Ford: use CADS radar interface #24296
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ReFil
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Apr 22, 2022
ReFil
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Apr 22, 2022
ReFil
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Apr 22, 2022
incognitojam
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Apr 22, 2022
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Seems quite good, but can be really noisy with lots of points for different static objects. @ReFil suggested filtering the points using |
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The RCS values of vehicles are in the range of -12 to 26 dbsm |
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Any idea what |
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Apr 24, 2022
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Filtering with
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Can you keep the old radar parser around too? |
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I think this is ready for a quick review to make sure I'm supporting both radars in a good way Is there a better name to use than "fusion radar"? |
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ford Fusion radar is the Delphi ESR I believe
Sent from Proton Mail mobile
…-------- Original Message --------
On 16 Jul 2022, 12:08, Cameron Clough wrote:
I think this is ready for review now, to make sure I'm supporting both radars in a good way
Is there a better name to use than "fusion radar"?
—
Reply to this email directly, [view it on GitHub](#24296 (comment)), or [unsubscribe](https://github.com/notifications/unsubscribe-auth/AHT2XX7YJ4QV3XA6B3WA7YTVUKJ2ZANCNFSM5UCBZXCA).
You are receiving this because you were mentioned.Message ID: ***@***.***>
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renamed them to |
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Got a test route for me? |
Co-authored-by: ReFil <31960031+ReFil@users.noreply.github.com>
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Sorry I didn't have one ready and I haven't been able to drive all week - hopefully will have one today! |
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I think the CI fail was something to do with loading a demo route? |
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@adeebshihadeh |
jeroenlammersma
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Aug 24, 2022
#3) * Rename KIA_NIRO_HEV to KIA_NIRO_PHEV (commaai#24216) * Add car port: Kia Niro Plug-In Hybrid 2018 * Add additional FW version * Low speed lockout 32 MPH * Add test route * min_steer_speed in CarInfo * Remove min_steer_speed from CarInfo * Add to CARS.md * run generator * update min enable speed and regen * update ci routes * these are the same car * i think we only add a note if it's a new platform * fix HEV -> PHEV * Add test route * dup fw * haha we already support this car in commaai#25187 Co-authored-by: Shane Smiskol <shane@smiskol.com> * GM pcmCruise: cancel more reliably (commaai#25454) * Cancel more reliably * Apply suggestions from code review * Try sending multiple * Apply suggestions from code review * Apply suggestions from code review * Update selfdrive/car/gm/carcontroller.py * lower rate a bit * try this * Update selfdrive/car/gm/carcontroller.py * bump panda * Car docs: add more videos (commaai#25494) * Add Civic video * add mazda cx-9 2022 video link * GM Bolt EUV: update supported packages (commaai#25496) * Update values.py * Update selfdrive/car/gm/values.py Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * update docs Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * Hyundai: common CAN-FD gear signal (commaai#25498) * Hyundai: common CAN-FD gear signal * bump opendbc * GM: Chevy Silverado 2020-21 support (commaai#25429) * Silverado support Co-authored-by: Jason Shuler <jshuler@gmail.com> * Update docs * Try 2 m/s/s * Should be good torque values * Add Silverado test route * Add to releases * Send counter * can't send multiple or it faults * Send at 33hz, no counter * try 25hz, don't line up exactly with car's buttons * never tried 10hz with same counter * Update selfdrive/car/gm/gmcan.py * Make same as pcmCruise branch * update year and package (different packages needed per-trim) * Update year in releases * Revert to 21 * We can use this package name again * wrong one! Co-authored-by: Shane Smiskol <shane@smiskol.com> * Show CAN error if message counters are invalid (commaai#25497) * counter check affects can valid * Apply suggestions from code review * bump to master * Hyundai: Car Port for Tucson Hybrid 2022 (commaai#25276) * Hyundai: Car Port for Tucson Hybrid 2022 * Update RELEASES.md * Init gear_msg at the top * FW versions from script * Button send attempt * start with some cleanup * Send button fixed bits * Define all bytes and only send PAUSE/RESUME * Use CRUISE_INFO to cancel cruise and resume * 8-bit counter * Cleanup ish * 8 bit counter * Send at 20ms * Disengage bits * Revert bump submodules * Allow tx on 0x1a0 * Fix byte counts * Send LFA and HDA icons based on engageability * Send cruise buttons only on HDA2 cars for now * Add comments * Add FLAG_HYUNDAI_CANFD_HDA2 flag * Update interface.py * Update carstate.py * Update carstate.py * Update carstate.py * Bump submodules * Bump panda * Bump opendbc * Allow tx with CRUISE_INACTIVE * GEAR has 24 bytes only * Generate car docs * Fix CRUISE_INFO copy * Remove unused class * Add CAN-FD busses to unit test * Bump opendbc * Revert "Add CAN-FD busses to unit test" This reverts commit 2f75164. * Remove duplicate * New tune based on data * Panda safety cleanup * Include bus 0 in rx checks * Missed one * bus 6 check * Remove redundant check * Add comments * Bump opendbc * Sync with DBC * Hide LFA icon when disengaged * Little endian * fix comment * more conditions in carcontroller * update pedal signal * update tuning * cleanup carcontroller * bump panda * fix mismatch * alt buttons * little more cleanup * update refs for EV6 new safety param * bump panda Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * remove old boardd stuff * Ford: add CADS radar interface (commaai#24296) * Ford: use FORD_CADS radar dbc * Ford: CADS radar interface impl Co-authored-by: ReFil <31960031+ReFil@users.noreply.github.com> * fixup radar interface for FORD_CADS dbc * CADS treat different scan indexes as separate points * Ford: support both Fusion and CADS radars * Ford: rename radars to DELPHI_ESR and DELPHI_MRR Co-authored-by: ReFil <31960031+ReFil@users.noreply.github.com> * 0.8.16 release notes * test_models: no CAN invalid tolerance (commaai#25501) * don't use end of route segment * no can invalid cnt tolerance * start checking can valid immediately once available * we check counter violations * README.md: update grammar (commaai#25488) * first paragraph * second section * second section pt2 * third section * fifth section * fifth section pt2 * sixth section * Apply suggestions from code review Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * setup: perform all pyenv setup in a single place (commaai#23408) * consolidate pyenv setup * cleanup openpilot_env.sh * undo openpilot_env.sh changes * needed on mac * add that back Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * v4l_encoder: free buf_out in destructor (commaai#25044) * test onroad: update dmonitoringd cpu usage * CI: Actions cleanup + speedup (commaai#25514) * actions cache cleanup * release build cleanup * fetch dpeth * sim: fix gps message (commaai#25521) fix gps timestamp field renamed bug introduced in commaai/msgq#341 * GMC: Sierra 2020-21 support (commaai#25523) * Add Sierra * actually this package works * add to releases * credit * GM: add Silverado 2021 High Country FP (commaai#25499) * Add FP from 61c6258cac78af08 * add to dict * Update Silverado release note (commaai#25526) * Translations badges: concatenate into one badge (commaai#25522) * add badge done correctly works Update translation_badge.svg Update translation_badge.svg Update translation_badge.svg Update README.md Update translation_badge.svg Update translation_badge.svg Update translation_badge.svg Update badge Update README.md test this try this finalize remove badges fixup readme add to test fix fix rm * clean up * no formats * Fix badge workflow * user event flagging (commaai#25517) * setup home_btn in sidebar * create UserFlag msg * replay: show and skip to user flags * update translations * bump to cereal master * remove comment Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * Update translations * Toyota: add missing engine and esp FW for Corolla Cross Hybrid (commaai#25532) add missing engine and esp FW for CorollaCross Hybrid DongleId 147613502316e718 * HKG: Add FW for 2018 Kia Stinger (commaai#25531) * HKG: Add FW for 2008 Kia Stinger * 2018 in disguise Co-authored-by: Shane Smiskol <shane@smiskol.com> * test_models: pass carFw into car interface (commaai#25535) pass carFw into get_params * Add Thai translations (commaai#25189) * Add Thai translations * update to add plurals remove * Update translations * Update Thai translation to match English source. * Add to badges * use shorter km/h * Add test for correct format specifier for plural translations * pass new test * Update some sentences to make it clear. Change short form of some words. * Hide from the UI Co-authored-by: Shane Smiskol <shane@smiskol.com> * update car candidate docs (commaai#25536) * update car candidate docs * little more * that's a nice wikipedia * quotes * Silence a PytestCollectionWarning (commaai#25537) Silence PytestCollectionWarning: cannot collect test class 'TestRoute' because it has a __new__ constructor (from: test_models.py) * bump version to 0.8.17 * Toyota: log stockAeb on non-TSS2 cars (commaai#25489) * check PRE_COLLISION * need to make sure this is right * revert * temp, stash * fixes * uncomment that * it's not really cruise/pcm, but acc remove improt * revert * Fix CI * revert exception * Revert "revert exception" This reverts commit 7e2f390. * this tested enableDsu, but we have other routes that do that * use segment from db * remove exception again Co-authored-by: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Co-authored-by: Shane Smiskol <shane@smiskol.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Jason Shuler <jshuler@gmail.com> Co-authored-by: Cameron Clough <cameronjclough@gmail.com> Co-authored-by: ReFil <31960031+ReFil@users.noreply.github.com> Co-authored-by: Joseph Wagner <68037585+wjoseph0@users.noreply.github.com> Co-authored-by: Greg Hogan <gregjhogan@gmail.com> Co-authored-by: Dean Lee <deanlee3@gmail.com> Co-authored-by: AlexandreSato <66435071+AlexandreSato@users.noreply.github.com> Co-authored-by: Rewat S <76684800+taperec@users.noreply.github.com>
sshane
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Aug 31, 2022
* Add Dutch translations (Nederlands) * Dutch translation improvements * Use Qt's plurals * Improvements to translations Thanks for the review Willem! Co-authored-by: Willem Melching <willem.melching@gmail.com> * Shortened a translation to fit screen Shortened 'Show map on left side when in split screen view.' translation * update translations * Shortened 2 translations * Fix test * Changed 'CONTROLEREN' to 'CONTROLEER' * Merge remote-tracking branch 'upstream/master' into dutch-translations (#3) * Rename KIA_NIRO_HEV to KIA_NIRO_PHEV (#24216) * Add car port: Kia Niro Plug-In Hybrid 2018 * Add additional FW version * Low speed lockout 32 MPH * Add test route * min_steer_speed in CarInfo * Remove min_steer_speed from CarInfo * Add to CARS.md * run generator * update min enable speed and regen * update ci routes * these are the same car * i think we only add a note if it's a new platform * fix HEV -> PHEV * Add test route * dup fw * haha we already support this car in #25187 Co-authored-by: Shane Smiskol <shane@smiskol.com> * GM pcmCruise: cancel more reliably (#25454) * Cancel more reliably * Apply suggestions from code review * Try sending multiple * Apply suggestions from code review * Apply suggestions from code review * Update selfdrive/car/gm/carcontroller.py * lower rate a bit * try this * Update selfdrive/car/gm/carcontroller.py * bump panda * Car docs: add more videos (#25494) * Add Civic video * add mazda cx-9 2022 video link * GM Bolt EUV: update supported packages (#25496) * Update values.py * Update selfdrive/car/gm/values.py Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * update docs Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * Hyundai: common CAN-FD gear signal (#25498) * Hyundai: common CAN-FD gear signal * bump opendbc * GM: Chevy Silverado 2020-21 support (#25429) * Silverado support Co-authored-by: Jason Shuler <jshuler@gmail.com> * Update docs * Try 2 m/s/s * Should be good torque values * Add Silverado test route * Add to releases * Send counter * can't send multiple or it faults * Send at 33hz, no counter * try 25hz, don't line up exactly with car's buttons * never tried 10hz with same counter * Update selfdrive/car/gm/gmcan.py * Make same as pcmCruise branch * update year and package (different packages needed per-trim) * Update year in releases * Revert to 21 * We can use this package name again * wrong one! Co-authored-by: Shane Smiskol <shane@smiskol.com> * Show CAN error if message counters are invalid (#25497) * counter check affects can valid * Apply suggestions from code review * bump to master * Hyundai: Car Port for Tucson Hybrid 2022 (#25276) * Hyundai: Car Port for Tucson Hybrid 2022 * Update RELEASES.md * Init gear_msg at the top * FW versions from script * Button send attempt * start with some cleanup * Send button fixed bits * Define all bytes and only send PAUSE/RESUME * Use CRUISE_INFO to cancel cruise and resume * 8-bit counter * Cleanup ish * 8 bit counter * Send at 20ms * Disengage bits * Revert bump submodules * Allow tx on 0x1a0 * Fix byte counts * Send LFA and HDA icons based on engageability * Send cruise buttons only on HDA2 cars for now * Add comments * Add FLAG_HYUNDAI_CANFD_HDA2 flag * Update interface.py * Update carstate.py * Update carstate.py * Update carstate.py * Bump submodules * Bump panda * Bump opendbc * Allow tx with CRUISE_INACTIVE * GEAR has 24 bytes only * Generate car docs * Fix CRUISE_INFO copy * Remove unused class * Add CAN-FD busses to unit test * Bump opendbc * Revert "Add CAN-FD busses to unit test" This reverts commit 2f75164. * Remove duplicate * New tune based on data * Panda safety cleanup * Include bus 0 in rx checks * Missed one * bus 6 check * Remove redundant check * Add comments * Bump opendbc * Sync with DBC * Hide LFA icon when disengaged * Little endian * fix comment * more conditions in carcontroller * update pedal signal * update tuning * cleanup carcontroller * bump panda * fix mismatch * alt buttons * little more cleanup * update refs for EV6 new safety param * bump panda Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * remove old boardd stuff * Ford: add CADS radar interface (#24296) * Ford: use FORD_CADS radar dbc * Ford: CADS radar interface impl Co-authored-by: ReFil <31960031+ReFil@users.noreply.github.com> * fixup radar interface for FORD_CADS dbc * CADS treat different scan indexes as separate points * Ford: support both Fusion and CADS radars * Ford: rename radars to DELPHI_ESR and DELPHI_MRR Co-authored-by: ReFil <31960031+ReFil@users.noreply.github.com> * 0.8.16 release notes * test_models: no CAN invalid tolerance (#25501) * don't use end of route segment * no can invalid cnt tolerance * start checking can valid immediately once available * we check counter violations * README.md: update grammar (#25488) * first paragraph * second section * second section pt2 * third section * fifth section * fifth section pt2 * sixth section * Apply suggestions from code review Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * setup: perform all pyenv setup in a single place (#23408) * consolidate pyenv setup * cleanup openpilot_env.sh * undo openpilot_env.sh changes * needed on mac * add that back Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * v4l_encoder: free buf_out in destructor (#25044) * test onroad: update dmonitoringd cpu usage * CI: Actions cleanup + speedup (#25514) * actions cache cleanup * release build cleanup * fetch dpeth * sim: fix gps message (#25521) fix gps timestamp field renamed bug introduced in commaai/msgq#341 * GMC: Sierra 2020-21 support (#25523) * Add Sierra * actually this package works * add to releases * credit * GM: add Silverado 2021 High Country FP (#25499) * Add FP from 61c6258cac78af08 * add to dict * Update Silverado release note (#25526) * Translations badges: concatenate into one badge (#25522) * add badge done correctly works Update translation_badge.svg Update translation_badge.svg Update translation_badge.svg Update README.md Update translation_badge.svg Update translation_badge.svg Update translation_badge.svg Update badge Update README.md test this try this finalize remove badges fixup readme add to test fix fix rm * clean up * no formats * Fix badge workflow * user event flagging (#25517) * setup home_btn in sidebar * create UserFlag msg * replay: show and skip to user flags * update translations * bump to cereal master * remove comment Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * Update translations * Toyota: add missing engine and esp FW for Corolla Cross Hybrid (#25532) add missing engine and esp FW for CorollaCross Hybrid DongleId 147613502316e718 * HKG: Add FW for 2018 Kia Stinger (#25531) * HKG: Add FW for 2008 Kia Stinger * 2018 in disguise Co-authored-by: Shane Smiskol <shane@smiskol.com> * test_models: pass carFw into car interface (#25535) pass carFw into get_params * Add Thai translations (#25189) * Add Thai translations * update to add plurals remove * Update translations * Update Thai translation to match English source. * Add to badges * use shorter km/h * Add test for correct format specifier for plural translations * pass new test * Update some sentences to make it clear. Change short form of some words. * Hide from the UI Co-authored-by: Shane Smiskol <shane@smiskol.com> * update car candidate docs (#25536) * update car candidate docs * little more * that's a nice wikipedia * quotes * Silence a PytestCollectionWarning (#25537) Silence PytestCollectionWarning: cannot collect test class 'TestRoute' because it has a __new__ constructor (from: test_models.py) * bump version to 0.8.17 * Toyota: log stockAeb on non-TSS2 cars (#25489) * check PRE_COLLISION * need to make sure this is right * revert * temp, stash * fixes * uncomment that * it's not really cruise/pcm, but acc remove improt * revert * Fix CI * revert exception * Revert "revert exception" This reverts commit 7e2f390. * this tested enableDsu, but we have other routes that do that * use segment from db * remove exception again Co-authored-by: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Co-authored-by: Shane Smiskol <shane@smiskol.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Jason Shuler <jshuler@gmail.com> Co-authored-by: Cameron Clough <cameronjclough@gmail.com> Co-authored-by: ReFil <31960031+ReFil@users.noreply.github.com> Co-authored-by: Joseph Wagner <68037585+wjoseph0@users.noreply.github.com> Co-authored-by: Greg Hogan <gregjhogan@gmail.com> Co-authored-by: Dean Lee <deanlee3@gmail.com> Co-authored-by: AlexandreSato <66435071+AlexandreSato@users.noreply.github.com> Co-authored-by: Rewat S <76684800+taperec@users.noreply.github.com> * Update translations * Update selfdrive/ui/translations/languages.json Co-authored-by: Shane Smiskol <shane@smiskol.com> Co-authored-by: Shane Smiskol <shane@smiskol.com> Co-authored-by: Willem Melching <willem.melching@gmail.com> Co-authored-by: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Jason Shuler <jshuler@gmail.com> Co-authored-by: Cameron Clough <cameronjclough@gmail.com> Co-authored-by: ReFil <31960031+ReFil@users.noreply.github.com> Co-authored-by: Joseph Wagner <68037585+wjoseph0@users.noreply.github.com> Co-authored-by: Greg Hogan <gregjhogan@gmail.com> Co-authored-by: Dean Lee <deanlee3@gmail.com> Co-authored-by: AlexandreSato <66435071+AlexandreSato@users.noreply.github.com> Co-authored-by: Rewat S <76684800+taperec@users.noreply.github.com>
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The Focus Mk4 (and I presume Escape too) seems to use the CADS radar instead of whatever radar was used in the Fusion. I just looked at the messages in cabana and verified that the message IDs for the the Fusion radar weren't there, and that these ones were.
Thanks very much to @ReFil who wrote this 😄 I'm going to test this out today