update

opendbc_repo/opendbc/car/honda/carcontroller.py

@@ -6,23 +6,9 @@ from opendbc.car.honda import hondacan
 from opendbc.car.honda.values import CAR, CruiseButtons, HONDA_BOSCH, HONDA_BOSCH_CANFD, HONDA_BOSCH_RADARLESS, \
                                      HONDA_BOSCH_TJA_CONTROL, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams, HondaFlags
 from opendbc.car.interfaces import CarControllerBase
-from openpilot.starpilot.common.testing_grounds import testing_ground
 
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
 LongCtrlState = structs.CarControl.Actuators.LongControlState
-CIVIC_BOSCH_MODIFIED_STEER_CAN_MAX = 4864
-
-
-def civic_bosch_modified_lateral_testing_ground_active() -> bool:
-  return testing_ground.use("8", "B")
-
-
-def get_civic_bosch_modified_steer_can_max(base_steer_can_max: int, CP) -> int:
-  if CP.carFingerprint == CAR.HONDA_CIVIC_BOSCH and bool(CP.flags & HondaFlags.EPS_MODIFIED) and civic_bosch_modified_lateral_testing_ground_active():
-    return CIVIC_BOSCH_MODIFIED_STEER_CAN_MAX
-  return base_steer_can_max
-
-
 def get_civic_bosch_modified_torque_lpf_tau(torque_cmd: float, prev_torque_cmd: float, v_ego: float) -> float:
   torque_delta = abs(float(torque_cmd) - float(prev_torque_cmd))
   torque_cmd_abs = abs(float(torque_cmd))
@@ -192,9 +178,6 @@ class CarController(CarControllerBase):
     self.steering_pressed_filter_s = 0.0
     self.steering_pressed_robust_prev = False
 
-  def _modified_civic_active(self) -> bool:
-    return self.CP.carFingerprint == CAR.HONDA_CIVIC_BOSCH and bool(self.CP.flags & HondaFlags.EPS_MODIFIED) and civic_bosch_modified_lateral_testing_ground_active()
-
   def _modified_civic_standard_active(self) -> bool:
     return self.CP.carFingerprint == CAR.HONDA_CIVIC_BOSCH and bool(self.CP.flags & HondaFlags.EPS_MODIFIED)
 
@@ -261,12 +244,8 @@ class CarController(CarControllerBase):
     # **** process the car messages ****
 
     # steer torque is converted back to CAN reference (positive when steering right)
-    steer_can_max = get_civic_bosch_modified_steer_can_max(self.params.STEER_MAX, self.CP)
-    if steer_can_max != self.params.STEER_MAX:
-      apply_torque = int(np.clip(-limited_torque * steer_can_max, -steer_can_max, steer_can_max))
-    else:
-      apply_torque = int(np.interp(-limited_torque * self.params.STEER_MAX,
-                                   self.params.STEER_LOOKUP_BP, self.params.STEER_LOOKUP_V))
+    apply_torque = int(np.interp(-limited_torque * self.params.STEER_MAX,
+                                 self.params.STEER_LOOKUP_BP, self.params.STEER_LOOKUP_V))
 
     # Send CAN commands
     can_sends = []

opendbc_repo/opendbc/car/honda/tests/test_honda.py

@@ -6,8 +6,6 @@ from opendbc.car.structs import CarParams
 from opendbc.car import gen_empty_fingerprint
 from opendbc.car.honda.interface import CarInterface
 from opendbc.car.honda.carcontroller import (
-  CIVIC_BOSCH_MODIFIED_STEER_CAN_MAX,
-  get_civic_bosch_modified_steer_can_max,
   get_civic_bosch_modified_steering_pressed,
   get_civic_bosch_modified_torque_lpf_tau,
 )
@@ -28,17 +26,6 @@ class TestHondaFingerprint:
   def test_tja_bosch_only(self):
     assert set(HONDA_BOSCH_TJA_CONTROL).issubset(set(HONDA_BOSCH)), "Nidec car found in TJA control list"
 
-  def test_modified_civic_steer_can_max_is_scoped(self, monkeypatch):
-    CP = CarParams.new_message()
-    CP.carFingerprint = CAR.HONDA_CIVIC_BOSCH
-    CP.flags = int(HondaFlags.BOSCH | HondaFlags.EPS_MODIFIED)
-
-    monkeypatch.setattr("opendbc.car.honda.carcontroller.civic_bosch_modified_lateral_testing_ground_active", lambda: True)
-    assert get_civic_bosch_modified_steer_can_max(4096, CP) == CIVIC_BOSCH_MODIFIED_STEER_CAN_MAX
-
-    CP.flags = int(HondaFlags.BOSCH)
-    assert get_civic_bosch_modified_steer_can_max(4096, CP) == 4096
-
   def test_modified_civic_torque_lpf_tau_reacts_to_sign_change(self):
     assert get_civic_bosch_modified_torque_lpf_tau(0.7, -0.1, 25.0) == 0.10
     assert get_civic_bosch_modified_torque_lpf_tau(0.02, -0.01, 8.0) == 0.28

selfdrive/controls/lib/latcontrol_pid.py

@@ -14,25 +14,25 @@ def civic_bosch_modified_lateral_testing_ground_active() -> bool:
 
 def get_civic_bosch_modified_pid_output_scale(desired_angle_deg: float, desired_angle_delta_deg: float, v_ego: float) -> float:
   abs_angle = abs(desired_angle_deg)
-  if abs_angle < 8.0:
-    return 1.0
-
-  speed_weight = min(max((v_ego - 2.0) / 8.0, 0.0), 1.0)
-  angle_weight = min(max((abs_angle - 8.0) / 32.0, 0.0), 1.0)
+  speed_weight = min(max((v_ego - 4.0) / 10.0, 0.0), 1.0)
+  center_weight = min(max((4.0 - abs_angle) / 4.0, 0.0), 1.0)
+  angle_weight = min(max((abs_angle - 8.0) / 24.0, 0.0), 1.0)
   phase = desired_angle_deg * desired_angle_delta_deg
 
   is_left = desired_angle_deg > 0.0
-  base_scale = 0.02 if is_left else 0.05
-  turn_in_scale = 0.02 if is_left else 0.03
-  unwind_scale = 0.00 if is_left else 0.02
+  center_taper = 0.06
+  base_scale = 0.08 if is_left else 0.10
+  turn_in_scale = 0.08 if is_left else 0.10
+  unwind_scale = 0.10 if is_left else 0.14
 
-  scale = 1.0 + (speed_weight * angle_weight * base_scale)
+  scale = 1.0 - (speed_weight * center_weight * center_taper)
+  scale += speed_weight * angle_weight * base_scale
   if phase > 0.2:
     scale += speed_weight * angle_weight * turn_in_scale
   elif phase < -0.2:
-    scale += speed_weight * angle_weight * unwind_scale
+    scale -= speed_weight * angle_weight * unwind_scale
 
-  return scale
+  return max(scale, 0.84)
 
 
 class LatControlPID(LatControl):

selfdrive/controls/lib/latcontrol_torque.py

@@ -211,19 +211,19 @@ 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 = 0.96
-IONIQ_6_TURN_IN_BOOST_RIGHT = 1.00
+IONIQ_6_TURN_IN_BOOST_LEFT = 1.02
+IONIQ_6_TURN_IN_BOOST_RIGHT = 1.12
 IONIQ_6_UNWIND_TAPER_LEFT = 1.52
 IONIQ_6_UNWIND_TAPER_RIGHT = 2.92
 IONIQ_6_FRICTION_MULT = 0.995
 IONIQ_6_FRICTION_LAT_RISE = 0.20
 IONIQ_6_FRICTION_JERK_RISE = 0.24
-IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.29
-IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.40
+IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.31
+IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.46
 IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 1.60
 IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 3.50
-IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.14
-IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.22
+IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.16
+IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.28
 IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 1.38
 IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 3.00
 IONIQ_6_CENTER_TAPER_MAX = 0.046

selfdrive/controls/tests/test_conditional_experimental_mode.py

@@ -57,8 +57,8 @@ def run_stop_light_detector(cem, v_ego, *, steps: int, tracking_lead: bool = Fal
 
 def make_update_sm(*, standstill: bool):
   return {
-    "carState": SimpleNamespace(standstill=standstill, leftBlinker=False, rightBlinker=False),
-    "starpilotCarState": SimpleNamespace(trafficModeEnabled=False),
+    "carState": SimpleNamespace(standstill=standstill, leftBlinker=False, rightBlinker=False, gasPressed=False),
+    "starpilotCarState": SimpleNamespace(trafficModeEnabled=False, dashboardStopSign=0, accelPressed=False),
   }
 
 
@@ -206,6 +206,21 @@ def test_standstill_update_can_activate_exp_from_red_light_detection(monkeypatch
   assert cem.status_value == conditional_experimental_mode_module.CEStatus["STOP_LIGHT"]
 
 
+def test_standstill_update_can_activate_exp_from_dashboard_stop_sign(monkeypatch):
+  cem = make_cem(model_length=80.0, model_stopped=False)
+  toggles = make_update_toggles()
+  sm = make_update_sm(standstill=True)
+  sm["starpilotCarState"].dashboardStopSign = 1
+
+  monkeypatch.setattr(cem, "stop_sign_and_light", lambda *args, **kwargs: None)
+
+  cem.update(0.0, sm, toggles)
+
+  assert cem.experimental_mode
+  assert cem.standstill_stop_reason == "sign"
+  assert cem.status_value == conditional_experimental_mode_module.CEStatus["STOP_LIGHT"]
+
+
 def test_standstill_green_light_clears_exp_immediately(monkeypatch):
   cem = make_cem(model_length=80.0, model_stopped=False)
   toggles = make_update_toggles()
@@ -259,6 +274,43 @@ def test_standstill_force_stop_keeps_exp_on_even_if_red_light_latch_clears(monke
   assert cem.status_value == conditional_experimental_mode_module.CEStatus["STOP_LIGHT"]
 
 
+def test_standstill_stop_sign_latches_until_pedal_even_after_force_stop_ends(monkeypatch):
+  cem = make_cem(model_length=80.0, model_stopped=False)
+  toggles = make_update_toggles()
+  sm = make_update_sm(standstill=True)
+  sm["starpilotCarState"].dashboardStopSign = 1
+
+  monkeypatch.setattr(cem, "stop_sign_and_light", lambda *args, **kwargs: None)
+  cem.update(0.0, sm, toggles)
+
+  assert cem.experimental_mode
+  assert cem.standstill_stop_reason == "sign"
+
+  sm["starpilotCarState"].dashboardStopSign = 0
+  cem.update(0.0, sm, toggles)
+
+  assert cem.experimental_mode
+  assert cem.standstill_stop_reason == "sign"
+
+
+def test_standstill_stop_sign_releases_on_pedal(monkeypatch):
+  cem = make_cem(model_length=80.0, model_stopped=False)
+  toggles = make_update_toggles()
+  sm = make_update_sm(standstill=True)
+  sm["starpilotCarState"].dashboardStopSign = 1
+
+  monkeypatch.setattr(cem, "stop_sign_and_light", lambda *args, **kwargs: None)
+  cem.update(0.0, sm, toggles)
+  assert cem.experimental_mode
+
+  sm["starpilotCarState"].dashboardStopSign = 0
+  sm["carState"].gasPressed = True
+  cem.update(0.0, sm, toggles)
+
+  assert not cem.experimental_mode
+  assert cem.standstill_stop_reason is None
+
+
 def test_slow_lead_holds_through_tracking_flap_for_high_confidence_vision_lead():
   v_ego = 35 * CV.MPH_TO_MS
   cem = make_cem(

selfdrive/controls/tests/test_latcontrol.py

@@ -380,11 +380,13 @@ class TestLatControl:
     assert lac_log.active
 
   def test_civic_bosch_modified_pid_scale_curve(self):
-    assert get_civic_bosch_modified_pid_output_scale(0.0, 0.0, 12.0) == 1.0
+    assert get_civic_bosch_modified_pid_output_scale(0.0, 0.0, 12.0) < 1.0
     assert get_civic_bosch_modified_pid_output_scale(20.0, 0.5, 12.0) > get_civic_bosch_modified_pid_output_scale(20.0, 0.0, 12.0)
     assert get_civic_bosch_modified_pid_output_scale(-20.0, -0.5, 12.0) > get_civic_bosch_modified_pid_output_scale(-20.0, 0.0, 12.0)
-    assert get_civic_bosch_modified_pid_output_scale(-20.0, 0.5, 12.0) > get_civic_bosch_modified_pid_output_scale(20.0, 0.5, 12.0)
-    assert get_civic_bosch_modified_pid_output_scale(-20.0, 0.5, 4.0) < get_civic_bosch_modified_pid_output_scale(-20.0, 0.5, 12.0)
+    assert get_civic_bosch_modified_pid_output_scale(20.0, -0.5, 12.0) < get_civic_bosch_modified_pid_output_scale(20.0, 0.0, 12.0)
+    assert get_civic_bosch_modified_pid_output_scale(-20.0, 0.5, 12.0) < get_civic_bosch_modified_pid_output_scale(-20.0, 0.0, 12.0)
+    assert get_civic_bosch_modified_pid_output_scale(-20.0, -0.5, 12.0) > get_civic_bosch_modified_pid_output_scale(20.0, 0.5, 12.0)
+    assert get_civic_bosch_modified_pid_output_scale(-20.0, -0.5, 4.0) < get_civic_bosch_modified_pid_output_scale(-20.0, -0.5, 12.0)
 
   def test_civic_bosch_modified_pid_testing_ground_update_path(self, monkeypatch):
     controller, VM, CS, params, starpilot_toggles = self._build_pid_controller(HONDA.HONDA_CIVIC_BOSCH)

starpilot/controls/lib/conditional_experimental_mode.py

@@ -89,6 +89,7 @@ class ConditionalExperimentalMode:
     self.stop_light_detected = False
     self.stop_light_model_detected = False
     self.stop_approach_hold_until = 0.0
+    self.standstill_stop_reason = None
     self.prev_experimental_mode = False  # For hysteresis
     self.mode_hold_until = 0.0
     self.mode_false_since = 0.0
@@ -97,6 +98,9 @@ class ConditionalExperimentalMode:
     now = time.monotonic()
     standstill = bool(sm["carState"].standstill)
 
+    if not standstill:
+      self.standstill_stop_reason = None
+
     self.status_value = CEStatus["OFF"] if self.params.get_bool("SafeMode") else restore_persisted_ce_state(self.params, self.params_memory)
 
     if not is_manual_ce_status(self.status_value) and not standstill:
@@ -120,14 +124,10 @@ class ConditionalExperimentalMode:
       self.mode_false_since = 0.0
 
       # Keep the stop-light path live at standstill so EXP stays pinned for a red
-      # light / stop sign, but can immediately release to CHILL when the model
-      # clears the stop (green light / open path).
+      # light / stop sign. Stop signs latch until pedal, while stop lights can
+      # immediately release to CHILL when the model clears the stop.
       self.stop_sign_and_light(v_ego, sm, starpilot_toggles.conditional_model_stop_time)
-      standstill_stop_hold = (
-        self.stop_light_detected or
-        getattr(self.starpilot_planner.starpilot_vcruise, "stop_sign_confirmed", False) or
-        getattr(self.starpilot_planner.starpilot_vcruise, "forcing_stop", False)
-      )
+      standstill_stop_hold = self.get_standstill_stop_hold(sm)
 
       self.experimental_mode = standstill_stop_hold
       self.prev_experimental_mode = self.experimental_mode
@@ -141,6 +141,31 @@ class ConditionalExperimentalMode:
       self.stop_light_detected &= not is_manual_ce_status(self.status_value)
       self.stop_light_filter.x = 0
 
+  def get_standstill_stop_hold(self, sm):
+    dash_stop_sign = (
+      bool(getattr(self.starpilot_planner.starpilot_vcruise, "stop_sign_confirmed", False)) or
+      bool(getattr(sm["starpilotCarState"], "dashboardStopSign", 0) > 0)
+    )
+    force_stop_active = bool(getattr(self.starpilot_planner.starpilot_vcruise, "forcing_stop", False))
+    pedal_override = bool(getattr(sm["carState"], "gasPressed", False) or getattr(sm["starpilotCarState"], "accelPressed", False))
+
+    if pedal_override or not bool(sm["carState"].standstill):
+      self.standstill_stop_reason = None
+      return False
+
+    if dash_stop_sign:
+      self.standstill_stop_reason = "sign"
+    elif self.stop_light_detected or force_stop_active:
+      if self.standstill_stop_reason is None:
+        self.standstill_stop_reason = "light"
+    elif self.standstill_stop_reason == "light":
+      self.standstill_stop_reason = None
+
+    if self.standstill_stop_reason == "sign":
+      return True
+
+    return bool(self.stop_light_detected or force_stop_active)
+
   def check_conditions(self, v_ego, sm, starpilot_toggles):
     below_speed = starpilot_toggles.conditional_limit > v_ego >= 1 and not self.starpilot_planner.starpilot_following.following_lead
     below_speed_with_lead = starpilot_toggles.conditional_limit_lead > v_ego >= 1 and self.starpilot_planner.starpilot_following.following_lead