From 2b486b15c6718d076ef40098998971a5874abd1b Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Wed, 2 Oct 2024 14:47:09 -0700 Subject: [PATCH 1/2] MLSIM trained model V1 (#33698) * 87c86ea8-9766-43e9-b72f-185496800301/400 * update ref --- selfdrive/modeld/models/supercombo.onnx | 2 +- selfdrive/test/process_replay/model_replay_ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 49b51c182edee0..89042dbe474334 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:dd55319c8e3e9ac120f2b1bb1131cb67018669dfc0f7ebd31c27cc6de3e9f959 +oid sha256:2431f40b8ca9926629e461e06316f9bbba984c821ebbc11e6449ca0c96c42d95 size 50309976 diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index f8fd5175482ea8..f14eef06b9f7bc 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -05b1cb87e32f280e46e0f45bbd6d76d5fd3f57a7 +c4d60dfe4b677f9230eebb47614501ea8d0b99a3 From 6f0927011cd1ffa94784b42ea5cda72a1ae624d7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 2 Oct 2024 15:10:33 -0700 Subject: [PATCH 2/2] CarState: add low speed alert field (#33712) * clean up mazda steer speed alert * bump --- cereal/car.capnp | 1 + opendbc_repo | 2 +- selfdrive/car/car_specific.py | 10 +++------- 3 files changed, 5 insertions(+), 8 deletions(-) diff --git a/cereal/car.capnp b/cereal/car.capnp index e53f3ce25c9612..6eff704ecb2b12 100644 --- a/cereal/car.capnp +++ b/cereal/car.capnp @@ -207,6 +207,7 @@ struct CarState { carFaultedNonCritical @47 :Bool; # some ECU is faulted, but car remains controllable espActive @51 :Bool; vehicleSensorsInvalid @52 :Bool; # invalid steering angle readings, etc. + lowSpeedAlert @56 :Bool; # lost steering control due to a dynamic min steering speed # cruise state cruiseState @10 :CruiseState; diff --git a/opendbc_repo b/opendbc_repo index 900246ddb3ff10..a363ce1ff452e6 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 900246ddb3ff107f55aab1c8e0d96713a6f4a770 +Subproject commit a363ce1ff452e63f2e49938508d97aece4ba6a3e diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index b43a4c4fc7c987..ee2dee77de3d5d 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -45,7 +45,7 @@ def update(self, CS: CarStateBase, CS_prev: car.CarState, CC_prev: car.CarContro if self.CP.carName in ('body', 'mock'): events = Events() - elif self.CP.carName == 'subaru': + elif self.CP.carName in ('subaru', 'mazda'): events = self.create_common_events(CS.out, CS_prev) elif self.CP.carName == 'ford': @@ -54,12 +54,6 @@ def update(self, CS: CarStateBase, CS_prev: car.CarState, CC_prev: car.CarContro elif self.CP.carName == 'nissan': events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.brake]) - elif self.CP.carName == 'mazda': - events = self.create_common_events(CS.out, CS_prev) - - if CS.low_speed_alert: # type: ignore[attr-defined] - events.add(EventName.belowSteerSpeed) - elif self.CP.carName == 'chrysler': events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.low]) @@ -212,6 +206,8 @@ def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extr events.add(EventName.vehicleSensorsInvalid) if CS.invalidLkasSetting: events.add(EventName.invalidLkasSetting) + if CS.lowSpeedAlert: + events.add(EventName.belowSteerSpeed) # Handle button presses for b in CS.buttonEvents: