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Live torque params #354

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Merged
nuwandavek merged 11 commits into from
Sep 16, 2022
Merged

Live torque params #354

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2ba58af
add live torque messages
nuwandavek Aug 16, 2022
f8ee4e5
add to services
adeebshihadeh Aug 17, 2022
6d65d6c
add decay to msg
nuwandavek Aug 23, 2022
c2da454
store debug points
nuwandavek Aug 24, 2022
9c93f7e
bump livetorqueparams ordinal in log capnp, after rebasing
nuwandavek Aug 30, 2022
9d2f868
rename slope and offset
nuwandavek Sep 6, 2022
a2e93d2
store reset count instead of bool
nuwandavek Sep 6, 2022
aebc258
renaming in tuning params
nuwandavek Sep 7, 2022
9da3f78
add tag to livetorqueparams struct
nuwandavek Sep 7, 2022
f426811
make this an int
adeebshihadeh Sep 14, 2022
f5a453b
add useParams to roll out per fingerprint
nuwandavek Sep 15, 2022
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2 changes: 2 additions & 0 deletions car.capnp
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Original file line number Diff line number Diff line change
Expand Up @@ -507,6 +507,8 @@ struct CarParams {
friction @3 :Float32;
kf @4 :Float32;
steeringAngleDeadzoneDeg @5 :Float32;
latAccelFactor @6 :Float32;
latAccelOffset @7 :Float32;
}

struct LongitudinalPIDTuning {
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17 changes: 17 additions & 0 deletions log.capnp
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Expand Up @@ -1759,6 +1759,22 @@ struct LiveParametersData {
roll @14 :Float32;
}

struct LiveTorqueParametersData {
liveValid @0 :Bool;
latAccelFactorRaw @1 :Float32;
latAccelOffsetRaw @2 :Float32;
frictionCoefficientRaw @3 :Float32;
latAccelFactorFiltered @4 :Float32;
latAccelOffsetFiltered @5 :Float32;
frictionCoefficientFiltered @6 :Float32;
totalBucketPoints @7 :Float32;
decay @8 :Float32;
maxResets @9 :Float32;
points @10 :List(List(Float32));
version @11 :Int32;
useParams @12 :Bool;
}

struct LiveMapDataDEPRECATED {
speedLimitValid @0 :Bool;
speedLimit @1 :Float32;
Expand Down Expand Up @@ -1912,6 +1928,7 @@ struct Event {
gpsLocation @21 :GpsLocationData;
gnssMeasurements @91 :GnssMeasurements;
liveParameters @61 :LiveParametersData;
liveTorqueParameters @94 :LiveTorqueParametersData;
cameraOdometry @63 :CameraOdometry;
thumbnail @66: Thumbnail;
carEvents @68: List(Car.CarEvent);
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1 change: 1 addition & 0 deletions services.py
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Expand Up @@ -35,6 +35,7 @@ def __init__(self, port: int, should_log: bool, frequency: float, decimation: Op
"logMessage": (True, 0.),
"errorLogMessage": (True, 0., 1),
"liveCalibration": (True, 4., 4),
"liveTorqueParameters": (True, 4., 1),
"androidLog": (True, 0.),
"carState": (True, 100., 10),
"carControl": (True, 100., 10),
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