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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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31
selfdrive/controls/lib/longcontrol.py
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@@ -11,16 +11,13 @@ CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
LongCtrlState = car.CarControl.Actuators.LongControlState
def long_control_state_trans(CP, CP_IQ, active, long_control_state, v_ego,
should_stop, brake_pressed, cruise_standstill):
def long_control_state_trans(CP_IQ, active, long_control_state, should_stop, brake_pressed, cruise_standstill):
# Gas Interceptor
cruise_standstill = cruise_standstill and not CP_IQ.enableGasInterceptor
stopping_condition = should_stop
starting_condition = (not should_stop and
not cruise_standstill and
not brake_pressed)
started_condition = v_ego > CP.vEgoStarting
if not active:
long_control_state = LongCtrlState.off
@@ -30,22 +27,15 @@ def long_control_state_trans(CP, CP_IQ, active, long_control_state, v_ego,
if not starting_condition:
long_control_state = LongCtrlState.stopping
else:
if starting_condition and CP.startingState:
long_control_state = LongCtrlState.starting
else:
long_control_state = LongCtrlState.pid
long_control_state = LongCtrlState.pid
elif long_control_state == LongCtrlState.stopping:
if starting_condition and CP.startingState:
long_control_state = LongCtrlState.starting
elif starting_condition:
if starting_condition:
long_control_state = LongCtrlState.pid
elif long_control_state in [LongCtrlState.starting, LongCtrlState.pid]:
if stopping_condition:
elif long_control_state == LongCtrlState.pid:
if should_stop:
long_control_state = LongCtrlState.stopping
elif started_condition:
long_control_state = LongCtrlState.pid
return long_control_state
class LongControl:
@@ -73,8 +63,7 @@ class LongControl:
else:
stop_now = should_stop
self.long_control_state = long_control_state_trans(self.CP, self.CP_IQ, active, self.long_control_state, CS.vEgo,
stop_now, CS.brakePressed,
self.long_control_state = long_control_state_trans(self.CP_IQ, active, self.long_control_state, stop_now, CS.brakePressed,
CS.cruiseState.standstill)
if self.long_control_state == LongCtrlState.off:
self.reset()
@@ -85,12 +74,8 @@ class LongControl:
output_accel = self.last_output_accel
if output_accel > self.CP.stopAccel:
output_accel = min(output_accel, 0.0)
output_accel -= self.CP.stoppingDecelRate * DT_CTRL
self.reset()
self.smooth.reset()
elif self.long_control_state == LongCtrlState.starting:
output_accel = self.CP.startAccel
# TODO: can we just go straight to stopAccel?
output_accel -= 1.0 * DT_CTRL # m/s^2/s while trying to stop
self.reset()
self.smooth.reset()