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IQ.Pilot Release Commit @ d23cc80

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IQ.Lvbs CI [bot]
2026-07-27 18:01:16 -05:00
parent 46277b19ec
commit a70938008a
74 changed files with 715 additions and 1296 deletions
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4
iqdbc_repo/iqdbc/car/subaru/carcontroller.py
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@@ -6,7 +6,7 @@ from iqdbc.car.interfaces import CarControllerBase
from iqdbc.car.subaru import subarucan
from iqdbc.car.subaru.values import DBC, GLOBAL_ES_ADDR, CanBus, CarControllerParams, SubaruFlags
from iqdbc.lvbs.car.subaru.stop_and_go import IQStopAndGoController
from iqdbc.lvbs.car.subaru.creep_assist import IQStopAndGoController
# FIXME: These limits aren't exact. The real limit is more than likely over a larger time period and
# involves the total steering angle change rather than rate, but these limits work well for now
@@ -139,7 +139,7 @@ class CarController(CarControllerBase, IQStopAndGoController):
if self.frame % 2 == 0:
can_sends.append(subarucan.create_es_static_2(self.packer))
can_sends.extend(IQStopAndGoController.create_stop_and_go(self, self.packer, CC, CS, self.frame))
can_sends.extend(IQStopAndGoController.create_creep_assist(self, self.packer, CC, CS, self.frame))
new_actuators = actuators.as_builder()
new_actuators.torque = self.apply_torque_last / self.p.STEER_MAX

2
iqdbc_repo/iqdbc/car/subaru/carstate.py
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@@ -7,7 +7,7 @@ from iqdbc.car.subaru.values import DBC, CanBus, SubaruFlags
from iqdbc.car import CanSignalRateCalculator
from iqdbc.lvbs.car.subaru.aol import AolCarState
from iqdbc.lvbs.car.subaru.stop_and_go import IQStopAndGoState
from iqdbc.lvbs.car.subaru.creep_assist import IQStopAndGoState
class CarState(CarStateBase, AolCarState, IQStopAndGoState):

6
iqdbc_repo/iqdbc/car/tesla/carcontroller.py
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@@ -7,7 +7,7 @@ from iqdbc.car.tesla.teslacan import TeslaCAN
from iqdbc.car.tesla.values import CarControllerParams
from iqdbc.car.vehicle_model import VehicleModel
from openpilot.iqpilot.selfdrive.car.enhanced_stock_longitudinal_control import get_set_speed_kph_from_params
from iqdbc.lvbs.car.tesla.coop_steering import CoopSteeringCarController
from iqdbc.lvbs.car.tesla.torque_blend import TorqueBlendController
def get_safety_CP():
@@ -20,7 +20,7 @@ def get_safety_CP():
class CarController(CarControllerBase):
def __init__(self, dbc_names, CP, CP_IQ):
CarControllerBase.__init__(self, dbc_names, CP, CP_IQ)
self.coop_steer = CoopSteeringCarController()
self.coop_steer = TorqueBlendController()
self.apply_angle_last = 0
self.packer = CANPacker(dbc_names[Bus.party])
self.tesla_can = TeslaCAN(CP, self.packer)
@@ -66,7 +66,7 @@ class CarController(CarControllerBase):
# TODO: HUD control
new_actuators = actuators.as_builder()
new_actuators.steeringAngleDeg = self.apply_angle_last
new_actuators.accel = self.coop_steer.coop_apply_angle_last_sat # debug
new_actuators.accel = self.coop_steer.blend_apply_angle_last_sat # debug
new_actuators.curvature = float(self.coop_steer.debug_angle_desired_limited) # debug
new_actuators.torque = float(self.coop_steer.override_angle_accu) # debug