openpilot v0.4.7.2 release
parent
21b3f5321a
commit
95509a58cd
|
@ -88,15 +88,9 @@ Supported Cars
|
|||
|
||||
### GM (Chevrolet + Cadillac) ###
|
||||
|
||||
- Chevrolet Volt Premier 2017+
|
||||
- Driver Confidence II package (adaptive cruise control) required
|
||||
- Can only be enabled above 18 mph
|
||||
- Chevrolet Volt Premier 2017+ with Driver Confidence II package
|
||||
- Read the [installation guide](https://www.zoneos.com/volt.htm)
|
||||
|
||||
- Cadillac CT6
|
||||
- Uses stock ACC for longitudinal control
|
||||
- Requires multiple panda for proxying the ASCMs
|
||||
|
||||
In Progress Cars
|
||||
------
|
||||
- All TSS-P Toyota with Steering Assist.
|
||||
|
|
|
@ -1,3 +1,9 @@
|
|||
Version 0.4.7.2 (2018-06-25)
|
||||
==========================
|
||||
* Fix loggerd lag issue
|
||||
* No longer prompt for updates
|
||||
* Mitigate right lane hugging for properly mounted EON (procedure on wiki)
|
||||
|
||||
Version 0.4.7.1 (2018-06-18)
|
||||
==========================
|
||||
* Fix Acura ILX steer faults
|
||||
|
|
|
@ -170,6 +170,7 @@ struct RadarState {
|
|||
enum Error {
|
||||
commIssue @0;
|
||||
fault @1;
|
||||
wrongConfig @2;
|
||||
}
|
||||
|
||||
# similar to LiveTracks
|
||||
|
@ -332,7 +333,7 @@ struct CarParams {
|
|||
directAccelControl @31 :Bool; # Does the car have direct accel control or just gas/brake
|
||||
stoppingControl @34 :Bool; # Does the car allows full control even at lows speeds when stopping
|
||||
startAccel @35 :Float32; # Required acceleraton to overcome creep braking
|
||||
steerRateCost @40 :Float32; # Lateral MPC cost on steering rate
|
||||
steerRateCostDEPRECATED @40 :Float32; # Lateral MPC cost on steering rate
|
||||
steerControlType @46 :SteerControlType;
|
||||
radarOffCan @47 :Bool; # True when radar objects aren't visible on CAN
|
||||
|
||||
|
|
|
@ -5,14 +5,11 @@ if [ -z "$PASSIVE" ]; then
|
|||
fi
|
||||
|
||||
function launch {
|
||||
DO_UPDATE=$(cat /data/params/d/ShouldDoUpdate)
|
||||
# apply update
|
||||
if [ "$DO_UPDATE" == "1" ] && [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
|
||||
if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
|
||||
git reset --hard @{u} &&
|
||||
git clean -xdf &&
|
||||
exec "${BASH_SOURCE[0]}"
|
||||
echo -n 0 > /data/params/d/ShouldDoUpdate
|
||||
echo -n 0 > /data/params/d/IsUpdateAvailable
|
||||
fi
|
||||
|
||||
# no cpu rationing for now
|
||||
|
|
|
@ -75,7 +75,6 @@ class CarInterface(object):
|
|||
ret.steerKpV, ret.steerKiV = [[0.01], [0.005]] # TODO: tune this
|
||||
ret.steerKf = 1. / MAX_ANGLE # MAX Steer angle to normalize FF
|
||||
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
|
||||
ret.steerRateCost = 0.5
|
||||
|
||||
f = 1.2
|
||||
tireStiffnessFront_civic *= f
|
||||
|
|
|
@ -151,7 +151,6 @@ class CarInterface(object):
|
|||
ret.startAccel = 0.8
|
||||
|
||||
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
|
||||
ret.steerRateCost = 0.5
|
||||
ret.steerControlType = car.CarParams.SteerControlType.torque
|
||||
|
||||
return ret
|
||||
|
|
|
@ -1,4 +1,3 @@
|
|||
import os
|
||||
from collections import namedtuple
|
||||
from selfdrive.boardd.boardd import can_list_to_can_capnp
|
||||
from selfdrive.controls.lib.drive_helpers import rate_limit
|
||||
|
@ -123,8 +122,7 @@ class CarController(object):
|
|||
elif CS.CP.carFingerprint in (CAR.CRV, CAR.ACURA_RDX):
|
||||
STEER_MAX = 0x3e8 # CR-V only uses 12-bits and requires a lower value (max value from energee)
|
||||
else:
|
||||
is_fw_modified = os.getenv("DONGLE_ID") in ['99c94dc769b5d96e']
|
||||
STEER_MAX = 0x1FFF if is_fw_modified else 0x1000
|
||||
STEER_MAX = 0x1000
|
||||
|
||||
# steer torque is converted back to CAN reference (positive when steering right)
|
||||
apply_gas = clip(actuators.gas, 0., 1.)
|
||||
|
|
|
@ -37,11 +37,11 @@ def create_brake_command(packer, apply_brake, pcm_override, pcm_cancel_cmd, chim
|
|||
|
||||
values = {
|
||||
"COMPUTER_BRAKE": apply_brake,
|
||||
"COMPUTER_BRAKE_REQUEST": pump_on,
|
||||
"BRAKE_PUMP_REQUEST": pump_on,
|
||||
"CRUISE_OVERRIDE": pcm_override,
|
||||
"CRUISE_FAULT_CMD": pcm_fault_cmd,
|
||||
"CRUISE_CANCEL_CMD": pcm_cancel_cmd,
|
||||
"COMPUTER_BRAKE_REQUEST_2": brake_rq,
|
||||
"COMPUTER_BRAKE_REQUEST": brake_rq,
|
||||
"SET_ME_0X80": 0x80,
|
||||
"BRAKE_LIGHTS": brakelights,
|
||||
"CHIME": chime,
|
||||
|
|
|
@ -340,7 +340,6 @@ class CarInterface(object):
|
|||
ret.startAccel = 0.5
|
||||
|
||||
ret.steerActuatorDelay = 0.09
|
||||
ret.steerRateCost = 0.5
|
||||
|
||||
return ret
|
||||
|
||||
|
|
|
@ -78,7 +78,6 @@ class CarInterface(object):
|
|||
ret.mass = 3045 * CV.LB_TO_KG + std_cargo
|
||||
ret.steerKpV, ret.steerKiV = [[0.4], [0.01]]
|
||||
ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
|
||||
ret.steerRateCost = 1.5
|
||||
|
||||
f = 1.43353663
|
||||
tireStiffnessFront_civic *= f
|
||||
|
@ -93,7 +92,6 @@ class CarInterface(object):
|
|||
ret.mass = 3650 * CV.LB_TO_KG + std_cargo # mean between normal and hybrid
|
||||
ret.steerKpV, ret.steerKiV = [[0.6], [0.05]]
|
||||
ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
|
||||
ret.steerRateCost = 1.
|
||||
elif candidate == CAR.COROLLA:
|
||||
ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file
|
||||
ret.wheelbase = 2.70
|
||||
|
@ -101,7 +99,6 @@ class CarInterface(object):
|
|||
ret.mass = 2860 * CV.LB_TO_KG + std_cargo # mean between normal and hybrid
|
||||
ret.steerKpV, ret.steerKiV = [[0.2], [0.05]]
|
||||
ret.steerKf = 0.00003 # full torque for 20 deg at 80mph means 0.00007818594
|
||||
ret.steerRateCost = 1.
|
||||
elif candidate == CAR.LEXUS_RXH:
|
||||
ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file
|
||||
ret.wheelbase = 2.79
|
||||
|
@ -109,7 +106,6 @@ class CarInterface(object):
|
|||
ret.mass = 4481 * CV.LB_TO_KG + std_cargo # mean between min and max
|
||||
ret.steerKpV, ret.steerKiV = [[0.6], [0.1]]
|
||||
ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
|
||||
ret.steerRateCost = .8
|
||||
|
||||
ret.centerToFront = ret.wheelbase * 0.44
|
||||
|
||||
|
|
|
@ -1 +1 @@
|
|||
#define COMMA_VERSION "0.4.7.1-release"
|
||||
#define COMMA_VERSION "0.4.7.2-release"
|
||||
|
|
|
@ -28,11 +28,12 @@ class LatControl(object):
|
|||
(VM.CP.steerKiBP, VM.CP.steerKiV),
|
||||
k_f=VM.CP.steerKf, pos_limit=1.0)
|
||||
self.last_cloudlog_t = 0.0
|
||||
self.setup_mpc(VM.CP.steerRateCost)
|
||||
self.setup_mpc()
|
||||
|
||||
def setup_mpc(self, steer_rate_cost):
|
||||
def setup_mpc(self):
|
||||
self.libmpc = libmpc_py.libmpc
|
||||
self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, steer_rate_cost)
|
||||
self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE,
|
||||
MPC_COST_LAT.HEADING, MPC_COST_LAT.STEER_RATE)
|
||||
|
||||
self.mpc_solution = libmpc_py.ffi.new("log_t *")
|
||||
self.cur_state = libmpc_py.ffi.new("state_t *")
|
||||
|
@ -90,7 +91,7 @@ class LatControl(object):
|
|||
self.mpc_nans = np.any(np.isnan(list(self.mpc_solution[0].delta)))
|
||||
t = sec_since_boot()
|
||||
if self.mpc_nans:
|
||||
self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, VM.CP.steerRateCost)
|
||||
self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, MPC_COST_LAT.STEER_RATE)
|
||||
self.cur_state[0].delta = math.radians(angle_steers) / VM.CP.steerRatio
|
||||
|
||||
if t > self.last_cloudlog_t + 5.0:
|
||||
|
|
|
@ -1,6 +1,7 @@
|
|||
from common.numpy_fast import interp
|
||||
from selfdrive.controls.lib.latcontrol_helpers import model_polyfit, calc_desired_path, compute_path_pinv
|
||||
|
||||
CAMERA_OFFSET = 0.12 # ~12cm from center car to camera
|
||||
|
||||
class PathPlanner(object):
|
||||
def __init__(self):
|
||||
|
@ -21,6 +22,10 @@ class PathPlanner(object):
|
|||
l_poly = model_polyfit(md.model.leftLane.points, self._path_pinv) # left line
|
||||
r_poly = model_polyfit(md.model.rightLane.points, self._path_pinv) # right line
|
||||
|
||||
# only offset left and right lane lines; offsetting p_poly does not make sense
|
||||
l_poly[3] += CAMERA_OFFSET
|
||||
r_poly[3] += CAMERA_OFFSET
|
||||
|
||||
p_prob = 1. # model does not tell this probability yet, so set to 1 for now
|
||||
l_prob = md.model.leftLane.prob # left line prob
|
||||
r_prob = md.model.rightLane.prob # right line prob
|
||||
|
|
|
@ -101,3 +101,4 @@ if __name__ == '__main__':
|
|||
VM = VehicleModel(CP)
|
||||
print VM.steady_state_sol(.1, 0.15)
|
||||
print calc_slip_factor(VM)
|
||||
print VM.yaw_rate(0.2*np.pi/180, 32.) * 180./np.pi
|
||||
|
|
Binary file not shown.
|
@ -69,7 +69,11 @@ def clear_locks(root):
|
|||
|
||||
def is_on_wifi():
|
||||
# ConnectivityManager.getActiveNetworkInfo()
|
||||
result = subprocess.check_output(["service", "call", "connectivity", "2"]).strip().split("\n")
|
||||
try:
|
||||
result = subprocess.check_output(["service", "call", "connectivity", "2"]).strip().split("\n")
|
||||
except subprocess.CalledProcessError:
|
||||
return False
|
||||
|
||||
data = ''.join(''.join(w.decode("hex")[::-1] for w in l[14:49].split()) for l in result[1:])
|
||||
|
||||
return "\x00".join("WIFI") in data
|
||||
|
|
|
@ -102,7 +102,7 @@ managed_processes = {
|
|||
"visiond": ("selfdrive/visiond", ["./visiond"]),
|
||||
"sensord": ("selfdrive/sensord", ["./sensord"]),
|
||||
"gpsd": ("selfdrive/sensord", ["./gpsd"]),
|
||||
"orbd": ("selfdrive/orbd", ["./orbd_wrapper.sh"]),
|
||||
#"orbd": ("selfdrive/orbd", ["./orbd_wrapper.sh"]),
|
||||
"updated": "selfdrive.updated",
|
||||
#"gpsplanner": "selfdrive.controls.gps_plannerd",
|
||||
}
|
||||
|
@ -665,9 +665,12 @@ def main():
|
|||
del managed_processes['controlsd']
|
||||
del managed_processes['radard']
|
||||
|
||||
# disable this until we use it
|
||||
"""
|
||||
if os.path.isfile('logserver/logserver.py'):
|
||||
managed_processes["logserver"] = "selfdrive.logserver.wsgi"
|
||||
persistent_processes.append("logserver")
|
||||
"""
|
||||
|
||||
# support additional internal only extensions
|
||||
try:
|
||||
|
|
Binary file not shown.
Binary file not shown.
|
@ -7,14 +7,10 @@ import time
|
|||
import subprocess
|
||||
|
||||
from common.basedir import BASEDIR
|
||||
from common.params import Params
|
||||
from selfdrive.swaglog import cloudlog
|
||||
from selfdrive.version import dirty
|
||||
|
||||
NICE_LOW_PRIORITY = ["nice", "-n", "19"]
|
||||
def main(gctx=None):
|
||||
params = Params()
|
||||
|
||||
while True:
|
||||
# try network
|
||||
r = subprocess.call(["ping", "-W", "4", "-c", "1", "8.8.8.8"])
|
||||
|
@ -22,40 +18,19 @@ def main(gctx=None):
|
|||
time.sleep(60)
|
||||
continue
|
||||
|
||||
# If there are modifications we preserve full history
|
||||
# and disable update prompting.
|
||||
# Otherwise, only store head to save space
|
||||
if dirty:
|
||||
r = subprocess.call(NICE_LOW_PRIORITY + ["git", "fetch", "--unshallow"])
|
||||
is_update_available = False
|
||||
else:
|
||||
r = subprocess.call(NICE_LOW_PRIORITY + ["git", "fetch", "--depth=1"])
|
||||
is_update_available = check_is_update_available()
|
||||
|
||||
is_update_available_str = "1" if is_update_available else "0"
|
||||
params.put("IsUpdateAvailable", is_update_available_str)
|
||||
cloudlog.info("IsUpdateAvailable: %s", is_update_available_str)
|
||||
# download application update
|
||||
r = subprocess.call(NICE_LOW_PRIORITY + ["git", "fetch"])
|
||||
cloudlog.info("git fetch: %r", r)
|
||||
if r:
|
||||
time.sleep(60)
|
||||
continue
|
||||
|
||||
# download apks
|
||||
r = subprocess.call(["nice", "-n", "19", os.path.join(BASEDIR, "apk/external/patcher.py"), "download"])
|
||||
r = subprocess.call(NICE_LOW_PRIORITY + [os.path.join(BASEDIR, "apk/external/patcher.py"), "download"])
|
||||
cloudlog.info("patcher download: %r", r)
|
||||
|
||||
time.sleep(60*60*3)
|
||||
|
||||
def check_is_update_available():
|
||||
try:
|
||||
local_rev = subprocess.check_output(NICE_LOW_PRIORITY + ["git", "rev-parse", "@"])
|
||||
upstream_rev = subprocess.check_output(NICE_LOW_PRIORITY + ["git", "rev-parse", "@{u}"])
|
||||
|
||||
return upstream_rev != local_rev
|
||||
except subprocess.CalledProcessError:
|
||||
cloudlog.exception("updated: failed to compare local and upstream")
|
||||
|
||||
return False
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
main()
|
||||
|
||||
|
|
Binary file not shown.
Loading…
Reference in New Issue