honda

common/params_keys.h

@@ -142,7 +142,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
 
     // StarPilot variables
     {"AccelerationPath", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"AccelerationProfile", {PERSISTENT, INT, "2", "0", 0}},
+    {"AccelerationProfile", {PERSISTENT, INT, "0", "0", 0}},
     {"AdjacentLeadsUI", {PERSISTENT, BOOL, "1", "0", 3}},
     {"AdjacentPath", {PERSISTENT, BOOL, "0", "0", 3}},
     {"AdjacentPathMetrics", {PERSISTENT, BOOL, "0", "0", 3}},

selfdrive/controls/lib/latcontrol_pid.py

@@ -15,13 +15,13 @@ def civic_bosch_modified_lateral_testing_ground_active() -> bool:
 def get_civic_bosch_modified_pid_output_scale(desired_angle_deg: float, desired_angle_delta_deg: float, v_ego: float) -> float:
   abs_angle = abs(desired_angle_deg)
   speed_weight = min(max((v_ego - 4.0) / 10.0, 0.0), 1.0)
-  center_speed_weight = 0.65 + (0.35 * speed_weight)
-  center_weight = min(max((16.0 - abs_angle) / 16.0, 0.0), 1.0)
-  angle_weight = min(max((abs_angle - 16.0) / 12.0, 0.0), 1.0)
+  center_speed_weight = 0.70 + (0.30 * speed_weight)
+  center_weight = min(max((18.0 - abs_angle) / 18.0, 0.0), 1.0)
+  angle_weight = min(max((abs_angle - 18.0) / 10.0, 0.0), 1.0)
   phase = desired_angle_deg * desired_angle_delta_deg
 
   is_left = desired_angle_deg > 0.0
-  center_taper = 0.30
+  center_taper = 0.32
   base_scale = 0.10 if is_left else 0.12
   turn_in_scale = 0.10 if is_left else 0.14
   unwind_scale = 0.14 if is_left else 0.20
@@ -33,7 +33,7 @@ def get_civic_bosch_modified_pid_output_scale(desired_angle_deg: float, desired_
   elif phase < -0.2:
     scale -= speed_weight * angle_weight * unwind_scale
 
-  return max(scale, 0.74)
+  return max(scale, 0.70)
 
 
 class LatControlPID(LatControl):

selfdrive/controls/tests/test_latcontrol.py

@@ -385,8 +385,9 @@ class TestLatControl:
     assert get_civic_bosch_modified_pid_output_scale(10.0, 0.0, 12.0) < 1.0
     assert get_civic_bosch_modified_pid_output_scale(12.0, 0.0, 12.0) < 1.0
     assert get_civic_bosch_modified_pid_output_scale(14.0, 0.0, 12.0) < 1.0
+    assert get_civic_bosch_modified_pid_output_scale(16.0, 0.0, 12.0) < 1.0
     assert get_civic_bosch_modified_pid_output_scale(0.0, 0.0, 6.0) < 0.9
-    assert get_civic_bosch_modified_pid_output_scale(16.0, 0.0, 12.0) > get_civic_bosch_modified_pid_output_scale(8.0, 0.0, 12.0)
+    assert get_civic_bosch_modified_pid_output_scale(18.0, 0.0, 12.0) > get_civic_bosch_modified_pid_output_scale(8.0, 0.0, 12.0)
     assert get_civic_bosch_modified_pid_output_scale(20.0, 0.5, 12.0) > get_civic_bosch_modified_pid_output_scale(20.0, 0.0, 12.0)
     assert get_civic_bosch_modified_pid_output_scale(-20.0, -0.5, 12.0) > get_civic_bosch_modified_pid_output_scale(-20.0, 0.0, 12.0)
     assert get_civic_bosch_modified_pid_output_scale(20.0, -0.5, 12.0) < get_civic_bosch_modified_pid_output_scale(20.0, 0.0, 12.0)

starpilot/common/starpilot_variables.py

@@ -925,7 +925,7 @@ class StarPilotVariables:
     custom_accel_profile_tuning = advanced_longitudinal_tuning and self.get_value("CustomAccelProfile")
     acceleration_profile_tuning = longitudinal_tuning or custom_accel_profile_tuning
     toggle.acceleration_profile = normalize_acceleration_profile(
-      self.get_value("AccelerationProfile", cast=None, condition=acceleration_profile_tuning, default=ACCELERATION_PROFILES["SPORT"])
+      self.get_value("AccelerationProfile", cast=None, condition=acceleration_profile_tuning, default=ACCELERATION_PROFILES["STANDARD"])
     )
     toggle.deceleration_profile = normalize_deceleration_profile(
       self.get_value("DecelerationProfile", cast=None, condition=longitudinal_tuning, default=DECELERATION_PROFILES["ECO"])

system/manager/launch_param_migrations.py

@@ -16,6 +16,8 @@ QT_STEER_KP_PLACEHOLDER = 1.0
 
 LAUNCH_PARAM_MIGRATION_MARKER = ".starpilot_launch_param_migrations_v2"
 BRANCH_DEFAULTS_MIGRATION_MARKER = ".starpilot_branch_defaults_migrations_v1"
+ACCELERATION_PROFILE_MIGRATION_MARKER = ".starpilot_acceleration_profile_default_v1"
+STANDARD_ACCELERATION_PROFILE = 0
 
 BRANCH_BOOL_DEFAULTS = {
   "ConditionalExperimental": True,
@@ -53,8 +55,10 @@ BRANCH_FLOAT_DEFAULTS = {
 class ParamsLike(Protocol):
   def get_param_path(self, key: str = "") -> str: ...
   def get_bool(self, key: str) -> bool: ...
+  def get_int(self, key: str) -> int: ...
   def get_float(self, key: str) -> float: ...
   def put_bool(self, key: str, value: bool) -> None: ...
+  def put_int(self, key: str, value: int) -> None: ...
   def put_float(self, key: str, value: float) -> None: ...
 
 
@@ -70,6 +74,10 @@ def _branch_defaults_marker_path(params: ParamsLike) -> Path:
   return Path(params.get_param_path()) / BRANCH_DEFAULTS_MIGRATION_MARKER
 
 
+def _acceleration_profile_marker_path(params: ParamsLike) -> Path:
+  return Path(params.get_param_path()) / ACCELERATION_PROFILE_MIGRATION_MARKER
+
+
 def _apply_legacy_launch_param_migrations(params: ParamsLike, marker: Path) -> None:
   if marker.exists():
     return
@@ -112,12 +120,25 @@ def _apply_branch_default_migration(params: ParamsLike, marker: Path) -> None:
   marker.touch()
 
 
+def _apply_acceleration_profile_default_migration(params: ParamsLike, marker: Path) -> None:
+  if marker.exists():
+    return
+
+  marker.parent.mkdir(parents=True, exist_ok=True)
+  params.put_int("AccelerationProfile", STANDARD_ACCELERATION_PROFILE)
+  marker.touch()
+
+
 def apply_launch_param_migrations(params: ParamsLike, marker_path: Path | None = None,
-                                  branch_defaults_marker_path: Path | None = None) -> None:
+                                  branch_defaults_marker_path: Path | None = None,
+                                  acceleration_profile_marker_path: Path | None = None) -> None:
   _apply_legacy_launch_param_migrations(params, marker_path or _default_marker_path(params))
   # Keep branch-default rollout on its own marker so older installs that already
   # have the legacy marker still receive this one-time param reset.
   _apply_branch_default_migration(params, branch_defaults_marker_path or _branch_defaults_marker_path(params))
+  _apply_acceleration_profile_default_migration(
+    params, acceleration_profile_marker_path or _acceleration_profile_marker_path(params)
+  )
 
 
 def main() -> int:

system/manager/test/test_launch_param_migrations.py

@@ -1,9 +1,11 @@
 from pathlib import Path
 
 from openpilot.system.manager.launch_param_migrations import (
+  ACCELERATION_PROFILE_MIGRATION_MARKER,
   BRANCH_DEFAULTS_MIGRATION_MARKER,
   DEFAULT_STEER_KP,
   LAUNCH_PARAM_MIGRATION_MARKER,
+  STANDARD_ACCELERATION_PROFILE,
   apply_launch_param_migrations,
 )
 
@@ -32,9 +34,16 @@ class FileBackedFakeParams:
     value = self.get(key)
     return float(value) if value is not None else 0.0
 
+  def get_int(self, key):
+    value = self.get(key)
+    return int(float(value)) if value is not None else 0
+
   def put_bool(self, key, value):
     Path(self.get_param_path(key)).write_text("1" if value else "0", encoding="utf-8")
 
+  def put_int(self, key, value):
+    Path(self.get_param_path(key)).write_text(str(int(value)), encoding="utf-8")
+
   def put_float(self, key, value):
     Path(self.get_param_path(key)).write_text(str(float(value)), encoding="utf-8")
 
@@ -141,3 +150,28 @@ def test_apply_launch_param_migrations_does_not_reapply_branch_defaults_after_ma
   assert params.get_float("AggressiveFollowHigh") == 2.0
   assert params.get_float("StandardJerkAcceleration") == 25.0
   assert params.get_float("RelaxedFollow") == 2.0
+
+
+def test_apply_launch_param_migrations_updates_acceleration_profile_for_existing_installs(tmp_path):
+  params = FileBackedFakeParams(tmp_path / "params")
+
+  params.put_int("AccelerationProfile", 2)
+  (tmp_path / "params" / LAUNCH_PARAM_MIGRATION_MARKER).touch()
+  (tmp_path / "params" / BRANCH_DEFAULTS_MIGRATION_MARKER).touch()
+
+  apply_launch_param_migrations(params)
+
+  assert params.get_int("AccelerationProfile") == STANDARD_ACCELERATION_PROFILE
+  assert (tmp_path / "params" / ACCELERATION_PROFILE_MIGRATION_MARKER).is_file()
+
+
+def test_apply_launch_param_migrations_does_not_reapply_acceleration_profile_after_marker(tmp_path):
+  params = FileBackedFakeParams(tmp_path / "params")
+  acceleration_profile_marker = tmp_path / "params" / ACCELERATION_PROFILE_MIGRATION_MARKER
+
+  params.put_int("AccelerationProfile", 3)
+  acceleration_profile_marker.touch()
+
+  apply_launch_param_migrations(params)
+
+  assert params.get_int("AccelerationProfile") == 3