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Revert torque control - #24565

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haraschax merged 5 commits into
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revert_torque_control
May 18, 2022
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Revert torque control#24565
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@haraschax haraschax commented May 17, 2022

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haraschax merged commit 9f8b037 into master May 18, 2022
@haraschax
haraschax deleted the revert_torque_control branch May 18, 2022 02:00
haraschax added a commit that referenced this pull request May 24, 2022
@haraschax
Revert "Revert torque control (#24565)"
2a66d2b 
This reverts commit 9f8b037.
haraschax added a commit that referenced this pull request May 25, 2022
@haraschax
Rerevert torque control (#24649)
d928972 
* Revert "Revert torque control (#24565)"

This reverts commit 9f8b037.

* Move tune out of car specific stuff

* Update ref commit
krkeegan pushed a commit to krkeegan/openpilot that referenced this pull request May 27, 2022
@haraschax @krkeegan
Rerevert torque control (commaai#24649)
baaa47f 
* Revert "Revert torque control (commaai#24565)"

This reverts commit 9f8b037.

* Move tune out of car specific stuff

* Update ref commit
ntegan1 pushed a commit to ntegan1/apilot that referenced this pull request May 27, 2022
@haraschax @ntegan1
Rerevert torque control (commaai#24649)
ece58c6 
* Revert "Revert torque control (commaai#24565)"

This reverts commit 9f8b037.

* Move tune out of car specific stuff

* Update ref commit
spektor56 pushed a commit to spektor56/ghostpilot that referenced this pull request Jun 1, 2022
@haraschax @spektor56
Revert torque control (commaai#24565)
07a27f5 
* torque reversal start

* Fix carmodel tests

* Update ref

* update ref

* Elif is better than if
spektor56 pushed a commit to spektor56/ghostpilot that referenced this pull request Jun 1, 2022
@haraschax @spektor56
Rerevert torque control (commaai#24649)
12ba5fa 
* Revert "Revert torque control (commaai#24565)"

This reverts commit 9f8b037.

* Move tune out of car specific stuff

* Update ref commit
spektor56 pushed a commit to spektor56/ghostpilot that referenced this pull request Jun 2, 2022
@haraschax @spektor56
Rerevert torque control (commaai#24649)
f391daa 
* Revert "Revert torque control (commaai#24565)"

This reverts commit 9f8b037.

* Move tune out of car specific stuff

* Update ref commit
krkeegan added a commit to krkeegan/openpilot that referenced this pull request Jun 6, 2022
@krkeegan
↔️ Use Torque for Lateral Controller
e4e2f93 
Pulled commit from future Comma work.

The KIA commit was pulled just to make my life easier.

commit 0eae5b3
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Jun 2 01:06:14 2022 -0700

    Move some Toyotas to the torque tune for testing

commit cb91f7c
Author: HaraldSchafer <harald.the.engineer@gmail.com>
Date:   Fri May 27 10:21:02 2022 -0700

    Tssp prius torque control (commaai#24669)

    * use llk

    * use steering sensor at low speed stil

    * Try more simple

    * rm prius tune

    * updated ref

commit baaa47f
Author: HaraldSchafer <harald.the.engineer@gmail.com>
Date:   Tue May 24 17:52:33 2022 -0700

    Rerevert torque control (commaai#24649)

    * Revert "Revert torque control (commaai#24565)"

    This reverts commit 9f8b037.

    * Move tune out of car specific stuff

    * Update ref commit

commit 7c69036
Author: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date:   Mon May 23 19:16:17 2022 -0700

    Kia EV6 (commaai#24485)

    * ev6 squash

    * test route

    * cleanup

    * remove those

    * resume spam

    * setme

    * more reliable button pressing

    * new steer signals

    * for now

    * update docs
krkeegan added a commit to krkeegan/openpilot that referenced this pull request Jun 6, 2022
@krkeegan
↔️ Use Torque for Lateral Controller
25127bb 
Pulled commit from future Comma work.

The KIA commit was pulled just to make my life easier.

commit 0eae5b3
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Jun 2 01:06:14 2022 -0700

    Move some Toyotas to the torque tune for testing

commit cb91f7c
Author: HaraldSchafer <harald.the.engineer@gmail.com>
Date:   Fri May 27 10:21:02 2022 -0700

    Tssp prius torque control (commaai#24669)

    * use llk

    * use steering sensor at low speed stil

    * Try more simple

    * rm prius tune

    * updated ref

commit baaa47f
Author: HaraldSchafer <harald.the.engineer@gmail.com>
Date:   Tue May 24 17:52:33 2022 -0700

    Rerevert torque control (commaai#24649)

    * Revert "Revert torque control (commaai#24565)"

    This reverts commit 9f8b037.

    * Move tune out of car specific stuff

    * Update ref commit

commit 7c69036
Author: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date:   Mon May 23 19:16:17 2022 -0700

    Kia EV6 (commaai#24485)

    * ev6 squash

    * test route

    * cleanup

    * remove those

    * resume spam

    * setme

    * more reliable button pressing

    * new steer signals

    * for now

    * update docs
rjsmith1999 pushed a commit to rjsmith1999/openpilot that referenced this pull request Jun 11, 2022
@haraschax @rjsmith1999
Revert torque control (commaai#24565)
a3b1323 
* torque reversal start

* Fix carmodel tests

* Update ref

* update ref

* Elif is better than if

(cherry picked from commit 9f8b037)
rjsmith1999 pushed a commit to rjsmith1999/openpilot that referenced this pull request Jun 11, 2022
@haraschax @rjsmith1999
Rerevert torque control (commaai#24649)
d43cd39 
* Revert "Revert torque control (commaai#24565)"

This reverts commit 9f8b037.

* Move tune out of car specific stuff

* Update ref commit

(cherry picked from commit d928972)
bensonkwek pushed a commit to bensonkwek/openpilot that referenced this pull request Jun 11, 2022
@krkeegan @bensonkwek
↔️ Use Torque for Lateral Controller
7751ea7 
Pulled commit from future Comma work.

The KIA commit was pulled just to make my life easier.

commit 0eae5b3
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Jun 2 01:06:14 2022 -0700

    Move some Toyotas to the torque tune for testing

commit cb91f7c
Author: HaraldSchafer <harald.the.engineer@gmail.com>
Date:   Fri May 27 10:21:02 2022 -0700

    Tssp prius torque control (commaai#24669)

    * use llk

    * use steering sensor at low speed stil

    * Try more simple

    * rm prius tune

    * updated ref

commit baaa47f
Author: HaraldSchafer <harald.the.engineer@gmail.com>
Date:   Tue May 24 17:52:33 2022 -0700

    Rerevert torque control (commaai#24649)

    * Revert "Revert torque control (commaai#24565)"

    This reverts commit 9f8b037.

    * Move tune out of car specific stuff

    * Update ref commit

commit 7c69036
Author: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date:   Mon May 23 19:16:17 2022 -0700

    Kia EV6 (commaai#24485)

    * ev6 squash

    * test route

    * cleanup

    * remove those

    * resume spam

    * setme

    * more reliable button pressing

    * new steer signals

    * for now

    * update docs
martinl pushed a commit to martinl/openpilot that referenced this pull request Jun 12, 2022
@haraschax @martinl
Revert torque control (commaai#24565)
06c8526 
* torque reversal start

* Fix carmodel tests

* Update ref

* update ref

* Elif is better than if
martinl pushed a commit to martinl/openpilot that referenced this pull request Jun 12, 2022
@haraschax @martinl
Rerevert torque control (commaai#24649)
4780a24 
* Revert "Revert torque control (commaai#24565)"

This reverts commit 9f8b037.

* Move tune out of car specific stuff

* Update ref commit
mmmorks pushed a commit to mmmorks/openpilot that referenced this pull request Jun 14, 2022
@haraschax @mmmorks
Rerevert torque control (commaai#24649)
5915072 
* Revert "Revert torque control (commaai#24565)"

This reverts commit 9f8b037.

* Move tune out of car specific stuff

* Update ref commit
mmmorks pushed a commit to mmmorks/openpilot that referenced this pull request Jun 15, 2022
@haraschax @mmmorks
Rerevert torque control (commaai#24649)
7c5acb7 
* Revert "Revert torque control (commaai#24565)"

This reverts commit 9f8b037.

* Move tune out of car specific stuff

* Update ref commit

(cherry picked from commit d928972)
ntegan1 pushed a commit to ntegan1/apilot that referenced this pull request Jun 16, 2022
@haraschax @ntegan1
Revert torque control (commaai#24565)
a8a7b0b 
* torque reversal start

* Fix carmodel tests

* Update ref

* update ref

* Elif is better than if
ntegan1 pushed a commit to ntegan1/apilot that referenced this pull request Jun 16, 2022
@haraschax @ntegan1
Rerevert torque control (commaai#24649)
4ab6d40 
* Revert "Revert torque control (commaai#24565)"

This reverts commit 9f8b037.

* Move tune out of car specific stuff

* Update ref commit
rjsmith1999 pushed a commit to rjsmith1999/openpilot that referenced this pull request Jun 16, 2022
@haraschax @rjsmith1999
Revert torque control (commaai#24565)
d4b8a7d 
* torque reversal start

* Fix carmodel tests

* Update ref

* update ref

* Elif is better than if

(cherry picked from commit 9f8b037)
(cherry picked from commit a3b1323)
rjsmith1999 pushed a commit to rjsmith1999/openpilot that referenced this pull request Jun 16, 2022
@haraschax @rjsmith1999
Rerevert torque control (commaai#24649)
1707a7f 
* Revert "Revert torque control (commaai#24565)"

This reverts commit 9f8b037.

* Move tune out of car specific stuff

* Update ref commit

(cherry picked from commit d928972)
(cherry picked from commit d43cd39)
rjsmith1999 pushed a commit to rjsmith1999/openpilot that referenced this pull request Jun 16, 2022
@haraschax @rjsmith1999
Revert torque control (commaai#24565)
736bab3 
* torque reversal start

* Fix carmodel tests

* Update ref

* update ref

* Elif is better than if

(cherry picked from commit 9f8b037)
(cherry picked from commit a3b1323)
rjsmith1999 pushed a commit to rjsmith1999/openpilot that referenced this pull request Jun 16, 2022
@haraschax @rjsmith1999
Rerevert torque control (commaai#24649)
d0c1c93 
* Revert "Revert torque control (commaai#24565)"

This reverts commit 9f8b037.

* Move tune out of car specific stuff

* Update ref commit

(cherry picked from commit d928972)
(cherry picked from commit d43cd39)
rjsmith1999 pushed a commit to rjsmith1999/openpilot that referenced this pull request Jun 17, 2022
@haraschax @rjsmith1999
Revert torque control (commaai#24565)
e66ce16 
* torque reversal start

* Fix carmodel tests

* Update ref

* update ref

* Elif is better than if

(cherry picked from commit 9f8b037)
(cherry picked from commit a3b1323)
rjsmith1999 pushed a commit to rjsmith1999/openpilot that referenced this pull request Jun 17, 2022
@haraschax @rjsmith1999
Rerevert torque control (commaai#24649)
86241c8 
* Revert "Revert torque control (commaai#24565)"

This reverts commit 9f8b037.

* Move tune out of car specific stuff

* Update ref commit

(cherry picked from commit d928972)
(cherry picked from commit d43cd39)
rjsmith1999 pushed a commit to rjsmith1999/openpilot that referenced this pull request Jun 17, 2022
@haraschax @rjsmith1999
Revert torque control (commaai#24565)
32a4bb7 
* torque reversal start

* Fix carmodel tests

* Update ref

* update ref

* Elif is better than if

(cherry picked from commit 9f8b037)
(cherry picked from commit a3b1323)
rjsmith1999 pushed a commit to rjsmith1999/openpilot that referenced this pull request Jun 17, 2022
@haraschax @rjsmith1999
Rerevert torque control (commaai#24649)
75adf81 
* Revert "Revert torque control (commaai#24565)"

This reverts commit 9f8b037.

* Move tune out of car specific stuff

* Update ref commit

(cherry picked from commit d928972)
(cherry picked from commit d43cd39)
rjsmith1999 pushed a commit to rjsmith1999/openpilot that referenced this pull request Jun 27, 2022
@haraschax @rjsmith1999
Revert torque control (commaai#24565)
041c255 
* torque reversal start

* Fix carmodel tests

* Update ref

* update ref

* Elif is better than if
rjsmith1999 pushed a commit to rjsmith1999/openpilot that referenced this pull request Jun 27, 2022
@haraschax @rjsmith1999
Rerevert torque control (commaai#24649)
f1f7a0b 
* Revert "Revert torque control (commaai#24565)"

This reverts commit 9f8b037.

* Move tune out of car specific stuff

* Update ref commit
rjsmith1999 added a commit to rjsmith1999/openpilot that referenced this pull request Jun 27, 2022
@rjsmith1999
[controls] Squashed commit of the following:
d95a6a9 
commit d066702
Author: ClockeNessMnstr <locke.dftc@gmail.com>
Date:   Tue Jun 7 12:41:03 2022 -0400

    update DH names + notes for MPC output curvatures (commaai#24701)

    * update names + notes for MPC outputs

    "current_curvature" is not the correct description of what the MPC is outputting in it's curvature_ego state.
    The MPC is integrating it's free variable, curvature_rate, such that curvature[0] is actually the desired_curvature before any delay.
    inversely: the curvature_rate_desired is the desired rate of change to the setpoint and not the actual curvature rate.

    If we were to set the initial curvature = measured curvature in the MPC initiation these names would be correct.
    This was possibly how it was initially set up but the nomenclature here is now confusing.

    * more notes

    * match

    * Clarify commaai#1

commit cb82478
Author: HaraldSchafer <harald.the.engineer@gmail.com>
Date:   Fri May 27 10:21:02 2022 -0700

    Tssp prius torque control (commaai#24669)

    * use llk

    * use steering sensor at low speed stil

    * Try more simple

    * rm prius tune

    * updated ref

commit f1f7a0b
Author: HaraldSchafer <harald.the.engineer@gmail.com>
Date:   Tue May 24 17:52:33 2022 -0700

    Rerevert torque control (commaai#24649)

    * Revert "Revert torque control (commaai#24565)"

    This reverts commit 9f8b037.

    * Move tune out of car specific stuff

    * Update ref commit

commit 041c255
Author: HaraldSchafer <harald.the.engineer@gmail.com>
Date:   Tue May 17 19:00:57 2022 -0700

    Revert torque control (commaai#24565)

    * torque reversal start

    * Fix carmodel tests

    * Update ref

    * update ref

    * Elif is better than if

commit 14f5dab
Author: HaraldSchafer <harald.the.engineer@gmail.com>
Date:   Fri May 20 13:50:47 2022 -0700

    Latcontrol torque: integrator need not be reset (commaai#24606)

    slow integrators need not be reset

commit 9221f3f
Author: ClockeNessMnstr <locke.dftc@gmail.com>
Date:   Fri May 13 19:52:20 2022 -0400

    LatControlTorque: clean up class variable (commaai#24526)

    * move to super

    * no class variable

    * there's CP

    * whitespace

    * drop CI from latcontrol super

    * Revert "drop CI from latcontrol super"

    This reverts commit 9218273.

    Co-authored-by: Shane Smiskol <shane@smiskol.com>

commit efb4dbd
Author: HaraldSchafer <harald.the.engineer@gmail.com>
Date:   Fri May 6 22:17:21 2022 -0700

    Latcontrol torque: fix integrator induced ping pong (commaai#24458)

    * Latcontrol torque: fix integrator induced ping pong

    * Reset on disengage since unwind resets anywayh

    * Might be overkill

    * rm whitespace

    * update ref

commit d105ae2
Author: HaraldSchafer <harald.the.engineer@gmail.com>
Date:   Mon May 2 14:42:18 2022 -0700

    Latcontrol torque: update tuning (commaai#24357)

    * Little more chill

    * Update ref

    * Update refs

commit 0ce2b58
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Apr 28 00:42:52 2022 -0700

    Clean up controllers (commaai#24340)

    * clean up lat controllers

    * pass CP once

    * sort

commit 47b162c
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Apr 27 01:18:05 2022 -0700

    LatControlTorque: fix deadzone and missing steer saturated warning (commaai#24294)

    * fix steer saturated alert and deadzone

    * fix and formatting

    * update refs

    * update refs

    * not needed

    * remove

commit 51a7ef2
Author: HaraldSchafer <harald.the.engineer@gmail.com>
Date:   Wed Apr 20 11:26:24 2022 -0700

    Latcontrol torque: max_torque rename (commaai#24265)

commit 33e00f6
Author: HaraldSchafer <harald.the.engineer@gmail.com>
Date:   Tue Apr 19 19:34:31 2022 -0700

    Lateral torque-based control with roll on TSS2 corolla and TSSP rav4 (commaai#24260)

    * Initial commit

    * Fix bugs

    * Need more torque rate

    * Cleanup cray cray control

    * Write nicely

    * Chiiil

    * Not relevant for cray cray control

    * Do some logging

    * Seems like it has more torque than I thought

    * Bit more feedforward

    * Tune change

    * Retune

    * Retune

    * Little more chill

    * Add coroll

    * Add corolla

    * Give craycray a good name

    * Update to proper logging

    * D to the PI

    * Should be in radians

    * Add d

    * Start oscillations

    * Add D term

    * Only change torque rate limits for new tune

    * Add d logging

    * Should be enough

    * Wrong sign in D

    * Downtune a little

    * Needed to prevent faults

    * Add lqr rav4 to tune

    * Try derivative again

    * Data based retune

    * Data based retune

    * add friction compensation

    * Doesnt need too much P with friction comp

    * remove lqr

    * Remove kd

    * Fix tests

    * fix tests

    * Too much error

    * Get roll induced error under 1cm/deg

    * Too much jitter

    * Do roll comp

    * Add ki

    * Final update

    * Update refs

    * Cleanup latcontrol_torque a little more
ntegan1 pushed a commit to ntegan1/apilot that referenced this pull request Jul 12, 2022
@haraschax @ntegan1
Revert torque control (commaai#24565)
049524b 
* torque reversal start

* Fix carmodel tests

* Update ref

* update ref

* Elif is better than if
ntegan1 pushed a commit to ntegan1/apilot that referenced this pull request Jul 12, 2022
@haraschax @ntegan1
Rerevert torque control (commaai#24649)
956d9fd 
* Revert "Revert torque control (commaai#24565)"

This reverts commit 9f8b037.

* Move tune out of car specific stuff

* Update ref commit
66thparallel pushed a commit to 66thparallel/janes_openpilot_fork that referenced this pull request May 1, 2026
@haraschax
Revert torque control (commaai#24565)
efa559f 
* torque reversal start

* Fix carmodel tests

* Update ref

* update ref

* Elif is better than if
old-commit-hash: 9f8b037
66thparallel pushed a commit to 66thparallel/janes_openpilot_fork that referenced this pull request May 1, 2026
@haraschax
Rerevert torque control (commaai#24649)
3988624 
* Revert "Revert torque control (commaai#24565)"

This reverts commit 93f434d047a92366c4ccefeece86fe101ed98d02.

* Move tune out of car specific stuff

* Update ref commit
old-commit-hash: d928972
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