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IQ.Pilot Release Commit @ bec7652

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IQ.Lvbs CI [bot]
2026-08-22 21:28:16 -05:00
parent 9e52535231
commit e0fd0efe96
4825 changed files with 177522 additions and 75780 deletions
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23
iqpilot/selfdrive/controls/iq_controls_layer.py
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@@ -7,18 +7,17 @@ guidance continuity) and the lateral-engage gate, without touching stock control
"""
import time
import cereal.messaging as messaging
from cereal import log, custom
import iqpilot.cereal.messaging as messaging
from iqpilot.cereal import log, custom
from iqdbc.car import structs
from openpilot.common.constants import CV
from openpilot.common.params import Params
from openpilot.common.swaglog import cloudlog
from openpilot.iqpilot.common.steer_delay import resolve_steer_delay
from openpilot.iqpilot.selfdrive.car.enhanced_stock_longitudinal_control import build_iq_control_params_from_plan
from openpilot.iqpilot.selfdrive.iqmodeld.models.inference_state import InferenceStateBase
from openpilot.iqpilot.selfdrive.controls.lib.helpers.blinker_pause import IQSignalPauseController
from openpilot.iqpilot.selfdrive.controls.lib.iq_dynamic.radar_manager import RadarManager
from iqpilot.common.constants import CV
from iqpilot.common.params import Params
from iqpilot.common.swaglog import cloudlog
from iqpilot.selfdrive.car.enhanced_stock_longitudinal_control import build_iq_control_params_from_plan
from iqpilot.selfdrive.iqmodeld.models.inference_state import InferenceStateBase
from iqpilot.selfdrive.controls.lib.helpers.blinker_pause import IQSignalPauseController
from iqpilot.selfdrive.controls.lib.iq_dynamic.radar_manager import RadarManager
_PARAM_REFRESH_S = 3.0
_LEAD_FIELDS = ("dRel", "yRel", "vRel", "aRel", "vLead", "dPath", "vLat", "vLeadK",
@@ -60,7 +59,7 @@ class IQControlsLayer(InferenceStateBase):
return
self.blinker_pause_lateral.get_params()
if self.CP.lateralTuning.which() == 'torque':
self.lat_delay = resolve_steer_delay(self.params, sm["liveDelay"].lateralDelay)
self.lat_delay = sm["lateralDelay"].lateralDelay
self._sync_set_speed = self._want_set_speed_to_limit()
self.radar_manager.read_params()
self._next_param_refresh = now
@@ -85,7 +84,7 @@ class IQControlsLayer(InferenceStateBase):
# --- build + publish the IQ car-control message ------------------------------
def _compose_iq_carcontrol(self, sm: messaging.SubMaster) -> custom.IQCarControl:
CC_IQ = custom.IQCarControl.new_message()
lp = sm['liveParameters']
lp = sm['vehicleParameters']
CC_IQ.angleOffsetDeg = float(getattr(lp, 'angleOffsetDeg', 0.0))
CC_IQ.aol = sm['iqState'].aol