LatControlTorque: fix deadzone and no steer saturated warning #24294
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sshane
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Apr 27, 2022
cydia2020
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Apr 27, 2022
herman5
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Apr 29, 2022
…ommaai#24294) * fix steer saturated alert and deadzone * fix and formatting * update refs * update refs * not needed * remove
bensonkwek
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May 2, 2022
* Simulator: Fix keyboard input (commaai#24320) * Fix keyboard input for simulator * add unblock_stdout() to test * Revert import change * UI: use YUV stream instead of RGB (commaai#24317) * UI: use YUV stream instead of RGB * cleanup * cleanup * UI: remove memcpy on frame receive (commaai#24318) * UI: remove frame memcpy * fix freezing * fix onroad test * ubuntu_setup.sh: support 22.04 LTS (commaai#24312) * Build on 22.04 lts - Removed python-dev from install_ubuntu_common_requirements() - Added case ubuntu 22.04 - Added install_ubuntu_21.10_requirements() - Modified install_ubuntu_latest_requirements() to include python3-dev instead of python-dev * remove 21.10 Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * Revert "onroad UI: show negative speed (commaai#23987)" This reverts commit 62087a6. * Don't build OpenCV tests in webcam docker image (commaai#24326) Building opencv tests and apps are [on by default](https://docs.opencv.org/4.x/db/d05/tutorial_config_reference.html#tutorial_config_reference_general_tests), but we don't need them. * Subaru: remove A/C fw version (commaai#24224) * Subaru: remove A/C fw version * add test to ensure the ecu isn't added again * check CP.carName * clean up one line Co-authored-by: Shane Smiskol <shane@smiskol.com> * body: remove print spam * research magic * longitudinal_mpc: Compute forward distance from velocity (commaai#24328) * add vel integ as x in e2e long mpc * add comment * VW MQB: Audi RS3 (commaai#24329) * compressed_vipc: make yuv default * regen: send vipc_client_extra frames (commaai#24331) * send extra frames to fix regen * for sanity * not used * minimal changes * pandad: better handling of internal panda failures (commaai#23755) * reset internal panda * recover * internal dfu Co-authored-by: Comma Device <device@comma.ai> * onnxruntime: initialize CUDA provider before predictions (commaai#24330) * initialize CUDA runtime before predictions * dmond pauses modeld execution... * done in other PR * HKG: only allow engagement on user button press (commaai#24140) * use deque for prev_cruise_buttons * stash * disallow engagement if resume or decel isn't pressed * fix buttons * reduce chances of causing 30-frame fault Fix clu11 drive down cancel times * Revert "reduce chances of causing 30-frame fault" This reverts commit 0f54c05. * consider pause/resume button * stash * Revert "stash" This reverts commit 551ca7b. * sadly some cars need 8 op frames (identical to 4 updates from CLU11) * add main button * 6 should be safe * use max * clean up * change to 4 samples and process all messages received, like panda * bump panda * test: replay segments with known re-engagements on-device * Revert "test: replay segments with known re-engagements on-device" This reverts commit 9730c3c. * need prev_cruise_buttons as we don't run every CAN message through carstate * more generic * extend * Update selfdrive/car/interfaces.py Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * 3% faster at 1000000 loops * update refs Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * third_party cleanup (commaai#24336) * third_party cleanup * remove zlib * cleanup release files * always tici * Subaru: Add missing FW versions for Forester 2019 and Impreza 2020 (commaai#24225) * Add FPv2: Subaru Crosstrek 2020 Sport (Canada), a2af7643da1d4017|2022-04-14--12-00-31 * Add FPv2: 2021 Subaru Forester Sport, c2f528d49fe19d53|2022-04-13--20-11-17 * Add FPv2: 2020 Subaru Crosstrek Limited, 0f33f7a9d1949fa6|2022-04-13--14-44-02 * Update FPv2: 2019 Subaru Forester Sport, f6e178e18ba27ca1|2022-04-08--18-22-50 * Update FPv2: 2021 Subaru Forester Touring, 6fcb17b9ef924548|2022-04-14--05-37-28 * Add FPv2: 2019 Subaru Forester Limited, a447729c1d15ff89|2022-04-13--17-54-27 * Add fw for a2af7643da1d4017|2022-04-14--18-21-57 for IMPREZA SPORT 2020 * Add fw for a447729c1d15ff89|2021-12-27--15-35-46 for FORESTER 2019 * Add fw from c2f528d49fe19d53|2022-02-19--13-44-43 for FORESTER 2019 Co-authored-by: Shane Smiskol <shane@smiskol.com> * Honda: Add FW for 2021 Honda Passport Elite (commaai#24255) * LatControlTorque: fix deadzone and missing steer saturated warning (commaai#24294) * fix steer saturated alert and deadzone * fix and formatting * update refs * update refs * not needed * remove * report crashes to my project * save crash to file * offline crash reporting works offline crash reporting works * remove disengage_on_gas opParam * Add --warn-redundant-casts to mypy checks (commaai#24304) * add mypy checks for redundant-casts and unused-ignores * revert unnecessary changes * ignore Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * Toyota: add safety param flag for alt brake message (commaai#24341) * Toyota: add safety param flag for alt brake message * update refs * update refs * bump panda * Update RELEASES.md * Update RELEASES.md * Update RELEASES.md * Toyota: fill stockFcw signal (commaai#24324) * fill stockFcw * only TSS2 car for now * mypy: enable --warn-unused-ignores (commaai#24287) * this is the easy part to check * Not sure what this fixes, commaai@8aaf00c * bump laika * works here * cleanup * add types-certifi Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * fix panda_jungle static analysis * Update RELEASES.md * more release notes * Update can_replay.py (commaai#24346) Fixed typo from PandaJugnle to PandaJungle * Fix PlotJuggler saved tuning layout (commaai#24347) * Clean up controllers (commaai#24340) * clean up lat controllers * pass CP once * sort * ui: only open map pane when route is not empty (commaai#24352) * camerad: don't remap everything every time (commaai#24334) * premap the buffers * memory manager * free buffers properly, alignment seems okay * update camerad CPU usage * cam_sync_fd * useless line, and use the define * cheap prereqs for multistream Co-authored-by: Comma Device <device@comma.ai> * Fix can replay Jungle warning (commaai#24364) * Accept resumeCruise for resuming prior speed setpoint (commaai#24348) * accept two button types for resume * retry CI * Update selfdrive/controls/lib/drive_helpers.py Co-authored-by: Shane Smiskol <shane@smiskol.com> * safety param: make uint16_t (commaai#24362) * only use half of the available bytes * move to set_safety_model * regen and update refs * last two * bump to master * controlsd: add lagging alert (commaai#24360) * controlsd: add lagging alert * move those * just this for now * no camera malfunction * jenkins: reduce timeout to 20 minutes * Support RAV4 Hybrid 2022 with stock longitudinal (commaai#23969) * add panda flag for toyota stock long with camera * clean up * Add 2022 RAV4 Hybrid from Philly * fix wrong fw in interface, did this ever work? * Must be a hybrid * no radar parsing * fix can error * move to own platform * generate docs * fix * Add 2022 Rav4 XSE Australia fingerprint parameters (commaai#24303) * Update values.py Add 2022 Rav4 XSE Australia * add commas Co-authored-by: Shane Smiskol <shane@smiskol.com> * bump panda * wait, the camera doesn't even send 0x343, right? * use a set instead, more obvious * don't test without a parser * bump panda * flip panda flag * bump panda * add commas * regen and update refs * set to none by default * revert parenthesis * update comment * bump panda * regen and update refs * add test models and update readme * bump to master Co-authored-by: BrettLynch123 <34538435+BrettLynch123@users.noreply.github.com> * Add no disengage on accelerator to release notes (commaai#24365) * add ndog to releases * aligns with latActive * note to split it up and describe what it does * Update RELEASES.md Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * Simulator: Fix CI and set low_quality default (commaai#24354) * Change low_quality argument and fix closing carla bridge * Some fixes * Change carla process in test * Change fov to 120, higher doesn't look good * Update readme and remove redundant test * update * Add folder description * Revert "camerad: don't remap everything every time (commaai#24334)" (commaai#24370) This reverts commit fb7d848. * camerad: less ioctls try 2 (commaai#24371) * premap the buffers * memory manager * free buffers properly, alignment seems okay * update camerad CPU usage * cam_sync_fd * useless line, and use the define * cheap prereqs for multistream Co-authored-by: Comma Device <device@comma.ai> * VW MQB: Add FW for 2019 Volkswagen Tiguan (commaai#24373) * ui: combine OnroadHud into NvgWindow (commaai#24369) * ui: combine OnroadHUD and NVGWindow * draw hud first * cleanup * removed commented line * fix text rendering * increase cpu usage * power draw test improvements (commaai#24368) Co-authored-by: Comma Device <device@comma.ai> * fix missing super().__init__() for LatControlModel * Latency logger bad data robustness (commaai#24343) * robustness against bad data * sort by time logreader * loop until last frameid * controlsd: better alert precedence for system malfunctions (commaai#24366) * controlsd: better alert precedence for system malfunctions * down to 20 * move that * check can flags * update refs * update refs * Update latcontrol_model.py * fix * Update latcontrol_model.py * Toyota: Add FW versions for RAV4 Hybrid 2022 (commaai#24374) * Subaru: Add fwdCamera FW for 2018 Crosstrek (commaai#24377) * Fix spelling in dump.py help output (commaai#24381) * loggerd: switch to v4l encoder try 2 (commaai#24380) * start v4l encoder * v4l encoder starts * start and stop * fill in proper controls * it dequeued a buffer * getting bytes * it made a video * it does make files * getting close * ahh, so that's how dequeue works * qcam works (no remuxing) * remuxing works * we just need to make shutdown and rollover graceful * graceful destruction * switch to polling * should work now * fix pc build * refactors, stop properly * touchups, remove a copy * add v4l encoder to release * inlcude file * move writing to it's own thread * fix minor memory leak * block instead of dropping frames * add counter, fix tests maybe * better debugging and test print * print file path in assert * format string in test * no more oversized qlogs * match qcam * touchups, remove omx encoder * remove omx include files * checked ioctl, better debugging, open by name * unused import * move linux includes to third_party/linux/include * simple encoderd * full packet * encoderd should be complete * lagging print * updates * name dq thread * subset idx * video file writing works * debug * potential bugfix * rotation works * iframe * keep writing support * ci should pass * loggerd, not encoderd * remote encoder code * support remote encoder * cereal to master, add encoderd * header no longer required * put that back there * realtime * lower decoder latency * don't use queue for VisionIpcBufExtra, disable realtime again * assert all written * hmm simpler * only push to to_write if we are writing * assert timestamp is right * use at and remove assert * revert to queue Co-authored-by: Comma Device <device@comma.ai> * bump cereal * body: add fuelGauge to body carState (commaai#24386) * lines for mypy report * UI: remove unused lock and fence (commaai#24355) Co-authored-by: Gijs Koning <gijs-koning@live.nl> Co-authored-by: Joost Wooning <jwooning@gmail.com> Co-authored-by: MT <104254025+MoreTore@users.noreply.github.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Cameron Clough <cameronjclough@gmail.com> Co-authored-by: martinl <martin@mlp.ee> Co-authored-by: Shane Smiskol <shane@smiskol.com> Co-authored-by: Comma Device <device@comma.ai> Co-authored-by: Vivek Aithal <vivekaithal44@gmail.com> Co-authored-by: Jason Young <46612682+jyoung8607@users.noreply.github.com> Co-authored-by: George Hotz <george@comma.ai> Co-authored-by: Jackson Smith <rjsmith1999@gmail.com> Co-authored-by: Dylan Herman <d.herman56@gmail.com> Co-authored-by: HaraldSchafer <harald.the.engineer@gmail.com> Co-authored-by: ZwX1616 <zwx1616@gmail.com> Co-authored-by: grekiki <96022003+GregorKikelj@users.noreply.github.com> Co-authored-by: Daniel <35647712+BadOlives@users.noreply.github.com> Co-authored-by: Willem Melching <willem.melching@gmail.com> Co-authored-by: George Hotz <72895+geohot@users.noreply.github.com> Co-authored-by: BrettLynch123 <34538435+BrettLynch123@users.noreply.github.com> Co-authored-by: Lukas Petersson <lukas.petersson.1999@gmail.com> Co-authored-by: Keyvan Fatehi <keyvanfatehi@gmail.com>
bensonkwek
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May 2, 2022
* Simulator: Fix keyboard input (commaai#24320) * Fix keyboard input for simulator * add unblock_stdout() to test * Revert import change * UI: use YUV stream instead of RGB (commaai#24317) * UI: use YUV stream instead of RGB * cleanup * cleanup * UI: remove memcpy on frame receive (commaai#24318) * UI: remove frame memcpy * fix freezing * fix onroad test * ubuntu_setup.sh: support 22.04 LTS (commaai#24312) * Build on 22.04 lts - Removed python-dev from install_ubuntu_common_requirements() - Added case ubuntu 22.04 - Added install_ubuntu_21.10_requirements() - Modified install_ubuntu_latest_requirements() to include python3-dev instead of python-dev * remove 21.10 Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * Revert "onroad UI: show negative speed (commaai#23987)" This reverts commit 62087a6. * Don't build OpenCV tests in webcam docker image (commaai#24326) Building opencv tests and apps are [on by default](https://docs.opencv.org/4.x/db/d05/tutorial_config_reference.html#tutorial_config_reference_general_tests), but we don't need them. * Subaru: remove A/C fw version (commaai#24224) * Subaru: remove A/C fw version * add test to ensure the ecu isn't added again * check CP.carName * clean up one line Co-authored-by: Shane Smiskol <shane@smiskol.com> * body: remove print spam * research magic * longitudinal_mpc: Compute forward distance from velocity (commaai#24328) * add vel integ as x in e2e long mpc * add comment * VW MQB: Audi RS3 (commaai#24329) * compressed_vipc: make yuv default * regen: send vipc_client_extra frames (commaai#24331) * send extra frames to fix regen * for sanity * not used * minimal changes * pandad: better handling of internal panda failures (commaai#23755) * reset internal panda * recover * internal dfu Co-authored-by: Comma Device <device@comma.ai> * onnxruntime: initialize CUDA provider before predictions (commaai#24330) * initialize CUDA runtime before predictions * dmond pauses modeld execution... * done in other PR * HKG: only allow engagement on user button press (commaai#24140) * use deque for prev_cruise_buttons * stash * disallow engagement if resume or decel isn't pressed * fix buttons * reduce chances of causing 30-frame fault Fix clu11 drive down cancel times * Revert "reduce chances of causing 30-frame fault" This reverts commit 0f54c05. * consider pause/resume button * stash * Revert "stash" This reverts commit 551ca7b. * sadly some cars need 8 op frames (identical to 4 updates from CLU11) * add main button * 6 should be safe * use max * clean up * change to 4 samples and process all messages received, like panda * bump panda * test: replay segments with known re-engagements on-device * Revert "test: replay segments with known re-engagements on-device" This reverts commit 9730c3c. * need prev_cruise_buttons as we don't run every CAN message through carstate * more generic * extend * Update selfdrive/car/interfaces.py Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * 3% faster at 1000000 loops * update refs Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * third_party cleanup (commaai#24336) * third_party cleanup * remove zlib * cleanup release files * always tici * Subaru: Add missing FW versions for Forester 2019 and Impreza 2020 (commaai#24225) * Add FPv2: Subaru Crosstrek 2020 Sport (Canada), a2af7643da1d4017|2022-04-14--12-00-31 * Add FPv2: 2021 Subaru Forester Sport, c2f528d49fe19d53|2022-04-13--20-11-17 * Add FPv2: 2020 Subaru Crosstrek Limited, 0f33f7a9d1949fa6|2022-04-13--14-44-02 * Update FPv2: 2019 Subaru Forester Sport, f6e178e18ba27ca1|2022-04-08--18-22-50 * Update FPv2: 2021 Subaru Forester Touring, 6fcb17b9ef924548|2022-04-14--05-37-28 * Add FPv2: 2019 Subaru Forester Limited, a447729c1d15ff89|2022-04-13--17-54-27 * Add fw for a2af7643da1d4017|2022-04-14--18-21-57 for IMPREZA SPORT 2020 * Add fw for a447729c1d15ff89|2021-12-27--15-35-46 for FORESTER 2019 * Add fw from c2f528d49fe19d53|2022-02-19--13-44-43 for FORESTER 2019 Co-authored-by: Shane Smiskol <shane@smiskol.com> * Honda: Add FW for 2021 Honda Passport Elite (commaai#24255) * LatControlTorque: fix deadzone and missing steer saturated warning (commaai#24294) * fix steer saturated alert and deadzone * fix and formatting * update refs * update refs * not needed * remove * report crashes to my project * save crash to file * offline crash reporting works offline crash reporting works * remove disengage_on_gas opParam * Add --warn-redundant-casts to mypy checks (commaai#24304) * add mypy checks for redundant-casts and unused-ignores * revert unnecessary changes * ignore Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * Toyota: add safety param flag for alt brake message (commaai#24341) * Toyota: add safety param flag for alt brake message * update refs * update refs * bump panda * Update RELEASES.md * Update RELEASES.md * Update RELEASES.md * Toyota: fill stockFcw signal (commaai#24324) * fill stockFcw * only TSS2 car for now * mypy: enable --warn-unused-ignores (commaai#24287) * this is the easy part to check * Not sure what this fixes, commaai@8aaf00c * bump laika * works here * cleanup * add types-certifi Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * fix panda_jungle static analysis * Update RELEASES.md * more release notes * Update can_replay.py (commaai#24346) Fixed typo from PandaJugnle to PandaJungle * Fix PlotJuggler saved tuning layout (commaai#24347) * Clean up controllers (commaai#24340) * clean up lat controllers * pass CP once * sort * ui: only open map pane when route is not empty (commaai#24352) * camerad: don't remap everything every time (commaai#24334) * premap the buffers * memory manager * free buffers properly, alignment seems okay * update camerad CPU usage * cam_sync_fd * useless line, and use the define * cheap prereqs for multistream Co-authored-by: Comma Device <device@comma.ai> * Fix can replay Jungle warning (commaai#24364) * Accept resumeCruise for resuming prior speed setpoint (commaai#24348) * accept two button types for resume * retry CI * Update selfdrive/controls/lib/drive_helpers.py Co-authored-by: Shane Smiskol <shane@smiskol.com> * safety param: make uint16_t (commaai#24362) * only use half of the available bytes * move to set_safety_model * regen and update refs * last two * bump to master * controlsd: add lagging alert (commaai#24360) * controlsd: add lagging alert * move those * just this for now * no camera malfunction * jenkins: reduce timeout to 20 minutes * Support RAV4 Hybrid 2022 with stock longitudinal (commaai#23969) * add panda flag for toyota stock long with camera * clean up * Add 2022 RAV4 Hybrid from Philly * fix wrong fw in interface, did this ever work? * Must be a hybrid * no radar parsing * fix can error * move to own platform * generate docs * fix * Add 2022 Rav4 XSE Australia fingerprint parameters (commaai#24303) * Update values.py Add 2022 Rav4 XSE Australia * add commas Co-authored-by: Shane Smiskol <shane@smiskol.com> * bump panda * wait, the camera doesn't even send 0x343, right? * use a set instead, more obvious * don't test without a parser * bump panda * flip panda flag * bump panda * add commas * regen and update refs * set to none by default * revert parenthesis * update comment * bump panda * regen and update refs * add test models and update readme * bump to master Co-authored-by: BrettLynch123 <34538435+BrettLynch123@users.noreply.github.com> * Add no disengage on accelerator to release notes (commaai#24365) * add ndog to releases * aligns with latActive * note to split it up and describe what it does * Update RELEASES.md Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * Simulator: Fix CI and set low_quality default (commaai#24354) * Change low_quality argument and fix closing carla bridge * Some fixes * Change carla process in test * Change fov to 120, higher doesn't look good * Update readme and remove redundant test * update * Add folder description * Revert "camerad: don't remap everything every time (commaai#24334)" (commaai#24370) This reverts commit fb7d848. * camerad: less ioctls try 2 (commaai#24371) * premap the buffers * memory manager * free buffers properly, alignment seems okay * update camerad CPU usage * cam_sync_fd * useless line, and use the define * cheap prereqs for multistream Co-authored-by: Comma Device <device@comma.ai> * VW MQB: Add FW for 2019 Volkswagen Tiguan (commaai#24373) * ui: combine OnroadHud into NvgWindow (commaai#24369) * ui: combine OnroadHUD and NVGWindow * draw hud first * cleanup * removed commented line * fix text rendering * increase cpu usage * power draw test improvements (commaai#24368) Co-authored-by: Comma Device <device@comma.ai> * fix missing super().__init__() for LatControlModel * Latency logger bad data robustness (commaai#24343) * robustness against bad data * sort by time logreader * loop until last frameid * controlsd: better alert precedence for system malfunctions (commaai#24366) * controlsd: better alert precedence for system malfunctions * down to 20 * move that * check can flags * update refs * update refs * Update latcontrol_model.py * fix * Update latcontrol_model.py * Toyota: Add FW versions for RAV4 Hybrid 2022 (commaai#24374) * Subaru: Add fwdCamera FW for 2018 Crosstrek (commaai#24377) * Fix spelling in dump.py help output (commaai#24381) * loggerd: switch to v4l encoder try 2 (commaai#24380) * start v4l encoder * v4l encoder starts * start and stop * fill in proper controls * it dequeued a buffer * getting bytes * it made a video * it does make files * getting close * ahh, so that's how dequeue works * qcam works (no remuxing) * remuxing works * we just need to make shutdown and rollover graceful * graceful destruction * switch to polling * should work now * fix pc build * refactors, stop properly * touchups, remove a copy * add v4l encoder to release * inlcude file * move writing to it's own thread * fix minor memory leak * block instead of dropping frames * add counter, fix tests maybe * better debugging and test print * print file path in assert * format string in test * no more oversized qlogs * match qcam * touchups, remove omx encoder * remove omx include files * checked ioctl, better debugging, open by name * unused import * move linux includes to third_party/linux/include * simple encoderd * full packet * encoderd should be complete * lagging print * updates * name dq thread * subset idx * video file writing works * debug * potential bugfix * rotation works * iframe * keep writing support * ci should pass * loggerd, not encoderd * remote encoder code * support remote encoder * cereal to master, add encoderd * header no longer required * put that back there * realtime * lower decoder latency * don't use queue for VisionIpcBufExtra, disable realtime again * assert all written * hmm simpler * only push to to_write if we are writing * assert timestamp is right * use at and remove assert * revert to queue Co-authored-by: Comma Device <device@comma.ai> * bump cereal * body: add fuelGauge to body carState (commaai#24386) * lines for mypy report * UI: remove unused lock and fence (commaai#24355) Co-authored-by: Gijs Koning <gijs-koning@live.nl> Co-authored-by: Joost Wooning <jwooning@gmail.com> Co-authored-by: MT <104254025+MoreTore@users.noreply.github.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Cameron Clough <cameronjclough@gmail.com> Co-authored-by: martinl <martin@mlp.ee> Co-authored-by: Shane Smiskol <shane@smiskol.com> Co-authored-by: Comma Device <device@comma.ai> Co-authored-by: Vivek Aithal <vivekaithal44@gmail.com> Co-authored-by: Jason Young <46612682+jyoung8607@users.noreply.github.com> Co-authored-by: George Hotz <george@comma.ai> Co-authored-by: Jackson Smith <rjsmith1999@gmail.com> Co-authored-by: Dylan Herman <d.herman56@gmail.com> Co-authored-by: HaraldSchafer <harald.the.engineer@gmail.com> Co-authored-by: ZwX1616 <zwx1616@gmail.com> Co-authored-by: grekiki <96022003+GregorKikelj@users.noreply.github.com> Co-authored-by: Daniel <35647712+BadOlives@users.noreply.github.com> Co-authored-by: Willem Melching <willem.melching@gmail.com> Co-authored-by: George Hotz <72895+geohot@users.noreply.github.com> Co-authored-by: BrettLynch123 <34538435+BrettLynch123@users.noreply.github.com> Co-authored-by: Lukas Petersson <lukas.petersson.1999@gmail.com> Co-authored-by: Keyvan Fatehi <keyvanfatehi@gmail.com>
spektor56
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May 7, 2022
…ommaai#24294) * fix steer saturated alert and deadzone * fix and formatting * update refs * update refs * not needed * remove
spektor56
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May 7, 2022
…ommaai#24294) * fix steer saturated alert and deadzone * fix and formatting * update refs * update refs * not needed * remove
rjsmith1999
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Jun 6, 2022
…ommaai#24294) * fix steer saturated alert and deadzone * fix and formatting * update refs * update refs * not needed * remove (cherry picked from commit e834b4d)
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…ommaai#24294) * fix steer saturated alert and deadzone * fix and formatting * update refs * update refs * not needed * remove (cherry picked from commit e834b4d)
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…ommaai#24294) * fix steer saturated alert and deadzone * fix and formatting * update refs * update refs * not needed * remove
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…ommaai#24294) * fix steer saturated alert and deadzone * fix and formatting * update refs * update refs * not needed * remove (cherry picked from commit e834b4d) (cherry picked from commit 0dc1c91)
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…ommaai#24294) * fix steer saturated alert and deadzone * fix and formatting * update refs * update refs * not needed * remove (cherry picked from commit e834b4d) (cherry picked from commit 0dc1c91)
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…ommaai#24294) * fix steer saturated alert and deadzone * fix and formatting * update refs * update refs * not needed * remove (cherry picked from commit e834b4d) (cherry picked from commit 0dc1c91)
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…ommaai#24294) * fix steer saturated alert and deadzone * fix and formatting * update refs * update refs * not needed * remove (cherry picked from commit e834b4d) (cherry picked from commit 0dc1c91)
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…ommaai#24294) * fix steer saturated alert and deadzone * fix and formatting * update refs * update refs * not needed * remove
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commit d066702 Author: ClockeNessMnstr <locke.dftc@gmail.com> Date: Tue Jun 7 12:41:03 2022 -0400 update DH names + notes for MPC output curvatures (commaai#24701) * update names + notes for MPC outputs "current_curvature" is not the correct description of what the MPC is outputting in it's curvature_ego state. The MPC is integrating it's free variable, curvature_rate, such that curvature[0] is actually the desired_curvature before any delay. inversely: the curvature_rate_desired is the desired rate of change to the setpoint and not the actual curvature rate. If we were to set the initial curvature = measured curvature in the MPC initiation these names would be correct. This was possibly how it was initially set up but the nomenclature here is now confusing. * more notes * match * Clarify commaai#1 commit cb82478 Author: HaraldSchafer <harald.the.engineer@gmail.com> Date: Fri May 27 10:21:02 2022 -0700 Tssp prius torque control (commaai#24669) * use llk * use steering sensor at low speed stil * Try more simple * rm prius tune * updated ref commit f1f7a0b Author: HaraldSchafer <harald.the.engineer@gmail.com> Date: Tue May 24 17:52:33 2022 -0700 Rerevert torque control (commaai#24649) * Revert "Revert torque control (commaai#24565)" This reverts commit 9f8b037. * Move tune out of car specific stuff * Update ref commit commit 041c255 Author: HaraldSchafer <harald.the.engineer@gmail.com> Date: Tue May 17 19:00:57 2022 -0700 Revert torque control (commaai#24565) * torque reversal start * Fix carmodel tests * Update ref * update ref * Elif is better than if commit 14f5dab Author: HaraldSchafer <harald.the.engineer@gmail.com> Date: Fri May 20 13:50:47 2022 -0700 Latcontrol torque: integrator need not be reset (commaai#24606) slow integrators need not be reset commit 9221f3f Author: ClockeNessMnstr <locke.dftc@gmail.com> Date: Fri May 13 19:52:20 2022 -0400 LatControlTorque: clean up class variable (commaai#24526) * move to super * no class variable * there's CP * whitespace * drop CI from latcontrol super * Revert "drop CI from latcontrol super" This reverts commit 9218273. Co-authored-by: Shane Smiskol <shane@smiskol.com> commit efb4dbd Author: HaraldSchafer <harald.the.engineer@gmail.com> Date: Fri May 6 22:17:21 2022 -0700 Latcontrol torque: fix integrator induced ping pong (commaai#24458) * Latcontrol torque: fix integrator induced ping pong * Reset on disengage since unwind resets anywayh * Might be overkill * rm whitespace * update ref commit d105ae2 Author: HaraldSchafer <harald.the.engineer@gmail.com> Date: Mon May 2 14:42:18 2022 -0700 Latcontrol torque: update tuning (commaai#24357) * Little more chill * Update ref * Update refs commit 0ce2b58 Author: Shane Smiskol <shane@smiskol.com> Date: Thu Apr 28 00:42:52 2022 -0700 Clean up controllers (commaai#24340) * clean up lat controllers * pass CP once * sort commit 47b162c Author: Shane Smiskol <shane@smiskol.com> Date: Wed Apr 27 01:18:05 2022 -0700 LatControlTorque: fix deadzone and missing steer saturated warning (commaai#24294) * fix steer saturated alert and deadzone * fix and formatting * update refs * update refs * not needed * remove commit 51a7ef2 Author: HaraldSchafer <harald.the.engineer@gmail.com> Date: Wed Apr 20 11:26:24 2022 -0700 Latcontrol torque: max_torque rename (commaai#24265) commit 33e00f6 Author: HaraldSchafer <harald.the.engineer@gmail.com> Date: Tue Apr 19 19:34:31 2022 -0700 Lateral torque-based control with roll on TSS2 corolla and TSSP rav4 (commaai#24260) * Initial commit * Fix bugs * Need more torque rate * Cleanup cray cray control * Write nicely * Chiiil * Not relevant for cray cray control * Do some logging * Seems like it has more torque than I thought * Bit more feedforward * Tune change * Retune * Retune * Little more chill * Add coroll * Add corolla * Give craycray a good name * Update to proper logging * D to the PI * Should be in radians * Add d * Start oscillations * Add D term * Only change torque rate limits for new tune * Add d logging * Should be enough * Wrong sign in D * Downtune a little * Needed to prevent faults * Add lqr rav4 to tune * Try derivative again * Data based retune * Data based retune * add friction compensation * Doesnt need too much P with friction comp * remove lqr * Remove kd * Fix tests * fix tests * Too much error * Get roll induced error under 1cm/deg * Too much jitter * Do roll comp * Add ki * Final update * Update refs * Cleanup latcontrol_torque a little more
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Jul 12, 2022
…ommaai#24294) * fix steer saturated alert and deadzone * fix and formatting * update refs * update refs * not needed * remove
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Missing steer saturated due to adding friction after the clip, deadzone possible if friction is maxed out and PID wants to lower torque.
I believe we can't just clip the output after adding friction though, because then if we're at max PID torque (1.0) along with adding some torque from friction, and PID wants to lower torque, then it has to go through the friction component range before it becomes unclipped/unsaturated.
However, the dynamic PID clipping isn't needed if friction isn't adding to the output while PID wants to lower torque, not sure though. @HaraldSchafer what do you think?
https://user-images.githubusercontent.com/25857203/164643380-9eb26dde-eb95-4f69-868d-0c3ba5862098.png