Squashed commit including:

Change distance cost and stopping distance
Added script to alter acado_solver.c and changed stopping distance to 5
lowered stopped accel
Fixed typo in generator.cpp and recompiled
updated instructions for acado
Manually edited acado_solover.c to make variable work
Distance weight changed from .1 to 10

Somehow lost cereal/car.capnp when upgrading

Added accel to this repo. Tired of updating lib/planner.py twice

Changed acceleration for tests

Added new RAv4 DBC

Added Toyota

Minor tweaks to get toyota in

cereal/car.capnp

@@ -113,6 +113,8 @@ struct CarState {
   leftBlinker @20 :Bool;
   rightBlinker @21 :Bool;
   genericToggle @23 :Bool;
+  distanceToggle @26 :Float32;
+  laneDepartureToggle @27 :Bool;
 
   # lock info
   doorOpen @24 :Bool;

launch_chffrplus.sh

@@ -6,11 +6,11 @@ fi
 
 function launch {
   # apply update
-  if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
-     git reset --hard @{u} &&
-     git clean -xdf &&
-     exec "${BASH_SOURCE[0]}"
-  fi
+#  if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
+#     git reset --hard @{u} &&
+#     git clean -xdf &&
+#     exec "${BASH_SOURCE[0]}"
+#  fi
 
   # no cpu rationing for now
   echo 0-3 > /dev/cpuset/background/cpus

opendbc/honda_odyssey_exl_2018_generated.dbc

@@ -162,6 +162,7 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
  SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
  SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
+ SG_ HUD_DISTANCE_LINES : 47|2@0+ (1,0) [0|3] "" BDY
  SG_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
  SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
@@ -224,6 +225,7 @@ VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
 VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
 VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
+VAL_ 780 HUD_DISTANCE_LINES 0 "furthest" 3 "2nd_furthest" 2 "3rd_furthest" 1 "closest" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
 
 CM_ "honda_odyssey_exl_2018.dbc starts here"

opendbc/toyota_rav4_2017_pt_generated.dbc

@@ -15,14 +15,14 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
 
  BO_ 512 GAS_COMMAND: 6 EON
-  SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
-  SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTO
   SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
   SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
 
  BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
-  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
-  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-75.555) [0|1] "" EON
   SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
   SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
 
@@ -94,6 +94,10 @@ BO_ 466 PCM_CRUISE: 8 XXX
  SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 515 JOEL_ID: 2 XXX
+ SG_ ACC_DISTANCE : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ LANE_WARNING : 15|1@0+ (1,0) [0|1] "" XXX
+
 BO_ 552 ACCELEROMETER: 8 XXX
  SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
  SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
@@ -128,6 +132,7 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+ SG_ ACC_DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X63 : 23|8@0+ (1,0) [0|255] "" HCU
  SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
  SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
@@ -147,11 +152,13 @@ BO_ 467 PCM_CRUISE_2: 8 XXX
  SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
  SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ DISTANCE_LINES : 12|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 921 PCM_CRUISE_SM: 8 XXX
  SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
  SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 951 ESP_CONTROL: 8 ESP
  SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
@@ -224,7 +231,8 @@ CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
 
 CM_ "toyota_rav4_2017_pt.dbc starts here"
 
-
+BO_ 352 HUD: 8 XXX
+ SG_ DISTANCE_LINES : 25|2@1+ (1,0) [0|3] "" XXX
 
 BO_ 548 BRAKE_MODULE: 8 XXX
  SG_ BRAKE_PRESSURE : 43|12@0+ (1,0) [0|4047] "" XXX

selfdrive/can/parser.cc

@@ -436,6 +436,9 @@ int main(int argc, char** argv) {
       {0x296, "CRUISE_BUTTONS", 0},
       {0x1a4, "ESP_DISABLED", 1},
       {0x30c, "HUD_LEAD", 0},
+      {0x30c, "HUD_DISTANCE_3", 0},
+      {0x30c, "HUD_DISTANCE_LINES", 0},
+      {0x30c, "ENABLE_MINI_CAR", 0},
       {0x1a4, "USER_BRAKE", 0},
       {0x18f, "STEER_STATUS", 5},
       {0x1d0, "WHEEL_SPEED_RR", 0},

selfdrive/car/honda/carcontroller.py

@@ -49,10 +49,9 @@ def process_hud_alert(hud_alert):
 
   return fcw_display, steer_required, acc_alert
 
-
 HUDData = namedtuple("HUDData",
                      ["pcm_accel", "v_cruise", "mini_car", "car", "X4",
-                      "lanes", "beep", "chime", "fcw", "acc_alert", "steer_required"])
+                      "lanes", "beep", "chime", "fcw", "acc_alert", "steer_required", "distance", "distance_lines"])
 
 
 class CarController(object):
@@ -98,16 +97,22 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
         hud_car = 1
     else:
       hud_car = 0
-
+    
     # For lateral control-only, send chimes as a beep since we don't send 0x1fa
     if CS.CP.radarOffCan:
       snd_beep = snd_beep if snd_beep is not 0 else snd_chime
 
     #print chime, alert_id, hud_alert
     fcw_display, steer_required, acc_alert = process_hud_alert(hud_alert)
 
-    hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), 1, hud_car,
-                  0xc1, hud_lanes, int(snd_beep), snd_chime, fcw_display, acc_alert, steer_required)
+    if CS.distanceToggle == 1:
+      hudDistanceToggle = 3
+    else:
+      hudDistanceToggle = CS.distanceToggle - 1
+
+    #hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), 1, hud_car,
+    hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), 1, int(hudDistanceToggle),
+                  0xc1, hud_lanes, int(snd_beep), snd_chime, fcw_display, acc_alert, steer_required, 1, 0)
 
     if not all(isinstance(x, int) and 0 <= x < 256 for x in hud):
       hud = HUDData(0xc6, 255, 64, 0xc0, 209, 0x40, 0, 0, 0, 0)

selfdrive/car/honda/carstate.py

@@ -49,6 +49,9 @@ def get_can_signals(CP):
       ("CRUISE_BUTTONS", "SCM_BUTTONS", 0),
       ("ESP_DISABLED", "VSA_STATUS", 1),
       ("HUD_LEAD", "ACC_HUD", 0),
+      ("HUD_DISTANCE_3", "ACC_HUD", 0),
+      ("HUD_DISTANCE_LINES", "ACC_HUD", 0),
+      ("ENABLE_MINI_CAR", "ACC_HUD", 0),
       ("USER_BRAKE", "VSA_STATUS", 0),
       ("STEER_STATUS", "STEER_STATUS", 5),
       ("GEAR_SHIFTER", "GEARBOX", 0),
@@ -142,6 +145,7 @@ def __init__(self, CP):
 
     self.cruise_buttons = 0
     self.cruise_setting = 0
+    self.distanceToggle = 1
     self.v_cruise_pcm_prev = 0
     self.blinker_on = 0
 
@@ -229,6 +233,11 @@ def update(self, cp):
 
     self.cruise_setting = cp.vl["SCM_BUTTONS"]['CRUISE_SETTING']
     self.cruise_buttons = cp.vl["SCM_BUTTONS"]['CRUISE_BUTTONS']
+    if self.cruise_setting == 3 and self.prev_cruise_setting == 0:
+        if self.distanceToggle != 3:
+            self.distanceToggle += 1
+        else:
+            self.distanceToggle = 1
 
     self.blinker_on = cp.vl["SCM_FEEDBACK"]['LEFT_BLINKER'] or cp.vl["SCM_FEEDBACK"]['RIGHT_BLINKER']
     self.left_blinker_on = cp.vl["SCM_FEEDBACK"]['LEFT_BLINKER']
@@ -288,6 +297,9 @@ def update(self, cp):
     self.user_brake = cp.vl["VSA_STATUS"]['USER_BRAKE']
     self.pcm_acc_status = cp.vl["POWERTRAIN_DATA"]['ACC_STATUS']
     self.hud_lead = cp.vl["ACC_HUD"]['HUD_LEAD']
+    self.hud_distance = cp.vl["ACC_HUD"]['HUD_DISTANCE_3']
+    self.hud_distance_lines = cp.vl["ACC_HUD"]['HUD_DISTANCE_LINES']
+    self.hud_mini_car = cp.vl["ACC_HUD"]['ENABLE_MINI_CAR']
 
 
 # carstate standalone tester

selfdrive/car/honda/hondacan.py

@@ -89,6 +89,8 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, idx):
       'CRUISE_SPEED': hud.v_cruise,
       'ENABLE_MINI_CAR': hud.mini_car,
       'HUD_LEAD': hud.car,
+      'HUD_DISTANCE_3': hud.distance,
+      'HUD_DISTANCE_LINES': hud.distance_lines,
       'SET_ME_X03': 0x03,
       'SET_ME_X03_2': 0x03,
       'SET_ME_X01': 0x01,

selfdrive/car/honda/interface.py

@@ -385,6 +385,7 @@ def update(self, c):
     ret.wheelSpeeds.fr = self.CS.v_wheel_fr
     ret.wheelSpeeds.rl = self.CS.v_wheel_rl
     ret.wheelSpeeds.rr = self.CS.v_wheel_rr
+    ret.distanceToggle = self.CS.distanceToggle
 
     # gas pedal
     ret.gas = self.CS.car_gas / 256.0

selfdrive/car/toyota/carcontroller.py

@@ -202,10 +202,16 @@ def update(self, sendcan, enabled, CS, frame, actuators,
     elif ECU.APGS in self.fake_ecus:
       can_sends.append(create_ipas_steer_command(self.packer, 0, 0, True))
 
+    if CS.distance_toggle == True:
+        distance = 0b01110011 #x73 comma with toggle - toggle is 5th bit from right
+       #distance = 0b10010011 #x93 stock with toggle
+    else:
+        distance = 0b01100011 #x63 comma with toggle - toggle is 5th bit from right
+
     # accel cmd comes from DSU, but we can spam can to cancel the system even if we are using lat only control
     if (frame % 3 == 0 and ECU.DSU in self.fake_ecus) or (pcm_cancel_cmd and ECU.CAM in self.fake_ecus):
       if ECU.DSU in self.fake_ecus:
-        can_sends.append(create_accel_command(self.packer, apply_accel, pcm_cancel_cmd, self.standstill_req))
+        can_sends.append(create_accel_command(self.packer, apply_accel, pcm_cancel_cmd, self.standstill_req, distance))
       else:
         can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False))
 

selfdrive/car/toyota/carstate.py

@@ -3,6 +3,7 @@
 from selfdrive.can.parser import CANParser, CANDefine
 from selfdrive.config import Conversions as CV
 from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD
+import time
 
 def parse_gear_shifter(gear, vals):
 
@@ -13,6 +14,8 @@ def parse_gear_shifter(gear, vals):
   except KeyError:
     return "unknown"
 
+if not "dist_buttime" in locals():
+    dist_buttime = time.clock()
 
 def get_can_parser(CP):
 
@@ -39,13 +42,16 @@ def get_can_parser(CP):
     ("MAIN_ON", "PCM_CRUISE_2", 0),
     ("SET_SPEED", "PCM_CRUISE_2", 0),
     ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
+    ("DISTANCE_LINES", "PCM_CRUISE_2", 0),
     ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
     ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
     ("TURN_SIGNALS", "STEERING_LEVERS", 3),   # 3 is no blinkers
     ("LKA_STATE", "EPS_STATUS", 0),
     ("IPAS_STATE", "EPS_STATUS", 1),
     ("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
     ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
+    ("ACC_DISTANCE", "JOEL_ID", 0),
+    ("LANE_WARNING", "JOEL_ID", 0),
   ]
 
   checks = [
@@ -73,6 +79,8 @@ def __init__(self, CP):
     self.shifter_values = self.can_define.dv["GEAR_PACKET"]['GEAR']
     self.left_blinker_on = 0
     self.right_blinker_on = 0
+    self.distanceToggle = 1
+    self.distance_toggle = False
 
     # initialize can parser
     self.car_fingerprint = CP.carFingerprint
@@ -144,8 +152,16 @@ def update(self, cp):
     self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
     self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
     self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
+    self.read_distance_lines = cp.vl["PCM_CRUISE_2"]['DISTANCE_LINES']
     self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
     if self.CP.carFingerprint == CAR.PRIUS:
       self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0
     else:
       self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])
+    self.lane_departure_toggle = bool(cp.vl["JOEL_ID"]['LANE_WARNING'])
+    global dist_buttime
+    if time.clock() - dist_buttime > .05:
+         print str(self.read_distance_lines) + " read_distance_lines"
+         self.distance_toggle = bool(cp.vl["JOEL_ID"]['ACC_DISTANCE'])
+         self.distanceToggle = self.read_distance_lines
+         dist_buttime = time.clock()

selfdrive/car/toyota/interface.py

@@ -7,12 +7,18 @@
 from selfdrive.car.toyota.carstate import CarState, get_can_parser
 from selfdrive.car.toyota.values import ECU, check_ecu_msgs, CAR
 from selfdrive.swaglog import cloudlog
+import time
+import requests
+import threading
+from secret import *
 
 try:
   from selfdrive.car.toyota.carcontroller import CarController
 except ImportError:
   CarController = None
 
+if not "lane_buttime" in locals():
+    lane_buttime = time.clock()
 
 class CarInterface(object):
   def __init__(self, CP, sendcan=None):
@@ -264,6 +270,14 @@ def update(self, c):
       be.pressed = self.CS.right_blinker_on != 0
       buttonEvents.append(be)
 
+    global lane_buttime
+    if self.CS.lane_departure_toggle:
+        if time.clock() - lane_buttime > 1:
+            threading.Thread(target=requests.get, args=(lane_departure_url,)).start()
+            with open("/button.log", "a") as lane:
+                lane.write("opened Garage\n")
+                lane_buttime = time.clock()
+
     ret.buttonEvents = buttonEvents
     ret.leftBlinker = bool(self.CS.left_blinker_on)
     ret.rightBlinker = bool(self.CS.right_blinker_on)
@@ -272,6 +286,8 @@ def update(self, c):
     ret.seatbeltUnlatched = not self.CS.seatbelt
 
     ret.genericToggle = self.CS.generic_toggle
+    ret.laneDepartureToggle = self.CS.lane_departure_toggle
+    ret.distanceToggle = self.CS.distanceToggle
 
     # events
     events = []

selfdrive/car/toyota/secret.py

@@ -0,0 +1 @@
+/data/secret.py

selfdrive/car/toyota/secret.py.example

@@ -0,0 +1 @@
+lane_departure_url = "https://<some url to trigger somethning>"

selfdrive/car/toyota/toyotacan.py

@@ -64,11 +64,11 @@ def create_steer_command(packer, steer, raw_cnt):
   return packer.make_can_msg("STEERING_LKA", 0, values)
 
 
-def create_accel_command(packer, accel, pcm_cancel, standstill_req):
+def create_accel_command(packer, accel, pcm_cancel, standstill_req, distance):
   # TODO: find the exact canceling bit
   values = {
     "ACCEL_CMD": accel,
-    "SET_ME_X63": 0x63,
+    "SET_ME_X63": distance,
     "SET_ME_1": 1,
     "RELEASE_STANDSTILL": not standstill_req,
     "CANCEL_REQ": pcm_cancel,

selfdrive/car/toyota/values.py

@@ -79,7 +79,7 @@ def check_ecu_msgs(fingerprint, ecu):
 
 FINGERPRINTS = {
   CAR.RAV4: [{
-    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 548: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 4, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1656: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+      36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 512: 6, 513: 6, 515: 2, 547: 8, 548: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 4, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1656: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   }],
   CAR.RAV4H: [{
     36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 296: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 548: 8, 550: 8, 552: 4, 560: 7, 562: 4, 581: 5, 608: 8, 610: 5, 643: 7, 705: 8, 713: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1212: 8, 1227: 8, 1228: 8, 1232: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1656: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8

selfdrive/controls/lib/drive_helpers.py

@@ -19,7 +19,7 @@ class MPC_COST_LAT:
 
 class MPC_COST_LONG:
   TTC = 5.0
-  DISTANCE = 0.1
+  DISTANCE = 2
   ACCELERATION = 10.0
   JERK = 20.0
 

selfdrive/controls/lib/longitudinal_mpc/Makefile

@@ -13,9 +13,9 @@ QPOASES_FLAGS = -I$(PHONELIBS)/qpoases -I$(PHONELIBS)/qpoases/INCLUDE -I$(PHONEL
 ACADO_FLAGS = -I$(PHONELIBS)/acado/include -I$(PHONELIBS)/acado/include/acado
 
 ifeq ($(UNAME_M),aarch64)
-ACADO_LIBS := -L $(PHONELIBS)/acado/aarch64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
+ACADO_LIBS := -L $(PHONELIBS)/acado/aarch64/lib -l:libacado_toolkit_s -l:libacado_casadi.a -l:libacado_csparse.a
 else
-ACADO_LIBS := -L $(PHONELIBS)/acado/x64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
+ACADO_LIBS := -L $(PHONELIBS)/acado/x64/lib -l:libacado_toolkit_s -l:libacado_casadi.a -l:libacado_csparse.a
 endif
 
 OBJS = \

selfdrive/controls/lib/longitudinal_mpc/fixdistancevar.sh

@@ -0,0 +1,2 @@
+#!/usr/bin/env bash
+sed -i -e 's/1\.2345678[^)]*)/TR)/g' -e 's/out)/out, double TR)/g' -e 's/Objective(  )/Objective(double TR)/g' -e 's/ValueOut )/ValueOut, TR )/g' -e 's/ionStep(  )/ionStep(double TR)/g' -e 's/Objective(double TR);/Objective(TR);/g' mpc_export/acado_solver.c