Squashed 'cereal/' changes from 4ea03ba..748002c

748002c angle calib desc
27db4a7 add camera rpy angle msg
a71c4fa deprecate old dm model output
6c6ab96 remove hwType from ThermalData. Decided to have health at higher freq instead. This will make last 24H of collected data unreadable. Sorry.
f27249e Add fields for LQR lateral control
654860c add decelForModel
995b558 add longitudinal plan source
222f2de add eye stuff
eebf268 hasGps is a better name than hasGpsAntenna
12da45f Blackpanda (#4)

git-subtree-dir: cereal
git-subtree-split: 748002c

car.capnp

@@ -324,6 +324,7 @@ struct CarParams {
   lateralTuning :union {
     pid @26 :LateralPIDTuning;
     indi @27 :LateralINDITuning;
+    lqr @40 :LateralLQRTuning;
   }
 
   steerLimitAlert @28 :Bool;
@@ -339,6 +340,7 @@ struct CarParams {
   steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
   openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
   carVin @38 :Text; # VIN number queried during fingerprinting
+  isPandaBlack @39: Bool;
 
   struct LateralPIDTuning {
     kpBP @0 :List(Float32);
@@ -365,6 +367,20 @@ struct CarParams {
     actuatorEffectiveness @3 :Float32;
   }
 
+  struct LateralLQRTuning {
+    scale @0 :Float32;
+    ki @1 :Float32;
+    dcGain @2 :Float32;
+
+    # State space system
+    a @3 :List(Float32);
+    b @4 :List(Float32);
+    c @5 :List(Float32);
+
+    k @6 :List(Float32);  # LQR gain
+    l @7 :List(Float32);  # Kalman gain
+  }
+
 
   enum SafetyModel {
     # does NOT match board setting

log.capnp

@@ -301,7 +301,7 @@ struct HealthData {
   controlsAllowed @3 :Bool;
   gasInterceptorDetected @4 :Bool;
   startedSignalDetectedDeprecated @5 :Bool;
-  isGreyPanda @6 :Bool;
+  hasGps @6 :Bool;
   canSendErrs @7 :UInt32;
   canFwdErrs @8 :UInt32;
   gmlanSendErrs @9 :UInt32;
@@ -373,6 +373,8 @@ struct LiveCalibrationData {
   # view_frame_from_road_frame
   # ui's is inversed needs new
   extrinsicMatrix @4 :List(Float32);
+  # the direction of travel vector in device frame
+  rpyCalib @7 :List(Float32);
 }
 
 struct LiveTracks {
@@ -448,9 +450,12 @@ struct ControlsState @0x97ff69c53601abf1 {
   vCurvature @46 :Float32;
   decelForTurn @47 :Bool;
 
+  decelForModel @54 :Bool;
+
   lateralControlState :union {
     indiState @52 :LateralINDIState;
     pidState @53 :LateralPIDState;
+    lqrState @55 :LateralLQRState;
   }
 
   enum OpenpilotState @0xdbe58b96d2d1ac61 {
@@ -505,6 +510,13 @@ struct ControlsState @0x97ff69c53601abf1 {
     saturated @8 :Bool;
    }
 
+  struct LateralLQRState {
+    active @0 :Bool;
+    steerAngle @1 :Float32;
+    i @2 :Float32;
+    output @3 :Float32;
+   }
+
 }
 
 struct LiveEventData {
@@ -660,6 +672,7 @@ struct Plan {
     mpc1 @1;
     mpc2 @2;
     mpc3 @3;
+    model @4;
   }
 }
 
@@ -1661,8 +1674,13 @@ struct OrbKeyFrame {
 
 struct DriverMonitoring {
   frameId @0 :UInt32;
-  descriptor @1 :List(Float32);
-  std @2 :Float32;
+  descriptorDEPRECATED @1 :List(Float32);
+  stdDEPRECATED @2 :Float32;
+  faceOrientation @3 :List(Float32);
+  facePosition @4 :List(Float32);
+  faceProb @5 :Float32;
+  leftEyeProb @6 :Float32;
+  rightEyeProb @7 :Float32;
 }
 
 struct Boot {