October 15th, 2024 Patch

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
 
@@ -156,8 +156,8 @@ 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:
-        tune.kiV = [0.5]
+      if ret.flags & ToyotaFlags.NEW_TOYOTA_TUNE or ret.flags & ToyotaFlags.RAISED_ACCEL_LIMIT:
+        tune.kiV = [0.3]
 
       ret.stoppingDecelRate = 0.1  # reach stopping target smoothly
       ret.vEgoStopping = 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)

selfdrive/controls/controlsd.py

@@ -730,7 +730,7 @@ def update_frogpilot_variables(self, CS):
     self.always_on_lateral_active &= not (CS.brakePressed and CS.vEgo < self.frogpilot_toggles.always_on_lateral_pause_speed) or CS.standstill
     self.always_on_lateral_active = bool(self.always_on_lateral_active)
 
-    if self.frogpilot_toggles.conditional_experimental_mode:
+    if self.frogpilot_toggles.conditional_experimental_mode or self.frogpilot_toggles.slc_fallback_experimental:
       self.experimental_mode = self.sm['frogpilotPlan'].experimentalMode
 
     if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents):

selfdrive/controls/lib/latcontrol_pid.py

@@ -37,7 +37,7 @@ def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk,
       steer_feedforward = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
 
       output_steer = self.pid.update(error, override=CS.steeringPressed,
-                                     feedforward=steer_feedforward, speed=CS.vEgo, frogpilot_toggles=frogpilot_toggles)
+                                     feedforward=steer_feedforward, speed=CS.vEgo)
       pid_log.active = True
       pid_log.p = self.pid.p
       pid_log.i = self.pid.i

selfdrive/frogpilot/assets/holiday_themes/halloween_week/colors/colors.json

@@ -12,15 +12,15 @@
     "alpha": 255
   },
   "Path": {
-    "red": 242,
-    "green": 117,
-    "blue": 3,
+    "red": 134,
+    "green": 47,
+    "blue": 224,
     "alpha": 255
   },
   "PathEdge": {
-    "red": 194,
-    "green": 94,
-    "blue": 2,
+    "red": 161,
+    "green": 56,
+    "blue": 255,
     "alpha": 255
   },
   "RoadEdges": {
@@ -30,9 +30,9 @@
     "alpha": 255
   },
   "Sidebar1": {
-    "red": 242,
-    "green": 117,
-    "blue": 3,
+    "red": 134,
+    "green": 47,
+    "blue": 224,
     "alpha": 255
   },
   "Sidebar2": {
@@ -42,9 +42,9 @@
     "alpha": 255
   },
   "Sidebar3": {
-    "red": 242,
-    "green": 117,
-    "blue": 3,
+    "red": 80,
+    "green": 184,
+    "blue": 72,
     "alpha": 255
   }
 }

selfdrive/frogpilot/assets/model_manager.py

@@ -182,26 +182,22 @@ def validate_models(self):
 
   def copy_default_model(self):
     default_model_path = os.path.join(MODELS_PATH, f"{DEFAULT_MODEL}.thneed")
+    source_path = os.path.join(BASEDIR, "selfdrive", "classic_modeld", "models", "supercombo.thneed")
 
-    if not os.path.isfile(default_model_path):
-      source_path = os.path.join(BASEDIR, "selfdrive", "classic_modeld", "models", "supercombo.thneed")
-
-      if os.path.isfile(source_path):
-        shutil.copyfile(source_path, default_model_path)
-        print(f"Copied default model from {source_path} to {default_model_path}")
-      else:
-        print(f"Source default model not found at {source_path}. Exiting...")
+    if os.path.isfile(source_path):
+      shutil.copyfile(source_path, default_model_path)
+      print(f"Copied default model from {source_path} to {default_model_path}")
+    else:
+      print(f"Source default model not found at {source_path}. Exiting...")
 
     sgo_model_path = os.path.join(MODELS_PATH, "secret-good-openpilot.thneed")
+    source_path = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "supercombo.thneed")
 
-    if not os.path.isfile(sgo_model_path):
-      source_path = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "supercombo.thneed")
-
-      if os.path.isfile(source_path):
-        shutil.copyfile(source_path, sgo_model_path)
-        print(f"Copied 'secret-good-openpilot' model from {source_path} to {sgo_model_path}")
-      else:
-        print(f"Source 'secret-good-openpilot' model not found at {source_path}. Exiting...")
+    if os.path.isfile(source_path):
+      shutil.copyfile(source_path, sgo_model_path)
+      print(f"Copied 'secret-good-openpilot' model from {source_path} to {sgo_model_path}")
+    else:
+      print(f"Source 'secret-good-openpilot' model not found at {source_path}. Exiting...")
 
   def update_models(self, boot_run=False):
     if boot_run:

selfdrive/frogpilot/assets/theme_manager.py

@@ -4,7 +4,6 @@
 import re
 import requests
 import shutil
-import time
 import zipfile
 
 from openpilot.common.basedir import BASEDIR
@@ -72,10 +71,10 @@ def update_distance_icons(pack, holiday_theme):
 def update_wheel_image(image, holiday_theme=None, random_event=True):
   if image == "stock":
     wheel_location = os.path.join(BASEDIR, "selfdrive", "frogpilot", "assets", "stock_theme", "steering_wheel")
+  elif holiday_theme:
+    wheel_location = os.path.join(BASEDIR, "selfdrive", "frogpilot", "assets", "holiday_themes", holiday_theme, "steering_wheel")
   elif random_event:
     wheel_location = os.path.join(BASEDIR, "selfdrive", "frogpilot", "assets", "random_events", "icons")
-  elif holiday_theme:
-    wheel_location = os.path.join(BASEDIR, "selfdrive", "frogpilot", "assets", "holiday_themes", holiday_theme, "icons")
   else:
     wheel_location = os.path.join(THEME_SAVE_PATH, "steering_wheels")
 
@@ -89,7 +88,7 @@ def update_wheel_image(image, holiday_theme=None, random_event=True):
 
   image_name = image.replace(" ", "_").lower()
   for filename in os.listdir(wheel_location):
-    if os.path.splitext(filename)[0].lower() == image_name:
+    if os.path.splitext(filename)[0].lower() in (image_name, "wheel"):
       source_file = os.path.join(wheel_location, filename)
       destination_file = os.path.join(wheel_save_location, f"wheel{os.path.splitext(filename)[1]}")
       shutil.copy2(source_file, destination_file)
@@ -158,7 +157,7 @@ def update_holiday(self, now):
       if (holiday.endswith("_week") and self.is_within_week_of(date, now)) or (now.date() == date.date()):
         if holiday != self.previous_assets.get("holiday_theme"):
           self.params.put("CurrentHolidayTheme", holiday)
-          self.update_active_theme()
+          self.params_memory.put_bool("UpdateTheme", True)
         return
 
     if "holiday_theme" in self.previous_assets:
@@ -198,8 +197,6 @@ def update_active_theme(self):
         self.previous_assets[toggle] = current_value
 
     self.previous_assets["holiday_theme"] = current_holiday_theme
-
-    self.params_memory.remove("UpdateTheme")
     update_frogpilot_toggles()
 
   def extract_zip(self, zip_file, extract_path):

selfdrive/frogpilot/controls/frogpilot_planner.py

@@ -101,7 +101,7 @@ def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState
     self.road_curvature = calculate_road_curvature(modelData, v_ego) if not carState.standstill else 1
 
     if frogpilot_toggles.random_events and v_ego > CRUISING_SPEED and driving_gear:
-      self.taking_curve_quickly = v_ego > (1 / self.road_curvature)**0.5 * 2 > CRUISING_SPEED * 2 and abs(carState.steeringAngleDeg) > 30
+      self.taking_curve_quickly = v_ego > (1 / self.road_curvature)**0.75 * 2 > CRUISING_SPEED * 2 and abs(carState.steeringAngleDeg) > 30
     else:
       self.taking_curve_quickly = False
 

selfdrive/frogpilot/controls/lib/frogpilot_acceleration.py

@@ -3,7 +3,7 @@
 from openpilot.selfdrive.car.interfaces import ACCEL_MIN, ACCEL_MAX
 from openpilot.selfdrive.controls.lib.longitudinal_planner import A_CRUISE_MIN, get_max_accel
 
-from openpilot.selfdrive.frogpilot.frogpilot_variables import CRUISING_SPEED
+from openpilot.selfdrive.frogpilot.frogpilot_variables import CITY_SPEED_LIMIT, CRUISING_SPEED
 
 A_CRUISE_MIN_ECO = A_CRUISE_MIN / 4
 A_CRUISE_MIN_SPORT = A_CRUISE_MIN / 2
@@ -26,6 +26,9 @@ def get_max_accel_sport_plus(v_ego):
 def get_max_accel_ramp_off(max_accel, v_cruise, v_ego):
   return interp(v_ego, [0., v_cruise * 0.5, v_cruise * 0.75, v_cruise], [max_accel, max_accel, max_accel / 2, max_accel / 4])
 
+def get_max_accel_ramp_off_highway(max_accel, v_cruise, v_ego):
+  return interp(v_ego, [0., v_cruise * 0.75, v_cruise], [max_accel, max_accel, max_accel / 2])
+
 def get_max_allowed_accel(v_ego):
   return interp(v_ego, [0., 5., 20.], [4.0, 4.0, 2.0])  # ISO 15622:2018
 
@@ -74,7 +77,10 @@ def update(self, controlsState, frogpilotCarState, v_cruise, v_ego, frogpilot_to
     if frogpilot_toggles.human_acceleration:
       if self.frogpilot_planner.frogpilot_following.following_lead and not frogpilotCarState.trafficModeActive:
         self.max_accel = clip(self.frogpilot_planner.lead_one.aLeadK, get_max_accel_sport_plus(v_ego), get_max_allowed_accel(v_ego))
-      self.max_accel = get_max_accel_ramp_off(self.max_accel, self.frogpilot_planner.v_cruise, v_ego)
+      if self.frogpilot_planner.v_cruise < CITY_SPEED_LIMIT:
+        self.max_accel = get_max_accel_ramp_off(self.max_accel, self.frogpilot_planner.v_cruise, v_ego)
+      else:
+        self.max_accel = get_max_accel_ramp_off_highway(self.max_accel, self.frogpilot_planner.v_cruise, v_ego)
 
     self.max_accel = min(self.max_accel, frogpilot_toggles.max_desired_accel)
 

selfdrive/frogpilot/controls/lib/frogpilot_events.py

@@ -48,7 +48,7 @@ def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState
     if self.random_event_played:
       self.random_event_timer += DT_MDL
       if self.random_event_timer >= 4:
-        update_wheel_image(frogpilot_toggles.wheel_image, None, False)
+        update_wheel_image(frogpilot_toggles.wheel_image, frogpilot_toggles.current_holiday_theme, False)
         self.params_memory.put_bool("UpdateWheelImage", True)
         self.random_event_played = False
         self.random_event_timer = 0
@@ -126,7 +126,7 @@ def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState
         if not self.goat_played:
           event_choices.append("goatSteerSaturated")
 
-        if event_choices and self.frame % (100 // len(event_choices)) == 0:
+        if self.frame % 100 == 0 and event_choices:
           event_choice = random.choice(event_choices)
           if event_choice == "firefoxSteerSaturated":
             self.events.add(EventName.firefoxSteerSaturated)