making params_learner and pathplanner only work with ALCA/our modules…

… when car is tesla
rafcabezas · Apr 25, 2020 · 4e5f9ff · 4e5f9ff
1 parent e877229
commit 4e5f9ff
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Showing 50 changed files with 17 additions and 140 deletions.
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
@@ -50,7 +50,10 @@ def test_car_interfaces(self):
       assert radar_interface
 
       # Run radar interface once
-      radar_interface.update([], 0.)
+      if car_params.carName == "tesla":
+        radar_interface.update([], 0.)
+      else:
+        radar_interface.update([])
       if hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'):
         radar_interface._update([radar_interface.trigger_msg])
 

diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py
@@ -48,7 +48,7 @@ def calc_states_after_delay(states, v_ego, steer_angle, curvature_factor, steer_
 
 class PathPlanner():
   def __init__(self, CP):
-    self.LP = LanePlanner(shouldUseAlca=True)
+    self.LP = LanePlanner(shouldUseAlca=(CP.carName=="tesla"))
 
     self.last_cloudlog_t = 0
     self.steer_rate_cost = CP.steerRateCost
@@ -104,7 +104,7 @@ def update(self, sm, pm, CP, VM):
 
 
     #BB blocking comma ALCA for now
-    if True or (not active) or (self.lane_change_timer > LANE_CHANGE_TIME_MAX) or (not one_blinker) or (not self.lane_change_enabled):
+    if (CP.carName == "tesla") or (not active) or (self.lane_change_timer > LANE_CHANGE_TIME_MAX) or (not one_blinker) or (not self.lane_change_enabled):
       self.lane_change_state = LaneChangeState.off
       self.lane_change_direction = LaneChangeDirection.none
     else:

diff --git a/selfdrive/locationd/params_learner.cc b/selfdrive/locationd/params_learner.cc
@@ -7,6 +7,7 @@
 #include "cereal/gen/cpp/log.capnp.h"
 #include "cereal/gen/cpp/car.capnp.h"
 #include "params_learner.h"
+#include <string>
 
 // #define DEBUG
 
@@ -28,6 +29,13 @@ ParamsLearner::ParamsLearner(cereal::CarParams::Reader car_params,
   cF0 = car_params.getTireStiffnessFront();
   cR0 = car_params.getTireStiffnessRear();
 
+  std::string carName = car_params.getCarName();
+  if (carName == "tesla") {
+    is_tesla = 1;
+  } else {
+    is_tesla = 0;
+  }
+
   prev_u = 0;
 
   l = car_params.getWheelbase();
@@ -62,7 +70,7 @@ bool ParamsLearner::update(double psi, double u, double sa) {
 
     //only consider if acceleration [abs(prev_speed - speed) * frequency] is less than MAX_ACCEL
     double a = abs(prev_u - u) * FREQUENCY;
-    if (a < MAX_ACCEL) {
+    if ((a < MAX_ACCEL) || (is_tesla == 0)) {
       ao = new_ao;
       slow_ao = new_slow_ao;
       x = new_x;

diff --git a/selfdrive/locationd/params_learner.h b/selfdrive/locationd/params_learner.h
@@ -29,6 +29,7 @@ class ParamsLearner {
   double slow_ao;
   double x, sR;
   double prev_u; //BB previous speed so we only learn when speed is constant between iterations
+  int is_tesla;
 
   ParamsLearner(cereal::CarParams::Reader car_params,
                 double angle_offset,

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