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sync #93

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Jan 11, 2021
Merged

sync #93

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185172b
Update dp_common.py
arne182 Jan 9, 2021
97c668b
Update dp_common.py
arne182 Jan 9, 2021
9dbb277
RSA, Distance button and briskspirit longcontrol (#762)
rav4kumar Jan 9, 2021
68dcca8
corolla_TSS2: tune (#760)
oppilot Jan 11, 2021
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1 change: 1 addition & 0 deletions Pipfile
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Original file line number Diff line number Diff line change
Expand Up @@ -77,6 +77,7 @@ torch = "*"
torchsummary = "*"
blosc = "==1.9.2"
segmentation-models-pytorch = "==0.1.2"
pyopencl = "*"

[packages]
atomicwrites = "*"
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191 changes: 104 additions & 87 deletions Pipfile.lock
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3 changes: 3 additions & 0 deletions cereal/car.capnp
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Expand Up @@ -417,6 +417,9 @@ struct CarParams {
steerRateCost @33 :Float32; # Lateral MPC cost on steering rate
steerControlType @34 :SteerControlType;
radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
minSpeedCan @51 :Float32; # Minimum vehicle speed from CAN (below this value drops to 0)
stoppingBrakeRate @52 :Float32; # brake_travel/s while trying to stop
startingBrakeRate @53 :Float32; # brake_travel/s while releasing on restart

steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
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16 changes: 8 additions & 8 deletions common/dp_common.py
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Expand Up @@ -4,22 +4,22 @@
from common.params import Params
from common.realtime import sec_since_boot
import os
import time
from math import floor
#import time
#from math import floor
params = Params()
from common.travis_checker import travis
from common.dp_conf import init_params_vals
#from common.dp_conf import init_params_vals

if travis:
PARAM_PATH = str(os.environ.get('HOME')) + "/.comma/params/d/"
else:
PARAM_PATH = "/data/params/d/"
LAST_MODIFIED = str(PARAM_PATH) + "dp_last_modified"
if not os.path.exists(LAST_MODIFIED):
os.makedirs(str(os.environ.get('HOME')) + "/.comma/params/d/", exist_ok=True)
print("dp_last_modified is " + str(floor(time.time())))
params.put('dp_last_modified',str(floor(time.time())))
init_params_vals(params)
#if not os.path.exists(LAST_MODIFIED):
# os.makedirs(str(os.environ.get('HOME')) + "/.comma/params/d/", exist_ok=True)
# print("dp_last_modified is " + str(floor(time.time())))
# params.put('dp_last_modified',str(floor(time.time())))
# init_params_vals(params)

def is_online():
try:
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20 changes: 10 additions & 10 deletions common/op_params.py
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Expand Up @@ -94,15 +94,15 @@ def __init__(self):
#'hotspot_on_boot': Param(False, bool, 'Enable Hotspot On Boot'),
'keep_openpilot_engaged': Param(True, bool, 'True is stock behavior in this fork. False lets you use the brake and cruise control stalk to disengage as usual'),
#'lat_d': Param(9.0, VT.number, 'The lateral derivative gain, default is 9.0 for TSS2 Corolla. This is active at all speeds', live=True),
#'limit_rsa': Param(False, bool, "Switch off RSA above rsa_max_speed"),
'limit_rsa': Param(False, bool, "Switch off RSA above rsa_max_speed"),
#'ludicrous_mode': Param(False, bool, 'Double overall acceleration!'),
'mpc_offset': Param(0.0, VT.number, 'Offset model braking by how many m/s. Lower numbers equals more model braking', live=True),
#'NoctuaMode': Param(False, bool, 'Noctua Fan are super quite and they run at full speed at all time.'),
'offset_limit': Param(0, VT.number, 'Speed at which apk percent offset will work in m/s'),
'osm': Param(True, bool, 'Whether to use OSM for drives'),
'prius_pid': Param(False, bool, 'This enables the PID lateral controller with new a experimental derivative tune\nFalse: stock INDI, True: TSS2-tuned PID'),
'rolling_stop': Param(False, bool, 'If you do not want stop signs to go down to 0 kph enable this for 9kph slow down'),
#'rsa_max_speed': Param(24.5, VT.number, 'Speed limit to ignore RSA in m/s'),
'rsa_max_speed': Param(24.5, VT.number, 'Speed limit to ignore RSA in m/s'),
'smart_speed': Param(True, bool, 'Whether to use Smart Speed for drives above smart_speed_max_vego'),
'smart_speed_max_vego': Param(26.8, VT.number, 'Speed limit to ignore Smartspeed in m/s'),
#'spairrowtuning': Param(False, bool, 'INDI Tuning for Corolla Tss2, set steer_up_15 param to True and flash panda'),
Expand All @@ -118,14 +118,14 @@ def __init__(self):
#'use_virtual_middle_line': Param(False, bool, 'For roads over 4m wide, hug right. For roads under 2m wide, hug left.'),
'uniqueID': Param(None, [type(None), str], 'User\'s unique ID'),
'enable_indi_live': Param(False, bool, live=True),
'indi_inner_gain_bp': Param([0, 255, 255], [list, float, int], live=True, depends_on='enable_indi_live'),
'indi_inner_gain_v': Param([6.0, 6.0, 6.0], [list, float, int], live=True, depends_on='enable_indi_live'),
'indi_outer_gain_bp': Param([0, 255, 255], [list, float, int], live=True, depends_on='enable_indi_live'),
'indi_outer_gain_v': Param([15, 15, 15], [list, float, int], live=True, depends_on='enable_indi_live'),
'indi_time_constant_bp': Param([0, 255, 255], [list, float, int], live=True, depends_on='enable_indi_live'),
'indi_time_constant_v': Param([5.5, 5.5, 5.5], [list, float, int], live=True, depends_on='enable_indi_live'),
'indi_actuator_effectiveness_bp': Param([0, 255, 255], [list, float, int], live=True, depends_on='enable_indi_live'),
'indi_actuator_effectiveness_v': Param([6, 6, 6], [list, float, int], live=True, depends_on='enable_indi_live'),
'indi_inner_gain_bp': Param([18, 22, 26], [list, float, int], live=True, depends_on='enable_indi_live'),
'indi_inner_gain_v': Param([5, 10, 15], [list, float, int], live=True, depends_on='enable_indi_live'),
'indi_outer_gain_bp': Param([18, 22, 26], [list, float, int], live=True, depends_on='enable_indi_live'),
'indi_outer_gain_v': Param([4, 9, 14.99], [list, float, int], live=True, depends_on='enable_indi_live'),
'indi_time_constant_bp': Param([18, 22, 26], [list, float, int], live=True, depends_on='enable_indi_live'),
'indi_time_constant_v': Param([2, 4, 5.5], [list, float, int], live=True, depends_on='enable_indi_live'),
'indi_actuator_effectiveness_bp': Param([18, 22, 26], [list, float, int], live=True, depends_on='enable_indi_live'),
'indi_actuator_effectiveness_v': Param([5, 10, 15], [list, float, int], live=True, depends_on='enable_indi_live'),
'steer_limit_timer': Param(0.4, VT.number, live=True, depends_on='enable_indi_live')
}

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