Parametrize startingBrakeRate (#19511)

* Parametrize startingBrakeRate

* new ref_commit

selfdrive/car/interfaces.py

@@ -73,6 +73,7 @@ class CarInterfaceBase():
     ret.startAccel = 0.0
     ret.minSpeedCan = 0.3
     ret.stoppingBrakeRate = 0.2 # brake_travel/s while trying to stop
+    ret.startingBrakeRate = 0.8 # brake_travel/s while releasing on restart
     ret.stoppingControl = False
     ret.longitudinalTuning.deadzoneBP = [0.]
     ret.longitudinalTuning.deadzoneV = [0.]

selfdrive/controls/lib/longcontrol.py

@@ -9,7 +9,6 @@ STOPPING_TARGET_SPEED_OFFSET = 0.01
 STARTING_TARGET_SPEED = 0.5
 BRAKE_THRESHOLD_TO_PID = 0.2
 
-STARTING_BRAKE_RATE = 0.8  # brake_travel/s while releasing on restart
 BRAKE_STOPPING_TARGET = 0.5  # apply at least this amount of brake to maintain the vehicle stationary
 
 RATE = 100.0
@@ -113,7 +112,7 @@ class LongControl():
     # Intention is to move again, release brake fast before handing control to PID
     elif self.long_control_state == LongCtrlState.starting:
       if output_gb < -0.2:
-        output_gb += STARTING_BRAKE_RATE / RATE
+        output_gb += CP.startingBrakeRate / RATE
       self.reset(CS.vEgo)
 
     self.last_output_gb = output_gb

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-2c61a18410dca75500a87a733aa5c3cc50d21fcc
+e3c1a9c4b81033c8dad810870eb974954e7660e9