Merge cereal subtree
commit
d22636b194
|
@ -324,6 +324,7 @@ struct CarParams {
|
|||
lateralTuning :union {
|
||||
pid @26 :LateralPIDTuning;
|
||||
indi @27 :LateralINDITuning;
|
||||
lqr @40 :LateralLQRTuning;
|
||||
}
|
||||
|
||||
steerLimitAlert @28 :Bool;
|
||||
|
@ -339,6 +340,7 @@ struct CarParams {
|
|||
steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
|
||||
openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
|
||||
carVin @38 :Text; # VIN number queried during fingerprinting
|
||||
isPandaBlack @39: Bool;
|
||||
|
||||
struct LateralPIDTuning {
|
||||
kpBP @0 :List(Float32);
|
||||
|
@ -365,6 +367,20 @@ struct CarParams {
|
|||
actuatorEffectiveness @3 :Float32;
|
||||
}
|
||||
|
||||
struct LateralLQRTuning {
|
||||
scale @0 :Float32;
|
||||
ki @1 :Float32;
|
||||
dcGain @2 :Float32;
|
||||
|
||||
# State space system
|
||||
a @3 :List(Float32);
|
||||
b @4 :List(Float32);
|
||||
c @5 :List(Float32);
|
||||
|
||||
k @6 :List(Float32); # LQR gain
|
||||
l @7 :List(Float32); # Kalman gain
|
||||
}
|
||||
|
||||
|
||||
enum SafetyModel {
|
||||
# does NOT match board setting
|
||||
|
|
|
@ -301,7 +301,7 @@ struct HealthData {
|
|||
controlsAllowed @3 :Bool;
|
||||
gasInterceptorDetected @4 :Bool;
|
||||
startedSignalDetectedDeprecated @5 :Bool;
|
||||
isGreyPanda @6 :Bool;
|
||||
hasGps @6 :Bool;
|
||||
canSendErrs @7 :UInt32;
|
||||
canFwdErrs @8 :UInt32;
|
||||
gmlanSendErrs @9 :UInt32;
|
||||
|
@ -373,6 +373,8 @@ struct LiveCalibrationData {
|
|||
# view_frame_from_road_frame
|
||||
# ui's is inversed needs new
|
||||
extrinsicMatrix @4 :List(Float32);
|
||||
# the direction of travel vector in device frame
|
||||
rpyCalib @7 :List(Float32);
|
||||
}
|
||||
|
||||
struct LiveTracks {
|
||||
|
@ -448,9 +450,12 @@ struct ControlsState @0x97ff69c53601abf1 {
|
|||
vCurvature @46 :Float32;
|
||||
decelForTurn @47 :Bool;
|
||||
|
||||
decelForModel @54 :Bool;
|
||||
|
||||
lateralControlState :union {
|
||||
indiState @52 :LateralINDIState;
|
||||
pidState @53 :LateralPIDState;
|
||||
lqrState @55 :LateralLQRState;
|
||||
}
|
||||
|
||||
enum OpenpilotState @0xdbe58b96d2d1ac61 {
|
||||
|
@ -505,6 +510,13 @@ struct ControlsState @0x97ff69c53601abf1 {
|
|||
saturated @8 :Bool;
|
||||
}
|
||||
|
||||
struct LateralLQRState {
|
||||
active @0 :Bool;
|
||||
steerAngle @1 :Float32;
|
||||
i @2 :Float32;
|
||||
output @3 :Float32;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
struct LiveEventData {
|
||||
|
@ -660,6 +672,7 @@ struct Plan {
|
|||
mpc1 @1;
|
||||
mpc2 @2;
|
||||
mpc3 @3;
|
||||
model @4;
|
||||
}
|
||||
}
|
||||
|
||||
|
@ -1661,8 +1674,13 @@ struct OrbKeyFrame {
|
|||
|
||||
struct DriverMonitoring {
|
||||
frameId @0 :UInt32;
|
||||
descriptor @1 :List(Float32);
|
||||
std @2 :Float32;
|
||||
descriptorDEPRECATED @1 :List(Float32);
|
||||
stdDEPRECATED @2 :Float32;
|
||||
faceOrientation @3 :List(Float32);
|
||||
facePosition @4 :List(Float32);
|
||||
faceProb @5 :Float32;
|
||||
leftEyeProb @6 :Float32;
|
||||
rightEyeProb @7 :Float32;
|
||||
}
|
||||
|
||||
struct Boot {
|
||||
|
|
Loading…
Reference in New Issue