Disable openpilot longitudinal

frogpilot/common/frogpilot_variables.py

@@ -268,8 +268,10 @@ class FrogPilotVariables:
     else:
       FPCP = interfaces[MOCK.MOCK].get_frogpilot_params(MOCK.MOCK, gen_empty_fingerprint(), [], CP, toggle)
 
+    alpha_longitudinal = CP.alphaLongitudinalAvailable
     toggle.car_make = CP.brand
     toggle.car_model = CP.carFingerprint
+    toggle.disable_openpilot_long = self.get_value("DisableOpenpilotLongitudinal", condition=not alpha_longitudinal)
     friction = CP.lateralTuning.torque.friction
     has_bsm = CP.enableBsm
     toggle.has_cc_long = toggle.car_make == "gm" and bool(CP.flags & GMFlags.CC_LONG.value)

frogpilot/ui/qt/offroad/vehicle_settings.cc

@@ -12,6 +12,26 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent,
 
   vehiclesLayout->addWidget(vehiclesPanel);
 
+  disableOpenpilotLong = new ParamControl("DisableOpenpilotLongitudinal", tr("Disable openpilot Longitudinal Control"), tr("<b>Disable openpilot longitudinal</b> and use the car's stock ACC instead."), "");
+  QObject::connect(disableOpenpilotLong, &ToggleControl::toggleFlipped, [parent, this](bool state) {
+    if (state) {
+      if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely disable openpilot longitudinal control?"), this)) {
+        if (started) {
+          if (FrogPilotConfirmationDialog::toggleReboot(this)) {
+            Hardware::reboot();
+          }
+        }
+      } else {
+        params.putBool("DisableOpenpilotLongitudinal", false);
+        disableOpenpilotLong->refresh();
+      }
+    }
+
+    parent->updateVariables();
+    updateToggles();
+  });
+  settingsList->addItem(disableOpenpilotLong);
+
   FrogPilotListWidget *gmList = new FrogPilotListWidget(this);
   FrogPilotListWidget *hkgList = new FrogPilotListWidget(this);
   FrogPilotListWidget *subaruList = new FrogPilotListWidget(this);
@@ -178,6 +198,7 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent,
   QObject::connect(parent, &FrogPilotSettingsWindow::closeSubPanel, [vehiclesLayout, vehiclesPanel, this] {
     if (forceOpenDescriptions) {
       openDescriptions(forceOpenDescriptions, toggles);
+      disableOpenpilotLong->showDescription();
     }
     vehiclesLayout->setCurrentWidget(vehiclesPanel);
   });
@@ -186,6 +207,7 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent,
 
 void FrogPilotVehiclesPanel::showEvent(QShowEvent *event) {
   if (forceOpenDescriptions) {
+    disableOpenpilotLong->showDescription();
   }
 
   QStringList detected;
@@ -275,6 +297,8 @@ void FrogPilotVehiclesPanel::updateToggles() {
     }
   }
 
+  disableOpenpilotLong->setVisible((parent->hasOpenpilotLongitudinal || parent->openpilotLongitudinalControlDisabled) && !parent->hasAlphaLongitudinal && parent->tuningLevel >= parent->frogpilotToggleLevels["DisableOpenpilotLongitudinal"].toBool());
+
   openDescriptions(forceOpenDescriptions, toggles);
 
   update();

frogpilot/ui/qt/offroad/vehicle_settings.h

@@ -34,5 +34,7 @@ private:
 
   FrogPilotSettingsWindow *parent;
 
+  ParamControl *disableOpenpilotLong;
+
   Params params;
 };

opendbc_repo/opendbc/car/car_helpers.py

@@ -175,6 +175,10 @@ def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multip
   # FrogPilot variables
   FPCP: FrogPilotCarParams = CarInterface.get_frogpilot_params(candidate, fingerprints, car_fw, CP, frogpilot_toggles)
 
+  if not CP.alphaLongitudinalAvailable and frogpilot_toggles.disable_openpilot_long:
+    CP.openpilotLongitudinalControl = False
+    FPCP.openpilotLongitudinalControlDisabled = True
+
   return interfaces[CP.carFingerprint](CP, FPCP)
 
 

selfdrive/ui/qt/util.cc

@@ -198,9 +198,10 @@ QPixmap bootstrapPixmap(const QString &id) {
 bool hasLongitudinalControl(const cereal::CarParams::Reader &car_params) {
   // Using the experimental longitudinal toggle, returns whether longitudinal control
   // will be active without needing a restart of openpilot
-  return car_params.getAlphaLongitudinalAvailable()
-             ? Params().getBool("AlphaLongitudinalEnabled")
-             : car_params.getOpenpilotLongitudinalControl();
+  Params params = Params();
+  return (car_params.getAlphaLongitudinalAvailable()
+             ? params.getBool("AlphaLongitudinalEnabled")
+             : car_params.getOpenpilotLongitudinalControl()) && !params.getBool("DisableOpenpilotLongitudinal");
 }
 
 // ParamWatcher