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IQ.Pilot Release Commit @ 67fd9c2

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This commit is contained in:
IQ.Lvbs CI [bot]
2026-09-01 20:09:51 -05:00
parent f8f9335ba3
commit 4efaff4cb2
58 changed files with 494 additions and 92 deletions
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2
iqpilot/common/params_keys.h
View File

@@ -249,6 +249,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"MacModelFailed", {CLEAR_ON_MANAGER_START, BOOL}},
{"MacModelLastError", {CLEAR_ON_MANAGER_START, STRING}},
{"MacModelLatencyMs", {CLEAR_ON_MANAGER_START, FLOAT, "0.0"}},
{"MacModelRetryBackoff", {CLEAR_ON_MANAGER_START, STRING, "10.0"}},
// comma USB eGPU big-model backend. Mutually exclusive with eMac at
// runtime (eMac wins). UsbGpu* naming/flags mirror comma's handover branch
@@ -363,6 +364,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"IQLateralCurvatureLookahead", {PERSISTENT, BOOL, "0"}},
{"IQSoftwareSteerDelay", {PERSISTENT, FLOAT, "0.2"}},
{"IQSteerDelayCache", {PERSISTENT, FLOAT, "0.2"}},
{"IQLatJerkGain", {PERSISTENT, STRING, "1.0"}},
{"LaneChangeBsd", {PERSISTENT, INT, "0"}}, // -1 ignore BSD, 0 default, 1 block lane change on BSD
{"LaneChangeContinuous", {PERSISTENT, BOOL, "0"}}, // 0 one-shot per blinker, 1 chain on held blinker (torque-gated)
{"LaneChangeDelay", {PERSISTENT, FLOAT, "0.0"}}, // tenths of a second; scaled by 0.1 in desire_helper

35
iqpilot/iq_maps/tile_bundle_downloader.py
View File

@@ -209,6 +209,25 @@ def region_bundle_path(selector: str) -> Path:
return region_bundle_dir(selector) / "tiles" / "offline.mbtiles"
def region_valhalla_path(selector: str) -> Path:
# valhalla mmaps this tar in place, so it stays uncompressed on disk
return region_bundle_dir(selector) / "valhalla" / "tiles.tar"
def region_valhalla_installed(selector: str) -> bool:
return region_valhalla_path(selector).exists()
def installed_valhalla_selectors() -> list[str]:
regions_root = offline_map_root() / "regions"
if not regions_root.exists():
return []
return sorted(
child.name for child in regions_root.iterdir()
if child.is_dir() and (child / "valhalla" / "tiles.tar").exists()
)
def region_bundle_installed(selector: str) -> bool:
return region_bundle_path(selector).exists()
@@ -313,6 +332,22 @@ class TileBundleDownloader:
)
if not day_ok:
cloudlog.warning(f"iq_maps: day-style bundle failed for {selector}; night set installed")
if entry.get("valhalla_path"):
# routing is additive: a region whose extract is missing or corrupt must still end up
# with a usable map rather than failing the whole download
try:
nav_ok = self._download_file(
selector, base_url, entry["valhalla_path"], int(entry.get("valhalla_bytes", 0)),
str(entry.get("valhalla_sha256", "")).strip().lower(),
region_valhalla_path(selector),
progress_offset + int(entry.get("bytes", 0)) + int(entry.get("day_bytes", 0)),
progress_total, 1, entry.get("valhalla_objects"),
)
except Exception as exc:
nav_ok = False
cloudlog.warning(f"iq_maps: routing extract errored for {selector}: {exc}")
if not nav_ok:
cloudlog.warning(f"iq_maps: routing extract failed for {selector}; map tiles installed")
_write_manifest(selector, entry)
cloudlog.info(f"iq_maps: installed tile bundle {selector}")
return True

23
iqpilot/selfdrive/controls/lib/latcontrol_torque.py
View File

@@ -186,6 +186,8 @@ class NNTorqueModel:
PLAN_SAMPLE_START = 5
LAG_EXTRA_S = 0.0
JERK_AHEAD_TAU_S = 0.15 # low-pass on the model-derived jerk feed-forward (kills big-model accel.y noise)
JERK_PARAM_REFRESH = 100 # cycles (~1s at 100Hz)
BASE_P = 0.8
BASE_I = 0.15
@@ -264,6 +266,15 @@ class PilotLateralBrain:
self.friction_look_ahead_bp = [9.0, 30.0]
self.lat_jerk_friction_factor = 0.4
self.lat_accel_friction_factor = 0.7
# The model-derived jerk term is a frame-to-frame derivative of model_v2.acceleration.y; on
# spatial/big models that array is slightly noisy and the raw derivative drives in-lane steering
# oscillation (sunny/stock has no such term). Low-pass it, and expose a live gain so it can be
# tuned to 0 (== stock friction ff) without a software push.
self._jerk_lp = FirstOrderFilter(0.0, JERK_AHEAD_TAU_S, 0.01)
self._jerk_gain = 1.0
self._jerk_param_frame = 0
self._jerk_param_ok = True
self._params = Params()
self.t_diffs = np.diff(ModelConstants.T_IDXS)
self.desired_lat_jerk_time = cp.steerActuatorDelay + LAG_EXTRA_S
@@ -294,6 +305,17 @@ class PilotLateralBrain:
self.jerk_ahead = 0.0
def update_calculations(self, car_state, vehicle_model, desired_lat_accel):
self._jerk_param_frame += 1
if self._jerk_param_ok and self._jerk_param_frame % JERK_PARAM_REFRESH == 0:
try:
raw = self._params.get("IQLatJerkGain")
self._jerk_gain = float(raw) if raw not in (None, b"", "") else 1.0
except (ValueError, TypeError):
self._jerk_gain = 1.0
except Exception:
# param key absent (params not rebuilt) — never let a param read touch lateral control
self._jerk_param_ok = False
self._jerk_gain = 1.0
self._reset_jerk_estimates(car_state, vehicle_model)
if not self.model_valid:
return
@@ -305,6 +327,7 @@ class PilotLateralBrain:
forecast = _pointwise_jerk(accel_y, self.t_diffs)
window = forecast[PLAN_SAMPLE_START:self._horizon_index(car_state.vEgo)]
self.jerk_ahead = sign_locked_min(window, desired_jerk)
self.jerk_ahead = self._jerk_lp.update(self.jerk_ahead) * self._jerk_gain
if self.jerk_ahead == 0.0:
self.jerk_now = 0.0

81
iqpilot/selfdrive/controls/tests/test_lat_jerk_lowpass.py Normal file
View File

@@ -0,0 +1,81 @@
"""
Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
"""
import numpy as np
from iqpilot.cereal import car, log
from iqdbc.car.car_helpers import interfaces
from iqdbc.car.toyota.values import CAR as TOYOTA
from iqdbc.car.vehicle_model import VehicleModel
from iqpilot.common.realtime import DT_CTRL
from iqpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
from iqpilot.selfdrive.car.helpers import convert_to_capnp
from iqpilot.selfdrive.car import interfaces as iqpilot_interfaces
from iqpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
CAR_NAME = TOYOTA.TOYOTA_COROLLA_TSS2
def _brain():
CI_cls = interfaces[CAR_NAME]
CP = CI_cls.get_non_essential_params(CAR_NAME)
CP_IQ = CI_cls.get_non_essential_params_iq(CP, CAR_NAME)
CI = CI_cls(CP, CP_IQ)
iqpilot_interfaces.apply_iq_car_config(CI)
ctrl = LatControlTorque(CP.as_reader(), convert_to_capnp(CP_IQ).as_reader(), CI, DT_CTRL)
return ctrl.nnff_assist, VehicleModel(CP)
def _model(rng):
# same-sign accel ramp (so sign_locked_min yields a real jerk) whose slope jitters frame to
# frame the way a spatial big model's path does — this is what drives jerk_ahead to swing.
n = max(CONTROL_N, 33)
slope = abs(0.5 + rng.normal(0, 0.25))
m = log.ModelDataV2.new_message()
m.acceleration.y = (slope * np.arange(n) * 0.1).tolist()
m.orientation.x = [0.0] * n
return m
def _cs():
cs = car.CarState.new_message()
cs.vEgo = 25.0
cs.steeringRateDeg = 0.0
return cs
def _run(lp_on):
brain, VM = _brain()
rng = np.random.default_rng(7)
cs = _cs()
out = []
for _ in range(400):
brain.update_model_v2(_model(rng))
if not lp_on:
brain._jerk_lp.update = lambda x: x # bypass low-pass == pre-fix behavior
brain.update_calculations(cs, VM, 0.0)
out.append(brain.jerk_ahead)
return np.array(out)
def test_lowpass_cuts_jerk_command_swing():
old = _run(lp_on=False)
new = _run(lp_on=True)
# the path must actually exercise the jerk feed-forward (guard against a vacuous test)
assert np.abs(np.diff(old)).mean() > 0.02, "input did not exercise jerk_ahead"
old_swing = np.abs(np.diff(old)).mean()
new_swing = np.abs(np.diff(new)).mean()
# low-pass must cut the frame-to-frame jerk swing (the wheel oscillation) by a large margin
assert new_swing < 0.3 * old_swing, (old_swing, new_swing)
def test_gain_zero_matches_stock():
brain, VM = _brain()
brain._jerk_param_ok = False
brain._jerk_gain = 0.0
rng = np.random.default_rng(1)
cs = _cs()
for _ in range(60):
brain.update_model_v2(_model(rng))
brain.update_calculations(cs, VM, 0.0)
assert brain.jerk_ahead == 0.0 # no model-jerk term == sunny/stock feedforward

1
iqpilot/selfdrive/iqmodeld/modeld_selector.py
View File

@@ -357,6 +357,7 @@ def main() -> None:
}))
if run_count % 100 == 0:
cloudlog.warning(f"modeld_selector misses: {miss_reasons}")
pwriter.put_bool(keys["active"], latch.active)
cloudlog.warning(f"modeld_selector: big_used={big_used_count}/{run_count} "
f"last_big_peek={big_peek} target={target} active={latch.active} "
f"max_big_lag={BIG_MAX_LAG_FRAMES}")

49
iqpilot/selfdrive/iqmodeld/tools/compile_egpu_model.py
View File

@@ -13,7 +13,9 @@ import time
os.environ.setdefault("FLOAT16", "1")
os.environ.setdefault("JIT_BATCH_SIZE", "0")
os.environ.setdefault("GMMU", "0")
os.environ.setdefault("TC_OPT", "2")
# TC_OPT=2 lets tinygrad pick tensor-core kernels; on some models a TC kernel miscompiles and biases
# the output (documented on Metal). A parity gate below catches it and re-compiles with TC off.
os.environ.setdefault("TC_OPT", "0" if ("--tc-off" in sys.argv or os.environ.get("IQ_EGPU_TC_OFF")) else "2")
HOST = "--host" in sys.argv
if HOST:
@@ -32,6 +34,10 @@ INPUT_SPEC = dict(MODEL_INPUT_SPEC)
patch_tinygrad_fetch_fw()
SEED = 42
class _ParityFail(RuntimeError):
pass
KERNEL_PROGRESS_SCALE = 260.0
@@ -151,6 +157,25 @@ def _policy_frame(seed: int, input_spec: dict):
return warped
def _tc_off_reference(onnx_path: str, meta: dict):
"""Compile+run the model with tensor cores OFF in a child process and return the last of 3
policy frames. This is the trusted reference: TC-off kernels are the conservative path the
eMac gate also trusts. Used to catch a TC kernel miscompile that would bias steering."""
import subprocess
import tempfile
with tempfile.TemporaryDirectory() as td:
ref = os.path.join(td, "ref.npy")
env = {k: v for k, v in os.environ.items() if k not in ("TC_OPT", "BEAM")}
env["TC_OPT"] = "0"
env["IQ_EGPU_REFERENCE"] = ref
r = subprocess.run([sys.executable, "-m", "iqpilot.selfdrive.iqmodeld.tools.compile_egpu_model",
"--model", meta["key"], "--onnx", onnx_path, "--tc-off"],
env=env, capture_output=True, text=True, timeout=14400)
if r.returncode != 0 or not os.path.isfile(ref):
raise RuntimeError(f"parity reference compile failed:\n{r.stderr[-2000:]}")
return np.load(ref)
def compile_policy_model(meta: dict, onnx_path: str, out_path: str) -> str:
from tinygrad.device import Device
from tinygrad.engine.jit import TinyJit
@@ -216,6 +241,10 @@ def compile_policy_model(meta: dict, onnx_path: str, out_path: str) -> str:
flat = out.numpy().reshape(-1)
packed.views["prev_feat"][:] = flat[meta["output_slices"]["hidden_state"]].reshape(packed.views["prev_feat"].shape)
outs.append(flat)
ref_target = os.environ.get("IQ_EGPU_REFERENCE")
if ref_target:
np.save(ref_target, outs[-1])
return out_path
if HOST:
os.replace(tmp, out_path)
return out_path
@@ -229,6 +258,13 @@ def compile_policy_model(meta: dict, onnx_path: str, out_path: str) -> str:
from iqpilot.selfdrive.iqmodeld.tools.compile_supercombo import _slice_outputs, _validate_pose_outputs
_validate_pose_outputs(PhaseParser().parse_vision_outputs(_slice_outputs(outs[-1], meta["output_slices"])))
if os.environ.get("TC_OPT") != "0" and not os.environ.get("IQ_EGPU_SKIP_PARITY"):
ref = _tc_off_reference(onnx_path, meta)
rel = float(np.abs(outs[-1] - ref).mean() / max(1e-3, float(np.abs(ref).mean())))
if rel > 0.01:
raise _ParityFail(f"PARITY FAIL: TC kernels miscompiled {meta['key']} (rel={rel:.4f} vs TC-off); recompiling with tensor cores disabled")
print(f" parity vs TC-off reference: rel={rel:.6f} OK")
os.replace(tmp, out_path)
return out_path
@@ -244,6 +280,7 @@ def main() -> None:
p.add_argument("--format", type=int, default=2, choices=(1, 2))
p.add_argument("--host", action="store_true", help="compile on a mock dock (no AMD hardware); outputs need a dock parity gate")
p.add_argument("--arch", default=None, help="target gfx arch for --host")
p.add_argument("--tc-off", action="store_true", help="disable tensor-core kernels (conservative; auto-set on parity failure)")
args = p.parse_args()
if args.host and args.format != 2:
raise SystemExit("--host supports format 2 only")
@@ -275,7 +312,15 @@ def main() -> None:
sampler.start()
try:
build = compile_policy_model if args.format == 2 else compile_model
out = build(meta, onnx_path, args.output or egpu_pkl_path(meta))
try:
out = build(meta, onnx_path, args.output or egpu_pkl_path(meta))
except _ParityFail as e:
if os.environ.get("TC_OPT") == "0" or args.format != 2:
raise
print(f"{e}\nretrying compile with tensor cores disabled", flush=True)
os.environ["TC_OPT"] = "0"
os.environ["IQ_EGPU_TC_OFF"] = "1"
out = compile_policy_model(meta, onnx_path, args.output or egpu_pkl_path(meta))
finally:
if stop is not None:
stop.set()

5
iqpilot/selfdrive/selfdrived/selfdrived.py
View File

@@ -274,7 +274,10 @@ class SelfdriveD(GapButtonActions):
dock_present = self.sm['deviceState'].egpuDockPresent
mac_active = self.params.get_bool("MacModelActive")
model_unavailable = big_active is True and self.sm.seen['modelV2'] and not self.sm.alive['modelV2']
big_failed = (big_active is False or model_unavailable
# an explicit False before this session's first activation is just the selector arming
# (it pre-clears the param on startup); alerting on it pops "big model failed" on every
# return to the road until the latch warms up
big_failed = ((self.big_model_active and big_active is False) or model_unavailable
or (self.big_model_active and not dock_present)) and not mac_active
if big_failed:
self.events.add(EventName.bigModelFailed)

16
iqpilot/selfdrive/ui/layouts/main.py
View File

@@ -152,7 +152,7 @@ class MainLayout(Widget):
self._layouts[MainState.ROUTES].set_on_play(self.open_video)
self._layouts[MainState.VIDEO].set_on_back(self.open_routes)
self._layouts[MainState.ONROAD].set_click_callback(self._on_onroad_clicked)
device.add_interactive_timeout_callback(self._set_mode_for_state)
device.add_interactive_timeout_callback(self._on_interactive_timeout)
def _update_layout_rects(self):
self._sidebar_rect = rl.Rectangle(self._rect.x, self._rect.y, SIDEBAR_WIDTH, self._rect.height)
@@ -166,6 +166,20 @@ class MainLayout(Widget):
self._set_mode_for_state()
def _car_stationary(self) -> bool:
if not ui_state.sm.valid["carState"]:
return False
return ui_state.sm["carState"].vEgo < 0.1
def _on_interactive_timeout(self):
# The idle timeout normally returns the UI to the road view. Don't yank the user out of Settings
# while the car is stationary - e.g. a hybrid parked with the engine running to charge reads as
# onroad (ignition tracks the ICE), so this would otherwise make Settings unusable while parked.
# A moving car still returns to the road view.
if self._current_mode == MainState.SETTINGS and ui_state.started and self._car_stationary():
return
self._set_mode_for_state()
def _set_mode_for_state(self):
if ui_state.started:
# Don't hide sidebar from interactive timeout

56
iqpilot/selfdrive/ui/tests/test_settings_interactive_timeout.py Normal file
View File

@@ -0,0 +1,56 @@
from types import SimpleNamespace
import pytest
from iqpilot.selfdrive.ui.layouts.main import MainLayout, MainState
def make_layout(current_mode):
layout = object.__new__(MainLayout)
layout._current_mode = current_mode
layout._set_mode_calls = []
layout._set_mode_for_state = lambda: layout._set_mode_calls.append(current_mode)
return layout
class FakeSm:
def __init__(self, v_ego, carstate_valid):
self.valid = {"carState": carstate_valid}
self._v_ego = v_ego
def __getitem__(self, key):
return SimpleNamespace(vEgo=self._v_ego)
class TestSettingsInteractiveTimeout:
def _run(self, current_mode, started, v_ego, carstate_valid=True):
layout = make_layout(current_mode)
fake = SimpleNamespace(started=started, sm=FakeSm(v_ego, carstate_valid))
monkeypatch = pytest.MonkeyPatch()
monkeypatch.setattr("iqpilot.selfdrive.ui.layouts.main.ui_state", fake)
try:
layout._on_interactive_timeout()
finally:
monkeypatch.undo()
return layout._set_mode_calls
def test_stationary_in_settings_stays(self):
# parked/charging hybrid reads onroad; the timeout must not eject from Settings
assert self._run(MainState.SETTINGS, started=True, v_ego=0.0) == []
def test_moving_in_settings_returns_to_road(self):
assert self._run(MainState.SETTINGS, started=True, v_ego=5.0) == [MainState.SETTINGS]
def test_onroad_layout_always_handled(self):
assert self._run(MainState.ONROAD, started=True, v_ego=0.0) == [MainState.ONROAD]
def test_home_layout_always_handled(self):
assert self._run(MainState.HOME, started=True, v_ego=0.0) == [MainState.HOME]
def test_offroad_in_settings_handled(self):
# car off (offroad): existing behavior is unchanged
assert self._run(MainState.SETTINGS, started=False, v_ego=0.0) == [MainState.SETTINGS]
def test_invalid_carstate_treated_as_moving(self):
# if speed is unknown, fail safe to the road view rather than trapping in settings
assert self._run(MainState.SETTINGS, started=True, v_ego=0.0, carstate_valid=False) == [MainState.SETTINGS]

8
iqpilot/system/hardware/tici/agnos.json
View File

@@ -67,14 +67,14 @@
},
{
"name": "boot",
"url": "https://git.konn3kt.com/IQ.Lvbs/iqos/raw/branch/master/boot-aea4aecefd188d9c95726b699902378676c6266a7ae37008b5c2aa0e1e1190fb.img.xz",
"hash": "aea4aecefd188d9c95726b699902378676c6266a7ae37008b5c2aa0e1e1190fb",
"hash_raw": "aea4aecefd188d9c95726b699902378676c6266a7ae37008b5c2aa0e1e1190fb",
"url": "https://git.konn3kt.com/IQ.Lvbs/iqos/raw/branch/master/boot-4258981292746f5622f4a03a1e0c1d77379660e46bbaa455c504d638b5307906.img.xz",
"hash": "4258981292746f5622f4a03a1e0c1d77379660e46bbaa455c504d638b5307906",
"hash_raw": "4258981292746f5622f4a03a1e0c1d77379660e46bbaa455c504d638b5307906",
"size": 18216960,
"sparse": false,
"full_check": true,
"has_ab": true,
"ondevice_hash": "f568e4394e36a367de58cce2b982bf597963e088b6a00b1ac88ca03cce8f62fd"
"ondevice_hash": "7be61ba2be5617ac22d6beb8ba8b896109a554347021f5e44b72458748336975"
},
{
"name": "system",

2
iqpilot/system/hardware/tici/agnos.json.sig
View File

@@ -1 +1 @@
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Myu8k7msX7pt28JKl1Lx5/NnXu9i15nT8bFWnwGsip8wdCYPJqj69AWrfCtlg9YrR98O6ThCAEA1uzUfsrTeDQ==

8
iqpilot/system/hardware/tici/agnos_tici_15_1.json
View File

@@ -56,14 +56,14 @@
},
{
"name": "boot",
"url": "https://git.konn3kt.com/IQ.Lvbs/iqos/raw/branch/master/boot-aea4aecefd188d9c95726b699902378676c6266a7ae37008b5c2aa0e1e1190fb.img.xz",
"hash": "aea4aecefd188d9c95726b699902378676c6266a7ae37008b5c2aa0e1e1190fb",
"hash_raw": "aea4aecefd188d9c95726b699902378676c6266a7ae37008b5c2aa0e1e1190fb",
"url": "https://git.konn3kt.com/IQ.Lvbs/iqos/raw/branch/master/boot-4258981292746f5622f4a03a1e0c1d77379660e46bbaa455c504d638b5307906.img.xz",
"hash": "4258981292746f5622f4a03a1e0c1d77379660e46bbaa455c504d638b5307906",
"hash_raw": "4258981292746f5622f4a03a1e0c1d77379660e46bbaa455c504d638b5307906",
"size": 18216960,
"sparse": false,
"full_check": true,
"has_ab": true,
"ondevice_hash": "f568e4394e36a367de58cce2b982bf597963e088b6a00b1ac88ca03cce8f62fd"
"ondevice_hash": "7be61ba2be5617ac22d6beb8ba8b896109a554347021f5e44b72458748336975"
},
{
"name": "system",

2
iqpilot/system/hardware/tici/agnos_tici_15_1.json.sig
View File

@@ -1 +1 @@
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aGtkoy//jP3MWJmd5uvb/mxKu1KsE8ZlhrTUr1CPCotwjIVzsxOncUGN9HnUcMXoUWZbUWz9H8Q+ARYxz41/Ag==