From d1220c1ec82d7ae9bcc29bf7177742c904ce6b28 Mon Sep 17 00:00:00 2001 From: CT921 Date: Fri, 28 Apr 2023 11:52:25 +0800 Subject: [PATCH] update --- common/params.cc | 1 - .../controls/lib/longitudinal_mpc_lib/long_mpc.py | 2 +- selfdrive/controls/lib/vision_turn_controller.py | 12 ++++++------ selfdrive/ui/qt/offroad/settings.cc | 6 ------ selfdrive/ui/translations/main_de.ts | 8 -------- selfdrive/ui/translations/main_ja.ts | 8 -------- selfdrive/ui/translations/main_ko.ts | 8 -------- selfdrive/ui/translations/main_pt-BR.ts | 8 -------- selfdrive/ui/translations/main_zh-CHS.ts | 8 -------- selfdrive/ui/translations/main_zh-CHT.ts | 8 -------- system/loggerd/tests/loggerd_tests_common.py | 1 - system/loggerd/tests/test_uploader.py | 6 ------ 12 files changed, 7 insertions(+), 69 deletions(-) diff --git a/common/params.cc b/common/params.cc index 3b77910990b237..7a153c29cee61e 100644 --- a/common/params.cc +++ b/common/params.cc @@ -210,7 +210,6 @@ std::unordered_map 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 index 77bccdb8f5c54c..e887f77dc0ffd1 100644 --- 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 index 0663568e0c9dfb..d4a5bb06ef6b2d 100644 --- 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 index a2e218a4a3b2d1..82ea86b3d65eda 100644 --- 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 index 6e25ef9a086c5d..9ed4c7744f6fb4 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -1062,14 +1062,6 @@ Enabled: Short=5, Long=1. Enable this option if you intend to run dp on Nvidia Jetson. Reboot required. - - Upload Raw Logs - - - - 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. - - TogglesPanel diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 7a67212ddf48f4..696a4df5902056 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -1034,14 +1034,6 @@ Enabled: Short=5, Long=1. Enable this option if you intend to run dp on Nvidia Jetson. Reboot required. - - Upload Raw Logs - - - - 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. - - Enable LiveTorque diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 38a907d714aa3c..6b48812a68821b 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -1035,14 +1035,6 @@ Enabled: Short=5, Long=1. Enable this option if you intend to run dp on Nvidia Jetson. Reboot required. - - Upload Raw Logs - - - - 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. - - Enable LiveTorque diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 90e1060f1385c8..f79bfecfb55646 100644 --- 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. Enable this option if you intend to run dp on Nvidia Jetson. Reboot required. - - Upload Raw Logs - - - - 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. - - Enable LiveTorque diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 252290d0f2668f..ad223f0ea163e6 100644 --- 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. Enable this option if you intend to run dp on Nvidia Jetson. Reboot required. - - Upload Raw Logs - - - - 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. - - Enable LiveTorque diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index ba1e51e597e7c1..a5ec2e4a8662b5 100644 --- 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. Enable this option if you intend to run dp on Nvidia Jetson. Reboot required. 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。 - - Upload Raw Logs - 上傳 Raw 記錄 - - - 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. - 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. - Enable LiveTorque 自動學習扭矩參數 diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py index 31811d2a7d775b..6aca83858bdab7 100644 --- 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 index cf0e731797f1e2..11b273cec8a582 100755 --- 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):