update

CT921 · Apr 28, 2023 · d1220c1 · d1220c1
1 parent db8095d
commit d1220c1
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Showing 12 changed files with 7 additions and 69 deletions.
diff --git a/common/params.cc b/common/params.cc
@@ -210,7 +210,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"OnroadScreenOff", PERSISTENT},
     {"topsng", PERSISTENT},
     {"TurnVisionControl", PERSISTENT},
-    {"UploadRaw", PERSISTENT},
     {"toyotaautolock", PERSISTENT},
     {"toyotaautounlock", PERSISTENT},
     {"EnableTorqueController", PERSISTENT},

diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -57,7 +57,7 @@
 MAX_ACCEL = 2.0
 T_FOLLOW = 1.45
 T_FOLLOW_E2E = 0.9
-COMFORT_BRAKE = 2.5
+COMFORT_BRAKE = 2.2
 STOP_DISTANCE = 4.05
 
 def get_stopped_equivalence_factor(v_lead, v_ego):

diff --git a/selfdrive/controls/lib/vision_turn_controller.py b/selfdrive/controls/lib/vision_turn_controller.py
@@ -11,10 +11,10 @@
 
 _MIN_V = 5.6  # Do not operate under 20km/h
 
-_ENTERING_PRED_LAT_ACC_TH = 1.3  # Predicted Lat Acc threshold to trigger entering turn state.
+_ENTERING_PRED_LAT_ACC_TH = 1.4  # Predicted Lat Acc threshold to trigger entering turn state.
 _ABORT_ENTERING_PRED_LAT_ACC_TH = 1.1  # Predicted Lat Acc threshold to abort entering state if speed drops.
 
-_TURNING_LAT_ACC_TH = 1.6  # Lat Acc threshold to trigger turning turn state.
+_TURNING_LAT_ACC_TH = 1.7  # Lat Acc threshold to trigger turning turn state.
 
 _LEAVING_LAT_ACC_TH = 1.3  # Lat Acc threshold to trigger leaving turn state.
 _FINISH_LAT_ACC_TH = 1.1  # Lat Acc threshold to trigger end of turn cycle.
@@ -24,19 +24,19 @@
 _EVAL_LENGHT = 150.  # mts. Distance ahead where to stop evaluating vision curvature.
 _EVAL_RANGE = np.arange(_EVAL_START, _EVAL_LENGHT, _EVAL_STEP)
 
-_A_LAT_REG_MAX = 2.  # Maximum lateral acceleration
+_A_LAT_REG_MAX = 2.2  # Maximum lateral acceleration
 
 _NO_OVERSHOOT_TIME_HORIZON = 4.  # s. Time to use for velocity desired based on a_target when not overshooting.
 
 # Lookup table for the minimum smooth deceleration during the ENTERING state
 # depending on the actual maximum absolute lateral acceleration predicted on the turn ahead.
-_ENTERING_SMOOTH_DECEL_V = [-0.1, -0.3]  # min decel value allowed on ENTERING state
-_ENTERING_SMOOTH_DECEL_BP = [1.3, 3.]  # absolute value of lat acc ahead
+_ENTERING_SMOOTH_DECEL_V = [-0.2, -1.]  # min decel value allowed on ENTERING state
+_ENTERING_SMOOTH_DECEL_BP = [1.4, 3.3]  # absolute value of lat acc ahead
 
 # Lookup table for the acceleration for the TURNING state
 # depending on the current lateral acceleration of the vehicle.
 _TURNING_ACC_V = [0.5, 0., -0.4]  # acc value
-_TURNING_ACC_BP = [1.5, 2.3, 3.]  # absolute value of current lat acc
+_TURNING_ACC_BP = [1.3, 2.5, 3.3]  # absolute value of current lat acc
 
 _LEAVING_ACC = 0.5  # Confortble acceleration to regain speed while leaving a turn.
 

diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
@@ -579,12 +579,6 @@ TimpilotPanel::TimpilotPanel(QWidget* parent) : QWidget(parent) {
                                   "../assets/offroad/icon_road.png",
                                   this));
 
-  toggles.append(new ParamControl("UploadRaw",
-                                  tr("Upload Raw Logs"),
-                                  tr("Upload full logs and full resolution video by default while on Wi-Fi. If not enabled, individual logs can be marked for upload at useradmin.comma.ai."),
-                                  "../assets/offroad/icon_network.png",
-                                  this));
-
   for (ParamControl *toggle : toggles) {
     if (main_layout->count() != 0) {
       toggle_layout->addWidget(horizontal_line());

diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
@@ -1062,14 +1062,6 @@ Enabled:  Short=5, Long=1.</source>
         <source>Enable this option if you intend to run dp on Nvidia Jetson. Reboot required.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Upload Raw Logs</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Upload full logs and full resolution video by default while on Wi-Fi. If not enabled, individual logs can be marked for upload at useradmin.comma.ai.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>TogglesPanel</name>

diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
@@ -1034,14 +1034,6 @@ Enabled:  Short=5, Long=1.</source>
         <source>Enable this option if you intend to run dp on Nvidia Jetson. Reboot required.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Upload Raw Logs</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Upload full logs and full resolution video by default while on Wi-Fi. If not enabled, individual logs can be marked for upload at useradmin.comma.ai.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable LiveTorque</source>
         <translation type="unfinished"></translation>

diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
@@ -1035,14 +1035,6 @@ Enabled:  Short=5, Long=1.</source>
         <source>Enable this option if you intend to run dp on Nvidia Jetson. Reboot required.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Upload Raw Logs</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Upload full logs and full resolution video by default while on Wi-Fi. If not enabled, individual logs can be marked for upload at useradmin.comma.ai.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable LiveTorque</source>
         <translation type="unfinished"></translation>

diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
@@ -1039,14 +1039,6 @@ Enabled:  Short=5, Long=1.</source>
         <source>Enable this option if you intend to run dp on Nvidia Jetson. Reboot required.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Upload Raw Logs</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Upload full logs and full resolution video by default while on Wi-Fi. If not enabled, individual logs can be marked for upload at useradmin.comma.ai.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable LiveTorque</source>
         <translation type="unfinished"></translation>

diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -1032,14 +1032,6 @@ Enabled:  Short=5, Long=1.</source>
         <source>Enable this option if you intend to run dp on Nvidia Jetson. Reboot required.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Upload Raw Logs</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Upload full logs and full resolution video by default while on Wi-Fi. If not enabled, individual logs can be marked for upload at useradmin.comma.ai.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable LiveTorque</source>
         <translation type="unfinished"></translation>

diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -1039,14 +1039,6 @@ Enabled:  Short=5, Long=1.</source>
         <source>Enable this option if you intend to run dp on Nvidia Jetson. Reboot required.</source>
         <translation>如果您打算在 Nvidia Jetson NX 上跑 TOP ，請開啟這個選項，但此選項可能造成駕駛監控被關閉，且需重新啟動後生效。</translation>
     </message>
-    <message>
-        <source>Upload Raw Logs</source>
-        <translation>上傳 Raw 記錄</translation>
-    </message>
-    <message>
-        <source>Upload full logs and full resolution video by default while on Wi-Fi. If not enabled, individual logs can be marked for upload at useradmin.comma.ai.</source>
-        <translation>當連接Wi-Fi網路時，可自動上傳完整的行車記錄檔及完整解晰度行車錄像。如果未開啟，則只會上傳個別的行車記錄到useradmin.comma.ai.</translation>
-    </message>
     <message>
         <source>Enable LiveTorque</source>
         <translation>自動學習扭矩參數</translation>

diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py
@@ -54,7 +54,6 @@ class MockParams():
   def __init__(self):
     self.params = {
       "DongleId": b"0000000000000000",
-      "UploadRaw": b"1",
       "IsOffroad": b"1",
     }
 

diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py
@@ -66,12 +66,6 @@ def gen_order(self, seg1, seg2, boot=True):
       keys += [f"boot/{self.seg_format2.format(i)}.bz2" for i in seg2]
     keys += [f"{self.seg_format.format(i)}/qlog.bz2" for i in seg1]
     keys += [f"{self.seg_format2.format(i)}/qlog.bz2" for i in seg2]
-    keys += [f"{self.seg_format.format(i)}/rlog.bz2" for i in seg1]
-    keys += [f"{self.seg_format2.format(i)}/rlog.bz2" for i in seg2]
-    for i in seg1:
-      keys += [f"{self.seg_format.format(i)}/{f}" for f in ['fcamera.hevc', 'dcamera.hevc']]
-    for i in seg2:
-      keys += [f"{self.seg_format2.format(i)}/{f}" for f in ['fcamera.hevc', 'dcamera.hevc']]
     return keys
 
   def test_upload(self):