teslurrrr

selfdrive/car/car_specific.py

@@ -173,6 +173,22 @@ class CarSpecificEvents:
       # if CC.eps_timer_soft_disable_alert:  # type: ignore[attr-defined]
       #   events.add(EventName.steerTimeLimit)
 
+    elif self.CP.brand == 'tesla':
+      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
+
+      if self.CP.carFingerprint == "TESLA_MODEL_S_PREAP":
+        if self.CP.pcmCruise:
+          if getattr(CS, 'teslaCCEngaged', False):
+            events.add(EventName.teslaCCEngaged)
+          if getattr(CS, 'teslaCCDisengaged', False):
+            events.add(EventName.teslaCCDisengaged)
+          if getattr(CS, 'teslaCCNotArmed', False):
+            events.add(EventName.teslaCCNotArmed)
+        else:
+          from opendbc.car.tesla.preap.nap_conf import nap_conf
+          if not nap_conf.pedal_calibrated:
+            events.add(EventName.pedalNotCalibrated)
+
     elif self.CP.brand == 'hyundai':
       events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise, allow_button_cancel=False)
 

selfdrive/car/tests/test_car_specific_tesla_preap.py

@@ -0,0 +1,57 @@
+from unittest.mock import PropertyMock, patch  # noqa: TID251
+
+from cereal import car, log
+
+from openpilot.selfdrive.car.car_specific import CarSpecificEvents
+
+
+EventName = log.OnroadEvent.EventName
+NAP_CONF_PATH = "opendbc.car.tesla.preap.nap_conf.NAPConf.pedal_calibrated"
+
+
+def _make_cp(*, fingerprint="TESLA_MODEL_S_PREAP", brand="tesla", pcm_cruise=False, op_long=True):
+  cp = car.CarParams.new_message()
+  cp.carFingerprint = fingerprint
+  cp.brand = brand
+  cp.pcmCruise = pcm_cruise
+  cp.openpilotLongitudinalControl = op_long
+  return cp
+
+
+def _make_cs():
+  cs = car.CarState.new_message()
+  cs.cruiseState.available = True
+  cs.gearShifter = "drive"
+  return cs
+
+
+def _run(cp, calibrated):
+  with patch(NAP_CONF_PATH, new_callable=PropertyMock, return_value=calibrated):
+    ce = CarSpecificEvents(cp)
+    events = ce.update(_make_cs(), _make_cs(), car.CarControl.new_message())
+  return events.names
+
+
+def test_fires_in_preap_pedal_mode_when_uncalibrated():
+  cp = _make_cp(pcm_cruise=False, op_long=True)
+  assert EventName.pedalNotCalibrated in _run(cp, calibrated=False)
+
+
+def test_silent_in_preap_pedal_mode_when_calibrated():
+  cp = _make_cp(pcm_cruise=False, op_long=True)
+  assert EventName.pedalNotCalibrated not in _run(cp, calibrated=True)
+
+
+def test_silent_in_preap_nopedal_mode_even_when_uncalibrated():
+  cp = _make_cp(pcm_cruise=True, op_long=False)
+  assert EventName.pedalNotCalibrated not in _run(cp, calibrated=False)
+
+
+def test_silent_on_non_preap_tesla():
+  cp = _make_cp(fingerprint="TESLA_MODEL_S", pcm_cruise=False, op_long=True)
+  assert EventName.pedalNotCalibrated not in _run(cp, calibrated=False)
+
+
+def test_silent_on_non_tesla_brand():
+  cp = _make_cp(fingerprint="HONDA_CIVIC_2022", brand="honda", pcm_cruise=True, op_long=False)
+  assert EventName.pedalNotCalibrated not in _run(cp, calibrated=False)

selfdrive/controls/lib/latcontrol_torque.py

@@ -49,9 +49,9 @@ MIN_LATERAL_CONTROL_SPEED = 0.3
 CIVIC_BOSCH_MODIFIED_B_FIXED_FRICTION_THRESHOLD = 0.30
 CIVIC_BOSCH_MODIFIED_B_LAT_ACCEL_FACTOR_MULT = 1.20
 CIVIC_BOSCH_MODIFIED_A_VARIANT_LAT_ACCEL_FACTOR_MULT = 1.00
-CIVIC_BOSCH_MODIFIED_B_VARIANT_LAT_ACCEL_FACTOR_MULT = 1.26
+CIVIC_BOSCH_MODIFIED_B_VARIANT_LAT_ACCEL_FACTOR_MULT = 1.32
 CIVIC_BOSCH_MODIFIED_B_TRANSITION_SPEED = 12.0
-CIVIC_BOSCH_MODIFIED_B_PHASE_SCALE = 0.10
+CIVIC_BOSCH_MODIFIED_B_PHASE_SCALE = 0.08
 CIVIC_BOSCH_MODIFIED_B_FF_ONSET = 0.18
 CIVIC_BOSCH_MODIFIED_B_FF_ONSET_WIDTH = 0.07
 CIVIC_BOSCH_MODIFIED_B_FF_CUTOFF = 1.00
@@ -76,16 +76,16 @@ CIVIC_BOSCH_MODIFIED_A_VARIANT_TURN_IN_FRICTION_BOOST_LEFT = 0.00
 CIVIC_BOSCH_MODIFIED_A_VARIANT_TURN_IN_FRICTION_BOOST_RIGHT = 0.00
 CIVIC_BOSCH_MODIFIED_A_VARIANT_UNWIND_FRICTION_REDUCTION_LEFT = 0.03
 CIVIC_BOSCH_MODIFIED_A_VARIANT_UNWIND_FRICTION_REDUCTION_RIGHT = 0.07
-CIVIC_BOSCH_MODIFIED_B_VARIANT_FF_REDUCTION_LEFT = 0.24
-CIVIC_BOSCH_MODIFIED_B_VARIANT_FF_REDUCTION_RIGHT = 0.34
+CIVIC_BOSCH_MODIFIED_B_VARIANT_FF_REDUCTION_LEFT = 0.26
+CIVIC_BOSCH_MODIFIED_B_VARIANT_FF_REDUCTION_RIGHT = 0.38
 CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_BOOST_LEFT = 0.06
 CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_BOOST_RIGHT = 0.06
-CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_TAPER_LEFT = 1.18
-CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_TAPER_RIGHT = 1.48
+CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_TAPER_LEFT = 1.55
+CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_TAPER_RIGHT = 1.95
 CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_FRICTION_BOOST_LEFT = 0.03
 CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_FRICTION_BOOST_RIGHT = 0.03
-CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_FRICTION_REDUCTION_LEFT = 0.88
-CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_FRICTION_REDUCTION_RIGHT = 1.20
+CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_FRICTION_REDUCTION_LEFT = 1.05
+CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_FRICTION_REDUCTION_RIGHT = 1.40
 
 BOLT_2022_2023_CARS = (
   GM_CAR.CHEVROLET_BOLT_ACC_2022_2023,

selfdrive/controls/tests/test_latcontrol.py

@@ -441,7 +441,7 @@ class TestLatControl:
     monkeypatch.setattr(latcontrol_torque, "civic_bosch_modified_lateral_testing_ground_active", lambda: True)
     variant_controller = LatControlTorque(CP.as_reader(), CI, DT_CTRL)
 
-    assert variant_controller.torque_params.latAccelFactor == pytest.approx(3.0 * 1.20 * 1.26)
+    assert variant_controller.torque_params.latAccelFactor == pytest.approx(3.0 * 1.20 * 1.32)
 
   def test_modified_civic_b_torque_ff_scale_curve(self):
     steady_left = get_civic_bosch_modified_b_ff_scale(0.5, 0.0, 12.0)

selfdrive/selfdrived/events.py

@@ -920,6 +920,11 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Calibration in Progress"),
   },
 
+  EventName.pedalNotCalibrated: {
+    ET.PERMANENT: NormalPermanentAlert("Pedal Not Calibrated", "Check Calibration"),
+    ET.NO_ENTRY: NoEntryAlert("Pedal Not Calibrated: Check Calibration"),
+  },
+
   EventName.calibrationRecalibrating: {
     ET.PERMANENT: calibration_incomplete_alert,
     ET.SOFT_DISABLE: soft_disable_alert("Device Remount Detected: Recalibrating"),
@@ -1120,6 +1125,50 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.WARNING: personality_changed_alert,
   },
 
+  EventName.pedalCruiseEnabled: {
+    ET.WARNING: Alert(
+      "Pedal Cruise Engaged",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.engage, 0.8),
+  },
+
+  EventName.pedalCruiseDisabled: {
+    ET.WARNING: Alert(
+      "Pedal Cruise Disengaged",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.disengage, 0.8),
+  },
+
+  EventName.pedalMaxRegen: {
+    ET.WARNING: Alert(
+      "Max Regen Being Used",
+      "",
+      AlertStatus.userPrompt, AlertSize.small,
+      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.prompt, 2.),
+  },
+
+  EventName.teslaCCEngaged: {
+    ET.WARNING: Alert(
+      "Tesla Cruise Engaged",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.engage, 0.8),
+  },
+
+  EventName.teslaCCDisengaged: {
+    ET.WARNING: Alert(
+      "Tesla Cruise Disengaged",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.disengage, 0.8),
+  },
+
+  EventName.teslaCCNotArmed: {
+    ET.PERMANENT: NormalPermanentAlert("Arm Stock Cruise to Enable Speed Control"),
+  },
+
   EventName.userBookmark: {
     ET.PERMANENT: NormalPermanentAlert("Bookmark Saved", duration=1.5),
   },

selfdrive/selfdrived/selfdrived.py

@@ -133,6 +133,7 @@ class SelfdriveD:
     self.recalibrating_seen = False
     self.state_machine = StateMachine()
     self.rk = Ratekeeper(100, print_delay_threshold=None)
+    self.prev_pedal_long_active = False
 
     # Determine startup event
     self.startup_event = StarPilotEventName.customStartupAlert
@@ -241,6 +242,22 @@ class SelfdriveD:
           self.last_below_steer_speed_alert_time = now
       self.events.add_from_msg(car_events)
 
+      if (self.CP.brand == "tesla"
+          and self.CP.carFingerprint == "TESLA_MODEL_S_PREAP"
+          and self.CP.openpilotLongitudinalControl
+          and not self.CP.pcmCruise):
+        pedal_long_active = bool(CS.cruiseState.enabled and getattr(CS, 'pedalLongActive', False))
+        if pedal_long_active and not self.prev_pedal_long_active:
+          self.events.add(EventName.pedalCruiseEnabled)
+        elif self.prev_pedal_long_active and not pedal_long_active:
+          self.events.add(EventName.pedalCruiseDisabled)
+        self.prev_pedal_long_active = pedal_long_active
+
+        if getattr(CS, 'pedalMaxRegen', False):
+          self.events.add(EventName.pedalMaxRegen)
+      else:
+        self.prev_pedal_long_active = False
+
       if (getattr(self.starpilot_toggles, "nostalgia_mode", False) and
           self.CP.openpilotLongitudinalControl and
           self.enabled and