0.5.9 version (#16)

* Add "Accept-Encoding: gzip" header to mapd.py to reduce data consumption (commaai#525) * Allow uploader.py to compress rlog without upload permission (commaai#471) * Always Compress - Make sure uploader to bzip2 rlog once it's completed without any upload permission. * Squashed 'panda/' changes from 9ee6285..39c1e39 39c1e39 Cadillac: added brake msg forwarding aaa1b14 bump VERSION e0dd558 Fixed undefined reference error when "make recover" in EON c91f038 Toyota pedal support (commaai#159) de1ba06 Build optimizer: back to Os now that 'make --recover' is fixed fd23383 add -lgcc flag to fix "undefined reference to __aeabi_llsr" (commaai#156) 1cc74e2 Reverted code optimizer option to O2 after 'make recover' broke 1218d09 Cadillac ascm proxy (commaai#155) 064446f Panda: bumped version 93266a9 Hyundai: allow the same max steer torque as stock d275fa8 Subaru: Forwarding (commaai#152) git-subtree-dir: panda git-subtree-split: 39c1e39 * Squashed 'opendbc/' changes from b632acf..45c3285 45c3285 Added support to Toyota pedal cfb7070 Revert "Added pedal support for Toyota" ca607f4 Added pedal support for Toyota 22efd56 Honda: for simplicity all cars now have BRAKE_HOLD signal f969de0 Honda Nidec: VSA_STATUS msg is teh same for all 85b0df7 chrysler L gear (commaai#139) b9618da Update Gear Packet with Eco and Sport button (commaai#135) 5259345 Update DBC for Hyundai Kona Support (commaai#138) 608caba Create subaru_outback_2015_eyesight.dbc (commaai#137) git-subtree-dir: opendbc git-subtree-split: 45c3285 * Squashed 'pyextra/' changes from 8cc1594..0d19c13 0d19c13 Revert adding reverse_geocoder 4a22fac Fix reverse_geocoder folder 35308c5 Add reverse_geocoder git-subtree-dir: pyextra git-subtree-split: 0d19c13e6e4e5fa82a470374146a86dc5d5afa35 * openpilot v0.5.9 release * remove unneeded msg variable minimize diff with upstream * change error back to perm * allow it to instantly ramp down to 0 * try new panda safety code * minor panda cleanup
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diff --git a/README.md b/README.md
@@ -15,9 +15,9 @@ Table of Contents
 * [Supported Cars](#supported-cars)
 * [Community Maintained Cars](#community-maintained-cars)
 * [In Progress Cars](#in-progress-cars)
-* [How can I add support for my car?](#how-can-i-add-support-for-my-car-)
+* [How can I add support for my car?](#how-can-i-add-support-for-my-car)
 * [Directory structure](#directory-structure)
-* [User Data / chffr Account / Crash Reporting](#user-data-chffr-account-crash-reporting)
+* [User Data / chffr Account / Crash Reporting](#user-data--chffr-account--crash-reporting)
 * [Testing on PC](#testing-on-pc)
 * [Contributing](#contributing)
 * [Licensing](#licensing)
@@ -31,7 +31,7 @@ openpilot is developed by [comma.ai](https://comma.ai/) and users like you.
 
 We have a [Twitter you should follow](https://twitter.com/comma_ai).
 
-Also, we have a several thousand people community on [slack](https://slack.comma.ai).
+Also, we have a several thousand people community on [Discord](https://discord.comma.ai).
 
 <table>
   <tr>
@@ -62,7 +62,7 @@ Supported Cars
 | ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
 | Acura                | ILX 2016-17              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          | Nidec             |
 | Acura                | RDX 2018                 | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
-| Cadillac<sup>3</sup> | ATS 2018                 | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Buick<sup>3</sup>    | Regal 2018               | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
 | Chevrolet<sup>3</sup>| Malibu 2017              | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
 | Chevrolet<sup>3</sup>| Volt 2017-18             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
 | Cadillac<sup>3</sup> | ATS 2018                 | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
@@ -71,30 +71,31 @@ Supported Cars
 | Holden<sup>3</sup>   | Astra 2017               | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
 | Honda                | Accord 2018              | All                  | Yes     | Stock          | 0mph             | 3mph           | Bosch             |
 | Honda                | Civic Sedan/Coupe 2016-18| Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          | Nidec             |
-| Honda                | Civic Hatchback 2017-18  | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
+| Honda                | Civic Sedan/Coupe 2019   | Honda Sensing        | Yes     | Stock          | 0mph             | 2mph           | Bosch             |
+| Honda                | Civic Hatchback 2017-19  | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
 | Honda                | CR-V 2015-16             | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
 | Honda                | CR-V 2017-18             | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
 | Honda                | Odyssey 2017-19          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           | Inverted Nidec    |
 | Honda                | Pilot 2016-18            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
 | Honda                | Pilot 2019               | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
-| Honda                | Ridgeline 2017-18        | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
+| Honda                | Ridgeline 2017-19        | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
 | Hyundai              | Santa Fe 2019            | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
 | Hyundai              | Elantra 2017             | SCC + LKAS           | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
 | Hyundai              | Genesis 2018             | All                  | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
-| Jeep                 | Grand Cherokee 2017-18   | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | Custom<sup>8</sup>|
+| Kia                  | Optima 2019              | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
 | Kia                  | Sorento 2018             | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
 | Kia                  | Stinger 2018             | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
 | Lexus                | RX Hybrid 2016-18        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 | Toyota               | Camry 2018<sup>4</sup>   | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
 | Toyota               | C-HR 2017-18<sup>4</sup> | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
-| Toyota               | Corolla 2017-18          | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           | Toyota            |
+| Toyota               | Corolla 2017-18          | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
 | Toyota               | Highlander 2017-18       | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 | Toyota               | Highlander Hybrid 2018   | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 | Toyota               | Prius 2016               | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 | Toyota               | Prius 2017-18            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 | Toyota               | Prius Prime 2017-18      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Rav4 2016                | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           | Toyota            |
-| Toyota               | Rav4 2017-18             | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           | Toyota            |
+| Toyota               | Rav4 2016                | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Rav4 2017-18             | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
 | Toyota               | Rav4 Hybrid 2017-18      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 
 <sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***  
@@ -108,27 +109,22 @@ Supported Cars
 Community Maintained Cars
 ------
 
-| Make          | Model                     | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below | Giraffe           |
-| -------       | ----------------------    | -------------------- | ------- | ------------   | --------------   | -------------- | ------------------|
-| Honda         | Fit 2018                  | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
-| Tesla         | Model S 2012              | All                  | Yes     | Not yet        | Not applicable   | 0mph           | Custom<sup>8</sup>|
-| Tesla         | Model S 2013              | All                  | Yes     | Not yet        | Not applicable   | 0mph           | Custom<sup>8</sup>|
+| Make                 | Model                    | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below | Giraffe           |
+| ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
+| Honda                | Fit 2018                 | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
+| Tesla                | Model S 2012             | All                  | Yes     | Not yet        | Not applicable   | 0mph           | Custom<sup>9</sup>|
+| Tesla                | Model S 2013             | All                  | Yes     | Not yet        | Not applicable   | 0mph           | Custom<sup>9</sup>|
 
 [[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266). <br />
 [[Tesla Model S Pull Request]](https://github.com/commaai/openpilot/pull/246) <br />
-<sup>8</sup>Community built Giraffe, find more information here [Community Tesla Giraffe](https://github.com/jeankalud/neo/tree/tesla_giraffe/giraffe/tesla) <br />
+<sup>9</sup>Community built Giraffe, find more information here [Community Tesla Giraffe](https://github.com/jeankalud/neo/tree/tesla_giraffe/giraffe/tesla) <br />
 
 Community Maintained Cars are not confirmed by comma.ai to meet our [safety model](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Be extra cautious using them.
 
 In Progress Cars
 ------
-- All TSS-P Toyota with Steering Assist.
-  - 'Full Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the Prius, Camry and C-HR have this option.
-  - Even though the Tundra, Sequoia and the Land Cruiser have TSS-P, they don't have Steering Assist and are not supported.
+- All TSS-P Toyota with Steering Assist and LSS-P Lexus with Steering Assist or Lane Keep Assist.
   - Only remaining Toyota cars with no port yet are the Avalon and the Sienna.
-- All LSS-P Lexus with Steering Assist or Lane Keep Assist.
-  - 'All-Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the GS, GSH, F, RX, RXH, LX, NX, NXH, LC, LCH, LS, LSH have this option.
-  - Even though the LX have TSS-P, it does not have Steering Assist and is not supported.
 - All Hyundai with SmartSense.
 - All Kia with SCC and LKAS.
 - All Chrysler, Jeep, Fiat with Adaptive Cruise Control and LaneSense.
@@ -140,7 +136,7 @@ If your car has adaptive cruise control and lane keep assist, you are in luck. U
 
 We've written guides for [Brand](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84) and [Model](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) ports. These guides might help you after you have the basics figured out.
 
-- BMW, Audi, Volvo, and Mercedes all use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) and are unlikely to be supported any time soon.
+- BMW, Audi, Volvo, and Mercedes all use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) and can be supported after [FlexRay support](https://github.com/commaai/openpilot/pull/463) is merged.
 - We put time into a Ford port, but the steering has a 10 second cutout limitation that makes it unusable.
 - The 2016-2017 Honda Accord uses a custom signaling protocol for steering that's unlikely to ever be upstreamed.
 
@@ -172,7 +168,7 @@ Directory structure
         ├── sensord         # IMU / GPS interface code
         ├── test            # Car simulator running code through virtual maneuvers
         ├── ui              # The UI
-        └── visiond         # Embedded vision pipeline
+        └── visiond         # Vision pipeline
 
 To understand how the services interact, see `selfdrive/service_list.yaml`
 
@@ -192,23 +188,21 @@ By using it, you agree to [our privacy policy](https://community.comma.ai/privac
 Testing on PC
 ------
 
-There is rudimentary infrastructure to run a basic simulation and generate a report of openpilot's behavior in different scenarios.
+Check out [openpilot-tools](https://github.com/commaai/openpilot-tools): lots of tools you can use to replay driving data, test and develop openpilot from your pc.
+
+Also, within openpilot there is a rudimentary infrastructure to run a basic simulation and generate a report of openpilot's behavior in different longitudinal control scenarios.
 
 ```bash
 # Requires working docker
 ./run_docker_tests.sh
 ```
 
-The resulting plots are displayed in `selfdrive/test/tests/plant/out/longitudinal/index.html`
-
-More extensive testing infrastructure and simulation environments are coming soon.
-
-
 Contributing
 ------
 
-We welcome both pull requests and issues on
-[github](http://github.com/commaai/openpilot). Bug fixes and new car ports encouraged.
+We welcome both pull requests and issues on [github](http://github.com/commaai/openpilot). Bug fixes and new car ports encouraged.
+
+We also have a [bounty program](https://comma.ai/bounties.html).
 
 Want to get paid to work on openpilot? [comma.ai is hiring](https://comma.ai/jobs/)
 

diff --git a/RELEASES.md b/RELEASES.md
@@ -1,10 +1,21 @@
+Version 0.5.9 (2019-02-10)
+========================
+ * Improve calibration using a dedicated neural network
+ * Abstract planner in its own process to remove lags in controls process
+ * Improve speed limits with country/region defaults by road type
+ * Reduce mapd data usage with gzip thanks to eFiniLan
+ * Zip log files in the background to reduce disk usage
+ * Kia Optima support thanks to emmertex!
+ * Buick Regal 2018 support thanks to HOYS!
+ * Comma pedal support for Toyota thanks to wocsor! Note: tuning needed and not maintained by comma
+
 Version 0.5.8 (2019-01-17)
 ========================
  * Open sourced visiond
  * Auto-slowdown for upcoming turns
  * Chrysler/Jeep/Fiat support thanks to adhintz!
  * Honda Civic 2019 support thanks to csouers!
- * Improved use of car display in Toyota thanks to arne182!
+ * Improve use of car display in Toyota thanks to arne182!
  * No data upload when connected to Android or iOS hotspots and "Enable Upload Over Cellular" setting is off
  * EON stops charging when 12V battery drops below 11.8V
 

diff --git a/apk/ai.comma.plus.frame.apk b/apk/ai.comma.plus.frame.apk
diff --git a/apk/ai.comma.plus.offroad.apk b/apk/ai.comma.plus.offroad.apk
diff --git a/cereal/log.capnp b/cereal/log.capnp
@@ -374,6 +374,7 @@ struct Live100Data {
   l20MonoTimeDEPRECATED @17 :UInt64;
   mdMonoTimeDEPRECATED @18 :UInt64;
   planMonoTime @28 :UInt64;
+  pathPlanMonoTime @50 :UInt64;
 
   state @31 :ControlState;
   vEgo @0 :Float32;
@@ -401,6 +402,7 @@ struct Live100Data {
   cumLagMs @15 :Float32;
   startMonoTime @48 :UInt64;
   mapValid @49 :Bool;
+  forceDecel @51 :Bool;
 
   enabled @19 :Bool;
   active @36 :Bool;
@@ -546,12 +548,12 @@ struct Plan {
   events @13 :List(Car.CarEvent);
 
   # lateral, 3rd order polynomial
-  lateralValid @0 :Bool;
-  dPoly @1 :List(Float32);
-  laneWidth @11 :Float32;
+  lateralValidDEPRECATED @0 :Bool;
+  dPolyDEPRECATED @1 :List(Float32);
+  laneWidthDEPRECATED @11 :Float32;
 
   # longitudinal
-  longitudinalValid @2 :Bool;
+  longitudinalValidDEPRECATED @2 :Bool;
   vCruise @16 :Float32;
   aCruise @17 :Float32;
   vTarget @3 :Float32;
@@ -560,10 +562,14 @@ struct Plan {
   aTargetMinDEPRECATED @4 :Float32;
   aTargetMaxDEPRECATED @5 :Float32;
   aTarget @18 :Float32;
+
+  vStart @26 :Float32;
+  aStart @27 :Float32;
+
   jerkFactor @6 :Float32;
   hasLead @7 :Bool;
-  hasLeftLane @23 :Bool;
-  hasRightLane @24 :Bool;
+  hasLeftLaneDEPRECATED @23 :Bool;
+  hasRightLaneDEPRECATED @24 :Bool;
   fcw @8 :Bool;
   longitudinalPlanSource @15 :LongitudinalPlanSource;
 
@@ -577,6 +583,7 @@ struct Plan {
   decelForTurn @22 :Bool;
   mapValid @25 :Bool;
 
+
   struct GpsTrajectory {
     x @0 :List(Float32);
     y @1 :List(Float32);
@@ -590,6 +597,21 @@ struct Plan {
   }
 }
 
+struct PathPlan {
+  laneWidth @0 :Float32;
+
+  dPoly @1 :List(Float32);
+  cPoly @2 :List(Float32);
+  cProb @3 :Float32;
+  lPoly @4 :List(Float32);
+  lProb @5 :Float32;
+  rPoly @6 :List(Float32);
+  rProb @7 :Float32;
+
+  angleSteers @8 :Float32;
+  valid @9 :Bool;
+}
+
 struct LiveLocationData {
   status @0 :UInt8;
 
@@ -1276,6 +1298,7 @@ struct UbloxGnss {
       carrierPhaseStdev @10 :Float32;
       # doppler standard deviation in Hz
       dopplerStdev @11 :Float32;
+      sigId @12 :UInt8;
 
       struct TrackingStatus {
         # pseudorange valid
@@ -1584,6 +1607,11 @@ struct LiveParametersData {
 struct LiveMapData {
   speedLimitValid @0 :Bool;
   speedLimit @1 :Float32;
+  speedAdvisoryValid @12 :Bool;
+  speedAdvisory @13 :Float32;
+  speedLimitAheadValid @14 :Bool;
+  speedLimitAhead @15 :Float32;
+  speedLimitAheadDistance @16 :Float32;
   curvatureValid @2 :Bool;
   curvature @3 :Float32;
   wayId @4 :UInt64;
@@ -1603,6 +1631,13 @@ struct CameraOdometry {
   rotStd @3 :List(Float32); # std rad/s in device frame
 }
 
+struct KalmanOdometry {
+  trans @0 :List(Float32); # m/s in device frame
+  rot @1 :List(Float32); # rad/s in device frame
+  transStd @2 :List(Float32); # std m/s in device frame
+  rotStd @3 :List(Float32); # std rad/s in device frame
+}
+
 struct Event {
   # in nanoseconds?
   logMonoTime @0 :UInt64;
@@ -1671,5 +1706,7 @@ struct Event {
     liveParameters @61 :LiveParametersData;
     liveMapData @62 :LiveMapData;
     cameraOdometry @63 :CameraOdometry;
+    pathPlan @64 :PathPlan;
+    kalmanOdometry @65 :KalmanOdometry;
   }
 }
diff --git a/common/params.py b/common/params.py
@@ -67,6 +67,7 @@ class UnknownKeyName(Exception):
 # written: visiond
 # read:    visiond, controlsd
   "CalibrationParams": TxType.PERSISTENT,
+  "ControlsParams": TxType.PERSISTENT,
 # written: controlsd
 # read:    radard
   "CarParams": TxType.CLEAR_ON_CAR_START,

diff --git a/common/transformations/camera.py b/common/transformations/camera.py
@@ -29,21 +29,13 @@
 def get_calib_from_vp(vp):
   vp_norm = normalize(vp)
   yaw_calib = np.arctan(vp_norm[0])
-  pitch_calib = np.arctan(vp_norm[1]*np.cos(yaw_calib))
-  # TODO should be, this but written
-  # to be compatible with meshcalib and
-  # get_view_frame_from_road_fram
-  #pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
+  pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
   roll_calib = 0
   return roll_calib, pitch_calib, yaw_calib
 
 # aka 'extrinsic_matrix'
 # road : x->forward, y -> left, z->up
 def get_view_frame_from_road_frame(roll, pitch, yaw, height):
-  # TODO
-  # calibration pitch is currently defined
-  # opposite to pitch in device frame
-  pitch = -pitch
   device_from_road = orient.rot_from_euler([roll, pitch, yaw]).dot(np.diag([1, -1, -1]))
   view_from_road = view_frame_from_device_frame.dot(device_from_road)
   return np.hstack((view_from_road, [[0], [height], [0]]))

diff --git a/models/posenet.dlc b/models/posenet.dlc