brianhansonxyz
0dc8002c6d
Three independent changes bundled together. Revert hyundai canfd steering torque limits to comma stock defaults (270 / 2 / 3 / 112) in both panda safety and openpilot CarControllerParams. The 270->324 bump caused overcorrection on turns and weaving on straights. Web research turned up no public reports of any 4th gen Tucson NX4 owner bumping STEER_MAX — the documented Tucson tuning effort is entirely on lateralTuning (latAccelFactor ~2.9-3.1, friction ~0.095), not the cap. hoomoose's EV6/Ioniq 5 PR #25723 is the canonical "raise STEER_MAX without dropping latAccelFactor causes overcorrection" data point — and even that change was reverted upstream. Right next move for this car is to tune latAccelFactor / friction, not the torque ceiling. plannerd: keep publishing longitudinalPlan at the normal cadence in park, but skip update() compute. Skipping publishes entirely caused longitudinalPlan to time out the alive flag at controlsd, which fired a real commIssue ("not_alive") on park->drive. Stale published values are fine because controlsd's own park short-circuit ignores the longitudinalPlan content while parked. Also gate publish_ui_plan on not-parked: it reads longitudinal_planner.a_desired_trajectory_full which is only set inside update(), so calling it without a prior update crashes plannerd with AttributeError (which fires "Process Not Running" on screen). uiPlan is UI-only, not on controlsd's commIssue check list, so going silent in park is fine. frogpilot_process: same idea — keep publishing frogpilotPlan in park to keep alive, skip the heavy update() compute. dashcamd: close the trip immediately on gear shift to PARK (was: 10-min idle timer before close). User wants the dashcam idle in park and a fresh trip on every drive engagement; brief drive-thru / fuel-stop across-trip continuity isn't valued. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
113 lines
3.7 KiB
Python
Executable File
113 lines
3.7 KiB
Python
Executable File
import datetime
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import http.client
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import os
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import socket
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import time
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import urllib.error
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import urllib.request
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import cereal.messaging as messaging
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from cereal import car, log
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from openpilot.common.params import Params
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from openpilot.common.realtime import DT_MDL, Priority, config_realtime_process
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from openpilot.common.time import system_time_valid
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from openpilot.system.hardware import HARDWARE
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from openpilot.selfdrive.frogpilot.controls.frogpilot_planner import FrogPilotPlanner
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from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import FrogPilotFunctions
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from openpilot.selfdrive.frogpilot.controls.lib.model_manager import DEFAULT_MODEL, DEFAULT_MODEL_NAME, download_model, populate_models
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from openpilot.selfdrive.frogpilot.controls.lib.theme_manager import ThemeManager
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WIFI = log.DeviceState.NetworkType.wifi
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# clearpilot disabled
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def automatic_update_check(params):
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return
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# update_available = params.get_bool("UpdaterFetchAvailable")
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# update_ready = params.get_bool("UpdateAvailable")
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# update_state = params.get("UpdaterState", encoding='utf8')
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# if update_ready:
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# HARDWARE.reboot()
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# elif update_available:
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# os.system("pkill -SIGHUP -f selfdrive.updated.updated")
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# elif update_state == "idle":
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# os.system("pkill -SIGUSR1 -f selfdrive.updated.updated")
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def github_pinged(url="https://github.com", timeout=5):
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try:
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urllib.request.urlopen(url, timeout=timeout)
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return True
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except (urllib.error.URLError, socket.timeout, http.client.RemoteDisconnected):
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return False
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# clearpilot disabled
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def time_checks(automatic_updates, deviceState, params):
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return
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# if github_pinged():
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# populate_models()
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# screen_off = deviceState.screenBrightnessPercent == 0
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# wifi_connection = deviceState.networkType == WIFI
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# if automatic_updates and screen_off and wifi_connection:
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# automatic_update_check(params)
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def frogpilot_thread():
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config_realtime_process(5, Priority.CTRL_LOW)
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params = Params()
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params_memory = Params("/dev/shm/params")
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frogpilot_functions = FrogPilotFunctions()
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theme_manager = ThemeManager()
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CP = None
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time_validated = system_time_valid()
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pm = messaging.PubMaster(['frogpilotPlan'])
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sm = messaging.SubMaster(['carState', 'controlsState', 'deviceState', 'frogpilotCarControl', 'frogpilotNavigation',
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'frogpilotPlan', 'liveLocationKalman', 'longitudinalPlan', 'modelV2', 'radarState'],
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poll='modelV2', ignore_avg_freq=['radarState'])
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while True:
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sm.update()
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deviceState = sm['deviceState']
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started = deviceState.started
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if started:
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if CP is None:
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with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg:
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CP = msg
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frogpilot_planner = FrogPilotPlanner(CP)
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frogpilot_planner.update_frogpilot_params()
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# CLEARPILOT: skip planner compute while parked, but KEEP publishing at
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# the normal cadence so frogpilotPlan stays alive at consumers. Skipping
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# publishes entirely caused commIssue ("not_alive: frogpilotPlan") at
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# controlsd the moment we shifted out of park.
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parked = sm['carState'].gearShifter == car.CarState.GearShifter.park
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if sm.updated['modelV2']:
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if not parked:
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frogpilot_planner.update(sm['carState'], sm['controlsState'], sm['frogpilotCarControl'], sm['frogpilotNavigation'],
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sm['liveLocationKalman'], sm['modelV2'], sm['radarState'])
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frogpilot_planner.publish(sm, pm)
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if not time_validated:
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time_validated = system_time_valid()
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if not time_validated:
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continue
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time.sleep(DT_MDL)
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def main():
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frogpilot_thread()
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if __name__ == "__main__":
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main()
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