added support for avalon 2021

Pipfile

@@ -77,6 +77,7 @@ torch = "*"
 torchsummary = "*"
 blosc = "==1.9.2"
 segmentation-models-pytorch = "==0.1.2"
+pyopencl = "*"
 
 [packages]
 atomicwrites = "*"

cereal/car.capnp

@@ -417,6 +417,9 @@ struct CarParams {
   steerRateCost @33 :Float32; # Lateral MPC cost on steering rate
   steerControlType @34 :SteerControlType;
   radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
+  minSpeedCan @51 :Float32; # Minimum vehicle speed from CAN (below this value drops to 0)
+  stoppingBrakeRate @52 :Float32; # brake_travel/s while trying to stop
+  startingBrakeRate @53 :Float32; # brake_travel/s while releasing on restart
 
   steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
   openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?

common/dp_common.py

@@ -4,22 +4,22 @@
 from common.params import Params
 from common.realtime import sec_since_boot
 import os
-import time
-from math import floor
+#import time
+#from math import floor
 params = Params()
 from common.travis_checker import travis
-from common.dp_conf import init_params_vals
+#from common.dp_conf import init_params_vals
 
 if travis:
   PARAM_PATH = str(os.environ.get('HOME')) + "/.comma/params/d/"
 else:
   PARAM_PATH = "/data/params/d/"
 LAST_MODIFIED = str(PARAM_PATH) + "dp_last_modified"
-if not os.path.exists(LAST_MODIFIED):
-  os.makedirs(str(os.environ.get('HOME')) + "/.comma/params/d/", exist_ok=True)
-  print("dp_last_modified is " + str(floor(time.time())))
-  params.put('dp_last_modified',str(floor(time.time())))
-  init_params_vals(params)
+#if not os.path.exists(LAST_MODIFIED):
+#  os.makedirs(str(os.environ.get('HOME')) + "/.comma/params/d/", exist_ok=True)
+#  print("dp_last_modified is " + str(floor(time.time())))
+#  params.put('dp_last_modified',str(floor(time.time())))
+#  init_params_vals(params)
 
 def is_online():
   try:

common/op_params.py

@@ -94,15 +94,15 @@ def __init__(self):
                         #'hotspot_on_boot': Param(False, bool, 'Enable Hotspot On Boot'),
                         'keep_openpilot_engaged': Param(True, bool, 'True is stock behavior in this fork. False lets you use the brake and cruise control stalk to disengage as usual'),
                         #'lat_d': Param(9.0, VT.number, 'The lateral derivative gain, default is 9.0 for TSS2 Corolla. This is active at all speeds', live=True),
-                        #'limit_rsa': Param(False, bool, "Switch off RSA above rsa_max_speed"),
+                        'limit_rsa': Param(False, bool, "Switch off RSA above rsa_max_speed"),
                         #'ludicrous_mode': Param(False, bool, 'Double overall acceleration!'),
                         'mpc_offset': Param(0.0, VT.number, 'Offset model braking by how many m/s. Lower numbers equals more model braking', live=True),
                         #'NoctuaMode': Param(False, bool, 'Noctua Fan are super quite and they run at full speed at all time.'),
                         'offset_limit': Param(0, VT.number, 'Speed at which apk percent offset will work in m/s'),
                         'osm': Param(True, bool, 'Whether to use OSM for drives'),
                         'prius_pid': Param(False, bool, 'This enables the PID lateral controller with new a experimental derivative tune\nFalse: stock INDI, True: TSS2-tuned PID'),
                         'rolling_stop': Param(False, bool, 'If you do not want stop signs to go down to 0 kph enable this for 9kph slow down'),
-                        #'rsa_max_speed': Param(24.5, VT.number, 'Speed limit to ignore RSA in m/s'),
+                        'rsa_max_speed': Param(24.5, VT.number, 'Speed limit to ignore RSA in m/s'),
                         'smart_speed': Param(True, bool, 'Whether to use Smart Speed for drives above smart_speed_max_vego'),
                         'smart_speed_max_vego': Param(26.8, VT.number, 'Speed limit to ignore Smartspeed in m/s'),
                         #'spairrowtuning': Param(False, bool, 'INDI Tuning for Corolla Tss2, set steer_up_15 param to True and flash panda'),
@@ -118,14 +118,14 @@ def __init__(self):
                         #'use_virtual_middle_line': Param(False, bool, 'For roads over 4m wide, hug right. For roads under 2m wide, hug left.'),
                         'uniqueID': Param(None, [type(None), str], 'User\'s unique ID'),
                         'enable_indi_live': Param(False, bool, live=True),
-                        'indi_inner_gain_bp': Param([0, 255, 255], [list, float, int], live=True, depends_on='enable_indi_live'),
-                        'indi_inner_gain_v': Param([6.0, 6.0, 6.0], [list, float, int], live=True, depends_on='enable_indi_live'),
-                        'indi_outer_gain_bp': Param([0, 255, 255], [list, float, int], live=True, depends_on='enable_indi_live'),
-                        'indi_outer_gain_v': Param([15, 15, 15], [list, float, int], live=True, depends_on='enable_indi_live'),
-                        'indi_time_constant_bp': Param([0, 255, 255], [list, float, int], live=True, depends_on='enable_indi_live'),
-                        'indi_time_constant_v': Param([5.5, 5.5, 5.5], [list, float, int], live=True, depends_on='enable_indi_live'),
-                        'indi_actuator_effectiveness_bp': Param([0, 255, 255], [list, float, int], live=True, depends_on='enable_indi_live'),
-                        'indi_actuator_effectiveness_v': Param([6, 6, 6], [list, float, int], live=True, depends_on='enable_indi_live'),
+                        'indi_inner_gain_bp': Param([18, 22, 26], [list, float, int], live=True, depends_on='enable_indi_live'),
+                        'indi_inner_gain_v': Param([5, 10, 15], [list, float, int], live=True, depends_on='enable_indi_live'),
+                        'indi_outer_gain_bp': Param([18, 22, 26], [list, float, int], live=True, depends_on='enable_indi_live'),
+                        'indi_outer_gain_v': Param([4, 9, 14.99], [list, float, int], live=True, depends_on='enable_indi_live'),
+                        'indi_time_constant_bp': Param([18, 22, 26], [list, float, int], live=True, depends_on='enable_indi_live'),
+                        'indi_time_constant_v': Param([2, 4, 5.5], [list, float, int], live=True, depends_on='enable_indi_live'),
+                        'indi_actuator_effectiveness_bp': Param([18, 22, 26], [list, float, int], live=True, depends_on='enable_indi_live'),
+                        'indi_actuator_effectiveness_v': Param([5, 10, 15], [list, float, int], live=True, depends_on='enable_indi_live'),
                         'steer_limit_timer': Param(0.4, VT.number, live=True, depends_on='enable_indi_live')
                        }