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redneck

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firestar5683
2026-05-29 15:57:20 -05:00
parent 07fcbbdab8
commit 6afdc99dd5
8 changed files with 108 additions and 29 deletions
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selfdrive/car/card.py
+10 -12
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@@ -22,7 +22,7 @@ from opendbc.safety import ALTERNATIVE_EXPERIENCE
from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
from openpilot.common.constants import CV
from openpilot.selfdrive.car.cruise import VCruiseHelper, IMPERIAL_INCREMENT, V_CRUISE_MAX, V_CRUISE_MIN
from openpilot.selfdrive.car.redneck_cruise import RedneckCruise, SEND_BUTTON_DECREASE, SEND_BUTTON_INCREASE
from openpilot.selfdrive.car.redneck_cruise import RedneckCruise, SEND_BUTTON_DECREASE, SEND_BUTTON_INCREASE, select_redneck_target_speed
from openpilot.selfdrive.car.car_specific import MockCarState
from openpilot.starpilot.common.starpilot_variables import get_starpilot_toggles, update_starpilot_toggles
@@ -397,23 +397,21 @@ class Car:
self.CI.CS.redneck_v_target = v_target
def _get_redneck_target_speed(self, CS: car.CarState) -> float:
fallback_target_speed = float(CS.cruiseState.speedCluster)
starpilot_target_speed = 0.0
if self.sm.seen['starpilotPlan'] and self.sm.valid['starpilotPlan']:
starpilot_target_speed = float(self.sm['starpilotPlan'].vCruise)
if starpilot_target_speed > 0.0:
fallback_target_speed = starpilot_target_speed
plan_speeds = []
if self.sm.seen['longitudinalPlan'] and self.sm.valid['longitudinalPlan']:
plan_speeds = [float(speed) for speed in self.sm['longitudinalPlan'].speeds if math.isfinite(float(speed))]
if len(plan_speeds) > 0:
target_speed = plan_speeds[0]
decrease_target_speed = min(plan_speeds[:REDNECK_DECREASE_LOOKAHEAD_POINTS])
if decrease_target_speed < min(target_speed, float(CS.cruiseState.speedCluster)):
return decrease_target_speed
return target_speed
return fallback_target_speed
return select_redneck_target_speed(
float(getattr(CS, "vCruise", 0.0)),
float(CS.cruiseState.speedCluster),
starpilot_target_speed,
plan_speeds,
REDNECK_DECREASE_LOOKAHEAD_POINTS,
)
def _advance_redneck_button_feedback_filter(self) -> None:
if self.redneck_cruise is None:
selfdrive/car/cruise.py
+11 -2
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@@ -53,6 +53,15 @@ class VCruiseHelper:
def _get_cruise_delta_interval(interval: float | None) -> float:
return interval if isinstance(interval, (int, float)) and interval > 0 else 1.0
def _get_cruise_delta_intervals(self, starpilot_toggles: SimpleNamespace) -> tuple[float, float]:
short_interval = self._get_cruise_delta_interval(getattr(starpilot_toggles, "cruise_increase", None))
long_interval = self._get_cruise_delta_interval(getattr(starpilot_toggles, "cruise_increase_long", None))
if getattr(starpilot_toggles, "reverse_cruise_increase", False):
return long_interval, short_interval
return short_interval, long_interval
@property
def v_cruise_initialized(self):
return self.v_cruise_kph != V_CRUISE_UNSET
@@ -119,8 +128,8 @@ class VCruiseHelper:
if not self.button_change_states[button_type]["enabled"]:
return
delta_interval = starpilot_toggles.cruise_increase_long if long_press else starpilot_toggles.cruise_increase
v_cruise_delta_interval = self._get_cruise_delta_interval(delta_interval)
short_interval, long_interval = self._get_cruise_delta_intervals(starpilot_toggles)
v_cruise_delta_interval = long_interval if long_press else short_interval
v_cruise_delta = v_cruise_delta * v_cruise_delta_interval
if v_cruise_delta_interval % 5 == 0 and self.v_cruise_kph % v_cruise_delta != 0: # partial interval
self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta
selfdrive/car/redneck_cruise.py
+17
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@@ -23,6 +23,23 @@ CRUISE_BUTTON_TIMERS = {
}
def select_redneck_target_speed(v_cruise_kph: float, speed_cluster_ms: float,
starpilot_target_speed_ms: float, plan_speeds_ms: list[float],
lookahead_points: int) -> float:
target_speed_ms = float(speed_cluster_ms)
if v_cruise_kph > 0:
target_speed_ms = float(v_cruise_kph) * CV.KPH_TO_MS
elif starpilot_target_speed_ms > 0:
target_speed_ms = float(starpilot_target_speed_ms)
if len(plan_speeds_ms) > 0:
decrease_target_speed_ms = min(plan_speeds_ms[:lookahead_points])
if decrease_target_speed_ms < min(target_speed_ms, float(speed_cluster_ms)):
return decrease_target_speed_ms
return target_speed_ms
def get_minimum_set_speed(is_metric: bool) -> int:
return 30 if is_metric else 20
selfdrive/car/tests/test_cruise_speed.py
+33
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@@ -55,6 +55,7 @@ class TestVCruiseHelper:
cruise_increase=1,
cruise_increase_long=5,
is_metric=False,
reverse_cruise_increase=False,
set_speed_limit=False,
)
self.reset_cruise_speed_state()
@@ -315,6 +316,7 @@ class TestVCruiseHelperRedneck:
cruise_increase=1,
cruise_increase_long=5,
is_metric=False,
reverse_cruise_increase=False,
set_speed_limit=False,
)
@@ -344,3 +346,34 @@ class TestVCruiseHelperRedneck:
assert self.v_cruise_helper.v_cruise_kph == pytest.approx(62 * CV.MPH_TO_KPH)
assert self.v_cruise_helper.v_cruise_cluster_kph == pytest.approx(62 * CV.MPH_TO_KPH)
def test_reverse_cruise_increase_swaps_short_and_long_press_intervals(self):
self.enable(55 * CV.MPH_TO_MS, experimental_mode=False)
initial_v_cruise_kph = self.v_cruise_helper.v_cruise_kph
self.starpilot_toggles.cruise_increase = 1
self.starpilot_toggles.cruise_increase_long = 5
self.starpilot_toggles.reverse_cruise_increase = True
pressed_cs = car.CarState(cruiseState={"available": True})
pressed_cs.buttonEvents = [ButtonEvent(type=ButtonType.accelCruise, pressed=True)]
self.v_cruise_helper.update_v_cruise(
pressed_cs,
enabled=True,
is_metric=False,
speed_limit_changed=False,
starpilot_toggles=self.starpilot_toggles,
)
released_cs = car.CarState(cruiseState={"available": True})
released_cs.buttonEvents = [ButtonEvent(type=ButtonType.accelCruise, pressed=False)]
self.v_cruise_helper.update_v_cruise(
released_cs,
enabled=True,
is_metric=False,
speed_limit_changed=False,
starpilot_toggles=self.starpilot_toggles,
)
reversed_interval = 5 * IMPERIAL_INCREMENT
expected_kph = math.ceil(initial_v_cruise_kph / reversed_interval) * reversed_interval
assert self.v_cruise_helper.v_cruise_kph == pytest.approx(expected_kph)
selfdrive/car/tests/test_redneck_cruise.py
+21
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@@ -11,6 +11,7 @@ from openpilot.selfdrive.car.redneck_cruise import (
SEND_BUTTON_DECREASE,
SEND_BUTTON_INCREASE,
SEND_BUTTON_NONE,
select_redneck_target_speed,
)
@@ -108,6 +109,26 @@ class TestRedneckCruise(unittest.TestCase):
self.assertEqual(SEND_BUTTON_NONE, send_button)
self.assertEqual(0, v_target)
def test_target_speed_returns_internal_max_when_plan_only_wants_to_speed_back_up(self):
target_speed = select_redneck_target_speed(
120.0,
77.0 * CV.MPH_TO_MS,
0.0,
[78.3 * CV.MPH_TO_MS, 78.2 * CV.MPH_TO_MS, 78.1 * CV.MPH_TO_MS],
10,
)
self.assertAlmostEqual(120.0 * CV.KPH_TO_MS, target_speed)
def test_target_speed_returns_plan_minimum_when_slowing_down(self):
target_speed = select_redneck_target_speed(
120.0,
75.0 * CV.MPH_TO_MS,
0.0,
[74.0 * CV.MPH_TO_MS, 72.0 * CV.MPH_TO_MS, 71.0 * CV.MPH_TO_MS],
10,
)
self.assertAlmostEqual(71.0 * CV.MPH_TO_MS, target_speed)
if __name__ == "__main__":
unittest.main()
selfdrive/controls/lib/latcontrol_torque.py
+11 -11
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@@ -361,20 +361,20 @@ IONIQ_5_FF_CUTOFF = 1.20
IONIQ_5_FF_CUTOFF_WIDTH = 0.30
IONIQ_5_TRANSITION_SPEED = 11.0
IONIQ_5_PHASE_SCALE = 0.10
IONIQ_5_FF_REDUCTION_LEFT = 0.14
IONIQ_5_FF_REDUCTION_RIGHT = 0.18
IONIQ_5_TURN_IN_BOOST_LEFT = 0.04
IONIQ_5_FF_REDUCTION_LEFT = 0.12
IONIQ_5_FF_REDUCTION_RIGHT = 0.20
IONIQ_5_TURN_IN_BOOST_LEFT = 0.08
IONIQ_5_TURN_IN_BOOST_RIGHT = 0.00
IONIQ_5_UNWIND_TAPER_LEFT = 0.52
IONIQ_5_UNWIND_TAPER_RIGHT = 0.82
IONIQ_5_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.05
IONIQ_5_UNWIND_TAPER_LEFT = 0.60
IONIQ_5_UNWIND_TAPER_RIGHT = 0.72
IONIQ_5_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.08
IONIQ_5_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.00
IONIQ_5_UNWIND_THRESHOLD_INCREASE_LEFT = 0.24
IONIQ_5_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.38
IONIQ_5_TURN_IN_FRICTION_BOOST_LEFT = 0.02
IONIQ_5_UNWIND_THRESHOLD_INCREASE_LEFT = 0.28
IONIQ_5_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.30
IONIQ_5_TURN_IN_FRICTION_BOOST_LEFT = 0.04
IONIQ_5_TURN_IN_FRICTION_BOOST_RIGHT = 0.00
IONIQ_5_UNWIND_FRICTION_REDUCTION_LEFT = 0.22
IONIQ_5_UNWIND_FRICTION_REDUCTION_RIGHT = 0.32
IONIQ_5_UNWIND_FRICTION_REDUCTION_LEFT = 0.26
IONIQ_5_UNWIND_FRICTION_REDUCTION_RIGHT = 0.26
IONIQ_5_CENTER_TAPER_MAX = 0.08
IONIQ_5_CENTER_TAPER_LAT = 0.16
IONIQ_5_CENTER_TAPER_LAT_WIDTH = 0.03
selfdrive/controls/tests/test_latcontrol.py
+1 -1
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@@ -374,7 +374,7 @@ class TestLatControl:
assert turn_in_left_scale > 1.0
assert turn_in_right_scale == pytest.approx(1.0)
assert unwind_left_scale < 1.0
assert unwind_right_scale < unwind_left_scale
assert unwind_right_scale <= unwind_left_scale
def test_ioniq_5_center_taper_curve(self):
assert get_ioniq_5_center_taper_scale(0.0, 25.0) < get_ioniq_5_center_taper_scale(0.0, 10.0)
starpilot/common/starpilot_variables.py
+4 -3
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@@ -1099,8 +1099,9 @@ class StarPilotVariables:
toggle.pause_lateral_signal_delay = self.get_value("LateralResumeDelay", cast=float, condition=toggle.pause_lateral_below_signal, default=0.0, min=0.0, max=5.0)
quality_of_life_longitudinal = toggle.openpilot_longitudinal and self.get_value("QOLLongitudinal")
toggle.cruise_increase = self.get_value("CustomCruise", cast=float, condition=(quality_of_life_longitudinal and not pcm_cruise))
toggle.cruise_increase_long = self.get_value("CustomCruiseLong", cast=float, condition=(quality_of_life_longitudinal and not pcm_cruise))
quality_of_life_cruise = self.get_value("QOLLongitudinal") and (toggle.openpilot_longitudinal or not FPCP.pcmCruiseSpeed)
toggle.cruise_increase = self.get_value("CustomCruise", cast=float, condition=quality_of_life_cruise, default=1.0)
toggle.cruise_increase_long = self.get_value("CustomCruiseLong", cast=float, condition=quality_of_life_cruise, default=5.0)
toggle.force_stops = self.get_value("ForceStops", condition=quality_of_life_longitudinal)
toggle.force_stop_distance_offset = self.get_value("ForceStopDistanceOffset", cast=int, condition=(quality_of_life_longitudinal and toggle.force_stops))
toggle.force_standstill = self.get_value("ForceStandstill", condition=quality_of_life_longitudinal)
@@ -1108,7 +1109,7 @@ class StarPilotVariables:
map_gears = self.get_value("MapGears", condition=quality_of_life_longitudinal)
toggle.map_acceleration = self.get_value("MapAcceleration", condition=map_gears)
toggle.map_deceleration = self.get_value("MapDeceleration", condition=map_gears)
toggle.reverse_cruise_increase = self.get_value("ReverseCruise", condition=quality_of_life_longitudinal and toggle.car_make == "toyota" and pcm_cruise)
toggle.reverse_cruise_increase = self.get_value("ReverseCruise", condition=quality_of_life_cruise)
toggle.set_speed_offset = self.get_value("SetSpeedOffset", cast=float, condition=(quality_of_life_longitudinal and not pcm_cruise), conversion=(1 if toggle.is_metric else CV.MPH_TO_KPH))
toggle.weather_presets = self.get_value("WeatherPresets", condition=quality_of_life_longitudinal)
toggle.increase_following_distance_low_visibility = self.get_value("IncreaseFollowingLowVisibility", cast=float, condition=toggle.weather_presets)