New model: better laneless #24605
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New model: better laneless #24605
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This reverts commit 69e57eb.
haraschax
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oprdr
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May 26, 2022
* Fix ping pong * Fix hugging: e6fd3a62-aa86-46d1-a414-19137ed1babc/800 * Remove lateral toggle * a6da6265-1952-48dd-986b-2b5996dd2642/950 * Model replay commit * Revert "Remove lateral toggle" This reverts commit 69e57eb.
ntegan1
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May 27, 2022
* Fix ping pong * Fix hugging: e6fd3a62-aa86-46d1-a414-19137ed1babc/800 * Remove lateral toggle * a6da6265-1952-48dd-986b-2b5996dd2642/950 * Model replay commit * Revert "Remove lateral toggle" This reverts commit 69e57eb.
cfranyota
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Jun 1, 2022
* Fix ping pong * Fix hugging: e6fd3a62-aa86-46d1-a414-19137ed1babc/800 * Remove lateral toggle * a6da6265-1952-48dd-986b-2b5996dd2642/950 * Model replay commit * Revert "Remove lateral toggle" This reverts commit 69e57eb.
spektor56
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Jun 1, 2022
* Fix ping pong * Fix hugging: e6fd3a62-aa86-46d1-a414-19137ed1babc/800 * Remove lateral toggle * a6da6265-1952-48dd-986b-2b5996dd2642/950 * Model replay commit * Revert "Remove lateral toggle" This reverts commit 69e57eb.
spektor56
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Jun 2, 2022
* Fix ping pong * Fix hugging: e6fd3a62-aa86-46d1-a414-19137ed1babc/800 * Remove lateral toggle * a6da6265-1952-48dd-986b-2b5996dd2642/950 * Model replay commit * Revert "Remove lateral toggle" This reverts commit 69e57eb.
bensonkwek
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Jun 5, 2022
* Fix ping pong * Fix hugging: e6fd3a62-aa86-46d1-a414-19137ed1babc/800 * Remove lateral toggle * a6da6265-1952-48dd-986b-2b5996dd2642/950 * Model replay commit * Revert "Remove lateral toggle" This reverts commit 69e57eb.
ntegan1
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Jun 13, 2022
* Fix ping pong * Fix hugging: e6fd3a62-aa86-46d1-a414-19137ed1babc/800 * Remove lateral toggle * a6da6265-1952-48dd-986b-2b5996dd2642/950 * Model replay commit * Revert "Remove lateral toggle" This reverts commit 69e57eb.
cfranyota
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Jun 22, 2022
* Fix ping pong * Fix hugging: e6fd3a62-aa86-46d1-a414-19137ed1babc/800 * Remove lateral toggle * a6da6265-1952-48dd-986b-2b5996dd2642/950 * Model replay commit * Revert "Remove lateral toggle" This reverts commit 69e57eb.
cfranyota
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Jun 22, 2022
* Fix ping pong * Fix hugging: e6fd3a62-aa86-46d1-a414-19137ed1babc/800 * Remove lateral toggle * a6da6265-1952-48dd-986b-2b5996dd2642/950 * Model replay commit * Revert "Remove lateral toggle" This reverts commit 69e57eb.
rjsmith1999
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Jun 30, 2022
* Fix ping pong * Fix hugging: e6fd3a62-aa86-46d1-a414-19137ed1babc/800 * Remove lateral toggle * a6da6265-1952-48dd-986b-2b5996dd2642/950 * Model replay commit * Revert "Remove lateral toggle" This reverts commit 69e57eb.
cfranyota
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Jul 7, 2022
Mypilot-v0.8.14 Mypilot-v0.8.14 commit 0ec5f5d Author: Casey Francis <> Date: Sun Jul 3 14:32:08 2022 -0700 increase for sluggish follow commit bf8f21c Author: Casey Francis <> Date: Sun Jul 3 14:26:45 2022 -0700 increase decelrate by 25% commit ef62343 Author: Casey Francis <> Date: Sun Jul 3 13:32:48 2022 -0700 Update carstate.py commit bbdafa7 Author: Casey Francis <> Date: Sun Jul 3 13:29:00 2022 -0700 Update carstate.py commit 180ebce Author: Casey Francis <> Date: Sun Jul 3 12:20:07 2022 -0700 fix VOACC for Honda bosch commit f496bf9 Author: Casey Francis <> Date: Sun Jul 3 10:55:02 2022 -0700 Update carstate.py commit 331c7a7 Author: Casey Francis <> Date: Sun Jul 3 10:35:27 2022 -0700 Update carstate.py commit 3229367 Author: Casey Francis <> Date: Sun Jul 3 10:29:03 2022 -0700 Update carstate.py commit 73be4a3 Author: Casey Francis <> Date: Sun Jul 3 10:20:04 2022 -0700 Update carstate.py commit d743857 Author: Casey Francis <> Date: Sun Jul 3 10:14:27 2022 -0700 Update hondacan.py commit 3e9380d Author: Casey Francis <> Date: Sun Jul 3 10:05:30 2022 -0700 Update carstate.py commit 395670d Author: Casey Francis <> Date: Sun Jul 3 09:55:40 2022 -0700 Update carstate.py commit 7da96d9 Author: Casey Francis <> Date: Sun Jul 3 09:43:14 2022 -0700 Update carstate.py commit 82aa8fe Author: Casey Francis <> Date: Sun Jul 3 09:42:42 2022 -0700 Revert "Update carstate.py" This reverts commit b94fcdf. commit b94fcdf Author: Casey Francis <> Date: Sun Jul 3 09:35:29 2022 -0700 Update carstate.py commit 785b974 Author: Casey Francis <> Date: Sun Jul 3 09:00:25 2022 -0700 Update carstate.py commit 0cfcfd2 Author: Casey Francis <> Date: Sat Jul 2 18:55:32 2022 -0700 Update safety_honda.h commit c6c0a49 Author: Casey Francis <> Date: Sat Jul 2 18:54:38 2022 -0700 Revert "Update safety_honda.h" This reverts commit 90ec6ec. commit 90ec6ec Author: Casey Francis <> Date: Sat Jul 2 18:48:01 2022 -0700 Update safety_honda.h commit 113f6eb Author: Casey Francis <> Date: Fri Jul 1 20:29:12 2022 -0700 Update safety_honda.h commit 6d48b88 Author: Casey Francis <> Date: Fri Jul 1 20:27:25 2022 -0700 join nidec commit 120d745 Author: Casey Francis <> Date: Fri Jul 1 20:23:39 2022 -0700 Update interface.py commit 37af77d Author: Casey Francis <> Date: Thu Jun 30 22:55:52 2022 -0700 bosch's dbc stuff forget 2 things commit a5dab5e Author: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Wed Jun 22 01:17:13 2022 -0400 Honda Longitudinal: fix HUD max distance setting (commaai#24915) Fix max distance setting on display commit dfd731e Author: Shane Smiskol <shane@smiskol.com> Date: Sat Jun 11 00:14:58 2022 -0700 Honda carcontroller and signal cleanup (commaai#24806) * common signals * move stopping * space * clean up * bump opendbc commit f187271 Author: Shane Smiskol <shane@smiskol.com> Date: Mon Jun 13 18:42:47 2022 -0700 Honda Bosch long: fix ACC fault (commaai#24851) Fix Honda bosch long Co-authored-by: redacid95 <jonathanc.olivier@gmail.com> Honda Bosch long: fix ACC fault (commaai#24851) Fix Honda bosch long Co-authored-by: redacid95 <jonathanc.olivier@gmail.com> commit 4e22be3 Author: Shane Smiskol <shane@smiskol.com> Date: Wed Jun 8 22:38:07 2022 -0700 Honda Bosch: fix openpilot longitudinal controls mismatch (commaai#24788) Honda Bosch: fix openpilot longitudinal controls mismatch (commaai#24788) * fix bosch controls mismatch * bump * bump panda commit 43471f1 Author: Casey Francis <> Date: Thu Jun 30 17:02:05 2022 -0700 fix civics/ crv commit 9a23770 Author: cfranyota <46506059+cfranyota@users.noreply.github.com> Date: Thu Jun 30 16:34:03 2022 -0700 Update interface.py commit 1c5cad2 Author: Casey Francis <> Date: Thu Jun 30 08:44:50 2022 -0700 temp in C° commit 9cd15ad Author: HaraldSchafer <harald.the.engineer@gmail.com> Date: Mon Jun 27 15:25:47 2022 -0700 Torque control: higher low speed gains and better steering angle deadzone logic (commaai#24980) * Try no friction and no deadzone * Learn fromd ata * update refs commit 65ce9f7 Author: Casey Francis <> Date: Mon Jun 27 13:14:36 2022 -0700 adjust numbers down a tad commit d72946b Author: cfranyota <46506059+cfranyota@users.noreply.github.com> Date: Mon Jun 27 12:04:49 2022 -0700 Update longcontrol.py commit 73a2317 Author: cfranyota <46506059+cfranyota@users.noreply.github.com> Date: Mon Jun 27 11:45:31 2022 -0700 my device pic commit 8a5205b Author: cfranyota <46506059+cfranyota@users.noreply.github.com> Date: Mon Jun 27 10:46:56 2022 -0700 Update README.md commit 72ebfba Author: Casey Francis <> Date: Mon Jun 27 08:17:15 2022 -0700 Update interfaces.py commit 83f368d Author: Casey Francis <> Date: Mon Jun 27 01:36:39 2022 -0700 Update long_mpc.py commit 67cdad9 Author: Casey Francis <> Date: Sun Jun 26 10:08:45 2022 -0700 Cereal move-fast move-fast cereal commit 5b165b7 Author: alfhern <hz.alfonso@gmail.com> Date: Fri Jul 17 15:23:38 2020 +0200 Move-Fast mods Hands on wheel monitoring: Implementation according to r079r4e regulation VisionTurnController Implementation Debug UI: Toggle to display debug UI elements LiveMapData: Implementation SpeedLimitControl: Implementation TurnSpeedController: Implementation Live Map Data; Fix issue on C2 installation of opspline package. Update onroad.cc Update hands_on_wheel_monitor.py Update vision_turn_controller.py Update WayRelation.py Update dmonitoringd.py Update onroad.cc Revert "Update onroad.cc" This reverts commit 55d784c. Revert "Revert "Update onroad.cc"" This reverts commit 93bf316. Update longitudinal_planner.py Update mapd.py Update onroad.cc Update onroad.cc Update onroad.cc Revert "Update onroad.cc" This reverts commit 534aee7. Update onroad.cc reposition numbers better offset better offset Update speed_limit_controller.py Update onroad.cc commit 71e4010 Author: cfranyota <46506059+cfranyota@users.noreply.github.com> Date: Sun Jun 26 10:23:54 2022 -0700 Update thermald.py commit 000fc11 Author: Casey Francis <> Date: Fri Jun 24 20:18:02 2022 -0700 Update long_mpc.py commit c916857 Author: Casey Francis <> Date: Fri Jun 24 20:05:15 2022 -0700 unicorns and ferries :unicorn: commit b3e4094 Author: cfranyota <46506059+cfranyota@users.noreply.github.com> Date: Fri Jun 24 16:57:06 2022 -0700 Add the rest oops commit dd34a8b Author: Casey Francis <> Date: Fri Jun 24 16:14:37 2022 -0700 add brake lights for honda bosch commit c05866c Author: Casey Francis <> Date: Thu Jun 23 16:50:43 2022 -0700 Update interface.py commit 98c08a2 Merge: cd24dc8 31de3f6 Author: cfranyota <46506059+cfranyota@users.noreply.github.com> Date: Thu Jun 23 10:15:24 2022 -0700 Merge commit '31de3f60274caa723ce3b67b3152fa29d194165a' Conflicts: selfdrive/car/toyota/interface.py commit 31de3f6 Author: Casey Francis <> Date: Thu Jun 23 03:15:25 2022 -0700 Update longcontrol.py commit cd24dc8 Author: Casey Francis <> Date: Thu Jun 23 03:15:25 2022 -0700 Update longcontrol.py commit 4e95756 Author: Casey Francis <> Date: Thu Jun 23 02:55:03 2022 -0700 random commit 971b5b9 Author: Casey Francis <> Date: Wed Jun 22 22:55:10 2022 -0700 torque_tune commit f1261b1 Author: Casey Francis <> Date: Wed Jun 22 22:18:05 2022 -0700 update commit 9da1707 Author: Casey Francis <> Date: Wed Jun 22 21:53:45 2022 -0700 Update log.capnp commit cdde264 Author: Casey Francis <> Date: Wed Jun 22 21:28:42 2022 -0700 Update drive_helpers.py Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com> commit 9b35741 Author: Casey Francis <> Date: Wed Jun 22 21:17:37 2022 -0700 Update tunes.py Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com> commit 0e222ea Author: Casey Francis <> Date: Wed Jun 22 20:59:57 2022 -0700 Update car.capnp Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com> commit a598793 Author: Casey Francis <> Date: Wed Jun 22 20:56:28 2022 -0700 cereal changes Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com> commit 109c99d Author: Casey Francis <> Date: Wed Jun 22 20:42:19 2022 -0700 Update interfaces.py Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com> commit db3b5b4 Author: HaraldSchafer <harald.the.engineer@gmail.com> Date: Wed Jun 22 15:58:06 2022 -0700 Refactor torque stuff (commaai#24921) * Refactor torque stuff * Add to release * Add substitute and override * Maxlataccel is required * Add to asserts * add ideal car * Need china too * yamls already linted * Fixed some bugs * Fixup * Unreliable data * Add cehck * Better comment * ref commit update commit cf514a3 Author: HaraldSchafer <harald.the.engineer@gmail.com> Date: Mon Jun 13 19:08:09 2022 -0700 Move couple toyotas to torque table values (commaai#24849) * Move couple toyotas to torque table values * Dont set for all cars yet * Dont regress docs * update ref commit 0746971 Author: HaraldSchafer <harald.the.engineer@gmail.com> Date: Mon Jun 13 16:54:32 2022 -0700 Couple more cars to torque tune (commaai#24848) * try sonata on torque tune * Couple known cars to torque control * fix * more fix commit 7503288 Author: Shane Smiskol <shane@smiskol.com> Date: Mon Jun 13 09:29:28 2022 -0700 Toyota Camry TSS2: update torque control params (commaai#24819) Use updated accel and friction values for TSS2 Camry commit 83db938 Author: HaraldSchafer <harald.the.engineer@gmail.com> Date: Fri Jun 10 17:57:23 2022 -0700 Car interface: set max lateral torque from table (commaai#24789) * json * better naem * Read from table * formatting and default to nan * Generate docs * Read from table * this should be the same * Prius v is full * test we always set the tunes correctly add to release files * Set for all cars Set for all cars * Revert tuning changes Revert tuning changes * remove that * fixes * update ref commit for new maxLateralAccels Co-authored-by: Shane Smiskol <shane@smiskol.com> commit b46bd4e Author: HaraldSchafer <harald.the.engineer@gmail.com> Date: Fri Jun 10 22:52:48 2022 -0700 Misc torque control fixes (commaai#24801) * Fiction compensation should be based on error * Update refs * Add deadzone * update ref commit ec5697d Author: Casey Francis <> Date: Wed Jun 22 18:59:19 2022 -0700 Revert "Revert "Update carcontroller.py"" This reverts commit c0d48c6. commit 466bf28 Author: Casey Francis <> Date: Wed Jun 22 18:59:05 2022 -0700 whoknowsifthisworks Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com> commit ee94dc6 Author: Casey Francis <> Date: Wed Jun 22 17:08:15 2022 -0700 Update latcontrol_torque.py Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com> commit c0d48c6 Author: Casey Francis <> Date: Wed Jun 22 17:07:18 2022 -0700 Revert "Update carcontroller.py" This reverts commit d21c769. commit 2ca6b6a Author: Casey Francis <> Date: Wed Jun 22 17:04:54 2022 -0700 Update latcontrol_torque.py Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com> commit a287e68 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 9da1707 Author: Casey Francis <> Date: Wed Jun 22 21:53:45 2022 -0700 Update log.capnp commit cdde264 Author: Casey Francis <> Date: Wed Jun 22 21:28:42 2022 -0700 Update drive_helpers.py Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com> commit 9b35741 Author: Casey Francis <> Date: Wed Jun 22 21:17:37 2022 -0700 Update tunes.py Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com> commit 0e222ea Author: Casey Francis <> Date: Wed Jun 22 20:59:57 2022 -0700 Update car.capnp Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com> commit a598793 Author: Casey Francis <> Date: Wed Jun 22 20:56:28 2022 -0700 cereal changes Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com> commit 109c99d Author: Casey Francis <> Date: Wed Jun 22 20:42:19 2022 -0700 Update interfaces.py Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com> commit db3b5b4 Author: HaraldSchafer <harald.the.engineer@gmail.com> Date: Wed Jun 22 15:58:06 2022 -0700 Refactor torque stuff (commaai#24921) * Refactor torque stuff * Add to release * Add substitute and override * Maxlataccel is required * Add to asserts * add ideal car * Need china too * yamls already linted * Fixed some bugs * Fixup * Unreliable data * Add cehck * Better comment * ref commit update commit cf514a3 Author: HaraldSchafer <harald.the.engineer@gmail.com> Date: Mon Jun 13 19:08:09 2022 -0700 Move couple toyotas to torque table values (commaai#24849) * Move couple toyotas to torque table values * Dont set for all cars yet * Dont regress docs * update ref commit 0746971 Author: HaraldSchafer <harald.the.engineer@gmail.com> Date: Mon Jun 13 16:54:32 2022 -0700 Couple more cars to torque tune (commaai#24848) * try sonata on torque tune * Couple known cars to torque control * fix * more fix commit 7503288 Author: Shane Smiskol <shane@smiskol.com> Date: Mon Jun 13 09:29:28 2022 -0700 Toyota Camry TSS2: update torque control params (commaai#24819) Use updated accel and friction values for TSS2 Camry commit 83db938 Author: HaraldSchafer <harald.the.engineer@gmail.com> Date: Fri Jun 10 17:57:23 2022 -0700 Car interface: set max lateral torque from table (commaai#24789) * json * better naem * Read from table * formatting and default to nan * Generate docs * Read from table * this should be the same * Prius v is full * test we always set the tunes correctly add to release files * Set for all cars Set for all cars * Revert tuning changes Revert tuning changes * remove that * fixes * update ref commit for new maxLateralAccels Co-authored-by: Shane Smiskol <shane@smiskol.com> commit b46bd4e Author: HaraldSchafer <harald.the.engineer@gmail.com> Date: Fri Jun 10 22:52:48 2022 -0700 Misc torque control fixes (commaai#24801) * Fiction compensation should be based on error * Update refs * Add deadzone * update ref commit ec5697d Author: Casey Francis <> Date: Wed Jun 22 18:59:19 2022 -0700 Revert "Revert "Update carcontroller.py"" This reverts commit c0d48c6. commit 466bf28 Author: Casey Francis <> Date: Wed Jun 22 18:59:05 2022 -0700 whoknowsifthisworks Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com> commit b85252c Author: cfranyota <46506059+cfranyota@users.noreply.github.com> Date: Wed Jun 22 18:10:16 2022 -0700 Update longitudinal_planner.py commit ee94dc6 Author: Casey Francis <> Date: Wed Jun 22 17:08:15 2022 -0700 Update latcontrol_torque.py Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com> commit c0d48c6 Author: Casey Francis <> Date: Wed Jun 22 17:07:18 2022 -0700 Revert "Update carcontroller.py" This reverts commit d21c769. commit 2ca6b6a Author: Casey Francis <> Date: Wed Jun 22 17:04:54 2022 -0700 Update latcontrol_torque.py Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com> commit a287e68 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 86d0ede Author: Casey Francis <> Date: Sun Jun 19 18:32:56 2022 -0700 INDI or Torque, no pid anymore Update interface.py commit 4164e2a Author: Casey Francis <> Date: Wed Jun 22 14:34:28 2022 -0700 Update README.md Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com> commit 1b33c40 Author: HaraldSchafer <harald.the.engineer@gmail.com> Date: Tue May 24 09:11:31 2022 -0700 New model: better laneless (commaai#24605) * Fix ping pong * Fix hugging: e6fd3a62-aa86-46d1-a414-19137ed1babc/800 * Remove lateral toggle * a6da6265-1952-48dd-986b-2b5996dd2642/950 * Model replay commit * Revert "Remove lateral toggle" This reverts commit 69e57eb. commit 09fce5e Author: Casey Francis <> Date: Wed Jun 22 14:20:27 2022 -0700 Update carstate.py Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com> commit d21c769 Author: cfranyota <46506059+cfranyota@users.noreply.github.com> Date: Wed Jun 22 14:05:29 2022 -0700 Update carcontroller.py commit 5456bf5 Author: Casey Francis <> Date: Wed Jun 22 13:47:32 2022 -0700 Update safety_toyota.h Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com> commit 91633ea Author: Casey Francis <> Date: Wed Jun 22 13:26:19 2022 -0700 Update carcontroller.py Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com> commit 2e4aabb Author: Casey Francis <> Date: Wed Jun 22 13:17:44 2022 -0700 Update carcontroller.py Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com> commit b8a3e6c Author: Casey Francis <> Date: Wed Jun 22 12:52:40 2022 -0700 merge conflict Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com> commit 0f07db2 Author: Casey Francis <> Date: Wed Jun 22 12:13:59 2022 -0700 add CC.latActive Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com> commit f5311f6 Merge: 6bbed9a cde8a13 Author: Casey Francis <> Date: Wed Jun 22 11:31:01 2022 -0700 Merge branch 'devel-0.8.14' of https://github.com/cfranyota/openpilot into devel-0.8.14 commit 6bbed9a 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 commit d54430a Author: Shane Smiskol <shane@smiskol.com> Date: Tue Apr 19 16:07:46 2022 -0700 ui: adjust e2e path width commit cde8a13 Author: cfranyota <46506059+cfranyota@users.noreply.github.com> Date: Wed Jun 22 11:22:58 2022 -0700 Update controlsd.py commit e4f0cda Author: cfranyota <46506059+cfranyota@users.noreply.github.com> Date: Wed Jun 22 10:58:04 2022 -0700 Typo commit badab9d Author: cfranyota <46506059+cfranyota@users.noreply.github.com> Date: Wed Jun 22 10:53:14 2022 -0700 Llk commit ebf981c Author: cfranyota <46506059+cfranyota@users.noreply.github.com> Date: Wed Jun 22 10:48:02 2022 -0700 - self commit be18261 Author: cfranyota <46506059+cfranyota@users.noreply.github.com> Date: Wed Jun 22 10:42:48 2022 -0700 Update controlsd.py commit d22d8b6 Author: Casey Francis <> Date: Wed Jun 22 10:18:45 2022 -0700 this was renamed oops i forgot Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com> commit 2b35cb8 Author: Casey Francis <> Date: Wed Jun 22 09:45:54 2022 -0700 Update latcontrol_pid.py Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com> commit 000e20a Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Fri Jun 3 14:34:16 2022 -0700 UI: don't disable toggles onroad commit a5d2fff Author: cfranyota <46506059+cfranyota@users.noreply.github.com> Date: Fri Jun 3 19:38:47 2022 -0700 fixed traffic TF This reverts commit 6be8366. fixed traffic TF commit cb48173 Author: Casey Francis <> Date: Wed Jun 22 09:16:26 2022 -0700 Update car.capnp Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com> commit 50fc52e Author: Casey Francis <> Date: Wed Jun 22 09:11:11 2022 -0700 revert Dev UI Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com> commit 87bb640 Author: cydia2020 <12470297+cydia2020@users.noreply.github.com> Date: Sat Jun 18 23:15:26 2022 +1000 Torque control: low speed boost (commaai#24859) commit 0c54cb1 Author: Casey Francis <> Date: Wed Jun 22 08:51:41 2022 -0700 Update car.capnp Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com> commit f299fc8 Author: Casey Francis <> Date: Wed Jun 22 08:47:21 2022 -0700 Update car.capnp Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com> commit 42b6794 Author: Casey Francis <> Date: Wed Jun 22 08:46:54 2022 -0700 Revert "Update car.capnp" This reverts commit fc0190a. commit ce6ba17 Author: Casey Francis <> Date: Wed Jun 22 08:45:17 2022 -0700 Update car.capnp Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com> commit 46e774b Author: Casey Francis <> Date: Wed Jun 22 08:29:03 2022 -0700 Update log.capnp Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com> commit 1255018 Author: alexandresato <sato_alexandre@hotmail.com> Date: Mon Feb 7 16:28:26 2022 -0300 Turning the speed Red Turning the speed Red hotFix commit 677ebc8 Author: Casey Francis <> Date: Fri Jun 10 20:51:59 2022 -0700 Finish rename toggle change toggle to torque Update interface.py Update settings.cc commit ee2015c Author: Casey Francis <> Date: Sat Jun 11 15:20:11 2022 -0700 fix for non-tss 2.0 commit 78e0326 Author: Casey Francis <> Date: Sat May 14 07:37:03 2022 -0700 Steering fault fix Steering fault fix Update carcontroller.py Steering fault fix fault fix 1 fix conflict Rename oops Revert "Steering fault fix" This reverts commit b10db87. Fix "Steering fault fix"" This reverts commit cda5c77. Update safety_toyota.h Revert "Steering fault fix" This reverts commit 6600370. Revert "Revert "Steering fault fix"" This reverts commit 95c6cb3. Update carcontroller.py Update carcontroller.py Update carstate.py Update safety_toyota.h commit d7dbbb4 Author: wirelessnet2 <37725998+wirelessnet2@users.noreply.github.com> Date: Thu May 26 13:56:33 2022 -0400 Dev UI Dev UI Update onroad.cc Update car.capnp Update car.capnp Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com> commit 982178e Author: Casey Francis <> Date: Thu Apr 14 03:02:35 2022 -0700 Masteryota Masteryota Masteryota This reverts commit 916f2de. 1.8 accel max 1.25 follow Copied Sport vals from SA-Eco 3 hours off / saves your 12v battery Testing if the deadzone is causing the delay Or maybe it's the high ki values. Testing old known values from previous versions of OP. No deadzone Toyota logo instead of comma 1.2 follow Fork mods Fork mods lower gain, higher prediction, stiffer wheel, higher steer ratio Fork mods commit 5c673b6399737b3e0b9d9d54e0b830e0cb04b185 Author: cfranhonda <46506059+cfranhonda@users.noreply.github.com> Date: Wed Jul 28 15:47:27 2021 -0700 Fix steer max and make ki a bit higher. commit 039cf40ab0ac72ced1c19de6854b7761a109d4e6 Author: Casey Francis <@cfranhonda> Date: Tue Jul 27 23:19:30 2021 -0700 add LQR for other bosch kids commit 95efde9a50bc4ca38a81e5cfdb86d1307db41f3c Author: Casey Francis <@cfranhonda> Date: Tue Jul 27 22:34:51 2021 -0700 add LQR tune Fork mods commit 9b45eb1 Author: Daehyuk Ahn <daehyuk@live.com> Date: Mon May 24 23:14:34 2021 -0700 Add EnableGasPedal (toggle menu) commit 4e9ac3b Author: Casey Francis <@cfranhonda> Date: Sat Aug 21 17:36:22 2021 -0700 full speed fan commit 152dec1 Author: Casey Francis <@cfranhonda> Date: Sat Aug 21 07:45:17 2021 -0700 add vision/ disable radar toggle commit 5c48f3e Author: Casey Francis <@cfranhonda> Date: Sat Aug 21 07:35:54 2021 -0700 vaggy hack to stop jerk commit 87328dd Author: cfranhonda <46506059+cfranhonda@users.noreply.github.com> Date: Mon Aug 23 07:15:05 2021 -0700 eps mod / gasmax adjust commit baffaee Author: Vehicle Researcher <user@comma.ai> Date: Sun Aug 22 22:13:11 2021 -0700 openpilot v0.8.8 release adding "," fws for modded people Update thermald.py No sound for Saturated steering remove no gps alert Update power_monitoring.py Update interface.py green instead of red path LQR toggle add LQR toggle for select Honda's add LQR toggle for modded Civic's & CRV Revert "Universal LQR tune" This reverts commit c10adf7. add LQR toggle change description Universal LQR tune Universal LQR tune This tune taken from the Toyota Rav4 has shown to be a great alternative to the standard PID tune. It's worked very well on eps mod multipliers of 2, 2.5, 3.5, 4x. It climbs the torque scale much smoother and doesn't "jitter" like PID does sometimes. fix LQR for RDX kf under PID only. add Accord to LQR toggle Conflicts: selfdrive/boardd/boardd.cc selfdrive/controls/lib/events.py selfdrive/ui/qt/offroad/settings.cc LQR toggle lower ff +25% Cruise max add to release notes paramsd cpu usage has been increasing boardd: connect to all pandas if none specified (commaai#23805) Refactor convolutions (commaai#23807) * one conv with defines * add conv * building works on C3 * this is num_outputs too, process replay is so useful cleanup import chaining of T_IDXS (commaai#23806) bump panda ui.py: fix model lead plotting Param to allow upload over cellular (commaai#23811) * param to allow upload over cellular * brackets to be consistent * move outside loop * fix tests longitudinal planner: disable change cost when stopped. not engaged or gas pressed (commaai#23639) * disable change cost completely on standstill and gas press * cleanup * set accel to zero * clean up logic around standstill * update ref onroad_test: increase camerad cpu usage after debayer changes Update raw_logger/framereader to new new ffmpeg api (commaai#23799) * Update raw_logger/framereader to new new ffmpeg api * Can be removed now * Handled by avcodec_free_context * handle EAGAIN and clean up thneed: a few asserts in the optimizer for cases it will fail docs: fix title typo cabana for your terminal Fix tici bigmodel (commaai#23817) * Fix bigmodel on tici: cam intrinsics arent static * Give TICI route own name for import * Make function useable in offline test * typo * change tici ecam focal to trained focal * No shadow variable * Fixed ref * Force update this time * Update model replay ref commit 2022 Hyundai Elantra firmware versions (commaai#23818) Added 2022 Hyundai Elantra fwdCamera, transmission, and engine fingerprints. CARS.md add 2022 elantra hyundai: custom fw version for sonata eps (commaai#23816) * hyundai: custom fw version for sonata eps * another comment HKG: Kia Sorento FPv2 (commaai#23815) * Replace Kia Sorento FPv1 with FPv2 * keep old fingerprint Subaru: add FW for Impreza Limited UDM 2017 (commaai#23802) * FPv2: Add Subaru Impreza Limited USM 2017 * test_fw_query_on_routes.py: add subaru support Fix unmetered upload over cell (fix commaai#23811) (commaai#23820) omx encoder: move writing into thread (commaai#23771) * omx encoder: move writing to separate thread * fix include * pop * log buffers sizes * split copy and write adjust comma two model timing thresholds after bigmodel Toyota: fix flaky EV detection (commaai#23825) script to clear DTCs move lock clearing to uploader (commaai#23826) * move lock clearing to uploader * test case Honda: revert to button enable on Nidec (commaai#23828) * Honda: revert to button enable on Nidec * fix test * bump panda Added (Ecu.eps) fingerprint for Hyundai Ioniq EV 2017 (commaai#23823) fix mac_setup w/ tools+plotjuggler (commaai#23552) * fix pycurl issue: * use newer curl backend for pip install * update lib paths based on brew prefix * fix cert issue when using pycurl using certifi * make output setup nicer * fix linter * typo * dont need that actually * revert * pipenv in brew * forgot this * make brew available on fresh install * undo * more undo * oops * use sytem curl, but homebrew openssl replay: use QCoreApplication (commaai#23831) scons: use correct brew prefix (commaai#23833) replay: use VideoToolbox HW decoder on Mac (commaai#23832) * replay: support VideoToolbox HW decoding * rename flag * remove debug assert Fix watch3 on mac (commaai#23834) this seems to about what my car converges to (commaai#23836) boardd: handle missing pandas Subaru: remove Impreza CAN fingerprints (commaai#23841) * Subaru: remove Impreza CAN fingerprints * fix process replay * update refs Toyota: remove outdated comment (commaai#23844) Remove unused MPC_COST_LONG class (commaai#23843) Faster cruise max Update interface.py sport torque for everyone torq boi suggestions torque for everyone Update settings.cc Update interface.py fix prius/camry tune torque for everyone add torque to hondas Update interface.py Fix Honda rename MAX_LAT_ACCEL Rename to MAX_LAT_ACCEL Try more chill tune Revert: That was too chill Update interface.py NEOS 20 add hkg to max lat accel and import params add hkg to max lat accel and import params Classic comma spinner '2' boot logo smaller '2' Revert "smaller '2'" This reverts commit 629267e. i think its fixed now Update interface.py Update interface.py Update interface.py Update interface.py chart vals Legacy Comma engage/disengage sounds tuned by spektor add rav4 to torque controller Latcontrol torque: integrator need not be reset (commaai#24606) slow integrators need not be reset rename Honda MAX_LAT_ACCEL rename HKG to MAX_LAT_ACCEL fix logic for non modded users Update interface.py Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com> commit 4bcd01f Author: KRKeegan <kevin@krkeegan.com> Date: Wed May 25 17:42:15 2022 -0700 :racing_car: More Aggresive Start from Standstill Uses Dynamic MPC Costs which decreases the a_change and jerk costs at low speeds when accelerating. No changes made during braking. Also dynamically decreases the Stop_Distance as the lead pulls away so that the long_mpc commands forward accel just a little bit sooner. Lower overall Stop_Distance slightly, since we stop a bit more assertively now with the decreased costs, the stop distance doesn't need to be as high. Add a test_accel file for testing sluggish starts. Ignore longitudinalPlan Msgs in Process Replay. commit 448b4aa Author: KRKeegan <kevin@krkeegan.com> Date: Wed May 25 16:42:22 2022 -0700 :wrench: Tweak Toyota Long Tuning for My Tastes The Rav4 2019 TSS2 has ~1.4s lag between when accel commands are sent to the car and when they are acted upon when the car is starting from a dead stop. Stock feels fine with this limitation, so OP can too. Most of these changes are designed to fix any sluggishness caused by the Toyota Tune. Additional changes need to be made to the Long MPC in order to solve the sluggish start completely. Changes: Decrease vEgoStopping and vEgoStarting to 0.2. Car is perfectly capable of controlling at these speeds. Lower value allows for state machine to exit stopping phase just a bit faster. Double the ActuatorDelay lag to .3 so we look into the future just a bit more, seems a bit more inline with realworld experience. Halve stoppingDecelRate to match the OEM stop_accel of -.4m/s2. Makes the final jerk in stopping a bit smoother Increase the PID max accel to 1.8 m/s2 tappering back to 1.5 m/s2 at 5m/s. Increase planner max accel to 1.4 m/s2 from 1.2 m/s2 starting from a stop tapering back to 1.2 m/s2 at 10m/s. Decreased planner max accel at 55mph, seemed a little uncomfortable to me. Decrease A_Change Timescale in Long_MPC to match more closely what toyota lag is. Ignore some messages and fields in process_replay test in order to keep it working. commit 7a0d9be Author: KRKeegan <kevin@krkeegan.com> Date: Wed May 25 16:40:37 2022 -0700 :straight_ruler: Enable Toyota Distance Button to Change Distance Lines __Additions__ * Forward distance button presses to car can * Read distance_lines can message from car and use to set distance profile. * Alter T_Follow based on distance profile * Stock = 1.45 * Relaxed = 1.25 * Traffic ~= 1.05 (at low speeds closer to 1.25) * Adjust J_Cost, A_Change_Cost, and D_Cost based on distance profile * Weights for Costs need to be adjusted when T_Follow is decreased. __Tests__ * Add Longitudinal Tests for Additional Following Profiles * Copy the comma tests, with appropriate following distance for each profile. * Tweak Process_Replay Action - Ignores the new carState.distanceLines message, so that replay refs still pass. Thanks to sshane for help with this. See the tree ending with commit 73237de commit e517eef Author: Kevin Robert Keegan <kevin@krkeegan.com> Date: Sun Dec 19 15:50:05 2021 -0800 :page_facing_up: Add Toggle to Enable Automatic Raw Log Uploading Brings back the raw log toggle that was used prior to version 8.12. Upload RLogs First then Videos This reverts in part commit 2e0c73f. commit fb05960 Author: rav4kumar <36933347+rav4kumar@users.noreply.github.com> Date: Tue May 3 18:49:35 2022 -0700 torque port Latcontrol torque: update tuning (commaai#24357) * Little more chill * Update ref * Update refs Latcontrol torque: max_torque rename (commaai#24265) Update interface.py ordinal bs Update interface.py Update README.md
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