Merge from kegman

selfdrive/car/gm/interface.py

@@ -14,7 +14,7 @@
 except ImportError:
   CarController = None
 
-A_ACC_MAX = 0.15
+FOLLOW_AGGRESSION = 0.15 # (Acceleration/Decel aggression) Lower is more aggressive
 
 class CanBus(object):
   def __init__(self):
@@ -86,7 +86,7 @@ def calc_accel_override(a_ego, a_target, v_ego, v_target):
     # accelOverride is more or less the max throttle allowed to pcm: usually set to a constant
     # unless aTargetMax is very high and then we scale with it; this help in quicker restart
 
-    return float(max(max_accel, a_target / A_ACC_MAX)) * min(speedLimiter, accelLimiter)
+    return float(max(max_accel, a_target / FOLLOW_AGGRESSION)) * min(speedLimiter, accelLimiter)
 
   @staticmethod
   def get_params(candidate, fingerprint):

selfdrive/car/honda/carstate.py

@@ -3,7 +3,6 @@
 from selfdrive.can.parser import CANParser, CANDefine
 from selfdrive.config import Conversions as CV
 from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, SPEED_FACTOR, HONDA_BOSCH
-from selfdrive.kegman_conf import kegman_conf
 
 def parse_gear_shifter(gear, vals):
 
@@ -142,8 +141,9 @@ def get_cam_can_parser(CP):
 
 class CarState(object):
   def __init__(self, CP):
-    self.kegman = kegman_conf()
-    self.trMode = int(self.kegman.conf['lastTrMode'])     # default to last distance interval on startup
+    #self.kegman = kegman_conf()
+    #self.trMode = int(self.kegman.conf['lastTrMode'])     # default to last distance interval on startup
+    self.trMode = 1
     self.lkMode = True
     self.read_distance_lines_prev = 4
     self.CP = CP
@@ -314,8 +314,8 @@ def update(self, cp, cp_cam):
     if self.cruise_setting == 3:
       if cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"] == 0:
         self.trMode = (self.trMode + 1 ) % 4
-        self.kegman.conf['lastTrMode'] = str(self.trMode)   # write last distance bar setting to file
-        self.kegman.write_config(self.kegman.conf) 
+        # self.kegman.conf['lastTrMode'] = str(self.trMode)   # write last distance bar setting to file
+        # self.kegman.write_config(self.kegman.conf) 
 
     # when user presses LKAS button on steering wheel
     if self.cruise_setting == 1:

selfdrive/car/honda/interface.py

@@ -186,7 +186,6 @@ def get_params(candidate, fingerprint):
     ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
 
     ret.steerKf = 0.00006 # conservative feed-forward
-    ret.steerRateCost = 0.5
 
     if candidate in [CAR.CIVIC, CAR.CIVIC_BOSCH]:
       stop_and_go = True
@@ -307,12 +306,11 @@ def get_params(candidate, fingerprint):
       ret.centerToFront = ret.wheelbase * 0.41
       ret.steerRatio = 16.0         # as spec
       tire_stiffness_factor = 0.82
-      ret.steerKpV, ret.steerKiV = [[0.40], [0.20]]
+      ret.steerKpV, ret.steerKiV = [[0.40], [0.29]]
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
       ret.longitudinalKiBP = [0., 35.]
       ret.longitudinalKiV = [0.18, 0.12]
-      ret.steerRateCost = 0.35
 
     elif candidate == CAR.RIDGELINE:
       stop_and_go = False
@@ -321,12 +319,11 @@ def get_params(candidate, fingerprint):
       ret.centerToFront = ret.wheelbase * 0.41
       ret.steerRatio = 15.59        # as spec
       tire_stiffness_factor = 0.82
-      ret.steerKpV, ret.steerKiV = [[0.40], [0.20]]
+      ret.steerKpV, ret.steerKiV = [[0.40], [0.29]]
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
       ret.longitudinalKiBP = [0., 35.]
       ret.longitudinalKiV = [0.18, 0.12]
-      ret.steerRateCost = 0.35
 
     else:
       raise ValueError("unsupported car %s" % candidate)
@@ -383,7 +380,7 @@ def get_params(candidate, fingerprint):
     ret.startAccel = 0.5
 
     ret.steerActuatorDelay = 0.1
-
+    ret.steerRateCost = 0.5
 
     return ret
 

selfdrive/car/honda/values.py

@@ -71,17 +71,21 @@ class CAR:
   PILOT = "HONDA PILOT 2017 TOURING"
   PILOT_2019 = "HONDA PILOT 2019 ELITE"
   RIDGELINE = "HONDA RIDGELINE 2017 BLACK EDITION"
-
+
+  '''
+  # Removed Accord Hybrid because of conflict with Insight
+  CAR.ACCORDH: [{
+    148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 525: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
+  }],
+  '''
+
 FINGERPRINTS = {
   CAR.ACCORD: [{
     148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
   }],
   CAR.ACCORD_15: [{
     148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
   }],
-  CAR.ACCORDH: [{
-    148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 525: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
-  }],
   CAR.ACURA_ILX: [{
     57: 3, 145: 8, 228: 5, 304: 8, 316: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 7, 419: 8, 420: 8, 422: 8, 428: 8, 432: 7, 464: 8, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 882: 2, 884: 7, 887: 8, 888: 8, 892: 8, 923: 2, 929: 4, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1030: 5, 1034: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1365: 5,
   }],

selfdrive/controls/lib/long_mpc.py

@@ -48,8 +48,6 @@ def __init__(self, mpc_id, live_longitudinal_mpc):
     self.last_cloudlog_t = 0.0
     self.v_rel = 10
     self.last_cloudlog_t = 0.0
-    self.currentTR = 2
-    self.mpc_frame = 0
 
   def send_mpc_solution(self, qp_iterations, calculation_time):
     qp_iterations = max(0, qp_iterations)
@@ -126,48 +124,44 @@ def update(self, CS, lead, v_cruise_setpoint):
     else:
       self.street_speed = 0
 
-    # ensure that the bar interval isn't evaluated too quickly or braking may occur while changing
-    if CS.carState.readdistancelines != self.lastTR and self.mpc_frame % 200 == 0:
-      self.currentTR = CS.carState.readdistancelines
-      self.mpc_frame = 0
-
-    self.mpc_frame += 1
 
     # Calculate mpc
     # Adjust distance from lead car when distance button pressed 
-    if self.currentTR == 1:
+    if CS.carState.readdistancelines == 1:
+      #if self.street_speed and (self.lead_car_gap_shrinking or self.tailgating):
       if self.street_speed:
         TR = interp(-self.v_rel, ONE_BAR_PROFILE_BP, ONE_BAR_PROFILE)  
       else:
         TR = ONE_BAR_DISTANCE 
-      if self.currentTR != self.lastTR:
+      if CS.carState.readdistancelines != self.lastTR:
         self.libmpc.init(MPC_COST_LONG.TTC, 1.0, MPC_COST_LONG.ACCELERATION, MPC_COST_LONG.JERK)
-        self.lastTR = self.currentTR
+        self.lastTR = CS.carState.readdistancelines  
 
-    elif self.currentTR == 2:
+    elif CS.carState.readdistancelines == 2:
+      #if self.street_speed and (self.lead_car_gap_shrinking or self.tailgating):
       if self.street_speed:
         TR = interp(-self.v_rel, TWO_BAR_PROFILE_BP, TWO_BAR_PROFILE)
       else:
         TR = TWO_BAR_DISTANCE 
-      if self.currentTR != self.lastTR:
+      if CS.carState.readdistancelines != self.lastTR:
         self.libmpc.init(MPC_COST_LONG.TTC, MPC_COST_LONG.DISTANCE, MPC_COST_LONG.ACCELERATION, MPC_COST_LONG.JERK)
-        self.lastTR = self.currentTR
+        self.lastTR = CS.carState.readdistancelines  
 
-    elif self.currentTR == 3:
+    elif CS.carState.readdistancelines == 3:
       if self.street_speed:
       #if self.street_speed and (self.lead_car_gap_shrinking or self.tailgating):
         TR = interp(-self.v_rel, THREE_BAR_PROFILE_BP, THREE_BAR_PROFILE)
       else:
         TR = THREE_BAR_DISTANCE 
-      if self.currentTR != self.lastTR:
+      if CS.carState.readdistancelines != self.lastTR:
         self.libmpc.init(MPC_COST_LONG.TTC, MPC_COST_LONG.DISTANCE, MPC_COST_LONG.ACCELERATION, MPC_COST_LONG.JERK)
-        self.lastTR = self.currentTR
+        self.lastTR = CS.carState.readdistancelines   
 
-    elif self.currentTR == 4:
+    elif CS.carState.readdistancelines == 4:
       TR = FOUR_BAR_DISTANCE
-      if self.currentTR != self.lastTR:
+      if CS.carState.readdistancelines != self.lastTR:
         self.libmpc.init(MPC_COST_LONG.TTC, 0.05, MPC_COST_LONG.ACCELERATION, MPC_COST_LONG.JERK) 
-        self.lastTR = self.currentTR      
+        self.lastTR = CS.carState.readdistancelines      
 
     else:
      TR = TWO_BAR_DISTANCE # if readdistancelines != 1,2,3,4