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Stock Additions refactor#109

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sshane merged 192 commits intostock_additionsfrom
dynamic-follow-refactor
May 22, 2020
Merged

Stock Additions refactor#109
sshane merged 192 commits intostock_additionsfrom
dynamic-follow-refactor

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@sshane sshane commented May 16, 2020 •
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General fork changes:

  • Various opParams speed ups. writing sped up by ~35.9%
  • Increase read frequency for live parameters
  • opEdit now highlights last param that was explored
  • Disable Dynamic Gas for TSS2 cars without pedal to fix slow acceleration

Dynamic follow changes:

  • traffic profile is now an average of 7.371 feet closer from 18 mph to 90 mph and is now allowed to get slightly closer if the lead is accelerating
  • Includes a new experimental Dynamic Follow modification that helps the car coast when the lead is decelerating quicker than you are
  • Use Auto-Dynamic follow model profile slightly quicker
  • More reliably show dynamic follow alert on start up
  • Decrease positive relative velocity mod by 4% to compliment new relative velocity over time mod. Increase negative relative velocity mod by 5% to 27.5% to get closer when lead speeds up
  • Slightly increase lead acceleration mod to get closer when lead is accelerating
  • Tune new relative velocity over time mod, for positive mods ran this equation on it: (y_ * 0.95) - 0.008

sshane and others added 30 commits May 15, 2020 00:36
@sshane
add custom v_rel mod to dynamic follow
ae38ffb
@sshane
don't send errors from forks
0b3d66d
make op_edit executable
3503e55
@sshane
add separate relative accel/vel mod values
a6415a9
@sshane
Merge branch 'dynamic-follow-refactor' of https://github.com/ShaneSmi…
b71b618 
…skol/openpilot into dynamic-follow-refactor
@sshane
add some comments to remind myself how this works
304d8fb
@sshane
don't hide
27b3719
@sshane
debug
697421d
@sshane
debug
3939d3b
@sshane
debug
d07b3a6
@sshane
debug
ec407d7
@sshane
fix
273252e
@sshane
another fix lol
ab4d1aa
@sshane
disable dg again for non-pedal cars
d22ee8e
@sshane
use globals until controlsd is a class in 076
f31544b
@sshane
test lock
608b077
@sshane
test without lock
6076fc9
@sshane
test without lock
888e502
@sshane
test without lock
5f0d735
@sshane
test without lock
205ed79
@sshane
test without lock
a8ab028
@sshane
test without lock
8b6aac1
@sshane
test without lock
e5fa3c6
@sshane
test without lock
9234f47
@sshane
test without lock
4294819
@sshane
test without lock
fdf06be
@sshane
test without lock
bd94991
@sshane
test with lock
d792288
@sshane
it works! now test with processes
52ae2c1
@sshane
test multiproc lock
330b46d
sshane added 27 commits May 19, 2020 02:11
@sshane
Fix
2166ec5
@sshane
Fix for now
9e4dd6d
@sshane
relative velocity mod tuning. get significantly closer when lead is f…
a550f42 
…aster
@sshane
Merge remote-tracking branch 'origin/dynamic-follow-refactor' into dy…
96ebbee 
…namic-follow-refactor
@sshane
increase one break point of the negative a_lead mod by 70%
235ef5b
@sshane
remove np.mean
5ac42e0
@sshane
reduce positive v_rel_acc mod with (y_ * 0.95) - 0.008
05fc290
@sshane
test closer traffic profile
94b0d8a
@sshane
tune profile mod for traffic. need to do roadtrip next
4959e8c
@sshane
Now test without
009d4b6
@sshane
Just in case
d48ebae
@sshane
Do not drive on this, just testing
aff03bf
@sshane
debug. setting it to 0.4 seemed to make no difference...
4174d60
@sshane
use again for now
220b716
@sshane
Test
1e2bb1d
@sshane
fix not letting us set a TR below 1.8s, revert commits
bbef325
@sshane
fix for getting profile in mpc2, remove travis dependency
7889ab0
@sshane
add relative velocity mod down to -60 mph
341a081
@sshane
add tunere
46221a9
@sshane
add tuning param, remove old params
7c39252
@sshane
write time for one iteration
7bcb6c4
@sshane
only use new v_rel_acc mod if lead is slower with 2 mph deadzone
9245ccb
@sshane
average last two traffic profiles
48f781d
@sshane
tune profile mods
be03a9f
@sshane
don't get closer until we reach 12 mph, then decrease until we hit 20
f6a23f6
@sshane
update opParams
3b0d7cf
@sshane
final commit
3448298
@sshane sshane merged commit 73306b9 into stock_additions May 22, 2020
@sshane sshane deleted the dynamic-follow-refactor branch May 25, 2020 00:38
Aragon7777 pushed a commit to Aragon7777/openpilot that referenced this pull request Aug 9, 2021
@sobomax
Change params value to take Data instead of Text. (sshane#109)
1915d60 
allow something like "PandaFirmware" to be processed correctly.
According to capnp spec, Text could only be an UTF-8 string,
PandaFirmware is evidently a pure binary (as decodec by the web ui):

        ( key = "PandaFirmware",
          value = "\x11\x01[\x16|GSe\xd5\x1a+\x94\xff\\f|" ),

This is causing logreader.py to fail processing rlog:

  root@localhost:/data/openpilot$ python tools/lib/logreader.py /tmp/xxx_2021-01-04--21-40-41--0--rlog
  Traceback (most recent call last):
    File "tools/lib/logreader.py", line 147, in <module>
      print(msg)
    File "capnp/lib/capnp.pyx", line 1091, in capnp.lib.capnp._DynamicStructReader.str
  UnicodeDecodeError: 'utf-8' codec can't decode byte 0xd5 in position 30118: invalid continuation byte

Not only that, the binary blob also gets truncated at '\0'. The real value
is as follows:

        ( key = "PandaFirmware",
          value = (
            bin = "\021\001[\026|GSe\325\032+\224\377\\f|\000\241\321\366j\360\247\354E?:\274\205\301\035\241\241T\370X\224\031\367P\257\350*eY\223rt\246\204=\223\301u\207\277\027xE\tn\365?J\234$\032\375\226\300a\215MB\326\342 }\r\366]5\250\236\006\312\000\025\353>Y\v+U\340C\321\017M\231\0307\220\236\303\005\327\'gJ\302Kv\270V\301F8\246\030\206[\344\2239T\003\275" ) ),
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@sshane