Integrate zorropilot into master #15
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__Additions__ * Forward distance button presses to car can * Read distance_lines can message from car and use to set distance profile. * Alter T_Follow based on distance profile * Stock = 1.45 * Relaxed = 1.25 * Traffic ~= 1.05 (at low speeds closer to 1.25) * Adjust J_Cost, A_Change_Cost, and D_Cost based on distance profile * Weights for Costs need to be adjusted when T_Follow is decreased. __Tests__ * Add Longitudinal Tests for Additional Following Profiles * Copy the comma tests, with appropriate following distance for each profile. * Tweak Process_Replay Action - Ignores the new carState.distanceLines message, so that replay refs still pass. Thanks to sshane for help with this. See the tree ending with commit 73237de Repos cereal distance lines use zorropilot cereal repo wat
Uses Dynamic MPC Costs which decreases the a_change and jerk costs at low speeds. Also dynamically decreases the Stop_Distance as the lead pulls away so that the long_mpc commands forward accel just a little bit sooner. Lower overall Stop_Distance slightly, since we stop a bit more assertively now with the decreased costs, the stop distance doesn't need to be as high. Add a test_accel file for testing sluggish starts. Ignore longitudinalPlan Msgs in Process Replay. Update long_mpc.py
The Rav4 2019 TSS2 has ~1.4s lag between when accel commands are sent to the car and when they are acted upon when the car is starting from a dead stop. Stock feels fine with this limitation, so OP can too. Most of these changes are designed to fix any sluggishness caused by the Toyota Tune. Additional changes need to be made to the Long MPC in order to solve the sluggish start completely. Changes: Decrease vEgoStopping and vEgoStarting to 0.2. Car is perfectly capable of controlling at these speeds. Lower value allows for state machine to exit stopping phase just a bit faster. Double the ActuatorDelay lag to .3 so we look into the future just a bit more, seems a bit more inline with realworld experience. Halve stoppingDecelRate to match the OEM stop_accel of -.4m/s2. Makes the final jerk in stopping a bit smoother Increase the PID max accel to 1.8 m/s2 tappering back to 1.5 m/s2 at 5m/s. Increase planner max accel to 1.4 m/s2 from 1.2 m/s2 starting from a stop tapering back to 1.2 m/s2 at 10m/s. Decreased planner max accel at 55mph, seemed a little uncomfortable to me. Decrease A_Change Timescale in Long_MPC to match more closely what toyota lag is. Ignore some messages and fields in process_replay test in order to keep it working.
USE AT YOUR OWN RISK
Brings back the raw log toggle that was used prior to version 8.12. Upload RLogs First then Videos This reverts in part commit 2e0c73f.
Update README.md
interpolate for lower rate lateral plan fix should be correct now same convention as longcontrol.py
This reverts commit 5ef248d.
commit 8fc2566 Merge: 3168372 92e9823 Author: Ross Fisher <zorrobyte@gmail.com> Date: Sat Feb 19 13:49:13 2022 -0500 Merge branch 'master' into zorropilot commit 3168372 Author: Ross Fisher <zorrobyte@gmail.com> Date: Sat Feb 19 13:48:47 2022 -0500 Revert "interpolate for lower rate lateral plan" This reverts commit 5ef248d. commit 92e9823 Author: George Hotz <72895+geohot@users.noreply.github.com> Date: Fri Feb 18 20:15:20 2022 -0800 camerad: fast debayer on c2 cameras (commaai#23795) * fast debayer on c2 dcam * add casts * 128 local worksize on HDR debayer, 8 ms -> 3.5 ms * width instead of saving rgb_width Co-authored-by: Comma Device <device@comma.ai>
This reverts commit bde09b3.
This reverts commit 40f0781.
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