IQ.Pilot Release Commit @ 1399ceb

artifacts/iqpilot_hephaestusd_private/.source_sha

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+    "python/iqpilot_private/konn3kt/hephaestus/vw_pq_flasher.cpython-312-aarch64-linux-gnu.so": "9ae5f6k/QFWnu/NcLHR4Jdp9teHEreFVqMstcgCS2krd2WDrA4RyenCMpAW5DssCVgK/SSYZ5R/mt784LtX5Dg==",
-    "python/iqpilot_private/konn3kt/uploaderd/iquploaderd.cpython-312-aarch64-linux-gnu.so": "uQbFciwEpkVFn/LMozK0Jm9+ZDh2VuNpryBmT6m1NaC4v9bxJSFxC/CT4JvvtipRgJRTbFnzxOppiX+bt5pOBQ=="
+    "python/iqpilot_private/konn3kt/uploaderd/iquploaderd.cpython-312-aarch64-linux-gnu.so": "FEavK888fANFifz5HwjkSnzyUicwrDoVMor1xg7dIDlflvBGeE+q+N45+EJNYuT+Gtu7z5NeBh3QWx8S9KHTDw=="
   }
 }

artifacts/iqpilot_hephaestusd_private/manifest.json.sig

@@ -1 +1 @@
-0MdDcjhhpW0t9PD/b+przWxHmtrchzKk9Q24ViXNM7b46lNHbM1s5AfPwX2gFYhaJb9HKrSNDqq6GukmhdUBAw==
+7unLWRQJMpEA37ml8a0VSDmIhihtSdBcl8LG9zT7eXqtHofgwK7hTGUGVWvGro/g7STaxm2yDGLe9maVHRpcAg==

artifacts/iqpilot_hephaestusd_private/python/_iqclosure/_vendored.json

@@ -22,6 +22,7 @@
   "iqpilot.konn3kt.service_health",
   "iqpilot.selfdrive.car.vehicle_catalog",
   "iqpilot.selfdrive.iqmodeld.config",
+  "iqpilot.selfdrive.iqmodeld.models",
   "iqpilot.selfdrive.iqmodeld.models.fetcher",
   "iqpilot.selfdrive.iqmodeld.models.helpers",
   "iqpilot.selfdrive.locationd.calibrationd",

artifacts/iqpilot_hephaestusd_private/python/_iqclosure/iqpilot/selfdrive/iqmodeld/models/__init__.py

@@ -0,0 +1,3 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
+"""

iqpilot/selfdrive/controls/controlsd.py

@@ -22,6 +22,7 @@ from iqpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from iqpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
 from iqpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from iqpilot.selfdrive.controls.lib.latcontrol_torque_pq import LatControlTorquePQ
+from iqpilot.selfdrive.controls.lib.latcontrol_torque_v0 import LatControlTorqueV0, is_vw_mqb_torque
 from iqpilot.selfdrive.controls.lib.longcontrol import LongControl
 from iqpilot.system.proprietary_runtime._verified_import import import_verified_module
 from iqpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
@@ -111,12 +112,20 @@ class Controls(IQControlsLayer):
     elif self.CP.lateralTuning.which() == 'pid':
       self.LaC = LatControlPID(self.CP, self.CP_IQ, self.CI, DT_CTRL)
     elif self.CP.lateralTuning.which() == 'torque':
-      self.LaC = LatControlTorque(self.CP, self.CP_IQ, self.CI, DT_CTRL)
       if self._use_pq_torque():
         try:
           self.LaC = LatControlTorquePQ(self.CP, self.CP_IQ, self.CI, DT_CTRL)
         except Exception:
           cloudlog.exception("LatControlTorquePQ init failed; using generic torque")
+          self.LaC = LatControlTorque(self.CP, self.CP_IQ, self.CI, DT_CTRL)
+      elif self._use_mqb_torque_v0():
+        try:
+          self.LaC = LatControlTorqueV0(self.CP, self.CP_IQ, self.CI, DT_CTRL)
+        except Exception:
+          cloudlog.exception("LatControlTorqueV0 init failed; using generic torque")
+          self.LaC = LatControlTorque(self.CP, self.CP_IQ, self.CI, DT_CTRL)
+      else:
+        self.LaC = LatControlTorque(self.CP, self.CP_IQ, self.CI, DT_CTRL)
 
   def _use_pq_torque(self) -> bool:
     try:
@@ -128,6 +137,13 @@ class Controls(IQControlsLayer):
       cloudlog.exception("pq torque selection failed; using generic torque")
       return False
 
+  def _use_mqb_torque_v0(self) -> bool:
+    try:
+      return is_vw_mqb_torque(self.CP)
+    except Exception:
+      cloudlog.exception("mqb torque v0 selection failed; using generic torque")
+      return False
+
   def _update_params(self) -> None:
     self.enable_curvature_controller = self.params.get_bool("EnableCurvatureController")
     self.enable_smooth_steer = self.params.get_bool("EnableSmoothSteer")
@@ -320,7 +336,7 @@ class Controls(IQControlsLayer):
       hudControl.leftLaneDepart = self.sm['driverAssistance'].leftLaneDeparture
       hudControl.rightLaneDepart = self.sm['driverAssistance'].rightLaneDeparture
 
-    if self.sm['selfdriveState'].active:
+    if CC.latActive:
       CO = self.sm['carOutput']
       if self.CP.steerControlType in (car.CarParams.SteerControlType.angle, car.CarParams.SteerControlType.curvatureDEPRECATED):
         self.steer_limited_by_safety = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \

iqpilot/selfdrive/controls/lib/latcontrol_torque_v0.py

@@ -0,0 +1,118 @@
+# Copyright (c) 2018, Comma.ai, Inc.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
+# to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
+# and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+# IN THE SOFTWARE.
+
+import math
+from collections import deque
+
+import numpy as np
+
+from iqpilot.cereal import log
+from iqdbc.car.lateral import FRICTION_THRESHOLD, get_friction
+from iqpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
+from iqpilot.common.filter_simple import FirstOrderFilter
+from iqpilot.common.pid import PIDController
+from iqpilot.selfdrive.controls.lib.latcontrol import LatControl
+
+
+KP = 1.0
+KI = 0.3
+KD = 0.0
+INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
+KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
+
+LP_FILTER_CUTOFF_HZ = 1.2
+LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
+VERSION = 0
+
+
+def is_vw_mqb_torque(CP):
+  if CP.brand != 'volkswagen':
+    return False
+  from iqdbc.car.volkswagen.values import VolkswagenFlags
+  excluded_platforms = VolkswagenFlags.PQ | VolkswagenFlags.MLB | VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO
+  return not bool(CP.flags & excluded_platforms)
+
+
+class LatControlTorqueV0(LatControl):
+  def __init__(self, CP, CP_IQ, CI, dt):
+    super().__init__(CP, CP_IQ, CI, dt)
+    self.torque_params = CP.lateralTuning.torque.as_builder()
+    self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
+    self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
+    self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, KD, rate=1 / self.dt)
+    self.update_limits()
+    self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
+    self.lat_accel_request_buffer_len = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / self.dt)
+    self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len, maxlen=self.lat_accel_request_buffer_len)
+    self.previous_measurement = 0.0
+    self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
+
+  def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
+    self.torque_params.latAccelFactor = latAccelFactor
+    self.torque_params.latAccelOffset = latAccelOffset
+    self.torque_params.friction = friction
+    self.update_limits()
+
+  def update_limits(self):
+    self.pid.set_limits(self.lateral_accel_from_torque(self.steer_max, self.torque_params),
+                        self.lateral_accel_from_torque(-self.steer_max, self.torque_params))
+
+  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited, lat_delay,
+             lookahead_curvature=None):
+    pid_log = log.ControlsState.LateralTorqueState.new_message()
+    pid_log.version = VERSION
+    if not active:
+      output_torque = 0.0
+      pid_log.active = False
+    else:
+      measured_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
+      roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
+      curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
+      lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
+
+      delay_frames = int(np.clip(lat_delay / self.dt, 1, self.lat_accel_request_buffer_len))
+      expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
+      future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
+      self.lat_accel_request_buffer.append(future_desired_lateral_accel)
+      gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
+      desired_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / lat_delay
+
+      measurement = measured_curvature * CS.vEgo ** 2
+      measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt)
+      self.previous_measurement = measurement
+
+      setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel
+      error = setpoint - measurement
+
+      pid_log.error = float(error)
+      feedforward = gravity_adjusted_future_lateral_accel
+      feedforward -= self.torque_params.latAccelOffset
+      feedforward += get_friction(error, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
+
+      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
+      output_lataccel = self.pid.update(pid_log.error, -measurement_rate, feedforward=feedforward, speed=CS.vEgo,
+                                        freeze_integrator=freeze_integrator)
+      output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
+
+      pid_log.active = True
+      pid_log.p = float(self.pid.p)
+      pid_log.i = float(self.pid.i)
+      pid_log.d = float(self.pid.d)
+      pid_log.f = float(self.pid.f)
+      pid_log.output = float(-output_torque)
+      pid_log.actualLateralAccel = float(measurement)
+      pid_log.desiredLateralAccel = float(setpoint)
+      pid_log.desiredLateralJerk = float(desired_lateral_jerk)
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
+
+    return -output_torque, 0.0, pid_log

iqpilot/selfdrive/controls/tests/test_latcontrol.py

@@ -6,12 +6,14 @@ from iqdbc.car.honda.values import CAR as HONDA
 from iqdbc.car.toyota.values import CAR as TOYOTA
 from iqdbc.car.nissan.values import CAR as NISSAN
 from iqdbc.car.gm.values import CAR as GM
+from iqdbc.car.volkswagen.values import CAR as VOLKSWAGEN
 from iqdbc.car.vehicle_model import VehicleModel
 from iqpilot.common.realtime import DT_CTRL
 from iqpilot.selfdrive.car.helpers import convert_to_capnp
 from iqpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from iqpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from iqpilot.selfdrive.controls.lib.latcontrol_torque_pq import LatControlTorquePQ
+from iqpilot.selfdrive.controls.lib.latcontrol_torque_v0 import LatControlTorqueV0, is_vw_mqb_torque
 import iqpilot.selfdrive.controls.lib.latcontrol_torque_pq as latcontrol_torque_pq
 from iqpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from iqpilot.selfdrive.locationd.helpers import Pose
@@ -31,7 +33,17 @@ class TestLatControl:
     iqpilot_interfaces.apply_iq_car_config(CI)
     return CP, LatControlTorquePQ(CP.as_reader(), convert_to_capnp(CP_IQ).as_reader(), CI, DT_CTRL)
 
-  @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),
+  @staticmethod
+  def build_v0_controller():
+    car_name = TOYOTA.TOYOTA_RAV4
+    CarInterface = interfaces[car_name]
+    CP = CarInterface.get_non_essential_params(car_name)
+    CP_IQ = CarInterface.get_non_essential_params_iq(CP, car_name)
+    CI = CarInterface(CP, CP_IQ)
+    iqpilot_interfaces.apply_iq_car_config(CI)
+    return CP, LatControlTorqueV0(CP.as_reader(), convert_to_capnp(CP_IQ).as_reader(), CI, DT_CTRL)
+
+  @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque), (TOYOTA.TOYOTA_RAV4, LatControlTorqueV0),
                          (NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_EUV, LatControlTorque)])
   def test_saturation(self, car_name, controller):
     CarInterface = interfaces[car_name]
@@ -78,6 +90,28 @@ class TestLatControl:
     _, _, lac_log = controller.update(True, CS, VM, params, False, 0.001, pose, False, 0.2)
     assert lac_log.active
 
+  def test_v0_uses_current_lateral_acceleration_setpoint(self):
+    CP, controller = self.build_v0_controller()
+    VM = VehicleModel(CP)
+    CS = car.CarState.new_message(vEgo=30)
+    params = log.VehicleParameters.new_message()
+    pose = Pose.from_live_pose(generate_deviceMotion().deviceMotion)
+
+    _, _, lac_log = controller.update(True, CS, VM, params, False, 0.001, pose, False, 0.3)
+
+    assert lac_log.version == 0
+    assert abs(lac_log.desiredLateralAccel - 0.9) < 1e-6
+
+  def test_v0_platform_selection(self):
+    mqb_interface = interfaces[VOLKSWAGEN.VOLKSWAGEN_PASSAT_MK8]
+    mqb_params = mqb_interface.get_non_essential_params(VOLKSWAGEN.VOLKSWAGEN_PASSAT_MK8)
+
+    assert is_vw_mqb_torque(mqb_params)
+    for car_name in (VOLKSWAGEN.VOLKSWAGEN_PASSAT_MK7, VOLKSWAGEN.VOLKSWAGEN_GOLF_MK8,
+                     VOLKSWAGEN.VOLKSWAGEN_ID4_MK1, VOLKSWAGEN.AUDI_A4_MK4, TOYOTA.TOYOTA_RAV4):
+      CarInterface = interfaces[car_name]
+      assert not is_vw_mqb_torque(CarInterface.get_non_essential_params(car_name))
+
   def test_pq_controller_inactive_lookahead_and_slew_reset(self):
     CP, controller = self.build_pq_controller()
     controller.curvature_lookahead_enabled = True

iqpilot/selfdrive/locationd/lagd.py

@@ -21,7 +21,7 @@ MIN_VEGO = 50.0 * CV.MPH_TO_MS
 MIN_ABS_YAW_RATE = 0.0
 MAX_YAW_RATE_SANITY_CHECK = 1.0
 MIN_NCC = 0.95
-MAX_LAG = 1.0
+MAX_LAG = 0.65
 MIN_LAG = 0.15
 MAX_LAG_STD = 0.1
 MAX_LAT_ACCEL = 2.0

iqpilot/selfdrive/locationd/test/test_lagd.py

@@ -88,7 +88,7 @@ class TestLagd:
     assert np.argmax(corr) in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1)
 
   def test_empty_estimator(self):
-    mocked_CP = car.CarParams(steerActuatorDelay=0.8)
+    mocked_CP = car.CarParams(steerActuatorDelay=0.5)
     estimator = LateralLagEstimator(mocked_CP, DT)
     msg = estimator.get_msg(True)
     assert msg.lateralDelay.status == 'unestimated'
@@ -100,7 +100,7 @@ class TestLagd:
   def test_estimator_basics(self, subtests):
     for lag_frames in range(LAGD_MIN_LAG_FRAMES, LAGD_MAX_LAG_FRAMES - 1):
       with subtests.test(msg=f"lag_frames={lag_frames}"):
-        mocked_CP = car.CarParams(steerActuatorDelay=0.8)
+        mocked_CP = car.CarParams(steerActuatorDelay=0.5)
         estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0)
         process_messages(estimator, lag_frames, int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_NUM_NEEDED * BLOCK_SIZE)
         msg = estimator.get_msg(True)
@@ -112,7 +112,7 @@ class TestLagd:
         assert msg.lateralDelay.calPerc == 100
 
   def test_estimator_masking(self):
-    mocked_CP, lag_frames = car.CarParams(steerActuatorDelay=0.8), random.randint(LAGD_MIN_LAG_FRAMES, LAGD_MAX_LAG_FRAMES - 1)
+    mocked_CP, lag_frames = car.CarParams(steerActuatorDelay=0.5), random.randint(LAGD_MIN_LAG_FRAMES, LAGD_MAX_LAG_FRAMES - 1)
     estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, min_valid_block_count=1)
     process_messages(estimator, lag_frames, (int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_SIZE) * 2, rejection_threshold=0.4)
     msg = estimator.get_msg(True)
@@ -122,7 +122,7 @@ class TestLagd:
 
   @pytest.mark.timeout(60)
   def test_estimator_performance(self):
-    mocked_CP = car.CarParams(steerActuatorDelay=0.8)
+    mocked_CP = car.CarParams(steerActuatorDelay=0.5)
     estimator = LateralLagEstimator(mocked_CP, DT)
 
     ds = []