Remove ExperimentalLongTune

common/params.cc

@@ -570,8 +570,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"RadarInterceptorEnabled", PERSISTENT},
     {"NoMRCC", PERSISTENT},
     {"NoFSC", PERSISTENT},
-    {"ExperimentalLongTune", PERSISTENT},
-    {"LongOutputGain", PERSISTENT},
     {"BlendedACC", PERSISTENT},
     {"ManualTransmission", PERSISTENT},
 };

selfdrive/controls/lib/longcontrol.py

@@ -98,9 +98,6 @@ class LongControl:
     self.gain_step = 0.0001  # Step size for increasing/decreasing gain
     self.params = Params()
     self.params_memory = Params("/dev/shm/params")
-    gain = self.params.get_float("LongOutputGain")
-    self.auto_tune = self.params.get_bool("ExperimentalLongTune")
-    self.output_gain = gain if gain != 0.0 and self.auto_tune else 1.0 # Initial output gain
     self.experimental_mode_last = False
 
   def reset(self):
@@ -143,27 +140,8 @@ class LongControl:
       output_accel = self.pid.update(error, speed=CS.vEgo,
                                      feedforward=a_target)
 
-    output_accel = output_accel * self.output_gain
     self.last_output_accel = clip(output_accel, accel_limits[0], accel_limits[1])
-    is_flat = abs(pitch) <= 0.05
 
-    self.auto_tune = self.params.get_bool("ExperimentalLongTune")
-    if not self.auto_tune:
-      self.output_gain = 1.0
-    if is_flat and self.auto_tune and active and self.last_output_accel == output_accel: # don't adjust when limited or inactive
-      # if the signs of accel and integrator match, increase the output gain
-      i = self.pid.i
-      if (i > 0.02 and a_target > 0.2) or (i < -0.02 and a_target < -0.2):
-        self.output_gain += self.gain_step
-        self.output_gain = max(0.5, min(self.output_gain, 2.0))
-        self.params.put_float_nonblocking("LongOutputGain",self.output_gain)
-        self.pid.i = 0.0
-      # if the signs of accel and integrator are opposite, decrease the output gain
-      elif (i < -0.02 and a_target > 0.2) or (i > 0.02 and a_target < -0.2):
-        self.output_gain -= self.gain_step
-        self.output_gain = max(0.5, min(self.output_gain, 2.0))
-        self.params.put_float_nonblocking("LongOutputGain", self.output_gain)
-        self.pid.i = 0.0
 
     return self.last_output_accel
 

selfdrive/ui/qt/offroad/settings.cc

@@ -48,12 +48,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       "",
       "../assets/img_experimental_white.svg",
     },
-    {
-      "ExperimentalLongTune",
-      tr("Longitudinal Auto-Tune (Beta)"),
-      tr("Enable the longitudinal auto-tuning feature. Slowly adjusts the acceleration gain to minimize error"),
-      "../assets/offroad/icon_openpilot.png",
-    },
     {
       "BlendedACC",
       tr("Blended Acc (Experimental)"),

system/manager/manager.py

@@ -363,8 +363,6 @@ def manager_init() -> None:
     ("WD40Score", "0"),
     ("WheelIcon", "frog"),
     ("WheelSpeed", "0"),
-    ("ExperimentalLongTune", "0"),
-    ("LongOutputGain", "1.0"),
     ("BlendedACC", "0"),
   ]
   if not PC: