bug: fix braking issue while experimental and using old model (#881)

* Fixes an issue on the long planner since Tomb Raider models, where the models are now meant to output the acceleration target and the "should stop" instead of it being calculated. However, older models (particularly those running on modeld_v2 from SP) do not output this. Leading to a "coasting" situation instead of braking when only e2e is used which is totally wrong.

selfdrive/controls/lib/longitudinal_planner.py

@@ -178,6 +178,10 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
       output_a_target = min(output_a_target_mpc, output_a_target_e2e)
       self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
 
+    if not self.is_stock:
+      # To support non Tomb Raider models
+      output_a_target, self.output_should_stop = output_a_target_mpc, output_should_stop_mpc
+
     for idx in range(2):
       accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05)
     self.output_a_target = np.clip(output_a_target, accel_clip[0], accel_clip[1])

sunnypilot/models/helpers.py

@@ -19,7 +19,7 @@ from openpilot.system.hardware import PC
 from openpilot.system.hardware.hw import Paths
 from pathlib import Path
 
-CURRENT_SELECTOR_VERSION = 2
+CURRENT_SELECTOR_VERSION = 3
 REQUIRED_MIN_SELECTOR_VERSION = 2
 
 USE_ONNX = os.getenv('USE_ONNX', PC)

sunnypilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -7,6 +7,7 @@ See the LICENSE.md file in the root directory for more details.
 
 from cereal import messaging, custom
 from opendbc.car import structs
+from openpilot.sunnypilot.models.helpers import get_active_model_runner
 from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
 
 DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
@@ -15,6 +16,7 @@ DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimen
 class LongitudinalPlannerSP:
   def __init__(self, CP: structs.CarParams, mpc):
     self.dec = DynamicExperimentalController(CP, mpc)
+    self.is_stock = get_active_model_runner() == custom.ModelManagerSP.Runner.stock
 
   def get_mpc_mode(self) -> str | None:
     if not self.dec.active():