0.5.10 Devel -> Release2

.gitignore

@@ -25,11 +25,12 @@ clcache
 
 board/obj/
 selfdrive/boardd/boardd
-selfdrive/visiond/visiond
 selfdrive/logcatd/logcatd
+selfdrive/mapd/default_speeds_by_region.json
 selfdrive/proclogd/proclogd
 selfdrive/ui/ui
 selfdrive/test/tests/plant/out
+selfdrive/visiond/visiond
 /src/
 
 one

.travis.yml

@@ -7,6 +7,8 @@ install:
   - docker build -t tmppilot -f Dockerfile.openpilot .
 
 script:
-  - docker run --rm
+  - docker run
       -v "$(pwd)"/selfdrive/test/tests/plant/out:/tmp/openpilot/selfdrive/test/tests/plant/out
       tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/tests/plant && OPTEST=1 ./test_longitudinal.py'
+  - docker run
+      tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/ && ./test_fingerprints.py'

README.md

@@ -1,4 +1,4 @@
-[![](https://i.imgur.com/UetIFyH.jpg)](#)
+[![](https://i.imgur.com/xY2gdHv.png)](#)
 
 Welcome to openpilot
 ======
@@ -114,12 +114,11 @@ Community Maintained Cars
 | Make                 | Model                    | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below | Giraffe           |
 | ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
 | Honda                | Fit 2018                 | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
-| Tesla                | Model S 2012             | All                  | Yes     | Not yet        | Not applicable   | 0mph           | Custom<sup>9</sup>|
-| Tesla                | Model S 2013             | All                  | Yes     | Not yet        | Not applicable   | 0mph           | Custom<sup>9</sup>|
+| Tesla                | Model S 2012-13          | All                  | Yes     | Not yet        | Not applicable   | 0mph           | Custom<sup>8</sup>|
 
 [[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266). <br />
 [[Tesla Model S Pull Request]](https://github.com/commaai/openpilot/pull/246) <br />
-<sup>9</sup>Community built Giraffe, find more information here [Community Tesla Giraffe](https://github.com/jeankalud/neo/tree/tesla_giraffe/giraffe/tesla) <br />
+<sup>8</sup>Community built Giraffe, find more information here [Community Tesla Giraffe](https://github.com/jeankalud/neo/tree/tesla_giraffe/giraffe/tesla) <br />
 
 Community Maintained Cars are not confirmed by comma.ai to meet our [safety model](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Be extra cautious using them.
 

RELEASES.md

@@ -1,3 +1,16 @@
+Version 0.5.10 (2019-03-19)
+========================
+ * Self-tuning vehicle parameters: steering offset, tires stiffness and steering ratio
+ * Improve longitudinal control at low speed when lead vehicle harshly decelerates
+ * Fix panda bug going unexpectedly in DCP mode when EON is connected
+ * Reduce white panda power consumption by 500mW when EON is disconnected by turning off WIFI
+ * New Driver Monitoring Model
+ * Support QR codes for login using comma connect
+ * Refactor comma pedal FW and use CRC-8 checksum algorithm for safety. Reflashing pedal is required. 
+   Please see `#hw-pedal` on [discord](discord.comma.ai) for assistance updating comma pedal. 
+ * Additional speed limit rules for Germany thanks to arne182
+ * Allow negative speed limit offsets
+
 Version 0.5.9 (2019-02-10)
 ========================
  * Improve calibration using a dedicated neural network
@@ -8,7 +21,7 @@ Version 0.5.9 (2019-02-10)
  * Kia Optima support thanks to emmertex!
  * Buick Regal 2018 support thanks to HOYS!
  * Comma pedal support for Toyota thanks to wocsor! Note: tuning needed and not maintained by comma
- * Chrysler Pacifica and Jeep Grand Cherokee suppor thanks to adhintz!
+ * Chrysler Pacifica and Jeep Grand Cherokee support thanks to adhintz!
 
 Version 0.5.8 (2019-01-17)
 ========================

SAFETY.md

@@ -89,7 +89,7 @@ GM/Chevrolet
     and openpilot to 350. This is approximately 0.3g of braking.
 
   - Steering torque is controlled through the 0x180 CAN message and it's limited by the panda firmware and by
-    openpilot to a value between -255 and 255. In addition, the vehicle EPS unit will not fault when
+    openpilot to a value between -300 and 300. In addition, the vehicle EPS unit will fault for
     commands outside these limits.  A steering torque rate limit is enforced by the panda firmware and by
     openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
     0.75s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
@@ -105,5 +105,34 @@ GM/Chevrolet
   - GM CAN uses both a counter and a checksum to ensure integrity and prevent
     replay of the same message.
 
-**Extra note"**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
+Hyundai/Kia (Lateral only)
+------
+
+  - While the system is engaged, steer commands are subject to the same limits used by
+    the stock system.
+
+  - Steering torque is controlled through the 0x340 CAN message and it's limited by the panda firmware and by
+    openpilot to a value between -255 and 255. In addition, the vehicle EPS unit will fault for
+    commands outside the values of -409 and 409. A steering torque rate limit is enforced by the panda firmware and by
+    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
+    0.85s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
+    torque exceeds 50 units in the opposite dicrection to ensure limited applied torque against the
+    driver's will.
+
+Chrysler/Jeep/Fiat (Lateral only)
+------
+
+  - While the system is engaged, steer commands are subject to the same limits used by
+    the stock system.
+
+  - Steering torque is controlled through the 0x292 CAN message and it's limited by the panda firmware and by
+    openpilot to a value between -261 and 261. In addition, the vehicle EPS unit will fault for
+    commands outside these limits. A steering torque rate limit is enforced by the panda firmware and by
+    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
+    0.87s. Commanded steering torque is limited by the panda firmware and by openpilot to be no more than 80
+    units above the actual EPS generated motor torque to ensure limited differences between
+    commanded and actual torques.
+
+
+**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
   not fully meeting the above requirements.

cereal/car.capnp

@@ -72,6 +72,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     calibrationProgress @47;
     lowBattery @48;
     invalidGiraffeHonda @49;
+    vehicleModelInvalid @50;
   }
 }
 
@@ -317,6 +318,7 @@ struct CarParams {
     hyundai @8;
     chrysler @9;
     tesla @10;
+    subaru @11;
   }
 
   # things about the car in the manual

cereal/log.capnp

@@ -419,7 +419,7 @@ struct Live100Data {
   alertType @44 :Text;
   alertSound @45 :Text;
   awarenessStatus @26 :Float32;
-  angleOffset @27 :Float32;
+  angleModelBias @27 :Float32;
   gpsPlannerActive @40 :Bool;
   engageable @41 :Bool;  # can OP be engaged?
   driverMonitoringOn @43 :Bool;
@@ -582,6 +582,9 @@ struct Plan {
   vCurvature @21 :Float32;
   decelForTurn @22 :Bool;
   mapValid @25 :Bool;
+  radarValid @28 :Bool;
+
+  processingDelay @29 :Float32;
 
 
   struct GpsTrajectory {
@@ -608,8 +611,12 @@ struct PathPlan {
   rPoly @6 :List(Float32);
   rProb @7 :Float32;
 
-  angleSteers @8 :Float32;
+  angleSteers @8 :Float32; # deg
+  rateSteers @13 :Float32; # deg/s
   valid @9 :Bool;
+  paramsValid @10 :Bool;
+  modelValid @12 :Bool;
+  angleOffset @11 :Float32;
 }
 
 struct LiveLocationData {
@@ -1602,6 +1609,9 @@ struct LiveParametersData {
   valid @0 :Bool;
   gyroBias @1 :Float32;
   angleOffset @2 :Float32;
+  angleOffsetAverage @3 :Float32;
+  stiffnessFactor @4 :Float32;
+  steerRatio @5 :Float32;
 }
 
 struct LiveMapData {

common/ffi_wrapper.py

@@ -6,7 +6,11 @@
 
 TMPDIR = "/tmp/ccache"
 
-def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR, cflags="", libraries=[]):
+
+def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR, cflags="", libraries=None):
+  if libraries is None:
+    libraries = []
+
   cache = name + "_" + hashlib.sha1(c_code).hexdigest()
   try:
     os.mkdir(tmpdir)
@@ -28,14 +32,19 @@ def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR, cflags="", libraries=[]):
 
   return mod.ffi, mod.lib
 
-def compile_code(name, c_code, c_header, directory, cflags="", libraries=[]):
+
+def compile_code(name, c_code, c_header, directory, cflags="", libraries=None):
+  if libraries is None:
+    libraries = []
+
   ffibuilder = FFI()
   ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
   ffibuilder.cdef(c_header)
   os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++11"
   os.environ['CFLAGS'] = cflags
   ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)
 
+
 def wrap_compiled(name, directory):
   sys.path.append(directory)
   mod = __import__(name)

common/params.py

@@ -29,59 +29,55 @@
 import tempfile
 from enum import Enum
 
+
 def mkdirs_exists_ok(path):
   try:
     os.makedirs(path)
   except OSError:
     if not os.path.isdir(path):
       raise
 
+
 class TxType(Enum):
   PERSISTENT = 1
   CLEAR_ON_MANAGER_START = 2
   CLEAR_ON_CAR_START = 3
 
+
 class UnknownKeyName(Exception):
   pass
 
+
 keys = {
-# written: manager
-# read:    loggerd, uploaderd, offroad
-  "DongleId": TxType.PERSISTENT,
   "AccessToken": TxType.PERSISTENT,
-  "Version": TxType.PERSISTENT,
-  "TrainingVersion": TxType.PERSISTENT,
-  "GitCommit": TxType.PERSISTENT,
+  "CalibrationParams": TxType.PERSISTENT,
+  "CarParams": TxType.CLEAR_ON_CAR_START,
+  "CompletedTrainingVersion": TxType.PERSISTENT,
+  "ControlsParams": TxType.PERSISTENT,
+  "DoUninstall": TxType.CLEAR_ON_MANAGER_START,
+  "DongleId": TxType.PERSISTENT,
   "GitBranch": TxType.PERSISTENT,
+  "GitCommit": TxType.PERSISTENT,
   "GitRemote": TxType.PERSISTENT,
-# written: baseui
-# read:    ui, controls
-  "IsMetric": TxType.PERSISTENT,
-  "IsFcwEnabled": TxType.PERSISTENT,
   "HasAcceptedTerms": TxType.PERSISTENT,
-  "CompletedTrainingVersion": TxType.PERSISTENT,
-  "IsUploadVideoOverCellularEnabled": TxType.PERSISTENT,
   "IsDriverMonitoringEnabled": TxType.PERSISTENT,
+  "IsFcwEnabled": TxType.PERSISTENT,
   "IsGeofenceEnabled": TxType.PERSISTENT,
-  "SpeedLimitOffset": TxType.PERSISTENT,
-# written: visiond
-# read:    visiond, controlsd
-  "CalibrationParams": TxType.PERSISTENT,
-  "ControlsParams": TxType.PERSISTENT,
-# written: controlsd
-# read:    radard
-  "CarParams": TxType.CLEAR_ON_CAR_START,
-
-  "Passive": TxType.PERSISTENT,
-  "DoUninstall": TxType.CLEAR_ON_MANAGER_START,
-  "ShouldDoUpdate": TxType.CLEAR_ON_MANAGER_START,
+  "IsMetric": TxType.PERSISTENT,
   "IsUpdateAvailable": TxType.PERSISTENT,
-  "LongitudinalControl": TxType.PERSISTENT,
+  "IsUploadVideoOverCellularEnabled": TxType.PERSISTENT,
   "LimitSetSpeed": TxType.PERSISTENT,
-
+  "LiveParameters": TxType.PERSISTENT,
+  "LongitudinalControl": TxType.PERSISTENT,
+  "Passive": TxType.PERSISTENT,
   "RecordFront": TxType.PERSISTENT,
+  "ShouldDoUpdate": TxType.CLEAR_ON_MANAGER_START,
+  "SpeedLimitOffset": TxType.PERSISTENT,
+  "TrainingVersion": TxType.PERSISTENT,
+  "Version": TxType.PERSISTENT,
 }
 
+
 def fsync_dir(path):
   fd = os.open(path, os.O_RDONLY)
   try:

common/sympy_helpers.py

@@ -0,0 +1,81 @@
+#!/usr/bin/env python
+import sympy as sp
+import numpy as np
+
+def cross(x):
+  ret = sp.Matrix(np.zeros((3,3)))
+  ret[0,1], ret[0,2] = -x[2], x[1]
+  ret[1,0], ret[1,2] = x[2], -x[0]
+  ret[2,0], ret[2,1] = -x[1], x[0]
+  return ret
+
+def euler_rotate(roll, pitch, yaw):
+  # make symbolic rotation matrix from eulers
+  matrix_roll =  sp.Matrix([[1, 0, 0],
+                            [0, sp.cos(roll), -sp.sin(roll)],
+                            [0, sp.sin(roll), sp.cos(roll)]])
+  matrix_pitch =  sp.Matrix([[sp.cos(pitch), 0, sp.sin(pitch)],
+                             [0, 1, 0],
+                             [-sp.sin(pitch), 0, sp.cos(pitch)]])
+  matrix_yaw =  sp.Matrix([[sp.cos(yaw), -sp.sin(yaw), 0],
+                           [sp.sin(yaw), sp.cos(yaw), 0],
+                           [0, 0, 1]])
+  return matrix_yaw*matrix_pitch*matrix_roll
+
+def quat_rotate(q0, q1, q2, q3):
+  # make symbolic rotation matrix from quat
+  return sp.Matrix([[q0**2 + q1**2 - q2**2 - q3**2, 2*(q1*q2 + q0*q3), 2*(q1*q3 - q0*q2)],
+                    [2*(q1*q2 - q0*q3), q0**2 - q1**2 + q2**2 - q3**2, 2*(q2*q3 + q0*q1)],
+                    [2*(q1*q3 + q0*q2), 2*(q2*q3 - q0*q1), q0**2 - q1**2 - q2**2 + q3**2]]).T
+
+def quat_matrix_l(p):
+  return sp.Matrix([[p[0], -p[1], -p[2], -p[3]],
+                    [p[1],  p[0], -p[3],  p[2]],
+                    [p[2],  p[3],  p[0], -p[1]],
+                    [p[3], -p[2],  p[1],  p[0]]])
+
+def quat_matrix_r(p):
+  return sp.Matrix([[p[0], -p[1], -p[2], -p[3]],
+                    [p[1],  p[0],  p[3], -p[2]],
+                    [p[2], -p[3],  p[0],  p[1]],
+                    [p[3],  p[2], -p[1],  p[0]]])
+
+
+def sympy_into_c(sympy_functions):
+  from sympy.utilities import codegen
+  routines = []
+  for name, expr, args in sympy_functions:
+    r = codegen.make_routine(name, expr, language="C99")
+
+    # argument ordering input to sympy is broken with function with output arguments
+    nargs = []
+    # reorder the input arguments
+    for aa in args:
+      if aa is None:
+        nargs.append(codegen.InputArgument(sp.Symbol('unused'), dimensions=[1,1]))
+        continue
+      found = False
+      for a in r.arguments:
+        if str(aa.name) == str(a.name):
+          nargs.append(a)
+          found = True
+          break
+      if not found:
+        # [1,1] is a hack for Matrices
+        nargs.append(codegen.InputArgument(aa, dimensions=[1,1]))
+    # add the output arguments
+    for a in r.arguments:
+      if type(a) == codegen.OutputArgument:
+        nargs.append(a)
+
+    #assert len(r.arguments) == len(args)+1
+    r.arguments = nargs
+
+    # add routine to list
+    routines.append(r)
+
+  [(c_name, c_code), (h_name, c_header)] = codegen.get_code_generator('C', 'ekf', 'C99').write(routines, "ekf")
+  c_code = '\n'.join(filter(lambda x: len(x) > 0 and x[0] != '#', c_code.split("\n")))
+  c_header = '\n'.join(filter(lambda x: len(x) > 0 and x[0] != '#', c_header.split("\n")))
+
+  return c_header, c_code