Build #104 (Jun 5, 2024 1:41:10 PM)

1. Update repoinfo.groovy (details)
2. Update orin32Choice.groovy (details)
3. Update orin64Choice.groovy (details)
4. Update orinModule32Choice.groovy (details)
5. Update orinModule64Choice.groovy (details)

1. Update orin-test.jenkinsfile (details)
2. Update qingdaoQG-params.jenkinsfile (details)
3. Update qingdao-qiangang-submodule.jenkinsfile (details)

1. 增加对位结果输出类型-吊机对位 (details)

1. feat_out:add topic vehicle/fms/error_code (details)
2. add traffic_light topic (details)
3. feat_out:修改vehicle/fms/error_code为/vehicle/fms/error_code (details)
4. feat_out:修复CloudErrorCode消息类型错误 (details)
5. feat_out:add weather_param topic (details)
6. feat_out:新老天气接口都发 (details)
7. feat_out:修复time类型引起的崩溃 (details)

1. fix: release (details)
2. fix: add debug py (details)
3. fix: delete plan_mode (details)
4. fix: make bug (details)
5. add: parallel control (details)
6. fix (details)
7. feat (details)
8. fix: delete useless code (details)
9. fix (details)
10. fix (details)
11. add: parallel controller parameters (details)
12. fix: sub switch data use RosSourceNoTime (details)
13. fix: ros sink command (details)
14. fix: delete useless code (details)
15. fix (details)
16. fix: add inertial loop (details)
17. fix: add steer inertial loop (details)
18. fix: add log (details)
19. fix: parallel controller pointer initiate (details)
20. fix: bug (details)
21. fix (details)
22. fix: driving status (details)
23. fix: 平行驾驶状态切换判断 (details)
24. fix: status check velocity (details)
25. fix: topic name (details)
26. fix: expected driving mode (details)
27. fix: cmakelists (details)
28. fix: add imv backward lower speed (details)
29. fix: topic name (details)
30. fix: topic name (details)
31. fix: parallel 切换逻辑，切换时不校验指令 (details)
32. fix: truck ceep (details)
33. add: imv_steer_test2 (details)
34. fix: debug msg (details)
35. fix: 修正path车体坐标系方向 (details)
36. fix: delete cloud_traj_pt (details)
37. fix: brake distance (details)
38. fix: 考虑imv斜行的转向角计算 (details)
39. fix: add switch status (details)
40. fix: steer_ref (details)
41. fix: imv steers in parallel mode. (details)
42. fix: plan_data invalid. (details)
43. fix: plan data invalid (details)
44. fix: plan data valid judement. (details)
45. fix: delete log. (details)
46. fix: debug data bug (details)
47. fix: update scenario planner type and task state type. (details)
48. fix: update scenario planner type and task state type. (details)
49. fix: plan mode (details)
50. fix: truck plan mode (details)
51. fix: 集卡转向增量约束系数修改 (details)
52. feat_out: 增加输入错误判断的偏差阈值参数 (details)
53. fix: startup when creep (details)
54. fix: acc (details)
55. fix: parameter (details)
56. fix:增加起步最低速度输出限值防护 (details)
57. fix: IMV对准起步最小插值距离限制 (details)
58. fix: 停车时清一次积分 (details)
59. feat:修改launch文件 (details)
60. fix: 集卡起步逻辑修改，设定加速度+pid value (details)
61. fix: delete useless variable (details)
62. fix: use theta to calc heading error (details)
63. fix: 参数提取 (details)
64. fix: 加速度计算输出增加低通滤波 (details)
65. fix: merge bug (details)
66. fix: lower pass filter (details)
67. fix: creep strategy (details)
68. fix: lane detection yaw normalization. (details)
69. feat_out: add scenario region type. (details)
70. fix: 油门输出滤波+最小刹车值限制 (details)
71. fix: startup acc (details)
72. feat_out: command输出横偏、角偏 (details)
73. fix: refactor (details)
74. fix: brake distance (details)
75. fix: refactor (details)
76. fix: runmakr (details)
77. fix: speed error integral clear (details)
78. fix: add log (details)
79. fix: record log when creep (details)
80. fix: record log when creep (details)
81. fix: integral increace by weight rank (details)
82. add: scripts in install (details)
83. fix: creep start distance calc (details)
84. feat_out: 增加控制最大转向角参数 (details)
85. fix: 转弯减速时放开油门约束 (details)
86. refactor: long step (details)
87. fix: delete steer calculation in command (details)
88. fix: add imv steer verification. (details)
89. fix: imv_steers_verification build bug. (details)
90. fix: if else (details)
91. fix: steer angle normalization. (details)
92. fix: add disable state for mpc (details)
93. fix: add steers deylay analysis. (details)
94. fix: scripts add chassis delay test (details)
95. fix: steers delay analysis (details)
96. fix: add error code (details)
97. fix: add chassis checking parameters. (details)
98. fix: delete ResetSteers (details)
99. fix: add record trigger for 611002 (details)
100. fix: install scripts. (details)
101. fix: add localization_distrubance.py (details)
102. fix: parameters. (details)
103. fix: max_control_steer_angle = 32 default. (details)
104. fix: speed set (details)
105. Revert "fix: 转弯减速时放开油门约束" (details)
106. fix: velocity (details)
107. fix: brake distance (details)
108. fix: 对准临界值处理 (details)
109. fix: condition check (details)
110. feat_out: 直道限制控制增益 (details)
111. fix: add chassis speed output (details)
112. feat_out: 修改直道增量约束。 (details)
113. feat_out: 控制错误码发送1s (details)
114. fix: 减速时根据转角指令设定油门约束 (details)
115. fix: steer bug when mpc failed. (details)
116. fix: 临界值处理油门增量改小 (details)
117. fix: 步进时模式切换条件修改 (details)
118. fix: add valuebythr2D (details)
119. feat_out: mpc参数二维插补 (details)
120. feat_out: 取消集卡mpc直道增益限制 (details)
121. feat_out: imv转向角插补策略 (details)
122. fix: 油门限制可配置 (details)
123. feat_out: 插补bug (details)
124. feat:超时校验的时候  使用msg的header校验 (details)
125. fix: 标志位重置判断 (details)
126. fix: 打开集卡对准log (details)
127. feat_out: mpc增益插补策略 (details)
128. refactor (details)
129. Revert "fix: 油门限制可配置" (details)
130. Revert "fix: 减速时根据转角指令设定油门约束" (details)
131. fix: parallel controller's throttle mapping (details)
132. fix: add header time stamp (details)
133. feat_out: brake life_time = -1 (details)
134. fix: brake -1 (details)
135. fix: 设置IMV切换位置模式的距离值 (details)
136. fix: 减速时根据转角指令设定油门约束 (details)
137. feat_out: brake -> stop (details)
138. fix: error code (details)
139. fix: 修改转弯油门限制&匀速最大油门 (details)
140. fix: log输出trailer yaw base vehicle (details)
141. fix: add log for imv (details)
142. fix: add log for imv (details)
143. fix: add log (details)
144. feat_out: 611001自动录包功能 (details)
145. fix: parallel steer cotrol (details)
146. fix: parallel steer cotrol (details)
147. fix (details)
148. fix (details)
149. fix: 匀速最大油门根据载重进行计算 (details)
150. fix: 对准积分限值参数提取 (details)
151. fix: 对准积分限值参数提取 (details)
152. fix: lower pass filter modify (details)
153. feat_out: new mpc (details)
154. fix: delete log (details)
155. fix: 转弯油门限值用公式计算&删除匀速油门处理 (details)
156. fix: delete actuator_latency (details)
157. fix: new mpc config (details)
158. fix: brake when parallel cmd timeout (details)
159. feat: 增加忽略安全模块功能 (details)
160. feat: 平行驾驶指令超时时间默认为1s (details)
161. fix: weight rank update (details)
162. fix: 边界值修改 (details)
163. fix: 平行驾驶车速限制 (details)
164. fix: parallel control (details)
165. fix: parameters (details)
166. fix: 优化IMV位置模式对位 (details)
167. fix: brake when in thread (details)
168. fix: 修改集卡纵向状态判断预瞄时间 (details)
169. fix: add receive time (details)
170. fix: version (details)
171. fix: 修改集卡纵向状态判断预瞄时间 (details)
172. fix: lane detection timeout (details)
173. fix: lane detection timeout log. (details)
174. fix: vehicle_config.yaml (details)
175. fix: change speed distance (details)
176. feat_out: 增加不同错误自动录包功能 (details)
177. fix: 详细打印lka中断日志，超时日志bug修复 (details)
178. fix: v1.0.1 (details)
179. fix: 增加退出lka参数 (details)
180. fix: 增加退出lka参数 (details)
181. fix: add log for creep (details)
182. feat_out: 增加611003 (details)
183. fix: 短距离内对准清积分 (details)
184. feat_out: 修改车道线默认参数 (details)
185. feat_out: lka中断时打印前轮转向角 (details)
186. feat_out: 清空错误码 (details)
187. fix: clear param (details)
188. fix: clear params (details)
189. feat_out: lka中断触发录包 (details)
190. fix: 删除测试参数 (details)
191. fix: plan_data const (details)
192. fix: source trailer path trajectory (details)
193. fix: clear integrator when step into thread (details)
194. fix: 参数提取 (details)
195. feat_out: 版本号显示问题 (details)
196. feat_out: 版本号显示问题 (details)
197. fix: trailer_path trajectory time out (details)
198. fix: 修改起步判断逻辑 (details)
199. feat: lka (details)
200. fix: add td filter (details)
201. fix: add trailer state (details)
202. fix: trailer state calculation. (details)
203. fix: trailer state msg. (details)
204. fix: trailer heading filter (details)
205. fix: trailer path for control (details)
206. fix: trailer path generation condition. (details)
207. feat: lka no dependent on reference line (details)
208. fix: delete useless code (details)
209. fix: delete useless status code (details)
210. feat: lane disturbance (details)
211. fix: use filtered lane detection (details)
212. fix: add reversing truck mpc (details)
213. fix: reversing controller (details)
214. fix: 新增起步速度偏差最小阈值 (details)
215. fix: trailer reference. (details)
216. fix: 4 degrees reversing controller (details)
217. fix: add reversing mpc parameters. (details)
218. fix: steering limit (details)
219. fix: parameters (details)
220. fix: reversing controller in utm (details)
221. fix: trailer angle calculation. (details)
222. fix: trailer state stamp. (details)
223. feat: 异步接收消息 (details)
224. fix: spinonce (details)
225. feat: parallel steer msg change (details)
226. feat:更新gitignore (details)
227. feat: 判断速度振荡，重置载重估计 (details)
228. fix: add variable (details)
229. fix: add trailer state from trailer localization. (details)
230. fix: trailer_state_from_loc (details)
231. fix: trailer_state.tractor_trailer_angle() (details)
232. fix: IMV parallel speed limit (details)
233. fix: trator_trailer_angle (details)
234. fix: reset weight condition (details)
235. fix: data process (details)
236. fix: 集卡载重使用转矩估计 (details)
237. fix: 集卡扭矩值偏置 (details)
238. fix: reversing ctrl parameters (details)
239. fix: 平行驾驶最高车速默认5km/h (details)
240. fix: 适配集卡区分转矩和油门估计载重 (details)
241. fix:  log speed_std (details)
242. fix: parameter name (details)
243. fix: 调整brake状态的刹车值 (details)
244. fix: max_speed = 0.1 (details)
245. fix: add reversing mpc prediction scope (details)
246. fix: reversing mpc time consuming log (details)
247. fix: add mpc by osqp (details)
248. fix: osqp based mpc bug (details)
249. fix: log mpc consuming (details)
250. fix: Sparse_Row (details)
251. fix: matrix d (details)
252. fix: private properties. (details)
253. fix: add mpc_osqp_solver (details)
254. fix: add active set mpc solver (details)
255. fix: debug msg (details)
256. fix: refactor (details)
257. (details)
258. fix: 减速处理 (details)
259. fix: 减速油门限制处理 (details)
260. fix: ctrl.yaml (details)
261. fix: prediction by thr (details)
262. fix: speed disturbance check condition (details)
263. refactor:横向控制不校验参考线 (details)
264. fix: lka路径转换采用车辆局部坐标 (details)
265. fix: lka车辆坐标系下航偏计算 (details)
266. fix: parameters (details)
267. feat: high precision wheel velocity (details)
268. feat_out: 修复倒车控制器参数读取bug (details)
269. feat_out: mpc求解失败保持历史 (details)
270. fix: creep (details)
271. feat: msgs change (details)
272. fix: wheel angle check (details)
273. fix: use vehicle type differ wheel angles (details)
274. fix: use vehicle type differ wheel angles (details)
275. fix: task status for ignore guardian (details)
276. fix: 对准时校验油门刹车表是否导入 (details)
277. fix: wheel velocity filer from history (details)
278. fix: 转角指令符号修改 (details)
279. fix (details)
280. fix: wheel speed filter (details)
281. fix (details)
282. fix: use vehicle type differ wheel angles (details)
283. fix: 对准时使用轮速传感器判断是否静止 (details)
284. fix: 集卡travel档位切换时校验反馈档位状态 (details)
285. fix: min brake for creep (details)
286. fix: reversing mpc direction. (details)
287. fix: clear traveled distance (details)
288. add: truck new mpc for time delay (details)
289. fix: creep throttle control (details)
290. fix: log time consuming (details)
291. fix: return when chassis gear unmatched (details)
292. fix: 动态门限，刹车策略修改 (details)
293. Revert "fix: return when chassis gear unmatched" (details)
294. fix: 增加相邻档位换档不刹车换档策略 (details)
295. fix: creep状态内起步行驶最高速度0.3m/s (details)
296. fix: add calc next steer (details)
297. fix: add consider_time_delay (details)
298. fix: add time delay params load (details)
299. add: publish parallel control timestamp (details)
300. fix: position mode (details)
301. fix (details)
302. fix: mpc type (details)
303. fix: linearize on current point (details)
304. fix: imv params (details)
305. fix: chassis tracking thread (details)
306. fix: params (details)
307. fix: add coef k for time delay (details)
308. fix: log (details)
309. fix: add coef k for time delay (details)
310. fix: mpc linearize (details)
311. fix: yaml (details)
312. fix: add try-catch for cal weight (details)
313. fix: mpc linearize (details)
314. fix: add try-catch for cal weight (details)
315. fix: mpc不校验参考线 (details)
316. fix: mpc不校验参考线 (details)
317. fix: time delay coef (details)
318. fix: formula (details)
319. fix: formula (details)
320. fix: add mpc only linearize (details)
321. feat_out: 增加plan消息超时的日志。 (details)
322. feat_out: 平行驾驶安全模块状态赋值 (details)
323. fix: add dm (details)
324. fix: dm (details)
325. fix: alarm mode (details)
326. fix: 反馈转角符号修正 (details)
327. fix: symbol (details)
328. fix: reversing steer set (details)
329. fix: log reference_line unavailable 2.5s (details)
330. fix: log reference_line unavailable. (details)
331. fix: add VehicleConfig (details)
332. fix: enter creep distance & reset creep integral use time duration (details)
333. fix: imv add emergency brake when parking and creep braking (details)
334. fix: vehicle type (details)
335. feat_out: 安全模块状态保持 (details)
336. fix: task status (details)
337. fix: add truck creep controller 2 (details)
338. fix (details)
339. feat_out: 崩溃的bug (details)
340. fix: delete redundant mpc (details)
341. fix: parallel steer control (details)
342. fix: log (details)
343. fix: ack msg send (details)
344. fix: lateral debug msg. (details)
345. fix: diff time interval (details)
346. fix: add MaxVelocity (details)
347. fix: use max velocity (details)
348. fix: use brake control on IMV (details)
349. fix: brake value (details)
350. fix: filter coef (details)
351. fix: truck steering angle (details)
352. fix: task_id = his.task_id. (details)
353. fix: msg state define (details)
354. fix: 指令接收超时时间&超时时清空vec (details)
355. fix: topic config (details)
356. feat: error code config (details)
357. fix: sink topic (details)
358. fix: error monitor (details)
359. fix: source topic set default value (details)
360. fix: use default value (details)
361. fix: error code use default value (details)
362. fix: log (details)
363. fix: delete cmd state (details)
364. fix: use lower case & delete cfg_system (details)
365. fix: reset creep (details)
366. fix: start creep distance = 0.8m (details)
367. fix: check residue distance when in thread (details)
368. fix: clear traveled distance when set new target position (details)
369. fix: 增加IMV制动控制器参数 (details)
370. fix: IMV braking's default pid parameters (details)
371. fix: IMV braking's default pid parameters (details)
372. fix: 轮速未赋值 (details)
373. fix: 崩溃的bug (details)
374. fix: merge bug (details)
375. fix: parallel cmd time (details)
376. fix: steer filter coef (details)
377. fix: sink topic (details)
378. refactor: move calctraveleddistance to prepare creep (details)
379. fix: add param to decide whether check  creep value (details)
380. fix: add path_direction_lock (details)
381. fix: set vehicle timestamp at anytime (details)
382. fix: add path direction lock & refactor (details)
383. Revert "fix: add path direction lock & refactor" (details)
384. fix: check path direction lock (details)
385. fix: 根据反馈档位进行转矩正负值处理 (details)
386. fix: 平行驾驶时间戳单位转换修复 (details)
387. fix: pub ack when receive parallel cmd (details)
388. fix (details)
389. fix: log (details)
390. feat_out: 变道采用二维插补 (details)
391. fix: add vehicle id for long log's name (details)
392. fix: 不校验对准值，只对准一次 (details)
393. fix: 不校验对准值时轨迹方向校验 (details)
394. feat_out: 向安全模块发送行驶方向，需要跟plan，安全模块一起发布！ (details)
395. feat_out: trajectory direction. (details)
396. fix: use path direction lock (details)
397. fix: use path direction instead of trajectory direction (details)
398. fix: 挂转角反馈接收字段 (details)
399. add: parallel driving log (details)
400. fix: 分段记录对准log (details)
401. fix: 日志文件名添加vehicle id (details)
402. fix: 进入对准速度插值处理条件 (details)
403. fix: 重置计时器 (details)
404. fix: unreset longctrl data when path dir lock (details)
405. feat_out: 堆料机对准位置不对的问题 (details)
406. feat: align (details)
407. fix: delete redundant code (details)
408. fix: 对准值接收方式 (details)
409. fix: 更新对准值时再清空vector (details)
410. fix: 接收对准值时移除超时的对准值 (details)
411. fix: 回调函数不校验对准值时间戳 (details)
412. refactor: set pid parameters (details)
413. fix: startup max throttle relation of kappa (details)
414. fix: backward lka (details)
415. fix: relate startup throttle with mass (details)
416. add: is_ignore_guardian log (details)
417. add: log (details)
418. fix: 正常控速时校验路径方向和对准值方向 (details)
419. fix: 使用plan发送的静止判断 (details)
420. Revert "fix: relate startup throttle with mass" (details)
421. fix: 提取弯道起步最大油门参数 (details)
422. add: log (details)
423. fix: reset lonctrl data when path direction lock on normal follow (details)
424. fix: 车道线标志位=0为正向 (details)
425. fix: 接收双头车反向标志位。需要和pnc一起编译发布！！！ (details)
426. fix: region msg error (details)
427. fix: set finish creep when path direction lock on normal control (details)
428. add: log (details)
429. fix: 提取坡道控制积分限幅 (details)
430. fix: 设置起步最低参考速度 (details)
431. fix: creep min speed (details)
432. fix: 设置具体的long_ctrl_mode值 (details)
433. fix: 设置具体的long_ctrl_mode值 (details)
434. fix: reversing mode creep (details)
435. stash (details)
436. fix: add lateral motion state judge (details)
437. fix: 提取IMV触发刹车的误差门限参数 (details)
438. fix: use RLS to estimate truck mass (details)
439. fix: 提取换档刹车值&使用宏定义统一变量size (details)
440. fix: variable size error (details)
441. fix: reset truck mass value (details)
442. fix: vehicle mass (details)
443. fix: log (details)
444. fix: 触发速度振荡判断条件修改 (details)
445. fix: 修改进入估重的条件 (details)
446. fix: 修改集卡进入stable_step的条件 (details)
447. fix: 修改集卡最大重量值 (details)
448. fix: 提取参数 (details)
449. fix: 提取motion_brake的pi参数 (details)
450. fix: 修改motion brake默认pi参数值 (details)
451. fix: 恢复轮速滤波窗口大小 (details)
452. fix: 起步时设置为加速工况 (details)
453. fix: on brake clamp value (details)
454. fix: check ego match available (details)
455. feat_out: add 611004 (details)
456. fix: record 611004 (details)
457. fix: 修改standstiil判断参数 (details)
458. fix: 加减速判断阈值修改 (details)
459. add: 增加是否在平行驾驶模式的标志位发送 (details)
460. fix: 集卡档位切换时给刹车 (details)
461. fix: 修改切换档位逻辑，不必判断静止 (details)
462. fix: enlarge max integrator with wheel angle (details)
463. fix: hold gear when data invalid (details)
464. add: 增加motionstatelong状态输出 (details)
465. fix (details)
466. fix: 提取move brake的最小刹车值 (details)
467. fix: add other road turn (details)
468. feat_out: lka du_constraint. (details)
469. fix: 轨迹点数小于10判断为standstill (details)
470. fix: 自研轮速对准bug修复，进入对准时重设时间戳 (details)
471. fix: 自研轮速第一次进入对准时，目标距离置0 (details)
472. fix: 反向作业时转向灯适配 (details)
473. fix: 不reset重量等级 (details)
474. fix: 不reset重量等级 (details)
475. feat_out: 反向行驶，车道保持问题 (details)
476. feat_out: reversing lka bug (details)
477. feat_out: lka_path length = 80 (details)
478. feat_out: 反向行驶lka中断停车条件，heaidng+pi (details)
479. fix: 提取集卡对准起步完成的速度门限参数 (details)
480. feat_out: lka方向校验 (details)
481. fix: 终点距离小于30m时转向灯处理 (details)
482. feat: add auto hold function (details)
483. fix: task type initialize (details)
484. feat_out: chassis tracking error for straight line. (details)
485. fix: debug str for chassis tracking error. (details)
486. feat_out: chassis tracking error thr. (details)
487. fix: chassis tracking error thr (details)
488. feat_out: 反向行驶无法进入lka的问题 (details)
489. feat_out: straight lane deviation: error = stop (details)
490. fix: 档位初始值不使用P档 (details)
491. fix: 档位变量初始化 (details)
492. add: current gear log (details)
493. fix: update scenario enum. (details)
494. fix: trailer angle (details)
495. fix: reversing truck kenimatic. (details)
496. fix: delete trailer from loc (details)
497. feat_out: 直道偏离考虑转向 (details)
498. fix: params error. (details)
499. fix: 档位初始值不使用P档 (details)
500. fix: 档位变量初始化 (details)
501. add: current gear log (details)
502. fix: 起步设定速度条件修改，防止顿挫前行 (details)
503. fix: 修改起步的判断条件，增加对轨迹速度的校验 (details)
504. fix: 轨迹速度为0，置为非起步阶段 (details)
505. fix: 对准时积分清零增加对准值门限校验 (details)
506. add: 集卡平行驾驶倒车校验挂角，增加错误码611005 (details)
507. fix: 删除重复的参数 (details)
508. fix: 坡道上放开最大油门限制 (details)
509. fix: 坡道上放开最大油门限制 (details)
510. fix: coef (details)
511. fix: 提取急刹最小刹车值 (details)
512. fix: 溜坡时将当前车速置为0 (details)
513. fix: mpc constrain in open_space_region. (details)
514. add: brake for mpc error (details)
515. fix: 使用long_ctrl_strategy区分平行驾驶时候的指令发送 (details)
516. add: 增加switch data 5min以内超时日志 (details)
517. fix: timeout log (details)
518. fix: 挂角数据有效才校验倒车时挂角度 (details)
519. fix: auto hold (details)
520. fix: autohold增加静止条件判断&增加motion_disable触发驻车 (details)
521. fix: auto hold delay time (details)

Started by user yangjun

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• origin/rc_dev

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