Default lane-centering model breakaway to fifty percent

openpilot/common/params_keys.h

@@ -123,7 +123,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"TryChubbsLaneCentering", {PERSISTENT, BOOL, "0"}},
     {"LaneCenteringPauseOnSignal", {PERSISTENT, BOOL, "1"}},
     {"LaneCenterOffset", {PERSISTENT, FLOAT, "0.0"}},
-    {"LaneCenteringE2EAuthority", {PERSISTENT, FLOAT, "1.0"}},
+    {"LaneCenteringE2EAuthority", {PERSISTENT, FLOAT, "0.5"}},
     {"LaneCenteringStrength", {PERSISTENT, FLOAT, "1.5"}},
     {"StarPortEnabled", {PERSISTENT | DONT_LOG, BOOL, "0"}},
     {"AdvancedLateralTune", {PERSISTENT, BOOL}},

openpilot/starpilot/lateral/lane_centering.py

@@ -54,7 +54,7 @@ class ControlMode(StrEnum):
 class LaneCenteringSettings:
   enabled: bool = False
   offset_m: float = 0.0
-  e2e_authority: float = 1.0
+  e2e_authority: float = 0.5
   pause_on_signal: bool = True
   strength: float = STRENGTH_BASELINE
 

openpilot/starpilot/lateral/lane_runtime.py

@@ -29,7 +29,7 @@ def read_settings(params) -> LaneCenteringSettings:
     enabled = boolean('LaneCentering', b'0')
     pause = boolean('LaneCenteringPauseOnSignal', b'1')
     offset = float(raw('LaneCenterOffset', b'0.0'))
-    authority = float(raw('LaneCenteringE2EAuthority', b'1.0'))
+    authority = float(raw('LaneCenteringE2EAuthority', b'0.5'))
     try:
       strength = float(raw('LaneCenteringStrength', str(STRENGTH_BASELINE).encode()))
     except UnknownKeyName:

openpilot/starpilot/lateral/tests/test_lane_runtime.py

@@ -988,6 +988,28 @@ class LaneRuntimeTests(unittest.TestCase):
       self.assertEqual(predicted.lane_centering_applied, 0.)
       self.assertEqual(predicted.CP.to_dict(), ordinary.CP.to_dict())
 
+  def test_half_breakaway_defaults_reset_and_preserve_saved_preferences(self):
+    from openpilot.starpilot.lateral.lane_centering import LaneCenteringSettings
+    from openpilot.starpilot.ui.controller_feature import SETUP_DEFAULTS
+    with OpenpilotPrefix():
+      params = Params()
+      key = 'LaneCenteringE2EAuthority'
+      self.assertIsNone(params.get(key))
+      self.assertEqual(params.get_default_value(key), .5)
+      self.assertEqual(LaneCenteringSettings().e2e_authority, .5)
+      self.assertEqual(read_settings(params).e2e_authority, .5)
+      self.assertEqual(SETUP_DEFAULTS[key], b'0.5')
+      self.assertIsNone(params.get(key))
+      for value in (0., .3, 1.):
+        params.put(key, value, block=True)
+        before = Path(params.get_param_path(key)).read_bytes()
+        self.assertEqual(read_settings(params).e2e_authority, value)
+        self.assertEqual(Path(params.get_param_path(key)).read_bytes(), before)
+        self.assertEqual(params.get_default_value(key), .5)
+      params.remove(key)
+      self.assertEqual(read_settings(params).e2e_authority, .5)
+      self.assertIsNone(params.get(key))
+
   def test_saved_settings_bounds_and_corruption(self):
     with OpenpilotPrefix():
       params = Params()

openpilot/starpilot/ui/controller_feature.py

@@ -27,7 +27,7 @@ TUNING_GUIDANCE = ("StarPilot's torque controller can provide higher low-speed s
 SETUP_ACTION = 'torque_prepare_firestar'
 SETUP_QUESTION = 'Change tuning preparation? Turning it off restores your previous steering preferences.'
 SETUP_DEFAULTS = {'TurnAssist': b'0', LEARNING_OFF_KEY: b'1', 'LaneCentering': b'0',
-                  'LaneCenterOffset': b'0.0', 'LaneCenteringE2EAuthority': b'1.0', 'LaneCenteringPauseOnSignal': b'1'}
+                  'LaneCenterOffset': b'0.0', 'LaneCenteringE2EAuthority': b'0.5', 'LaneCenteringPauseOnSignal': b'1'}
 SETUP_LIMITS = {**dict.fromkeys(SETUP_DEFAULTS, 128), LEARNING_PREFERENCES_KEY: LEARNING_PREFERENCES_LIMIT,
                 LANE_CHANGE_KEY: LANE_CHANGE_LIMIT, DOCUMENT_KEY: MAX_DOCUMENT_BYTES}
 

openpilot/starpilot/ui/tests/test_feature_settings_owner.py

@@ -519,9 +519,15 @@ class FeatureSettingsOwnerTests(unittest.TestCase):
     self.assertTrue(self.owner.apply(required_change(parent)))
     self.assertTrue(self.params.get_bool('SLCConfirmation'))
     authority = self._row("lane", "LaneCenteringE2EAuthority")
-    self.assertEqual(authority.value, "100.0")
+    self.assertEqual(authority.value, "50.0")
     self.assertTrue(self.owner.apply(required_change(authority, -1)))
-    self.assertAlmostEqual(self.params.get("LaneCenteringE2EAuthority"), 0.95)
+    self.assertAlmostEqual(self.params.get("LaneCenteringE2EAuthority"), 0.45)
+    authority = self._row("lane", "LaneCenteringE2EAuthority")
+    self.assertEqual(authority.default_value, "50.0")
+    reset = row_default(authority)
+    assert reset is not None
+    self.assertTrue(self.owner.apply(reset))
+    self.assertEqual(self.params.get("LaneCenteringE2EAuthority"), 0.5)
     offset = self._row("slc", "slc:offset:1")
     self.assertTrue(offset.available)
     self.assertFalse(self.owner.apply(FeatureSettingsRequest("slc:offset:1", offset.source, "5", vehicle_fingerprint=offset.vehicle_fingerprint)))

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "ff068e317667b963790c7cc53ad458af1adeeff7e991e4c16c0fd11bb6840bff", "schema_version": 1}
+{"protected_inventory_sha256": "83f3f3f137084506eb99bd5c1210e8560ebf88d839c673f6db4d796995a1c9d5", "schema_version": 1}