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customaccel patch

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This commit is contained in:
firestar5683
2026-04-11 00:45:25 -05:00
parent 87aa15fc33
commit 161e0e10c8
3 changed files with 95 additions and 18 deletions
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selfdrive/controls/lib/longcontrol.py
+10 -2
View File
@@ -213,7 +213,12 @@ class LongControl:
self.reset()
elif self.long_control_state == LongCtrlState.starting:
output_accel = (a_target if starpilot_toggles.human_acceleration else starpilot_toggles.startAccel)
if starpilot_toggles.human_acceleration:
output_accel = a_target
elif getattr(starpilot_toggles, "custom_accel_profile", False):
output_accel = clip(a_target, 0.0, starpilot_toggles.startAccel)
else:
output_accel = starpilot_toggles.startAccel
self.reset()
else: # LongCtrlState.pid
@@ -287,7 +292,10 @@ class LongControl:
self.reset_old_long(CS.vEgo)
elif self.long_control_state == LongCtrlState.starting:
output_accel = starpilot_toggles.startAccel
if getattr(starpilot_toggles, "custom_accel_profile", False):
output_accel = clip(a_target, 0.0, starpilot_toggles.startAccel)
else:
output_accel = starpilot_toggles.startAccel
self.reset_old_long(CS.vEgo)
elif self.long_control_state == LongCtrlState.pid:
selfdrive/controls/tests/test_longcontrol.py
+80 -13
View File
@@ -1,63 +1,130 @@
from types import SimpleNamespace
from cereal import car
from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
import openpilot.selfdrive.controls.lib.longcontrol as longcontrol
from openpilot.selfdrive.controls.lib.longcontrol import LongControl
from openpilot.selfdrive.controls.lib.longcontrol import LongControl, LongCtrlState, long_control_state_trans
def make_toggles(**overrides):
defaults = {
"custom_accel_profile": False,
"human_acceleration": False,
"startAccel": 1.5,
"stopAccel": -0.5,
"stoppingDecelRate": 0.8,
"vEgoStarting": 0.5,
"vEgoStopping": 0.5,
}
defaults.update(overrides)
return SimpleNamespace(**defaults)
class TestLongControlStateTransition:
def test_stay_stopped(self):
CP = car.CarParams.new_message()
toggles = make_toggles()
active = True
current_state = LongCtrlState.stopping
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
should_stop=True, brake_pressed=False, cruise_standstill=False)
should_stop=True, brake_pressed=False, cruise_standstill=False, starpilot_toggles=toggles)
assert next_state == LongCtrlState.stopping
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
should_stop=False, brake_pressed=True, cruise_standstill=False)
should_stop=False, brake_pressed=True, cruise_standstill=False, starpilot_toggles=toggles)
assert next_state == LongCtrlState.stopping
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
should_stop=False, brake_pressed=False, cruise_standstill=True)
should_stop=False, brake_pressed=False, cruise_standstill=True, starpilot_toggles=toggles)
assert next_state == LongCtrlState.stopping
next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
should_stop=False, brake_pressed=False, cruise_standstill=False)
should_stop=False, brake_pressed=False, cruise_standstill=False, starpilot_toggles=toggles)
assert next_state == LongCtrlState.pid
active = False
next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
should_stop=False, brake_pressed=False, cruise_standstill=False)
should_stop=False, brake_pressed=False, cruise_standstill=False, starpilot_toggles=toggles)
assert next_state == LongCtrlState.off
def test_engage():
CP = car.CarParams.new_message()
toggles = make_toggles()
active = True
current_state = LongCtrlState.off
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
should_stop=True, brake_pressed=False, cruise_standstill=False)
should_stop=True, brake_pressed=False, cruise_standstill=False, starpilot_toggles=toggles)
assert next_state == LongCtrlState.stopping
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
should_stop=False, brake_pressed=True, cruise_standstill=False)
should_stop=False, brake_pressed=True, cruise_standstill=False, starpilot_toggles=toggles)
assert next_state == LongCtrlState.stopping
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
should_stop=False, brake_pressed=False, cruise_standstill=True)
should_stop=False, brake_pressed=False, cruise_standstill=True, starpilot_toggles=toggles)
assert next_state == LongCtrlState.stopping
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
should_stop=False, brake_pressed=False, cruise_standstill=False)
should_stop=False, brake_pressed=False, cruise_standstill=False, starpilot_toggles=toggles)
assert next_state == LongCtrlState.pid
def test_starting():
CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5)
toggles = make_toggles(vEgoStarting=0.5)
active = True
current_state = LongCtrlState.starting
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
should_stop=False, brake_pressed=False, cruise_standstill=False)
should_stop=False, brake_pressed=False, cruise_standstill=False, starpilot_toggles=toggles)
assert next_state == LongCtrlState.starting
next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
should_stop=False, brake_pressed=False, cruise_standstill=False)
should_stop=False, brake_pressed=False, cruise_standstill=False, starpilot_toggles=toggles)
assert next_state == LongCtrlState.pid
def test_starting_accel_unchanged_when_custom_profile_disabled():
CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5)
CP.longitudinalTuning.kpBP = [0.0]
CP.longitudinalTuning.kpV = [0.1]
CP.longitudinalTuning.kiBP = [0.0]
CP.longitudinalTuning.kiV = [0.03]
lc = LongControl(CP)
CS = car.CarState.new_message(vEgo=0.0, aEgo=0.0, brakePressed=False)
CS.cruiseState.standstill = False
output_accel = lc.update(
active=True,
CS=CS,
a_target=0.1,
should_stop=False,
accel_limits=(-3.0, 2.0),
starpilot_toggles=make_toggles(startAccel=1.5),
)
assert lc.long_control_state == LongCtrlState.starting
assert output_accel == 1.5
def test_starting_accel_obeys_a_target_cap_when_custom_profile_enabled():
CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5)
CP.longitudinalTuning.kpBP = [0.0]
CP.longitudinalTuning.kpV = [0.1]
CP.longitudinalTuning.kiBP = [0.0]
CP.longitudinalTuning.kiV = [0.03]
lc = LongControl(CP)
CS = car.CarState.new_message(vEgo=0.0, aEgo=0.0, brakePressed=False)
CS.cruiseState.standstill = False
output_accel = lc.update(
active=True,
CS=CS,
a_target=0.1,
should_stop=False,
accel_limits=(-3.0, 2.0),
starpilot_toggles=make_toggles(startAccel=1.5, custom_accel_profile=True),
)
assert lc.long_control_state == LongCtrlState.starting
assert output_accel == 0.1
def test_volt_testing_ground_handoff_freezes_integrator(monkeypatch):
CP = car.CarParams.new_message()
CP.brand = "gm"
starpilot/common/starpilot_variables.py
+5 -3
View File
@@ -818,13 +818,15 @@ class StarPilotVariables:
toggle.lock_doors_timer = self.get_value("LockDoorsTimer", cast=float, condition=(toggle.car_make == "toyota"))
longitudinal_tuning = toggle.openpilot_longitudinal and self.get_value("LongitudinalTune")
custom_accel_profile_tuning = advanced_longitudinal_tuning and self.get_value("CustomAccelProfile")
acceleration_profile_tuning = longitudinal_tuning or custom_accel_profile_tuning
toggle.acceleration_profile = normalize_acceleration_profile(
self.get_value("AccelerationProfile", cast=None, condition=longitudinal_tuning, default=ACCELERATION_PROFILES["SPORT"])
self.get_value("AccelerationProfile", cast=None, condition=acceleration_profile_tuning, default=ACCELERATION_PROFILES["SPORT"])
)
toggle.deceleration_profile = normalize_deceleration_profile(
self.get_value("DecelerationProfile", cast=None, condition=longitudinal_tuning, default=DECELERATION_PROFILES["ECO"])
)
toggle.custom_accel_profile = self.get_value("CustomAccelProfile", condition=longitudinal_tuning)
toggle.custom_accel_profile = custom_accel_profile_tuning
custom_accel_defaults = build_custom_accel_profile_defaults(toggle.acceleration_profile, toggle.ev_tuning, toggle.truck_tuning)
custom_accel_raw_values = {key: self.params_raw.get(key) for key in CUSTOM_ACCEL_PROFILE_PARAM_KEYS}
custom_accel_initialized = custom_accel_profile_is_initialized(
@@ -833,7 +835,7 @@ class StarPilotVariables:
)
if custom_accel_initialized:
toggle.custom_accel_profile_values = [
self.get_value(key, cast=float, condition=longitudinal_tuning, default=custom_accel_defaults[key],
self.get_value(key, cast=float, condition=advanced_longitudinal_tuning, default=custom_accel_defaults[key],
min=CUSTOM_ACCEL_PROFILE_VALUE_MIN, max=CUSTOM_ACCEL_PROFILE_VALUE_MAX)
for key in CUSTOM_ACCEL_PROFILE_PARAM_KEYS
]