Controls - Experimental Mode Activation - Long Press Distance

Enable/disable 'Experimental Mode' by holding down the 'distance' button on your steering wheel for 0.5 seconds.

selfdrive/car/honda/carstate.py

@@ -274,6 +274,9 @@ class CarState(CarStateBase):
       ret.rightBlindspot = cp_body.vl["BSM_STATUS_RIGHT"]["BSM_ALERT"] == 1
 
     # FrogPilot CarState functions
+    self.prev_distance_button = self.distance_button
+    self.distance_button = self.cruise_setting == 3
+
     self.lkas_previously_enabled = self.lkas_enabled
     self.lkas_enabled = self.cruise_setting == 1
 

selfdrive/car/hyundai/carstate.py

@@ -173,6 +173,9 @@ class CarState(CarStateBase):
       self.main_enabled = not self.main_enabled
 
     # FrogPilot CarState functions
+    self.prev_distance_button = self.distance_button
+    self.distance_button = self.cruise_buttons[-1] == Buttons.GAP_DIST
+
     self.lkas_previously_enabled = self.lkas_enabled
     if self.CP.flags & HyundaiFlags.CAN_LFA_BTN:
       self.lkas_enabled = cp.vl["BCM_PO_11"]["LFA_Pressed"]
@@ -264,6 +267,9 @@ class CarState(CarStateBase):
                                           else cp_cam.vl["CAM_0x2a4"])
 
     # FrogPilot CarState functions
+    self.prev_distance_button = self.distance_button
+    self.distance_button = self.cruise_buttons[-1] == Buttons.GAP_DIST
+
     self.lkas_previously_enabled = self.lkas_enabled
     self.lkas_enabled = cp.vl[self.cruise_btns_msg_canfd]["LFA_BTN"]
 

selfdrive/car/interfaces.py

@@ -17,7 +17,7 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
 from openpilot.selfdrive.car.values import PLATFORMS
-from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
+from openpilot.selfdrive.controls.lib.drive_helpers import CRUISE_LONG_PRESS, V_CRUISE_MAX, get_friction
 from openpilot.selfdrive.controls.lib.events import Events
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 
@@ -120,8 +120,12 @@ class CarInterfaceBase(ABC):
     self.belowSteerSpeed_shown = False
     self.disable_belowSteerSpeed = False
     self.disable_resumeRequired = False
+    self.is_gm = self.CP.carName == "gm"
+    self.prev_distance_button = False
     self.resumeRequired_shown = False
 
+    self.gap_counter = 0
+
   def apply(self, c: car.CarControl, now_nanos: int, frogpilot_toggles) -> tuple[car.CarControl.Actuators, list[tuple[int, int, bytes, int]]]:
     return self.CC.update(c, self.CS, now_nanos, frogpilot_toggles)
 
@@ -270,6 +274,7 @@ class CarInterfaceBase(ABC):
 
     # Add any additional frogpilotCarStates
     fp_ret.alwaysOnLateralDisabled = self.always_on_lateral_disabled
+    fp_ret.distanceLongPressed = self.frogpilot_distance_functions(frogpilot_toggles)
 
     # copy back for next iteration
     if self.CS is not None:
@@ -359,6 +364,25 @@ class CarInterfaceBase(ABC):
 
     return events
 
+  def frogpilot_distance_functions(self, frogpilot_toggles):
+    distance_button = self.CS.distance_button or self.params_memory.get_bool("OnroadDistanceButtonPressed")
+
+    if distance_button:
+      self.gap_counter += 1
+    elif not self.prev_distance_button:
+      self.gap_counter = 0
+
+    if self.gap_counter == CRUISE_LONG_PRESS * (1.5 if self.is_gm else 1) and frogpilot_toggles.experimental_mode_via_distance:
+      if frogpilot_toggles.conditional_experimental_mode:
+        conditional_status = self.params_memory.get_int("CEStatus")
+        override_value = 0 if conditional_status in {1, 2, 3, 4, 5, 6} else 1 if conditional_status >= 7 else 2
+        self.params_memory.put_int("CEStatus", override_value)
+      else:
+        experimental_mode = self.params.get_bool("ExperimentalMode")
+        self.params.put_bool("ExperimentalMode", not experimental_mode)
+
+    self.prev_distance_button = distance_button
+    return self.gap_counter >= CRUISE_LONG_PRESS
 
 class RadarInterfaceBase(ABC):
   def __init__(self, CP):
@@ -399,6 +423,7 @@ class CarStateBase(ABC):
     self.v_ego_kf = KF1D(x0=x0, A=A, C=C[0], K=K)
 
     # FrogPilot variables
+    self.distance_button = False
     self.lkas_enabled = False
 
   def update_speed_kf(self, v_ego_raw):

selfdrive/car/volkswagen/carstate.py

@@ -153,6 +153,10 @@ class CarState(CarStateBase):
     # Digital instrument clusters expect the ACC HUD lead car distance to be scaled differently
     self.upscale_lead_car_signal = bool(pt_cp.vl["Kombi_03"]["KBI_Variante"])
 
+    # FrogPilot CarState functions
+    self.prev_distance_button = self.distance_button
+    self.distance_button = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Verstellung_Zeitluecke"])
+
     self.frame += 1
     return ret, fp_ret
 
@@ -253,6 +257,10 @@ class CarState(CarStateBase):
     # Additional safety checks performed in CarInterface.
     ret.espDisabled = bool(pt_cp.vl["Bremse_1"]["ESP_Passiv_getastet"])
 
+    # FrogPilot CarState functions
+    self.prev_distance_button = self.distance_button
+    self.distance_button = bool(pt_cp.vl["GRA_Neu"]["GRA_Zeitluecke"])
+
     self.frame += 1
     return ret, fp_ret
 

selfdrive/controls/controlsd.py

@@ -675,7 +675,7 @@ class Controls:
     if self.CP.openpilotLongitudinalControl:
       if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents) or self.onroad_distance_pressed:
         menu_open = self.display_timer > 0 or not self.sm['frogpilotCarState'].hasMenu
-        if not self.params_memory.get_bool("OnroadDistanceButtonPressed") and menu_open:
+        if not (self.sm['frogpilotCarState'].distanceLongPressed or self.params_memory.get_bool("OnroadDistanceButtonPressed")) and menu_open:
           self.personality = (self.personality - 1) % 3
           self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
         self.display_timer = 350