From 66ee6186175a26f1a523768da83e5c2c4330a29d Mon Sep 17 00:00:00 2001
From: Shane <shane@smiskol.com>
Date: Tue, 9 Apr 2019 20:01:03 -0500
Subject: [PATCH 01/24] add back dynamic gas

---
 selfdrive/car/toyota/carstate.py      |  2 +-
 selfdrive/controls/lib/longcontrol.py | 13 +++++++++----
 2 files changed, 10 insertions(+), 5 deletions(-)

diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index cb75efbe0fa409..3231908bde4d34 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -145,7 +145,7 @@ def __init__(self, CP):
     self.Angle_Speed = [255,160,100,80,70,60,55,50,40,33,27,17,12]
     #labels for gas mode
     self.gasMode = 0
-    self.gasLabels = ["normal","sport","eco"]
+    self.gasLabels = ["dynamic","sport","eco"]
     #labelslabels for ALCA modes
     self.alcaLabels = ["MadMax","Normal","Wifey","off"]
     self.alcaMode = int(self.kegman.conf['lastALCAMode'])     # default to last ALCAmode on startup
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index b63d5ca0480c1f..2914fd522ad212 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -84,10 +84,15 @@ def dynamic_gas(self, v_ego, v_rel, d_rel, gasinterceptor, gasbuttonstatus):
     dynamic = False
     if gasinterceptor:
       if gasbuttonstatus == 0:
-        #dynamic = True
-        #x = [0, 2.2863, 4.5373, 7.3644, 9.0393, 35.0]
-        #y = [0.2, 0.2199, 0.2631, 0.3572, 0.5, 0.7]
-        y = [0.2, 0.5, 0.7]
+        dynamic = True
+        #x = [0.0, 0.5588, 1.1176, 1.9223, 2.5481, 3.3975, 4.0234, 5.1921, 6.0797, 7.1526, 9.388, 12.964, 15.423, 18.119, 20.117, 24.4661, 29.058, 32.7101, 35.7632]  # velocity/gasMaxBP
+        #y = [0.12, 0.1275, 0.135, 0.149, 0.1635, 0.185, 0.206, 0.257, 0.2858, 0.31, 0.343, 0.38, 0.396, 0.409, 0.425, 0.478, 0.55, 0.621, 0.7]  # accel values/gasMaxV
+        #x = [0.0, 0.5588, 1.1176, 1.9223, 2.5481, 3.3975, 4.0234, 5.1921, 6.0797, 7.1526, 9.388, 12.964, 15.423, 18.119, 20.117, 24.4661, 29.058, 32.7101, 35.7632]
+        #y = [0.12, 0.1275, 0.135, 0.149, 0.1635, 0.1845, 0.203, 0.243, 0.282, 0.31, 0.343, 0.38, 0.396, 0.409, 0.425, 0.478, 0.55, 0.621, 0.7]
+        #x = [0.0, 1.4082, 2.8031, 4.2266, 5.3827, 6.1656, 7.2478, 9.3878, 12.964, 15.423, 18.119, 20.117, 24.4661, 29.058, 32.7101, 35.7632]
+        #y = [0.15, 0.1593, 0.175, 0.1972, 0.2253, 0.2505, 0.3001, 0.343, 0.38, 0.396, 0.409, 0.425, 0.478, 0.55, 0.621, 0.7]
+        x = [0, 2.2863, 4.5373, 7.3644, 9.0393, 35.0]
+        y = [0.2, 0.2199, 0.2631, 0.3572, 0.5, 0.7]
       elif gasbuttonstatus == 1:
         y = [0.25, 0.9, 0.9]
       elif gasbuttonstatus == 2:

From 4f7f30e772c3fc8c713e7bcf3c80f6ab574bb1ac Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Tue, 9 Apr 2019 18:14:01 -0700
Subject: [PATCH 02/24] clean white ui.

---
 selfdrive/ui/ui.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/ui.c b/selfdrive/ui/ui.c
index 44ee2234508a15..64e5d6f0e1f003 100644
--- a/selfdrive/ui/ui.c
+++ b/selfdrive/ui/ui.c
@@ -74,7 +74,7 @@ const int UI_FREQ = 60;   // Hz
 const uint8_t bg_colors[][4] = {
   [STATUS_STOPPED] = {0x07, 0x23, 0x39, 0xff},
   [STATUS_DISENGAGED] = {0x17, 0x33, 0x49, 0xff},
-  [STATUS_ENGAGED] = {0x17, 0x86, 0x44, 0xff},
+  [STATUS_ENGAGED] = {0xFF, 0xFF, 0xFF, 0xff},
   [STATUS_WARNING] = {0xDA, 0x6F, 0x25, 0xff},
   [STATUS_ALERT] = {0xC9, 0x22, 0x31, 0xff},
 };
@@ -82,7 +82,7 @@ const uint8_t bg_colors[][4] = {
 const uint8_t alert_colors[][4] = {
   [STATUS_STOPPED] = {0x07, 0x23, 0x39, 0xf1},
   [STATUS_DISENGAGED] = {0x17, 0x33, 0x49, 0xc8},
-  [STATUS_ENGAGED] = {0x17, 0x86, 0x44, 0xf1},
+  [STATUS_ENGAGED] = {0xFF, 0xFF, 0xFF, 0xf1},
   [STATUS_WARNING] = {0xDA, 0x6F, 0x25, 0xf1},
   [STATUS_ALERT] = {0xC9, 0x22, 0x31, 0xf1},
 };

From 41401c3b8601eb65d493bf72c3684982963030c8 Mon Sep 17 00:00:00 2001
From: Shane <shane@smiskol.com>
Date: Tue, 9 Apr 2019 22:07:31 -0500
Subject: [PATCH 03/24] reduced relative velocity array as lead accel profile
 should average out

---
 selfdrive/controls/lib/long_mpc.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/controls/lib/long_mpc.py b/selfdrive/controls/lib/long_mpc.py
index 71cf6b65a32769..1533e7778b4d00 100644
--- a/selfdrive/controls/lib/long_mpc.py
+++ b/selfdrive/controls/lib/long_mpc.py
@@ -171,8 +171,8 @@ def dynamic_follow(self, velocity):  # in m/s
     TR = interpolate.interp1d(x, y, fill_value='extrapolate')(velocity)[()]  # extrapolate above 90 mph
 
     if self.relative_velocity is not None:
-      x = [-11.2235, -9.4102, -7.1051, -5.7221, -4.3391, -3.5093, -2.7716, -2.2491, -2.0033, -1.6959, -1.0198, 0.0, 0.1788, 0.7935, 1.8692, 2.6683]  # relative velocity values
-      y = [0.423, 0.4037, 0.3566, 0.3266, 0.2859, 0.2623, 0.23, 0.1787, 0.1251, 0.078, 0.036, 0, -0.0613, -0.1384, -0.2413, -0.2991]  # modification values
+      x = [6.0064, 4.1456, 1.7336, 0.2863, 0.0107, -2.5393, -4.4, -5.5716, -6.6743, -9.7755, -13.0146, -16.9428, -20.5265, -24.4547]  # relative velocity values
+      y = [-0.3004, -0.2402, -0.1371, -0.0554, 0.0005, 0.0327, 0.0757, 0.1402, 0.1961, 0.2584, 0.3057, 0.34, 0.3766, 0.3852]  # modification values
       TR = TR + interp(self.relative_velocity, x, y)  # interpolate as to not modify too much
 
       x = [-4.4704, -2.2352, -0.8941, 0.0, 1.3411]   # self acceleration values

From c10361937b294d4650ce129ca2d88430d13ee75c Mon Sep 17 00:00:00 2001
From: Shane <shane@smiskol.com>
Date: Wed, 10 Apr 2019 17:14:08 -0500
Subject: [PATCH 04/24] add op-tools.py, you can use your laptop to view live
 statistics from openpilot

---
 op-tools.py                        | 55 ++++++++++++++++++++++++++++++
 selfdrive/controls/lib/long_mpc.py | 17 +++++++--
 2 files changed, 70 insertions(+), 2 deletions(-)
 create mode 100644 op-tools.py

diff --git a/op-tools.py b/op-tools.py
new file mode 100644
index 00000000000000..aa0d90d9137cdf
--- /dev/null
+++ b/op-tools.py
@@ -0,0 +1,55 @@
+import time, sys, json
+from os import system, name
+
+def main_menu():
+    print("Please chooce a category:")
+    while True:
+        print("1. Dynamic follow\n2. GPS\n3. Other")
+        c = input("[1-3]: ")
+        try:
+            int(c)
+        except:
+            return
+        if int(c) - 1 in range(3):
+            break
+    if int(c) == 1:
+        dynamic_follow()
+
+def dynamic_follow():
+    clear()
+    print("\nPress Ctrl + C at any time to quit!")
+    time.sleep(3)
+    try:
+        while True:
+            clear()
+            print("\nDynamic follow data:\n")
+            try:
+                with open("/data/op-tools-data/dynamic-follow.json", "r") as f:
+                    data = json.loads(f.read())
+                    for i in data:
+                        print(i + ": " + str(data[i]))
+            except:
+                print("\nReading error, waiting a second...")
+                time.sleep(1)
+            time.sleep(.15)
+    except KeyboardInterrupt: 
+        print()   
+        main_menu()
+
+def clear(): 
+    # for windows 
+    if name == 'nt': 
+        system('cls') 
+  
+    # for mac and linux(here, os.name is 'posix') 
+    else: 
+        system('clear') 
+    
+
+main_menu()
+
+
+'''while True:
+    sys.stdout.write("\r\r\r" + time.ctime()+"\n"+time.ctime())
+    sys.stdout.flush()
+    time.sleep(1)'''
\ No newline at end of file
diff --git a/selfdrive/controls/lib/long_mpc.py b/selfdrive/controls/lib/long_mpc.py
index 1533e7778b4d00..d0cde2ee695f5f 100644
--- a/selfdrive/controls/lib/long_mpc.py
+++ b/selfdrive/controls/lib/long_mpc.py
@@ -8,6 +8,7 @@
 from selfdrive.controls.lib.drive_helpers import MPC_COST_LONG
 from scipy import interpolate
 import math
+import json
 
 
 class LongitudinalMpc(object):
@@ -30,6 +31,7 @@ def __init__(self, mpc_id, live_longitudinal_mpc):
     self.mpc_frame = 0  # idea thanks to kegman
     self.relative_velocity = None
     self.relative_distance = None
+    self.dict_builder = {}
 
     try:
       with open("/data/openpilot/gas-interceptor", "r") as f:
@@ -135,6 +137,7 @@ def set_cur_state(self, v, a):
 
   def get_traffic_level(self, lead_vels):  # generate a value to modify TR by based on fluctuations in lead speed
     if len(lead_vels) < 40:
+      self.dict_builder["traffic_modifier"] = None
       return 1.0  # if less than 20 seconds of traffic data do nothing to TR
     lead_vel_diffs = []
     for idx, vel in enumerate(lead_vels):
@@ -143,7 +146,7 @@ def get_traffic_level(self, lead_vels):  # generate a value to modify TR by base
     x = [0, len(lead_vels)]
     y = [1.25, .9]  # min and max values to modify TR by, need to tune
     traffic = interp(sum(lead_vel_diffs), x, y)
-
+    self.dict_builder["traffic_modifier"] = traffic
     return traffic
 
   def get_acceleration(self, velocity_list, is_self):  # calculate acceleration to generate more accurate following distances
@@ -178,13 +181,17 @@ def dynamic_follow(self, velocity):  # in m/s
       x = [-4.4704, -2.2352, -0.8941, 0.0, 1.3411]   # self acceleration values
       y = [0.158, 0.058, 0.016, 0, -0.13]  # modification values
       TR = TR + interp(self.get_acceleration(self.dynamic_follow_dict["self_vels"], True), x, y)  # factor in self acceleration
+      self.dict_builder["self_accel"] = self.get_acceleration(self.dynamic_follow_dict["self_vels"], True)
 
       x = [-4.4704, -2.2, -0.958, -0.447, -0.2235, 0.0, 0.5588, 1.3411]  # lead acceleration values
       y = [0.3555, 0.2788, 0.165, 0.1, 0.0375, 0, -0.115, -0.195]  # modification values
       TR = TR + interp(self.get_acceleration(self.dynamic_follow_dict["lead_vels"], False), x, y)  # factor in lead car's acceleration; should perform better
+      self.dict_builder["lead_accel"] = self.get_acceleration(self.dynamic_follow_dict["lead_vels"], False)
 
       TR = TR * self.get_traffic_level(self.dynamic_follow_dict["traffic_vels"])  # modify TR based on last minute of traffic data
 
+    self.dict_builder["TR"] = TR
+
     if TR < 0.65:
       return 0.65
     else:
@@ -197,7 +204,10 @@ def generate_cost(self, TR, v_ego):
       real_TR = self.relative_distance / float(v_ego)  # switched to cost generation using actual distance from lead car; should be safer
       if abs(real_TR - TR) >= .25:  # use real TR if diff is greater than x safety threshold
         TR = real_TR
-    return round(float(interp(TR, x, y)), 3)
+
+    cost = round(float(interp(TR, x, y)), 3)
+    self.dict_builder["generated_cost"] = cost
+    return cost
 
   def update(self, CS, lead, v_cruise_setpoint):
     v_ego = CS.carState.vEgo
@@ -242,6 +252,9 @@ def update(self, CS, lead, v_cruise_setpoint):
     # Calculate mpc
     t = sec_since_boot()
     TR = self.calculate_tr(v_ego, CS.carState)
+    with open("/data/op-tools-data/dynamic-follow.json", "w") as d_f:
+      d_f.write(json.dumps(self.dict_builder))
+    self.dict_builder = {}
     n_its = self.libmpc.run_mpc(self.cur_state, self.mpc_solution, self.a_lead_tau, a_lead, TR)
     duration = int((sec_since_boot() - t) * 1e9)
     self.send_mpc_solution(n_its, duration)

From 219ace33c8c1903ea6490dd4cb48b431d41c36ac Mon Sep 17 00:00:00 2001
From: Shane <shane@smiskol.com>
Date: Wed, 10 Apr 2019 22:12:55 -0500
Subject: [PATCH 05/24] retuned dynamic gas, should be fast in the low end, but
 not too fast around 15 to 25 mph like last profile was. widened safety accel
 limits

---
 panda/board/safety/safety_toyota.h    |  4 ++--
 selfdrive/controls/lib/long_mpc.py    |  4 ++--
 selfdrive/controls/lib/longcontrol.py | 23 +++++++++++------------
 3 files changed, 15 insertions(+), 16 deletions(-)

diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h
index 67238efd466a63..86866972ecf6f9 100644
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -16,8 +16,8 @@ const int TOYOTA_MAX_RT_DELTA = 375;      // max delta torque allowed for real t
 const int TOYOTA_RT_INTERVAL = 250000;    // 250ms between real time checks
 
 // longitudinal limits
-const int TOYOTA_MAX_ACCEL = 1800;        // 1.8 m/s2
-const int TOYOTA_MIN_ACCEL = -3600;       // 3.6 m/s2
+const int TOYOTA_MAX_ACCEL = 3500;        // 1.8 m/s2
+const int TOYOTA_MIN_ACCEL = -4000;       // 3.6 m/s2
 
 // global actuation limit state
 int toyota_actuation_limits = 1;          // by default steer limits are imposed
diff --git a/selfdrive/controls/lib/long_mpc.py b/selfdrive/controls/lib/long_mpc.py
index d0cde2ee695f5f..266e1b4add3c71 100644
--- a/selfdrive/controls/lib/long_mpc.py
+++ b/selfdrive/controls/lib/long_mpc.py
@@ -252,8 +252,8 @@ def update(self, CS, lead, v_cruise_setpoint):
     # Calculate mpc
     t = sec_since_boot()
     TR = self.calculate_tr(v_ego, CS.carState)
-    with open("/data/op-tools-data/dynamic-follow.json", "w") as d_f:
-      d_f.write(json.dumps(self.dict_builder))
+    '''with open("/data/op-tools-data/dynamic-follow.json", "w") as d_f:
+      d_f.write(json.dumps(self.dict_builder))'''
     self.dict_builder = {}
     n_its = self.libmpc.run_mpc(self.cur_state, self.mpc_solution, self.a_lead_tau, a_lead, TR)
     duration = int((sec_since_boot() - t) * 1e9)
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index 2914fd522ad212..450aac1606560a 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -91,8 +91,8 @@ def dynamic_gas(self, v_ego, v_rel, d_rel, gasinterceptor, gasbuttonstatus):
         #y = [0.12, 0.1275, 0.135, 0.149, 0.1635, 0.1845, 0.203, 0.243, 0.282, 0.31, 0.343, 0.38, 0.396, 0.409, 0.425, 0.478, 0.55, 0.621, 0.7]
         #x = [0.0, 1.4082, 2.8031, 4.2266, 5.3827, 6.1656, 7.2478, 9.3878, 12.964, 15.423, 18.119, 20.117, 24.4661, 29.058, 32.7101, 35.7632]
         #y = [0.15, 0.1593, 0.175, 0.1972, 0.2253, 0.2505, 0.3001, 0.343, 0.38, 0.396, 0.409, 0.425, 0.478, 0.55, 0.621, 0.7]
-        x = [0, 2.2863, 4.5373, 7.3644, 9.0393, 35.0]
-        y = [0.2, 0.2199, 0.2631, 0.3572, 0.5, 0.7]
+        x = [0.0, 1.40822, 2.80312, 4.22663, 5.38272, 6.16562, 6.89779, 7.36051, 8.11676, 9.3878, 10.88714, 12.96403, 15.42301, 18.0172, 20.11702, 24.46614, 29.05805, 32.71014, 35.7632]  # velocity/gasMaxBP
+        y = [0.2, 0.21031, 0.22876, 0.25516, 0.2891, 0.3196, 0.3526, 0.37986, 0.40577, 0.43303, 0.4497, 0.46075, 0.47107, 0.47771, 0.48698, 0.521, 0.58437, 0.63867, 0.7]  # accel values/gasMaxV
       elif gasbuttonstatus == 1:
         y = [0.25, 0.9, 0.9]
       elif gasbuttonstatus == 2:
@@ -109,16 +109,15 @@ def dynamic_gas(self, v_ego, v_rel, d_rel, gasinterceptor, gasbuttonstatus):
       x = [0., 9., 35.]  # default BP values
 
     accel = interp(v_ego, x, y)
-    if dynamic:  # dynamic gas profile specific operations
-      if v_rel is not None:  # if lead
-        if (v_ego) < 6.7056:  # if under 15 mph
-          x = [0.0, 0.3072, 0.5173, 0.9337, 1.7882]
-          y = [-0.1, -0.0799, -0.0463, -0.0171, 0]
-          accel = accel + interp(v_rel, x, y)
-        else:
-          x = [-0.89408, 0, 0.89408, 4.4704]
-          y = [-.05, 0, .005, .02]
-          accel = accel + interp(v_rel, x, y)
+    if dynamic and v_rel is not None:  # dynamic gas profile specific operations, and if lead
+      if (v_ego) < 6.7056:  # if under 15 mph
+        x = [0.0, 0.3072, 0.5173, 0.9337, 1.7882]
+        y = [-0.1, -0.0799, -0.0463, -0.0171, 0]
+        accel = accel + interp(v_rel, x, y)
+      else:
+        x = [-0.89408, 0, 0.89408, 4.4704]
+        y = [-.05, 0, .005, .02]
+        accel = accel + interp(v_rel, x, y)
 
 
     min_return = 0.05

From d5a8a8c0eb379940d7c602fe50680c9c6a12af03 Mon Sep 17 00:00:00 2001
From: Shane <shane@smiskol.com>
Date: Wed, 10 Apr 2019 22:19:20 -0500
Subject: [PATCH 06/24] dual error reporting

---
 selfdrive/crash.py | 20 ++++++++++++++------
 1 file changed, 14 insertions(+), 6 deletions(-)

diff --git a/selfdrive/crash.py b/selfdrive/crash.py
index 9d98431f3f0a5e..912646bc92eef2 100644
--- a/selfdrive/crash.py
+++ b/selfdrive/crash.py
@@ -32,24 +32,32 @@ def install():
   except:
     pass
 
-  client = Client('https://137e8e621f114f858f4c392c52e18c6d:8aba82f49af040c8aac45e95a8484970@sentry.io/1404547',
+  client_arne = Client('https://137e8e621f114f858f4c392c52e18c6d:8aba82f49af040c8aac45e95a8484970@sentry.io/1404547',
                   install_sys_hook=False, transport=HTTPTransport, release=version, tags=error_tags)
+  client_shane = Client('https://c58740a8bcc54e3c86dec0cbc8a4ac82:37f4566213e9478080043b693e098942@sentry.io/1405746',
+                  install_sys_hook=False, transport=HTTPTransport, release=version, tags=error_tags)
+
 
   def capture_exception(*args, **kwargs):
-    client.captureException(*args, **kwargs)
+    client_arne.captureException(*args, **kwargs)
+    client_shane.captureException(*args, **kwargs)
     cloudlog.error("crash", exc_info=kwargs.get('exc_info', 1))
 
   def capture_warning(warning_string):
-    client.captureMessage(warning_string, level='warning')
+    client_arne.captureMessage(warning_string, level='warning')
+    client_shane.captureMessage(warning_string, level='warning')
   
   def capture_info(info_string):
-    client.captureMessage(info_string, level='info')
+    client_arne.captureMessage(info_string, level='info')
+    client_shane.captureMessage(info_string, level='info')
 
   def bind_user(**kwargs):
-    client.user_context(kwargs)
+    client_arne.user_context(kwargs)
+    client_shane.user_context(kwargs)
 
   def bind_extra(**kwargs):
-    client.extra_context(kwargs)
+    client_arne.extra_context(kwargs)
+    client_shane.extra_context(kwargs)
 
   def install():
     # installs a sys.excepthook

From d3fd922ff0bc827a87cdc89ca19fbd126b908ffc Mon Sep 17 00:00:00 2001
From: Shane <shane@smiskol.com>
Date: Wed, 10 Apr 2019 22:23:40 -0500
Subject: [PATCH 07/24] cleaner dual error reporting

---
 selfdrive/crash.py | 23 +++++++++--------------
 1 file changed, 9 insertions(+), 14 deletions(-)

diff --git a/selfdrive/crash.py b/selfdrive/crash.py
index 912646bc92eef2..f96d77028ab19a 100644
--- a/selfdrive/crash.py
+++ b/selfdrive/crash.py
@@ -32,32 +32,27 @@ def install():
   except:
     pass
 
-  client_arne = Client('https://137e8e621f114f858f4c392c52e18c6d:8aba82f49af040c8aac45e95a8484970@sentry.io/1404547',
-                  install_sys_hook=False, transport=HTTPTransport, release=version, tags=error_tags)
-  client_shane = Client('https://c58740a8bcc54e3c86dec0cbc8a4ac82:37f4566213e9478080043b693e098942@sentry.io/1405746',
-                  install_sys_hook=False, transport=HTTPTransport, release=version, tags=error_tags)
+  dsns = ['https://137e8e621f114f858f4c392c52e18c6d:8aba82f49af040c8aac45e95a8484970@sentry.io/1404547',
+          'https://c58740a8bcc54e3c86dec0cbc8a4ac82:37f4566213e9478080043b693e098942@sentry.io/1405746']
+
+  clients = [Client(dsn, install_sys_hook=False, transport=HTTPTransport, release=version, tags=error_tags) for dsn in dsns]
 
 
   def capture_exception(*args, **kwargs):
-    client_arne.captureException(*args, **kwargs)
-    client_shane.captureException(*args, **kwargs)
+    [client.captureException(*args, **kwargs) for client in clients]
     cloudlog.error("crash", exc_info=kwargs.get('exc_info', 1))
 
   def capture_warning(warning_string):
-    client_arne.captureMessage(warning_string, level='warning')
-    client_shane.captureMessage(warning_string, level='warning')
+    [client.captureMessage(warning_string, level='warning') for client in clients]
   
   def capture_info(info_string):
-    client_arne.captureMessage(info_string, level='info')
-    client_shane.captureMessage(info_string, level='info')
+    [client.captureMessage(info_string, level='info') for client in clients]
 
   def bind_user(**kwargs):
-    client_arne.user_context(kwargs)
-    client_shane.user_context(kwargs)
+    [client.user_context(kwargs) for client in clients]
 
   def bind_extra(**kwargs):
-    client_arne.extra_context(kwargs)
-    client_shane.extra_context(kwargs)
+    [client.extra_context(kwargs) for client in clients]
 
   def install():
     # installs a sys.excepthook

From 6f48c81fd13f6c0d7944e2eb786daf78c244c3a5 Mon Sep 17 00:00:00 2001
From: Shane <shane@smiskol.com>
Date: Wed, 10 Apr 2019 22:28:47 -0500
Subject: [PATCH 08/24] testing error reporting

---
 selfdrive/controls/lib/long_mpc.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/controls/lib/long_mpc.py b/selfdrive/controls/lib/long_mpc.py
index 266e1b4add3c71..bde0e980c2d7d4 100644
--- a/selfdrive/controls/lib/long_mpc.py
+++ b/selfdrive/controls/lib/long_mpc.py
@@ -252,8 +252,8 @@ def update(self, CS, lead, v_cruise_setpoint):
     # Calculate mpc
     t = sec_since_boot()
     TR = self.calculate_tr(v_ego, CS.carState)
-    '''with open("/data/op-tools-data/dynamic-follow.json", "w") as d_f:
-      d_f.write(json.dumps(self.dict_builder))'''
+    with open("/data/op-tools-data-error-test/dynamic-follow.json", "w") as d_f:
+      d_f.write(json.dumps(self.dict_builder))
     self.dict_builder = {}
     n_its = self.libmpc.run_mpc(self.cur_state, self.mpc_solution, self.a_lead_tau, a_lead, TR)
     duration = int((sec_since_boot() - t) * 1e9)

From 2eab0cd05409823688b84de68ce1cd0962116ef2 Mon Sep 17 00:00:00 2001
From: Shane <shane@smiskol.com>
Date: Wed, 10 Apr 2019 22:31:48 -0500
Subject: [PATCH 09/24] working!

---
 selfdrive/controls/lib/long_mpc.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/controls/lib/long_mpc.py b/selfdrive/controls/lib/long_mpc.py
index bde0e980c2d7d4..266e1b4add3c71 100644
--- a/selfdrive/controls/lib/long_mpc.py
+++ b/selfdrive/controls/lib/long_mpc.py
@@ -252,8 +252,8 @@ def update(self, CS, lead, v_cruise_setpoint):
     # Calculate mpc
     t = sec_since_boot()
     TR = self.calculate_tr(v_ego, CS.carState)
-    with open("/data/op-tools-data-error-test/dynamic-follow.json", "w") as d_f:
-      d_f.write(json.dumps(self.dict_builder))
+    '''with open("/data/op-tools-data/dynamic-follow.json", "w") as d_f:
+      d_f.write(json.dumps(self.dict_builder))'''
     self.dict_builder = {}
     n_its = self.libmpc.run_mpc(self.cur_state, self.mpc_solution, self.a_lead_tau, a_lead, TR)
     duration = int((sec_since_boot() - t) * 1e9)

From 94f1fc63787aaa0a571d12392c88154726a3831a Mon Sep 17 00:00:00 2001
From: Shane <shane@smiskol.com>
Date: Wed, 10 Apr 2019 22:36:18 -0500
Subject: [PATCH 10/24] gas tuning

---
 selfdrive/controls/lib/longcontrol.py | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index 450aac1606560a..17687bbdb58ee9 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -91,8 +91,10 @@ def dynamic_gas(self, v_ego, v_rel, d_rel, gasinterceptor, gasbuttonstatus):
         #y = [0.12, 0.1275, 0.135, 0.149, 0.1635, 0.1845, 0.203, 0.243, 0.282, 0.31, 0.343, 0.38, 0.396, 0.409, 0.425, 0.478, 0.55, 0.621, 0.7]
         #x = [0.0, 1.4082, 2.8031, 4.2266, 5.3827, 6.1656, 7.2478, 9.3878, 12.964, 15.423, 18.119, 20.117, 24.4661, 29.058, 32.7101, 35.7632]
         #y = [0.15, 0.1593, 0.175, 0.1972, 0.2253, 0.2505, 0.3001, 0.343, 0.38, 0.396, 0.409, 0.425, 0.478, 0.55, 0.621, 0.7]
-        x = [0.0, 1.40822, 2.80312, 4.22663, 5.38272, 6.16562, 6.89779, 7.36051, 8.11676, 9.3878, 10.88714, 12.96403, 15.42301, 18.0172, 20.11702, 24.46614, 29.05805, 32.71014, 35.7632]  # velocity/gasMaxBP
-        y = [0.2, 0.21031, 0.22876, 0.25516, 0.2891, 0.3196, 0.3526, 0.37986, 0.40577, 0.43303, 0.4497, 0.46075, 0.47107, 0.47771, 0.48698, 0.521, 0.58437, 0.63867, 0.7]  # accel values/gasMaxV
+        x = [0.0, 1.40822, 2.80312, 4.22663, 5.38272, 6.16562, 6.89779, 7.36051, 8.11676, 9.3878, 10.88714, 12.96403,
+             15.42301, 18.0172, 20.11702, 24.46614, 29.05805, 32.71014, 35.7632]  # velocity/gasMaxBP
+        y = [0.2, 0.21031, 0.22876, 0.25516, 0.2891, 0.3196, 0.3526, 0.37986, 0.40577, 0.43303, 0.4497, 0.46075,
+             0.47107, 0.47771, 0.48698, 0.521, 0.58437, 0.63867, 0.7]  # accel values/gasMaxV
       elif gasbuttonstatus == 1:
         y = [0.25, 0.9, 0.9]
       elif gasbuttonstatus == 2:
@@ -112,7 +114,7 @@ def dynamic_gas(self, v_ego, v_rel, d_rel, gasinterceptor, gasbuttonstatus):
     if dynamic and v_rel is not None:  # dynamic gas profile specific operations, and if lead
       if (v_ego) < 6.7056:  # if under 15 mph
         x = [0.0, 0.3072, 0.5173, 0.9337, 1.7882]
-        y = [-0.1, -0.0799, -0.0463, -0.0171, 0]
+        y = [-0.125, -0.0799, -0.0463, -0.0171, 0]
         accel = accel + interp(v_rel, x, y)
       else:
         x = [-0.89408, 0, 0.89408, 4.4704]

From 978ce39bae4c61259ddea9fbca1372b364e58455 Mon Sep 17 00:00:00 2001
From: Shane <shane@smiskol.com>
Date: Wed, 10 Apr 2019 22:56:03 -0500
Subject: [PATCH 11/24] gas tuning, less overall

---
 selfdrive/controls/lib/longcontrol.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index 17687bbdb58ee9..0ea18a86fa2118 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -91,10 +91,10 @@ def dynamic_gas(self, v_ego, v_rel, d_rel, gasinterceptor, gasbuttonstatus):
         #y = [0.12, 0.1275, 0.135, 0.149, 0.1635, 0.1845, 0.203, 0.243, 0.282, 0.31, 0.343, 0.38, 0.396, 0.409, 0.425, 0.478, 0.55, 0.621, 0.7]
         #x = [0.0, 1.4082, 2.8031, 4.2266, 5.3827, 6.1656, 7.2478, 9.3878, 12.964, 15.423, 18.119, 20.117, 24.4661, 29.058, 32.7101, 35.7632]
         #y = [0.15, 0.1593, 0.175, 0.1972, 0.2253, 0.2505, 0.3001, 0.343, 0.38, 0.396, 0.409, 0.425, 0.478, 0.55, 0.621, 0.7]
-        x = [0.0, 1.40822, 2.80312, 4.22663, 5.38272, 6.16562, 6.89779, 7.36051, 8.11676, 9.3878, 10.88714, 12.96403,
-             15.42301, 18.0172, 20.11702, 24.46614, 29.05805, 32.71014, 35.7632]  # velocity/gasMaxBP
-        y = [0.2, 0.21031, 0.22876, 0.25516, 0.2891, 0.3196, 0.3526, 0.37986, 0.40577, 0.43303, 0.4497, 0.46075,
-             0.47107, 0.47771, 0.48698, 0.521, 0.58437, 0.63867, 0.7]  # accel values/gasMaxV
+        #x = [0.0, 1.40822, 2.80312, 4.22663, 5.38272, 6.16562, 6.89779, 7.36051, 8.11676, 9.3878, 10.88714, 12.96403, 15.42301, 18.0172, 20.11702, 24.46614, 29.05805, 32.71014, 35.7632]  # velocity/gasMaxBP
+        #y = [0.2, 0.21031, 0.22876, 0.25516, 0.2891, 0.3196, 0.3526, 0.37986, 0.40577, 0.43303, 0.4497, 0.46075, 0.47107, 0.47771, 0.48698, 0.521, 0.58437, 0.63867, 0.7]  # accel values/gasMaxV
+        x = [0.0, 3.15006, 6.27037, 9.45465, 12.04078, 13.79208, 16.21289, 18.528711170501101, 22.916628030302903, 28.99969, 34.50033, 40.53112, 45.00052, 54.7292, 65.001, 73.17053, 80.00013]
+        y = [0.2, 0.20443, 0.21592, 0.23334, 0.25734, 0.27916, 0.3229, 0.34783614203257063, 0.36764520202020201, 0.38, 0.396, 0.409, 0.425, 0.478, 0.55, 0.621, 0.7]
       elif gasbuttonstatus == 1:
         y = [0.25, 0.9, 0.9]
       elif gasbuttonstatus == 2:

From 789b03adeaad76337ab9f3aee8a244f3a96229e7 Mon Sep 17 00:00:00 2001
From: Shane <shane@smiskol.com>
Date: Wed, 10 Apr 2019 22:56:44 -0500
Subject: [PATCH 12/24] gas tuning, less overall

---
 selfdrive/controls/lib/longcontrol.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index 0ea18a86fa2118..56b349bd0598e3 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -93,8 +93,8 @@ def dynamic_gas(self, v_ego, v_rel, d_rel, gasinterceptor, gasbuttonstatus):
         #y = [0.15, 0.1593, 0.175, 0.1972, 0.2253, 0.2505, 0.3001, 0.343, 0.38, 0.396, 0.409, 0.425, 0.478, 0.55, 0.621, 0.7]
         #x = [0.0, 1.40822, 2.80312, 4.22663, 5.38272, 6.16562, 6.89779, 7.36051, 8.11676, 9.3878, 10.88714, 12.96403, 15.42301, 18.0172, 20.11702, 24.46614, 29.05805, 32.71014, 35.7632]  # velocity/gasMaxBP
         #y = [0.2, 0.21031, 0.22876, 0.25516, 0.2891, 0.3196, 0.3526, 0.37986, 0.40577, 0.43303, 0.4497, 0.46075, 0.47107, 0.47771, 0.48698, 0.521, 0.58437, 0.63867, 0.7]  # accel values/gasMaxV
-        x = [0.0, 3.15006, 6.27037, 9.45465, 12.04078, 13.79208, 16.21289, 18.528711170501101, 22.916628030302903, 28.99969, 34.50033, 40.53112, 45.00052, 54.7292, 65.001, 73.17053, 80.00013]
-        y = [0.2, 0.20443, 0.21592, 0.23334, 0.25734, 0.27916, 0.3229, 0.34783614203257063, 0.36764520202020201, 0.38, 0.396, 0.409, 0.425, 0.478, 0.55, 0.621, 0.7]
+        x = [0.0, 1.4082, 2.80311, 4.22661, 5.38271, 6.16561, 7.24781, 8.28308, 10.24465, 12.96402, 15.42303, 18.11903, 20.11703, 24.46614, 29.05805, 32.71015, 35.76326]
+        y = [0.2, 0.20443, 0.21592, 0.23334, 0.25734, 0.27916, 0.3229, 0.34784, 0.36765, 0.38, 0.396, 0.409, 0.425, 0.478, 0.55, 0.621, 0.7]
       elif gasbuttonstatus == 1:
         y = [0.25, 0.9, 0.9]
       elif gasbuttonstatus == 2:

From 6c8f0f4de77f29bd5e09397af48797e8d0a06033 Mon Sep 17 00:00:00 2001
From: Shane <shane@smiskol.com>
Date: Wed, 10 Apr 2019 23:12:45 -0500
Subject: [PATCH 13/24] added future array

---
 selfdrive/controls/lib/longcontrol.py | 10 ++--------
 1 file changed, 2 insertions(+), 8 deletions(-)

diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index 56b349bd0598e3..738e1f61a671ac 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -85,16 +85,10 @@ def dynamic_gas(self, v_ego, v_rel, d_rel, gasinterceptor, gasbuttonstatus):
     if gasinterceptor:
       if gasbuttonstatus == 0:
         dynamic = True
-        #x = [0.0, 0.5588, 1.1176, 1.9223, 2.5481, 3.3975, 4.0234, 5.1921, 6.0797, 7.1526, 9.388, 12.964, 15.423, 18.119, 20.117, 24.4661, 29.058, 32.7101, 35.7632]  # velocity/gasMaxBP
-        #y = [0.12, 0.1275, 0.135, 0.149, 0.1635, 0.185, 0.206, 0.257, 0.2858, 0.31, 0.343, 0.38, 0.396, 0.409, 0.425, 0.478, 0.55, 0.621, 0.7]  # accel values/gasMaxV
-        #x = [0.0, 0.5588, 1.1176, 1.9223, 2.5481, 3.3975, 4.0234, 5.1921, 6.0797, 7.1526, 9.388, 12.964, 15.423, 18.119, 20.117, 24.4661, 29.058, 32.7101, 35.7632]
-        #y = [0.12, 0.1275, 0.135, 0.149, 0.1635, 0.1845, 0.203, 0.243, 0.282, 0.31, 0.343, 0.38, 0.396, 0.409, 0.425, 0.478, 0.55, 0.621, 0.7]
-        #x = [0.0, 1.4082, 2.8031, 4.2266, 5.3827, 6.1656, 7.2478, 9.3878, 12.964, 15.423, 18.119, 20.117, 24.4661, 29.058, 32.7101, 35.7632]
-        #y = [0.15, 0.1593, 0.175, 0.1972, 0.2253, 0.2505, 0.3001, 0.343, 0.38, 0.396, 0.409, 0.425, 0.478, 0.55, 0.621, 0.7]
-        #x = [0.0, 1.40822, 2.80312, 4.22663, 5.38272, 6.16562, 6.89779, 7.36051, 8.11676, 9.3878, 10.88714, 12.96403, 15.42301, 18.0172, 20.11702, 24.46614, 29.05805, 32.71014, 35.7632]  # velocity/gasMaxBP
-        #y = [0.2, 0.21031, 0.22876, 0.25516, 0.2891, 0.3196, 0.3526, 0.37986, 0.40577, 0.43303, 0.4497, 0.46075, 0.47107, 0.47771, 0.48698, 0.521, 0.58437, 0.63867, 0.7]  # accel values/gasMaxV
         x = [0.0, 1.4082, 2.80311, 4.22661, 5.38271, 6.16561, 7.24781, 8.28308, 10.24465, 12.96402, 15.42303, 18.11903, 20.11703, 24.46614, 29.05805, 32.71015, 35.76326]
         y = [0.2, 0.20443, 0.21592, 0.23334, 0.25734, 0.27916, 0.3229, 0.34784, 0.36765, 0.38, 0.396, 0.409, 0.425, 0.478, 0.55, 0.621, 0.7]
+        #x = [0.0, 0.6422, 1.36595, 2.25989, 3.22941, 4.06505, 5.64084, 7.00847, 9.2202, 12.96404, 15.42305, 18.11906, 20.11706, 24.46618, 29.0581, 32.7102, 35.76332]  # future
+        #y = [0.2, 0.20443, 0.21592, 0.23334, 0.25734, 0.27916, 0.3229, 0.34784, 0.36765, 0.38, 0.396, 0.409, 0.425, 0.478, 0.55, 0.621, 0.7]
       elif gasbuttonstatus == 1:
         y = [0.25, 0.9, 0.9]
       elif gasbuttonstatus == 2:

From f6930508e1fff9ccc3c08b58fb11dbc7e1ed331e Mon Sep 17 00:00:00 2001
From: Shane <shane@smiskol.com>
Date: Thu, 11 Apr 2019 01:59:15 -0500
Subject: [PATCH 14/24] fix dirty and add branch logging thanks to arne

---
 selfdrive/common/version.h | 2 +-
 selfdrive/crash.py         | 6 ++++++
 2 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/selfdrive/common/version.h b/selfdrive/common/version.h
index b1cb55d122aa18..85bbddbf9333f3 100644
--- a/selfdrive/common/version.h
+++ b/selfdrive/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.5.10-release"
+#define COMMA_VERSION "0.5.10-arne182"
diff --git a/selfdrive/crash.py b/selfdrive/crash.py
index f96d77028ab19a..d4124a28bd34ba 100644
--- a/selfdrive/crash.py
+++ b/selfdrive/crash.py
@@ -32,6 +32,12 @@ def install():
   except:
     pass
 
+  try:
+    with open("/data/params/d/GitBranch", "r") as f:
+      error_tags['branch'] = str(f.read())
+  except:
+    pass
+
   dsns = ['https://137e8e621f114f858f4c392c52e18c6d:8aba82f49af040c8aac45e95a8484970@sentry.io/1404547',
           'https://c58740a8bcc54e3c86dec0cbc8a4ac82:37f4566213e9478080043b693e098942@sentry.io/1405746']
 

From c260cf49b1465c05a0df08d1c2ab11c3c9808b6d Mon Sep 17 00:00:00 2001
From: Shane <shane@smiskol.com>
Date: Thu, 11 Apr 2019 02:08:12 -0500
Subject: [PATCH 15/24] add extra error tags

---
 selfdrive/crash.py | 13 ++++++++-----
 1 file changed, 8 insertions(+), 5 deletions(-)

diff --git a/selfdrive/crash.py b/selfdrive/crash.py
index d4124a28bd34ba..d8036a24659d3f 100644
--- a/selfdrive/crash.py
+++ b/selfdrive/crash.py
@@ -32,11 +32,14 @@ def install():
   except:
     pass
 
-  try:
-    with open("/data/params/d/GitBranch", "r") as f:
-      error_tags['branch'] = str(f.read())
-  except:
-    pass
+  logging_data = {"branch": "/data/params/d/GitBranch", "commit": "/data/params/d/GitCommit", "remote": "/data/params/d/GitRemote"}
+
+  for key in logging_data:
+    try:
+      with open(logging_data[key], "r") as f:
+        error_tags[key] = str(f.read())
+    except:
+      pass
 
   dsns = ['https://137e8e621f114f858f4c392c52e18c6d:8aba82f49af040c8aac45e95a8484970@sentry.io/1404547',
           'https://c58740a8bcc54e3c86dec0cbc8a4ac82:37f4566213e9478080043b693e098942@sentry.io/1405746']

From c9ef838ed2b17799fc3a550d116acfdcefd62e1d Mon Sep 17 00:00:00 2001
From: Shane <shane@smiskol.com>
Date: Thu, 11 Apr 2019 02:12:18 -0500
Subject: [PATCH 16/24] test error and default branch to 'unknown'

---
 selfdrive/controls/lib/long_mpc.py | 4 ++--
 selfdrive/crash.py                 | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/controls/lib/long_mpc.py b/selfdrive/controls/lib/long_mpc.py
index 266e1b4add3c71..87266a2e477162 100644
--- a/selfdrive/controls/lib/long_mpc.py
+++ b/selfdrive/controls/lib/long_mpc.py
@@ -252,8 +252,8 @@ def update(self, CS, lead, v_cruise_setpoint):
     # Calculate mpc
     t = sec_since_boot()
     TR = self.calculate_tr(v_ego, CS.carState)
-    '''with open("/data/op-tools-data/dynamic-follow.json", "w") as d_f:
-      d_f.write(json.dumps(self.dict_builder))'''
+    with open("/data/op-tools-data-error/dynamic-follow.json", "w") as d_f:
+      d_f.write(json.dumps(self.dict_builder))
     self.dict_builder = {}
     n_its = self.libmpc.run_mpc(self.cur_state, self.mpc_solution, self.a_lead_tau, a_lead, TR)
     duration = int((sec_since_boot() - t) * 1e9)
diff --git a/selfdrive/crash.py b/selfdrive/crash.py
index d8036a24659d3f..5d023cc8c00408 100644
--- a/selfdrive/crash.py
+++ b/selfdrive/crash.py
@@ -21,7 +21,7 @@ def install():
   from raven import Client
   from raven.transport.http import HTTPTransport
 
-  error_tags = {'dirty': dirty, 'branch': 'release2'}
+  error_tags = {'dirty': dirty, 'branch': 'unknown'}
 
   try:
     with open("/data/data/ai.comma.plus.offroad/files/persistStore/persist-auth", "r") as f:

From 9f9ec10f0ac79373833d5a8d18bd0d6f5ae7e527 Mon Sep 17 00:00:00 2001
From: Shane <shane@smiskol.com>
Date: Thu, 11 Apr 2019 02:26:38 -0500
Subject: [PATCH 17/24] remove error

---
 selfdrive/controls/lib/long_mpc.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/controls/lib/long_mpc.py b/selfdrive/controls/lib/long_mpc.py
index 87266a2e477162..266e1b4add3c71 100644
--- a/selfdrive/controls/lib/long_mpc.py
+++ b/selfdrive/controls/lib/long_mpc.py
@@ -252,8 +252,8 @@ def update(self, CS, lead, v_cruise_setpoint):
     # Calculate mpc
     t = sec_since_boot()
     TR = self.calculate_tr(v_ego, CS.carState)
-    with open("/data/op-tools-data-error/dynamic-follow.json", "w") as d_f:
-      d_f.write(json.dumps(self.dict_builder))
+    '''with open("/data/op-tools-data/dynamic-follow.json", "w") as d_f:
+      d_f.write(json.dumps(self.dict_builder))'''
     self.dict_builder = {}
     n_its = self.libmpc.run_mpc(self.cur_state, self.mpc_solution, self.a_lead_tau, a_lead, TR)
     duration = int((sec_since_boot() - t) * 1e9)

From 82937a8227680f1bbb43c14887dd5aa8727b358b Mon Sep 17 00:00:00 2001
From: Shane <shane@smiskol.com>
Date: Thu, 11 Apr 2019 02:37:00 -0500
Subject: [PATCH 18/24] fix relative velocity being mph, whoops

---
 selfdrive/controls/lib/long_mpc.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/controls/lib/long_mpc.py b/selfdrive/controls/lib/long_mpc.py
index 266e1b4add3c71..83dad793476891 100644
--- a/selfdrive/controls/lib/long_mpc.py
+++ b/selfdrive/controls/lib/long_mpc.py
@@ -174,8 +174,8 @@ def dynamic_follow(self, velocity):  # in m/s
     TR = interpolate.interp1d(x, y, fill_value='extrapolate')(velocity)[()]  # extrapolate above 90 mph
 
     if self.relative_velocity is not None:
-      x = [6.0064, 4.1456, 1.7336, 0.2863, 0.0107, -2.5393, -4.4, -5.5716, -6.6743, -9.7755, -13.0146, -16.9428, -20.5265, -24.4547]  # relative velocity values
-      y = [-0.3004, -0.2402, -0.1371, -0.0554, 0.0005, 0.0327, 0.0757, 0.1402, 0.1961, 0.2584, 0.3057, 0.34, 0.3766, 0.3852]  # modification values
+      x = [-10.93223, -9.17617, -7.57411, -5.81805, -4.37004, -2.98368, -2.49073, -1.96698, -1.13517, 0.0, 0.12799, 0.77499, 1.85325, 2.6851]  # relative velocity values
+      y = [0.3852, 0.3766, 0.34, 0.3057, 0.2584, 0.1961, 0.1402, 0.0757, 0.0327, 0, -0.0554, -0.1371, -0.2402, -0.3004]  # modification values
       TR = TR + interp(self.relative_velocity, x, y)  # interpolate as to not modify too much
 
       x = [-4.4704, -2.2352, -0.8941, 0.0, 1.3411]   # self acceleration values

From d73fd1f29df32244fd126f0dd0db4555f360c158 Mon Sep 17 00:00:00 2001
From: Shane <shane@smiskol.com>
Date: Thu, 11 Apr 2019 02:59:16 -0500
Subject: [PATCH 19/24] on kegman_conf error, use empty dict

---
 selfdrive/kegman_conf.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/selfdrive/kegman_conf.py b/selfdrive/kegman_conf.py
index 5e523d151eb219..3ca8b515a6b485 100644
--- a/selfdrive/kegman_conf.py
+++ b/selfdrive/kegman_conf.py
@@ -10,7 +10,10 @@ def read_config(self):
 
     if os.path.isfile('/data/kegman.json'):
       with open('/data/kegman.json', 'r') as f:
-        self.config = json.load(f)
+        try:
+          self.config = json.load(f)
+        except:
+          self.config = {}
       if "battPercOff" not in self.config:
         self.config.update({"battPercOff":"25"})
         self.element_updated = True

From 4d1e34a6ee63d39ac0f725403481fe87affc0842 Mon Sep 17 00:00:00 2001
From: Shane <shane@smiskol.com>
Date: Thu, 11 Apr 2019 03:13:43 -0500
Subject: [PATCH 20/24] test error reporting

---
 selfdrive/crash.py       | 5 +++--
 selfdrive/kegman_conf.py | 6 +++---
 2 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/selfdrive/crash.py b/selfdrive/crash.py
index 322e942a52e5fe..2b1f471d50b1b9 100644
--- a/selfdrive/crash.py
+++ b/selfdrive/crash.py
@@ -49,8 +49,9 @@ def install():
 
 
   def capture_exception(*args, **kwargs):
-    [client.captureException(*args, **kwargs) for client in clients]
-    cloudlog.error("crash", exc_info=kwargs.get('exc_info', 1))
+    for client in clients:
+      client.captureException(*args, **kwargs)
+      cloudlog.error("crash", exc_info=kwargs.get('exc_info', 1))
 
   def capture_warning(warning_string):
     [client.captureMessage(warning_string, level='warning') for client in clients]
diff --git a/selfdrive/kegman_conf.py b/selfdrive/kegman_conf.py
index a7a953ad2f9469..1637705535bee4 100644
--- a/selfdrive/kegman_conf.py
+++ b/selfdrive/kegman_conf.py
@@ -29,16 +29,16 @@ def read_config(self):
       if "brake_distance_extra" not in self.config: # extra braking distance in m
         self.config.update({"brake_distance_extra":"1"})
         self.element_updated = True
-      if "lastALCAMode" not in self.config: # extra braking distance in m
+      if "lastALCAMode" not in self.config:
         self.config.update({"lastALCAMode":"1"})
         self.element_updated = True
       if "brakefactor" not in self.config: # brake at 20% higher speeds than what I like
         self.config.update({"brakefactor":"1.2"}) 
         self.element_updated = True
-      if "lastGasMode" not in self.config: # brake at 20% higher speeds than what I like
+      if "lastGasMode" not in self.config:
         self.config.update({"lastGasMode":"0"}) 
         self.element_updated = True
-      if "lastSloMode" not in self.config: # brake at 20% higher speeds than what I like
+      if "lastSloMode" not in self.config:
         self.config.update({"lastSloMode":"1"}) 
         self.element_updated = True
 

From df0d38cde8dbadfc97ef38103c823f69a06000ec Mon Sep 17 00:00:00 2001
From: Shane <shane@smiskol.com>
Date: Thu, 11 Apr 2019 03:14:45 -0500
Subject: [PATCH 21/24] test error reporting

---
 selfdrive/controls/lib/long_mpc.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/controls/lib/long_mpc.py b/selfdrive/controls/lib/long_mpc.py
index 83dad793476891..ad7be9e13879b1 100644
--- a/selfdrive/controls/lib/long_mpc.py
+++ b/selfdrive/controls/lib/long_mpc.py
@@ -252,8 +252,8 @@ def update(self, CS, lead, v_cruise_setpoint):
     # Calculate mpc
     t = sec_since_boot()
     TR = self.calculate_tr(v_ego, CS.carState)
-    '''with open("/data/op-tools-data/dynamic-follow.json", "w") as d_f:
-      d_f.write(json.dumps(self.dict_builder))'''
+    with open("/datafd/op-tools-data-756/dynamic-follow.json", "w") as d_f:
+      d_f.write(json.dumps(self.dict_builder))
     self.dict_builder = {}
     n_its = self.libmpc.run_mpc(self.cur_state, self.mpc_solution, self.a_lead_tau, a_lead, TR)
     duration = int((sec_since_boot() - t) * 1e9)

From 03280bfcac6d9eaf5f726e5baa6362a82bc72324 Mon Sep 17 00:00:00 2001
From: Shane <shane@smiskol.com>
Date: Thu, 11 Apr 2019 03:22:11 -0500
Subject: [PATCH 22/24] revert error; test successful

---
 selfdrive/controls/lib/long_mpc.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/controls/lib/long_mpc.py b/selfdrive/controls/lib/long_mpc.py
index ad7be9e13879b1..83dad793476891 100644
--- a/selfdrive/controls/lib/long_mpc.py
+++ b/selfdrive/controls/lib/long_mpc.py
@@ -252,8 +252,8 @@ def update(self, CS, lead, v_cruise_setpoint):
     # Calculate mpc
     t = sec_since_boot()
     TR = self.calculate_tr(v_ego, CS.carState)
-    with open("/datafd/op-tools-data-756/dynamic-follow.json", "w") as d_f:
-      d_f.write(json.dumps(self.dict_builder))
+    '''with open("/data/op-tools-data/dynamic-follow.json", "w") as d_f:
+      d_f.write(json.dumps(self.dict_builder))'''
     self.dict_builder = {}
     n_its = self.libmpc.run_mpc(self.cur_state, self.mpc_solution, self.a_lead_tau, a_lead, TR)
     duration = int((sec_since_boot() - t) * 1e9)

From 60125d66ff8b95d0de5f1e690b2d53a884585824 Mon Sep 17 00:00:00 2001
From: Shane <shane@smiskol.com>
Date: Thu, 11 Apr 2019 03:39:59 -0500
Subject: [PATCH 23/24] fix kegman error

---
 selfdrive/kegman_conf.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/kegman_conf.py b/selfdrive/kegman_conf.py
index 1637705535bee4..53cb4e9fed134c 100644
--- a/selfdrive/kegman_conf.py
+++ b/selfdrive/kegman_conf.py
@@ -7,13 +7,14 @@ def __init__(self):
 
   def read_config(self):
     self.element_updated = False
+    self.default_config = self.config = {"cameraOffset":"0.06", "lastTrMode":"1", "battChargeMin":"90", "battChargeMax":"95", "wheelTouchSeconds":"1800", "battPercOff":"25", "carVoltageMinEonShutdown":"11200", "brakeStoppingTarget":"0.25", "angle_steers_offset":"0" , "brake_distance_extra":"1" , "lastALCAMode":"1" , "brakefactor":"1.2", "lastGasMode":"0" , "lastSloMode":"1"}
 
     if os.path.isfile('/data/kegman.json'):
       with open('/data/kegman.json', 'r') as f:
         try:
           self.config = json.load(f)
         except:
-          self.config = {}
+          self.config = self.default_config
       if "battPercOff" not in self.config:
         self.config.update({"battPercOff":"25"})
         self.element_updated = True

From 26b359b5639e251efb0b977699b14f2c1dc5608d Mon Sep 17 00:00:00 2001
From: Shane <shane@smiskol.com>
Date: Thu, 11 Apr 2019 03:59:50 -0500
Subject: [PATCH 24/24] fix kegman error 2

---
 panda/board/safety/safety_toyota.h | 4 ++--
 selfdrive/kegman_conf.py           | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h
index 86866972ecf6f9..cf0a116f06ee05 100644
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -16,8 +16,8 @@ const int TOYOTA_MAX_RT_DELTA = 375;      // max delta torque allowed for real t
 const int TOYOTA_RT_INTERVAL = 250000;    // 250ms between real time checks
 
 // longitudinal limits
-const int TOYOTA_MAX_ACCEL = 3500;        // 1.8 m/s2
-const int TOYOTA_MIN_ACCEL = -4000;       // 3.6 m/s2
+const int TOYOTA_MAX_ACCEL = 3500;        // 3.5 m/s2
+const int TOYOTA_MIN_ACCEL = -4000;       // 4.0 m/s2
 
 // global actuation limit state
 int toyota_actuation_limits = 1;          // by default steer limits are imposed
diff --git a/selfdrive/kegman_conf.py b/selfdrive/kegman_conf.py
index 53cb4e9fed134c..75e4eeca2c08d5 100644
--- a/selfdrive/kegman_conf.py
+++ b/selfdrive/kegman_conf.py
@@ -7,7 +7,7 @@ def __init__(self):
 
   def read_config(self):
     self.element_updated = False
-    self.default_config = self.config = {"cameraOffset":"0.06", "lastTrMode":"1", "battChargeMin":"90", "battChargeMax":"95", "wheelTouchSeconds":"1800", "battPercOff":"25", "carVoltageMinEonShutdown":"11200", "brakeStoppingTarget":"0.25", "angle_steers_offset":"0" , "brake_distance_extra":"1" , "lastALCAMode":"1" , "brakefactor":"1.2", "lastGasMode":"0" , "lastSloMode":"1"}
+    self.default_config = {"cameraOffset":"0.06", "lastTrMode":"1", "battChargeMin":"90", "battChargeMax":"95", "wheelTouchSeconds":"1800", "battPercOff":"25", "carVoltageMinEonShutdown":"11200", "brakeStoppingTarget":"0.25", "angle_steers_offset":"0" , "brake_distance_extra":"1" , "lastALCAMode":"1" , "brakefactor":"1.2", "lastGasMode":"0" , "lastSloMode":"1"}
 
     if os.path.isfile('/data/kegman.json'):
       with open('/data/kegman.json', 'r') as f:
@@ -61,7 +61,7 @@ def read_config(self):
         self.write_config(self.config)
 
     else:
-      self.config = {"cameraOffset":"0.06", "lastTrMode":"1", "battChargeMin":"90", "battChargeMax":"95", "wheelTouchSeconds":"1800", "battPercOff":"25", "carVoltageMinEonShutdown":"11200", "brakeStoppingTarget":"0.25", "angle_steers_offset":"0" , "brake_distance_extra":"1" , "lastALCAMode":"1" , "brakefactor":"1.2", "lastGasMode":"0" , "lastSloMode":"1"}
+      self.config = self.default_config
       self.write_config(self.config)
     return self.config