Freshly Caught

2026-06-30 19:12:07 +08:00 · 2026-05-04 17:48:07 -05:00
parent 32185c0c2e
commit 7e4818916b
6 changed files with 81 additions and 40 deletions
@@ -148,19 +148,6 @@ class TestHondaFingerprint:
    CP = CarInterface.get_params(CAR.HONDA_CIVIC_BOSCH, gen_empty_fingerprint(), car_fw, False, False, False, toggles)

    assert not CP.dashcamOnly
-    assert CP.flags & HondaFlags.EPS_MODIFIED
-    assert list(CP.lateralParams.torqueBP) == [0, 4096]
-    assert list(CP.lateralParams.torqueV) == [0, 4096]
-    assert list(CP.lateralTuning.pid.kpV) == pytest.approx([0.8])
-    assert list(CP.lateralTuning.pid.kiV) == pytest.approx([0.24])
-
-  def test_modified_civic_b_testing_ground_forces_torque(self, monkeypatch):
-    toggles = SimpleNamespace(force_torque_controller=False, nnff=False, nnff_lite=False)
-    car_fw = [CarParams.CarFw(ecu=CarParams.Ecu.eps, fwVersion=b'39990-TGG,A020\x00\x00', address=0x18DA30F1, subAddress=0)]
-    monkeypatch.setattr("openpilot.starpilot.common.testing_grounds.is_testing_ground_active", lambda slot_id, variant="B", refresh_interval_s=0.5: slot_id == "8" and variant == "B")
-
-    CP = CarInterface.get_params(CAR.HONDA_CIVIC_BOSCH, gen_empty_fingerprint(), car_fw, False, False, False, toggles)
-
    assert CP.flags & HondaFlags.EPS_MODIFIED
    assert CP.lateralTuning.which() == "torque"

@@ -183,14 +183,13 @@ class CarInterfaceBase(ABC):
    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, ret.tireStiffnessFactor)

    toggles_to_check = ("force_torque_controller", "nnff", "nnff_lite")
-    modified_civic_b_force_torque = (
+    modified_civic_force_torque = (
      candidate == HONDA.HONDA_CIVIC_BOSCH and
-      bool(ret.flags & HondaFlags.EPS_MODIFIED) and
-      testing_ground.use("8", "B")
+      bool(ret.flags & HondaFlags.EPS_MODIFIED)
    )
    if ret.steerControlType != structs.CarParams.SteerControlType.angle and (
      any(getattr(starpilot_toggles, toggle, False) for toggle in toggles_to_check) or
-      modified_civic_b_force_torque
+      modified_civic_force_torque
    ):
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

@@ -230,21 +230,21 @@ IONIQ_6_FF_CUTOFF = 0.48
 IONIQ_6_FF_CUTOFF_WIDTH = 0.12
 IONIQ_6_TRANSITION_SPEED = 10.0
 IONIQ_6_PHASE_SCALE = 0.10
-IONIQ_6_TURN_IN_BOOST_LEFT = 1.20
-IONIQ_6_TURN_IN_BOOST_RIGHT = 1.28
-IONIQ_6_UNWIND_TAPER_LEFT = 2.02
-IONIQ_6_UNWIND_TAPER_RIGHT = 4.65
+IONIQ_6_TURN_IN_BOOST_LEFT = 1.28
+IONIQ_6_TURN_IN_BOOST_RIGHT = 1.36
+IONIQ_6_UNWIND_TAPER_LEFT = 2.18
+IONIQ_6_UNWIND_TAPER_RIGHT = 5.05
 IONIQ_6_FRICTION_MULT = 0.965
 IONIQ_6_FRICTION_LAT_RISE = 0.20
 IONIQ_6_FRICTION_JERK_RISE = 0.24
-IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.42
-IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.58
-IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 2.25
-IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 5.35
-IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.22
-IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.36
-IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 1.95
-IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 4.90
+IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.46
+IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.64
+IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 2.40
+IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 5.80
+IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.24
+IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.40
+IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 2.15
+IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 5.30
 IONIQ_6_CENTER_TAPER_MAX = 0.056
 IONIQ_6_CENTER_TAPER_LAT = 0.22
 IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.02
@@ -267,12 +267,12 @@ IONIQ_6_DIRECTIONAL_TAPER_FLOOR_LEFT = 0.48
 IONIQ_6_DIRECTIONAL_TAPER_FLOOR_RIGHT = 0.52
 IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_LEFT = 0.10
 IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_RIGHT = 0.04
-IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_START = 0.95
-IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_WIDTH = 0.10
-IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_LEFT = 0.12
-IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_RIGHT = 0.22
-IONIQ_6_HEAVY_DIRECTIONAL_TAPER_UNWIND_LEFT = 0.42
-IONIQ_6_HEAVY_DIRECTIONAL_TAPER_UNWIND_RIGHT = 0.70
+IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_START = 0.82
+IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_WIDTH = 0.12
+IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_LEFT = 0.15
+IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_RIGHT = 0.26
+IONIQ_6_HEAVY_DIRECTIONAL_TAPER_UNWIND_LEFT = 0.50
+IONIQ_6_HEAVY_DIRECTIONAL_TAPER_UNWIND_RIGHT = 0.82
 IONIQ_6_OUTPUT_TAPER_SPEED = 8.5
 IONIQ_6_OUTPUT_TAPER_SPEED_WIDTH = 2.5
 IONIQ_6_OUTPUT_CENTER_TAPER_BLEND = 0.90
@@ -1074,7 +1074,7 @@ class LatControlTorque(LatControl):
    self.torque_ki_mult = 1.0
    if self.is_ioniq_6:
      self.torque_params.latAccelFactor *= IONIQ_6_BASE_LAT_ACCEL_FACTOR_MULT
-    if self.is_civic_bosch_modified and civic_bosch_modified_lateral_testing_ground_active():
+    if self.is_civic_bosch_modified:
      self.torque_params.latAccelFactor *= CIVIC_BOSCH_MODIFIED_B_LAT_ACCEL_FACTOR_MULT
    if self.is_bolt:
      kp_scale = getattr(self.torque_params, "kp", getattr(self.torque_params, "kpDEPRECATED", 1.0))
@@ -1089,7 +1089,7 @@ class LatControlTorque(LatControl):
  def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
    if self.is_ioniq_6:
      latAccelFactor *= IONIQ_6_BASE_LAT_ACCEL_FACTOR_MULT
-    if self.is_civic_bosch_modified and civic_bosch_modified_lateral_testing_ground_active():
+    if self.is_civic_bosch_modified:
      latAccelFactor *= CIVIC_BOSCH_MODIFIED_B_LAT_ACCEL_FACTOR_MULT
    self.torque_params.latAccelFactor = latAccelFactor
    self.torque_params.latAccelOffset = latAccelOffset
@@ -1194,7 +1194,7 @@ class LatControlTorque(LatControl):
        ff *= get_volt_plexy_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
        friction_threshold = get_volt_plexy_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
        friction_scale = get_volt_plexy_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
-      elif self.is_civic_bosch_modified and civic_bosch_modified_lateral_testing_ground_active():
+      elif self.is_civic_bosch_modified:
        ff *= get_civic_bosch_modified_b_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
        friction_threshold = CIVIC_BOSCH_MODIFIED_B_FIXED_FRICTION_THRESHOLD
        friction_scale = get_civic_bosch_modified_b_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
@@ -223,6 +223,34 @@ class LongControl:
      bleed = interp(v_ego, [0.0, 4.0, 12.0, 25.0], [0.82, 0.86, 0.90, 0.94])
      self.pid.i *= bleed

+  def _trim_positive_overshoot_integrator(self, a_target, error, CS):
+    if self.pid.i <= 0.0:
+      return
+    if a_target >= -0.05 or error >= -0.25:
+      return
+    if CS.vEgo <= 8.0 or CS.aEgo <= 0.15:
+      return
+
+    # If the planner has already crossed into decel but the car is still
+    # accelerating, bleed stale positive I aggressively so the command can
+    # cross back through zero instead of carrying throttle for several seconds.
+    bleed = interp(abs(error), [0.25, 0.75, 1.5], [0.55, 0.25, 0.0])
+    self.pid.i *= bleed
+
+  @staticmethod
+  def _cap_positive_output_on_negative_target(output_accel, a_target, error, CS):
+    if output_accel <= 0.0:
+      return output_accel
+    if a_target >= -0.10 or error >= -0.35:
+      return output_accel
+    if CS.vEgo <= 8.0 or CS.aEgo <= 0.15:
+      return output_accel
+
+    # Once the planner is asking for real decel, don't keep feeding positive
+    # drive torque while we're still accelerating away from the target.
+    positive_cap = interp(a_target, [-0.6, -0.1], [0.0, 0.05])
+    return min(output_accel, float(positive_cap))
+
  def update(self, active, CS, a_target, should_stop, accel_limits, starpilot_toggles):
    """Update longitudinal control. This updates the state machine and runs a PID loop"""
    self.pid.neg_limit = accel_limits[0]
@@ -260,10 +288,12 @@ class LongControl:
      error = a_target - CS.aEgo
      self.update_mpc_mode(self.experimental_mode)
      self._shape_volt_test_tune_integrator(error, CS.vEgo)
+      self._trim_positive_overshoot_integrator(a_target, error, CS)
      feedforward = a_target * self.feedforward_gain
      freeze_integrator = self._get_pedal_long_freeze(a_target, error, CS.vEgo, accel_limits)
      raw_output_accel = self.pid.update(error, speed=CS.vEgo, feedforward=feedforward,
                                         freeze_integrator=freeze_integrator)
+      raw_output_accel = self._cap_positive_output_on_negative_target(raw_output_accel, a_target, error, CS)


      if self.transitioning and self.prev_mode == 'acc' and self.current_mode == 'blended':
@@ -411,7 +411,6 @@ class TestLatControl:
      captured["threshold"] = friction_threshold
      return 0.0

-    monkeypatch.setattr(latcontrol_torque, "civic_bosch_modified_lateral_testing_ground_active", lambda: True)
    monkeypatch.setattr(latcontrol_torque, "get_friction", fake_get_friction)
    controller.update(True, CS, VM, params, False, 0.0025, False, 0.2, None, None, SimpleNamespace())

@@ -425,7 +424,6 @@ class TestLatControl:
    CP.lateralTuning.torque.latAccelFactor = 3.0
    CP.lateralTuning.torque.friction = 0.1

-    monkeypatch.setattr(latcontrol_torque, "civic_bosch_modified_lateral_testing_ground_active", lambda: True)
    CI = CarInterface(CP, custom.StarPilotCarParams.new_message())
    controller = LatControlTorque(CP.as_reader(), CI, DT_CTRL)

@@ -262,3 +262,30 @@ def test_non_interceptor_volt_testing_ground_handoff_freezes_integrator(monkeypa

  assert freeze
  assert lc.integrator_hold_frames > 0
+
+
+def test_negative_target_unwinds_positive_accel_command_after_sign_flip():
+  CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5)
+  CP.longitudinalTuning.kpBP = [0.0]
+  CP.longitudinalTuning.kpV = [0.1]
+  CP.longitudinalTuning.kiBP = [0.0]
+  CP.longitudinalTuning.kiV = [0.03]
+
+  lc = LongControl(CP)
+  lc.long_control_state = LongCtrlState.pid
+  lc.last_output_accel = 1.2
+  lc.pid.i = 1.2
+  CS = car.CarState.new_message(vEgo=30.0, aEgo=0.9, brakePressed=False, gasPressed=False)
+  CS.cruiseState.standstill = False
+
+  output_accel = lc.update(
+    active=True,
+    CS=CS,
+    a_target=-0.5,
+    should_stop=False,
+    accel_limits=(-3.0, 2.0),
+    starpilot_toggles=make_toggles(),
+  )
+
+  assert lc.long_control_state == LongCtrlState.pid
+  assert output_accel <= 0.01