openpilot v0.8.9/v0.8.10 combo

.github/FUNDING.yml

@@ -0,0 +1,12 @@
+# These are supported funding model platforms
+
+github: # Replace with up to 4 GitHub Sponsors-enabled usernames e.g., [user1, user2]
+patreon: # Replace with a single Patreon username
+open_collective: # Replace with a single Open Collective username
+ko_fi: spektor56
+tidelift: # Replace with a single Tidelift platform-name/package-name e.g., npm/babel
+community_bridge: # Replace with a single Community Bridge project-name e.g., cloud-foundry
+liberapay: # Replace with a single Liberapay username
+issuehunt: # Replace with a single IssueHunt username
+otechie: # Replace with a single Otechie username
+custom: ['https://www.buymeacoffee.com/spektor56', 'https://paypal.me/spektor56']

cereal/car.capnp

@@ -111,6 +111,14 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     highCpuUsage @105;
 
     driverMonitorLowAccDEPRECATED @68;
+    manualSteeringRequired @106;
+    manualLongitudinalRequired @107;
+    silentPedalPressed @108;
+    silentButtonEnable @109;
+    silentBrakeHold @110;
+    silentWrongGear @111;
+    parkGear @112;
+
     radarCanErrorDEPRECATED @15;
     radarCommIssueDEPRECATED @67;
     gasUnavailableDEPRECATED @3;
@@ -189,6 +197,16 @@ struct CarState {
   # clutch (manual transmission only)
   clutchPressed @28 :Bool;
 
+  lkasEnabled @38 :Bool;
+  leftBlinkerOn @39 :Bool;
+  rightBlinkerOn @40 :Bool;
+  disengageByBrake @41 :Bool;
+  automaticLaneChange @42 :Bool;
+  belowLaneChangeSpeed @43 :Bool;
+  accEnabled @44 :Bool;
+  readdistancelines @45 :Int16;
+  engineRPM @46 :Float32;
+
   # which packets this state came from
   canMonoTimes @12: List(UInt64);
 
@@ -299,7 +317,7 @@ struct CarControl {
 
   struct Actuators {
     # range from 0.0 - 1.0
-    gas @0: Float32;
+    gasDEPRECATED @0: Float32;
     brake @1: Float32;
     # range from -1.0 - 1.0
     steer @2: Float32;
@@ -380,10 +398,10 @@ struct CarParams {
 
   steerMaxBP @11 :List(Float32);
   steerMaxV @12 :List(Float32);
-  gasMaxBP @13 :List(Float32);
-  gasMaxV @14 :List(Float32);
-  brakeMaxBP @15 :List(Float32);
-  brakeMaxV @16 :List(Float32);
+  gasMaxBPDEPRECATED @13 :List(Float32);
+  gasMaxVDEPRECATED @14 :List(Float32);
+  brakeMaxBPDEPRECATED @15 :List(Float32);
+  brakeMaxVDEPRECATED @16 :List(Float32);
 
   # things about the car in the manual
   mass @17 :Float32;            # [kg] curb weight: all fluids no cargo
@@ -416,8 +434,8 @@ struct CarParams {
   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
+  stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
+  startingAccelRate @53 :Float32; # m/s^2/s while trying to start
 
   steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
   openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
@@ -441,16 +459,20 @@ struct CarParams {
     kpV @1 :List(Float32);
     kiBP @2 :List(Float32);
     kiV @3 :List(Float32);
-    kf @4 :Float32;
+    kdBP @4 :List(Float32) = [0.];
+    kdV @5 :List(Float32) = [0.];
+    kf @6 :Float32;
   }
 
   struct LongitudinalPIDTuning {
     kpBP @0 :List(Float32);
     kpV @1 :List(Float32);
     kiBP @2 :List(Float32);
     kiV @3 :List(Float32);
-    deadzoneBP @4 :List(Float32);
-    deadzoneV @5 :List(Float32);
+    kdBP @4 :List(Float32) = [0.];
+    kdV @5 :List(Float32) = [0.];
+    deadzoneBP @6 :List(Float32);
+    deadzoneV @7 :List(Float32);
   }
 
   struct LateralINDITuning {

cereal/log.capnp

@@ -669,7 +669,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   mapValidDEPRECATED @49 :Bool;
   jerkFactorDEPRECATED @12 :Float32;
   steerOverrideDEPRECATED @20 :Bool;
-  steeringAngleDesiredDegDEPRECATED @29 :Float32;
+  steeringAngleDesiredDeg @29 :Float32;
 }
 
 struct ModelDataV2 {
@@ -873,6 +873,8 @@ struct LateralPlan @0xe1e9318e2ae8b51e {
   curvatures @27 :List(Float32);
   curvatureRates @28 :List(Float32);
 
+  lanelessMode @29 :Bool;
+
   enum Desire {
     none @0;
     turnLeft @1;

common/numpy_fast.py

@@ -4,19 +4,39 @@ def int_rnd(x):
 def clip(x, lo, hi):
   return max(lo, min(hi, x))
 
+def mean(x):
+  return sum(x) / len(x)
+
+def get_interp(xv, xp, fp):
+  hi = 0
+  while hi < len(xp) and xv > xp[hi]:
+    hi += 1
+  low = hi - 1
+  if hi == len(xp) and xv > xp[low]:
+    return fp[-1]
+  if hi == 0:
+    return fp[0]
+  return (xv - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low]
+
 def interp(x, xp, fp):
-  N = len(xp)
+  return [get_interp(v, xp, fp) for v in x] if hasattr(x, '__iter__') else get_interp(x, xp, fp)
 
-  def get_interp(xv):
-    hi = 0
-    while hi < N and xv > xp[hi]:
-      hi += 1
-    low = hi - 1
-    return fp[-1] if hi == N and xv > xp[low] else (
-      fp[0] if hi == 0 else
-      (xv - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
 
-  return [get_interp(v) for v in x] if hasattr(x, '__iter__') else get_interp(x)
+def get_interp2d(xv, yv, yp, xzp):
+  hi = 0
+  while hi < len(yp) and yv > yp[hi]:
+    hi += 1
+  low = hi - 1
+  if hi == len(yp) and yv > yp[low]:
+    return get_interp(xv, *xzp[-1])
 
-def mean(x):
-  return sum(x) / len(x)
+  if hi == 0:
+    return get_interp(xv, *xzp[0])
+
+  zlow = get_interp(xv, *xzp[low])
+  zhi = get_interp(xv, *xzp[hi])
+
+  return zlow + (zhi - zlow) * (yv - yp[low]) / (yp[hi] - yp[low])
+
+def interp2d(xy, yp, xzp):
+  return [get_interp2d(xv, yv, yp, xzp) for xv, yv in xy] if hasattr(xy[0], '__iter__') else get_interp2d(*xy, yp, xzp)

launch_env.sh

@@ -11,7 +11,7 @@ if [ -z "$REQUIRED_NEOS_VERSION" ]; then
 fi
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="1.3"
+  export AGNOS_VERSION="2"
 fi
 
 if [ -z "$PASSIVE" ]; then

models/dmonitoring_model.current

@@ -0,0 +1,2 @@
+3d4f9cab-ba54-4871-9449-37f440329ca1
+2d400e7514d044cd6cfc1fbafb756e04bb161d0a

panda/board/safety.h

@@ -137,6 +137,7 @@ void safety_tick(const safety_hooks *hooks) {
       bool lagging = elapsed_time > MAX(hooks->addr_check[i].msg[hooks->addr_check[i].index].expected_timestep * MAX_MISSED_MSGS, 1e6);
       hooks->addr_check[i].lagging = lagging;
       if (lagging) {
+        disengageFromBrakes = false;
         controls_allowed = 0;
       }
     }
@@ -157,6 +158,7 @@ bool is_msg_valid(AddrCheckStruct addr_list[], int index) {
   if (index != -1) {
     if ((!addr_list[index].valid_checksum) || (addr_list[index].wrong_counters >= MAX_WRONG_COUNTERS)) {
       valid = false;
+      disengageFromBrakes = false;
       controls_allowed = 0;
     }
   }
@@ -204,13 +206,22 @@ bool addr_safety_check(CAN_FIFOMailBox_TypeDef *to_push,
 void generic_rx_checks(bool stock_ecu_detected) {
   // exit controls on rising edge of gas press
   if (gas_pressed && !gas_pressed_prev && !(unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS)) {
+    disengageFromBrakes = false;
     controls_allowed = 0;
   }
   gas_pressed_prev = gas_pressed;
 
   // exit controls on rising edge of brake press
   if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
+    if(controls_allowed == 1)
+    {
+      disengageFromBrakes = true;
+    }
     controls_allowed = 0;
+  }else if (!brake_pressed && disengageFromBrakes)
+  {
+    disengageFromBrakes = false;
+    controls_allowed = 1;
   }
   brake_pressed_prev = brake_pressed;
 

panda/board/safety/safety_honda.h

@@ -105,15 +105,25 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     // 0x1A6 for the ILX, 0x296 for the Civic Touring
     if ((addr == 0x1A6) || (addr == 0x296)) {
       int button = (GET_BYTE(to_push, 0) & 0xE0) >> 5;
+      int button2 = (GET_BYTE(to_push, 0) & 0x0C) >> 2;
       switch (button) {
-        case 2:  // cancel
+        case 1:  // main
+          disengageFromBrakes = false;
           controls_allowed = 0;
           break;
         case 3:  // set
         case 4:  // resume
           controls_allowed = 1;
           break;
         default:
+          switch(button2)
+          {
+            case 1: //lkas_button
+              controls_allowed = 1;
+              break;
+            default:
+              break;
+          }
           break; // any other button is irrelevant
       }
     }

panda/board/safety_declarations.h

@@ -92,6 +92,7 @@ typedef struct {
 void safety_tick(const safety_hooks *hooks);
 
 // This can be set by the safety hooks
+bool disengageFromBrakes = false;
 bool controls_allowed = false;
 bool relay_malfunction = false;
 bool gas_interceptor_detected = false;

selfdrive/boardd/boardd.cc

@@ -90,7 +90,7 @@ void safety_setter_thread() {
   cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
   cereal::CarParams::SafetyModel safety_model = car_params.getSafetyModel();
 
-  panda->set_unsafe_mode(0);  // see safety_declarations.h for allowed values
+  panda->set_unsafe_mode(1);  // see safety_declarations.h for allowed values
 
   auto safety_param = car_params.getSafetyParam();
   LOGW("setting safety model: %d with param %d", (int)safety_model, safety_param);

selfdrive/car/chrysler/interface.py

@@ -6,10 +6,6 @@
 
 
 class CarInterface(CarInterfaceBase):
-  @staticmethod
-  def compute_gb(accel, speed):
-    return float(accel) / 3.0
-
   @staticmethod
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)

selfdrive/car/ford/interface.py

@@ -7,11 +7,6 @@
 
 
 class CarInterface(CarInterfaceBase):
-
-  @staticmethod
-  def compute_gb(accel, speed):
-    return float(accel) / 3.0
-
   @staticmethod
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)

selfdrive/car/gm/carcontroller.py

@@ -46,18 +46,13 @@ def update(self, enabled, CS, frame, actuators,
 
       can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled))
 
-    # GAS/BRAKE
-    # no output if not enabled, but keep sending keepalive messages
-    # treat pedals as one
-    final_pedal = actuators.gas - actuators.brake
-
     if not enabled:
       # Stock ECU sends max regen when not enabled.
       apply_gas = P.MAX_ACC_REGEN
       apply_brake = 0
     else:
-      apply_gas = int(round(interp(final_pedal, P.GAS_LOOKUP_BP, P.GAS_LOOKUP_V)))
-      apply_brake = int(round(interp(final_pedal, P.BRAKE_LOOKUP_BP, P.BRAKE_LOOKUP_V)))
+      apply_gas = int(round(interp(actuators.accel, P.GAS_LOOKUP_BP, P.GAS_LOOKUP_V)))
+      apply_brake = int(round(interp(actuators.accel, P.BRAKE_LOOKUP_BP, P.BRAKE_LOOKUP_V)))
 
     # Gas/regen and brakes - all at 25Hz
     if (frame % 4) == 0:

selfdrive/car/gm/interface.py

@@ -11,10 +11,6 @@
 
 class CarInterface(CarInterfaceBase):
 
-  @staticmethod
-  def compute_gb(accel, speed):
-    return float(accel) / 4.0
-
   @staticmethod
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)

selfdrive/car/gm/values.py

@@ -26,9 +26,9 @@ def __init__(self):
     ZERO_GAS = 2048
     MAX_BRAKE = 350             # Should be around 3.5m/s^2, including regen
     self.MAX_ACC_REGEN = 1404  # ACC Regen braking is slightly less powerful than max regen paddle
-    self.GAS_LOOKUP_BP = [-0.25, 0., 0.5]
+    self.GAS_LOOKUP_BP = [-1.0, 0., 2.0]
     self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
-    self.BRAKE_LOOKUP_BP = [-1., -0.25]
+    self.BRAKE_LOOKUP_BP = [-4., -1.0]
     self.BRAKE_LOOKUP_V = [MAX_BRAKE, 0]
 
 class CAR: