Coast Toggle

common/params_keys.h

@@ -297,6 +297,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"HolidayThemes", {PERSISTENT, BOOL, "1", "0", 0}},
     {"HumanAcceleration", {PERSISTENT, BOOL, "0", "0", 2}},
     {"HumanFollowing", {PERSISTENT, BOOL, "0", "0", 2}},
+    {"CoastUpToLeads", {PERSISTENT, BOOL, "1", "1", 2}},
     {"HumanLaneChanges", {PERSISTENT, BOOL, "0", "0", 2}},
     {"IconPack", {PERSISTENT, STRING, "frog-animated", "stock", 0}},
     {"IconToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-392d38c5-DEBUG";
+const uint8_t gitversion[19] = "DEV-688e0c3f-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-392d38c5-DEBUG
+DEV-688e0c3f-DEBUG

selfdrive/ui/layouts/settings/starpilot/longitudinal.py

@@ -596,6 +596,15 @@ class StarPilotLongitudinalTuneLayout(StarPilotPanel):
         "color": "#597497",
         "visible": self._longitudinal_enabled,
       },
+      {
+        "title": tr_noop("Coast Up To Leads"),
+        "desc": tr_noop("Allow openpilot to briefly coast toward far leads before applying normal throttle again."),
+        "type": "toggle",
+        "get_state": lambda: self._params.get_bool("CoastUpToLeads"),
+        "set_state": lambda s: self._params.put_bool("CoastUpToLeads", s),
+        "color": "#597497",
+        "visible": self._longitudinal_enabled,
+      },
       {
         "title": tr_noop("Human-Like Lane Changes"),
         "desc": tr_noop("Use radar-informed behavior during lane changes when radar support is available."),

starpilot/common/safe_mode.py

@@ -68,6 +68,7 @@ SAFE_MODE_MANAGED_KEYS = (
   "DecelerationProfile",
   "HumanAcceleration",
   "HumanFollowing",
+  "CoastUpToLeads",
   "HumanLaneChanges",
   "LeadDetectionThreshold",
   "RecoveryPower",

starpilot/common/starpilot_variables.py

@@ -851,6 +851,9 @@ class StarPilotVariables:
       toggle.custom_accel_profile_values = [custom_accel_defaults[key] for key in CUSTOM_ACCEL_PROFILE_PARAM_KEYS]
     toggle.human_acceleration = self.get_value("HumanAcceleration", condition=longitudinal_tuning)
     toggle.human_following = self.get_value("HumanFollowing", condition=longitudinal_tuning)
+    toggle.coast_up_to_leads = self.get_value("CoastUpToLeads", condition=longitudinal_tuning)
+    if longitudinal_tuning and self.params.get("CoastUpToLeads") is None:
+      toggle.coast_up_to_leads = True
     toggle.human_lane_changes = has_radar and self.get_value("HumanLaneChanges", condition=longitudinal_tuning)
     # Keep lead detection sensitivity normalized even when longitudinal tuning is disabled.
     # Some branches can return raw integer defaults (e.g. 35) when condition=False.

starpilot/controls/lib/starpilot_following.py

@@ -85,7 +85,7 @@ class StarPilotFollowing:
       self.t_follow = min(self.t_follow + self.starpilot_planner.starpilot_weather.increase_following_distance, MAX_T_FOLLOW)
 
     self.disable_throttle = False
-    if self.starpilot_planner.tracking_lead and self.starpilot_planner.lead_one.status:
+    if getattr(starpilot_toggles, "coast_up_to_leads", True) and self.starpilot_planner.tracking_lead and self.starpilot_planner.lead_one.status:
       lead_distance = self.starpilot_planner.lead_one.dRel
       v_lead = self.starpilot_planner.lead_one.vLead
       closing_speed = max(0.0, v_ego - v_lead)

starpilot/system/the_pond/assets/components/tools/device_settings_layout.json

@@ -967,6 +967,14 @@
         "ui_type": "toggle",
         "parent_key": "LongitudinalTune"
       },
+      {
+        "key": "CoastUpToLeads",
+        "label": "Coast Up To Leads",
+        "description": "Allow openpilot to briefly coast toward far leads before resuming normal throttle. Disable this if your vehicle shows gas/brake alternation while approaching distant traffic.",
+        "data_type": "bool",
+        "ui_type": "toggle",
+        "parent_key": "LongitudinalTune"
+      },
       {
         "key": "HumanLaneChanges",
         "label": "Human-Like Lane Changes",

starpilot/ui/qt/offroad/longitudinal_settings.cc

@@ -148,6 +148,7 @@ StarPilotLongitudinalPanel::StarPilotLongitudinalPanel(StarPilotSettingsWindow *
     {"DecelerationProfile", tr("Deceleration Profile"), tr("<b>How firmly openpilot slows down.</b> \"Eco\" favors coasting, \"Sport\" applies stronger braking."), ""},
     {"HumanAcceleration", tr("Human-Like Acceleration"), tr("<b>Acceleration that mimics human behavior</b> by easing the throttle at low speeds and adding extra power when taking off from a stop."), ""},
     {"HumanFollowing", tr("Human-Like Following"), tr("<b>Following behavior that mimics human drivers</b> by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking."), ""},
+    {"CoastUpToLeads", tr("Coast Up To Leads"), tr("<b>Allow openpilot to coast toward far leads before resuming normal throttle.</b> Disable this if your vehicle shows noticeable gas/brake alternation while approaching distant traffic."), ""},
     {"HumanLaneChanges", tr("Human-Like Lane Changes"), tr("<b>Lane-change behavior that mimics human drivers</b> by anticipating and tracking adjacent vehicles during lane changes."), ""},
     {"LeadDetectionThreshold", tr("Lead Detection Sensitivity"), tr("<b>How sensitive openpilot is to detecting vehicles.</b> Higher sensitivity allows quicker detection at longer distances but may react to non-vehicle objects; lower sensitivity is more conservative and reduces false detections."), ""},
     {"TacoTune", tr("\"Taco Bell Run\" Turn Speed Hack"), tr("<b>The turn-speed hack from comma's 2022 \"Taco Bell Run\".</b> Designed to slow down for left and right turns."), ""},

starpilot/ui/qt/offroad/longitudinal_settings.h

@@ -33,7 +33,7 @@ private:
   QSet<QString> conditionalExperimentalKeys = {"PersistExperimentalState", "CESpeed", "CESpeedLead", "CECurves", "CELead", "CEModelStopTime", "CESignalSpeed", "CEStopLights", "ShowCEMStatus"};
   QSet<QString> curveSpeedKeys = {"CalibratedLateralAcceleration", "CalibrationProgress", "ResetCurveData", "ShowCSCStatus"};
   QSet<QString> customDrivingPersonalityKeys = {"AggressivePersonalityProfile", "RelaxedPersonalityProfile", "StandardPersonalityProfile", "TrafficPersonalityProfile"};
-  QSet<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "HumanAcceleration", "HumanFollowing", "HumanLaneChanges", "LeadDetectionThreshold", "TacoTune"};
+  QSet<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "HumanAcceleration", "HumanFollowing", "CoastUpToLeads", "HumanLaneChanges", "LeadDetectionThreshold", "TacoTune"};
   QSet<QString> qolKeys = {"CustomCruise", "CustomCruiseLong", "ForceStops", "ForceStandstill", "IncreasedStoppedDistance", "MapGears", "ReverseCruise", "SetSpeedOffset", "WeatherPresets"};
   QSet<QString> relaxedPersonalityKeys = {"RelaxedFollow", "RelaxedFollowHigh", "RelaxedJerkAcceleration", "RelaxedJerkDeceleration", "RelaxedJerkDanger", "RelaxedJerkSpeed", "RelaxedJerkSpeedDecrease", "ResetRelaxedPersonality"};
   QSet<QString> speedLimitControllerKeys = {"SLCOffsets", "SLCFallback", "SLCOverride", "SLCPriority", "SLCQOL", "SLCVisuals"};

system/manager/manager.py

@@ -36,6 +36,7 @@ LEGACY_BOLT_FP_MIGRATION_FLAG = Path("/data") / "legacy_bolt_fp_migration_v1"
 STARPILOT_DEFAULTS_PARITY_MIGRATION_FLAG = Path("/data") / "starpilot_defaults_parity_v1"
 STARPILOT_HUMANLIKE_DISABLE_MIGRATION_FLAG = Path("/data") / "starpilot_humanlike_disable_v1"
 STARPILOT_CLUSTER_OFFSET_MIGRATION_FLAG = Path("/data") / "starpilot_cluster_offset_v1"
+STARPILOT_COAST_UP_TO_LEADS_MIGRATION_FLAG = Path("/data") / "starpilot_coast_up_to_leads_v1"
 STARPILOT_PARAM_RENAME_MIGRATION_FLAG = Path("/data") / "starpilot_param_rename_v1"
 STARPILOT_PARAM_CANONICALIZATION_MIGRATION_FLAG = Path("/data") / "starpilot_param_canonicalization_v1"
 STARPILOT_PC_ROOT_MIGRATION_FLAG = Path("/data") / "starpilot_pc_root_v1"
@@ -433,6 +434,22 @@ def migrate_cluster_offset_default(params: Params, params_cache: Params) -> None
     cloudlog.exception(f"Failed to write migration flag: {STARPILOT_CLUSTER_OFFSET_MIGRATION_FLAG}")
 
 
+def migrate_coast_up_to_leads_default(params: Params, params_cache: Params) -> None:
+  if STARPILOT_COAST_UP_TO_LEADS_MIGRATION_FLAG.exists():
+    return
+
+  if not _has_persisted_param_file(params, "CoastUpToLeads") and not _has_persisted_param_file(params_cache, "CoastUpToLeads"):
+    params.put_bool("CoastUpToLeads", True)
+    params_cache.put_bool("CoastUpToLeads", True)
+    cloudlog.warning("Seeded CoastUpToLeads to default enabled")
+
+  try:
+    STARPILOT_COAST_UP_TO_LEADS_MIGRATION_FLAG.parent.mkdir(parents=True, exist_ok=True)
+    STARPILOT_COAST_UP_TO_LEADS_MIGRATION_FLAG.write_text(f"{datetime.datetime.now(datetime.UTC).isoformat()}\n")
+  except Exception:
+    cloudlog.exception(f"Failed to write migration flag: {STARPILOT_COAST_UP_TO_LEADS_MIGRATION_FLAG}")
+
+
 def _read_raw_param_bytes(params: Params, key: str | bytes):
   try:
     path = params.get_param_path(key)
@@ -601,6 +618,7 @@ def manager_init() -> None:
   migrate_starpilot_default_parity(params, params_cache)
   migrate_disable_humanlike_defaults(params, params_cache)
   migrate_cluster_offset_default(params, params_cache)
+  migrate_coast_up_to_leads_default(params, params_cache)
 
   # set unset params to their default value
   for k in params.all_keys():

system/manager/test/test_manager.py

@@ -217,6 +217,29 @@ class TestManager:
     assert params.get("ClusterOffset") == "1.02"
     assert params_cache.get("ClusterOffset") is None
 
+  def test_migrate_coast_up_to_leads_default_seeds_enabled(self, tmp_path, monkeypatch):
+    monkeypatch.setattr(manager, "STARPILOT_COAST_UP_TO_LEADS_MIGRATION_FLAG", tmp_path / "starpilot_coast_up_to_leads_v1")
+
+    params = FileBackedFakeParams(tmp_path / "params", {})
+    params_cache = FileBackedFakeParams(tmp_path / "cache", {})
+
+    manager.migrate_coast_up_to_leads_default(params, params_cache)
+
+    assert params.get_bool("CoastUpToLeads")
+    assert params_cache.get_bool("CoastUpToLeads")
+
+  def test_migrate_coast_up_to_leads_default_preserves_existing_values(self, tmp_path, monkeypatch):
+    monkeypatch.setattr(manager, "STARPILOT_COAST_UP_TO_LEADS_MIGRATION_FLAG", tmp_path / "starpilot_coast_up_to_leads_v1")
+
+    params = FileBackedFakeParams(tmp_path / "params", {
+      "CoastUpToLeads": False,
+    })
+    params_cache = FileBackedFakeParams(tmp_path / "cache", {})
+
+    manager.migrate_coast_up_to_leads_default(params, params_cache)
+
+    assert not params.get_bool("CoastUpToLeads")
+
   @pytest.mark.skip("this test is flaky the way it's currently written, should be moved to test_onroad")
   def test_clean_exit(self, subtests):
     """