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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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10
selfdrive/controls/lib/latcontrol_torque.py
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@@ -8,10 +8,10 @@ from difflib import SequenceMatcher
import numpy as np
from cereal import log, custom # noqa: F401 (custom kept available for downstream imports)
from opendbc.car import structs
from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction
from opendbc.iqpilot.car.interfaces import LatControlInputs
from opendbc.iqpilot.car.lateral_ext import get_friction as get_friction_in_torque_space
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 openpilot.common.basedir import BASEDIR
from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
from openpilot.common.filter_simple import FirstOrderFilter
@@ -27,7 +27,7 @@ from openpilot.iqpilot.selfdrive.controls.lib.helpers.nav_torque_pulse import Na
# ===== locator =====
TORQUE_NN_MODEL_PATH = os.path.join(BASEDIR, "iqpilot", "iqpilot_iq_nnff_models", "neural_network_lateral_control")
TORQUE_NN_MODEL_SUBSTITUTE_PATH = os.path.join(BASEDIR, "opendbc", "car", "torque_data", "substitute.toml")
TORQUE_NN_MODEL_SUBSTITUTE_PATH = os.path.join(BASEDIR, "iqdbc", "car", "torque_data", "substitute.toml")
MOCK_MODEL_PATH = os.path.join(TORQUE_NN_MODEL_PATH, "MOCK.json")
# A candidate must reach this score for the fingerprint(+fw) match to count as exact.