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IQ.Pilot Release Commit @ 2f37564

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This commit is contained in:
IQ.Lvbs CI [bot]
2026-07-27 01:30:19 -05:00
parent 6a4096e52e
commit 15c14e1369
236 changed files with 2475 additions and 990 deletions
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4
selfdrive/controls/controlsd.py
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@@ -260,7 +260,7 @@ class Controls(IQControlsLayer):
hudControl.leadFollowTime = 1.45
hudControl.visualAlert = self.sm['selfdriveState'].alertHudVisual
hudControl.audibleAlert = self.sm['selfdriveState'].alertSound
hudControl.driverUnresponsive = self.sm['selfdriveState'].alertType.split('/', 1)[0] == 'driverUnresponsive'
hudControl.driverUnresponsive = self.sm['driverMonitoringState'].noResponseForceDecel
hudControl.rightLaneVisible = True
hudControl.leftLaneVisible = True
@@ -292,7 +292,7 @@ class Controls(IQControlsLayer):
cs.upAccelCmd = float(self.LoC.pid.p)
cs.uiAccelCmd = float(self.LoC.pid.i)
cs.ufAccelCmd = float(self.LoC.pid.f)
cs.forceDecel = bool((self.sm['driverMonitoringState'].awarenessStatus < 0.) or
cs.forceDecel = bool(self.sm['driverMonitoringState'].noResponseForceDecel or
(self.sm['selfdriveState'].state == State.softDisabling))
lat_tuning = self.CP.lateralTuning.which()

4
selfdrive/controls/lib/latcontrol_torque.py
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@@ -10,8 +10,8 @@ import numpy as np
from cereal import log, custom # noqa: F401 (custom kept available for downstream imports)
from iqdbc.car import structs
from iqdbc.car.lateral import FRICTION_THRESHOLD, get_friction
from iqdbc.iqpilot.car.interfaces import LatControlInputs
from iqdbc.iqpilot.car.lateral_ext import get_friction as get_friction_in_torque_space
from iqdbc.lvbs.car.interfaces import LatControlInputs
from iqdbc.lvbs.car.iq_lateral import get_friction as get_friction_in_torque_space
from openpilot.common.basedir import BASEDIR
from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
from openpilot.common.filter_simple import FirstOrderFilter

2
selfdrive/controls/tests/test_latcontrol.py
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@@ -26,7 +26,7 @@ class TestLatControl:
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.setup_interfaces(CI)
iqpilot_interfaces.apply_iq_car_config(CI)
CP_IQ = convert_to_capnp(CP_IQ)
VM = VehicleModel(CP)

2
selfdrive/controls/tests/test_latcontrol_torque_buffer.py
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@@ -17,7 +17,7 @@ def get_controller(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.setup_interfaces(CI)
iqpilot_interfaces.apply_iq_car_config(CI)
CP_IQ = convert_to_capnp(CP_IQ)
VM = VehicleModel(CP)
controller = LatControlTorque(CP.as_reader(), CP_IQ.as_reader(), CI, DT_CTRL)