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Honda carcontroller and signal cleanup #24806

Merged
merged 6 commits into from
Jun 11, 2022
Merged

Honda carcontroller and signal cleanup #24806

merged 6 commits into from
Jun 11, 2022

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sshane
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@sshane sshane commented Jun 10, 2022

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@sshane sshane mentioned this pull request Jun 10, 2022
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@sshane sshane changed the title Honda carcontroller cleanup Honda carcontroller and signal cleanup Jun 11, 2022
@sshane sshane merged commit e375087 into master Jun 11, 2022
@sshane sshane deleted the cleanup-honda-can branch June 11, 2022 07:14
This was referenced Jun 12, 2022
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dkiiv added a commit to dkiiv/openpilot that referenced this pull request Jun 16, 2022
@dkiiv @gijskoning
@ClockeNessMnstr @adeebshihadeh @sshane @JMPZ11 @haraschax @jyoung8607 @ErichMoraga @ZwX1616 @AlexandreSato @geohot @griff12 @bluesforte @maykonpacheco @maxime-desroches @tecandrew @incognitojam @jeroenlammersma @pd0wm @jwooning @redacid95 @YassineYousfi @crwusiz
merge dev into main (#24)
d0f18de 
* Laikad: cleanup fetching orbits (commaai#24759)

* Seperate prediction orbits from regular observation orbits and download them efficient

* Cleanup

* clean and update laika

* Fix test

* Fix test

* Fix checking pos fix

* space

* 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 #1

* Laikad: Use process for parsing orbits (commaai#24769)

* Use Process instead of Thread to fetch orbits

* small refactor

* Cleanup

* UI: remove DM icon (commaai#24771)

* PlotJuggler: add torque control layout (commaai#24726)

* add torque control PJ layout

* less custom transformation

* Use curvature, less noisy

* remove that

* Honda: rename Bosch harness to Bosch A

* GM: interface cleanup (commaai#24774)

* Move all defaults above models

* Remove reduntant/defaults

* make minEnableSpeed common

* Update selfdrive/car/gm/interface.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

Co-authored-by: Shane Smiskol <shane@smiskol.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* IsoTpParallelQuery: handle response pending (commaai#24724)

* handle response pending

* match commit

* remove total timeout, just keep track of individual response timeouts

* fix

* add back total timeout

* this isn't reliable enough

* keep track of pending responses to print warning

* tx_addr is (addr, subaddr)

* debug

only query hyundai

import time

reponse pending

no cache

all cars

no timeout to test before

* Revert "debug"

This reverts commit abe9cfc.

* always print pending

always debug

* Only debug

* Update selfdrive/car/isotp_parallel_query.py

* remove variable only for debugging

* Install readme (commaai#24776)

README: better install on device instructions

* VW MQB: Add FW for 2020 Volkswagen Tiguan (commaai#24777)

* Kia Ceed: fix eps ECU type (commaai#24767)

should be eps

* Add missing MIRAI ESP f/w (commaai#24779)

* Add missing ESP f/w 

`@JaySheikh#7759`  2021 Mirai  DongleID/route b2c2b20082938bed|2022-06-08--05-04-03  [confirmed working]

* formatting

Co-authored-by: Shane Smiskol <shane@smiskol.com>

* Laikad: kill process correctly. Fixes CI (commaai#24780)

Kill process correctly

* LaikaD: Fix offline handling (commaai#24781)

* Test handling no internet correctly.

* Clean

* Comment

* remove del

* fullframe DM model (commaai#24762)

* get log

* simplify two nonsense

* not needed

* libyuv is a joke

* clean up

* try small

* fast but not bad

* working

* clean up driverview

* simplified

* thats mirrored

* smol

* tweak

* ref is screen

* w/ ee

* update camera model

* no if TICI

* start

* update pose thresh

* less cpu more dsp

* new libyuv

* new snpe

* add files

* test

* should be fast

* update out len

* trigger test

* use master snpe

* add cereal

* update cereal

* refactor parsing

* missing ;

* get

* wrong type

* test model

* use driver data

* 10829278-72fe-4283-a118-2cef959ce174/1550

* no pf

* adapt driverview

* ;

* rhd learner

* update libyuv buildi x64

* ad4337e

* remove blink slack

* test

* no

* use toggle

* b16

* fix for nv12

* 5b02cff5 both

* update test

* update cereal

* update cereal

* update cereal

* v2 packets

* revert libyuv

* no /

* update snpemodel

* ;

* memcpy

* fix test

* use toggle in driverview

* update power

* update replay

* Revert "update replay"

This reverts commit 1d0979c.

* update model ref

* halve cpu

* fake 8bit onnx runner

* same thresh as report

* cereal master

Co-authored-by: Comma Device <device@comma.ai>

* bump opendbc (commaai#24790)

* Honda Bosch: fix openpilot longitudinal controls mismatch (commaai#24788)

* fix bosch controls mismatch

* bump

* bump panda

* VW MQB: Add FW for 2020 Volkswagen Tiguan (commaai#24795)

* build checks do not rely on each other (commaai#24783)

* Add missing CHR engine f/w (commaai#24797)

`@papifrio#5178` 2019 Toyota C-HR ICE ("nodsu" TSS-P) DongleID/route ade67da77ee74b16|2022-06-09--00-36-15

* Lexus: NX Hybrid 2020 support (commaai#24796)

* LEXUS: Missing esp and engine FW versions in values.py

DongleId: 09ae96064ed85a14  | testRoute: 09ae96064ed85a14|2022-01-10--01-57-37 |

* Make a new platform for NX Hybrid TSS2

* Update releases

Co-authored-by: Shane Smiskol <shane@smiskol.com>

* some release notes

* EyeSight standard on all 2019+ Ascent and Forester (commaai#24799)

* on all 2019+ Ascent Forester

* update docs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* fullframe DM: flip RHD yaw to use matching thresholds

* Toyota: Add missing esp fw version for RAV4_TSS2 (commaai#24793)

add fwVersion for RAV4_TSS2

add b'\x01F15260R302\x00\x00\x00\x00\x00\x00' to list of Ecu.esp FwVersions for RAV4_TSS2

* Revert "UI: remove DM icon (commaai#24771)"

This reverts commit 4d836c6.

* Hyundai: Tucson 2021 support (commaai#24791)

* add support for 2021 Hyundai Tucson

base configuration and fingerprints

* fix fcw again and don't use mando radar for tucson

* last fixes for working tucson

* Apply suggestions from code review

* add to cars

* increase steerRatio

* missing car info

* one platform

* rename

* add min enable speed

* update releases

Co-authored-by: bluesforte <harry3b9@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* docs: adjust steering torque thresholds (commaai#24798)

* Prius has good steering control now

* 1.5 is the threshold for good torque

* get back down there, hondas

* half stars for 1.0-1.5

* show number of cars

* try bigger

* emphasize tiers

balanced

* Add half star

* Update ref_commit

* bypass HDA2 dashcam with file (commaai#24803)

Co-authored-by: Comma Device <device@comma.ai>

* Honda: use common imperial unit message (commaai#24786)

* CAR_SPEED should be on all cars

* bump opendbc

* clean this up too

* it's an or

* clean up

* comment

* add PyQt (commaai#24811)

* count events: add simple camera debugging

* Revert fullframe DM model (commaai#24812)

* Revert "fullframe DM: flip RHD yaw to use matching thresholds"

This reverts commit 2ac6931.

* Revert "fullframe DM model (commaai#24762)"

This reverts commit d6c07a6.

* revert cereal

* Add missing fw versions for 2019 Sonata (commaai#24814)

* put cereal on master

* 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>

* Fix Lexus NX Hybrid 2020 engine ecu (commaai#24817)

Wrong address in engine ecu.

* compatibility docs: auto-generate star descriptions (commaai#24809)

* Auto-generate star descriptions

* Need this for the website

* And this

* required changes to make the website generation work

* better names

* Revert "better names"

This reverts commit be7dbbb.

* simpler

* Misc torque control fixes (commaai#24801)

* Fiction compensation should be based on error

* Update refs

* Add deadzone

* update ref

* Honda carcontroller and signal cleanup (commaai#24806)

* common signals

* move stopping

* space

* clean up

* bump opendbc

* test for the strip_bz2_extension method (commaai#24826)

* CI: fix docker push for base image

* pylint: add PyQt5 support

* simulator: run simulator test in ci (commaai#24691)

* run simulator test in ci

* block navd process

* block ui

* fix jenkins

* build docker

* remove tty

* remove tty for carla

* detach carla_sim

* more retries

* only build once

* add more time for bridge

* cleanup

* use qt offscreen

* expose to docker

* block ui

* use new dockerimage

* fix

* from ubuntu20.04

* install curl

* add ssh

* add locales

* noninteractive

* syntax

* use base

* smaller image

* add git + git lfs

* kill carla

* run in parallel

* fix missing agents

* default agent?

* little cleanup

* default doesn't work

* not in ci

* fix path

* fix path

* new msg

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* Move selfdrive/hardware/ to system/ (commaai#24725)

* move hardware to system/

* fix mypy

* jenkins: remove unnecessary workstation clean

* bump cereal

* set AGNOS from /AGNOS file

* CI: add build job for latest Ubuntu (commaai#24637)

* CI: add build job for latest Ubuntu

* source

* source env

* scons cache

* cache pyenv

* fix key

* source

* Move a bunch of stuff to system/ part 3 (commaai#24829)

* move swaglog.py

* timezoned

* logmessaged

* version.py

* fix linter

* acados build script improvements for mac (commaai#24634)

* add Darwin build w/ universal2 libs

* add rust for acados rebuilds

* just build script fixes

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* Ford: disable radar for now (commaai#24832)

The newer Ford vehicles require a different radar parser.

* Updated CARLA to v0.9.13 (commaai#24575)

* Updated CARLA to v0.9.13

* pipenv lock

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* misc jenkins fixups (commaai#24840)

* bump cereal

* remove that

* pull cl image

* lil docker cleanup

* Ford: remove Fusion DBC from release (commaai#24841)

* jenkins: lock simulator

* SConstruct: set AGNOS from /AGNOS

* Revert "SConstruct: set AGNOS from /AGNOS" until Jenkins devices are updated

This reverts commit 84c741e.

* Laikad: Use filter for correcting measurements (commaai#24824)

* Update laikad.

* Update log error

* ui: skip texture frame copy (commaai#24700)

* ui_blit working

* simpler and working

* more believable that it's real

* working on device

* build on pc

* use hardware pc

* reduce cpu usage

* yuv conversion to EGL

* move everything to cameraview

* some cleanup

* more cleanup

* init array

* init images with std::map

* dont destroy images

* do destroy images

Co-authored-by: Comma Device <device@comma.ai>

* Laikad: process executor to fetch orbits (commaai#24843)

* Use ProcessPoolExecutor to fetch orbits

* update laika repo

* Minor

* camerad: remove unused SubMaster (commaai#24844)

* navd: speed limits only when localizer is valid (commaai#24845)

* Toyota Camry TSS2: update torque control params (commaai#24819)

Use updated accel and friction values for TSS2 Camry

* ui.py: update for nv12

* Revert "thermald: consider pmic in component temp management (commaai#24708)"

This reverts commit c8c21ba.

* Couple more cars to torque tune (commaai#24848)

* try sonata on torque tune

* Couple known cars to torque control

* fix

* more fix

* Honda Bosch long: fix ACC fault (commaai#24851)

Fix Honda bosch long

Co-authored-by: redacid95 <jonathanc.olivier@gmail.com>

Co-authored-by: redacid95 <jonathanc.olivier@gmail.com>

* 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

* Move RAV4 2022 out of bronze

* pin protobuf and hypothesis versions (commaai#24852)

pin hypothesis and protobuf

* bump opendbc (commaai#24853)

* process replay: clean up common code (commaai#24855)

* regen and process replay clean up

* test_fuzzy actually uses fingerprint hardcoding

fix

* revert

* revert

* this can be a url or path so just print full variable

* remove weights fixup with new SNPE (commaai#24254)

* remove weights fixup with new SNPE

* Update ref

Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>

* GM: add support for vehicles with manual parking brakes (commaai#24766)

Switch to general park brake signal

* little zookeeper fixes (commaai#24861)

* little zookeeper fixes

* bump that up

* bump up modeld power draw threshold

* Torque control: low speed boost (commaai#24859)

* Make very low speed more aggressive

* Less extreme low speed boost

* Update ref

* regen & process replay: support no disengage on accelerator (commaai#24850)

* ACC on if enabled != 0

* small regen clean up and add HONDA3

* fixes

* revert unneeded changes

* not used

* just alt exp

Co-authored-by: redacid95 <jonathanc.olivier@gmail.com>

* Laikad: Cache orbit and nav data (commaai#24831)

* Cache orbit and nav data

* Cleanup

* Cleanup

* Use ProcessPoolExecutor to fetch orbits

* update laika repo

* Minor

* Create json de/serializers
Save cache only 1 minute at max

* Update laika repo

* Speed up json by caching json in ephemeris class

* Update laika

* Fix test

* Use constant

* UI: new set speed design, show speed limits (commaai#24736)

* basic US design

* place based on center position

* fix typo

* eu sign without rounded box

* same as steering wheel icon

* proper rounded bottom for eu sign

* add border

* proper placement/sizes

* needs to be semi bold

* color changes

* only when engaged

* move helpers into util.h

* Fix MAX placement

* only change color when at least 5 over

* implement override state

* pixel perfect spacing around us sign

* add speed limits to release notes

* Laikad: Remove bearingDeg from message (commaai#24864)

* Remove bearingDeg from message.

* Push cereal

* Commit cereal

* ui: add black color define (commaai#24866)

* ui: advanced network settings fix button colors and sizes (commaai#24846)

* ui: button pressed color add

* match colors from other buttons

Co-authored-by: Willem Melching <willem.melching@gmail.com>

* networking.cc: remove resolved TODO

* selfdrive/ui/qt/util.cc: missing include (commaai#24867)

* laikad: calc_pos_fix numpy implementation (commaai#24865)

* Replace posfix with gauss newton method

* Cleanup

* Check if glonass is in the list

* Fix

* also return residual

* Add residuals

* Update selfdrive/locationd/laikad.py

Co-authored-by: Willem Melching <willem.melching@gmail.com>

* Cleanup

Co-authored-by: Gijs Koning <gijs-koning@live.nl>

* Update model ref

* Revert "Update model ref"

This reverts commit efc8aa0.

* Rocket league model (commaai#24869)

* dd9a502d-c8e2-4831-b365-804b0ae0739d/600 80041070-d276-4fed-bdb9-0075e5442908/420

* no elementwise op

* 9dabf0f-2e60-44bf-8d3a-d20a74aca072/600 ae746590-0bb5-4a16-80db-15f02d314f03/300 c4663a12-b499-4c9b-90dd-b169e3948cb1/60

* explicit slice

* some copies are useful

* 1456d261-d232-4654-8885-4d9fde883894/440 c06eba55-1931-4e00-9d63-acad00161be0/700 af2eb6ba-1935-4318-aaf8-868db81a4932/425

* 154f663e-d3e9-4020-ad49-0e640588ebbe/399 badb5e69-504f-4544-a99e-ba75ed204b74/800 08330327-7663-4874-af7a-dcbd2c994ba7/800

* set steer rate cost to 1.0

* smaller temporal size

* Update model reg

* update model ref again

* This did upload somehow

* Update steer rate cost

Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu>

* HKG: simplify Kia K5 compatibility (commaai#24810)

LKAS/LFA is standard on the K5

* thermald: fix panda dropout when we miss a pandaStates (commaai#24870)

immediate fix for "panda dropout"

* VW MQB: Populate stock ACC standstill flag (commaai#24877)

* VW MQB: Populate stock ACC standstill flag

* it really do be like that sometimes

* Mazda: fix resume spam at standstill (commaai#24876)

* Fix Mazda resume spam at standstill

* one line

* Revert "one line"

This reverts commit 30c6504.

* Laikad: More logging and use last_pos_fix for correcting (commaai#24868)

Use last available pos_fix for correcting measurements.
Improve logging measurements

* ui: disable controls unresponsive alert on PC

* HCA7 + ramp speed

* bump openDBC

* bump openDBC

* HCA7 + ramp speed

* bump panda

* bump panda

* HCA7 tuning from edgy

Co-authored-by: Gijs Koning <gijs-koning@live.nl>
Co-authored-by: ClockeNessMnstr <locke.dftc@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
Co-authored-by: Jason Shuler <jshuler@gmail.com>
Co-authored-by: HaraldSchafer <harald.the.engineer@gmail.com>
Co-authored-by: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Co-authored-by: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com>
Co-authored-by: ZwX1616 <zwx1616@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: AlexandreSato <66435071+AlexandreSato@users.noreply.github.com>
Co-authored-by: George Hotz <72895+geohot@users.noreply.github.com>
Co-authored-by: Griffin Christenson <36981741+griff12@users.noreply.github.com>
Co-authored-by: bluesforte <harry3b9@gmail.com>
Co-authored-by: Maykon Pacheco <38124066+maykonpacheco@users.noreply.github.com>
Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
Co-authored-by: Andrew <andrew.tec@pm.me>
Co-authored-by: Cameron Clough <cameronjclough@gmail.com>
Co-authored-by: Jeroen <33349469+jeroenlammersma@users.noreply.github.com>
Co-authored-by: Willem Melching <willem.melching@gmail.com>
Co-authored-by: Joost Wooning <jwooning@gmail.com>
Co-authored-by: redacid95 <jonathanc.olivier@gmail.com>
Co-authored-by: YassineYousfi <yyousfi1@binghamton.edu>
Co-authored-by: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com>
spektor56 pushed a commit to spektor56/ghostpilot that referenced this pull request Jun 30, 2022
@sshane @spektor56
Honda carcontroller and signal cleanup (commaai#24806)
ab3898f 
* common signals

* move stopping

* space

* clean up

* bump opendbc
cfranyota pushed a commit to cfranyota/openpilot-retired that referenced this pull request Jul 1, 2022
@sshane
Honda carcontroller and signal cleanup (commaai#24806)
f16dc2f 
* common signals

* move stopping

* space

* clean up

* bump opendbc
cfranyota pushed a commit to cfranyota/openpilot-retired that referenced this pull request Jul 1, 2022
@sshane
Honda carcontroller and signal cleanup (commaai#24806)
dfd731e 
* common signals

* move stopping

* space

* clean up

* bump opendbc
cfranyota pushed a commit to cfranyota/openpilot-retired that referenced this pull request Jul 3, 2022
fix VOACC for Honda bosch
180ebce 
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
cfranyota pushed a commit to cfranyota/openpilot-retired that referenced this pull request Jul 7, 2022
Mypilot v0.8.14 release
a8459bb 
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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@sshane