Chrysler updates 🚐🚐🚐 #533
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Chrysler updates 🚐🚐🚐 #533
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- use can packer - more closely emulate stock LKAS messages - tests for chryslercan - ramp down steer angle on disengage to avoid fault
rbiasini
reviewed
Feb 21, 2019
| if not lkas_active: | ||
| apply_steer = 0 | ||
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||
| apply_steer = apply_toyota_steer_torque_limits(apply_steer, self.apply_steer_last, | ||
| CS.steer_torque_motor, SteerLimitParams) |
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Mmm... I think panda does not let any non-zero going through immediately after disengagement
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You're right. I also need to send a panda PR.
Was going to send one after commaai/panda#151
but I can make a single larger Panda PR if you'd prefer.
…On Thu, Feb 21, 2019, 9:32 AM rbiasini ***@***.***> wrote:
***@***.**** commented on this pull request.
------------------------------
In selfdrive/car/chrysler/carcontroller.py
<#533 (comment)>:
> if not lkas_active:
apply_steer = 0
-
+ apply_steer = apply_toyota_steer_torque_limits(apply_steer, self.apply_steer_last,
+ CS.steer_torque_motor, SteerLimitParams)
Mmm... I think panda does not let any non-zero going through immediately
after disengagement
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@adhintz commaai/panda#151 is merged. You sure that you have faults if you put the rate limiter before the lkas_active check?. I remember spending a bit of time on this and concluded it wasn't an issue. |
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TODOs: We can make a patch for 1 and 2. |
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You're right. I reverted the change so it will now go down to 0 instantly. It worked fine on three drives this evening and didn't fault anything.
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Merged in #537. Thanks! |
pd0wm
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May 15, 2020
b2c720b Dos (#533) 01bf740 remove 0x1BE checksum test 0bd06c9 remove 0x1BE check (breaks some vehicles) c31b899 honda bosch longitudinal safety 66250c4 Disable docker layer caching (#534) 6b19fa4 include nissan safety in release build db31886 gate mazda safety behind debug flag e4558c0 Safety: message length check on RX and TX (#529) git-subtree-dir: panda git-subtree-split: b2c720b
pd0wm
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May 16, 2020
b2c720b Dos (#533) 01bf740 remove 0x1BE checksum test 0bd06c9 remove 0x1BE check (breaks some vehicles) c31b899 honda bosch longitudinal safety 66250c4 Disable docker layer caching (#534) 6b19fa4 include nissan safety in release build db31886 gate mazda safety behind debug flag e4558c0 Safety: message length check on RX and TX (#529) git-subtree-dir: panda git-subtree-split: b2c720b
pd0wm
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May 17, 2020
b2c720b Dos (#533) 01bf740 remove 0x1BE checksum test 0bd06c9 remove 0x1BE check (breaks some vehicles) c31b899 honda bosch longitudinal safety 66250c4 Disable docker layer caching (#534) 6b19fa4 include nissan safety in release build db31886 gate mazda safety behind debug flag e4558c0 Safety: message length check on RX and TX (#529) git-subtree-dir: panda git-subtree-split: b2c720b
pd0wm
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May 29, 2020
b826734 Add pre commit checks + CI (#545) 339976c document tx message addresses better (#543) a618e64 fix typing errors 9bece64 use mazda init 08db086 mazda cleanup 89658d0 Mazda: safety tests add missing safety checks (#525) bdec139 Fix length of 0x20b in NISSAN_TX_MSGS, wasn't cancelling ACC (#544) b48c74c Adding UNO to automated tests (#538) a5802cd Hyundai: remove unused message from RX checks 9ebde25 Reset state on safety mode init (#542) d4f3f15 Refactor addr check (#541) 5210e51 remove unused files 0657064 Hyundai checksum (#540) 07e668e Fast CI (#539) 5307bf7 Fix multi message iso tp requests 0610ed1 Hyundai wheel speed counter is actually 4 bits spread over two signals 0d581aa dockerfile optimization eaefa2f fix docker file path 243a65f pull base image 0dd9470 only push to dockerhub from master 55b79b4 GitHub Actions (#535) b2c720b Dos (#533) 01bf740 remove 0x1BE checksum test 0bd06c9 remove 0x1BE check (breaks some vehicles) c31b899 honda bosch longitudinal safety 66250c4 Disable docker layer caching (#534) 6b19fa4 include nissan safety in release build db31886 gate mazda safety behind debug flag e4558c0 Safety: message length check on RX and TX (#529) git-subtree-dir: panda git-subtree-split: b826734
pd0wm
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May 31, 2020
49ffbe9 disable non-universal checks in hyundai safety 3a85f4c use whole route when running safety replay from CLI 098f47a Fix leaf brake rx check (#547) b826734 Add pre commit checks + CI (#545) 339976c document tx message addresses better (#543) a618e64 fix typing errors 9bece64 use mazda init 08db086 mazda cleanup 89658d0 Mazda: safety tests add missing safety checks (#525) bdec139 Fix length of 0x20b in NISSAN_TX_MSGS, wasn't cancelling ACC (#544) b48c74c Adding UNO to automated tests (#538) a5802cd Hyundai: remove unused message from RX checks 9ebde25 Reset state on safety mode init (#542) d4f3f15 Refactor addr check (#541) 5210e51 remove unused files 0657064 Hyundai checksum (#540) 07e668e Fast CI (#539) 5307bf7 Fix multi message iso tp requests 0610ed1 Hyundai wheel speed counter is actually 4 bits spread over two signals 0d581aa dockerfile optimization eaefa2f fix docker file path 243a65f pull base image 0dd9470 only push to dockerhub from master 55b79b4 GitHub Actions (#535) b2c720b Dos (#533) 01bf740 remove 0x1BE checksum test 0bd06c9 remove 0x1BE check (breaks some vehicles) c31b899 honda bosch longitudinal safety 66250c4 Disable docker layer caching (#534) 6b19fa4 include nissan safety in release build db31886 gate mazda safety behind debug flag e4558c0 Safety: message length check on RX and TX (#529) git-subtree-dir: panda git-subtree-split: 49ffbe9
pd0wm
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May 31, 2020
9102c16 two spaces before inline comment 49ffbe9 disable non-universal checks in hyundai safety 3a85f4c use whole route when running safety replay from CLI 098f47a Fix leaf brake rx check (#547) b826734 Add pre commit checks + CI (#545) 339976c document tx message addresses better (#543) a618e64 fix typing errors 9bece64 use mazda init 08db086 mazda cleanup 89658d0 Mazda: safety tests add missing safety checks (#525) bdec139 Fix length of 0x20b in NISSAN_TX_MSGS, wasn't cancelling ACC (#544) b48c74c Adding UNO to automated tests (#538) a5802cd Hyundai: remove unused message from RX checks 9ebde25 Reset state on safety mode init (#542) d4f3f15 Refactor addr check (#541) 5210e51 remove unused files 0657064 Hyundai checksum (#540) 07e668e Fast CI (#539) 5307bf7 Fix multi message iso tp requests 0610ed1 Hyundai wheel speed counter is actually 4 bits spread over two signals 0d581aa dockerfile optimization eaefa2f fix docker file path 243a65f pull base image 0dd9470 only push to dockerhub from master 55b79b4 GitHub Actions (#535) b2c720b Dos (#533) 01bf740 remove 0x1BE checksum test 0bd06c9 remove 0x1BE check (breaks some vehicles) c31b899 honda bosch longitudinal safety 66250c4 Disable docker layer caching (#534) 6b19fa4 include nissan safety in release build db31886 gate mazda safety behind debug flag e4558c0 Safety: message length check on RX and TX (#529) git-subtree-dir: panda git-subtree-split: 9102c16
pd0wm
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Jun 1, 2020
d7f7b14 Enable almost all Flake8 checks (#548) 3d5a717 fix whitespace after opening bracket f70ef29 whitespace fix eba113c backslash is redundant between brackets 8039638 fix linter complaint about unexpected spaces around keyword / parameter equals 275e76c fix linter complaint about too many blank lines 9102c16 two spaces before inline comment 49ffbe9 disable non-universal checks in hyundai safety 3a85f4c use whole route when running safety replay from CLI 098f47a Fix leaf brake rx check (#547) b826734 Add pre commit checks + CI (#545) 339976c document tx message addresses better (#543) a618e64 fix typing errors 9bece64 use mazda init 08db086 mazda cleanup 89658d0 Mazda: safety tests add missing safety checks (#525) bdec139 Fix length of 0x20b in NISSAN_TX_MSGS, wasn't cancelling ACC (#544) b48c74c Adding UNO to automated tests (#538) a5802cd Hyundai: remove unused message from RX checks 9ebde25 Reset state on safety mode init (#542) d4f3f15 Refactor addr check (#541) 5210e51 remove unused files 0657064 Hyundai checksum (#540) 07e668e Fast CI (#539) 5307bf7 Fix multi message iso tp requests 0610ed1 Hyundai wheel speed counter is actually 4 bits spread over two signals 0d581aa dockerfile optimization eaefa2f fix docker file path 243a65f pull base image 0dd9470 only push to dockerhub from master 55b79b4 GitHub Actions (#535) b2c720b Dos (#533) 01bf740 remove 0x1BE checksum test 0bd06c9 remove 0x1BE check (breaks some vehicles) c31b899 honda bosch longitudinal safety 66250c4 Disable docker layer caching (#534) 6b19fa4 include nissan safety in release build db31886 gate mazda safety behind debug flag e4558c0 Safety: message length check on RX and TX (#529) git-subtree-dir: panda git-subtree-split: d7f7b14
pd0wm
pushed a commit
that referenced
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Jun 1, 2020
d7f7b14 Enable almost all Flake8 checks (#548) 3d5a717 fix whitespace after opening bracket f70ef29 whitespace fix eba113c backslash is redundant between brackets 8039638 fix linter complaint about unexpected spaces around keyword / parameter equals 275e76c fix linter complaint about too many blank lines 9102c16 two spaces before inline comment 49ffbe9 disable non-universal checks in hyundai safety 3a85f4c use whole route when running safety replay from CLI 098f47a Fix leaf brake rx check (#547) b826734 Add pre commit checks + CI (#545) 339976c document tx message addresses better (#543) a618e64 fix typing errors 9bece64 use mazda init 08db086 mazda cleanup 89658d0 Mazda: safety tests add missing safety checks (#525) bdec139 Fix length of 0x20b in NISSAN_TX_MSGS, wasn't cancelling ACC (#544) b48c74c Adding UNO to automated tests (#538) a5802cd Hyundai: remove unused message from RX checks 9ebde25 Reset state on safety mode init (#542) d4f3f15 Refactor addr check (#541) 5210e51 remove unused files 0657064 Hyundai checksum (#540) 07e668e Fast CI (#539) 5307bf7 Fix multi message iso tp requests 0610ed1 Hyundai wheel speed counter is actually 4 bits spread over two signals 0d581aa dockerfile optimization eaefa2f fix docker file path 243a65f pull base image 0dd9470 only push to dockerhub from master 55b79b4 GitHub Actions (#535) b2c720b Dos (#533) 01bf740 remove 0x1BE checksum test 0bd06c9 remove 0x1BE check (breaks some vehicles) c31b899 honda bosch longitudinal safety 66250c4 Disable docker layer caching (#534) 6b19fa4 include nissan safety in release build db31886 gate mazda safety behind debug flag e4558c0 Safety: message length check on RX and TX (#529) git-subtree-dir: panda git-subtree-split: d7f7b14
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ramp down steer angle on disengage to avoid faultThis relies on this OpenDBC PR: commaai/opendbc#140