October 13th, 2024 Update

README.md

@@ -21,7 +21,7 @@ FrogPilot is a fully open-sourced fork of openpilot, featuring clear and concise
 ------
 FrogPilot was last updated on:
 
-**October 7th, 2024**
+**October 15th, 2024**
 
 Features
 ------

cereal/log.capnp

@@ -1958,8 +1958,7 @@ struct Joystick {
 struct DriverStateV2 {
   frameId @0 :UInt32;
   modelExecutionTime @1 :Float32;
-  dspExecutionTimeDEPRECATED @2 :Float32;
-  gpuExecutionTime @8 :Float32;
+  dspExecutionTime @2 :Float32;
   rawPredictions @3 :Data;
 
   poorVisionProb @4 :Float32;

common/params.cc

@@ -272,6 +272,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"ConditionalExperimental", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"CrosstrekTorque", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES},
     {"CurrentHolidayTheme", CLEAR_ON_MANAGER_START},
+    {"CurrentModelName", CLEAR_ON_MANAGER_START},
     {"CurveSensitivity", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"CurveSpeedControl", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"CustomAlerts", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
@@ -390,7 +391,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"MapsSelected", PERSISTENT | FROGPILOT_OTHER},
     {"MapSpeedLimit", PERSISTENT},
     {"MapStyle", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
-    {"MapTargetLatA", PERSISTENT},
     {"MapTargetVelocities", PERSISTENT},
     {"MaxDesiredAcceleration", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"MinimumBackupSize", PERSISTENT},

selfdrive/car/car_helpers.py

@@ -24,10 +24,8 @@
 def get_startup_event(car_recognized, controller_available, fw_seen, block_user, frogpilot_toggles):
   if block_user:
     return EventName.blockUser
-  elif frogpilot_toggles.personalize_openpilot:
-    event = EventName.customStartupAlert
   else:
-    event = EventName.startupMaster
+    event = EventName.customStartupAlert
 
   if not car_recognized:
     if fw_seen:

selfdrive/car/toyota/carstate.py

@@ -24,9 +24,6 @@
 # - prolonged high driver torque: 17 (permanent)
 PERM_STEER_FAULTS = (3, 17)
 
-ZSS_THRESHOLD = 4.0
-ZSS_THRESHOLD_COUNT = 10
-
 # Traffic signals for Speed Limit Controller - Credit goes to the DragonPilot team!
 @staticmethod
 def calculate_speed_limit(cp_cam, frogpilot_toggles):
@@ -70,11 +67,11 @@ def __init__(self, CP):
     self.slope_angle = 0.0
 
     # FrogPilot variables
-    self.zss_compute = False
-    self.zss_cruise_active_last = False
+    self.latActive_previous = False
+    self.needs_angle_offset_zss = True
 
-    self.zss_angle_offset = 0
-    self.zss_threshold_count = 0
+    self.angle_offset_zss = 0
+    self.zorro_steer_value = 0
 
   def update(self, cp, cp_cam, CC, frogpilot_toggles):
     ret = car.CarState.new_message()
@@ -243,28 +240,27 @@ def update(self, cp, cp_cam, CC, frogpilot_toggles):
       self.lkas_previously_enabled = self.lkas_enabled
       self.lkas_enabled = self.lkas_hud.get("LDA_ON_MESSAGE") == 1
 
-    # ZSS Support - Credit goes to the DragonPilot team!
-    if self.CP.flags & ToyotaFlags.ZSS and self.zss_threshold_count <= ZSS_THRESHOLD_COUNT:
-      zorro_steer = cp.vl["SECONDARY_STEER_ANGLE"]["ZORRO_STEER"]
+    # ZSS Support - Credit goes to Erich!
+    if self.CP.flags & ToyotaFlags.ZSS:
+      if abs(torque_sensor_angle_deg) > 1e-3:
+        self.accurate_steer_angle_seen = True
 
-      # Only compute ZSS offset when control is active
-      if CC.latActive and not self.zss_cruise_active_last:
-        self.zss_threshold_count = 0
-        self.zss_compute = True  # Control was just activated, so allow offset to be recomputed
-      self.zss_cruise_active_last = CC.latActive
+      if CC.latActive and not self.latActive_previous:
+        self.needs_angle_offset_zss = True
+      self.latActive_previous = CC.latActive
 
-      # Compute ZSS offset
-      if self.zss_compute:
+      if self.needs_angle_offset_zss:
+        zorro_steer = cp.vl["SECONDARY_STEER_ANGLE"]["ZORRO_STEER"]
         if abs(ret.steeringAngleDeg) > 1e-3 and abs(zorro_steer) > 1e-3:
-          self.zss_compute = False
-          self.zss_angle_offset = zorro_steer - ret.steeringAngleDeg
+          self.needs_angle_offset_zss = False
+          self.angle_offset_zss = zorro_steer - ret.steeringAngleDeg
+      self.zorro_steer_value = cp.vl["SECONDARY_STEER_ANGLE"]["ZORRO_STEER"] - self.angle_offset_zss
 
-      # Safety checks
-      steering_angle_deg = zorro_steer - self.zss_angle_offset
-      if abs(ret.steeringAngleDeg - steering_angle_deg) > ZSS_THRESHOLD:
-        self.zss_threshold_count += 1
-      else:
-        ret.steeringAngleDeg = steering_angle_deg
+      if not self.needs_angle_offset_zss:
+        if abs(ret.steeringAngleDeg - self.zorro_steer_value) > 4.0:
+          ret.steeringAngleDeg = ret.steeringAngleDeg
+        else:
+          ret.steeringAngleDeg = self.zorro_steer_value
 
     return ret, fp_ret
 
@@ -325,7 +321,8 @@ def get_can_parser(CP):
         ("SDSU", 100),
       ]
 
-    messages += [("SECONDARY_STEER_ANGLE", 0)]
+    if CP.flags & ToyotaFlags.ZSS:
+      messages += [("SECONDARY_STEER_ANGLE", 0)]
 
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
 

selfdrive/car/toyota/interface.py

@@ -42,9 +42,6 @@ def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, exp
       ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
       ret.steerLimitTimer = 0.4
 
-      if 0x23 in fingerprint[0]:  # Detect if ZSS is present
-        ret.flags |= ToyotaFlags.ZSS.value
-
     ret.stoppingControl = False  # Toyota starts braking more when it thinks you want to stop
 
     # Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it
@@ -73,6 +70,9 @@ def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, exp
           ret.steerActuatorDelay = 0.25
           CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg=0.2)
 
+      if 0x23 in fingerprint[0]:  # Detect if ZSS is present
+        ret.flags |= ToyotaFlags.ZSS.value
+
     elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2):
       ret.wheelSpeedFactor = 1.035
 
@@ -156,10 +156,10 @@ def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, exp
       tune.kiV = [3.6, 2.4, 1.5]
 
     if params.get_bool("FrogsGoMoosTweak"):
-      if candidate in TSS2_CAR or ret.flags & ToyotaFlags.NEW_TOYOTA_TUNE:
+      if ret.flags & ToyotaFlags.NEW_TOYOTA_TUNE or ret.flags & ToyotaFlags.RAISED_ACCEL_LIMIT:
         tune.kiV = [0.3]
 
-      ret.stoppingDecelRate = 0.01  # reach stopping target smoothly
+      ret.stoppingDecelRate = 0.1  # reach stopping target smoothly
       ret.vEgoStopping = 0.15
       ret.vEgoStarting = 0.15
 

selfdrive/classic_modeld/classic_modeld.py

@@ -60,8 +60,9 @@ def __init__(self, context: CLContext, frogpilot_toggles: SimpleNamespace):
     self.enable_navigation = not frogpilot_toggles.navigationless_model
     self.radarless = frogpilot_toggles.radarless_model
 
-    if frogpilot_toggles.model != DEFAULT_MODEL:
-      MODEL_PATHS[ModelRunner.THNEED] = Path(__file__).parent / f'{MODELS_PATH}/{frogpilot_toggles.model}.thneed'
+    model_path = Path(__file__).parent / f'{MODELS_PATH}/{frogpilot_toggles.model}.thneed'
+    if frogpilot_toggles.model != DEFAULT_MODEL and model_path.exists():
+      MODEL_PATHS[ModelRunner.THNEED] = model_path
 
     self.frame = ModelFrame(context)
     self.wide_frame = ModelFrame(context)