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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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tools/joystick/joystickd.py
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@@ -4,7 +4,7 @@ import math
import numpy as np
from cereal import messaging, car
from opendbc.car.vehicle_model import VehicleModel
from iqdbc.car.vehicle_model import VehicleModel
from openpilot.common.realtime import DT_CTRL, Ratekeeper
from openpilot.common.params import Params
from openpilot.common.swaglog import cloudlog
@@ -15,6 +15,7 @@ MAX_STEERING_ANGLE_DEG = 500.0
ACCEL_RELEASE_THRESHOLD = 0.01
DECEL_REQUEST_THRESHOLD = -0.02
STOPPING_HOLD_SPEED_MARGIN = 0.3
STOPPING_SPEED = 0.25
def get_lateral_joystick_outputs(CP: car.CarParams, VM: VehicleModel, v_ego: float, roll: float, steer_axis: float) -> tuple[float, float, float]:
@@ -83,7 +84,7 @@ def joystickd_thread():
positive_accel_requested = accel_cmd > ACCEL_RELEASE_THRESHOLD
negative_accel_requested = accel_cmd < DECEL_REQUEST_THRESHOLD
near_stop = sm['carState'].standstill or sm['carState'].vEgo <= (CP.vEgoStopping + STOPPING_HOLD_SPEED_MARGIN)
near_stop = sm['carState'].standstill or sm['carState'].vEgo <= (STOPPING_SPEED + STOPPING_HOLD_SPEED_MARGIN)
if positive_accel_requested:
stop_hold_latched = False
@@ -95,7 +96,7 @@ def joystickd_thread():
stop_hold_latched = True
# If we are moving again and driver is not asking for decel, clear stale hold state.
if stop_hold_latched and sm['carState'].vEgo > (CP.vEgoStopping + STOPPING_HOLD_SPEED_MARGIN) and not negative_accel_requested:
if stop_hold_latched and sm['carState'].vEgo > (STOPPING_SPEED + STOPPING_HOLD_SPEED_MARGIN) and not negative_accel_requested:
stop_hold_latched = False
decel_intent_latched = False