Code

VW PQ: HCA mode switching#55

Code

Merged

dkiiv merged 29 commits intoFrogPilot-VW-hcaFlip-PRdkiiv/openpilot:FrogPilot-VW-hcaFlip-PRfrom FrogPilot-VW-hcaFlip-WIPdkiiv/openpilot:FrogPilot-VW-hcaFlip-WIPCopy head branch name to clipboardMay 9, 2024

+24-3

Commits

Commits on May 3, 2024

• initial hca_mode flipping commit

  dkiiv

  committed
  c06728c

• hot fix**ing**

  dkiiv

  committed
  cddc76c

Commits on May 5, 2024

• bump hysteresis to 5 deg

  dkiiv

  committed
  a39dbe5

Commits on May 6, 2024

• increase hysteresis to 13 degree's

  dkiiv

  committed
  fdaa285

• change HCA flipping logic.

  dkiiv

  committed
  3bb2738

• logic change worked, dropping hysteresis limits to test

  dkiiv

  committed
  7a81719

• switch to NM torque blending

  dkiiv

  committed
  78175ea

• temporarily bump panda maxsteer to 400

  dkiiv

  committed
  70245b7

• revert panda edit, refactor torque blend

  dkiiv

  committed
  6efc34f

• refactor, again!

  dkiiv

  committed
  69aecfd

• try ramping the 1NM drop

  dkiiv

  committed
  e73931c

• bugfix for pseudo STEER_MAX?

  dkiiv

  committed
  e1d96f4

• another hotfix

  dkiiv

  committed
  0d7faa8

• change rate limit in interpolation, removed apply_driver_steer_torque_limit

  dkiiv

  committed
  ce6311d

• throw out >3nm. switch to HCA7 when requested torque >2nm

  dkiiv

  committed
  9ca1d9a

Commits on May 7, 2024

• make HCA7 switching a wider band, and add some torque interpolation

  dkiiv

  committed
  e79a362

• change flipping logic

  dkiiv

  committed
  d6fa3b9

• fix typo

  dkiiv

  committed
  b1925ae

• bugfix: negative steering angle

  dkiiv

  committed
  f1f7a8a

• switch to hca7 based on NM rate too

  dkiiv

  committed
  2ae4488

• change from NM rate to steeringRate

  dkiiv

  committed
  bc9dece

• revert back to no rate based hca7 switch

  dkiiv

  committed
  6dbdb31

• up deadzone to 13

  dkiiv

  committed
  0e7a07a

• 13 up for HCA7 worked, dropping HCA5 down to 8

  dkiiv

  committed
  21a753e

Commits on May 8, 2024

• fix bug, > not < !

  dkiiv

  committed
  dc9b580

• bugfix: hca7 lock and unlock logic. fixed for reals now!

  dkiiv

  committed
  6aaf33c

Commits on May 9, 2024

• change delta up ramp rate when HCA7. refactor HCA switch logic a bit

  dkiiv

  committed
  ec6c8ae

• added dynamic HCA7 lock behavior, based on NM and angle

  dkiiv

  committed
  3a51a8a

• tweak values for HCA mode switching

  dkiiv

  committed
  cfd6137