Advanced longitudinal tuning

selfdrive/controls/lib/longcontrol.py

@@ -16,7 +16,7 @@ def long_control_state_trans(CP, active, long_control_state, v_ego,
   starting_condition = (not should_stop and
                         not cruise_standstill and
                         not brake_pressed)
-  started_condition = v_ego > CP.vEgoStarting
+  started_condition = v_ego > frogpilot_toggles.vEgoStarting
 
   if not active:
     long_control_state = LongCtrlState.off
@@ -70,13 +70,13 @@ class LongControl:
 
     elif self.long_control_state == LongCtrlState.stopping:
       output_accel = self.last_output_accel
-      if output_accel > self.CP.stopAccel:
+      if output_accel > frogpilot_toggles.stopAccel:
         output_accel = min(output_accel, 0.0)
-        output_accel -= self.CP.stoppingDecelRate * DT_CTRL
+        output_accel -= frogpilot_toggles.stoppingDecelRate * DT_CTRL
       self.reset()
 
     elif self.long_control_state == LongCtrlState.starting:
-      output_accel = self.CP.startAccel
+      output_accel = frogpilot_toggles.startAccel
       self.reset()
 
     else:  # LongCtrlState.pid

selfdrive/controls/lib/longitudinal_planner.py

@@ -165,9 +165,9 @@ class LongitudinalPlanner:
     self.a_desired = float(np.interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory))
     self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0
 
-    action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
+    action_t = frogpilot_toggles.longitudinalActuatorDelay + DT_MDL
     output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
-                                                                        action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
+                                                                        action_t=action_t, vEgoStopping=frogpilot_toggles.vEgoStopping)
     output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
     output_should_stop_e2e = sm['modelV2'].action.shouldStop
 

selfdrive/modeld/modeld.py

@@ -294,7 +294,7 @@ def main(demo=False):
 
   # TODO this needs more thought, use .2s extra for now to estimate other delays
   # TODO Move smooth seconds to action function
-  long_delay = CP.longitudinalActuatorDelay + LONG_SMOOTH_SECONDS
+  long_delay = frogpilot_toggles.longitudinalActuatorDelay + LONG_SMOOTH_SECONDS
   prev_action = log.ModelDataV2.Action()
 
   DH = DesireHelper()