lateral maneuver runner bugs

[sshane]

Tried it on the Altima, but it wasn't usable. It usually aborted maneuvers saying road not straight.

Bugs

• Add gasPressed like steeringPressed as criteria to not start, often I would tap gas slightly but it didn't prevent it from starting and it would abort because speed was slightly above 20 mph
• This maneuver always said road not straight a few hundred ms after starting: lateral maneuvers: add jitter #38102 (https://connect.comma.ai/33bca2f726ee226b/00000042--ea5ceda8fd and https://connect.comma.ai/33bca2f726ee226b/00000044--bf871d52cf).
• The other maneuvers reported road not straight the majority of the time, I couldn't get past the sine maneuver at 20 mph. Here's a route with no jitter maneuver where it got stuck: https://connect.comma.ai/33bca2f726ee226b/00000046--6d9ffa5af5
  • Only check on entrance of maneuver?
• It would start the maneuvers silently. Parked cars would have been hit had I not overrode in some cases. Is there no beep to warn when it starts or did I just miss it? I would quickly check if the model's road edges describe this, if not a beep is fine.
• You can press the lateral maneuvers button while onroad, but it doesn't do anything

Report notes

• idk if just me, but this is hard to parse. Which lines correspond to the y axis values on the right vs. left? Should be color coded or do what is generally recognized in the plotting world
  

• what is desired and actual lat accel? is it roll compensated? use real log.capnp signal names like long report, which is unambiguous and requires no thought:
  

• we mainly care about two things: how is the response from our final request to the car vs. what the car actuates? and how is openpilot's limiting interfering with what we actually desire? you'll want to plot both carControl and carOutput signals. It's unclear which we're plotting. If it's just carControl I don't think you can gain anything useful from the plots, say if the angle or torque limiting is super severe

• in our plots green is usually actual and orange is usually desired, so it's flipped for lateral plots, but this is debatable. at least match longitudinal report

[elkoled]

Thanks for the report.
Each maneuver starts with an alert sound like longitudinal report.

Will look into the other issues next week.