::capnp::_::RawSchema s_91cbf59645e9e0b9 = {
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
CAPNP_DEFINE_ENUM(ModelGeneration_91cbf59645e9e0b9, 91cbf59645e9e0b9);
|
||||
static const ::capnp::_::AlignedData<25> b_ddeb7e9fc0e0e044 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
68, 224, 224, 192, 159, 126, 235, 221,
|
||||
13, 0, 0, 0, 2, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 186, 0, 0, 0,
|
||||
29, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
25, 0, 0, 0, 55, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 77, 112, 99,
|
||||
83, 111, 117, 114, 99, 101, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0,
|
||||
8, 0, 0, 0, 1, 0, 2, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
17, 0, 0, 0, 34, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 0, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
97, 99, 99, 0, 0, 0, 0, 0,
|
||||
98, 108, 101, 110, 100, 101, 100, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_ddeb7e9fc0e0e044 = b_ddeb7e9fc0e0e044.words;
|
||||
#if !CAPNP_LITE
|
||||
static const uint16_t m_ddeb7e9fc0e0e044[] = {0, 1};
|
||||
const ::capnp::_::RawSchema s_ddeb7e9fc0e0e044 = {
|
||||
0xddeb7e9fc0e0e044, b_ddeb7e9fc0e0e044.words, 25, nullptr, m_ddeb7e9fc0e0e044,
|
||||
0, 2, nullptr, nullptr, nullptr, { &s_ddeb7e9fc0e0e044, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
CAPNP_DEFINE_ENUM(MpcSource_ddeb7e9fc0e0e044, ddeb7e9fc0e0e044);
|
||||
static const ::capnp::_::AlignedData<145> b_81c2f05a394cf4af = {
|
||||
static const ::capnp::_::AlignedData<127> b_81c2f05a394cf4af = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
175, 244, 76, 57, 90, 240, 194, 129,
|
||||
13, 0, 0, 0, 1, 0, 1, 0,
|
||||
@@ -204,7 +163,7 @@ static const ::capnp::_::AlignedData<145> b_81c2f05a394cf4af = {
|
||||
21, 0, 0, 0, 234, 0, 0, 0,
|
||||
33, 0, 0, 0, 119, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
161, 0, 0, 0, 87, 1, 0, 0,
|
||||
161, 0, 0, 0, 31, 1, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
@@ -245,49 +204,42 @@ static const ::capnp::_::AlignedData<145> b_81c2f05a394cf4af = {
|
||||
83, 116, 97, 116, 101, 0, 0, 0,
|
||||
76, 97, 116, 101, 114, 97, 108, 76,
|
||||
81, 82, 83, 116, 97, 116, 101, 0,
|
||||
24, 0, 0, 0, 3, 0, 4, 0,
|
||||
20, 0, 0, 0, 3, 0, 4, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
153, 0, 0, 0, 106, 0, 0, 0,
|
||||
125, 0, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
152, 0, 0, 0, 3, 0, 1, 0,
|
||||
164, 0, 0, 0, 2, 0, 1, 0,
|
||||
5, 0, 0, 0, 0, 0, 0, 0,
|
||||
124, 0, 0, 0, 3, 0, 1, 0,
|
||||
136, 0, 0, 0, 2, 0, 1, 0,
|
||||
4, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
45, 92, 210, 165, 131, 44, 76, 142,
|
||||
161, 0, 0, 0, 162, 0, 0, 0,
|
||||
133, 0, 0, 0, 162, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 8, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
145, 0, 0, 0, 98, 0, 0, 0,
|
||||
117, 0, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
144, 0, 0, 0, 3, 0, 1, 0,
|
||||
156, 0, 0, 0, 2, 0, 1, 0,
|
||||
116, 0, 0, 0, 3, 0, 1, 0,
|
||||
128, 0, 0, 0, 2, 0, 1, 0,
|
||||
2, 0, 0, 0, 32, 0, 0, 0,
|
||||
0, 0, 1, 0, 9, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
153, 0, 0, 0, 154, 0, 0, 0,
|
||||
125, 0, 0, 0, 154, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
156, 0, 0, 0, 3, 0, 1, 0,
|
||||
168, 0, 0, 0, 2, 0, 1, 0,
|
||||
128, 0, 0, 0, 3, 0, 1, 0,
|
||||
140, 0, 0, 0, 2, 0, 1, 0,
|
||||
3, 0, 0, 0, 3, 0, 0, 0,
|
||||
0, 0, 1, 0, 10, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
165, 0, 0, 0, 138, 0, 0, 0,
|
||||
137, 0, 0, 0, 138, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
168, 0, 0, 0, 3, 0, 1, 0,
|
||||
180, 0, 0, 0, 2, 0, 1, 0,
|
||||
4, 0, 0, 0, 33, 0, 0, 0,
|
||||
0, 0, 1, 0, 11, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
177, 0, 0, 0, 234, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
184, 0, 0, 0, 3, 0, 1, 0,
|
||||
196, 0, 0, 0, 2, 0, 1, 0,
|
||||
140, 0, 0, 0, 3, 0, 1, 0,
|
||||
152, 0, 0, 0, 2, 0, 1, 0,
|
||||
108, 97, 116, 101, 114, 97, 108, 83,
|
||||
116, 97, 116, 101, 0, 0, 0, 0,
|
||||
12, 0, 0, 0, 0, 0, 0, 0,
|
||||
@@ -327,17 +279,6 @@ static const ::capnp::_::AlignedData<145> b_81c2f05a394cf4af = {
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
15, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
111, 118, 101, 114, 116, 97, 107, 105,
|
||||
110, 103, 65, 99, 99, 101, 108, 101,
|
||||
114, 97, 116, 105, 111, 110, 65, 115,
|
||||
115, 105, 115, 116, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, }
|
||||
};
|
||||
@@ -348,11 +289,11 @@ static const ::capnp::_::RawSchema* const d_81c2f05a394cf4af[] = {
|
||||
&s_d92113aa7c18cdf6,
|
||||
&s_f40bf11ea3a7a163,
|
||||
};
|
||||
static const uint16_t m_81c2f05a394cf4af[] = {4, 3, 1, 0, 5, 2};
|
||||
static const uint16_t i_81c2f05a394cf4af[] = {0, 1, 2, 3, 4, 5};
|
||||
static const uint16_t m_81c2f05a394cf4af[] = {4, 3, 1, 0, 2};
|
||||
static const uint16_t i_81c2f05a394cf4af[] = {0, 1, 2, 3, 4};
|
||||
const ::capnp::_::RawSchema s_81c2f05a394cf4af = {
|
||||
0x81c2f05a394cf4af, b_81c2f05a394cf4af.words, 145, d_81c2f05a394cf4af, m_81c2f05a394cf4af,
|
||||
3, 6, i_81c2f05a394cf4af, nullptr, nullptr, { &s_81c2f05a394cf4af, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
0x81c2f05a394cf4af, b_81c2f05a394cf4af.words, 127, d_81c2f05a394cf4af, m_81c2f05a394cf4af,
|
||||
3, 5, i_81c2f05a394cf4af, nullptr, nullptr, { &s_81c2f05a394cf4af, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<19> b_b6a9042bc207bf27 = {
|
||||
@@ -728,17 +669,17 @@ const ::capnp::_::RawSchema s_8e4c2c83a5d25c2d = {
|
||||
8, 7, i_8e4c2c83a5d25c2d, nullptr, nullptr, { &s_8e4c2c83a5d25c2d, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<455> b_aedffd8f31e7b55d = {
|
||||
static const ::capnp::_::AlignedData<420> b_aedffd8f31e7b55d = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
93, 181, 231, 49, 143, 253, 223, 174,
|
||||
13, 0, 0, 0, 1, 0, 8, 0,
|
||||
13, 0, 0, 0, 1, 0, 7, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
3, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 2, 1, 0, 0,
|
||||
33, 0, 0, 0, 55, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
93, 0, 0, 0, 127, 5, 0, 0,
|
||||
93, 0, 0, 0, 15, 5, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
@@ -762,182 +703,168 @@ static const ::capnp::_::AlignedData<455> b_aedffd8f31e7b55d = {
|
||||
76, 111, 110, 103, 105, 116, 117, 100,
|
||||
105, 110, 97, 108, 80, 108, 97, 110,
|
||||
83, 111, 117, 114, 99, 101, 0, 0,
|
||||
100, 0, 0, 0, 3, 0, 4, 0,
|
||||
92, 0, 0, 0, 3, 0, 4, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
173, 2, 0, 0, 210, 0, 0, 0,
|
||||
117, 2, 0, 0, 210, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
180, 2, 0, 0, 3, 0, 1, 0,
|
||||
192, 2, 0, 0, 2, 0, 1, 0,
|
||||
124, 2, 0, 0, 3, 0, 1, 0,
|
||||
136, 2, 0, 0, 2, 0, 1, 0,
|
||||
1, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 1, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
189, 2, 0, 0, 130, 0, 0, 0,
|
||||
133, 2, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
188, 2, 0, 0, 3, 0, 1, 0,
|
||||
200, 2, 0, 0, 2, 0, 1, 0,
|
||||
132, 2, 0, 0, 3, 0, 1, 0,
|
||||
144, 2, 0, 0, 2, 0, 1, 0,
|
||||
4, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 2, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
197, 2, 0, 0, 186, 0, 0, 0,
|
||||
141, 2, 0, 0, 186, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
200, 2, 0, 0, 3, 0, 1, 0,
|
||||
212, 2, 0, 0, 2, 0, 1, 0,
|
||||
144, 2, 0, 0, 3, 0, 1, 0,
|
||||
156, 2, 0, 0, 2, 0, 1, 0,
|
||||
5, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 3, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
209, 2, 0, 0, 90, 0, 0, 0,
|
||||
153, 2, 0, 0, 90, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
208, 2, 0, 0, 3, 0, 1, 0,
|
||||
220, 2, 0, 0, 2, 0, 1, 0,
|
||||
152, 2, 0, 0, 3, 0, 1, 0,
|
||||
164, 2, 0, 0, 2, 0, 1, 0,
|
||||
6, 0, 0, 0, 3, 0, 0, 0,
|
||||
0, 0, 1, 0, 4, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
217, 2, 0, 0, 138, 0, 0, 0,
|
||||
161, 2, 0, 0, 138, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
220, 2, 0, 0, 3, 0, 1, 0,
|
||||
232, 2, 0, 0, 2, 0, 1, 0,
|
||||
164, 2, 0, 0, 3, 0, 1, 0,
|
||||
176, 2, 0, 0, 2, 0, 1, 0,
|
||||
7, 0, 0, 0, 4, 0, 0, 0,
|
||||
0, 0, 1, 0, 5, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
229, 2, 0, 0, 138, 0, 0, 0,
|
||||
173, 2, 0, 0, 138, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
232, 2, 0, 0, 3, 0, 1, 0,
|
||||
244, 2, 0, 0, 2, 0, 1, 0,
|
||||
176, 2, 0, 0, 3, 0, 1, 0,
|
||||
188, 2, 0, 0, 2, 0, 1, 0,
|
||||
8, 0, 0, 0, 160, 0, 0, 0,
|
||||
0, 0, 1, 0, 6, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
241, 2, 0, 0, 130, 0, 0, 0,
|
||||
185, 2, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
240, 2, 0, 0, 3, 0, 1, 0,
|
||||
252, 2, 0, 0, 2, 0, 1, 0,
|
||||
18, 0, 0, 0, 6, 0, 0, 0,
|
||||
184, 2, 0, 0, 3, 0, 1, 0,
|
||||
196, 2, 0, 0, 2, 0, 1, 0,
|
||||
16, 0, 0, 0, 6, 0, 0, 0,
|
||||
0, 0, 1, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
249, 2, 0, 0, 90, 0, 0, 0,
|
||||
193, 2, 0, 0, 90, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
248, 2, 0, 0, 3, 0, 1, 0,
|
||||
4, 3, 0, 0, 2, 0, 1, 0,
|
||||
19, 0, 0, 0, 7, 0, 0, 0,
|
||||
192, 2, 0, 0, 3, 0, 1, 0,
|
||||
204, 2, 0, 0, 2, 0, 1, 0,
|
||||
17, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 1, 0, 8, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 3, 0, 0, 82, 0, 0, 0,
|
||||
201, 2, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 3, 0, 0, 3, 0, 1, 0,
|
||||
12, 3, 0, 0, 2, 0, 1, 0,
|
||||
20, 0, 0, 0, 11, 0, 0, 0,
|
||||
200, 2, 0, 0, 3, 0, 1, 0,
|
||||
212, 2, 0, 0, 2, 0, 1, 0,
|
||||
18, 0, 0, 0, 11, 0, 0, 0,
|
||||
0, 0, 1, 0, 9, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 3, 0, 0, 178, 0, 0, 0,
|
||||
209, 2, 0, 0, 178, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
12, 3, 0, 0, 3, 0, 1, 0,
|
||||
24, 3, 0, 0, 2, 0, 1, 0,
|
||||
21, 0, 0, 0, 16, 0, 0, 0,
|
||||
212, 2, 0, 0, 3, 0, 1, 0,
|
||||
224, 2, 0, 0, 2, 0, 1, 0,
|
||||
19, 0, 0, 0, 16, 0, 0, 0,
|
||||
0, 0, 1, 0, 10, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 3, 0, 0, 74, 0, 0, 0,
|
||||
221, 2, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
20, 3, 0, 0, 3, 0, 1, 0,
|
||||
32, 3, 0, 0, 2, 0, 1, 0,
|
||||
220, 2, 0, 0, 3, 0, 1, 0,
|
||||
232, 2, 0, 0, 2, 0, 1, 0,
|
||||
9, 0, 0, 0, 161, 0, 0, 0,
|
||||
0, 0, 1, 0, 11, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
29, 3, 0, 0, 170, 0, 0, 0,
|
||||
229, 2, 0, 0, 170, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
32, 3, 0, 0, 3, 0, 1, 0,
|
||||
44, 3, 0, 0, 2, 0, 1, 0,
|
||||
232, 2, 0, 0, 3, 0, 1, 0,
|
||||
244, 2, 0, 0, 2, 0, 1, 0,
|
||||
10, 0, 0, 0, 9, 0, 0, 0,
|
||||
0, 0, 1, 0, 12, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
41, 3, 0, 0, 178, 0, 0, 0,
|
||||
241, 2, 0, 0, 178, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
44, 3, 0, 0, 3, 0, 1, 0,
|
||||
56, 3, 0, 0, 2, 0, 1, 0,
|
||||
244, 2, 0, 0, 3, 0, 1, 0,
|
||||
0, 3, 0, 0, 2, 0, 1, 0,
|
||||
11, 0, 0, 0, 10, 0, 0, 0,
|
||||
0, 0, 1, 0, 13, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
53, 3, 0, 0, 82, 0, 0, 0,
|
||||
253, 2, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
52, 3, 0, 0, 3, 0, 1, 0,
|
||||
64, 3, 0, 0, 2, 0, 1, 0,
|
||||
252, 2, 0, 0, 3, 0, 1, 0,
|
||||
8, 3, 0, 0, 2, 0, 1, 0,
|
||||
12, 0, 0, 0, 17, 0, 0, 0,
|
||||
0, 0, 1, 0, 14, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
61, 3, 0, 0, 114, 0, 0, 0,
|
||||
5, 3, 0, 0, 114, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
60, 3, 0, 0, 3, 0, 1, 0,
|
||||
72, 3, 0, 0, 2, 0, 1, 0,
|
||||
4, 3, 0, 0, 3, 0, 1, 0,
|
||||
16, 3, 0, 0, 2, 0, 1, 0,
|
||||
13, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 15, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
69, 3, 0, 0, 42, 0, 0, 0,
|
||||
13, 3, 0, 0, 42, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
64, 3, 0, 0, 3, 0, 1, 0,
|
||||
92, 3, 0, 0, 2, 0, 1, 0,
|
||||
8, 3, 0, 0, 3, 0, 1, 0,
|
||||
36, 3, 0, 0, 2, 0, 1, 0,
|
||||
2, 0, 0, 0, 11, 0, 0, 0,
|
||||
0, 0, 1, 0, 16, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
89, 3, 0, 0, 162, 0, 0, 0,
|
||||
33, 3, 0, 0, 162, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
92, 3, 0, 0, 3, 0, 1, 0,
|
||||
104, 3, 0, 0, 2, 0, 1, 0,
|
||||
36, 3, 0, 0, 3, 0, 1, 0,
|
||||
48, 3, 0, 0, 2, 0, 1, 0,
|
||||
3, 0, 0, 0, 12, 0, 0, 0,
|
||||
0, 0, 1, 0, 17, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
101, 3, 0, 0, 162, 0, 0, 0,
|
||||
45, 3, 0, 0, 162, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
104, 3, 0, 0, 3, 0, 1, 0,
|
||||
116, 3, 0, 0, 2, 0, 1, 0,
|
||||
48, 3, 0, 0, 3, 0, 1, 0,
|
||||
60, 3, 0, 0, 2, 0, 1, 0,
|
||||
14, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 18, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
113, 3, 0, 0, 170, 0, 0, 0,
|
||||
57, 3, 0, 0, 90, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
116, 3, 0, 0, 3, 0, 1, 0,
|
||||
128, 3, 0, 0, 2, 0, 1, 0,
|
||||
22, 0, 0, 0, 2, 0, 0, 0,
|
||||
56, 3, 0, 0, 3, 0, 1, 0,
|
||||
68, 3, 0, 0, 2, 0, 1, 0,
|
||||
20, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 19, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
125, 3, 0, 0, 58, 0, 0, 0,
|
||||
65, 3, 0, 0, 58, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
120, 3, 0, 0, 3, 0, 1, 0,
|
||||
148, 3, 0, 0, 2, 0, 1, 0,
|
||||
23, 0, 0, 0, 26, 0, 0, 0,
|
||||
60, 3, 0, 0, 3, 0, 1, 0,
|
||||
88, 3, 0, 0, 2, 0, 1, 0,
|
||||
21, 0, 0, 0, 26, 0, 0, 0,
|
||||
0, 0, 1, 0, 20, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
145, 3, 0, 0, 186, 0, 0, 0,
|
||||
85, 3, 0, 0, 186, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
148, 3, 0, 0, 3, 0, 1, 0,
|
||||
160, 3, 0, 0, 2, 0, 1, 0,
|
||||
24, 0, 0, 0, 27, 0, 0, 0,
|
||||
88, 3, 0, 0, 3, 0, 1, 0,
|
||||
100, 3, 0, 0, 2, 0, 1, 0,
|
||||
22, 0, 0, 0, 27, 0, 0, 0,
|
||||
0, 0, 1, 0, 21, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
157, 3, 0, 0, 178, 0, 0, 0,
|
||||
97, 3, 0, 0, 178, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
160, 3, 0, 0, 3, 0, 1, 0,
|
||||
172, 3, 0, 0, 2, 0, 1, 0,
|
||||
100, 3, 0, 0, 3, 0, 1, 0,
|
||||
112, 3, 0, 0, 2, 0, 1, 0,
|
||||
15, 0, 0, 0, 162, 0, 0, 0,
|
||||
0, 0, 1, 0, 22, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
169, 3, 0, 0, 82, 0, 0, 0,
|
||||
109, 3, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
168, 3, 0, 0, 3, 0, 1, 0,
|
||||
180, 3, 0, 0, 2, 0, 1, 0,
|
||||
16, 0, 0, 0, 28, 0, 0, 0,
|
||||
0, 0, 1, 0, 23, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
177, 3, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
176, 3, 0, 0, 3, 0, 1, 0,
|
||||
188, 3, 0, 0, 2, 0, 1, 0,
|
||||
17, 0, 0, 0, 163, 0, 0, 0,
|
||||
0, 0, 1, 0, 24, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
185, 3, 0, 0, 218, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
192, 3, 0, 0, 3, 0, 1, 0,
|
||||
204, 3, 0, 0, 2, 0, 1, 0,
|
||||
108, 3, 0, 0, 3, 0, 1, 0,
|
||||
120, 3, 0, 0, 2, 0, 1, 0,
|
||||
118, 105, 115, 105, 111, 110, 84, 117,
|
||||
114, 110, 67, 111, 110, 116, 114, 111,
|
||||
108, 108, 101, 114, 83, 116, 97, 116,
|
||||
@@ -1114,8 +1041,7 @@ static const ::capnp::_::AlignedData<455> b_aedffd8f31e7b55d = {
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
101, 50, 101, 66, 108, 101, 110, 100,
|
||||
101, 100, 68, 69, 80, 82, 69, 67,
|
||||
65, 84, 69, 68, 0, 0, 0, 0,
|
||||
101, 100, 0, 0, 0, 0, 0, 0,
|
||||
12, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
@@ -1157,26 +1083,6 @@ static const ::capnp::_::AlignedData<455> b_aedffd8f31e7b55d = {
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
101, 50, 101, 83, 116, 97, 116, 117,
|
||||
115, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
109, 112, 99, 83, 111, 117, 114, 99,
|
||||
101, 0, 0, 0, 0, 0, 0, 0,
|
||||
15, 0, 0, 0, 0, 0, 0, 0,
|
||||
68, 224, 224, 192, 159, 126, 235, 221,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
15, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
100, 121, 110, 97, 109, 105, 99, 69,
|
||||
120, 112, 101, 114, 105, 109, 101, 110,
|
||||
116, 97, 108, 67, 111, 110, 116, 114,
|
||||
111, 108, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
@@ -1193,13 +1099,12 @@ static const ::capnp::_::RawSchema* const d_aedffd8f31e7b55d[] = {
|
||||
&s_b53c44b896b6c446,
|
||||
&s_d1124e845254aeda,
|
||||
&s_d92113aa7c18cdf6,
|
||||
&s_ddeb7e9fc0e0e044,
|
||||
};
|
||||
static const uint16_t m_aedffd8f31e7b55d[] = {13, 5, 7, 24, 18, 22, 15, 19, 6, 20, 23, 14, 21, 3, 2, 4, 11, 12, 10, 8, 9, 16, 17, 0, 1};
|
||||
static const uint16_t i_aedffd8f31e7b55d[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24};
|
||||
static const uint16_t m_aedffd8f31e7b55d[] = {13, 5, 7, 18, 22, 15, 19, 6, 20, 14, 21, 3, 2, 4, 11, 12, 10, 8, 9, 16, 17, 0, 1};
|
||||
static const uint16_t i_aedffd8f31e7b55d[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22};
|
||||
const ::capnp::_::RawSchema s_aedffd8f31e7b55d = {
|
||||
0xaedffd8f31e7b55d, b_aedffd8f31e7b55d.words, 455, d_aedffd8f31e7b55d, m_aedffd8f31e7b55d,
|
||||
6, 25, i_aedffd8f31e7b55d, nullptr, nullptr, { &s_aedffd8f31e7b55d, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
0xaedffd8f31e7b55d, b_aedffd8f31e7b55d.words, 420, d_aedffd8f31e7b55d, m_aedffd8f31e7b55d,
|
||||
5, 23, i_aedffd8f31e7b55d, nullptr, nullptr, { &s_aedffd8f31e7b55d, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<45> b_9e7784369b990802 = {
|
||||
|
||||
@@ -25,7 +25,6 @@ enum class LongitudinalPersonalitySP_d92113aa7c18cdf6: uint16_t {
|
||||
MODERATE,
|
||||
STANDARD,
|
||||
RELAXED,
|
||||
OVERTAKE,
|
||||
};
|
||||
CAPNP_DECLARE_ENUM(LongitudinalPersonalitySP, d92113aa7c18cdf6);
|
||||
CAPNP_DECLARE_SCHEMA(f40bf11ea3a7a163);
|
||||
@@ -46,12 +45,6 @@ enum class ModelGeneration_91cbf59645e9e0b9: uint16_t {
|
||||
FIVE,
|
||||
};
|
||||
CAPNP_DECLARE_ENUM(ModelGeneration, 91cbf59645e9e0b9);
|
||||
CAPNP_DECLARE_SCHEMA(ddeb7e9fc0e0e044);
|
||||
enum class MpcSource_ddeb7e9fc0e0e044: uint16_t {
|
||||
ACC,
|
||||
BLENDED,
|
||||
};
|
||||
CAPNP_DECLARE_ENUM(MpcSource, ddeb7e9fc0e0e044);
|
||||
CAPNP_DECLARE_SCHEMA(81c2f05a394cf4af);
|
||||
CAPNP_DECLARE_SCHEMA(b6a9042bc207bf27);
|
||||
CAPNP_DECLARE_SCHEMA(88da8426fae53f07);
|
||||
@@ -128,8 +121,6 @@ typedef ::capnp::schemas::AccelerationPersonality_f40bf11ea3a7a163 AccelerationP
|
||||
|
||||
typedef ::capnp::schemas::ModelGeneration_91cbf59645e9e0b9 ModelGeneration;
|
||||
|
||||
typedef ::capnp::schemas::MpcSource_ddeb7e9fc0e0e044 MpcSource;
|
||||
|
||||
struct ControlsStateSP {
|
||||
ControlsStateSP() = delete;
|
||||
|
||||
@@ -296,7 +287,7 @@ struct LongitudinalPlanSP {
|
||||
|
||||
|
||||
struct _capnpPrivate {
|
||||
CAPNP_DECLARE_STRUCT_HEADER(aedffd8f31e7b55d, 8, 3)
|
||||
CAPNP_DECLARE_STRUCT_HEADER(aedffd8f31e7b55d, 7, 3)
|
||||
#if !CAPNP_LITE
|
||||
static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
|
||||
#endif // !CAPNP_LITE
|
||||
@@ -457,8 +448,6 @@ public:
|
||||
|
||||
inline ::cereal::AccelerationPersonality getAccelPersonality() const;
|
||||
|
||||
inline bool getOvertakingAccelerationAssist() const;
|
||||
|
||||
private:
|
||||
::capnp::_::StructReader _reader;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -506,9 +495,6 @@ public:
|
||||
inline ::cereal::AccelerationPersonality getAccelPersonality();
|
||||
inline void setAccelPersonality( ::cereal::AccelerationPersonality value);
|
||||
|
||||
inline bool getOvertakingAccelerationAssist();
|
||||
inline void setOvertakingAccelerationAssist(bool value);
|
||||
|
||||
private:
|
||||
::capnp::_::StructBuilder _builder;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -1255,8 +1241,8 @@ public:
|
||||
|
||||
inline float getVisionMaxPredLatAcc() const;
|
||||
|
||||
inline bool hasE2eBlendedDEPRECATED() const;
|
||||
inline ::capnp::Text::Reader getE2eBlendedDEPRECATED() const;
|
||||
inline bool hasE2eBlended() const;
|
||||
inline ::capnp::Text::Reader getE2eBlended() const;
|
||||
|
||||
inline bool hasEvents() const;
|
||||
inline ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Reader getEvents() const;
|
||||
@@ -1267,10 +1253,6 @@ public:
|
||||
|
||||
inline bool getE2eStatus() const;
|
||||
|
||||
inline ::cereal::MpcSource getMpcSource() const;
|
||||
|
||||
inline bool getDynamicExperimentalControl() const;
|
||||
|
||||
private:
|
||||
::capnp::_::StructReader _reader;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -1358,12 +1340,12 @@ public:
|
||||
inline float getVisionMaxPredLatAcc();
|
||||
inline void setVisionMaxPredLatAcc(float value);
|
||||
|
||||
inline bool hasE2eBlendedDEPRECATED();
|
||||
inline ::capnp::Text::Builder getE2eBlendedDEPRECATED();
|
||||
inline void setE2eBlendedDEPRECATED( ::capnp::Text::Reader value);
|
||||
inline ::capnp::Text::Builder initE2eBlendedDEPRECATED(unsigned int size);
|
||||
inline void adoptE2eBlendedDEPRECATED(::capnp::Orphan< ::capnp::Text>&& value);
|
||||
inline ::capnp::Orphan< ::capnp::Text> disownE2eBlendedDEPRECATED();
|
||||
inline bool hasE2eBlended();
|
||||
inline ::capnp::Text::Builder getE2eBlended();
|
||||
inline void setE2eBlended( ::capnp::Text::Reader value);
|
||||
inline ::capnp::Text::Builder initE2eBlended(unsigned int size);
|
||||
inline void adoptE2eBlended(::capnp::Orphan< ::capnp::Text>&& value);
|
||||
inline ::capnp::Orphan< ::capnp::Text> disownE2eBlended();
|
||||
|
||||
inline bool hasEvents();
|
||||
inline ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Builder getEvents();
|
||||
@@ -1381,12 +1363,6 @@ public:
|
||||
inline bool getE2eStatus();
|
||||
inline void setE2eStatus(bool value);
|
||||
|
||||
inline ::cereal::MpcSource getMpcSource();
|
||||
inline void setMpcSource( ::cereal::MpcSource value);
|
||||
|
||||
inline bool getDynamicExperimentalControl();
|
||||
inline void setDynamicExperimentalControl(bool value);
|
||||
|
||||
private:
|
||||
::capnp::_::StructBuilder _builder;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -2310,20 +2286,6 @@ inline void ControlsStateSP::Builder::setAccelPersonality( ::cereal::Acceleratio
|
||||
::capnp::bounded<3>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool ControlsStateSP::Reader::getOvertakingAccelerationAssist() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<33>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool ControlsStateSP::Builder::getOvertakingAccelerationAssist() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<33>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void ControlsStateSP::Builder::setOvertakingAccelerationAssist(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<33>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool ControlsStateSP::LateralTorqueState::Reader::hasNnLog() const {
|
||||
return !_reader.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
|
||||
@@ -3025,36 +2987,36 @@ inline void LongitudinalPlanSP::Builder::setVisionMaxPredLatAcc(float value) {
|
||||
::capnp::bounded<12>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool LongitudinalPlanSP::Reader::hasE2eBlendedDEPRECATED() const {
|
||||
inline bool LongitudinalPlanSP::Reader::hasE2eBlended() const {
|
||||
return !_reader.getPointerField(
|
||||
::capnp::bounded<1>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline bool LongitudinalPlanSP::Builder::hasE2eBlendedDEPRECATED() {
|
||||
inline bool LongitudinalPlanSP::Builder::hasE2eBlended() {
|
||||
return !_builder.getPointerField(
|
||||
::capnp::bounded<1>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline ::capnp::Text::Reader LongitudinalPlanSP::Reader::getE2eBlendedDEPRECATED() const {
|
||||
inline ::capnp::Text::Reader LongitudinalPlanSP::Reader::getE2eBlended() const {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField(
|
||||
::capnp::bounded<1>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline ::capnp::Text::Builder LongitudinalPlanSP::Builder::getE2eBlendedDEPRECATED() {
|
||||
inline ::capnp::Text::Builder LongitudinalPlanSP::Builder::getE2eBlended() {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField(
|
||||
::capnp::bounded<1>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline void LongitudinalPlanSP::Builder::setE2eBlendedDEPRECATED( ::capnp::Text::Reader value) {
|
||||
inline void LongitudinalPlanSP::Builder::setE2eBlended( ::capnp::Text::Reader value) {
|
||||
::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField(
|
||||
::capnp::bounded<1>() * ::capnp::POINTERS), value);
|
||||
}
|
||||
inline ::capnp::Text::Builder LongitudinalPlanSP::Builder::initE2eBlendedDEPRECATED(unsigned int size) {
|
||||
inline ::capnp::Text::Builder LongitudinalPlanSP::Builder::initE2eBlended(unsigned int size) {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField(
|
||||
::capnp::bounded<1>() * ::capnp::POINTERS), size);
|
||||
}
|
||||
inline void LongitudinalPlanSP::Builder::adoptE2eBlendedDEPRECATED(
|
||||
inline void LongitudinalPlanSP::Builder::adoptE2eBlended(
|
||||
::capnp::Orphan< ::capnp::Text>&& value) {
|
||||
::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField(
|
||||
::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value));
|
||||
}
|
||||
inline ::capnp::Orphan< ::capnp::Text> LongitudinalPlanSP::Builder::disownE2eBlendedDEPRECATED() {
|
||||
inline ::capnp::Orphan< ::capnp::Text> LongitudinalPlanSP::Builder::disownE2eBlended() {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField(
|
||||
::capnp::bounded<1>() * ::capnp::POINTERS));
|
||||
}
|
||||
@@ -3135,34 +3097,6 @@ inline void LongitudinalPlanSP::Builder::setE2eStatus(bool value) {
|
||||
::capnp::bounded<162>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline ::cereal::MpcSource LongitudinalPlanSP::Reader::getMpcSource() const {
|
||||
return _reader.getDataField< ::cereal::MpcSource>(
|
||||
::capnp::bounded<28>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline ::cereal::MpcSource LongitudinalPlanSP::Builder::getMpcSource() {
|
||||
return _builder.getDataField< ::cereal::MpcSource>(
|
||||
::capnp::bounded<28>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void LongitudinalPlanSP::Builder::setMpcSource( ::cereal::MpcSource value) {
|
||||
_builder.setDataField< ::cereal::MpcSource>(
|
||||
::capnp::bounded<28>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool LongitudinalPlanSP::Reader::getDynamicExperimentalControl() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<163>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool LongitudinalPlanSP::Builder::getDynamicExperimentalControl() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<163>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void LongitudinalPlanSP::Builder::setDynamicExperimentalControl(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<163>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline float LateralPlanSP::Reader::getLaneWidth() const {
|
||||
return _reader.getDataField<float>(
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS);
|
||||
|
||||
Binary file not shown.
Binary file not shown.
+1
-1
@@ -1 +1 @@
|
||||
#define COMMA_VERSION "2024.11.16-3490"
|
||||
#define COMMA_VERSION "0.9.8.0-staging"
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -216,7 +216,6 @@ class Panda:
|
||||
FLAG_HYUNDAI_LFA_BTN = 256
|
||||
FLAG_HYUNDAI_ESCC = 512
|
||||
FLAG_HYUNDAI_NON_SCC = 1024
|
||||
FLAG_HYUNDAI_UPSTREAM_TACO = 2048
|
||||
|
||||
FLAG_TESLA_POWERTRAIN = 1
|
||||
FLAG_TESLA_LONG_CONTROL = 2
|
||||
@@ -242,7 +241,6 @@ class Panda:
|
||||
|
||||
FLAG_FORD_LONG_CONTROL = 1
|
||||
FLAG_FORD_CANFD = 2
|
||||
FLAG_FORD_ENHANCED_LAT_CONTROL = 2048
|
||||
|
||||
def __init__(self, serial: str | None = None, claim: bool = True, disable_checks: bool = True, can_speed_kbps: int = 500):
|
||||
self._connect_serial = serial
|
||||
|
||||
+2
-8
@@ -476,14 +476,8 @@ class IsoTpMessage():
|
||||
if rx_data[0] >> 4 == ISOTP_FRAME_TYPE.SINGLE:
|
||||
assert self.rx_dat == b"" or self.rx_done, "isotp - rx: single frame with active frame"
|
||||
self.rx_len = rx_data[0] & 0x0F
|
||||
# "if the first byte of SF=0, then second byte specifies the size of the data."
|
||||
# - https://en.wikipedia.org/wiki/CAN_FD
|
||||
offset = 1
|
||||
if self.rx_len == 0x0 and len(rx_data) > 8:
|
||||
self.rx_len = rx_data[1]
|
||||
offset = 2
|
||||
# assert self.rx_len < self.max_len, f"isotp - rx: invalid single frame length: {self.rx_len}"
|
||||
self.rx_dat = rx_data[offset:offset + self.rx_len]
|
||||
assert self.rx_len < self.max_len, f"isotp - rx: invalid single frame length: {self.rx_len}"
|
||||
self.rx_dat = rx_data[1:1 + self.rx_len]
|
||||
self.rx_idx = 0
|
||||
self.rx_done = True
|
||||
if self.debug:
|
||||
|
||||
@@ -3,7 +3,7 @@ from opendbc.can.packer import CANPacker
|
||||
from openpilot.common.numpy_fast import clip
|
||||
from openpilot.selfdrive.car import apply_std_steer_angle_limits
|
||||
from openpilot.selfdrive.car.ford import fordcan
|
||||
from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags, FordFlagsSP
|
||||
from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags
|
||||
from openpilot.selfdrive.car.interfaces import CarControllerBase
|
||||
|
||||
LongCtrlState = car.CarControl.Actuators.LongControlState
|
||||
@@ -35,9 +35,6 @@ class CarController(CarControllerBase):
|
||||
self.lkas_enabled_last = False
|
||||
self.steer_alert_last = False
|
||||
self.lead_distance_bars_last = None
|
||||
self.path_angle = 0.
|
||||
self.path_offset = 0.
|
||||
self.curvature_rate = 0.
|
||||
|
||||
def update(self, CC, CS, now_nanos):
|
||||
can_sends = []
|
||||
@@ -77,10 +74,7 @@ class CarController(CarControllerBase):
|
||||
# TODO: extended mode
|
||||
mode = 1 if CC.latActive else 0
|
||||
counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10
|
||||
if self.CP.spFlags & FordFlagsSP.SP_ENHANCED_LAT_CONTROL.value:
|
||||
can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, self.path_offset, self.path_angle, -apply_curvature, self.curvature_rate, counter))
|
||||
else:
|
||||
can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter))
|
||||
can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter))
|
||||
else:
|
||||
can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.))
|
||||
|
||||
|
||||
@@ -24,7 +24,6 @@ class CarState(CarStateBase):
|
||||
|
||||
self.lkas_enabled = None
|
||||
self.prev_lkas_enabled = None
|
||||
self.v_limit = 0
|
||||
|
||||
self.button_states = {button.event_type: False for button in BUTTONS}
|
||||
|
||||
@@ -73,10 +72,6 @@ class CarState(CarStateBase):
|
||||
ret.cruiseState.nonAdaptive = cp.vl["Cluster_Info1_FD1"]["AccEnbl_B_RqDrv"] == 0
|
||||
ret.cruiseState.standstill = cp.vl["EngBrakeData"]["AccStopMde_D_Rq"] == 3
|
||||
ret.accFaulted = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (1, 2)
|
||||
|
||||
if self.CP.flags & FordFlags.CANFD:
|
||||
ret.cruiseState.speedLimit = self.update_traffic_signals(cp_cam)
|
||||
|
||||
if not self.CP.openpilotLongitudinalControl:
|
||||
ret.accFaulted = ret.accFaulted or cp_cam.vl["ACCDATA"]["CmbbDeny_B_Actl"] == 1
|
||||
|
||||
@@ -134,16 +129,6 @@ class CarState(CarStateBase):
|
||||
|
||||
return ret
|
||||
|
||||
def update_traffic_signals(self, cp_cam):
|
||||
# TODO: Check if CAN platforms have the same signals
|
||||
if self.CP.flags & FordFlags.CANFD:
|
||||
self.v_limit = cp_cam.vl["Traffic_RecognitnData"]["TsrVLim1MsgTxt_D_Rq"]
|
||||
v_limit_unit = cp_cam.vl["Traffic_RecognitnData"]["TsrVlUnitMsgTxt_D_Rq"]
|
||||
|
||||
speed_factor = CV.MPH_TO_MS if v_limit_unit == 2 else CV.KPH_TO_MS if v_limit_unit == 1 else 0
|
||||
|
||||
return self.v_limit * speed_factor if self.v_limit not in (0, 255) else 0
|
||||
|
||||
@staticmethod
|
||||
def get_can_parser(CP):
|
||||
messages = [
|
||||
@@ -200,11 +185,6 @@ class CarState(CarStateBase):
|
||||
("IPMA_Data", 1),
|
||||
]
|
||||
|
||||
if CP.flags & FordFlags.CANFD:
|
||||
messages += [
|
||||
("Traffic_RecognitnData", 1),
|
||||
]
|
||||
|
||||
if CP.enableBsm and CP.flags & FordFlags.CANFD:
|
||||
messages += [
|
||||
("Side_Detect_L_Stat", 5),
|
||||
|
||||
@@ -3,8 +3,7 @@ from panda import Panda
|
||||
from openpilot.common.conversions import Conversions as CV
|
||||
from openpilot.selfdrive.car import create_button_events, get_safety_config
|
||||
from openpilot.selfdrive.car.ford.fordcan import CanBus
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.selfdrive.car.ford.values import Ecu, FordFlags, FordFlagsSP
|
||||
from openpilot.selfdrive.car.ford.values import Ecu, FordFlags
|
||||
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
|
||||
|
||||
ButtonType = car.CarState.ButtonEvent.Type
|
||||
@@ -19,15 +18,13 @@ class CarInterface(CarInterfaceBase):
|
||||
@staticmethod
|
||||
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
|
||||
ret.carName = "ford"
|
||||
ret.dashcamOnly = bool(ret.flags & FordFlags.CANFD)
|
||||
|
||||
ret.radarUnavailable = True
|
||||
ret.steerControlType = car.CarParams.SteerControlType.angle
|
||||
ret.steerActuatorDelay = 0.2
|
||||
ret.steerLimitTimer = 1.0
|
||||
|
||||
if Params().get("DongleId", encoding='utf8') in ("4fde83db16dc0802", "112e4d6e0cad05e1", "e36b272d5679115f", "24574459dd7fb3e0", "83a4e056c7072678"):
|
||||
ret.spFlags |= FordFlagsSP.SP_ENHANCED_LAT_CONTROL.value
|
||||
|
||||
CAN = CanBus(fingerprint=fingerprint)
|
||||
cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)]
|
||||
if CAN.main >= 4:
|
||||
@@ -54,13 +51,6 @@ class CarInterface(CarInterfaceBase):
|
||||
if config_tja != 0xFF or config_lca != 0xFF:
|
||||
ret.dashcamOnly = True
|
||||
|
||||
if ret.spFlags & FordFlagsSP.SP_ENHANCED_LAT_CONTROL:
|
||||
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_ENHANCED_LAT_CONTROL
|
||||
|
||||
ret.longitudinalTuning.kpBP = [0.]
|
||||
ret.longitudinalTuning.kpV = [0.5]
|
||||
ret.longitudinalTuning.kiV = [0.]
|
||||
|
||||
# Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
|
||||
found_ecus = [fw.ecu for fw in car_fw]
|
||||
if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[CAN.main] or docs:
|
||||
|
||||
@@ -11,7 +11,6 @@ DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540))
|
||||
DELPHI_MRR_RADAR_START_ADDR = 0x120
|
||||
DELPHI_MRR_RADAR_MSG_COUNT = 64
|
||||
|
||||
STEER_ASSIST_DATA_MSGS = 0x3d7
|
||||
|
||||
def _create_delphi_esr_radar_can_parser(CP) -> CANParser:
|
||||
msg_n = len(DELPHI_ESR_RADAR_MSGS)
|
||||
@@ -29,9 +28,6 @@ def _create_delphi_mrr_radar_can_parser(CP) -> CANParser:
|
||||
|
||||
return CANParser(RADAR.DELPHI_MRR, messages, CanBus(CP).radar)
|
||||
|
||||
def _create_steer_assist_data(CP) -> CANParser:
|
||||
messages = [("Steer_Assist_Data", 20)]
|
||||
return CANParser(RADAR.STEER_ASSIST_DATA, messages, CanBus(CP).camera)
|
||||
|
||||
class RadarInterface(RadarInterfaceBase):
|
||||
def __init__(self, CP):
|
||||
@@ -49,10 +45,6 @@ class RadarInterface(RadarInterfaceBase):
|
||||
elif self.radar == RADAR.DELPHI_MRR:
|
||||
self.rcp = _create_delphi_mrr_radar_can_parser(CP)
|
||||
self.trigger_msg = DELPHI_MRR_RADAR_START_ADDR + DELPHI_MRR_RADAR_MSG_COUNT - 1
|
||||
elif self.radar == RADAR.STEER_ASSIST_DATA:
|
||||
self.rcp = _create_steer_assist_data(CP)
|
||||
self.trigger_msg = STEER_ASSIST_DATA_MSGS
|
||||
|
||||
else:
|
||||
raise ValueError(f"Unsupported radar: {self.radar}")
|
||||
|
||||
@@ -76,67 +68,11 @@ class RadarInterface(RadarInterfaceBase):
|
||||
self._update_delphi_esr()
|
||||
elif self.radar == RADAR.DELPHI_MRR:
|
||||
self._update_delphi_mrr()
|
||||
elif self.radar == RADAR.STEER_ASSIST_DATA:
|
||||
self._update_steer_assist_data()
|
||||
|
||||
ret.points = list(self.pts.values())
|
||||
self.updated_messages.clear()
|
||||
return ret
|
||||
|
||||
def _update_steer_assist_data(self):
|
||||
msg = self.rcp.vl["Steer_Assist_Data"]
|
||||
updated_msg = self.updated_messages
|
||||
|
||||
dRel = msg['CmbbObjDistLong_L_Actl']
|
||||
confidence = msg['CmbbObjConfdnc_D_Stat']
|
||||
new_track = False
|
||||
|
||||
# if dRel < 1022:
|
||||
if confidence > 0:
|
||||
if 0 not in self.pts:
|
||||
self.pts[0] = car.RadarData.RadarPoint.new_message()
|
||||
self.pts[0].trackId = self.track_id
|
||||
self.vRelCol[0] = collections.deque(maxlen=20)
|
||||
self.track_id += 1
|
||||
new_track = True
|
||||
|
||||
yRel = msg['CmbbObjDistLat_L_Actl']
|
||||
vRel = msg['CmbbObjRelLong_V_Actl']
|
||||
yvRel = msg['CmbbObjRelLat_V_Actl']
|
||||
calc = 0
|
||||
if not new_track:
|
||||
# if this is a newly created track - we don't have historical data so skip it
|
||||
# if we are on the same track
|
||||
# Let's see if we are moving:
|
||||
# positive gap - lead is moving faster than us
|
||||
# negative gap - lead is moving slower than us
|
||||
dDiff = dRel - self.pts[0].dRel
|
||||
if (abs(vRel) < 1.0e-2):
|
||||
self.vRelCol[0].append(dDiff)
|
||||
vRel = sum(self.vRelCol[0])
|
||||
calc = 1
|
||||
else:
|
||||
if len(self.vRelCol[0]) > 0:
|
||||
self.vRelCol[0].clear()
|
||||
|
||||
if abs(self.pts[0].vRel - vRel) > 2 or abs(self.pts[0].dRel - dRel) > 5:
|
||||
self.pts[0].trackId = self.track_id
|
||||
if len(self.vRelCol[0]) > 0:
|
||||
self.vRelCol[0].clear()
|
||||
self.track_id += 1
|
||||
|
||||
self.pts[0].dRel = dRel # from front of car
|
||||
self.pts[0].yRel = yRel # in car frame's y axis, left is positive
|
||||
self.pts[0].vRel = vRel
|
||||
self.pts[0].aRel = float('nan')
|
||||
self.pts[0].yvRel = yvRel
|
||||
self.pts[0].measured = True
|
||||
else:
|
||||
if 0 in self.pts:
|
||||
del self.pts[0]
|
||||
del self.vRelCol[0]
|
||||
|
||||
|
||||
def _update_delphi_esr(self):
|
||||
for ii in sorted(self.updated_messages):
|
||||
cpt = self.rcp.vl[ii]
|
||||
|
||||
@@ -48,14 +48,9 @@ class FordFlags(IntFlag):
|
||||
CANFD = 1
|
||||
|
||||
|
||||
class FordFlagsSP(IntFlag):
|
||||
SP_ENHANCED_LAT_CONTROL = 1
|
||||
|
||||
|
||||
class RADAR:
|
||||
DELPHI_ESR = 'ford_fusion_2018_adas'
|
||||
DELPHI_MRR = 'FORD_CADS'
|
||||
STEER_ASSIST_DATA = 'ford_lincoln_base_pt'
|
||||
|
||||
|
||||
class Footnote(Enum):
|
||||
@@ -96,7 +91,7 @@ class FordPlatformConfig(PlatformConfig):
|
||||
|
||||
@dataclass
|
||||
class FordCANFDPlatformConfig(FordPlatformConfig):
|
||||
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', RADAR.STEER_ASSIST_DATA))
|
||||
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', None))
|
||||
|
||||
def init(self):
|
||||
super().init()
|
||||
|
||||
@@ -1,6 +1,4 @@
|
||||
from cereal import car
|
||||
import cereal.messaging as messaging
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.conversions import Conversions as CV
|
||||
from openpilot.common.numpy_fast import interp
|
||||
from opendbc.can.packer import CANPacker
|
||||
@@ -8,7 +6,6 @@ from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
|
||||
from openpilot.selfdrive.car.gm import gmcan
|
||||
from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
|
||||
from openpilot.selfdrive.car.interfaces import CarControllerBase
|
||||
from selfdrive.controls.lib.drive_helpers import GM_V_CRUISE_MIN
|
||||
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
NetworkLocation = car.CarParams.NetworkLocation
|
||||
@@ -40,36 +37,6 @@ class CarController(CarControllerBase):
|
||||
self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
|
||||
self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis'])
|
||||
|
||||
self.sm = messaging.SubMaster(['longitudinalPlanSP'])
|
||||
self.param_s = Params()
|
||||
self.is_metric = self.param_s.get_bool("IsMetric")
|
||||
self.speed_limit_control_enabled = False
|
||||
self.last_speed_limit_sign_tap = False
|
||||
self.last_speed_limit_sign_tap_prev = False
|
||||
self.speed_limit = 0.
|
||||
self.speed_limit_offset = 0
|
||||
self.timer = 0
|
||||
self.final_speed_kph = 0
|
||||
self.init_speed = 0
|
||||
self.current_speed = 0
|
||||
self.v_set_dis = 0
|
||||
self.v_cruise_min = 0
|
||||
self.button_type = 0
|
||||
self.button_select = 0
|
||||
self.button_count = 0
|
||||
self.target_speed = 0
|
||||
self.t_interval = 7
|
||||
self.slc_active_stock = False
|
||||
self.sl_force_active_timer = 0
|
||||
self.v_tsc_state = 0
|
||||
self.slc_state = 0
|
||||
self.m_tsc_state = 0
|
||||
self.cruise_button = None
|
||||
self.speed_diff = 0
|
||||
self.v_tsc = 0
|
||||
self.m_tsc = 0
|
||||
self.steady_speed = 0
|
||||
|
||||
def update(self, CC, CS, now_nanos):
|
||||
actuators = CC.actuators
|
||||
hud_control = CC.hudControl
|
||||
@@ -78,40 +45,9 @@ class CarController(CarControllerBase):
|
||||
if hud_v_cruise > 70:
|
||||
hud_v_cruise = 0
|
||||
|
||||
if not self.CP.pcmCruiseSpeed:
|
||||
self.sm.update(0)
|
||||
|
||||
if self.sm.updated['longitudinalPlanSP']:
|
||||
self.v_tsc_state = self.sm['longitudinalPlanSP'].visionTurnControllerState
|
||||
self.slc_state = self.sm['longitudinalPlanSP'].speedLimitControlState
|
||||
self.m_tsc_state = self.sm['longitudinalPlanSP'].turnSpeedControlState
|
||||
self.speed_limit = self.sm['longitudinalPlanSP'].speedLimit
|
||||
self.speed_limit_offset = self.sm['longitudinalPlanSP'].speedLimitOffset
|
||||
self.v_tsc = self.sm['longitudinalPlanSP'].visionTurnSpeed
|
||||
self.m_tsc = self.sm['longitudinalPlanSP'].turnSpeed
|
||||
|
||||
if self.frame % 200 == 0:
|
||||
self.speed_limit_control_enabled = self.param_s.get_bool("EnableSlc")
|
||||
self.is_metric = self.param_s.get_bool("IsMetric")
|
||||
self.last_speed_limit_sign_tap = self.param_s.get_bool("LastSpeedLimitSignTap")
|
||||
self.v_cruise_min = GM_V_CRUISE_MIN[self.is_metric] * (CV.KPH_TO_MPH if not self.is_metric else 1)
|
||||
|
||||
# Send CAN commands.
|
||||
can_sends = []
|
||||
|
||||
if not self.CP.pcmCruiseSpeed:
|
||||
if not self.last_speed_limit_sign_tap_prev and self.last_speed_limit_sign_tap:
|
||||
self.sl_force_active_timer = self.frame
|
||||
self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False)
|
||||
self.last_speed_limit_sign_tap_prev = self.last_speed_limit_sign_tap
|
||||
|
||||
sl_force_active = self.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
|
||||
sl_inactive = not sl_force_active and (not self.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
|
||||
sl_temp_inactive = not sl_force_active and (self.speed_limit_control_enabled and (True if self.slc_state == 1 else False))
|
||||
slc_active = not sl_inactive and not sl_temp_inactive
|
||||
|
||||
self.slc_active_stock = slc_active
|
||||
|
||||
# Steering (Active: 50Hz, inactive: 10Hz)
|
||||
steer_step = self.params.STEER_STEP if CC.latActive else self.params.INACTIVE_STEER_STEP
|
||||
|
||||
@@ -212,15 +148,6 @@ class CarController(CarControllerBase):
|
||||
self.last_button_frame = self.frame
|
||||
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
|
||||
|
||||
if not (CC.cruiseControl.cancel or CC.cruiseControl.resume) and not self.CP.pcmCruiseSpeed and CS.out.cruiseState.enabled:
|
||||
self.cruise_button = self.get_cruise_buttons(CS, CC.vCruise)
|
||||
if self.cruise_button is not None:
|
||||
send_freq = 1
|
||||
if not (self.v_tsc_state != 0 or self.m_tsc_state > 1) and abs(self.target_speed - self.v_set_dis) <= 2:
|
||||
send_freq = 3
|
||||
if self.frame % 12 < 6: # thanks to mochi86420 for the magic numbers
|
||||
can_sends.extend([gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, (CS.buttons_counter + 2) % 4, self.cruise_button)] * 3)
|
||||
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
# Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
|
||||
if self.frame % 10 == 0:
|
||||
@@ -234,120 +161,3 @@ class CarController(CarControllerBase):
|
||||
|
||||
self.frame += 1
|
||||
return new_actuators, can_sends
|
||||
|
||||
# multikyd methods, sunnyhaibin logic
|
||||
def get_cruise_buttons_status(self, CS):
|
||||
if not CS.out.cruiseState.enabled or CS.cruise_buttons != CruiseButtons.UNPRESS:
|
||||
self.timer = 40
|
||||
elif self.timer:
|
||||
self.timer -= 1
|
||||
else:
|
||||
return 1
|
||||
return 0
|
||||
|
||||
def get_target_speed(self, v_cruise_kph_prev):
|
||||
v_cruise_kph = v_cruise_kph_prev
|
||||
if self.slc_state > 1:
|
||||
v_cruise_kph = (self.speed_limit + self.speed_limit_offset) * CV.MS_TO_KPH
|
||||
if not self.slc_active_stock:
|
||||
v_cruise_kph = v_cruise_kph_prev
|
||||
return v_cruise_kph
|
||||
|
||||
def get_button_type(self, button_type):
|
||||
self.type_status = "type_" + str(button_type)
|
||||
self.button_picker = getattr(self, self.type_status, lambda: "default")
|
||||
return self.button_picker()
|
||||
|
||||
def reset_button(self):
|
||||
if self.button_type != 3:
|
||||
self.button_type = 0
|
||||
|
||||
def type_default(self):
|
||||
self.button_type = 0
|
||||
return None
|
||||
|
||||
def type_0(self):
|
||||
self.button_count = 0
|
||||
self.target_speed = self.init_speed
|
||||
self.speed_diff = self.target_speed - self.v_set_dis
|
||||
if self.target_speed > self.v_set_dis:
|
||||
self.button_type = 1
|
||||
elif self.target_speed < self.v_set_dis and self.v_set_dis > self.v_cruise_min:
|
||||
self.button_type = 2
|
||||
return None
|
||||
|
||||
def type_1(self):
|
||||
cruise_button = CruiseButtons.RES_ACCEL
|
||||
self.button_count += 1
|
||||
if self.target_speed <= self.v_set_dis:
|
||||
self.button_count = 0
|
||||
self.button_type = 3
|
||||
elif self.button_count > 5:
|
||||
self.button_count = 0
|
||||
self.button_type = 3
|
||||
return cruise_button
|
||||
|
||||
def type_2(self):
|
||||
cruise_button = CruiseButtons.DECEL_SET
|
||||
self.button_count += 1
|
||||
if self.target_speed >= self.v_set_dis or self.v_set_dis <= self.v_cruise_min:
|
||||
self.button_count = 0
|
||||
self.button_type = 3
|
||||
elif self.button_count > 5:
|
||||
self.button_count = 0
|
||||
self.button_type = 3
|
||||
return cruise_button
|
||||
|
||||
def type_3(self):
|
||||
cruise_button = CruiseButtons.UNPRESS
|
||||
self.button_count += 1
|
||||
if self.button_count > self.t_interval:
|
||||
self.button_type = 0
|
||||
return cruise_button
|
||||
|
||||
def get_curve_speed(self, target_speed_kph, v_cruise_kph_prev):
|
||||
if self.v_tsc_state != 0:
|
||||
vision_v_cruise_kph = self.v_tsc * CV.MS_TO_KPH
|
||||
if int(vision_v_cruise_kph) == int(v_cruise_kph_prev):
|
||||
vision_v_cruise_kph = 255
|
||||
else:
|
||||
vision_v_cruise_kph = 255
|
||||
if self.m_tsc_state > 1:
|
||||
map_v_cruise_kph = self.m_tsc * CV.MS_TO_KPH
|
||||
if int(map_v_cruise_kph) == 0.0:
|
||||
map_v_cruise_kph = 255
|
||||
else:
|
||||
map_v_cruise_kph = 255
|
||||
curve_speed = self.curve_speed_hysteresis(min(vision_v_cruise_kph, map_v_cruise_kph) + 2 * CV.MPH_TO_KPH)
|
||||
return min(target_speed_kph, curve_speed)
|
||||
|
||||
def get_button_control(self, CS, final_speed, v_cruise_kph_prev):
|
||||
self.init_speed = round(min(final_speed, v_cruise_kph_prev) * (CV.KPH_TO_MPH if not self.is_metric else 1))
|
||||
self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not self.is_metric else CV.MS_TO_KPH))
|
||||
cruise_button = self.get_button_type(self.button_type)
|
||||
return cruise_button
|
||||
|
||||
def curve_speed_hysteresis(self, cur_speed: float, hyst=(0.75 * CV.MPH_TO_KPH)):
|
||||
if cur_speed > self.steady_speed:
|
||||
self.steady_speed = cur_speed
|
||||
elif cur_speed < self.steady_speed - hyst:
|
||||
self.steady_speed = cur_speed
|
||||
return self.steady_speed
|
||||
|
||||
def get_cruise_buttons(self, CS, v_cruise_kph_prev):
|
||||
cruise_button = None
|
||||
if not self.get_cruise_buttons_status(CS):
|
||||
pass
|
||||
elif CS.out.cruiseState.enabled:
|
||||
set_speed_kph = self.get_target_speed(v_cruise_kph_prev)
|
||||
if self.slc_state > 1:
|
||||
target_speed_kph = set_speed_kph
|
||||
else:
|
||||
target_speed_kph = min(v_cruise_kph_prev, set_speed_kph)
|
||||
if self.v_tsc_state != 0 or self.m_tsc_state > 1:
|
||||
self.final_speed_kph = self.get_curve_speed(target_speed_kph, v_cruise_kph_prev)
|
||||
else:
|
||||
self.final_speed_kph = target_speed_kph
|
||||
|
||||
cruise_button = self.get_button_control(CS, self.final_speed_kph, v_cruise_kph_prev) # MPH/KPH based button presses
|
||||
return cruise_button
|
||||
|
||||
@@ -119,7 +119,6 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.pcmCruise = False
|
||||
ret.openpilotLongitudinalControl = True
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
|
||||
ret.customStockLongAvailable = True
|
||||
|
||||
else: # ASCM, OBD-II harness
|
||||
ret.openpilotLongitudinalControl = True
|
||||
@@ -237,7 +236,7 @@ class CarInterface(CarInterfaceBase):
|
||||
else:
|
||||
self.CS.madsEnabled = False
|
||||
|
||||
if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed:
|
||||
if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0):
|
||||
if any(b.type == ButtonType.cancel for b in self.CS.button_events):
|
||||
self.get_sp_cancel_cruise_state()
|
||||
if self.get_sp_pedal_disengage(ret):
|
||||
@@ -278,8 +277,6 @@ class CarInterface(CarInterfaceBase):
|
||||
if ret.vEgo < self.CP.minSteerSpeed and self.CS.madsEnabled:
|
||||
events.add(EventName.belowSteerSpeed)
|
||||
|
||||
ret.customStockLong = self.update_custom_stock_long()
|
||||
|
||||
ret.events = events.to_msg()
|
||||
|
||||
return ret
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
from cereal import car
|
||||
import cereal.messaging as messaging
|
||||
from openpilot.common.conversions import Conversions as CV
|
||||
from openpilot.common.numpy_fast import clip, interp
|
||||
from openpilot.common.numpy_fast import clip
|
||||
from openpilot.common.params import Params
|
||||
from opendbc.can.packer import CANPacker
|
||||
from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg
|
||||
@@ -62,7 +62,7 @@ class CarController(CarControllerBase):
|
||||
self.lat_disengage_init = False
|
||||
self.lat_active_last = False
|
||||
|
||||
sub_services = ['longitudinalPlan', 'longitudinalPlanSP']
|
||||
sub_services = ['longitudinalPlanSP']
|
||||
if CP.openpilotLongitudinalControl:
|
||||
sub_services.append('radarState')
|
||||
# TODO: Always true, prep for future conditional refactoring
|
||||
@@ -94,24 +94,9 @@ class CarController(CarControllerBase):
|
||||
self.v_tsc = 0
|
||||
self.m_tsc = 0
|
||||
self.steady_speed = 0
|
||||
self.speeds = 0
|
||||
self.v_target_plan = 0
|
||||
self.custom_stock_planner_speed = self.param_s.get_bool("CustomStockLongPlanner")
|
||||
self.hkg_can_smooth_stop = self.param_s.get_bool("HkgSmoothStop")
|
||||
self.lead_distance = 0
|
||||
|
||||
self.jerk = 0.0
|
||||
self.jerk_l = 0.0
|
||||
self.jerk_u = 0.0
|
||||
self.jerkStartLimit = 2.0
|
||||
self.cb_upper = 0.0
|
||||
self.cb_lower = 0.0
|
||||
self.jerk_count = 0.0
|
||||
|
||||
self.accel_raw = 0
|
||||
self.accel_val = 0
|
||||
self.accel_last_jerk = 0
|
||||
self.hkg_custom_long_tuning = self.param_s.get_bool("HkgCustomLongTuning")
|
||||
|
||||
def calculate_lead_distance(self, hud_control: car.CarControl.HUDControl) -> float:
|
||||
lead_one = self.sm["radarState"].leadOne
|
||||
lead_two = self.sm["radarState"].leadTwo
|
||||
@@ -128,10 +113,6 @@ class CarController(CarControllerBase):
|
||||
self.sm.update(0)
|
||||
|
||||
if not self.CP.pcmCruiseSpeed:
|
||||
if self.sm.updated['longitudinalPlan']:
|
||||
_speeds = self.sm['longitudinalPlan'].speeds
|
||||
self.speeds = _speeds[-1] if len(_speeds) else 0
|
||||
|
||||
if self.sm.updated['longitudinalPlanSP']:
|
||||
self.v_tsc_state = self.sm['longitudinalPlanSP'].visionTurnControllerState
|
||||
self.slc_state = self.sm['longitudinalPlanSP'].speedLimitControlState
|
||||
@@ -141,21 +122,14 @@ class CarController(CarControllerBase):
|
||||
self.v_tsc = self.sm['longitudinalPlanSP'].visionTurnSpeed
|
||||
self.m_tsc = self.sm['longitudinalPlanSP'].turnSpeed
|
||||
|
||||
if self.frame % 200 == 0:
|
||||
self.custom_stock_planner_speed = self.param_s.get_bool("CustomStockLongPlanner")
|
||||
self.v_cruise_min = HYUNDAI_V_CRUISE_MIN[CS.params_list.is_metric] * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1)
|
||||
self.v_target_plan = min(CC.vCruise * CV.KPH_TO_MS, self.speeds)
|
||||
|
||||
actuators = CC.actuators
|
||||
hud_control = CC.hudControl
|
||||
|
||||
# steering torque
|
||||
if self.CP.spFlags & HyundaiFlagsSP.SP_UPSTREAM_TACO.value:
|
||||
self.params = CarControllerParams(self.CP, CS.out.vEgoRaw)
|
||||
new_steer = int(round(actuators.steer * self.params.STEER_MAX))
|
||||
apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
|
||||
if self.CP.spFlags & HyundaiFlagsSP.SP_UPSTREAM_TACO.value:
|
||||
apply_steer = clip(apply_steer, -self.params.STEER_MAX, self.params.STEER_MAX)
|
||||
|
||||
# >90 degree steering fault prevention
|
||||
self.angle_limit_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringAngleDeg) >= MAX_ANGLE, CC.latActive,
|
||||
@@ -216,7 +190,7 @@ class CarController(CarControllerBase):
|
||||
if self.frame % 100 == 0 and not ((self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) or escc) and \
|
||||
self.CP.carFingerprint not in CAMERA_SCC_CAR and self.CP.openpilotLongitudinalControl:
|
||||
# for longitudinal control, either radar or ADAS driving ECU
|
||||
addr, bus = 0x7d0, self.CAN.ECAN if self.CP.carFingerprint in CANFD_CAR else 0
|
||||
addr, bus = 0x7d0, 0
|
||||
if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
|
||||
addr, bus = 0x730, self.CAN.ECAN
|
||||
can_sends.append(make_tester_present_msg(addr, bus, suppress_response=True))
|
||||
@@ -225,9 +199,6 @@ class CarController(CarControllerBase):
|
||||
if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
|
||||
can_sends.append(make_tester_present_msg(0x7b1, self.CAN.ECAN, suppress_response=True))
|
||||
|
||||
if self.CP.openpilotLongitudinalControl:
|
||||
self.make_jerk(CS, accel, actuators)
|
||||
|
||||
# CAN-FD platforms
|
||||
if self.CP.carFingerprint in CANFD_CAR:
|
||||
hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2
|
||||
@@ -254,11 +225,9 @@ class CarController(CarControllerBase):
|
||||
if self.CP.openpilotLongitudinalControl:
|
||||
if hda2:
|
||||
can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
|
||||
else:
|
||||
can_sends.extend(hyundaicanfd.create_fca_warning_light(self.packer, self.CAN, self.frame))
|
||||
if self.frame % 2 == 0:
|
||||
can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CS, CC.enabled and CS.out.cruiseState.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
|
||||
set_speed_in_units, hud_control, self.jerk_u, self.jerk_l))
|
||||
set_speed_in_units, hud_control))
|
||||
self.accel_last = accel
|
||||
else:
|
||||
# button presses
|
||||
@@ -302,13 +271,15 @@ class CarController(CarControllerBase):
|
||||
self.lead_distance = self.calculate_lead_distance(hud_control)
|
||||
|
||||
if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
|
||||
if self.hkg_can_smooth_stop:
|
||||
stopping = stopping and CS.out.vEgoRaw < 0.05
|
||||
|
||||
# TODO: unclear if this is needed
|
||||
jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
|
||||
use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
|
||||
self.make_accel(CS, actuators)
|
||||
can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled and CS.out.cruiseState.enabled, self.accel_raw, self.accel_val, self.jerk_l, self.jerk_u, int(self.frame / 2),
|
||||
can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled and CS.out.cruiseState.enabled, accel, jerk, int(self.frame / 2),
|
||||
hud_control, set_speed_in_units, stopping,
|
||||
CC.cruiseControl.override, use_fca, CS, escc, self.CP, self.lead_distance, self.cb_lower, self.cb_upper))
|
||||
CC.cruiseControl.override, use_fca, CS, escc, self.CP, self.lead_distance))
|
||||
|
||||
# 20 Hz LFA MFA message
|
||||
if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
|
||||
@@ -475,8 +446,6 @@ class CarController(CarControllerBase):
|
||||
target_speed_kph = set_speed_kph
|
||||
else:
|
||||
target_speed_kph = min(v_cruise_kph_prev, set_speed_kph)
|
||||
if self.custom_stock_planner_speed:
|
||||
target_speed_kph = self.curve_speed_hysteresis(self.v_target_plan * CV.MS_TO_KPH)
|
||||
if self.v_tsc_state != 0 or self.m_tsc_state > 1:
|
||||
self.final_speed_kph = self.get_curve_speed(target_speed_kph, v_cruise_kph_prev)
|
||||
else:
|
||||
@@ -484,66 +453,3 @@ class CarController(CarControllerBase):
|
||||
|
||||
cruise_button = self.get_button_control(CS, self.final_speed_kph, v_cruise_kph_prev) # MPH/KPH based button presses
|
||||
return cruise_button
|
||||
|
||||
# jerk calculations thanks to apilot!
|
||||
def cal_jerk(self, accel, actuators):
|
||||
self.accel_raw = accel
|
||||
if actuators.longControlState == LongCtrlState.off:
|
||||
accel_diff = 0.0
|
||||
elif actuators.longControlState == LongCtrlState.stopping:# or hud_control.softHold > 0:
|
||||
accel_diff = 0.0
|
||||
else:
|
||||
accel_diff = self.accel_raw - self.accel_last_jerk
|
||||
|
||||
accel_diff /= DT_CTRL
|
||||
self.jerk = self.jerk * 0.9 + accel_diff * 0.1
|
||||
return self.jerk
|
||||
|
||||
def make_jerk(self, CS, accel, actuators):
|
||||
jerk = self.cal_jerk(accel, actuators)
|
||||
a_error = accel - CS.out.aEgo
|
||||
jerk = jerk + (a_error * 2.0)
|
||||
|
||||
if not self.hkg_custom_long_tuning:
|
||||
self.jerk_u = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
|
||||
self.jerk_l = 5.0
|
||||
elif True: #self.CP.carFingerprint in CANFD_CAR or self.CP.carFingerprint == CAR.HYUNDAI_KONA_EV_2022:
|
||||
startingJerk = 0.5
|
||||
jerkLimit = 5.0
|
||||
self.jerk_count += DT_CTRL
|
||||
jerk_max = interp(self.jerk_count, [0, 1.5, 2.5], [startingJerk, startingJerk, jerkLimit])
|
||||
if actuators.longControlState == LongCtrlState.off:
|
||||
self.jerk_u = jerkLimit
|
||||
self.jerk_l = jerkLimit
|
||||
self.jerk_count = 0
|
||||
else:
|
||||
self.jerk_u = min(max(0.5, jerk * 2.0), jerk_max)
|
||||
self.jerk_l = min(max(1.0, -jerk * 3.0), jerkLimit)
|
||||
else:
|
||||
startingJerk = self.jerkStartLimit
|
||||
jerkLimit = 5.0
|
||||
self.jerk_count += DT_CTRL
|
||||
jerk_max = interp(self.jerk_count, [0, 1.5, 2.5], [startingJerk, startingJerk, jerkLimit])
|
||||
self.cb_upper = self.cb_lower = 0
|
||||
if actuators.longControlState == LongCtrlState.off:
|
||||
self.jerk_u = jerkLimit
|
||||
self.jerk_l = jerkLimit
|
||||
self.jerk_count = 0
|
||||
else:
|
||||
self.jerk_u = min(max(0.5, jerk * 2.0), jerk_max)
|
||||
self.jerk_l = min(max(0.5, -jerk * 2.0), jerkLimit)
|
||||
self.cb_upper = clip(0.9 + accel * 0.2, 0, 1.2)
|
||||
self.cb_lower = clip(0.8 + accel * 0.2, 0, 1.2)
|
||||
|
||||
def make_accel(self, CS, actuators):
|
||||
long_control = actuators.longControlState
|
||||
is_ice = not self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV)
|
||||
rate_up = 0.1
|
||||
rate_down = 0.1
|
||||
if long_control == LongCtrlState.off or (long_control == LongCtrlState.stopping and CS.out.standstill):
|
||||
self.accel_raw, self.accel_val = 0, 0
|
||||
else:
|
||||
#self.accel_val = clip(self.accel_raw, self.accel_last - rate_down, self.accel_last + rate_up)
|
||||
self.accel_val = self.accel_raw
|
||||
self.accel_last = self.accel_val
|
||||
self.accel_last_jerk = self.accel_val
|
||||
|
||||
@@ -1171,17 +1171,6 @@ FW_VERSIONS = {
|
||||
b'\xf1\x006T6J0_C2\x00\x006T6K1051\x00\x00TOS4N20NS2\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.HYUNDAI_KONA_EV_NON_SCC: {
|
||||
(Ecu.abs, 0x7d1, None): [
|
||||
b'\xf1\x00OS IEB \x02 212 \x11\x13 58520-K4000',
|
||||
],
|
||||
(Ecu.eps, 0x7d4, None): [
|
||||
b'\xf1\x00OS MDPS C 1.00 1.04 56310K4000\x00 4OEDC104',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00OSE LKAS AT USA LHD 1.00 1.00 95740-K4100 W40',
|
||||
],
|
||||
},
|
||||
CAR.KIA_CEED_PHEV_2022_NON_SCC: {
|
||||
(Ecu.eps, 0x7D4, None): [
|
||||
b'\xf1\x00CD MDPS C 1.00 1.01 56310-XX000 4CPHC101',
|
||||
|
||||
@@ -130,8 +130,8 @@ def create_lfahda_mfc(packer, enabled, lat_active, lateral_paused, blinking_icon
|
||||
}
|
||||
return packer.make_can_msg("LFAHDA_MFC", 0, values)
|
||||
|
||||
def create_acc_commands(packer, enabled, accel_raw, accel_val, lower_jerk, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca,
|
||||
CS, escc, CP, lead_distance, cb_lower, cb_upper):
|
||||
def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca,
|
||||
CS, escc, CP, lead_distance):
|
||||
commands = []
|
||||
|
||||
scc11_values = {
|
||||
@@ -150,8 +150,8 @@ def create_acc_commands(packer, enabled, accel_raw, accel_val, lower_jerk, upper
|
||||
scc12_values = {
|
||||
"ACCMode": 2 if enabled and long_override else 1 if enabled else 0,
|
||||
"StopReq": 1 if stopping else 0,
|
||||
"aReqRaw": accel_raw,
|
||||
"aReqValue": accel_val, # stock ramps up and down respecting jerk limit until it reaches aReqRaw
|
||||
"aReqRaw": accel,
|
||||
"aReqValue": accel, # stock ramps up and down respecting jerk limit until it reaches aReqRaw
|
||||
"CR_VSM_Alive": idx % 0xF,
|
||||
}
|
||||
|
||||
@@ -172,10 +172,10 @@ def create_acc_commands(packer, enabled, accel_raw, accel_val, lower_jerk, upper
|
||||
commands.append(packer.make_can_msg("SCC12", 0, scc12_values))
|
||||
|
||||
scc14_values = {
|
||||
"ComfortBandUpper": cb_upper, # stock usually is 0 but sometimes uses higher values
|
||||
"ComfortBandLower": cb_lower, # stock usually is 0 but sometimes uses higher values
|
||||
"ComfortBandUpper": 0.0, # stock usually is 0 but sometimes uses higher values
|
||||
"ComfortBandLower": 0.0, # stock usually is 0 but sometimes uses higher values
|
||||
"JerkUpperLimit": upper_jerk, # stock usually is 1.0 but sometimes uses higher values
|
||||
"JerkLowerLimit": lower_jerk, # stock usually is 0.5 but sometimes uses higher values
|
||||
"JerkLowerLimit": 5.0, # stock usually is 0.5 but sometimes uses higher values
|
||||
"ACCMode": 2 if enabled and long_override else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage
|
||||
"ObjGap": get_object_gap(lead_distance), # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
|
||||
}
|
||||
@@ -207,7 +207,7 @@ def create_acc_opt(packer, escc, CS, CP):
|
||||
commands = []
|
||||
|
||||
scc13_values = {
|
||||
"SCCDrvModeRValue": 3,
|
||||
"SCCDrvModeRValue": 2,
|
||||
"SCC_Equip": 1,
|
||||
"Lead_Veh_Dep_Alert_USM": 2,
|
||||
}
|
||||
|
||||
@@ -121,7 +121,7 @@ def create_lfahda_cluster(packer, CAN, enabled, lat_active, lateral_paused, blin
|
||||
return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
|
||||
|
||||
|
||||
def create_acc_control(packer, CAN, CS, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control, upper_jerk, lower_jerk):
|
||||
def create_acc_control(packer, CAN, CS, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control):
|
||||
jerk = 5
|
||||
jn = jerk / 50
|
||||
if not enabled or gas_override:
|
||||
@@ -137,8 +137,8 @@ def create_acc_control(packer, CAN, CS, enabled, accel_last, accel, stopping, ga
|
||||
"aReqValue": a_val,
|
||||
"aReqRaw": a_raw,
|
||||
"VSetDis": set_speed,
|
||||
"JerkLowerLimit": lower_jerk,
|
||||
"JerkUpperLimit": upper_jerk,
|
||||
"JerkLowerLimit": jerk if enabled else 1,
|
||||
"JerkUpperLimit": 3.0,
|
||||
|
||||
"ACC_ObjDist": 1,
|
||||
"ObjValid": 0,
|
||||
@@ -172,20 +172,6 @@ def create_spas_messages(packer, CAN, frame, left_blink, right_blink):
|
||||
return ret
|
||||
|
||||
|
||||
def create_fca_warning_light(packer, CAN, frame):
|
||||
ret = []
|
||||
if frame % 2 == 0:
|
||||
values = {
|
||||
'AEB_SETTING': 0x1, # show AEB disabled icon
|
||||
'SET_ME_2': 0x2,
|
||||
'SET_ME_FF': 0xff,
|
||||
'SET_ME_FC': 0xfc,
|
||||
'SET_ME_9': 0x9,
|
||||
}
|
||||
ret.append(packer.make_can_msg("ADRV_0x160", CAN.ECAN, values))
|
||||
return ret
|
||||
|
||||
|
||||
def create_adrv_messages(packer, CAN, frame):
|
||||
# messages needed to car happy after disabling
|
||||
# the ADAS Driving ECU to do longitudinal control
|
||||
@@ -196,7 +182,15 @@ def create_adrv_messages(packer, CAN, frame):
|
||||
}
|
||||
ret.append(packer.make_can_msg("ADRV_0x51", CAN.ACAN, values))
|
||||
|
||||
ret.extend(create_fca_warning_light(packer, CAN, frame))
|
||||
if frame % 2 == 0:
|
||||
values = {
|
||||
'AEB_SETTING': 0x1, # show AEB disabled icon
|
||||
'SET_ME_2': 0x2,
|
||||
'SET_ME_FF': 0xff,
|
||||
'SET_ME_FC': 0xfc,
|
||||
'SET_ME_9': 0x9,
|
||||
}
|
||||
ret.append(packer.make_can_msg("ADRV_0x160", CAN.ECAN, values))
|
||||
|
||||
if frame % 5 == 0:
|
||||
values = {
|
||||
|
||||
@@ -93,7 +93,7 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
# *** longitudinal control ***
|
||||
if candidate in CANFD_CAR:
|
||||
ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | NON_SCC_CAR)
|
||||
ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR | NON_SCC_CAR)
|
||||
if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC and not hda2:
|
||||
ret.spFlags |= HyundaiFlagsSP.SP_CAMERA_SCC_LEAD.value
|
||||
else:
|
||||
@@ -104,17 +104,11 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.pcmCruise = not ret.openpilotLongitudinalControl
|
||||
|
||||
ret.stoppingControl = True
|
||||
ret.startingState = True
|
||||
ret.vEgoStarting = 0.1
|
||||
ret.startAccel = 1.6
|
||||
ret.startAccel = 1.0
|
||||
ret.longitudinalActuatorDelay = 0.5
|
||||
|
||||
if ret.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
|
||||
ret.startingState = False
|
||||
ret.stopAccel = -2.0
|
||||
else:
|
||||
ret.startingState = True
|
||||
ret.stopAccel = -1.0
|
||||
|
||||
if DBC[ret.carFingerprint]["radar"] is None:
|
||||
if ret.spFlags & (HyundaiFlagsSP.SP_ENHANCED_SCC | HyundaiFlagsSP.SP_CAMERA_SCC_LEAD):
|
||||
ret.radarTimeStep = 0.02
|
||||
@@ -126,8 +120,6 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
if 0x1fa in fingerprint[CAN.ECAN]:
|
||||
ret.spFlags |= HyundaiFlagsSP.SP_NAV_MSG.value
|
||||
if Params().get("DongleId", encoding='utf8') in ("012c95f06918eca4", "68d6a96e703c00c9", "11c1f1909ca37bca"):
|
||||
ret.spFlags |= HyundaiFlagsSP.SP_UPSTREAM_TACO.value
|
||||
else:
|
||||
ret.enableBsm = 0x58b in fingerprint[0]
|
||||
|
||||
@@ -154,8 +146,6 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
|
||||
if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
|
||||
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
|
||||
if ret.spFlags & HyundaiFlagsSP.SP_UPSTREAM_TACO:
|
||||
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_UPSTREAM_TACO
|
||||
else:
|
||||
if candidate in LEGACY_SAFETY_MODE_CAR:
|
||||
# these cars require a special panda safety mode due to missing counters and checksums in the messages
|
||||
@@ -181,8 +171,7 @@ class CarInterface(CarInterfaceBase):
|
||||
elif ret.flags & HyundaiFlags.EV:
|
||||
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_EV_GAS
|
||||
|
||||
if candidate in (CAR.HYUNDAI_KONA, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022,
|
||||
CAR.HYUNDAI_KONA_NON_SCC, CAR.HYUNDAI_KONA_EV_NON_SCC):
|
||||
if candidate in (CAR.HYUNDAI_KONA, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022, CAR.HYUNDAI_KONA_NON_SCC):
|
||||
ret.flags |= HyundaiFlags.ALT_LIMITS.value
|
||||
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_ALT_LIMITS
|
||||
|
||||
@@ -192,13 +181,16 @@ class CarInterface(CarInterfaceBase):
|
||||
if 0x2AA in fingerprint[0]:
|
||||
ret.minSteerSpeed = 0.
|
||||
|
||||
if Params().get_bool("HkgSmoothStop"):
|
||||
ret.vEgoStopping = 0.1
|
||||
|
||||
return ret
|
||||
|
||||
@staticmethod
|
||||
def init(CP, logcan, sendcan):
|
||||
if CP.openpilotLongitudinalControl and not ((CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) or (CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC)) and \
|
||||
CP.carFingerprint not in CAMERA_SCC_CAR:
|
||||
addr, bus = 0x7d0, CanBus(CP).ECAN if CP.carFingerprint in CANFD_CAR else 0
|
||||
addr, bus = 0x7d0, 0
|
||||
if CP.flags & HyundaiFlags.CANFD_HDA2.value:
|
||||
addr, bus = 0x730, CanBus(CP).ECAN
|
||||
disable_ecu(logcan, sendcan, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01')
|
||||
|
||||
@@ -3,7 +3,7 @@ from dataclasses import dataclass, field
|
||||
from enum import Enum, IntFlag
|
||||
|
||||
from cereal import car
|
||||
from panda.python import uds, Panda
|
||||
from panda.python import uds
|
||||
from openpilot.common.conversions import Conversions as CV
|
||||
from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
|
||||
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
|
||||
@@ -16,7 +16,7 @@ class CarControllerParams:
|
||||
ACCEL_MIN = -3.5 # m/s
|
||||
ACCEL_MAX = 2.0 # m/s
|
||||
|
||||
def __init__(self, CP, vEgoRaw=100.):
|
||||
def __init__(self, CP):
|
||||
self.STEER_DELTA_UP = 3
|
||||
self.STEER_DELTA_DOWN = 7
|
||||
self.STEER_DRIVER_ALLOWANCE = 50
|
||||
@@ -26,13 +26,12 @@ class CarControllerParams:
|
||||
self.STEER_STEP = 1 # 100 Hz
|
||||
|
||||
if CP.carFingerprint in CANFD_CAR:
|
||||
upstream_taco = CP.safetyConfigs[-1].safetyParam & Panda.FLAG_HYUNDAI_UPSTREAM_TACO
|
||||
self.STEER_MAX = 270 if not upstream_taco else 384 if vEgoRaw < 11. else 330
|
||||
self.STEER_DRIVER_ALLOWANCE = 250 if not upstream_taco else 350
|
||||
self.STEER_MAX = 270
|
||||
self.STEER_DRIVER_ALLOWANCE = 250
|
||||
self.STEER_DRIVER_MULTIPLIER = 2
|
||||
self.STEER_THRESHOLD = 250 if not upstream_taco else 350
|
||||
self.STEER_DELTA_UP = 2 if not upstream_taco else 10 if vEgoRaw < 11. else 2
|
||||
self.STEER_DELTA_DOWN = 3 if not upstream_taco else 10 if vEgoRaw < 11. else 3
|
||||
self.STEER_THRESHOLD = 250
|
||||
self.STEER_DELTA_UP = 2
|
||||
self.STEER_DELTA_DOWN = 3
|
||||
|
||||
# To determine the limit for your car, find the maximum value that the stock LKAS will request.
|
||||
# If the max stock LKAS request is <384, add your car to this list.
|
||||
@@ -109,7 +108,6 @@ class HyundaiFlagsSP(IntFlag):
|
||||
SP_CAMERA_SCC_LEAD = 2 ** 6
|
||||
SP_LKAS12 = 2 ** 7
|
||||
SP_RADAR_TRACKS = 2 ** 8
|
||||
SP_UPSTREAM_TACO = 2 ** 9
|
||||
|
||||
|
||||
class Footnote(Enum):
|
||||
@@ -576,12 +574,6 @@ class CAR(Platforms):
|
||||
HYUNDAI_KONA.specs,
|
||||
spFlags=HyundaiFlagsSP.SP_NON_SCC | HyundaiFlagsSP.SP_NON_SCC_FCA,
|
||||
)
|
||||
HYUNDAI_KONA_EV_NON_SCC = HyundaiPlatformConfig(
|
||||
[HyundaiCarDocs("Hyundai Kona Electric Non-SCC 2019", "No Smart Cruise Control (SCC)", car_parts=CarParts.common([CarHarness.hyundai_g]))],
|
||||
HYUNDAI_KONA.specs,
|
||||
flags=HyundaiFlags.EV,
|
||||
spFlags=HyundaiFlagsSP.SP_NON_SCC | HyundaiFlagsSP.SP_NON_SCC_FCA,
|
||||
)
|
||||
KIA_CEED_PHEV_2022_NON_SCC = HyundaiPlatformConfig(
|
||||
[HyundaiCarDocs("Kia Ceed PHEV Non-SCC 2022", "No Smart Cruise Control (SCC)", car_parts=CarParts.common([CarHarness.hyundai_i]))],
|
||||
CarSpecs(mass=1650, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5),
|
||||
|
||||
@@ -406,7 +406,7 @@ class CarInterfaceBase(ABC):
|
||||
|
||||
@staticmethod
|
||||
def sp_configure_custom_torque_tune(ret, params):
|
||||
ret.lateralTuning.torque.friction = float(params.get("TorqueFriction", encoding="utf8")) * 0.001
|
||||
ret.lateralTuning.torque.friction = float(params.get("TorqueFriction", encoding="utf8")) * 0.01
|
||||
ret.lateralTuning.torque.latAccelFactor = float(params.get("TorqueMaxLatAccel", encoding="utf8")) * 0.01
|
||||
return ret
|
||||
|
||||
|
||||
@@ -21,7 +21,7 @@ class CarControllerParams:
|
||||
self.STEER_DRIVER_FACTOR = 1 # from dbc
|
||||
|
||||
if CP.flags & SubaruFlags.GLOBAL_GEN2:
|
||||
self.STEER_MAX = 1600
|
||||
self.STEER_MAX = 1000
|
||||
self.STEER_DELTA_UP = 40
|
||||
self.STEER_DELTA_DOWN = 40
|
||||
elif CP.carFingerprint == CAR.SUBARU_IMPREZA_2020:
|
||||
|
||||
@@ -29,9 +29,6 @@
|
||||
"Ford Escape Plug-in Hybrid 2020-22": "FORD_ESCAPE_MK4",
|
||||
"Ford Explorer 2020-23": "FORD_EXPLORER_MK6",
|
||||
"Ford Explorer Hybrid 2020-23": "FORD_EXPLORER_MK6",
|
||||
"Ford F-150 2022-23": "FORD_F_150_MK14",
|
||||
"Ford F-150 Hybrid 2022-23": "FORD_F_150_MK14",
|
||||
"Ford F-150 Lightning 2021-23": "FORD_F_150_LIGHTNING_MK1",
|
||||
"Ford Focus 2018": "FORD_FOCUS_MK4",
|
||||
"Ford Focus Hybrid 2018": "FORD_FOCUS_MK4",
|
||||
"Ford Kuga 2020-22": "FORD_ESCAPE_MK4",
|
||||
@@ -41,8 +38,6 @@
|
||||
"Ford Maverick 2023-24": "FORD_MAVERICK_MK1",
|
||||
"Ford Maverick Hybrid 2022": "FORD_MAVERICK_MK1",
|
||||
"Ford Maverick Hybrid 2023-24": "FORD_MAVERICK_MK1",
|
||||
"Ford Mustang Mach-E 2021-23": "FORD_MUSTANG_MACH_E_MK1",
|
||||
"Ford Ranger 2024": "FORD_RANGER_MK2",
|
||||
"Genesis G70 2018": "GENESIS_G70",
|
||||
"Genesis G70 2019-21": "GENESIS_G70_2020",
|
||||
"Genesis G70 2022-23": "GENESIS_G70_2020",
|
||||
@@ -106,7 +101,6 @@
|
||||
"Hyundai Kona Electric 2018-21": "HYUNDAI_KONA_EV",
|
||||
"Hyundai Kona Electric 2022-23": "HYUNDAI_KONA_EV_2022",
|
||||
"Hyundai Kona Electric (with HDA II, Korea only) 2023": "HYUNDAI_KONA_EV_2ND_GEN",
|
||||
"Hyundai Kona Electric Non-SCC 2019": "HYUNDAI_KONA_EV_NON_SCC",
|
||||
"Hyundai Kona Hybrid 2020": "HYUNDAI_KONA_HEV",
|
||||
"Hyundai Kona Non-SCC 2019": "HYUNDAI_KONA_NON_SCC",
|
||||
"Hyundai Palisade 2020-22": "HYUNDAI_PALISADE",
|
||||
|
||||
@@ -86,7 +86,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
|
||||
"KIA_FORTE_2021_NON_SCC" = "HYUNDAI_SONATA"
|
||||
"KIA_SELTOS_2023_NON_SCC" = "HYUNDAI_SONATA"
|
||||
"HYUNDAI_KONA_NON_SCC" = "HYUNDAI_KONA_EV"
|
||||
"HYUNDAI_KONA_EV_NON_SCC" = "HYUNDAI_KONA_EV"
|
||||
"HYUNDAI_ELANTRA_2022_NON_SCC" = "HYUNDAI_ELANTRA_2021"
|
||||
"GENESIS_G70_2021_NON_SCC" = "HYUNDAI_SONATA"
|
||||
"KIA_CEED_PHEV_2022_NON_SCC" = "HYUNDAI_SONATA"
|
||||
|
||||
@@ -1,19 +1,18 @@
|
||||
import copy
|
||||
|
||||
from cereal import car, custom
|
||||
from cereal import car
|
||||
from openpilot.common.conversions import Conversions as CV
|
||||
from openpilot.common.numpy_fast import mean
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
from opendbc.can.can_define import CANDefine
|
||||
from opendbc.can.parser import CANParser
|
||||
from openpilot.selfdrive.car import DT_CTRL
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.selfdrive.car.interfaces import CarStateBase
|
||||
from openpilot.selfdrive.car.toyota.values import ToyotaFlags, ToyotaFlagsSP, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
|
||||
TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
|
||||
|
||||
SteerControlType = car.CarParams.SteerControlType
|
||||
AccelPersonality = custom.AccelerationPersonality
|
||||
|
||||
# These steering fault definitions seem to be common across LKA (torque) and LTA (angle):
|
||||
# - high steer rate fault: goes to 21 or 25 for 1 frame, then 9 for 2 seconds
|
||||
# - lka/lta msg drop out: goes to 9 then 11 for a combined total of 2 seconds, then 3.
|
||||
@@ -80,13 +79,6 @@ class CarState(CarStateBase):
|
||||
self._right_blindspot_d2 = 0
|
||||
self._right_blindspot_counter = 0
|
||||
|
||||
self.signals_checked = False
|
||||
self.sport_signal_seen = False
|
||||
self.eco_signal_seen = False
|
||||
self.accel_profile = None
|
||||
self.prev_accel_profile = None
|
||||
self.accel_profile_init = False
|
||||
self.toyota_drive_mode = Params().get_bool('ToyotaDriveMode')
|
||||
self.frame = 0
|
||||
|
||||
def update(self, cp, cp_cam):
|
||||
@@ -184,51 +176,6 @@ class CarState(CarStateBase):
|
||||
ret.leftBlinker = ret.leftBlinkerOn = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 1
|
||||
ret.rightBlinker = ret.rightBlinkerOn = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 2
|
||||
|
||||
if self.toyota_drive_mode:
|
||||
# Determine sport signal based on car model
|
||||
sport_signal = 'SPORT_ON_2' if self.CP.carFingerprint in (CAR.TOYOTA_RAV4_TSS2, CAR.LEXUS_ES_TSS2, CAR.TOYOTA_HIGHLANDER_TSS2) else 'SPORT_ON'
|
||||
|
||||
# Check signals once
|
||||
if not self.signals_checked:
|
||||
self.signals_checked = True
|
||||
|
||||
# Try to detect sport mode signal, handle missing signal with a fallback
|
||||
try:
|
||||
sport_mode = cp.vl["GEAR_PACKET"][sport_signal]
|
||||
self.sport_signal_seen = True
|
||||
except KeyError:
|
||||
sport_mode = 0
|
||||
self.sport_signal_seen = False
|
||||
|
||||
# Try to detect eco mode signal, handle missing signal with a fallback
|
||||
try:
|
||||
eco_mode = cp.vl["GEAR_PACKET"]['ECON_ON']
|
||||
self.eco_signal_seen = True
|
||||
except KeyError:
|
||||
eco_mode = 0
|
||||
self.eco_signal_seen = False
|
||||
else:
|
||||
# Always re-check the signals to account for mode changes
|
||||
sport_mode = cp.vl["GEAR_PACKET"][sport_signal] if self.sport_signal_seen else 0
|
||||
eco_mode = cp.vl["GEAR_PACKET"]['ECON_ON'] if self.eco_signal_seen else 0
|
||||
|
||||
# Set acceleration profile based on detected modes, with sport mode having higher priority
|
||||
if sport_mode == 1:
|
||||
self.accel_profile = AccelPersonality.sport
|
||||
elif eco_mode == 1:
|
||||
self.accel_profile = AccelPersonality.eco
|
||||
else:
|
||||
self.accel_profile = AccelPersonality.normal
|
||||
|
||||
print(f"Accel profile set to: {self.accel_profile}")
|
||||
|
||||
# If not initialized, sync profile with the current mode on the car
|
||||
if not self.accel_profile_init or self.accel_profile != self.prev_accel_profile:
|
||||
Params().put_nonblocking('AccelPersonality', str(self.accel_profile))
|
||||
self.accel_profile_init = True
|
||||
# Update the previous profile to prevent unnecessary re-syncing
|
||||
self.prev_accel_profile = self.accel_profile
|
||||
|
||||
if self.CP.carFingerprint != CAR.TOYOTA_MIRAI:
|
||||
ret.engineRpm = cp.vl["ENGINE_RPM"]["RPM"]
|
||||
|
||||
|
||||
@@ -160,26 +160,26 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
sp_tss2_long_tune = Params().get_bool("ToyotaTSS2Long")
|
||||
|
||||
# Last updated: September 29, 2024
|
||||
def custom_tss2_longitudinal_tuning(): # hand tuned
|
||||
ret.vEgoStopping = 0.25
|
||||
# hand tuned (July 1, 2024)
|
||||
def custom_tss2_longitudinal_tuning():
|
||||
ret.vEgoStopping = 0.01
|
||||
ret.vEgoStarting = 0.01
|
||||
ret.stoppingDecelRate = 0.006
|
||||
ret.stoppingDecelRate = 0.35
|
||||
|
||||
def default_tss2_longitudinal_tuning(): # stock comma
|
||||
def default_tss2_longitudinal_tuning():
|
||||
ret.vEgoStopping = 0.25
|
||||
ret.vEgoStarting = 0.10
|
||||
ret.stoppingDecelRate = 0.007 # reach stopping target smoothly
|
||||
ret.vEgoStarting = 0.25
|
||||
ret.stoppingDecelRate = 0.3 # reach stopping target smoothly
|
||||
|
||||
def default_longitudinal_tuning(): # stock comma
|
||||
def default_longitudinal_tuning():
|
||||
tune.kiBP = [0., 5., 35.]
|
||||
tune.kiV = [3.6, 2.4, 1.5]
|
||||
|
||||
tune = ret.longitudinalTuning
|
||||
if candidate in TSS2_CAR or ret.enableGasInterceptorDEPRECATED:
|
||||
if sp_tss2_long_tune:
|
||||
tune.kiBP = [0., 5., 12., 20., 27., 36., 40.]
|
||||
tune.kiV = [0.34, 0.234, 0.20, 0.17, 0.105, 0.09, 0.08]
|
||||
tune.kiBP = [0., 5., 12., 20., 27., 36., 50]
|
||||
tune.kiV = [0.35, 0.23, 0.20, 0.17, 0.10, 0.07, 0.01]
|
||||
custom_tss2_longitudinal_tuning()
|
||||
else:
|
||||
tune.kpV = [0.0]
|
||||
|
||||
@@ -174,13 +174,10 @@ class Controls:
|
||||
|
||||
self.live_torque = self.params.get_bool("LiveTorque")
|
||||
self.torqued_override = self.params.get_bool("TorquedOverride")
|
||||
self.custom_stock_planner_speed = self.params.get_bool("CustomStockLongPlanner")
|
||||
|
||||
self.enable_mads = self.params.get_bool("EnableMads")
|
||||
self.mads_disengage_lateral_on_brake = self.params.get_bool("DisengageLateralOnBrake")
|
||||
self.mads_ndlob = self.enable_mads and not self.mads_disengage_lateral_on_brake
|
||||
self.pcm_v_cruise_override = self.params.get_bool("PCMVCruiseOverride")
|
||||
self.pcm_v_cruise_override_speed = int(self.params.get("PCMVCruiseOverrideSpeed", encoding="utf-8"))
|
||||
self.process_not_running = False
|
||||
self.experimental_mode_update = False
|
||||
|
||||
@@ -189,12 +186,6 @@ class Controls:
|
||||
self.custom_model_metadata.capabilities & ModelCapabilities.LateralPlannerSolution
|
||||
|
||||
self.dynamic_personality = self.params.get_bool("DynamicPersonality")
|
||||
self.overtaking_accel = self.params.get_bool("OvertakingAccelerationAssist")
|
||||
self.overtaking_accel_engaged = False
|
||||
self.prev_overtaking_accel_engaged = False
|
||||
self.overtaking_accel_allowed = False
|
||||
self.prev_overtaking_accel_allowed = False
|
||||
self.overtaking_accel_blocked = False
|
||||
|
||||
self.accel_personality = self.read_accel_personality_param()
|
||||
|
||||
@@ -499,9 +490,7 @@ class Controls:
|
||||
def state_transition(self, CS):
|
||||
"""Compute conditional state transitions and execute actions on state transitions"""
|
||||
|
||||
# sp - PCM speed override
|
||||
sp_override_speed = self.pcm_v_cruise_override_speed if self.pcm_v_cruise_override else False
|
||||
self.v_cruise_helper.update_v_cruise(CS, self.enabled_long, self.is_metric, self.reverse_acc_change, sp_override_speed, self.sm['longitudinalPlanSP'])
|
||||
self.v_cruise_helper.update_v_cruise(CS, self.enabled_long, self.is_metric, self.reverse_acc_change, self.sm['longitudinalPlanSP'])
|
||||
|
||||
# decrement the soft disable timer at every step, as it's reset on
|
||||
# entrance in SOFT_DISABLING state
|
||||
@@ -650,15 +639,9 @@ class Controls:
|
||||
self.LoC.reset()
|
||||
|
||||
if not self.joystick_mode:
|
||||
speeds = long_plan.speeds
|
||||
a_lead = self.sm['radarState'].leadOne.aLeadK
|
||||
resume = False
|
||||
if len(speeds):
|
||||
resume = self.enabled_long and CS.standstill and self.CP.carName == "hyundai" and speeds[-1] > 0.1 and a_lead > 0.1
|
||||
|
||||
# accel PID loop
|
||||
pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS)
|
||||
actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits, resume)
|
||||
actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits)
|
||||
|
||||
# Steering PID loop and lateral MPC
|
||||
if self.model_use_lateral_planner:
|
||||
@@ -834,36 +817,11 @@ class Controls:
|
||||
|
||||
# Curvature & Steering angle
|
||||
lp = self.sm['liveParameters']
|
||||
dh = 'lateralPlanDEPRECATED' if self.model_use_lateral_planner else 'modelV2'
|
||||
lp_mono_time_svs = 'lateralPlanDEPRECATED' if self.model_use_lateral_planner else 'modelV2'
|
||||
|
||||
steer_angle_without_offset = math.radians(CS.steeringAngleDeg - lp.angleOffsetDeg)
|
||||
curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, lp.roll)
|
||||
|
||||
lat_plan = self.sm['lateralPlanDEPRECATED']
|
||||
long_plan = self.sm['longitudinalPlan']
|
||||
dm_state = self.sm['driverMonitoringState']
|
||||
blinker_svs = lat_plan if self.model_use_lateral_planner else model_v2.meta
|
||||
self.prev_overtaking_accel_allowed = self.overtaking_accel_allowed
|
||||
if not self.overtaking_accel_allowed and not self.prev_overtaking_accel_allowed:
|
||||
self.overtaking_accel_blocked = False
|
||||
self.overtaking_accel_allowed = ((blinker_svs.laneChangeDirection == LaneChangeDirection.right and dm_state.isRHD) or
|
||||
(blinker_svs.laneChangeDirection == LaneChangeDirection.left and not dm_state.isRHD)) and \
|
||||
(blinker_svs.laneChangeState in (LaneChangeState.preLaneChange, LaneChangeState.laneChangeStarting)) and \
|
||||
not self.overtaking_accel_blocked
|
||||
self.prev_overtaking_accel_engaged = self.overtaking_accel_engaged
|
||||
ttc = self.sm['radarState'].leadOne.dRel / CS.vEgo if CS.vEgo > 0 else 255
|
||||
overtaking_accel_engaged = self.overtaking_accel and self.overtaking_accel_allowed and \
|
||||
(CS.vEgo > ((60 * CV.KPH_TO_MS) if self.is_metric else (40 * CV.MPH_TO_MS))) and \
|
||||
not (CS.leftBlinker and CS.rightBlinker)
|
||||
if ttc < 0.75 and self.prev_overtaking_accel_engaged and overtaking_accel_engaged:
|
||||
overtaking_accel_engaged = False
|
||||
self.overtaking_accel_blocked = True
|
||||
if overtaking_accel_engaged and not self.prev_overtaking_accel_engaged and \
|
||||
long_plan.hasLead and long_plan.aTarget > -0.1 and (0.75 < ttc < 3.0):
|
||||
self.overtaking_accel_engaged = True
|
||||
elif not overtaking_accel_engaged:
|
||||
self.overtaking_accel_engaged = False
|
||||
|
||||
# controlsState
|
||||
dat = messaging.new_message('controlsState')
|
||||
dat.valid = CS.canValid
|
||||
@@ -878,7 +836,7 @@ class Controls:
|
||||
controlsState.alertSound = current_alert.audible_alert
|
||||
|
||||
controlsState.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan']
|
||||
controlsState.lateralPlanMonoTime = self.sm.logMonoTime[dh]
|
||||
controlsState.lateralPlanMonoTime = self.sm.logMonoTime[lp_mono_time_svs]
|
||||
controlsState.enabled = not (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) and (self.enabled or CS.cruiseState.enabled) and CS.gearShifter not in [GearShifter.park, GearShifter.reverse]
|
||||
controlsState.active = not (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) and (self.active or CS.cruiseState.enabled)
|
||||
controlsState.curvature = curvature
|
||||
@@ -916,7 +874,6 @@ class Controls:
|
||||
controlsStateSP.personality = self.personality
|
||||
controlsStateSP.dynamicPersonality = self.dynamic_personality
|
||||
controlsStateSP.accelPersonality = self.accel_personality
|
||||
controlsStateSP.overtakingAccelerationAssist = self.overtaking_accel_engaged
|
||||
|
||||
if self.enable_nnff and lat_tuning == 'torque':
|
||||
controlsStateSP.lateralControlState.torqueState = self.LaC.pid_long_sp
|
||||
@@ -974,8 +931,7 @@ class Controls:
|
||||
def params_thread(self, evt):
|
||||
while not evt.is_set():
|
||||
self.is_metric = self.params.get_bool("IsMetric")
|
||||
self.experimental_mode = self.params.get_bool("ExperimentalMode") and (self.CP.openpilotLongitudinalControl or
|
||||
(not self.CP.pcmCruiseSpeed and self.custom_stock_planner_speed))
|
||||
self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
|
||||
self.personality = self.read_personality_param()
|
||||
self.dynamic_personality = self.params.get_bool("DynamicPersonality")
|
||||
self.accel_personality = self.read_accel_personality_param()
|
||||
@@ -984,11 +940,9 @@ class Controls:
|
||||
|
||||
self.reverse_acc_change = self.params.get_bool("ReverseAccChange")
|
||||
self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
|
||||
self.overtaking_accel = self.params.get_bool("OvertakingAccelerationAssist")
|
||||
|
||||
if self.sm.frame % int(2.5 / DT_CTRL) == 0:
|
||||
self.live_torque = self.params.get_bool("LiveTorque")
|
||||
self.custom_stock_planner_speed = self.params.get_bool("CustomStockLongPlanner")
|
||||
time.sleep(0.1)
|
||||
|
||||
def controlsd_thread(self):
|
||||
|
||||
@@ -65,10 +65,6 @@ VOLKSWAGEN_V_CRUISE_MIN = {
|
||||
True: 30,
|
||||
False: int(20 * CV.MPH_TO_KPH),
|
||||
}
|
||||
GM_V_CRUISE_MIN = {
|
||||
True: 30,
|
||||
False: int(20 * CV.MPH_TO_KPH),
|
||||
}
|
||||
|
||||
SpeedLimitControlState = custom.LongitudinalPlanSP.SpeedLimitControlState
|
||||
|
||||
@@ -88,20 +84,12 @@ class VCruiseHelper:
|
||||
self.slc_state_prev = SpeedLimitControlState.inactive
|
||||
self.slc_speed_limit_offsetted = 0
|
||||
|
||||
# sp: PCM speed override
|
||||
self.sp_override_v_cruise_kph = V_CRUISE_UNSET
|
||||
self.sp_override_cruise_speed_last = V_CRUISE_UNSET
|
||||
self.sp_override_enabled_last = False
|
||||
|
||||
self.experimental_mode_update = False
|
||||
|
||||
@property
|
||||
def v_cruise_initialized(self):
|
||||
return self.v_cruise_kph != V_CRUISE_UNSET
|
||||
|
||||
def update_v_cruise(self, CS, enabled, is_metric, reverse_acc, sp_override_speed, long_plan_sp):
|
||||
def update_v_cruise(self, CS, enabled, is_metric, reverse_acc, long_plan_sp):
|
||||
self.v_cruise_kph_last = self.v_cruise_kph
|
||||
self.slc_state_prev = self.slc_state
|
||||
self.slc_state = long_plan_sp.speedLimitControlState
|
||||
|
||||
if not self.CP.pcmCruiseSpeed:
|
||||
@@ -114,32 +102,12 @@ class VCruiseHelper:
|
||||
self._update_v_cruise_slc(long_plan_sp)
|
||||
self.v_cruise_cluster_kph = self.v_cruise_kph
|
||||
else:
|
||||
if enabled and sp_override_speed and CS.cruiseState.speed * CV.MS_TO_KPH < sp_override_speed:
|
||||
if self.sp_override_v_cruise_kph == V_CRUISE_UNSET:
|
||||
self.sp_override_v_cruise_kph = max(CS.vEgo * CV.MS_TO_KPH, V_CRUISE_MIN)
|
||||
else:
|
||||
self.sp_override_v_cruise_kph = V_CRUISE_UNSET
|
||||
|
||||
# when we have an override_speed, use it
|
||||
if self.sp_override_v_cruise_kph != V_CRUISE_UNSET:
|
||||
self.v_cruise_kph = self.sp_override_v_cruise_kph
|
||||
self.v_cruise_cluster_kph = self.sp_override_v_cruise_kph
|
||||
else:
|
||||
self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
|
||||
self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
|
||||
|
||||
#print("sp_override_v_cruise_kph:", self.sp_override_v_cruise_kph)
|
||||
#print("v_cruise_kph:", self.v_cruise_kph)
|
||||
#print("v_cruise_cluster_kph:", self.v_cruise_cluster_kph)
|
||||
|
||||
self.sp_override_cruise_speed_last = CS.cruiseState.speed
|
||||
self.sp_override_enabled_last = enabled
|
||||
self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
|
||||
self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
|
||||
self.update_button_timers(CS, enabled)
|
||||
else:
|
||||
self.sp_override_v_cruise_kph = V_CRUISE_UNSET
|
||||
self.v_cruise_kph = V_CRUISE_UNSET
|
||||
self.v_cruise_cluster_kph = V_CRUISE_UNSET
|
||||
self.experimental_mode_update = False
|
||||
|
||||
def _update_v_cruise_non_pcm(self, CS, enabled, is_metric, reverse_acc):
|
||||
# handle button presses. TODO: this should be in state_control, but a decelCruise press
|
||||
@@ -234,8 +202,6 @@ class VCruiseHelper:
|
||||
initial = MAZDA_V_CRUISE_MIN[is_metric]
|
||||
elif self.CP.carName == "volkswagen":
|
||||
initial = VOLKSWAGEN_V_CRUISE_MIN[is_metric]
|
||||
elif self.CP.carName == "gm":
|
||||
initial = GM_V_CRUISE_MIN[is_metric]
|
||||
|
||||
# 250kph or above probably means we never had a set speed
|
||||
if any(b.type in resume_buttons for b in CS.buttonEvents) and self.v_cruise_kph_last < 250:
|
||||
@@ -254,6 +220,8 @@ class VCruiseHelper:
|
||||
if self.slc_state == SpeedLimitControlState.active and self.slc_state_prev == SpeedLimitControlState.preActive:
|
||||
self.v_cruise_kph = clip(round(self.slc_speed_limit_offsetted, 1), self.v_cruise_min, V_CRUISE_MAX)
|
||||
|
||||
self.slc_state_prev = self.slc_state
|
||||
|
||||
def _update_v_cruise_min(self, is_metric):
|
||||
if is_metric != self.is_metric_prev:
|
||||
if self.CP.carName == "honda":
|
||||
@@ -266,8 +234,6 @@ class VCruiseHelper:
|
||||
self.v_cruise_min = MAZDA_V_CRUISE_MIN[is_metric]
|
||||
elif self.CP.carName == "volkswagen":
|
||||
self.v_cruise_min = VOLKSWAGEN_V_CRUISE_MIN[is_metric]
|
||||
elif self.CP.carName == "gm":
|
||||
self.v_cruise_min = GM_V_CRUISE_MIN[is_metric]
|
||||
self.is_metric_prev = is_metric
|
||||
|
||||
|
||||
|
||||
@@ -83,8 +83,7 @@ class LatControlTorque(LatControl):
|
||||
self.torqued_override = self.param_s.get_bool("TorquedOverride")
|
||||
self._frame = 0
|
||||
|
||||
self.use_lateral_jerk = self.param_s.get_bool("TorqueLateralJerk") # TODO: make this a parameter in the UI
|
||||
self.nnff_no_lateral_jerk = self.param_s.get_bool("NNFFNoLateralJerk") # TODO: make this a parameter in the UI
|
||||
self.use_lateral_jerk = False # TODO: make this a parameter in the UI
|
||||
|
||||
# Twilsonco's Lateral Neural Network Feedforward
|
||||
self.use_nn = CI.has_lateral_torque_nn
|
||||
@@ -141,13 +140,11 @@ class LatControlTorque(LatControl):
|
||||
if self._frame % 250 == 0:
|
||||
self._frame = 0
|
||||
self.torqued_override = self.param_s.get_bool("TorquedOverride")
|
||||
self.use_lateral_jerk = self.param_s.get_bool("TorqueLateralJerk")
|
||||
self.nnff_no_lateral_jerk = self.param_s.get_bool("NNFFNoLateralJerk")
|
||||
if not self.torqued_override:
|
||||
return
|
||||
|
||||
self.torque_params.latAccelFactor = float(self.param_s.get("TorqueMaxLatAccel", encoding="utf8")) * 0.01
|
||||
self.torque_params.friction = float(self.param_s.get("TorqueFriction", encoding="utf8")) * 0.001
|
||||
self.torque_params.friction = float(self.param_s.get("TorqueFriction", encoding="utf8")) * 0.01
|
||||
|
||||
@property
|
||||
def pid_long_sp(self):
|
||||
@@ -200,7 +197,7 @@ class LatControlTorque(LatControl):
|
||||
predicted_lateral_jerk = get_predicted_lateral_jerk(model_data.acceleration.y, self.t_diffs)
|
||||
desired_lateral_jerk = (interp(self.desired_lat_jerk_time, ModelConstants.T_IDXS, model_data.acceleration.y) - desired_lateral_accel) / self.desired_lat_jerk_time
|
||||
lookahead_lateral_jerk = get_lookahead_value(predicted_lateral_jerk[LAT_PLAN_MIN_IDX:friction_upper_idx], desired_lateral_jerk)
|
||||
if self.nnff_no_lateral_jerk or self.use_steering_angle or lookahead_lateral_jerk == 0.0:
|
||||
if self.use_steering_angle or lookahead_lateral_jerk == 0.0:
|
||||
lookahead_lateral_jerk = 0.0
|
||||
actual_lateral_jerk = 0.0
|
||||
self.lat_accel_friction_factor = 1.0
|
||||
@@ -209,7 +206,6 @@ class LatControlTorque(LatControl):
|
||||
|
||||
if self.use_nn and model_good:
|
||||
# update past data
|
||||
pitch = 0
|
||||
roll = params.roll
|
||||
if len(llk.calibratedOrientationNED.value) > 1:
|
||||
pitch = self.pitch.update(llk.calibratedOrientationNED.value[1])
|
||||
@@ -235,14 +231,7 @@ class LatControlTorque(LatControl):
|
||||
+ past_rolls + future_rolls
|
||||
torque_from_setpoint = self.torque_from_nn(nnff_setpoint_input)
|
||||
torque_from_measurement = self.torque_from_nn(nnff_measurement_input)
|
||||
|
||||
pid_log.error = torque_from_setpoint - torque_from_measurement
|
||||
error_blend_factor = interp(abs(desired_lateral_accel), [1.0, 2.0], [0.0, 1.0])
|
||||
if error_blend_factor > 0.0: # blend in stronger error response when in high lat accel
|
||||
nnff_error_input = [CS.vEgo, setpoint - measurement, lateral_jerk_setpoint - lateral_jerk_measurement, 0.0]
|
||||
torque_from_error = self.torque_from_nn(nnff_error_input)
|
||||
if sign(pid_log.error) == sign(torque_from_error) and abs(pid_log.error) < abs(torque_from_error):
|
||||
pid_log.error = pid_log.error * (1.0 - error_blend_factor) + torque_from_error * error_blend_factor
|
||||
|
||||
# compute feedforward (same as nn setpoint output)
|
||||
error = setpoint - measurement
|
||||
|
||||
@@ -11,11 +11,11 @@ LongCtrlState = car.CarControl.Actuators.LongControlState
|
||||
|
||||
|
||||
def long_control_state_trans(CP, active, long_control_state, v_ego,
|
||||
should_stop, brake_pressed, cruise_standstill, resume):
|
||||
should_stop, brake_pressed, cruise_standstill):
|
||||
# Ignore cruise standstill if car has a gas interceptor
|
||||
cruise_standstill = cruise_standstill and not CP.enableGasInterceptorDEPRECATED
|
||||
stopping_condition = should_stop and not resume
|
||||
starting_condition = ((not should_stop or resume) and
|
||||
stopping_condition = should_stop
|
||||
starting_condition = (not should_stop and
|
||||
not cruise_standstill and
|
||||
not brake_pressed)
|
||||
started_condition = v_ego > CP.vEgoStarting
|
||||
@@ -58,14 +58,14 @@ class LongControl:
|
||||
def reset(self):
|
||||
self.pid.reset()
|
||||
|
||||
def update(self, active, CS, a_target, should_stop, accel_limits, resume):
|
||||
def update(self, active, CS, a_target, should_stop, accel_limits):
|
||||
"""Update longitudinal control. This updates the state machine and runs a PID loop"""
|
||||
self.pid.neg_limit = accel_limits[0]
|
||||
self.pid.pos_limit = accel_limits[1]
|
||||
|
||||
self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo,
|
||||
should_stop, CS.brakePressed,
|
||||
CS.cruiseState.standstill, resume)
|
||||
CS.cruiseState.standstill)
|
||||
if self.long_control_state == LongCtrlState.off:
|
||||
self.reset()
|
||||
output_accel = 0.
|
||||
|
||||
@@ -63,11 +63,9 @@ def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard):
|
||||
elif personality==custom.LongitudinalPersonalitySP.standard:
|
||||
return 1.0
|
||||
elif personality==custom.LongitudinalPersonalitySP.moderate:
|
||||
return 0.9
|
||||
elif personality==custom.LongitudinalPersonalitySP.aggressive:
|
||||
return 0.8
|
||||
elif personality==custom.LongitudinalPersonalitySP.overtake:
|
||||
return 0.1
|
||||
elif personality==custom.LongitudinalPersonalitySP.aggressive:
|
||||
return 0.6
|
||||
else:
|
||||
raise NotImplementedError("Longitudinal personality not supported")
|
||||
|
||||
@@ -81,27 +79,26 @@ def get_T_FOLLOW(personality=custom.LongitudinalPersonalitySP.standard):
|
||||
return 1.25
|
||||
elif personality==custom.LongitudinalPersonalitySP.aggressive:
|
||||
return 1.0
|
||||
elif personality==custom.LongitudinalPersonalitySP.overtake:
|
||||
return 0.25
|
||||
else:
|
||||
raise NotImplementedError("Longitudinal personality not supported")
|
||||
|
||||
# Last updated: September 29, 2024
|
||||
|
||||
def get_dynamic_personality(v_ego, personality=custom.LongitudinalPersonalitySP.standard):
|
||||
if personality==custom.LongitudinalPersonalitySP.relaxed:
|
||||
x_vel = [0, 14., 27.7]
|
||||
y_dist = [1.75, 1.75, 2.00]
|
||||
x_vel = [0, 11, 14.5, 15, 20, 20.01, 25, 25.01, 36, 36.01]
|
||||
y_dist = [1.5, 1.5, 1.5, 1.6, 1.76, 1.76, 1.78, 1.78, 1.8, 1.8]
|
||||
elif personality==custom.LongitudinalPersonalitySP.standard:
|
||||
x_vel = [0, 14., 27.7]
|
||||
y_dist = [1.75, 1.75, 1.70]
|
||||
x_vel = [0, 11, 14.5, 15, 20, 20.01, 25, 25.01, 36, 36.01]
|
||||
y_dist = [1.40, 1.40, 1.40, 1.50, 1.60, 1.76, 1.76, 1.78, 1.8, 1.8]
|
||||
elif personality==custom.LongitudinalPersonalitySP.moderate:
|
||||
x_vel = [0, 14., 27.7]
|
||||
y_dist = [1.45, 1.45, 1.48]
|
||||
x_vel = [0, 11, 14.5, 15, 20, 20.01, 25, 25.01, 36, 36.01]
|
||||
y_dist = [1.3, 1.3, 1.3, 1.35, 1.35, 1.385, 1.385, 1.4, 1.4, 1.45]
|
||||
elif personality==custom.LongitudinalPersonalitySP.aggressive:
|
||||
x_vel = [0, 14., 27.7]
|
||||
y_dist = [1.25, 1.25, 1.28]
|
||||
x_vel = [0, 5, 5.01, 11, 14.5, 15, 20, 20.01, 25, 25.01, 36, 36.01]
|
||||
y_dist = [1.12, 1.12, 1.12, 1.12, 1.12, 1.105, 1.105, 1.15, 1.15, 1.18, 1.20, 1.23]
|
||||
else:
|
||||
raise NotImplementedError("Dynamic personality not supported")
|
||||
|
||||
return np.interp(v_ego, x_vel, y_dist)
|
||||
|
||||
|
||||
@@ -361,11 +358,9 @@ class LongitudinalMpc:
|
||||
self.cruise_min_a = min_a
|
||||
self.max_a = max_a
|
||||
|
||||
def update(self, radarstate, v_cruise, x, v, a, j, personality=custom.LongitudinalPersonalitySP.standard,
|
||||
dynamic_personality=False, overtaking_acceleration_assist=False):
|
||||
def update(self, radarstate, v_cruise, x, v, a, j, personality=custom.LongitudinalPersonalitySP.standard, dynamic_personality=False):
|
||||
v_ego = self.x0[1]
|
||||
t_follow = get_dynamic_personality(v_ego, personality) if dynamic_personality else get_T_FOLLOW(personality)
|
||||
t_follow = get_T_FOLLOW(custom.LongitudinalPersonalitySP.overtake) if overtaking_acceleration_assist else t_follow
|
||||
self.status = radarstate.leadOne.status or radarstate.leadTwo.status
|
||||
|
||||
lead_xv_0 = self.process_lead(radarstate.leadOne)
|
||||
|
||||
@@ -3,7 +3,7 @@ import math
|
||||
import numpy as np
|
||||
from openpilot.common.numpy_fast import clip, interp
|
||||
from openpilot.common.params import Params
|
||||
from cereal import car, log, custom
|
||||
from cereal import car
|
||||
|
||||
import cereal.messaging as messaging
|
||||
from openpilot.common.conversions import Conversions as CV
|
||||
@@ -12,7 +12,6 @@ from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants
|
||||
from openpilot.selfdrive.controls.lib.sunnypilot.common import Source
|
||||
from openpilot.selfdrive.controls.lib.sunnypilot.speed_limit_controller import SpeedLimitController
|
||||
from openpilot.selfdrive.car.hyundai.values import HyundaiFlags
|
||||
from openpilot.selfdrive.car.interfaces import ACCEL_MIN, ACCEL_MAX
|
||||
from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
|
||||
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
|
||||
@@ -36,7 +35,6 @@ _A_TOTAL_MAX_V = [1.7, 3.2]
|
||||
_A_TOTAL_MAX_BP = [20., 40.]
|
||||
|
||||
|
||||
MpcSource = custom.MpcSource
|
||||
EventName = car.CarEvent.EventName
|
||||
|
||||
|
||||
@@ -84,8 +82,7 @@ class LongitudinalPlanner:
|
||||
self.dt = dt
|
||||
|
||||
self.a_desired = init_a
|
||||
v_ego_sec = 0.6 if CP.carName == "hyundai" and not CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV) else 2.0
|
||||
self.v_desired_filter = FirstOrderFilter(init_v, v_ego_sec, self.dt)
|
||||
self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
|
||||
self.v_model_error = 0.0
|
||||
|
||||
self.v_desired_trajectory = np.zeros(CONTROL_N)
|
||||
@@ -132,13 +129,10 @@ class LongitudinalPlanner:
|
||||
self.read_param()
|
||||
self.param_read_counter += 1
|
||||
if self.dynamic_experimental_controller.is_enabled() and sm['controlsState'].experimentalMode:
|
||||
self.dynamic_experimental_controller.set_mpc_fcw_crash_cnt(self.mpc.crash_cnt)
|
||||
self.dynamic_experimental_controller.update(self.CP.radarUnavailable, sm['carState'], sm['radarState'].leadOne, sm['modelV2'], sm['controlsState'], sm['navInstruction'].maneuverDistance)
|
||||
self.mpc.mode = self.dynamic_experimental_controller.get_mpc_mode()
|
||||
self.mpc.mode = self.dynamic_experimental_controller.get_mpc_mode(self.CP.radarUnavailable, sm['carState'], sm['radarState'].leadOne, sm['modelV2'], sm['controlsState'], sm['navInstruction'].maneuverDistance)
|
||||
else:
|
||||
self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'
|
||||
|
||||
|
||||
v_ego = sm['carState'].vEgo
|
||||
v_cruise_kph = min(sm['controlsState'].vCruise, V_CRUISE_MAX)
|
||||
v_cruise = v_cruise_kph * CV.KPH_TO_MS
|
||||
@@ -159,10 +153,8 @@ class LongitudinalPlanner:
|
||||
accel_limits = [ACCEL_MIN, ACCEL_MAX]
|
||||
accel_limits_turns = [ACCEL_MIN, ACCEL_MAX]
|
||||
|
||||
overtaking_accel_engaged = sm['controlsStateSP'].overtakingAccelerationAssist
|
||||
# override accel using Accel Controller
|
||||
if self.accel_controller.is_enabled(accel_personality=custom.AccelerationPersonality.sport if overtaking_accel_engaged else
|
||||
sm['controlsStateSP'].accelPersonality):
|
||||
if self.accel_controller.is_enabled(accel_personality=sm['controlsStateSP'].accelPersonality):
|
||||
# get min, max from accel controller
|
||||
min_limit, max_limit = self.accel_controller.get_accel_limits(v_ego, accel_limits)
|
||||
if self.mpc.mode == 'acc':
|
||||
@@ -197,12 +189,11 @@ class LongitudinalPlanner:
|
||||
accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05)
|
||||
accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05)
|
||||
|
||||
self.mpc.set_weights(prev_accel_constraint, personality=custom.LongitudinalPersonalitySP.overtake if overtaking_accel_engaged else sm['controlsStateSP'].personality)
|
||||
self.mpc.set_weights(prev_accel_constraint, personality=sm['controlsStateSP'].personality)
|
||||
self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
|
||||
self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
|
||||
x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error)
|
||||
self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['controlsStateSP'].personality,
|
||||
dynamic_personality=sm['controlsStateSP'].dynamicPersonality, overtaking_acceleration_assist=overtaking_accel_engaged)
|
||||
self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['controlsStateSP'].personality, dynamic_personality=sm['controlsStateSP'].dynamicPersonality)
|
||||
|
||||
self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
|
||||
self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)
|
||||
@@ -271,8 +262,7 @@ class LongitudinalPlanner:
|
||||
longitudinalPlanSP.turnSpeedControlState = self.turn_speed_controller.state
|
||||
longitudinalPlanSP.turnSpeed = float(self.turn_speed_controller.v_target)
|
||||
|
||||
longitudinalPlanSP.mpcSource = MpcSource.blended if self.mpc.mode == 'blended' else MpcSource.acc
|
||||
longitudinalPlanSP.dynamicExperimentalControl = self.dynamic_experimental_controller.is_enabled()
|
||||
longitudinalPlanSP.e2eBlended = self.mpc.mode
|
||||
|
||||
pm.send('longitudinalPlanSP', plan_sp_send)
|
||||
|
||||
|
||||
@@ -21,23 +21,23 @@
|
||||
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
# THE SOFTWARE.
|
||||
|
||||
# Last updated: September 29, 2024
|
||||
# Last updated: July 1, 2024
|
||||
|
||||
from cereal import custom
|
||||
from openpilot.common.numpy_fast import interp
|
||||
|
||||
AccelPersonality = custom.AccelerationPersonality
|
||||
|
||||
# accel personality by @arne182 modified by cgw and kumar
|
||||
_DP_CRUISE_MIN_V = [-1.0, -1.0, -0.88]
|
||||
_DP_CRUISE_MIN_V_ECO = [-1.0, -1.0, -0.76]
|
||||
_DP_CRUISE_MIN_V_SPORT = [-1.0, -1.0, -1.0]
|
||||
_DP_CRUISE_MIN_BP = [0., 11.1, 20.]
|
||||
# accel personality by @arne182 modified by cgw
|
||||
_DP_CRUISE_MIN_V = [-1.03, -0.79, -0.77, -0.77, -0.75, -0.75, -0.88, -0.82]
|
||||
_DP_CRUISE_MIN_V_ECO = [-1.02, -0.78, -0.75, -0.75, -0.73, -0.73, -0.80, -0.80]
|
||||
_DP_CRUISE_MIN_V_SPORT = [-1.04, -0.81, -0.79, -0.79, -0.77, -0.77, -0.90, -0.84]
|
||||
_DP_CRUISE_MIN_BP = [0., 0.05, 0.1, 0.5, 8.33, 16., 30., 40.]
|
||||
|
||||
_DP_CRUISE_MAX_V = [2.0, 2.0, 2.0, 1.75, 1.03, .72, .53, .42, .13]
|
||||
_DP_CRUISE_MAX_V_ECO = [2.0, 2.0, 2.0, 1.50, 0.92, .54, .43, .32, .088]
|
||||
_DP_CRUISE_MAX_V_SPORT = [2.0, 2.0, 2.0, 2.00, 1.25, .96, .78, .60, .4]
|
||||
_DP_CRUISE_MAX_BP = [0., 1., 6., 8., 11., 20., 25., 30., 55.]
|
||||
_DP_CRUISE_MAX_V = [2.5, 2.5, 2.5, 1.70, 1.05, .81, .625, .42, .348, .12]
|
||||
_DP_CRUISE_MAX_V_ECO = [2.0, 2.0, 2.0, 1.4, .80, .68, .53, .32, .20, .085]
|
||||
_DP_CRUISE_MAX_V_SPORT = [3.5, 3.5, 2.8, 2.4, 1.4, 1.0, .89, .75, .50, .2]
|
||||
_DP_CRUISE_MAX_BP = [0., 1., 6., 8., 11., 15., 20., 25., 30., 55.]
|
||||
|
||||
|
||||
class AccelController:
|
||||
|
||||
@@ -21,39 +21,33 @@
|
||||
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
# THE SOFTWARE.
|
||||
#
|
||||
# Version = 2024-9-28
|
||||
# Version = 2024-1-29
|
||||
from common.numpy_fast import interp
|
||||
import numpy as np
|
||||
from openpilot.selfdrive.controls.lib.lateral_planner import TRAJECTORY_SIZE
|
||||
|
||||
# d-e2e, from modeldata.h
|
||||
TRAJECTORY_SIZE = 33
|
||||
|
||||
LEAD_WINDOW_SIZE = 4
|
||||
LEAD_WINDOW_SIZE = 5
|
||||
LEAD_PROB = 0.6
|
||||
|
||||
SLOW_DOWN_WINDOW_SIZE = 4
|
||||
SLOW_DOWN_WINDOW_SIZE = 5
|
||||
SLOW_DOWN_PROB = 0.6
|
||||
|
||||
SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55., 60.]
|
||||
SLOW_DOWN_DIST = [25., 38., 55., 75., 95., 115., 130., 150.]
|
||||
SLOW_DOWN_DIST = [20, 30., 50., 70., 80., 90., 105., 120.]
|
||||
|
||||
SLOWNESS_WINDOW_SIZE = 12
|
||||
SLOWNESS_PROB = 0.5
|
||||
SLOWNESS_WINDOW_SIZE = 20
|
||||
SLOWNESS_PROB = 0.6
|
||||
SLOWNESS_CRUISE_OFFSET = 1.05
|
||||
|
||||
DANGEROUS_TTC_WINDOW_SIZE = 3
|
||||
DANGEROUS_TTC = 2.3
|
||||
DANGEROUS_TTC_WINDOW_SIZE = 5
|
||||
DANGEROUS_TTC = 2.0
|
||||
|
||||
HIGHWAY_CRUISE_KPH = 70
|
||||
HIGHWAY_CRUISE_KPH = 75
|
||||
|
||||
STOP_AND_GO_FRAME = 60
|
||||
|
||||
SET_MODE_TIMEOUT = 10
|
||||
|
||||
MPC_FCW_WINDOW_SIZE = 10
|
||||
MPC_FCW_PROB = 0.5
|
||||
|
||||
V_ACC_MIN = 9.72
|
||||
MPC_FCW_WINDOW_SIZE = 5
|
||||
MPC_FCW_PROB = 0.6
|
||||
|
||||
|
||||
class SNG_State:
|
||||
@@ -83,51 +77,29 @@ class GenericMovingAverageCalculator:
|
||||
self.data = []
|
||||
self.total = 0
|
||||
|
||||
class WeightedMovingAverageCalculator:
|
||||
def __init__(self, window_size):
|
||||
self.window_size = window_size
|
||||
self.data = []
|
||||
self.weights = np.linspace(1, 3, window_size) # Linear weights, adjust as needed
|
||||
|
||||
def add_data(self, value):
|
||||
if len(self.data) == self.window_size:
|
||||
self.data.pop(0)
|
||||
self.data.append(value)
|
||||
|
||||
def get_weighted_average(self):
|
||||
if len(self.data) == 0:
|
||||
return None
|
||||
weighted_sum = np.dot(self.data, self.weights[-len(self.data):])
|
||||
weight_total = np.sum(self.weights[-len(self.data):])
|
||||
return weighted_sum / weight_total
|
||||
|
||||
def reset_data(self):
|
||||
self.data = []
|
||||
|
||||
class DynamicExperimentalController:
|
||||
def __init__(self):
|
||||
self._is_enabled = False
|
||||
self._mode = 'acc'
|
||||
self._mode_prev = 'acc'
|
||||
self._mode_changed = False
|
||||
self._frame = 0
|
||||
|
||||
# Use weighted moving average for filtering leads
|
||||
self._lead_gmac = WeightedMovingAverageCalculator(window_size=LEAD_WINDOW_SIZE)
|
||||
self._lead_gmac = GenericMovingAverageCalculator(window_size=LEAD_WINDOW_SIZE)
|
||||
self._has_lead_filtered = False
|
||||
self._has_lead_filtered_prev = False
|
||||
|
||||
self._slow_down_gmac = WeightedMovingAverageCalculator(window_size=SLOW_DOWN_WINDOW_SIZE)
|
||||
self._slow_down_gmac = GenericMovingAverageCalculator(window_size=SLOW_DOWN_WINDOW_SIZE)
|
||||
self._has_slow_down = False
|
||||
|
||||
self._has_blinkers = False
|
||||
|
||||
self._slowness_gmac = WeightedMovingAverageCalculator(window_size=SLOWNESS_WINDOW_SIZE)
|
||||
self._slowness_gmac = GenericMovingAverageCalculator(window_size=SLOWNESS_WINDOW_SIZE)
|
||||
self._has_slowness = False
|
||||
|
||||
self._has_nav_instruction = False
|
||||
|
||||
self._dangerous_ttc_gmac = WeightedMovingAverageCalculator(window_size=DANGEROUS_TTC_WINDOW_SIZE)
|
||||
self._dangerous_ttc_gmac = GenericMovingAverageCalculator(window_size=DANGEROUS_TTC_WINDOW_SIZE)
|
||||
self._has_dangerous_ttc = False
|
||||
|
||||
self._v_ego_kph = 0.
|
||||
@@ -141,50 +113,13 @@ class DynamicExperimentalController:
|
||||
self._sng_transit_frame = 0
|
||||
self._sng_state = SNG_State.off
|
||||
|
||||
self._mpc_fcw_gmac = WeightedMovingAverageCalculator(window_size=MPC_FCW_WINDOW_SIZE)
|
||||
self._mpc_fcw_gmac = GenericMovingAverageCalculator(window_size=MPC_FCW_WINDOW_SIZE)
|
||||
self._has_mpc_fcw = False
|
||||
self._mpc_fcw_crash_cnt = 0
|
||||
|
||||
self._set_mode_timeout = 0
|
||||
pass
|
||||
|
||||
|
||||
def _adaptive_slowdown_threshold(self):
|
||||
"""
|
||||
Adapts the slow down threshold based on vehicle speed and recent behavior.
|
||||
"""
|
||||
return interp(self._v_ego_kph, SLOW_DOWN_BP, SLOW_DOWN_DIST) * (1.0 + 0.03 * np.log(1 + len(self._slow_down_gmac.data)))
|
||||
|
||||
def _anomaly_detection(self, recent_data, threshold=2.0, context_check=True):
|
||||
"""
|
||||
Basic anomaly detection using standard deviation.
|
||||
"""
|
||||
if len(recent_data) < 5:
|
||||
return False
|
||||
mean = np.mean(recent_data)
|
||||
std_dev = np.std(recent_data)
|
||||
anomaly = recent_data[-1] > mean + threshold * std_dev
|
||||
|
||||
# Context check to ensure repeated anomaly
|
||||
if context_check:
|
||||
return np.count_nonzero(np.array(recent_data) > mean + threshold * std_dev) > 1
|
||||
return anomaly
|
||||
|
||||
def _smoothed_lead_detection(self, lead_prob, smoothing_factor=0.2):
|
||||
"""
|
||||
Smoothing the lead detection to avoid erratic behavior.
|
||||
"""
|
||||
self._has_lead_filtered = (1 - smoothing_factor) * self._has_lead_filtered + smoothing_factor * lead_prob
|
||||
return self._has_lead_filtered > LEAD_PROB
|
||||
|
||||
def _adaptive_lead_prob_threshold(self):
|
||||
"""
|
||||
Adapts lead probability threshold based on driving conditions.
|
||||
"""
|
||||
if self._v_ego_kph > HIGHWAY_CRUISE_KPH:
|
||||
return LEAD_PROB + 0.1 # Increase the threshold on highways
|
||||
return LEAD_PROB
|
||||
|
||||
def _update(self, car_state, lead_one, md, controls_state, maneuver_distance):
|
||||
self._v_ego_kph = car_state.vEgo * 3.6
|
||||
self._v_cruise_kph = controls_state.vCruise
|
||||
@@ -193,27 +128,18 @@ class DynamicExperimentalController:
|
||||
|
||||
# fcw detection
|
||||
self._mpc_fcw_gmac.add_data(self._mpc_fcw_crash_cnt > 0)
|
||||
self._has_mpc_fcw = self._mpc_fcw_gmac.get_weighted_average() > MPC_FCW_PROB
|
||||
self._has_mpc_fcw = self._mpc_fcw_gmac.get_moving_average() >= MPC_FCW_PROB
|
||||
|
||||
# nav enable detection
|
||||
self._has_nav_instruction = md.navEnabledDEPRECATED and maneuver_distance / max(car_state.vEgo, 1) < 13
|
||||
|
||||
# lead detection with smoothing
|
||||
# lead detection
|
||||
self._lead_gmac.add_data(lead_one.status)
|
||||
self._has_lead_filtered = self._lead_gmac.get_weighted_average() > LEAD_PROB
|
||||
#lead_prob = self._lead_gmac.get_weighted_average() or 0
|
||||
#self._has_lead_filtered = self._smoothed_lead_detection(lead_prob)
|
||||
self._has_lead_filtered = self._lead_gmac.get_moving_average() >= LEAD_PROB
|
||||
|
||||
# adaptive slow down detection
|
||||
adaptive_threshold = self._adaptive_slowdown_threshold()
|
||||
slow_down_trigger = len(md.orientation.x) == len(md.position.x) == TRAJECTORY_SIZE and md.position.x[TRAJECTORY_SIZE - 1] < adaptive_threshold
|
||||
self._slow_down_gmac.add_data(slow_down_trigger)
|
||||
self._has_slow_down = self._slow_down_gmac.get_weighted_average() > SLOW_DOWN_PROB
|
||||
|
||||
# anomaly detection for slow down events
|
||||
if self._anomaly_detection(self._slow_down_gmac.data):
|
||||
# Handle anomaly: potentially log it, adjust behavior, or issue a warning
|
||||
self._has_slow_down = False # Reset slow down if anomaly detected
|
||||
# slow down detection
|
||||
self._slow_down_gmac.add_data(len(md.orientation.x) == len(md.position.x) == TRAJECTORY_SIZE and md.position.x[TRAJECTORY_SIZE - 1] < interp(self._v_ego_kph, SLOW_DOWN_BP, SLOW_DOWN_DIST))
|
||||
self._has_slow_down = self._slow_down_gmac.get_moving_average() >= SLOW_DOWN_PROB
|
||||
|
||||
# blinker detection
|
||||
self._has_blinkers = car_state.leftBlinker or car_state.rightBlinker
|
||||
@@ -235,7 +161,7 @@ class DynamicExperimentalController:
|
||||
# slowness detection
|
||||
if not self._has_standstill:
|
||||
self._slowness_gmac.add_data(self._v_ego_kph <= (self._v_cruise_kph*SLOWNESS_CRUISE_OFFSET))
|
||||
self._has_slowness = self._slowness_gmac.get_weighted_average() > SLOWNESS_PROB
|
||||
self._has_slowness = self._slowness_gmac.get_moving_average() >= SLOWNESS_PROB
|
||||
|
||||
# dangerous TTC detection
|
||||
if not self._has_lead_filtered and self._has_lead_filtered_prev:
|
||||
@@ -245,14 +171,14 @@ class DynamicExperimentalController:
|
||||
if self._has_lead and car_state.vEgo >= 0.01:
|
||||
self._dangerous_ttc_gmac.add_data(lead_one.dRel/car_state.vEgo)
|
||||
|
||||
self._has_dangerous_ttc = self._dangerous_ttc_gmac.get_weighted_average() is not None and self._dangerous_ttc_gmac.get_weighted_average() <= DANGEROUS_TTC
|
||||
self._has_dangerous_ttc = self._dangerous_ttc_gmac.get_moving_average() is not None and self._dangerous_ttc_gmac.get_moving_average() <= DANGEROUS_TTC
|
||||
|
||||
# keep prev values
|
||||
self._has_standstill_prev = self._has_standstill
|
||||
self._has_lead_filtered_prev = self._has_lead_filtered
|
||||
self._frame += 1
|
||||
|
||||
def _radarless_mode(self):
|
||||
def _blended_priority_mode(self):
|
||||
# when mpc fcw crash prob is high
|
||||
# use blended to slow down quickly
|
||||
if self._has_mpc_fcw:
|
||||
@@ -264,21 +190,21 @@ class DynamicExperimentalController:
|
||||
self._set_mode('blended')
|
||||
return
|
||||
|
||||
# when blinker is on and speed is driving below V_ACC_MIN: blended
|
||||
# when blinker is on and speed is driving below highway cruise speed: blended
|
||||
# we dont want it to switch mode at higher speed, blended may trigger hard brake
|
||||
#if self._has_blinkers and self._v_ego_kph < V_ACC_MIN:
|
||||
# self._set_mode('blended')
|
||||
# return
|
||||
if self._has_blinkers and self._v_ego_kph < HIGHWAY_CRUISE_KPH:
|
||||
self._set_mode('blended')
|
||||
return
|
||||
|
||||
# when at highway cruise and SNG: blended
|
||||
# ensuring blended mode is used because acc is bad at catching SNG lead car
|
||||
# especially those who accel very fast and then brake very hard.
|
||||
#if self._sng_state == SNG_State.going and self._v_cruise_kph >= V_ACC_MIN:
|
||||
# self._set_mode('blended')
|
||||
# return
|
||||
if self._sng_state == SNG_State.going and self._v_cruise_kph >= HIGHWAY_CRUISE_KPH:
|
||||
self._set_mode('blended')
|
||||
return
|
||||
|
||||
# when standstill: blended
|
||||
# in case of lead car suddenly move away under traffic light, acc mode won't brake at traffic light.
|
||||
# in case of lead car suddenly move away under traffic light, acc mode wont brake at traffic light.
|
||||
if self._has_standstill:
|
||||
self._set_mode('blended')
|
||||
return
|
||||
@@ -300,9 +226,9 @@ class DynamicExperimentalController:
|
||||
self._set_mode('acc')
|
||||
return
|
||||
|
||||
self._set_mode('acc')
|
||||
self._set_mode('blended')
|
||||
|
||||
def _radar_mode(self):
|
||||
def _acc_priority_mode(self):
|
||||
# when mpc fcw crash prob is high
|
||||
# use blended to slow down quickly
|
||||
if self._has_mpc_fcw:
|
||||
@@ -310,18 +236,18 @@ class DynamicExperimentalController:
|
||||
return
|
||||
|
||||
# If there is a filtered lead, the vehicle is not in standstill, and the lead vehicle's yRel meets the condition,
|
||||
if self._has_lead_filtered and not self._has_standstill:
|
||||
self._set_mode('acc')
|
||||
return
|
||||
|
||||
# when blinker is on and speed is driving below V_ACC_MIN: blended
|
||||
# we dont want it to switch mode at higher speed, blended may trigger hard brake
|
||||
#if self._has_blinkers and self._v_ego_kph < V_ACC_MIN:
|
||||
# self._set_mode('blended')
|
||||
#if self._has_lead_filtered and not self._has_standstill:
|
||||
# self._set_mode('acc')
|
||||
# return
|
||||
|
||||
# when blinker is on and speed is driving below highway cruise speed: blended
|
||||
# we dont want it to switch mode at higher speed, blended may trigger hard brake
|
||||
if self._has_blinkers and self._v_ego_kph < HIGHWAY_CRUISE_KPH:
|
||||
self._set_mode('blended')
|
||||
return
|
||||
|
||||
# when standstill: blended
|
||||
# in case of lead car suddenly move away under traffic light, acc mode won't brake at traffic light.
|
||||
# in case of lead car suddenly move away under traffic light, acc mode wont brake at traffic light.
|
||||
if self._has_standstill:
|
||||
self._set_mode('blended')
|
||||
return
|
||||
@@ -344,22 +270,17 @@ class DynamicExperimentalController:
|
||||
|
||||
self._set_mode('acc')
|
||||
|
||||
def update(self, radar_unavailable, car_state, lead_one, md, controls_state, maneuver_distance):
|
||||
def get_mpc_mode(self, radar_unavailable, car_state, lead_one, md, controls_state, maneuver_distance):
|
||||
if self._is_enabled:
|
||||
self._update(car_state, lead_one, md, controls_state, maneuver_distance)
|
||||
if radar_unavailable:
|
||||
self._radarless_mode()
|
||||
self._blended_priority_mode()
|
||||
else:
|
||||
self._radar_mode()
|
||||
self._mode_changed = self._mode != self._mode_prev
|
||||
self._acc_priority_mode()
|
||||
|
||||
self._mode_prev = self._mode
|
||||
|
||||
def get_mpc_mode(self):
|
||||
return self._mode
|
||||
|
||||
def has_changed(self):
|
||||
return self._mode_changed
|
||||
|
||||
def set_enabled(self, enabled):
|
||||
self._is_enabled = enabled
|
||||
|
||||
@@ -376,4 +297,4 @@ class DynamicExperimentalController:
|
||||
self._set_mode_timeout = SET_MODE_TIMEOUT
|
||||
|
||||
if self._set_mode_timeout > 0:
|
||||
self._set_mode_timeout -= 1
|
||||
self._set_mode_timeout -= 1
|
||||
|
||||
@@ -32,7 +32,7 @@ def plannerd_thread():
|
||||
pm = messaging.PubMaster(['longitudinalPlan', 'longitudinalPlanSP'] + lateral_planner_svs)
|
||||
sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2',
|
||||
'longitudinalPlan', 'navInstruction', 'longitudinalPlanSP',
|
||||
'liveMapDataSP', 'e2eLongStateSP', 'controlsStateSP', 'driverMonitoringState'] + lateral_planner_svs,
|
||||
'liveMapDataSP', 'e2eLongStateSP', 'controlsStateSP'] + lateral_planner_svs,
|
||||
poll='modelV2', ignore_avg_freq=['radarState'])
|
||||
|
||||
while True:
|
||||
|
||||
Binary file not shown.
@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
|
||||
* *
|
||||
* This file is part of 'ekf' *
|
||||
******************************************************************************/
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_8249429775729676839) {
|
||||
out_8249429775729676839[0] = delta_x[0] + nom_x[0];
|
||||
out_8249429775729676839[1] = delta_x[1] + nom_x[1];
|
||||
out_8249429775729676839[2] = delta_x[2] + nom_x[2];
|
||||
out_8249429775729676839[3] = delta_x[3] + nom_x[3];
|
||||
out_8249429775729676839[4] = delta_x[4] + nom_x[4];
|
||||
out_8249429775729676839[5] = delta_x[5] + nom_x[5];
|
||||
out_8249429775729676839[6] = delta_x[6] + nom_x[6];
|
||||
out_8249429775729676839[7] = delta_x[7] + nom_x[7];
|
||||
out_8249429775729676839[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_7323774311990484810) {
|
||||
out_7323774311990484810[0] = delta_x[0] + nom_x[0];
|
||||
out_7323774311990484810[1] = delta_x[1] + nom_x[1];
|
||||
out_7323774311990484810[2] = delta_x[2] + nom_x[2];
|
||||
out_7323774311990484810[3] = delta_x[3] + nom_x[3];
|
||||
out_7323774311990484810[4] = delta_x[4] + nom_x[4];
|
||||
out_7323774311990484810[5] = delta_x[5] + nom_x[5];
|
||||
out_7323774311990484810[6] = delta_x[6] + nom_x[6];
|
||||
out_7323774311990484810[7] = delta_x[7] + nom_x[7];
|
||||
out_7323774311990484810[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_830104287538898022) {
|
||||
out_830104287538898022[0] = -nom_x[0] + true_x[0];
|
||||
out_830104287538898022[1] = -nom_x[1] + true_x[1];
|
||||
out_830104287538898022[2] = -nom_x[2] + true_x[2];
|
||||
out_830104287538898022[3] = -nom_x[3] + true_x[3];
|
||||
out_830104287538898022[4] = -nom_x[4] + true_x[4];
|
||||
out_830104287538898022[5] = -nom_x[5] + true_x[5];
|
||||
out_830104287538898022[6] = -nom_x[6] + true_x[6];
|
||||
out_830104287538898022[7] = -nom_x[7] + true_x[7];
|
||||
out_830104287538898022[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_3361913979724621566) {
|
||||
out_3361913979724621566[0] = -nom_x[0] + true_x[0];
|
||||
out_3361913979724621566[1] = -nom_x[1] + true_x[1];
|
||||
out_3361913979724621566[2] = -nom_x[2] + true_x[2];
|
||||
out_3361913979724621566[3] = -nom_x[3] + true_x[3];
|
||||
out_3361913979724621566[4] = -nom_x[4] + true_x[4];
|
||||
out_3361913979724621566[5] = -nom_x[5] + true_x[5];
|
||||
out_3361913979724621566[6] = -nom_x[6] + true_x[6];
|
||||
out_3361913979724621566[7] = -nom_x[7] + true_x[7];
|
||||
out_3361913979724621566[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_4361542019279921949) {
|
||||
out_4361542019279921949[0] = 1.0;
|
||||
out_4361542019279921949[1] = 0;
|
||||
out_4361542019279921949[2] = 0;
|
||||
out_4361542019279921949[3] = 0;
|
||||
out_4361542019279921949[4] = 0;
|
||||
out_4361542019279921949[5] = 0;
|
||||
out_4361542019279921949[6] = 0;
|
||||
out_4361542019279921949[7] = 0;
|
||||
out_4361542019279921949[8] = 0;
|
||||
out_4361542019279921949[9] = 0;
|
||||
out_4361542019279921949[10] = 1.0;
|
||||
out_4361542019279921949[11] = 0;
|
||||
out_4361542019279921949[12] = 0;
|
||||
out_4361542019279921949[13] = 0;
|
||||
out_4361542019279921949[14] = 0;
|
||||
out_4361542019279921949[15] = 0;
|
||||
out_4361542019279921949[16] = 0;
|
||||
out_4361542019279921949[17] = 0;
|
||||
out_4361542019279921949[18] = 0;
|
||||
out_4361542019279921949[19] = 0;
|
||||
out_4361542019279921949[20] = 1.0;
|
||||
out_4361542019279921949[21] = 0;
|
||||
out_4361542019279921949[22] = 0;
|
||||
out_4361542019279921949[23] = 0;
|
||||
out_4361542019279921949[24] = 0;
|
||||
out_4361542019279921949[25] = 0;
|
||||
out_4361542019279921949[26] = 0;
|
||||
out_4361542019279921949[27] = 0;
|
||||
out_4361542019279921949[28] = 0;
|
||||
out_4361542019279921949[29] = 0;
|
||||
out_4361542019279921949[30] = 1.0;
|
||||
out_4361542019279921949[31] = 0;
|
||||
out_4361542019279921949[32] = 0;
|
||||
out_4361542019279921949[33] = 0;
|
||||
out_4361542019279921949[34] = 0;
|
||||
out_4361542019279921949[35] = 0;
|
||||
out_4361542019279921949[36] = 0;
|
||||
out_4361542019279921949[37] = 0;
|
||||
out_4361542019279921949[38] = 0;
|
||||
out_4361542019279921949[39] = 0;
|
||||
out_4361542019279921949[40] = 1.0;
|
||||
out_4361542019279921949[41] = 0;
|
||||
out_4361542019279921949[42] = 0;
|
||||
out_4361542019279921949[43] = 0;
|
||||
out_4361542019279921949[44] = 0;
|
||||
out_4361542019279921949[45] = 0;
|
||||
out_4361542019279921949[46] = 0;
|
||||
out_4361542019279921949[47] = 0;
|
||||
out_4361542019279921949[48] = 0;
|
||||
out_4361542019279921949[49] = 0;
|
||||
out_4361542019279921949[50] = 1.0;
|
||||
out_4361542019279921949[51] = 0;
|
||||
out_4361542019279921949[52] = 0;
|
||||
out_4361542019279921949[53] = 0;
|
||||
out_4361542019279921949[54] = 0;
|
||||
out_4361542019279921949[55] = 0;
|
||||
out_4361542019279921949[56] = 0;
|
||||
out_4361542019279921949[57] = 0;
|
||||
out_4361542019279921949[58] = 0;
|
||||
out_4361542019279921949[59] = 0;
|
||||
out_4361542019279921949[60] = 1.0;
|
||||
out_4361542019279921949[61] = 0;
|
||||
out_4361542019279921949[62] = 0;
|
||||
out_4361542019279921949[63] = 0;
|
||||
out_4361542019279921949[64] = 0;
|
||||
out_4361542019279921949[65] = 0;
|
||||
out_4361542019279921949[66] = 0;
|
||||
out_4361542019279921949[67] = 0;
|
||||
out_4361542019279921949[68] = 0;
|
||||
out_4361542019279921949[69] = 0;
|
||||
out_4361542019279921949[70] = 1.0;
|
||||
out_4361542019279921949[71] = 0;
|
||||
out_4361542019279921949[72] = 0;
|
||||
out_4361542019279921949[73] = 0;
|
||||
out_4361542019279921949[74] = 0;
|
||||
out_4361542019279921949[75] = 0;
|
||||
out_4361542019279921949[76] = 0;
|
||||
out_4361542019279921949[77] = 0;
|
||||
out_4361542019279921949[78] = 0;
|
||||
out_4361542019279921949[79] = 0;
|
||||
out_4361542019279921949[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_7670763674896342596) {
|
||||
out_7670763674896342596[0] = 1.0;
|
||||
out_7670763674896342596[1] = 0;
|
||||
out_7670763674896342596[2] = 0;
|
||||
out_7670763674896342596[3] = 0;
|
||||
out_7670763674896342596[4] = 0;
|
||||
out_7670763674896342596[5] = 0;
|
||||
out_7670763674896342596[6] = 0;
|
||||
out_7670763674896342596[7] = 0;
|
||||
out_7670763674896342596[8] = 0;
|
||||
out_7670763674896342596[9] = 0;
|
||||
out_7670763674896342596[10] = 1.0;
|
||||
out_7670763674896342596[11] = 0;
|
||||
out_7670763674896342596[12] = 0;
|
||||
out_7670763674896342596[13] = 0;
|
||||
out_7670763674896342596[14] = 0;
|
||||
out_7670763674896342596[15] = 0;
|
||||
out_7670763674896342596[16] = 0;
|
||||
out_7670763674896342596[17] = 0;
|
||||
out_7670763674896342596[18] = 0;
|
||||
out_7670763674896342596[19] = 0;
|
||||
out_7670763674896342596[20] = 1.0;
|
||||
out_7670763674896342596[21] = 0;
|
||||
out_7670763674896342596[22] = 0;
|
||||
out_7670763674896342596[23] = 0;
|
||||
out_7670763674896342596[24] = 0;
|
||||
out_7670763674896342596[25] = 0;
|
||||
out_7670763674896342596[26] = 0;
|
||||
out_7670763674896342596[27] = 0;
|
||||
out_7670763674896342596[28] = 0;
|
||||
out_7670763674896342596[29] = 0;
|
||||
out_7670763674896342596[30] = 1.0;
|
||||
out_7670763674896342596[31] = 0;
|
||||
out_7670763674896342596[32] = 0;
|
||||
out_7670763674896342596[33] = 0;
|
||||
out_7670763674896342596[34] = 0;
|
||||
out_7670763674896342596[35] = 0;
|
||||
out_7670763674896342596[36] = 0;
|
||||
out_7670763674896342596[37] = 0;
|
||||
out_7670763674896342596[38] = 0;
|
||||
out_7670763674896342596[39] = 0;
|
||||
out_7670763674896342596[40] = 1.0;
|
||||
out_7670763674896342596[41] = 0;
|
||||
out_7670763674896342596[42] = 0;
|
||||
out_7670763674896342596[43] = 0;
|
||||
out_7670763674896342596[44] = 0;
|
||||
out_7670763674896342596[45] = 0;
|
||||
out_7670763674896342596[46] = 0;
|
||||
out_7670763674896342596[47] = 0;
|
||||
out_7670763674896342596[48] = 0;
|
||||
out_7670763674896342596[49] = 0;
|
||||
out_7670763674896342596[50] = 1.0;
|
||||
out_7670763674896342596[51] = 0;
|
||||
out_7670763674896342596[52] = 0;
|
||||
out_7670763674896342596[53] = 0;
|
||||
out_7670763674896342596[54] = 0;
|
||||
out_7670763674896342596[55] = 0;
|
||||
out_7670763674896342596[56] = 0;
|
||||
out_7670763674896342596[57] = 0;
|
||||
out_7670763674896342596[58] = 0;
|
||||
out_7670763674896342596[59] = 0;
|
||||
out_7670763674896342596[60] = 1.0;
|
||||
out_7670763674896342596[61] = 0;
|
||||
out_7670763674896342596[62] = 0;
|
||||
out_7670763674896342596[63] = 0;
|
||||
out_7670763674896342596[64] = 0;
|
||||
out_7670763674896342596[65] = 0;
|
||||
out_7670763674896342596[66] = 0;
|
||||
out_7670763674896342596[67] = 0;
|
||||
out_7670763674896342596[68] = 0;
|
||||
out_7670763674896342596[69] = 0;
|
||||
out_7670763674896342596[70] = 1.0;
|
||||
out_7670763674896342596[71] = 0;
|
||||
out_7670763674896342596[72] = 0;
|
||||
out_7670763674896342596[73] = 0;
|
||||
out_7670763674896342596[74] = 0;
|
||||
out_7670763674896342596[75] = 0;
|
||||
out_7670763674896342596[76] = 0;
|
||||
out_7670763674896342596[77] = 0;
|
||||
out_7670763674896342596[78] = 0;
|
||||
out_7670763674896342596[79] = 0;
|
||||
out_7670763674896342596[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_2834190715000315846) {
|
||||
out_2834190715000315846[0] = state[0];
|
||||
out_2834190715000315846[1] = state[1];
|
||||
out_2834190715000315846[2] = state[2];
|
||||
out_2834190715000315846[3] = state[3];
|
||||
out_2834190715000315846[4] = state[4];
|
||||
out_2834190715000315846[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8000000000000007*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
|
||||
out_2834190715000315846[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
|
||||
out_2834190715000315846[7] = state[7];
|
||||
out_2834190715000315846[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_4442205562604345935) {
|
||||
out_4442205562604345935[0] = state[0];
|
||||
out_4442205562604345935[1] = state[1];
|
||||
out_4442205562604345935[2] = state[2];
|
||||
out_4442205562604345935[3] = state[3];
|
||||
out_4442205562604345935[4] = state[4];
|
||||
out_4442205562604345935[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8000000000000007*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
|
||||
out_4442205562604345935[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
|
||||
out_4442205562604345935[7] = state[7];
|
||||
out_4442205562604345935[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_8944307819367133251) {
|
||||
out_8944307819367133251[0] = 1;
|
||||
out_8944307819367133251[1] = 0;
|
||||
out_8944307819367133251[2] = 0;
|
||||
out_8944307819367133251[3] = 0;
|
||||
out_8944307819367133251[4] = 0;
|
||||
out_8944307819367133251[5] = 0;
|
||||
out_8944307819367133251[6] = 0;
|
||||
out_8944307819367133251[7] = 0;
|
||||
out_8944307819367133251[8] = 0;
|
||||
out_8944307819367133251[9] = 0;
|
||||
out_8944307819367133251[10] = 1;
|
||||
out_8944307819367133251[11] = 0;
|
||||
out_8944307819367133251[12] = 0;
|
||||
out_8944307819367133251[13] = 0;
|
||||
out_8944307819367133251[14] = 0;
|
||||
out_8944307819367133251[15] = 0;
|
||||
out_8944307819367133251[16] = 0;
|
||||
out_8944307819367133251[17] = 0;
|
||||
out_8944307819367133251[18] = 0;
|
||||
out_8944307819367133251[19] = 0;
|
||||
out_8944307819367133251[20] = 1;
|
||||
out_8944307819367133251[21] = 0;
|
||||
out_8944307819367133251[22] = 0;
|
||||
out_8944307819367133251[23] = 0;
|
||||
out_8944307819367133251[24] = 0;
|
||||
out_8944307819367133251[25] = 0;
|
||||
out_8944307819367133251[26] = 0;
|
||||
out_8944307819367133251[27] = 0;
|
||||
out_8944307819367133251[28] = 0;
|
||||
out_8944307819367133251[29] = 0;
|
||||
out_8944307819367133251[30] = 1;
|
||||
out_8944307819367133251[31] = 0;
|
||||
out_8944307819367133251[32] = 0;
|
||||
out_8944307819367133251[33] = 0;
|
||||
out_8944307819367133251[34] = 0;
|
||||
out_8944307819367133251[35] = 0;
|
||||
out_8944307819367133251[36] = 0;
|
||||
out_8944307819367133251[37] = 0;
|
||||
out_8944307819367133251[38] = 0;
|
||||
out_8944307819367133251[39] = 0;
|
||||
out_8944307819367133251[40] = 1;
|
||||
out_8944307819367133251[41] = 0;
|
||||
out_8944307819367133251[42] = 0;
|
||||
out_8944307819367133251[43] = 0;
|
||||
out_8944307819367133251[44] = 0;
|
||||
out_8944307819367133251[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
|
||||
out_8944307819367133251[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_8944307819367133251[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8944307819367133251[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8944307819367133251[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
|
||||
out_8944307819367133251[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_8944307819367133251[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_8944307819367133251[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8944307819367133251[53] = -9.8000000000000007*dt;
|
||||
out_8944307819367133251[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
|
||||
out_8944307819367133251[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_8944307819367133251[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8944307819367133251[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8944307819367133251[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
|
||||
out_8944307819367133251[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_8944307819367133251[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
|
||||
out_8944307819367133251[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8944307819367133251[62] = 0;
|
||||
out_8944307819367133251[63] = 0;
|
||||
out_8944307819367133251[64] = 0;
|
||||
out_8944307819367133251[65] = 0;
|
||||
out_8944307819367133251[66] = 0;
|
||||
out_8944307819367133251[67] = 0;
|
||||
out_8944307819367133251[68] = 0;
|
||||
out_8944307819367133251[69] = 0;
|
||||
out_8944307819367133251[70] = 1;
|
||||
out_8944307819367133251[71] = 0;
|
||||
out_8944307819367133251[72] = 0;
|
||||
out_8944307819367133251[73] = 0;
|
||||
out_8944307819367133251[74] = 0;
|
||||
out_8944307819367133251[75] = 0;
|
||||
out_8944307819367133251[76] = 0;
|
||||
out_8944307819367133251[77] = 0;
|
||||
out_8944307819367133251[78] = 0;
|
||||
out_8944307819367133251[79] = 0;
|
||||
out_8944307819367133251[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_3741498127708014361) {
|
||||
out_3741498127708014361[0] = 1;
|
||||
out_3741498127708014361[1] = 0;
|
||||
out_3741498127708014361[2] = 0;
|
||||
out_3741498127708014361[3] = 0;
|
||||
out_3741498127708014361[4] = 0;
|
||||
out_3741498127708014361[5] = 0;
|
||||
out_3741498127708014361[6] = 0;
|
||||
out_3741498127708014361[7] = 0;
|
||||
out_3741498127708014361[8] = 0;
|
||||
out_3741498127708014361[9] = 0;
|
||||
out_3741498127708014361[10] = 1;
|
||||
out_3741498127708014361[11] = 0;
|
||||
out_3741498127708014361[12] = 0;
|
||||
out_3741498127708014361[13] = 0;
|
||||
out_3741498127708014361[14] = 0;
|
||||
out_3741498127708014361[15] = 0;
|
||||
out_3741498127708014361[16] = 0;
|
||||
out_3741498127708014361[17] = 0;
|
||||
out_3741498127708014361[18] = 0;
|
||||
out_3741498127708014361[19] = 0;
|
||||
out_3741498127708014361[20] = 1;
|
||||
out_3741498127708014361[21] = 0;
|
||||
out_3741498127708014361[22] = 0;
|
||||
out_3741498127708014361[23] = 0;
|
||||
out_3741498127708014361[24] = 0;
|
||||
out_3741498127708014361[25] = 0;
|
||||
out_3741498127708014361[26] = 0;
|
||||
out_3741498127708014361[27] = 0;
|
||||
out_3741498127708014361[28] = 0;
|
||||
out_3741498127708014361[29] = 0;
|
||||
out_3741498127708014361[30] = 1;
|
||||
out_3741498127708014361[31] = 0;
|
||||
out_3741498127708014361[32] = 0;
|
||||
out_3741498127708014361[33] = 0;
|
||||
out_3741498127708014361[34] = 0;
|
||||
out_3741498127708014361[35] = 0;
|
||||
out_3741498127708014361[36] = 0;
|
||||
out_3741498127708014361[37] = 0;
|
||||
out_3741498127708014361[38] = 0;
|
||||
out_3741498127708014361[39] = 0;
|
||||
out_3741498127708014361[40] = 1;
|
||||
out_3741498127708014361[41] = 0;
|
||||
out_3741498127708014361[42] = 0;
|
||||
out_3741498127708014361[43] = 0;
|
||||
out_3741498127708014361[44] = 0;
|
||||
out_3741498127708014361[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
|
||||
out_3741498127708014361[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_3741498127708014361[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3741498127708014361[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3741498127708014361[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
|
||||
out_3741498127708014361[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_3741498127708014361[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_3741498127708014361[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3741498127708014361[53] = -9.8000000000000007*dt;
|
||||
out_3741498127708014361[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
|
||||
out_3741498127708014361[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_3741498127708014361[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3741498127708014361[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3741498127708014361[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
|
||||
out_3741498127708014361[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_3741498127708014361[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
|
||||
out_3741498127708014361[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3741498127708014361[62] = 0;
|
||||
out_3741498127708014361[63] = 0;
|
||||
out_3741498127708014361[64] = 0;
|
||||
out_3741498127708014361[65] = 0;
|
||||
out_3741498127708014361[66] = 0;
|
||||
out_3741498127708014361[67] = 0;
|
||||
out_3741498127708014361[68] = 0;
|
||||
out_3741498127708014361[69] = 0;
|
||||
out_3741498127708014361[70] = 1;
|
||||
out_3741498127708014361[71] = 0;
|
||||
out_3741498127708014361[72] = 0;
|
||||
out_3741498127708014361[73] = 0;
|
||||
out_3741498127708014361[74] = 0;
|
||||
out_3741498127708014361[75] = 0;
|
||||
out_3741498127708014361[76] = 0;
|
||||
out_3741498127708014361[77] = 0;
|
||||
out_3741498127708014361[78] = 0;
|
||||
out_3741498127708014361[79] = 0;
|
||||
out_3741498127708014361[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_4307604535579416709) {
|
||||
out_4307604535579416709[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_8739001293148261377) {
|
||||
out_8739001293148261377[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_7813441128818867203) {
|
||||
out_7813441128818867203[0] = 0;
|
||||
out_7813441128818867203[1] = 0;
|
||||
out_7813441128818867203[2] = 0;
|
||||
out_7813441128818867203[3] = 0;
|
||||
out_7813441128818867203[4] = 0;
|
||||
out_7813441128818867203[5] = 0;
|
||||
out_7813441128818867203[6] = 1;
|
||||
out_7813441128818867203[7] = 0;
|
||||
out_7813441128818867203[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_8219246077433628171) {
|
||||
out_8219246077433628171[0] = 0;
|
||||
out_8219246077433628171[1] = 0;
|
||||
out_8219246077433628171[2] = 0;
|
||||
out_8219246077433628171[3] = 0;
|
||||
out_8219246077433628171[4] = 0;
|
||||
out_8219246077433628171[5] = 0;
|
||||
out_8219246077433628171[6] = 1;
|
||||
out_8219246077433628171[7] = 0;
|
||||
out_8219246077433628171[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_6273662611818280039) {
|
||||
out_6273662611818280039[0] = state[4];
|
||||
out_6273662611818280039[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_3866938681010227057) {
|
||||
out_3866938681010227057[0] = state[4];
|
||||
out_3866938681010227057[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_5886793617924175379) {
|
||||
out_5886793617924175379[0] = 0;
|
||||
out_5886793617924175379[1] = 0;
|
||||
out_5886793617924175379[2] = 0;
|
||||
out_5886793617924175379[3] = 0;
|
||||
out_5886793617924175379[4] = 1;
|
||||
out_5886793617924175379[5] = 0;
|
||||
out_5886793617924175379[6] = 0;
|
||||
out_5886793617924175379[7] = 0;
|
||||
out_5886793617924175379[8] = 0;
|
||||
out_5886793617924175379[9] = 0;
|
||||
out_5886793617924175379[10] = 0;
|
||||
out_5886793617924175379[11] = 0;
|
||||
out_5886793617924175379[12] = 0;
|
||||
out_5886793617924175379[13] = 0;
|
||||
out_5886793617924175379[14] = 1;
|
||||
out_5886793617924175379[15] = 0;
|
||||
out_5886793617924175379[16] = 0;
|
||||
out_5886793617924175379[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_4661320478631305035) {
|
||||
out_4661320478631305035[0] = 0;
|
||||
out_4661320478631305035[1] = 0;
|
||||
out_4661320478631305035[2] = 0;
|
||||
out_4661320478631305035[3] = 0;
|
||||
out_4661320478631305035[4] = 1;
|
||||
out_4661320478631305035[5] = 0;
|
||||
out_4661320478631305035[6] = 0;
|
||||
out_4661320478631305035[7] = 0;
|
||||
out_4661320478631305035[8] = 0;
|
||||
out_4661320478631305035[9] = 0;
|
||||
out_4661320478631305035[10] = 0;
|
||||
out_4661320478631305035[11] = 0;
|
||||
out_4661320478631305035[12] = 0;
|
||||
out_4661320478631305035[13] = 0;
|
||||
out_4661320478631305035[14] = 1;
|
||||
out_4661320478631305035[15] = 0;
|
||||
out_4661320478631305035[16] = 0;
|
||||
out_4661320478631305035[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_5931642792047228057) {
|
||||
out_5931642792047228057[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_8463807230863755488) {
|
||||
out_8463807230863755488[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_896750787327250448) {
|
||||
out_896750787327250448[0] = 0;
|
||||
out_896750787327250448[1] = 0;
|
||||
out_896750787327250448[2] = 0;
|
||||
out_896750787327250448[3] = 0;
|
||||
out_896750787327250448[4] = 1;
|
||||
out_896750787327250448[5] = 0;
|
||||
out_896750787327250448[6] = 0;
|
||||
out_896750787327250448[7] = 0;
|
||||
out_896750787327250448[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_1302555735942011416) {
|
||||
out_1302555735942011416[0] = 0;
|
||||
out_1302555735942011416[1] = 0;
|
||||
out_1302555735942011416[2] = 0;
|
||||
out_1302555735942011416[3] = 0;
|
||||
out_1302555735942011416[4] = 1;
|
||||
out_1302555735942011416[5] = 0;
|
||||
out_1302555735942011416[6] = 0;
|
||||
out_1302555735942011416[7] = 0;
|
||||
out_1302555735942011416[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_6116059764248474413) {
|
||||
out_6116059764248474413[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_4981263575184950483) {
|
||||
out_4981263575184950483[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_6891799626016628189) {
|
||||
out_6891799626016628189[0] = 0;
|
||||
out_6891799626016628189[1] = 0;
|
||||
out_6891799626016628189[2] = 0;
|
||||
out_6891799626016628189[3] = 0;
|
||||
out_6891799626016628189[4] = 0;
|
||||
out_6891799626016628189[5] = 0;
|
||||
out_6891799626016628189[6] = 0;
|
||||
out_6891799626016628189[7] = 1;
|
||||
out_6891799626016628189[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_4914720107672827570) {
|
||||
out_4914720107672827570[0] = 0;
|
||||
out_4914720107672827570[1] = 0;
|
||||
out_4914720107672827570[2] = 0;
|
||||
out_4914720107672827570[3] = 0;
|
||||
out_4914720107672827570[4] = 0;
|
||||
out_4914720107672827570[5] = 0;
|
||||
out_4914720107672827570[6] = 0;
|
||||
out_4914720107672827570[7] = 1;
|
||||
out_4914720107672827570[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_4488704928686580431) {
|
||||
out_4488704928686580431[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_1946758319516529598) {
|
||||
out_1946758319516529598[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_8329200685947019432) {
|
||||
out_8329200685947019432[0] = 0;
|
||||
out_8329200685947019432[1] = 0;
|
||||
out_8329200685947019432[2] = 0;
|
||||
out_8329200685947019432[3] = 1;
|
||||
out_8329200685947019432[4] = 0;
|
||||
out_8329200685947019432[5] = 0;
|
||||
out_8329200685947019432[6] = 0;
|
||||
out_8329200685947019432[7] = 0;
|
||||
out_8329200685947019432[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_3477319047742436327) {
|
||||
out_3477319047742436327[0] = 0;
|
||||
out_3477319047742436327[1] = 0;
|
||||
out_3477319047742436327[2] = 0;
|
||||
out_3477319047742436327[3] = 1;
|
||||
out_3477319047742436327[4] = 0;
|
||||
out_3477319047742436327[5] = 0;
|
||||
out_3477319047742436327[6] = 0;
|
||||
out_3477319047742436327[7] = 0;
|
||||
out_3477319047742436327[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_8350388405115082083) {
|
||||
out_8350388405115082083[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_9039426989944133693) {
|
||||
out_9039426989944133693[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_7432548731647715089) {
|
||||
out_7432548731647715089[0] = 0;
|
||||
out_7432548731647715089[1] = 1;
|
||||
out_7432548731647715089[2] = 0;
|
||||
out_7432548731647715089[3] = 0;
|
||||
out_7432548731647715089[4] = 0;
|
||||
out_7432548731647715089[5] = 0;
|
||||
out_7432548731647715089[6] = 0;
|
||||
out_7432548731647715089[7] = 0;
|
||||
out_7432548731647715089[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_792324391627619232) {
|
||||
out_792324391627619232[0] = 0;
|
||||
out_792324391627619232[1] = 1;
|
||||
out_792324391627619232[2] = 0;
|
||||
out_792324391627619232[3] = 0;
|
||||
out_792324391627619232[4] = 0;
|
||||
out_792324391627619232[5] = 0;
|
||||
out_792324391627619232[6] = 0;
|
||||
out_792324391627619232[7] = 0;
|
||||
out_792324391627619232[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_2722204557567641080) {
|
||||
out_2722204557567641080[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_4551163640325227249) {
|
||||
out_4551163640325227249[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_8579468230642794650) {
|
||||
out_8579468230642794650[0] = 1;
|
||||
out_8579468230642794650[1] = 0;
|
||||
out_8579468230642794650[2] = 0;
|
||||
out_8579468230642794650[3] = 0;
|
||||
out_8579468230642794650[4] = 0;
|
||||
out_8579468230642794650[5] = 0;
|
||||
out_8579468230642794650[6] = 0;
|
||||
out_8579468230642794650[7] = 0;
|
||||
out_8579468230642794650[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_5874723408697149806) {
|
||||
out_5874723408697149806[0] = 1;
|
||||
out_5874723408697149806[1] = 0;
|
||||
out_5874723408697149806[2] = 0;
|
||||
out_5874723408697149806[3] = 0;
|
||||
out_5874723408697149806[4] = 0;
|
||||
out_5874723408697149806[5] = 0;
|
||||
out_5874723408697149806[6] = 0;
|
||||
out_5874723408697149806[7] = 0;
|
||||
out_5874723408697149806[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_4150417867228287564) {
|
||||
out_4150417867228287564[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_7860862958278154023) {
|
||||
out_7860862958278154023[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_7782795166941906775) {
|
||||
out_7782795166941906775[0] = 0;
|
||||
out_7782795166941906775[1] = 0;
|
||||
out_7782795166941906775[2] = 0;
|
||||
out_7782795166941906775[3] = 0;
|
||||
out_7782795166941906775[4] = 0;
|
||||
out_7782795166941906775[5] = 0;
|
||||
out_7782795166941906775[6] = 0;
|
||||
out_7782795166941906775[7] = 0;
|
||||
out_7782795166941906775[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_8188600115556667743) {
|
||||
out_8188600115556667743[0] = 0;
|
||||
out_8188600115556667743[1] = 0;
|
||||
out_8188600115556667743[2] = 0;
|
||||
out_8188600115556667743[3] = 0;
|
||||
out_8188600115556667743[4] = 0;
|
||||
out_8188600115556667743[5] = 0;
|
||||
out_8188600115556667743[6] = 0;
|
||||
out_8188600115556667743[7] = 0;
|
||||
out_8188600115556667743[8] = 1;
|
||||
}
|
||||
#include <eigen3/Eigen/Dense>
|
||||
#include <iostream>
|
||||
@@ -518,68 +518,68 @@ void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, doubl
|
||||
void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
||||
update<1, 3, 0>(in_x, in_P, h_31, H_31, NULL, in_z, in_R, in_ea, MAHA_THRESH_31);
|
||||
}
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_8249429775729676839) {
|
||||
err_fun(nom_x, delta_x, out_8249429775729676839);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_7323774311990484810) {
|
||||
err_fun(nom_x, delta_x, out_7323774311990484810);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_830104287538898022) {
|
||||
inv_err_fun(nom_x, true_x, out_830104287538898022);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_3361913979724621566) {
|
||||
inv_err_fun(nom_x, true_x, out_3361913979724621566);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_4361542019279921949) {
|
||||
H_mod_fun(state, out_4361542019279921949);
|
||||
void car_H_mod_fun(double *state, double *out_7670763674896342596) {
|
||||
H_mod_fun(state, out_7670763674896342596);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_2834190715000315846) {
|
||||
f_fun(state, dt, out_2834190715000315846);
|
||||
void car_f_fun(double *state, double dt, double *out_4442205562604345935) {
|
||||
f_fun(state, dt, out_4442205562604345935);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_8944307819367133251) {
|
||||
F_fun(state, dt, out_8944307819367133251);
|
||||
void car_F_fun(double *state, double dt, double *out_3741498127708014361) {
|
||||
F_fun(state, dt, out_3741498127708014361);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_4307604535579416709) {
|
||||
h_25(state, unused, out_4307604535579416709);
|
||||
void car_h_25(double *state, double *unused, double *out_8739001293148261377) {
|
||||
h_25(state, unused, out_8739001293148261377);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_7813441128818867203) {
|
||||
H_25(state, unused, out_7813441128818867203);
|
||||
void car_H_25(double *state, double *unused, double *out_8219246077433628171) {
|
||||
H_25(state, unused, out_8219246077433628171);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_6273662611818280039) {
|
||||
h_24(state, unused, out_6273662611818280039);
|
||||
void car_h_24(double *state, double *unused, double *out_3866938681010227057) {
|
||||
h_24(state, unused, out_3866938681010227057);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_5886793617924175379) {
|
||||
H_24(state, unused, out_5886793617924175379);
|
||||
void car_H_24(double *state, double *unused, double *out_4661320478631305035) {
|
||||
H_24(state, unused, out_4661320478631305035);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_5931642792047228057) {
|
||||
h_30(state, unused, out_5931642792047228057);
|
||||
void car_h_30(double *state, double *unused, double *out_8463807230863755488) {
|
||||
h_30(state, unused, out_8463807230863755488);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_896750787327250448) {
|
||||
H_30(state, unused, out_896750787327250448);
|
||||
void car_H_30(double *state, double *unused, double *out_1302555735942011416) {
|
||||
H_30(state, unused, out_1302555735942011416);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_6116059764248474413) {
|
||||
h_26(state, unused, out_6116059764248474413);
|
||||
void car_h_26(double *state, double *unused, double *out_4981263575184950483) {
|
||||
h_26(state, unused, out_4981263575184950483);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_6891799626016628189) {
|
||||
H_26(state, unused, out_6891799626016628189);
|
||||
void car_H_26(double *state, double *unused, double *out_4914720107672827570) {
|
||||
H_26(state, unused, out_4914720107672827570);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_4488704928686580431) {
|
||||
h_27(state, unused, out_4488704928686580431);
|
||||
void car_h_27(double *state, double *unused, double *out_1946758319516529598) {
|
||||
h_27(state, unused, out_1946758319516529598);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_8329200685947019432) {
|
||||
H_27(state, unused, out_8329200685947019432);
|
||||
void car_H_27(double *state, double *unused, double *out_3477319047742436327) {
|
||||
H_27(state, unused, out_3477319047742436327);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_8350388405115082083) {
|
||||
h_29(state, unused, out_8350388405115082083);
|
||||
void car_h_29(double *state, double *unused, double *out_9039426989944133693) {
|
||||
h_29(state, unused, out_9039426989944133693);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_7432548731647715089) {
|
||||
H_29(state, unused, out_7432548731647715089);
|
||||
void car_H_29(double *state, double *unused, double *out_792324391627619232) {
|
||||
H_29(state, unused, out_792324391627619232);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_2722204557567641080) {
|
||||
h_28(state, unused, out_2722204557567641080);
|
||||
void car_h_28(double *state, double *unused, double *out_4551163640325227249) {
|
||||
h_28(state, unused, out_4551163640325227249);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_8579468230642794650) {
|
||||
H_28(state, unused, out_8579468230642794650);
|
||||
void car_H_28(double *state, double *unused, double *out_5874723408697149806) {
|
||||
H_28(state, unused, out_5874723408697149806);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_4150417867228287564) {
|
||||
h_31(state, unused, out_4150417867228287564);
|
||||
void car_h_31(double *state, double *unused, double *out_7860862958278154023) {
|
||||
h_31(state, unused, out_7860862958278154023);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_7782795166941906775) {
|
||||
H_31(state, unused, out_7782795166941906775);
|
||||
void car_H_31(double *state, double *unused, double *out_8188600115556667743) {
|
||||
H_31(state, unused, out_8188600115556667743);
|
||||
}
|
||||
void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
|
||||
predict(in_x, in_P, in_Q, dt);
|
||||
|
||||
@@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl
|
||||
void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_8249429775729676839);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_830104287538898022);
|
||||
void car_H_mod_fun(double *state, double *out_4361542019279921949);
|
||||
void car_f_fun(double *state, double dt, double *out_2834190715000315846);
|
||||
void car_F_fun(double *state, double dt, double *out_8944307819367133251);
|
||||
void car_h_25(double *state, double *unused, double *out_4307604535579416709);
|
||||
void car_H_25(double *state, double *unused, double *out_7813441128818867203);
|
||||
void car_h_24(double *state, double *unused, double *out_6273662611818280039);
|
||||
void car_H_24(double *state, double *unused, double *out_5886793617924175379);
|
||||
void car_h_30(double *state, double *unused, double *out_5931642792047228057);
|
||||
void car_H_30(double *state, double *unused, double *out_896750787327250448);
|
||||
void car_h_26(double *state, double *unused, double *out_6116059764248474413);
|
||||
void car_H_26(double *state, double *unused, double *out_6891799626016628189);
|
||||
void car_h_27(double *state, double *unused, double *out_4488704928686580431);
|
||||
void car_H_27(double *state, double *unused, double *out_8329200685947019432);
|
||||
void car_h_29(double *state, double *unused, double *out_8350388405115082083);
|
||||
void car_H_29(double *state, double *unused, double *out_7432548731647715089);
|
||||
void car_h_28(double *state, double *unused, double *out_2722204557567641080);
|
||||
void car_H_28(double *state, double *unused, double *out_8579468230642794650);
|
||||
void car_h_31(double *state, double *unused, double *out_4150417867228287564);
|
||||
void car_H_31(double *state, double *unused, double *out_7782795166941906775);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_7323774311990484810);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_3361913979724621566);
|
||||
void car_H_mod_fun(double *state, double *out_7670763674896342596);
|
||||
void car_f_fun(double *state, double dt, double *out_4442205562604345935);
|
||||
void car_F_fun(double *state, double dt, double *out_3741498127708014361);
|
||||
void car_h_25(double *state, double *unused, double *out_8739001293148261377);
|
||||
void car_H_25(double *state, double *unused, double *out_8219246077433628171);
|
||||
void car_h_24(double *state, double *unused, double *out_3866938681010227057);
|
||||
void car_H_24(double *state, double *unused, double *out_4661320478631305035);
|
||||
void car_h_30(double *state, double *unused, double *out_8463807230863755488);
|
||||
void car_H_30(double *state, double *unused, double *out_1302555735942011416);
|
||||
void car_h_26(double *state, double *unused, double *out_4981263575184950483);
|
||||
void car_H_26(double *state, double *unused, double *out_4914720107672827570);
|
||||
void car_h_27(double *state, double *unused, double *out_1946758319516529598);
|
||||
void car_H_27(double *state, double *unused, double *out_3477319047742436327);
|
||||
void car_h_29(double *state, double *unused, double *out_9039426989944133693);
|
||||
void car_H_29(double *state, double *unused, double *out_792324391627619232);
|
||||
void car_h_28(double *state, double *unused, double *out_4551163640325227249);
|
||||
void car_H_28(double *state, double *unused, double *out_5874723408697149806);
|
||||
void car_h_31(double *state, double *unused, double *out_7860862958278154023);
|
||||
void car_H_31(double *state, double *unused, double *out_8188600115556667743);
|
||||
void car_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
void car_set_mass(double x);
|
||||
void car_set_rotational_inertia(double x);
|
||||
|
||||
Binary file not shown.
Binary file not shown.
File diff suppressed because it is too large
Load Diff
@@ -10,29 +10,29 @@ void live_update_32(double *in_x, double *in_P, double *in_z, double *in_R, doub
|
||||
void live_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void live_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void live_update_33(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void live_H(double *in_vec, double *out_4105801305165243309);
|
||||
void live_err_fun(double *nom_x, double *delta_x, double *out_1527353819069813548);
|
||||
void live_inv_err_fun(double *nom_x, double *true_x, double *out_1150508097319133450);
|
||||
void live_H_mod_fun(double *state, double *out_9201410054075636868);
|
||||
void live_f_fun(double *state, double dt, double *out_2750541304600187330);
|
||||
void live_F_fun(double *state, double dt, double *out_9007604950648021352);
|
||||
void live_h_4(double *state, double *unused, double *out_8038839072030675567);
|
||||
void live_H_4(double *state, double *unused, double *out_1131593618317370348);
|
||||
void live_h_9(double *state, double *unused, double *out_3419344664469703150);
|
||||
void live_H_9(double *state, double *unused, double *out_6155625316947077122);
|
||||
void live_h_10(double *state, double *unused, double *out_5003270737099408033);
|
||||
void live_H_10(double *state, double *unused, double *out_3493184430272708612);
|
||||
void live_h_12(double *state, double *unused, double *out_5639048575738913533);
|
||||
void live_H_12(double *state, double *unused, double *out_7512851995360103344);
|
||||
void live_h_35(double *state, double *unused, double *out_6940864320378296078);
|
||||
void live_H_35(double *state, double *unused, double *out_6633425822039605156);
|
||||
void live_h_32(double *state, double *unused, double *out_1777780279760841959);
|
||||
void live_H_32(double *state, double *unused, double *out_1034015409172522923);
|
||||
void live_h_13(double *state, double *unused, double *out_6698752759045524612);
|
||||
void live_H_13(double *state, double *unused, double *out_4680425477733587786);
|
||||
void live_h_14(double *state, double *unused, double *out_3419344664469703150);
|
||||
void live_H_14(double *state, double *unused, double *out_6155625316947077122);
|
||||
void live_h_33(double *state, double *unused, double *out_2535265115295483406);
|
||||
void live_H_33(double *state, double *unused, double *out_5385625443694094632);
|
||||
void live_H(double *in_vec, double *out_3774328600697724702);
|
||||
void live_err_fun(double *nom_x, double *delta_x, double *out_7836871875743155711);
|
||||
void live_inv_err_fun(double *nom_x, double *true_x, double *out_6630162193384917047);
|
||||
void live_H_mod_fun(double *state, double *out_8048759451165961396);
|
||||
void live_f_fun(double *state, double dt, double *out_7921013289385952844);
|
||||
void live_F_fun(double *state, double dt, double *out_4662442160671292604);
|
||||
void live_h_4(double *state, double *unused, double *out_7870695401363690378);
|
||||
void live_H_4(double *state, double *unused, double *out_4792338244417275633);
|
||||
void live_h_9(double *state, double *unused, double *out_8777781742605020016);
|
||||
void live_H_9(double *state, double *unused, double *out_5033527891046866278);
|
||||
void live_h_10(double *state, double *unused, double *out_4373838033093977729);
|
||||
void live_H_10(double *state, double *unused, double *out_8635137508413484634);
|
||||
void live_h_12(double *state, double *unused, double *out_2464697288469995839);
|
||||
void live_H_12(double *state, double *unused, double *out_8634949421260314188);
|
||||
void live_h_35(double *state, double *unused, double *out_991013079297920428);
|
||||
void live_H_35(double *state, double *unused, double *out_5889386388935300479);
|
||||
void live_h_32(double *state, double *unused, double *out_1645124735898739364);
|
||||
void live_H_32(double *state, double *unused, double *out_4486439399712056049);
|
||||
void live_h_13(double *state, double *unused, double *out_2926276888320798032);
|
||||
void live_H_13(double *state, double *unused, double *out_517852867070353434);
|
||||
void live_h_14(double *state, double *unused, double *out_8777781742605020016);
|
||||
void live_H_14(double *state, double *unused, double *out_5033527891046866278);
|
||||
void live_h_33(double *state, double *unused, double *out_1599134906378397443);
|
||||
void live_H_33(double *state, double *unused, double *out_7137186767280811003);
|
||||
void live_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
}
|
||||
@@ -83,7 +83,7 @@ class TorqueEstimator(ParameterEstimator):
|
||||
params = Params()
|
||||
if params.get_bool("EnforceTorqueLateral"):
|
||||
if params.get_bool("CustomTorqueLateral"):
|
||||
self.offline_friction = float(params.get("TorqueFriction", encoding="utf8")) * 0.001
|
||||
self.offline_friction = float(params.get("TorqueFriction", encoding="utf8")) * 0.01
|
||||
self.offline_latAccelFactor = float(params.get("TorqueMaxLatAccel", encoding="utf8")) * 0.01
|
||||
if params.get_bool("LiveTorqueRelaxed"):
|
||||
self.min_bucket_points = np.array([0, 200, 300, 500, 500, 300, 200, 0]) / (10 if decimated else 1)
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -215,14 +215,6 @@
|
||||
<source>LIMIT</source>
|
||||
<translation type="unfinished">LIMIT</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>blended</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>acc</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>AutoLaneChangeTimer</name>
|
||||
@@ -1473,6 +1465,14 @@ This may take up to a minute.</source>
|
||||
<source>Hyundai/Kia/Genesis</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>HKG CAN: Smoother Stopping Performance (Beta)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Subaru</source>
|
||||
<translation type="unfinished"></translation>
|
||||
@@ -1583,10 +1583,6 @@ Reboot Required.</source>
|
||||
<source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>HKG: Custom Tuning for New Longitudinal API</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>HKG CAN: Enable Cruise Main by Default</source>
|
||||
<translation type="unfinished"></translation>
|
||||
@@ -1599,15 +1595,6 @@ Reboot Required.</source>
|
||||
<source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable Toyota Drive Mode Button</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Sunnypilot will link the Acceleration Personality to the car's physical drive mode selector.
|
||||
Reboot Required.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>SettingsWindow</name>
|
||||
@@ -2714,30 +2701,6 @@ Reboot Required.</source>
|
||||
<source>Default is Laneless. In Auto mode, sunnnypilot dynamically chooses between Laneline or Laneless model based on lane recognition confidence level on road and certain conditions.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Overtaking Acceleration Assist</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Overtaking Acceleration Assist will operate when the turn signal indicator is turned on to the left (left-hand drive) or turned on to the right (right-hand drive) while openpilot Longitudinal Control is operating.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>TermsPage</name>
|
||||
@@ -3119,10 +3082,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
|
||||
<source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Use Planner Speed</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>TorqueFriction</name>
|
||||
|
||||
@@ -215,14 +215,6 @@
|
||||
<source>LIMIT</source>
|
||||
<translation type="unfinished">LIMIT</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>blended</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>acc</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>AutoLaneChangeTimer</name>
|
||||
@@ -1455,6 +1447,14 @@ This may take up to a minute.</source>
|
||||
<source>Hyundai/Kia/Genesis</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>HKG CAN: Smoother Stopping Performance (Beta)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Subaru</source>
|
||||
<translation type="unfinished"></translation>
|
||||
@@ -1565,10 +1565,6 @@ Reboot Required.</source>
|
||||
<source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>HKG: Custom Tuning for New Longitudinal API</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>HKG CAN: Enable Cruise Main by Default</source>
|
||||
<translation type="unfinished"></translation>
|
||||
@@ -1581,15 +1577,6 @@ Reboot Required.</source>
|
||||
<source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable Toyota Drive Mode Button</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Sunnypilot will link the Acceleration Personality to the car's physical drive mode selector.
|
||||
Reboot Required.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>SettingsWindow</name>
|
||||
@@ -2698,30 +2685,6 @@ Reboot Required.</source>
|
||||
<source>Default is Laneless. In Auto mode, sunnnypilot dynamically chooses between Laneline or Laneless model based on lane recognition confidence level on road and certain conditions.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Overtaking Acceleration Assist</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Overtaking Acceleration Assist will operate when the turn signal indicator is turned on to the left (left-hand drive) or turned on to the right (right-hand drive) while openpilot Longitudinal Control is operating.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>TermsPage</name>
|
||||
@@ -3105,10 +3068,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
|
||||
<source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Use Planner Speed</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>TorqueFriction</name>
|
||||
|
||||
@@ -207,14 +207,6 @@
|
||||
<source>LIMIT</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>blended</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>acc</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>AutoLaneChangeTimer</name>
|
||||
@@ -1453,6 +1445,14 @@ Esto puede tardar un minuto.</translation>
|
||||
<source>Hyundai/Kia/Genesis</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>HKG CAN: Smoother Stopping Performance (Beta)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Subaru</source>
|
||||
<translation type="unfinished"></translation>
|
||||
@@ -1563,10 +1563,6 @@ Reboot Required.</source>
|
||||
<source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>HKG: Custom Tuning for New Longitudinal API</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>HKG CAN: Enable Cruise Main by Default</source>
|
||||
<translation type="unfinished"></translation>
|
||||
@@ -1579,15 +1575,6 @@ Reboot Required.</source>
|
||||
<source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable Toyota Drive Mode Button</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Sunnypilot will link the Acceleration Personality to the car's physical drive mode selector.
|
||||
Reboot Required.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>SettingsWindow</name>
|
||||
@@ -2694,30 +2681,6 @@ Reboot Required.</source>
|
||||
<source>Default is Laneless. In Auto mode, sunnnypilot dynamically chooses between Laneline or Laneless model based on lane recognition confidence level on road and certain conditions.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Overtaking Acceleration Assist</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Overtaking Acceleration Assist will operate when the turn signal indicator is turned on to the left (left-hand drive) or turned on to the right (right-hand drive) while openpilot Longitudinal Control is operating.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>TermsPage</name>
|
||||
@@ -3083,10 +3046,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
|
||||
<source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Use Planner Speed</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>TorqueFriction</name>
|
||||
|
||||
@@ -215,14 +215,6 @@
|
||||
<source>LIMIT</source>
|
||||
<translation type="unfinished">LIMITE</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>blended</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>acc</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>AutoLaneChangeTimer</name>
|
||||
@@ -1457,6 +1449,14 @@ Cela peut prendre jusqu'à une minute.</translation>
|
||||
<source>Hyundai/Kia/Genesis</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>HKG CAN: Smoother Stopping Performance (Beta)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Subaru</source>
|
||||
<translation type="unfinished"></translation>
|
||||
@@ -1567,10 +1567,6 @@ Reboot Required.</source>
|
||||
<source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>HKG: Custom Tuning for New Longitudinal API</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>HKG CAN: Enable Cruise Main by Default</source>
|
||||
<translation type="unfinished"></translation>
|
||||
@@ -1583,15 +1579,6 @@ Reboot Required.</source>
|
||||
<source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable Toyota Drive Mode Button</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Sunnypilot will link the Acceleration Personality to the car's physical drive mode selector.
|
||||
Reboot Required.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>SettingsWindow</name>
|
||||
@@ -2698,30 +2685,6 @@ Reboot Required.</source>
|
||||
<source>Default is Laneless. In Auto mode, sunnnypilot dynamically chooses between Laneline or Laneless model based on lane recognition confidence level on road and certain conditions.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Overtaking Acceleration Assist</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Overtaking Acceleration Assist will operate when the turn signal indicator is turned on to the left (left-hand drive) or turned on to the right (right-hand drive) while openpilot Longitudinal Control is operating.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>TermsPage</name>
|
||||
@@ -3103,10 +3066,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
|
||||
<source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Use Planner Speed</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>TorqueFriction</name>
|
||||
|
||||
@@ -215,14 +215,6 @@
|
||||
<source>LIMIT</source>
|
||||
<translation type="unfinished">制限速度</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>blended</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>acc</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>AutoLaneChangeTimer</name>
|
||||
@@ -1451,6 +1443,14 @@ This may take up to a minute.</source>
|
||||
<source>Hyundai/Kia/Genesis</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>HKG CAN: Smoother Stopping Performance (Beta)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Subaru</source>
|
||||
<translation type="unfinished"></translation>
|
||||
@@ -1561,10 +1561,6 @@ Reboot Required.</source>
|
||||
<source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>HKG: Custom Tuning for New Longitudinal API</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>HKG CAN: Enable Cruise Main by Default</source>
|
||||
<translation type="unfinished"></translation>
|
||||
@@ -1577,15 +1573,6 @@ Reboot Required.</source>
|
||||
<source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable Toyota Drive Mode Button</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Sunnypilot will link the Acceleration Personality to the car's physical drive mode selector.
|
||||
Reboot Required.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>SettingsWindow</name>
|
||||
@@ -2692,30 +2679,6 @@ Reboot Required.</source>
|
||||
<source>Default is Laneless. In Auto mode, sunnnypilot dynamically chooses between Laneline or Laneless model based on lane recognition confidence level on road and certain conditions.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Overtaking Acceleration Assist</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Overtaking Acceleration Assist will operate when the turn signal indicator is turned on to the left (left-hand drive) or turned on to the right (right-hand drive) while openpilot Longitudinal Control is operating.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>TermsPage</name>
|
||||
@@ -3097,10 +3060,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
|
||||
<source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Use Planner Speed</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>TorqueFriction</name>
|
||||
|
||||
@@ -215,14 +215,6 @@
|
||||
<source>LIMIT</source>
|
||||
<translation type="unfinished">LIMIT</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>blended</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>acc</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>AutoLaneChangeTimer</name>
|
||||
@@ -1453,6 +1445,14 @@ This may take up to a minute.</source>
|
||||
<source>Hyundai/Kia/Genesis</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>HKG CAN: Smoother Stopping Performance (Beta)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Subaru</source>
|
||||
<translation type="unfinished"></translation>
|
||||
@@ -1563,10 +1563,6 @@ Reboot Required.</source>
|
||||
<source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>HKG: Custom Tuning for New Longitudinal API</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>HKG CAN: Enable Cruise Main by Default</source>
|
||||
<translation type="unfinished"></translation>
|
||||
@@ -1579,15 +1575,6 @@ Reboot Required.</source>
|
||||
<source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable Toyota Drive Mode Button</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Sunnypilot will link the Acceleration Personality to the car's physical drive mode selector.
|
||||
Reboot Required.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>SettingsWindow</name>
|
||||
@@ -2694,30 +2681,6 @@ Reboot Required.</source>
|
||||
<source>Default is Laneless. In Auto mode, sunnnypilot dynamically chooses between Laneline or Laneless model based on lane recognition confidence level on road and certain conditions.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Overtaking Acceleration Assist</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Overtaking Acceleration Assist will operate when the turn signal indicator is turned on to the left (left-hand drive) or turned on to the right (right-hand drive) while openpilot Longitudinal Control is operating.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>TermsPage</name>
|
||||
@@ -3099,10 +3062,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
|
||||
<source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Use Planner Speed</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>TorqueFriction</name>
|
||||
|
||||
@@ -215,14 +215,6 @@
|
||||
<source>LIMIT</source>
|
||||
<translation type="unfinished">VELO</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>blended</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>acc</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>AutoLaneChangeTimer</name>
|
||||
@@ -1457,6 +1449,14 @@ Isso pode levar até um minuto.</translation>
|
||||
<source>Hyundai/Kia/Genesis</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>HKG CAN: Smoother Stopping Performance (Beta)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Subaru</source>
|
||||
<translation type="unfinished"></translation>
|
||||
@@ -1567,10 +1567,6 @@ Reboot Required.</source>
|
||||
<source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>HKG: Custom Tuning for New Longitudinal API</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>HKG CAN: Enable Cruise Main by Default</source>
|
||||
<translation type="unfinished"></translation>
|
||||
@@ -1583,15 +1579,6 @@ Reboot Required.</source>
|
||||
<source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable Toyota Drive Mode Button</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Sunnypilot will link the Acceleration Personality to the car's physical drive mode selector.
|
||||
Reboot Required.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>SettingsWindow</name>
|
||||
@@ -2698,30 +2685,6 @@ Reboot Required.</source>
|
||||
<source>Default is Laneless. In Auto mode, sunnnypilot dynamically chooses between Laneline or Laneless model based on lane recognition confidence level on road and certain conditions.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Overtaking Acceleration Assist</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Overtaking Acceleration Assist will operate when the turn signal indicator is turned on to the left (left-hand drive) or turned on to the right (right-hand drive) while openpilot Longitudinal Control is operating.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>TermsPage</name>
|
||||
@@ -3103,10 +3066,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
|
||||
<source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Use Planner Speed</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>TorqueFriction</name>
|
||||
|
||||
@@ -215,14 +215,6 @@
|
||||
<source>LIMIT</source>
|
||||
<translation type="unfinished">จำกัด</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>blended</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>acc</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>AutoLaneChangeTimer</name>
|
||||
@@ -1453,6 +1445,14 @@ This may take up to a minute.</source>
|
||||
<source>Hyundai/Kia/Genesis</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>HKG CAN: Smoother Stopping Performance (Beta)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Subaru</source>
|
||||
<translation type="unfinished"></translation>
|
||||
@@ -1563,10 +1563,6 @@ Reboot Required.</source>
|
||||
<source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>HKG: Custom Tuning for New Longitudinal API</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>HKG CAN: Enable Cruise Main by Default</source>
|
||||
<translation type="unfinished"></translation>
|
||||
@@ -1579,15 +1575,6 @@ Reboot Required.</source>
|
||||
<source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable Toyota Drive Mode Button</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Sunnypilot will link the Acceleration Personality to the car's physical drive mode selector.
|
||||
Reboot Required.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>SettingsWindow</name>
|
||||
@@ -2694,30 +2681,6 @@ Reboot Required.</source>
|
||||
<source>Default is Laneless. In Auto mode, sunnnypilot dynamically chooses between Laneline or Laneless model based on lane recognition confidence level on road and certain conditions.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Overtaking Acceleration Assist</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Overtaking Acceleration Assist will operate when the turn signal indicator is turned on to the left (left-hand drive) or turned on to the right (right-hand drive) while openpilot Longitudinal Control is operating.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>TermsPage</name>
|
||||
@@ -3099,10 +3062,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
|
||||
<source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Use Planner Speed</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>TorqueFriction</name>
|
||||
|
||||
@@ -215,14 +215,6 @@
|
||||
<source>LIMIT</source>
|
||||
<translation type="unfinished">LİMİT</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>blended</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>acc</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>AutoLaneChangeTimer</name>
|
||||
@@ -1451,6 +1443,14 @@ This may take up to a minute.</source>
|
||||
<source>Hyundai/Kia/Genesis</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>HKG CAN: Smoother Stopping Performance (Beta)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Subaru</source>
|
||||
<translation type="unfinished"></translation>
|
||||
@@ -1561,10 +1561,6 @@ Reboot Required.</source>
|
||||
<source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>HKG: Custom Tuning for New Longitudinal API</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>HKG CAN: Enable Cruise Main by Default</source>
|
||||
<translation type="unfinished"></translation>
|
||||
@@ -1577,15 +1573,6 @@ Reboot Required.</source>
|
||||
<source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable Toyota Drive Mode Button</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Sunnypilot will link the Acceleration Personality to the car's physical drive mode selector.
|
||||
Reboot Required.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>SettingsWindow</name>
|
||||
@@ -2692,30 +2679,6 @@ Reboot Required.</source>
|
||||
<source>Default is Laneless. In Auto mode, sunnnypilot dynamically chooses between Laneline or Laneless model based on lane recognition confidence level on road and certain conditions.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Overtaking Acceleration Assist</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Overtaking Acceleration Assist will operate when the turn signal indicator is turned on to the left (left-hand drive) or turned on to the right (right-hand drive) while openpilot Longitudinal Control is operating.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>TermsPage</name>
|
||||
@@ -3097,10 +3060,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
|
||||
<source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Use Planner Speed</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>TorqueFriction</name>
|
||||
|
||||
@@ -215,14 +215,6 @@
|
||||
<source>LIMIT</source>
|
||||
<translation type="unfinished">LIMIT</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>blended</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>acc</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>AutoLaneChangeTimer</name>
|
||||
@@ -1453,6 +1445,14 @@ This may take up to a minute.</source>
|
||||
<source>Hyundai/Kia/Genesis</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>HKG CAN: Smoother Stopping Performance (Beta)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Subaru</source>
|
||||
<translation type="unfinished"></translation>
|
||||
@@ -1563,10 +1563,6 @@ Reboot Required.</source>
|
||||
<source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>HKG: Custom Tuning for New Longitudinal API</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>HKG CAN: Enable Cruise Main by Default</source>
|
||||
<translation type="unfinished"></translation>
|
||||
@@ -1579,15 +1575,6 @@ Reboot Required.</source>
|
||||
<source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable Toyota Drive Mode Button</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Sunnypilot will link the Acceleration Personality to the car's physical drive mode selector.
|
||||
Reboot Required.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>SettingsWindow</name>
|
||||
@@ -2694,30 +2681,6 @@ Reboot Required.</source>
|
||||
<source>Default is Laneless. In Auto mode, sunnnypilot dynamically chooses between Laneline or Laneless model based on lane recognition confidence level on road and certain conditions.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Overtaking Acceleration Assist</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Overtaking Acceleration Assist will operate when the turn signal indicator is turned on to the left (left-hand drive) or turned on to the right (right-hand drive) while openpilot Longitudinal Control is operating.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>TermsPage</name>
|
||||
@@ -3099,10 +3062,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
|
||||
<source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Use Planner Speed</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>TorqueFriction</name>
|
||||
|
||||
@@ -215,14 +215,6 @@
|
||||
<source>LIMIT</source>
|
||||
<translation type="unfinished">速限</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>blended</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>acc</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>AutoLaneChangeTimer</name>
|
||||
@@ -1453,6 +1445,14 @@ This may take up to a minute.</source>
|
||||
<source>Hyundai/Kia/Genesis</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>HKG CAN: Smoother Stopping Performance (Beta)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Subaru</source>
|
||||
<translation type="unfinished"></translation>
|
||||
@@ -1563,10 +1563,6 @@ Reboot Required.</source>
|
||||
<source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>HKG: Custom Tuning for New Longitudinal API</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>HKG CAN: Enable Cruise Main by Default</source>
|
||||
<translation type="unfinished"></translation>
|
||||
@@ -1579,15 +1575,6 @@ Reboot Required.</source>
|
||||
<source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable Toyota Drive Mode Button</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Sunnypilot will link the Acceleration Personality to the car's physical drive mode selector.
|
||||
Reboot Required.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>SettingsWindow</name>
|
||||
@@ -2694,30 +2681,6 @@ Reboot Required.</source>
|
||||
<source>Default is Laneless. In Auto mode, sunnnypilot dynamically chooses between Laneline or Laneless model based on lane recognition confidence level on road and certain conditions.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Overtaking Acceleration Assist</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Overtaking Acceleration Assist will operate when the turn signal indicator is turned on to the left (left-hand drive) or turned on to the right (right-hand drive) while openpilot Longitudinal Control is operating.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>TermsPage</name>
|
||||
@@ -3099,10 +3062,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
|
||||
<source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Use Planner Speed</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>TorqueFriction</name>
|
||||
|
||||
Binary file not shown.
@@ -5,7 +5,6 @@ from __future__ import annotations
|
||||
import base64
|
||||
import gzip
|
||||
import os
|
||||
import ssl
|
||||
import threading
|
||||
import time
|
||||
|
||||
@@ -30,8 +29,7 @@ SUNNYLINK_RECONNECT_TIMEOUT_S = 70 # FYI changing this will also would require
|
||||
DISALLOW_LOG_UPLOAD = threading.Event()
|
||||
|
||||
params = Params()
|
||||
sunnylink_dongle_id = params.get("SunnylinkDongleId", encoding='utf-8')
|
||||
sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
|
||||
sunnylink_api = SunnylinkApi(params.get("SunnylinkDongleId", encoding='utf-8'))
|
||||
def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
|
||||
cloudlog.info("sunnylinkd.handle_long_poll started")
|
||||
sm = messaging.SubMaster(['deviceState'])
|
||||
@@ -45,7 +43,7 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
|
||||
threading.Thread(target=ws_ping, args=(ws, end_event), name='ws_ping'),
|
||||
threading.Thread(target=ws_queue, args=(end_event,), name='ws_queue'),
|
||||
# threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
|
||||
threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
|
||||
# threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
|
||||
# threading.Thread(target=stat_handler, args=(end_event,), name='stat_handler'),
|
||||
] + [
|
||||
threading.Thread(target=jsonrpc_handler, args=(end_event,), name=f'worker_{x}')
|
||||
@@ -206,7 +204,7 @@ def main(exit_event: threading.Event = None):
|
||||
|
||||
UploadQueueCache.initialize(upload_queue)
|
||||
|
||||
ws_uri = f"{SUNNYLINK_ATHENA_HOST}"
|
||||
ws_uri = SUNNYLINK_ATHENA_HOST
|
||||
conn_start = None
|
||||
conn_retries = 0
|
||||
while (exit_event is None or not exit_event.is_set()) and sunnylink_ready(params):
|
||||
@@ -216,9 +214,8 @@ def main(exit_event: threading.Event = None):
|
||||
|
||||
cloudlog.event("sunnylinkd.main.connecting_ws", ws_uri=ws_uri, retries=conn_retries)
|
||||
ws = create_connection(ws_uri,
|
||||
header={"Authorization": f"Bearer {sunnylink_api.get_token()}"},
|
||||
cookie="jwt=" + sunnylink_api.get_token(),
|
||||
enable_multithread=True,
|
||||
sslopt={"cert_reqs": ssl.CERT_NONE if "localhost" in ws_uri else ssl.CERT_REQUIRED},
|
||||
timeout=SUNNYLINK_RECONNECT_TIMEOUT_S)
|
||||
cloudlog.event("sunnylinkd.main.connected_ws", ws_uri=ws_uri, retries=conn_retries,
|
||||
duration=time.monotonic() - conn_start)
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -154,6 +154,3 @@ const LogCameraInfo stream_driver_camera_info{
|
||||
|
||||
const LogCameraInfo cameras_logged[] = {road_camera_info, wide_road_camera_info, driver_camera_info};
|
||||
const LogCameraInfo stream_cameras_logged[] = {stream_road_camera_info, stream_wide_road_camera_info, stream_driver_camera_info};
|
||||
|
||||
const LogCameraInfo cameras_logged_no_dcam[] = {road_camera_info, wide_road_camera_info, driver_camera_info};
|
||||
const LogCameraInfo stream_cameras_logged_no_dcam[] = {stream_road_camera_info, stream_wide_road_camera_info, stream_driver_camera_info};
|
||||
|
||||
@@ -73,8 +73,6 @@ def manager_init() -> None:
|
||||
("HasAcceptedTermsSP", "0"),
|
||||
("HideVEgoUi", "0"),
|
||||
("HyundaiCruiseMainDefault", "0"),
|
||||
("HyundaiRadarTracksAvailable", "0"),
|
||||
("HyundaiRadarTracksAvailableCache", "0"),
|
||||
("LastSpeedLimitSignTap", "0"),
|
||||
("LkasToggle", "0"),
|
||||
("MadsIconToggle", "1"),
|
||||
@@ -87,8 +85,6 @@ def manager_init() -> None:
|
||||
("OnroadSettings", "1"),
|
||||
("PathOffset", "0"),
|
||||
("PauseLateralSpeed", "0"),
|
||||
("PCMVCruiseOverride", "0"),
|
||||
("PCMVCruiseOverrideSpeed", "30"),
|
||||
("ReverseAccChange", "0"),
|
||||
("ScreenRecorder", "1"),
|
||||
("ShowDebugUI", "1"),
|
||||
@@ -102,11 +98,10 @@ def manager_init() -> None:
|
||||
("StandStillTimer", "0"),
|
||||
("StockLongToyota", "0"),
|
||||
("TorqueDeadzoneDeg", "0"),
|
||||
("TorqueFriction", "10"),
|
||||
("TorqueFriction", "1"),
|
||||
("TorqueMaxLatAccel", "250"),
|
||||
("ToyotaAutoLockBySpeed", "0"),
|
||||
("ToyotaAutoUnlockByShifter", "0"),
|
||||
("ToyotaDriveMode", "0"),
|
||||
("ToyotaEnhancedBsm", "0"),
|
||||
("TrueVEgoUi", "0"),
|
||||
("TurnSpeedControl", "0"),
|
||||
|
||||
@@ -102,7 +102,7 @@ procs = [
|
||||
PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
|
||||
PythonProcess("hardwared", "system.hardware.hardwared", always_run),
|
||||
PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
|
||||
NativeProcess("updated", "system/updated", ["./updated.py"], only_offroad, enabled=not PC),
|
||||
PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
|
||||
PythonProcess("uploader", "system.loggerd.uploader", always_run),
|
||||
PythonProcess("statsd", "system.statsd", always_run),
|
||||
|
||||
|
||||
Binary file not shown.
Binary file not shown.
+2
-2
@@ -19,9 +19,9 @@ from openpilot.system.version import get_build_metadata, get_version
|
||||
|
||||
class SentryProject(Enum):
|
||||
# python project
|
||||
SELFDRIVE = "https://3e25e235efe389b74cde72fb0e115aef@o1138119.ingest.us.sentry.io/4509950385979397"
|
||||
SELFDRIVE = "https://7e3be9bfcfe04c9abe58bd25fe290d1a@o1138119.ingest.sentry.io/6191481"
|
||||
# native project
|
||||
SELFDRIVE_NATIVE = "https://3e25e235efe389b74cde72fb0e115aef@o1138119.ingest.us.sentry.io/4509950385979397"
|
||||
SELFDRIVE_NATIVE = "https://7e3be9bfcfe04c9abe58bd25fe290d1a@o1138119.ingest.sentry.io/6191481"
|
||||
|
||||
|
||||
CRASHES_DIR = Paths.community_crash_root()
|
||||
|
||||
Binary file not shown.
Reference in New Issue
Block a user