Test your vehicle's longitudinal control tuning with this tool. The tool will test the vehicle's ability to follow a few longitudinal maneuvers and includes a tool to generate a report from the route.

Sample snapshot of a report.

Instructions

Check out a development branch such as master on your comma device.
Locate either a large empty parking lot or road devoid of any car or foot traffic. Flat, straight road is preferred. The full maneuver suite can take 1 mile or more if left running, however it is recommended to disengage openpilot between maneuvers and turn around if there is not enough space.
Arm maneuver mode from The Pond (Tools -> Long Maneuvers -> Start / Arm) or by setting this parameter manually:
```
echo -n 1 > /data/params/d/LongitudinalManeuverMode
```
Turn your vehicle back on. This FrogPilot branch now shows on-road popup status for maneuver progress. You can still verify markers from logs with:
```
python selfdrive/debug/filter_log_message.py --level WARNING
```
You should see LONG_MANEUVER_MODE|state=STARTED and maneuver start/end markers. For GM pedal-long cars, you should also see phase markers:
- LONG_MANEUVER_PHASE|name=pedal_only|paddleMode=off
- LONG_MANEUVER_PHASE|name=pedal_plus_paddle|paddleMode=force
Ensure the road ahead is clear, as openpilot will not brake for any obstructions in this mode. Once you are ready, press "Set" on your steering wheel to start the tests. The tests will run for about 4 minutes. If you need to pause the tests, press "Cancel" on your steering wheel. You can resume the tests by pressing "Resume" on your steering wheel.

Note: For GM cars, it is recommended to hold down the resume button for all low-speed tests (starting, stopping and creep) to avoid the car entering standstill. Note: For GM pedal-long cars (pedal interceptor + regen paddle), the maneuver suite automatically runs A/B phases:
- pedal-only (LongitudinalManeuverPaddleMode=off)
- pedal+paddle (LongitudinalManeuverPaddleMode=force) It also uses additional -2.0 and -2.5 m/s^2 brake steps as required checks. The -4.0 m/s^2 step is logged as informational since pedal/regen authority is physically limited without friction brakes.
When testing is complete, maneuversd logs LONG_MANEUVER_MODE|state=FINISHED in logMessage and automatically disables LongitudinalManeuverMode so normal planning resumes. Complete the route by pulling over and turning off the vehicle.
Visit https://connect.comma.ai and locate the route(s). They will stand out with lots of orange intervals in their timeline. Ensure "All logs" show as "uploaded."

Gather the route ID and then run the report generator. The file will be exported to the same directory:

$ python tools/longitudinal_maneuvers/generate_report.py 57048cfce01d9625/0000010e--5b26bc3be7 'pcm accel compensation'

processing report for LEXUS_ES_TSS2
plotting maneuver: start from stop, runs: 4
plotting maneuver: creep: alternate between +1m/s^2 and -1m/s^2, runs: 2
plotting maneuver: gas step response: +1m/s^2 from 20mph, runs: 2

Report written to /home/batman/openpilot/tools/longitudinal_maneuvers/longitudinal_reports/LEXUS_ES_TSS2_57048cfce01d9625_0000010e--5b26bc3be7.html

You can reach out on Discord if you have any questions about these instructions or the tool itself.