IQ.Pilot Release Commit @ 24db8ae

artifacts/iqpilot_hephaestusd_private/.source_sha

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+    "python/iqpilot_private/konn3kt/hephaestus/kwp2000.cpython-312-aarch64-linux-gnu.so": "sJXu00WLY6Xsbkc7YqoGbyKz8V07TTAda+LbtFmVyKTsfx1I/w4BrR6rK9QQ0uIvG80X/onVyWcJYkHcHI8GAg==",
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+    "python/iqpilot_private/konn3kt/hephaestus/motd.cpython-312-aarch64-linux-gnu.so": "ATjdthMRDwYdJT00DALdiXQVoHTUNB9iyjPU6vUIf4GfC4vaOOBirUPZ4gtBOrLQS+hLn9w7nM2gF4fbSMsxCg==",
+    "python/iqpilot_private/konn3kt/hephaestus/tp20.cpython-312-aarch64-linux-gnu.so": "7N+zB4DBl9X2izAm4qBVafrtg5uaX7/sKyU4WzHgYtwo38qNZPSEALXcLdFHZ0bF3n3qvOZPKL7zGDLgNuapAg==",
+    "python/iqpilot_private/konn3kt/hephaestus/vw_pq_flasher.cpython-312-aarch64-linux-gnu.so": "LS6HrT0pDfbHnLHbfH60IRhAwO3kK5oFYsCiJhDbpPI8MxyNSqg7tU7SOoo3m0a+CzBKfEQP7ri0ZC2FFBhIBw==",
+    "python/iqpilot_private/konn3kt/uploaderd/iquploaderd.cpython-312-aarch64-linux-gnu.so": "uQbFciwEpkVFn/LMozK0Jm9+ZDh2VuNpryBmT6m1NaC4v9bxJSFxC/CT4JvvtipRgJRTbFnzxOppiX+bt5pOBQ=="
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 }

artifacts/iqpilot_hephaestusd_private/manifest.json.sig

@@ -1 +1 @@
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artifacts/iqpilot_hephaestusd_private/python/_iqclosure/_vendored.json

@@ -21,9 +21,7 @@
   "iqpilot.konn3kt.registration",
   "iqpilot.konn3kt.service_health",
   "iqpilot.selfdrive.car.vehicle_catalog",
-  "iqpilot.selfdrive.iqmodeld",
   "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/__init__.py

@@ -1,23 +0,0 @@
-"""
-Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
-"""
-from pathlib import Path
-
-
-def _models_dir() -> Path:
-  return Path(__file__).resolve().parent / "models"
-
-
-def _artifact_path(stem: str, suffix: str) -> Path:
-  return _models_dir() / f"{stem}{suffix}"
-
-
-MODEL_ASSETS = {
-  "onnx": _artifact_path("supercombo", ".onnx"),
-  "tinygrad": _artifact_path("supercombo", "_tinygrad.pkl"),
-  "metadata": _artifact_path("supercombo", "_metadata.pkl"),
-}
-
-MODEL_PATH = MODEL_ASSETS["onnx"]
-MODEL_PKL_PATH = MODEL_ASSETS["tinygrad"]
-METADATA_PATH = MODEL_ASSETS["metadata"]

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

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

artifacts/iqpilot_maps_private/manifest.json

@@ -11,7 +11,7 @@
   },
   "python/iqpilot_private/maps/__init__.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "19691460aa4e727e250e955410bdf5b142cfd1d4f53dc9c657e06578b58d78c1",
+    "sha256": "b4f12341a5ebeb6263226cd03391c6505c708279c9c4ff4c0057326f6325e8ab",
     "size": 67616
   },
   "python/iqpilot_private/maps/__init__.py": {
@@ -21,7 +21,7 @@
   },
   "python/iqpilot_private/maps/git_auth.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "208e08697aa6209a758594dbe0a04110fdc290c822638f5afa10c12086335ee0",
+    "sha256": "84600544b6ca61637b1d332d4881a00083ef9001efba65ac45cca79a2a526c33",
     "size": 67856
   },
   "runtime": {
@@ -33,7 +33,7 @@
     }
   },
   "signatures": {
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-    "python/iqpilot_private/maps/git_auth.cpython-312-aarch64-linux-gnu.so": "xeIydgwjiL7jOaheUl/ZHImzGkj9FJomDs5bsynePQa+YcPrm6vFm5wSJ9DEaA9LZ8XnsUVBSR/iftUap6IsDg=="
+    "python/iqpilot_private/maps/__init__.cpython-312-aarch64-linux-gnu.so": "f9iG6goRpO0HKZpoQUoZ7KGcO7YBqV3oBtZxtES4IjeOqUl7zPaVAMxGYD0jkkjtC5HKBH2fldpGGOAoQvhbBw==",
+    "python/iqpilot_private/maps/git_auth.cpython-312-aarch64-linux-gnu.so": "63rRKgkKdIVzRaDNRFYj+X/NRNnZrwra43QGZF8VcafRopvwXnXrSgjxmgLPIRZQVk5YPcn9cgHXAuU2UJjdDw=="
   }
 }

artifacts/iqpilot_maps_private/manifest.json.sig

@@ -1 +1 @@
-uTmhlpbkdONUUp92muUv9TbgTDG50cv97k+PrzEzt5QQHbiMxJ6B7UZ1VYz43hJ+865DuMYGSmpLTvN4DueDBA==
+UrGrwApvCiaSCaGrD+6aKwLNTm5TaQ02X2dS4DVbM9Gw6qvQ3w6/ql/mfbr/i0Y1SgPIDfKx8fCOdcCWIwJtBA==

artifacts/iqpilot_updater_private/manifest.json

@@ -16,18 +16,18 @@
   },
   "python/iqpilot_private/updater/_iqos_pat_blob.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "50f00d356371a60a50b2395966b6b1646fd3b8306e9ad6fe0229ad0e24186683",
+    "sha256": "949c976482e5168aa1898087a5a0c02f523e4b8a43940eaadba56e5df81819f2",
     "size": 67616
   },
   "python/iqpilot_private/updater/_pat_blob.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "57b15e47bcc1084d33bda3908fb50347c2403cde0c9c951dad1b107ef56b06f1",
+    "sha256": "908a448f4ddad2d95ef524a771ee0038c62e72c44598cc8db2755c178b950de0",
     "size": 67616
   },
   "python/iqpilot_private/updater/git_remote.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "1d3611c753cc94d1e22802900a2487a13c445def98fa998385fa72935a0dd110",
-    "size": 136488
+    "sha256": "c3495a4480205bbf1e21e7ea0b55a27409be1da68e974ef070946bfd726c8c90",
+    "size": 136576
   },
   "runtime": {
     "entries": {
@@ -38,8 +38,8 @@
     }
   },
   "signatures": {
-    "python/iqpilot_private/updater/_iqos_pat_blob.cpython-312-aarch64-linux-gnu.so": "ZIgAfOcrpjAYBY/iLm9oovGs6jv7dQAToObwc9rrPpPTEgQZ/zTcTOa0TcqGTU/lK0tPhum2WVrPpxwosKUwDg==",
-    "python/iqpilot_private/updater/_pat_blob.cpython-312-aarch64-linux-gnu.so": "Zv7AsE+0KgGABA4n9Hf40UQVOz7k2ew/vxgKqkUpyFjZKdst6DUecAxyBPbK4Z8owTaKnnbNRxuRGiJtr+sJDA==",
-    "python/iqpilot_private/updater/git_remote.cpython-312-aarch64-linux-gnu.so": "2aLUgznDiiBF3sYwIxZKMjMW2A1S9q+tHZUnyAiEB48QbxAFjDAS6tMHUp5ej6/JAmejOzxQePYPL1jJnxKsBQ=="
+    "python/iqpilot_private/updater/_iqos_pat_blob.cpython-312-aarch64-linux-gnu.so": "2BgXuTkWa3sjvPsyTgFHVBaZYOE+6MmRE+/lUlINyD05fHG6qgf6GJPeYyy6TPNZqhBWoI5z/NmRjAoVzzsSDQ==",
+    "python/iqpilot_private/updater/_pat_blob.cpython-312-aarch64-linux-gnu.so": "EvASRs8Z45SknoiFmd9FpFV0boTy2L+OIJqEQMfVq88jglU/RVs5RNg/JW3SrghodMvxgTIXzBrZy2OggDPRCQ==",
+    "python/iqpilot_private/updater/git_remote.cpython-312-aarch64-linux-gnu.so": "wbN3CwOrLv0iX3a2nSmr4dTr3kEHrSEPmQ+S6IiccUzgVo8rBQXRe0dduyiQZzXrnEBYRAvz66WXfyWPrWs8AQ=="
   }
 }

artifacts/iqpilot_updater_private/manifest.json.sig

@@ -1 +1 @@
-D9FZfSC3DUspPq4ewwPjNoCS1N8ai3jcgutVQo94CnOI6Wcx3L1H30hTZ6SS8jw9MfMsVaggFXfMo2QT4yJlBQ==
+JJCbPdLrTbJu+aVPIcsTJTbsltzP0Zl97r6EM77B7ebCsnS9yU1Tx9+NPui1OVVPiQAigyDxi/TZZyIYBWigDw==

artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/carcontroller.py

@@ -375,7 +375,9 @@ class CarController(CarControllerBase):
             self.LateralController.reset()
           if self.steering_power_last > 0:
             hca_enabled = True
-            apply_curvature = np.clip(CS.out.steeringCurvature, -self.CCP.CURVATURE_LIMITS.CURVATURE_MAX, self.CCP.CURVATURE_LIMITS.CURVATURE_MAX)
+            handoff_curvature = self.apply_curvature_last + (CS.out.steeringCurvature - self.apply_curvature_last) * self.CCP.CURVATURE_HANDOFF_RATE
+            apply_curvature = apply_std_curvature_limits(handoff_curvature, self.apply_curvature_last, CS.out.vEgoRaw, CS.out.steeringCurvature,
+                                                         CS.out.steeringPressed, self.CCP.STEER_STEP, True, self.CCP.CURVATURE_LIMITS)
             steering_power = max(self.steering_power_last - self.CCP.STEERING_POWER_STEP, 0)
           else:
             hca_enabled = False

artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/carstate.py

@@ -6,9 +6,10 @@ import os
 import math
 import time
 from iqdbc.can import CANParser
-from iqdbc.car import Bus, structs
+from iqdbc.car import DT_CTRL, Bus, structs
 from iqdbc.car.interfaces import CarStateBase
 from iqdbc.car.common.conversions import Conversions as CV
+from iqdbc.car.common.filter_simple import FirstOrderFilter
 from iqdbc.car.volkswagen.values import CAR, DBC, CanBus, NetworkLocation, RADAR_DISABLE_STATE, TransmissionType, GearShifter, \
                                                       CarControllerParams, VolkswagenFlags, VolkswagenFlagsIQ
 from iqdbc.car.volkswagen.speed_limit_manager import SpeedLimitManager
@@ -28,6 +29,7 @@ class CarState(CarStateBase):
   CRUISE_FAULT_LATERAL_DISABLE_FRAMES = 20
   MEB_TEMP_CRUISE_FAULT = 6
   MEB_TOLERANCE_MAX = 100
+  DRIVER_TORQUE_TAU = 0.10
 
   def __init__(self, CP, CP_IQ):
     from iqpilot.system.proprietary_runtime._verified_import import import_verified_module
@@ -37,6 +39,7 @@ class CarState(CarStateBase):
     self.frame = 0
     self.eps_init_complete = False
     self.CCP = CarControllerParams(CP)
+    self.driver_torque_filter = FirstOrderFilter(0.0, self.DRIVER_TORQUE_TAU, DT_CTRL)
     self.button_states = {button.event_type: False for button in self.CCP.BUTTONS}
     self.esp_hold_confirmation = False
     self.upscale_lead_car_signal = False
@@ -323,7 +326,7 @@ class CarState(CarStateBase):
     ret.steeringRateDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradw_Geschw"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradw_Geschw"])]
     ret.steeringTorque = pt_cp.vl["LH_EPS_03"]["EPS_Lenkmoment"] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]["EPS_VZ_Lenkmoment"])]
     driver_override_threshold = self._iq_lvbs_alc.vw_driver_override_threshold_cnm(self, "mqb", self.CCP.STEER_DRIVER_ALLOWANCE)
-    ret.steeringPressed = abs(ret.steeringTorque) > driver_override_threshold
+    ret.steeringPressed = abs(self.driver_torque_filter.update(ret.steeringTorque)) > driver_override_threshold
 
     self.curvature = -pt_cp.vl["QFK_01"]["Curvature"] * (1, -1)[int(pt_cp.vl["QFK_01"]["Curvature_VZ"])]
     ret.steeringCurvature = self.curvature

artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/values.py

@@ -118,7 +118,7 @@ class CarControllerParams:
     if CP.flags & VolkswagenFlags.PQ:
       self.LDW_STEP = 5                   # LDW_1 message frequency 20Hz
       self.ACC_HUD_STEP = 4               # ACC_GRA_Anzeige frequency 25Hz
-      self.STEER_DRIVER_ALLOWANCE = 80    # Driver intervention threshold 0.8 Nm
+      self.STEER_DRIVER_ALLOWANCE = 80
       self.STEER_DELTA_UP = 6
       self.STEER_DELTA_DOWN = 10
 
@@ -147,11 +147,12 @@ class CarControllerParams:
     elif CP.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):
       self.LDW_STEP = 10
       self.ACC_HUD_STEP = 6
-      self.STEER_DRIVER_ALLOWANCE = 60
+      self.STEER_DRIVER_ALLOWANCE = 80
       self.STEER_DRIVER_MAX = 300
       self.STEERING_POWER_MAX = 90
       self.STEERING_POWER_MIN = 4
       self.STEERING_POWER_STEP = 2
+      self.CURVATURE_HANDOFF_RATE = 0.20
 
       self.CURVATURE_PID: structs.CarParams.LateralPIDTuning = structs.CarParams.LateralPIDTuning(
         kpBP=[10., 40.],
@@ -204,7 +205,7 @@ class CarControllerParams:
       self.hca_status_values = can_define.dv["LH_EPS_03"]["EPS_HCA_Status"]
 
       if CP.flags & VolkswagenFlags.MLB:
-        self.STEER_DRIVER_ALLOWANCE = 60  # Driver intervention threshold 0.6 Nm
+        self.STEER_DRIVER_ALLOWANCE = 80  # Driver intervention threshold 0.8 Nm
         self.STEER_DELTA_UP = 9  # Max HCA reached in 0.66s (STEER_MAX / (50Hz * 0.66))
         self.STEER_DELTA_DOWN = 10  # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
         self.ACC_HUD_TEXT_STEP = int(2.0 / DT_CTRL)  # ACC_02 primary display text dwell time
@@ -231,7 +232,7 @@ class CarControllerParams:
         self.ACC_HUD_TEXT_DISTANCE = {1: 2, 2: 3, 3: 4, 4: 5}  # follow distance bars to display text
 
       else:
-        self.STEER_DRIVER_ALLOWANCE = 80    # Driver intervention threshold 0.8 Nm
+        self.STEER_DRIVER_ALLOWANCE = 80
         self.STEER_DELTA_UP = 4             # Max HCA reached in 1.50s (STEER_MAX / (50Hz * 1.50))
         self.STEER_DELTA_DOWN = 10          # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
 

artifacts/package_sources/iqdbc/iqdbc/safety/modes/volkswagen_mlb.h

@@ -175,7 +175,7 @@ static bool volkswagen_mlb_tx_hook(const CANPacket_t *msg) {
     .max_rt_delta = 169,           // 10 max rate up * 50Hz send rate * 250000 RT interval / 1000000 = 112.5 ; 112.5 * 1.5 for safety pad = 168.75
     .max_rate_up = 9,              // 5.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
     .max_rate_down = 10,           // 5.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
-    .driver_torque_allowance = 60,
+    .driver_torque_allowance = 80,
     .driver_torque_multiplier = 3,
     .type = TorqueDriverLimited,
   };

artifacts/package_sources/iqdbc/iqdbc/safety/tests/test_volkswagen_mlb.py

@@ -32,7 +32,7 @@ class TestVolkswagenMlbSafetyBase(common.CarSafetyTest, common.DriverTorqueSteer
   MAX_TORQUE_LOOKUP = [0], [300]
   MAX_RT_DELTA = 169
 
-  DRIVER_TORQUE_ALLOWANCE = 60
+  DRIVER_TORQUE_ALLOWANCE = 80
   DRIVER_TORQUE_FACTOR = 3
 
   # Wheel speeds _esp_03_msg