0.6.0.4

* Better Panda

* 0.6.0.2 Untested

* update releases

* bug

* Send fingerprints to Sentry

* Refactor default Civic params (commaai#720)

* move civic params out

* fix variable name

* simplify ford scaling

* cleanup

* remove import dependency

* requested changes

* keep hyundai

* 2019 Rav4 Limited AWD (commaai#732)

* Fingerprint

* Merge Limited and XLE fingerprint because they're the same

* 0.6.0.3 - Untested

* no mapd just yet

* Remote ASL

* Done

* panda too

* mapd, auto speed and cloudlog

* start mapd

* Test

* bug

* better code

* bug

* bug

* bug

* bug

* bug

* tweak

* Remove Min Speed Steer Disengage

* Fix lane centering with single lane line (#38)

add fix of openpilot dev commaai#737

* Update STEER_DELTA_DOWN - Temp Remove CLU11 (#43)

selfdrive/car/hyundai/carcontroller.py

@@ -1,7 +1,7 @@
 from selfdrive.car import limit_steer_rate
 from selfdrive.car.hyundai.hyundaican import create_lkas11, create_lkas12, \
                                              create_1191, create_1156, \
-                                             create_clu11, learn_checksum, create_mdps12
+                                             learn_checksum, create_mdps12 #, create_clu11
 from selfdrive.car.hyundai.values import Buttons
 from selfdrive.can.packer import CANPacker
 import zmq
@@ -18,7 +18,7 @@
 class SteerLimitParams:
   STEER_MAX = 255   # >255 results in frozen torque, >409 results in no torque
   STEER_DELTA_UP = 3
-  STEER_DELTA_DOWN = 7
+  STEER_DELTA_DOWN = 5
   STEER_DRIVER_ALLOWANCE = 50
   STEER_DRIVER_MULTIPLIER = 2
   STEER_DRIVER_FACTOR = 1
@@ -157,7 +157,7 @@ def update(self, enabled, CS, actuators, pcm_cancel_cmd, hud_alert):
     ### Generate CAN Messages ###
 
     self.lkas11_cnt = self.cnt % 0x10
-    self.clu11_cnt = self.cnt % 0x10
+#   self.clu11_cnt = self.cnt % 0x10
     self.mdps12_cnt = self.cnt % 0x100
 
     if self.camera_disconnected:
@@ -175,11 +175,11 @@ def update(self, enabled, CS, actuators, pcm_cancel_cmd, hud_alert):
       can_sends.append(create_mdps12(self.packer, self.car_fingerprint, self.mdps12_cnt, CS.mdps12, CS.lkas11, \
                                     self.checksum))
 
-    if pcm_cancel_cmd:
-      can_sends.append(create_clu11(self.packer, CS.clu11, Buttons.CANCEL, 0))
-    elif CS.stopped and (self.cnt - self.last_resume_cnt) > 5:
-      self.last_resume_cnt = self.cnt
-      can_sends.append(create_clu11(self.packer, CS.clu11, Buttons.RES_ACCEL, 0))
+#    if pcm_cancel_cmd:
+#      can_sends.append(create_clu11(self.packer, CS.clu11, Buttons.CANCEL, 0))
+#    elif CS.stopped and (self.cnt - self.last_resume_cnt) > 5:
+#      self.last_resume_cnt = self.cnt
+#      can_sends.append(create_clu11(self.packer, CS.clu11, Buttons.RES_ACCEL, 0))
 
     self.cnt += 1
 

selfdrive/controls/lib/model_parser.py

@@ -44,7 +44,7 @@ def update(self, v_ego, md):
     self.lane_width_certainty += 0.05 * (lr_prob - self.lane_width_certainty)
     current_lane_width = abs(l_poly[3] - r_poly[3])
     self.lane_width_estimate += 0.005 * (current_lane_width - self.lane_width_estimate)
-    speed_lane_width = interp(v_ego, [0., 31.], [3., 3.8])
+    speed_lane_width = interp(v_ego, [0., 31.], [2.8, 3.5])
     self.lane_width = self.lane_width_certainty * self.lane_width_estimate + \
                       (1 - self.lane_width_certainty) * speed_lane_width