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IQ.Pilot Release Commit @ f82ff4d

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IQ.Lvbs CI [bot]
2026-07-21 13:43:46 -05:00
parent 7b20edda67
commit b712a31728
717 changed files with 4347 additions and 3060 deletions
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selfdrive/controls/controlsd.py
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@@ -11,8 +11,8 @@ from openpilot.common.params import Params
from openpilot.common.realtime import config_realtime_process, lock_memory, DT_CTRL, Priority, Ratekeeper
from openpilot.common.swaglog import cloudlog
from opendbc.car.car_helpers import interfaces
from opendbc.car.vehicle_model import VehicleModel
from iqdbc.car.car_helpers import interfaces
from iqdbc.car.vehicle_model import VehicleModel
from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature
from openpilot.selfdrive.controls.lib.latcontrol import LatControl
from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
@@ -99,7 +99,7 @@ class Controls(IQControlsLayer):
try:
if self.CP.brand != 'volkswagen':
return False
from opendbc.car.volkswagen.values import VolkswagenFlags
from iqdbc.car.volkswagen.values import VolkswagenFlags
return bool(self.CP.flags & VolkswagenFlags.PQ)
except Exception:
cloudlog.exception("pq torque selection failed; using generic torque")
@@ -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()