Open Pilot Comma 2

Mistermojorizin, I am still on 7.6.1. My unit was one of the ones that shipped out with incorrect firmware and was not running the fan and necessitated the emergency update.
My work schedule gives me time to eat-sleep-work. My shift ends on Wednesday. I will try then to see about Putty SSH or workbench and try out Erich's 7.6 fork without ZSS while waiting for return of the SDSU and the new ZSS. Cirruspete lives 5 miles or so from me and hopefully we can work together and learn.
I need to go Erich, is on discord with a starting statement "I feel like you didn't understand much of what I said"...….. I think I am about to get chewed out some more.

 

Robertjackson17, Thank you for the information. Your statements and those from Mistermojorizin are helpful for understanding the different basic scenarios of OP.
Right now I am running the standard version of OP 7.6.1, with no DSU and "Community Features" enabled. I had to enable Community Features to be able to use OP with the DSU missing. This is probably not a common scenario for many but it will be what I am stuck with for as long as Erich has my DSU.
Before removing the DSU, OP would handle LAT, and DRCC would handle LONG. I was happy with the way DRCC handled LONG control. LAT was somewhat choppy, but everyone said it was due to the crappy steering angle sensor for the Prius. In my current situation when I go through turns the green steering wheel on the C2 changes to a symbol that looks like a curvy road sign. When this happens the car slows down abruptly, then accels back up, this may continue through several cycles depending on the length of the turn. Drivers behind me must think I am impaired or drunk when this is happening. I can only assume this situation is part of the Community Features since I never saw it before.

LONG control right now with OP is very different. There is no deadband, any deviation from the set speed results in extremely hard acceleration or deceleration and drive modes ECO, Normal, or PWR do not seem to have any effect.

Robertjackson17 said "In terms of the coarseness of the lateral control, the ZSS will improve that. I don't think it will affect the hugging the left side of the lane (perhaps shifting your mount would help that?)." Once I get more proficient with SSH I hope to try some tweaking. I did get my mount more centered, previous it was 2.6 up, 2.0 right, after remount it is 2.4 up, and .1 right. This change had no effect on lane centering and hugging the left lane on long sweeping LH turns. Virtually Chris eluded to some bug in the current code that they may be working on. For me OP does a good job on harder LH or RH turns, but seems to anticipate too much on the less aggressive turns, and ends up running on the bots dots of the double yellow.

Apparently Erich has done very few of the SDSU's with the "Switch" as it takes longer, is more involved, and he doesn't like doing it. I feel like for me its the best option to give me control over OP or DRCC having LONG control. My driving situation varies a lot and I think having the ability to select what has control over LONG is valuable. Like I said, what I have right now for LONG control is terrible for me in the foothills where I drive. For freeway driving it might be great. Maybe once I have my SDSU and can disable community features things will be great with OP controlling LONG, but with the switch I can give control to what suits the driving situation best.
Hopefully this info is helpful now, or for someone in the future. As far as Comma and Open Pilot I wish they had a page that broke down all the slang.
OP=open pilot, software from Comma AI that gives Level 2 (Partial Driving Automation) to your vehicle.
COMMA 2=the latest hardware platform from Comma AI that runs the OP application. Earlier hardware called the EON? Also uses extra devices called PANDA and GIRAFFE to interact with the vehicle control area network, CAN.
LONG=longitudinal control, acceleration/deceleration.
LAT=lateral control, steering the vehicle left/right.
DSU=Toyota Driver Support Unit. One module that works with radar and forward camera in control of LONG and LKA
LKA/LDA/LDW Lane Keep(Departure) Assist(Warning)=Use steering control to help keep the vehicle in the lane. Assist actually nudges the vehicle back in the lane, not really designed to keep the vehicle centered. Warning does not move the vehicle back in the lane, only warns.
DRCC=Dynamic Range Cruise Control=uses forward radar to control following distance to vehicle in front.
FCW=Forward collision warning, uses forward camera to warn driver.
AEB=Automatic emergency braking, uses forward camera to apply the brakes if a collision is imminent.

I think I better wrap this up for now.

 

Thanks a_scalzi, I have and will continue to search discord before I ask questions.
I purchased a spare DSU on Ebay and put it in while I am waiting for Erich to complete my SDSU and ZSS. He said it will be a few weeks since he was out of stock on the switches.
I am currently running Erich's 076 fork and have the SDSU plugged in so DRCC can control long. It is the best driving experience I have had so far with OP. Hopefully with the ZSS I can just enjoy the drive.
I am not sure what changed but with installing Erich's 076 fork and performing a "Clearing Params" the issue of hugging and going over the center divider lane on long sweeping LH turns is much improved.

 

mistermojorizin, thanks for the info. Yep got the SSH done, now got to learn how to "Tweak". Still waiting for ZSS. Glad to hear 7.7 is working well, hopefully it comes out as a full release soon.

 

Chris Black, I actually purchased 2 DSU's on Ebay by accident. I had put in an offer, and then found one buy it now cheaper, then of course offer got accepted.
I used the DSU for a couple of weeks while Erich had mine. I had requested a "Switch" on my SDSU which took longer.
If you want one of the ones I purchased I would love to sell one. They both came out of wrecked vehicles.
I do not think you need a pedal, but Erich can confirm. He has some custom forks that should give you the SNG, StopNGo.
From what I have seen people are using splitters to connect more than one device to the OBD2 port.

 

Hydrocket, I have Erich's SDSU and ZSS. The ZSS smooths out the steering control from the C2, the SDSU complements the connection of the ZSS talking to the car and some other features. I am running Erich's fork .081_ZSS and like the tuning specific to the Prius.
I want to try a fork from Shane that allows some easy tweaking of C2 parameters. 95% of my drive is on 2 lane roads with no center divider and lots of large trucks. When I am driving I tend to hug the RH white line, when C2 drives it centers or is closer to the middle of the lane than I desire so I am hoping the "offset" tunable might improve. 85K miles on my Prime, ~34K with C2 driving.