Introducing Bluepilot! A Ford specific fork for Comma3X / OpenPilot

[Ajzride]

@m_bt54

In the meantime you can disable "enable advanced lateral control" or switch back to staging-1.1

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[m_bt54]

Hmm… My device has been plugged in/ powered on and connected to my home WiFi for at least 24 hours

 

[m_bt54]

@m_bt54

In the meantime you can disable "enable advanced lateral control" or switch back to staging-1.1

Will do

 

[Ajzride]

Hmm… My device has been plugged in/ powered on and connected to my home WiFi for at least 24 hours

does it show device offline in connect?

 

[m_bt54]

does it show device offline in connect?

It doesn’t. I just had it take a picture and it worked and there is a green dot next to it in the menu

 

[Ajzride]

It doesn’t. I just had it take a picture and it worked and there is a green dot next to it in the menu

That is bizarre. I wonder if they are having backend server issues.

my comma is currently dead so I can’t test that myself.

 

[m_bt54]

That is bizarre. I wonder if they are having backend server issues.

my comma is currently dead so I can’t test that myself.

I’ll mess around with it this afternoon and see if I can get it working

 

[Ajzride]

unfortunately that is the one thing I have tried as I had seen it mentioned either here or on the Discord. It is slightly better with low than medium.

Let me ask again to get more clarification. Is it possible going from low to medium changed things from a slow ping pong to a fast ping pong?

 

[m_bt54]

Let me ask again to get more clarification. Is it possible going from low to medium changed things from a slow ping pong to a fast ping pong?

Medium was a slow ping pong. Low has been similar but slightly better

 

[Ajzride]

Medium was a slow ping pong. Low has been similar but slightly better

You can try high to see what happens.

 

[nakedeye]

Like always, I appreciate the hard work you’ve done. This shit amazes me every time I drive.

Before I upgrade the 2.1, I’m curious, am I going to lose the stringent turning that staging – electro has? So far, that has been the best steering logic, by far for me.

Prior to staging – electro, I had to consistently grab the wheel to make it turn harder. This version is significantly better than any other one I’ve had in the entire year. I’ve had this.

I will make my own branch off of this to save it, but I’m just curious if that logic has been incorporated into 2.1?

 

[Ajzride]

Like always, I appreciate the hard work you’ve done. This shit amazes me every time I drive.

Before I upgrade the 2.1, I’m curious, am I going to lose the stringent turning that staging – electro has? So far, that has been the best steering logic, by far for me.

Prior to staging – electro, I had to consistently grab the wheel to make it turn harder. This version is significantly better than any other one I’ve had in the entire year. I’ve had this.

I will make my own branch off of this to save it, but I’m just curious if that logic has been incorporated into 2.1?

Probably. This is not a straight forward answer. All of the 2.x branches include the path_angle and path_offset variable, which increases the amount of turning we can do. However the 2.0 and it's variants (including -electro) did allow 0.015/m of curvature. This was enough that several people reported the vehicle getting into a situation where it had started a turn but couldn't straighten up from it, so in 2.1 we backed the maximum down to 0.01/m. If you find that you can't make turns on 2.1 that you could make on 2.0, let me know and I'll examine the routes to see exactly how much curvature you were using.

 

[Ajzride]

Guys, I've been absolutely buried at work for the last 10 days or so. I apologize if my communications have come across as irritable or upset, I was just being brief.

Now that I have a minute to catch my breath let me try to expand upon the points I'm looking to make. First, is that as developers, we understand that improvement is human nature. If you have a Ford, you want a Mercedes; if you have a Mercedes, you want a Bently; if you have a Bently, you want a Rolls Royce. If you have good long control, you want good lateral control; if you have good lateral control, you want better lateral control. We understand this, we want it too, and we are pursuing the best possible experience with openpilot. The issue we run into is that as we get better and better, "perfect" becomes more about preference than an objectable truth. Especialliay given that we have constraints from the comma ecosystem and constraints from Ford implementation. We arrive at situations where we might have to compromise on control aspect A to optimize aspect B. If your preference is in line with that, then you will be happy. if not, then you will want us to change it back. This is the first of two reasons that the options and tuning are getting so numerous. The second reason that the options and tuning are getting more complicated is that even though this is an F150 forum, we have tried to develop BluePilot for all Ford vehicles. In the early releases, that wasn't a huge deal because they all used the same control variables and philosophies. However, when we moved into the 2.0 releases, we found that the tuning was vastly different for CAN vehicles (Maverick, Escape, Explorer) versus CANFD (F150, MachE, Lightning), and even among the CANFD vehicles, there were different tuning characteristics depending on the firmware version of the PSCM (OTA and FDRS updates).


After the release of staging-1.1, most people were pretty happy, and we had to decide if that was "good enough" or if we should push further. Pushing into 2.x opened up several exciting features because we introduced the path_angle variable. path_angle is significantly more precise than curvature and also over 20x more powerful. It allows us to take much tighter curves (and possibly one day make navigational moves) because of the power, but it also allows for minute adjustments to the position within the lane because of its precision. However, because of the power, if you get the tuning just a little bit wrong, it can create a very uncomfortable ride.


As we look towards merging all of our work back into sunnypilot, we need to unify a single release that can offer options for everyone. So, let me try to summarize how we setup the options:

1. If you like BluePilot Stable, you can install staging-2.1 and disable the "Enable Advanced Lateral Control" feature, and it should behave mostly the same (with the better lane changes)
2. If you like BluePilot Staging-1.1, you can install staging-2.1 and "Enable Advanced Lateral Control" but set your "Path Angle Amplitude" to zero. This will allow you to tune your PC Blend Ratio like staging-1.1 but without the difficulties of tuning the path_angle variable.
3. If you want to use the path_angle variable to try and get the control perfectly to your liking, I am happy to help anyone with tuning. However, you have to be patient with me because I help a lot of people and sometimes get them mixed up. Also, you need to provide me with a lot of data so we can get where we want to go in the fewest steps possible. I will make another post about how to "report a bug or ask for help."

 

[Ajzride]

Post #7 updated with "How to Ask for Help or Report A Bug"

https://www.f150gen14.com/forum/thr...fork-for-comma3x-openpilot.24241/#post-457709

 

[Ajzride]

Since people have asked, these are the exact settings I run on Staging-2.1. These are optimized for 75-85mph on concrete interstates and tollways in SETX.

Enable Human Turn Detection: Yes
Lane Change Factor: 0.75
Enable Advanced Lateral Control: Yes
Tuning Profile: Custom
Predicted Curvature Blend Ratio: 0.6
Path Angle Amplitude: 1.85
Path Angle In-Curve Reduction: 0.75

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