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Move to dynamic selection of safety model #5

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jyoung8607 opened this issue Apr 2, 2019 · 1 comment
Closed

Move to dynamic selection of safety model #5

jyoung8607 opened this issue Apr 2, 2019 · 1 comment
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@jyoung8607
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bug Something isn't working
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Merge Panda safet...

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@jyoung8607
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Panda safety model has to be hard coded today. There is something we're missing in the dynamic selection of safety profiles. Now that the port is up and running and stable, we need to revert the hard coding / all-live changes to see what we're missing.
@jyoung8607 jyoung8607 self-assigned this Apr 2, 2019
@jyoung8607 jyoung8607 added the bug Something isn't working label Apr 2, 2019
@jyoung8607 jyoung8607 added this to the Merge Panda safety model milestone Apr 2, 2019
edukinara referenced this issue in edukinara/openpilot Jul 18, 2019
Gernby's Dampen MPC Interpolation Auto-Tune
f937265 
Squashed commit of the following:

commit e0505d8
Merge: 7eefd27 7ce6376
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Thu Apr 11 12:17:28 2019 -0500

    Merge branch 'dampen-mpc-interp-auto-tune' of https://github.com/Gernby/openpilot into dampen-mpc-interp-auto-tune

commit 7eefd27
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Thu Apr 11 12:14:55 2019 -0500

    fixed kegmon.json initialization

commit 7ce6376
Author: Gernby <gernby2002@yahoo.com>
Date:   Wed Apr 10 18:19:18 2019 -0500

    Fixed merge error

commit 9a5e449
Merge: da7a3a8 e312b2e
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Wed Apr 10 15:43:38 2019 -0500

    Merge branch 'dampen-mpc-interp-auto-tune' of https://github.com/Gernby/openpilot into dampen-mpc-interp-auto-tune

commit da7a3a8
Merge: a5f29a8 7978afa
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Wed Apr 10 15:43:15 2019 -0500

    merged

commit a5f29a8
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Wed Apr 10 15:17:51 2019 -0500

    fixed kegman_conf

commit e312b2e
Author: Gernby <gernby2002@yahoo.com>
Date:   Wed Apr 10 12:50:19 2019 -0500

    add rate compensation for steering angle on ALL Toyota's

commit 6af7793
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Tue Apr 9 15:37:01 2019 -0500

    updated dashfile and modified realtime_priority

commit 4c9a1d6
Merge: 22bd796 166a0b0
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Tue Apr 9 12:11:25 2019 -0500

    refined auto-tune and auto-resume for Bosch

commit 166a0b0
Merge: 2607a20 dc90f37d
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Apr 8 21:36:40 2019 -0500

    merge fix

commit 2607a20
Merge: 9c51023 e89fd12
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Apr 8 21:09:12 2019 -0500

    Merge branch 'devel' of https://github.com/commaai/openpilot into rate-based-feedforward-PR

commit 9c51023
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Apr 8 21:09:05 2019 -0500

    added auto-tuning for feedforward gain

commit 22bd796
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Apr 8 17:37:07 2019 -0500

    added rough lead speed as resume trigger

commit d5e42de
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Apr 8 16:51:08 2019 -0500

    mild refactoring and disabling of lane filter

commit c775ef6
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Apr 8 16:13:48 2019 -0500

    more auto-tune improvements

commit dc90f37
Author: Gernby <gernby2002@yahoo.com>
Date:   Mon Apr 8 08:02:38 2019 -0500

    Reduce default gain values

    While testing logic to auto-tune the angle and rate gain values, I found that the rate gain value can be **much smaller** without losing its effectiveness.  My Honda Accord performed well with a rate gain below 0.01, so it seems that 0.2 is not as conservative as I first thought.

    I've also reduced the default angle gain, since 1.0 should perform nearly the same with the proposed logic as it does with standard logic.

commit 390e1d0
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sun Apr 7 21:17:19 2019 -0500

    much improved auto-tune

commit b88e1f3
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sun Apr 7 17:52:46 2019 -0500

    added auto-tune POC

commit 13344ae
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sun Apr 7 13:32:08 2019 -0500

    Added dampened desired rate

commit 9926cd4
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sat Apr 6 19:29:05 2019 -0500

    mostly disable lane filter for now

commit 78fd669
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sat Apr 6 18:16:40 2019 -0500

    cleaned up live tuning

commit 89f6de9
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sat Apr 6 17:12:41 2019 -0500

    updated tune.py

commit 0cceb50
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sat Apr 6 17:08:53 2019 -0500

    added lane filter and rate-based feed-forward

commit 10ce6cc
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Fri Apr 5 13:56:01 2019 -0500

    Added rate-based feedforward for latcontrol

commit 5bfcb82
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Fri Apr 5 13:36:39 2019 -0500

    Added rate-based feedforward for lateral control

commit c177a58
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Fri Apr 5 10:08:17 2019 -0500

    added new params to dashfile

commit 9377c29
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Fri Apr 5 00:43:40 2019 -0500

    'dis is good'dis is good

commit 509bee5
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Thu Apr 4 17:25:32 2019 -0500

    added rate-based feed forward

commit fb775fb
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Wed Apr 3 22:07:38 2019 -0500

    tweaked the lane filter AND disabled rate-based FF

commit df2f4f2
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Wed Apr 3 16:25:00 2019 -0500

    improved exit filter AND added rate-based feedforward

commit 4c445d7
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Tue Apr 2 22:06:09 2019 -0500

    Working really nicely

commit 4ef7f48
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Tue Apr 2 20:14:53 2019 -0500

    mostly tested, and awesome

commit 9520ca9
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Apr 1 10:26:52 2019 -0500

    fixed steer_status frame count check

commit 9d832a8
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Apr 1 10:17:50 2019 -0500

    fixed realtime priorities and LiveParameters

commit 21a6e73
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sat Mar 30 19:38:08 2019 -0500

    improved lane filtering

commit 875261d
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sat Mar 30 17:38:54 2019 -0500

    lane filtering in model_parser is not tested

commit 0845916
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Wed Mar 27 18:50:58 2019 -0500

    updated default parameters for dampening

commit ecb67bd
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Wed Mar 27 18:44:07 2019 -0500

    working awesome!

commit 78890d6
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Wed Mar 27 16:42:49 2019 -0500

    Works great!

commit eaf9a8d
Merge: 5a9d89e 29b2d3c
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Wed Mar 27 16:18:32 2019 -0500

    testing-sauce-0.5.10

commit 29b2d3c
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Wed Mar 27 08:37:43 2019 -0500

    fixed default values

commit a191bdd
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Wed Mar 27 08:27:06 2019 -0500

    fix for boardd sync

commit 9170a94
Merge: eb69a0f d744113
Author: Gernby <gernby2002@yahoo.com>
Date:   Tue Mar 26 16:22:56 2019 -0500

    Merge pull request #5 from Gernby/temp-test

    Added kegman's live-tuning

commit d744113
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Tue Mar 26 15:33:11 2019 -0500

    added kegman's live-tuning

commit 84ca9a7
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Mar 25 21:29:29 2019 -0500

    adding live-tuning

commit eb69a0f
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Mar 25 15:17:49 2019 -0500

    revised damp and react parameters

commit 722224c
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Mar 25 08:34:19 2019 -0500

    fixed by clean reset

commit 388f8cd
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Mar 25 07:40:04 2019 -0500

    Broken!

commit d555019
Merge: 7f08767 c97076a
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sun Mar 24 13:07:02 2019 -0500

    Merge branch 'dampen-mpc-interp' of https://github.com/Gernby/openpilot into dampen-mpc-interp

commit 7f08767
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sun Mar 24 12:54:24 2019 -0500

    fixed for angle-steer

commit c97076a
Merge: 463c80b 27e0adc
Author: Gernby <gernby2002@yahoo.com>
Date:   Sun Mar 24 12:32:19 2019 -0500

    Merge pull request #4 from commaai/devel

    merging commaai/devel

commit 16624bd
Merge: 463c80b 27e0adc
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sun Mar 24 12:13:04 2019 -0500

    Merge branch 'devel' of https://github.com/commaai/openpilot into dampen-mpc-interp

commit 463c80b
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sun Mar 24 12:11:34 2019 -0500

    fixed latcontrol reset damp values

commit a07ac15
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sun Mar 24 12:03:08 2019 -0500

    Updated steer and mpc dampening

commit 4017b1d
Merge: 52ae8fe 3c96b40
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Wed Mar 20 19:40:15 2019 -0500

    merge fixes

commit 52ae8fe
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Wed Mar 20 19:33:28 2019 -0500

    fixed sync issue with extended drives

commit 3c96b40
Author: Gernby <gernby2002@yahoo.com>
Date:   Tue Mar 5 15:42:23 2019 -0600

    Fixed issue with thermald between drives

commit 104c4a8
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Mar 4 14:25:37 2019 -0600

    fixed some cleanup mistakes.

commit 36de288
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Mar 4 14:11:03 2019 -0600

    another cleanup fixanother cleanup fix

commit 1412a60
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Mar 4 13:50:14 2019 -0600

    fixed a couple cleanup mistakes

commit ffd8c3a
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sun Mar 3 21:33:22 2019 -0600

    more refinements for PR

commit dbe8a75
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sun Mar 3 21:10:43 2019 -0600

    added syncID for Accord

commit da84d41
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sun Mar 3 20:38:49 2019 -0600

    preparing for PRpreparing for PR

commit db34d8c
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Fri Mar 1 11:33:35 2019 -0600

    ignore visiond

commit 64cd45f
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Fri Feb 22 13:31:04 2019 -0600

    gitignore

commit 031996f
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Fri Feb 22 11:59:29 2019 -0600

    git cleanup

commit e7c52d5
Merge: 2629080 eef45dc
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Fri Feb 22 11:54:53 2019 -0600

    Merge branch 'devel' of https://github.com/gernby/openpilot into devel

commit 2629080
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Fri Feb 22 11:54:12 2019 -0600

    git config

commit eef45dc
Merge: 9e28ef9 2ea0602
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Fri Feb 22 11:43:20 2019 -0600

    Merge branch 'devel' of https://github.com/Gernby/openpilot into devel

commit 2ea0602
Merge: a1819ea 4101ddc
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Fri Feb 22 11:40:19 2019 -0600

    Merge branch 'devel' of https://github.com/gernby/openpilot into devel

commit a1819ea
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Fri Feb 22 11:34:35 2019 -0600

    git config

commit 4101ddc
Author: Gernby <gernby2002@yahoo.com>
Date:   Fri Feb 22 11:30:44 2019 -0600

    Update README.md

commit 9e28ef9
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Fri Feb 22 11:29:18 2019 -0600

    git config

commit 5a0aae3
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Fri Feb 22 11:03:04 2019 -0600

    git config

commit 4712458
Merge: e57a9ac 73c8877
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Fri Feb 22 10:55:26 2019 -0600

    Merge branch 'devel' of https://github.com/Gernby/openpilot into deve

commit e57a9ac
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Fri Feb 22 10:54:33 2019 -0600

    configuring git

commit 73c8877
Merge: 3a49dac 5c8aa72
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Thu Feb 21 23:05:47 2019 -0600

    Merge branch 'devel' of https://github.com/commaai/openpilot into devel

commit 3a49dac
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Thu Feb 21 23:05:18 2019 -0600

    added sftp

commit 4f8dd77
Author: Gernby <gernby2002@yahoo.com>
Date:   Sat Feb 16 13:21:35 2019 -0600

    Update README.md

commit 17a5c7b
Author: Gernby <gernby2002@yahoo.com>
Date:   Sat Feb 16 12:56:00 2019 -0600

    Update README.md

commit 4ed0725
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Feb 4 19:48:49 2019 -0600

    another merge fix

commit 167ef82
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Feb 4 19:46:04 2019 -0600

    Merge fix

commit 6d737ca
Merge: baa7b73e 2c9d5af
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Feb 4 19:32:53 2019 -0600

    Merge branch 'devel' of https://github.com/commaa/openpilot into

commit baa7b73
Merge: 845508b 504f750
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Wed Jan 16 09:32:20 2019 -0600

    Merge branch 'devel' of https://github.com/Gernby/openpilot into devel

commit 504f750
Author: Gernby <gernby2002@yahoo.com>
Date:   Thu Jan 10 17:11:57 2019 -0600

    0.5.6 visiond

commit 5443792
Author: Gernby <gernby2002@yahoo.com>
Date:   Thu Jan 10 17:11:15 2019 -0600

    Delete visiond

commit 845508b
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Wed Jan 9 20:43:57 2019 -0600

    fixed max torque, for more actual torque
@jyoung8607
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Resolved in my most recent vw-062-base branch, safety selection is working correctly.

Recent Panda code seems to revert to NOOUTPUT safety when EON is disconnected, and we don't re-fingerprint fast enough on next start, so we're having to ignition on-off-on every time EON or OP comes back up, but that is a different issue entirely.

jyoung8607 pushed a commit that referenced this issue Oct 10, 2019
@jyoung8607
Squashed 'cereal/' changes from ea14abe..3d90c78
2572ce3 
3d90c78 Fix wrong event enum
f4c92cf add none/invalid usb power mode
12bc189 Add fields and states required for robust Volkswagen safety compliance (#8)
16b5850 let's spell wolkswagen
6243622 Safety cereal (#9)
5cf3c2c change order of UsbPowerMode to preserve panda lib behavior
18a2917 usbPowerMode is more useful to log and it comes from panda
1526784 add ldw to visual hud alerts (#5)
24f6fa7 merge commaai/msgq#3 after fixing conflicts
4d5862c added event about internet connection
ca070f9 Added usbPowerOn to health
e2eaa76 add HW type for UNO
e528a20 Read RPM from fan connected to Panda
8472175 Added invalidGiraffeToyota event
71be970 placeholders for mazda, nissan and vw safety models

git-subtree-dir: cereal
git-subtree-split: 3d90c78
jyoung8607 pushed a commit that referenced this issue Oct 12, 2019
Squashed 'cereal/' changes from ea14abe..3d90c78
f66527d 
3d90c78 Fix wrong event enum
f4c92cf add none/invalid usb power mode
12bc189 Add fields and states required for robust Volkswagen safety compliance (#8)
16b5850 let's spell wolkswagen
6243622 Safety cereal (#9)
5cf3c2c change order of UsbPowerMode to preserve panda lib behavior
18a2917 usbPowerMode is more useful to log and it comes from panda
1526784 add ldw to visual hud alerts (#5)
24f6fa7 merge commaai/msgq#3 after fixing conflicts
4d5862c added event about internet connection
ca070f9 Added usbPowerOn to health
e2eaa76 add HW type for UNO
e528a20 Read RPM from fan connected to Panda
8472175 Added invalidGiraffeToyota event
71be970 placeholders for mazda, nissan and vw safety models

git-subtree-dir: cereal
git-subtree-split: 3d90c78
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