custom accel and screen timeout

2026-04-04 19:12:45 -05:00
parent 5f1e0eeb3a
commit 4ebe5a277a
49 changed files with 424 additions and 117 deletions
@@ -199,6 +199,14 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"CurvatureData", {PERSISTENT | DONT_LOG, JSON, "{}", "{}"}},
    {"CurveSpeedController", {PERSISTENT, BOOL, "1", "0", 1}},
    {"CustomAlerts", {PERSISTENT, BOOL, "0", "0", 0}},
+    {"CustomAccelProfile", {PERSISTENT, BOOL, "0", "0", 3}},
+    {"CustomAccelProfile0MPH", {PERSISTENT, FLOAT, "3.0", "3.0", 3}},
+    {"CustomAccelProfile11MPH", {PERSISTENT, FLOAT, "2.5", "2.5", 3}},
+    {"CustomAccelProfile22MPH", {PERSISTENT, FLOAT, "2.0", "2.0", 3}},
+    {"CustomAccelProfile34MPH", {PERSISTENT, FLOAT, "1.5", "1.5", 3}},
+    {"CustomAccelProfile45MPH", {PERSISTENT, FLOAT, "1.0", "1.0", 3}},
+    {"CustomAccelProfile56MPH", {PERSISTENT, FLOAT, "0.8", "0.8", 3}},
+    {"CustomAccelProfile89MPH", {PERSISTENT, FLOAT, "0.6", "0.6", 3}},
    {"CustomCruise", {PERSISTENT, FLOAT, "1.0", "1.0", 2}},
    {"CustomCruiseLong", {PERSISTENT, FLOAT, "5.0", "5.0", 2}},
    {"CustomPersonalities", {PERSISTENT, BOOL, "0", "0", 2}},
@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-a695eda0-DEBUG";
+const uint8_t gitversion[19] = "DEV-5f1e0eeb-DEBUG";
@@ -1 +1 @@
-DEV-a695eda0-DEBUG
+DEV-5f1e0eeb-DEBUG
@@ -237,20 +237,26 @@ void Device::updateBrightness(const UIState &s, const StarPilotUIState &fs) {
 void Device::updateWakefulness(const UIState &s, const StarPilotUIState &fs) {
  const StarPilotUIScene &starpilot_scene = fs.starpilot_scene;
  const QJsonObject &starpilot_toggles = starpilot_scene.starpilot_toggles;
+  const bool standby_mode = starpilot_toggles.value("standby_mode").toBool();
+  const int screen_timeout = starpilot_toggles.value("screen_timeout").toInt();
+  const int screen_timeout_onroad = starpilot_toggles.value("screen_timeout_onroad").toInt();

-  bool ignition_just_turned_off = !s.scene.ignition && ignition_on;
+  bool ignition_state_changed = s.scene.ignition != ignition_on;
  ignition_on = s.scene.ignition;

-  if (ignition_on && starpilot_toggles.value("standby_mode").toBool()) {
-    if (starpilot_scene.wake_up_screen) {
-      resetInteractiveTimeout(starpilot_toggles.value("screen_timeout").toInt(), starpilot_toggles.value("screen_timeout_onroad").toInt());
-    } else {
+  // Standby mode should extend the current wake window for alerts and status
+  // changes, but it must not clear the timer every frame or manual wakes will
+  // collapse immediately.
+  if (ignition_on && standby_mode && starpilot_scene.wake_up_screen) {
+    resetInteractiveTimeout(screen_timeout, screen_timeout_onroad);
+  }
+
+  if (ignition_state_changed) {
+    if (ignition_on && starpilot_toggles.value("screen_brightness_onroad").toInt() == 0 && !standby_mode) {
      resetInteractiveTimeout(0, 0);
+    } else {
+      resetInteractiveTimeout(screen_timeout, screen_timeout_onroad);
    }
-  } else if (ignition_just_turned_off) {
-    resetInteractiveTimeout(starpilot_toggles.value("screen_timeout").toInt(), starpilot_toggles.value("screen_timeout_onroad").toInt());
-  } else if (ignition_on && starpilot_toggles.value("screen_brightness_onroad").toInt() == 0) {
-    resetInteractiveTimeout(0, 0);
  } else if (interactive_timeout > 0 && --interactive_timeout == 0) {
    emit interactiveTimeout();
  }
@@ -0,0 +1,143 @@
+#!/usr/bin/env python3
+from __future__ import annotations
+
+from openpilot.selfdrive.controls.lib.longitudinal_planner import get_max_accel
+
+ACCELERATION_PROFILES = {
+  "STANDARD": 0,
+  "ECO": 1,
+  "SPORT": 2,
+  "SPORT_PLUS": 3,
+}
+
+DECELERATION_PROFILES = {
+  "STANDARD": 0,
+  "ECO": 1,
+  "SPORT": 2,
+}
+
+# MPH = [0.0, 11, 22, 34, 45, 56, 89]
+A_CRUISE_MAX_BP_CUSTOM = [0.0, 5.0, 10.0, 15.0, 20.0, 25.0, 40.0]
+
+CUSTOM_ACCEL_PROFILE_PARAM_SPECS = [
+  ("CustomAccelProfile0MPH", 0),
+  ("CustomAccelProfile11MPH", 11),
+  ("CustomAccelProfile22MPH", 22),
+  ("CustomAccelProfile34MPH", 34),
+  ("CustomAccelProfile45MPH", 45),
+  ("CustomAccelProfile56MPH", 56),
+  ("CustomAccelProfile89MPH", 89),
+]
+CUSTOM_ACCEL_PROFILE_PARAM_KEYS = [key for key, _ in CUSTOM_ACCEL_PROFILE_PARAM_SPECS]
+CUSTOM_ACCEL_PROFILE_VALUE_MIN = 0.0
+CUSTOM_ACCEL_PROFILE_VALUE_MAX = 6.0
+
+A_CRUISE_MAX_VALS_ECO_EV = [1.25, 1.25, 1.25, 1.25, 1.45, 1.50, 2.00]
+A_CRUISE_MAX_VALS_STANDARD_EV = [1.35, 1.35, 1.35, 1.35, 1.60, 1.60, 2.10]
+A_CRUISE_MAX_VALS_SPORT_EV = [1.55, 1.55, 1.55, 1.55, 1.84, 1.84, 2.42]
+A_CRUISE_MAX_VALS_SPORT_PLUS_EV = [1.7825, 1.7825, 1.7825, 1.7825, 2.116, 2.116, 2.783]
+A_CRUISE_MAX_VALS_ECO_GAS = [2.0, 1.5, 1.0, 0.8, 0.6, 0.4, 0.2]
+A_CRUISE_MAX_VALS_SPORT_GAS = [3.0, 2.5, 2.0, 1.5, 1.0, 0.8, 0.6]
+A_CRUISE_MAX_VALS_ECO_TRUCK = [3.00, 1.05, 0.60, 0.50, 0.50, 0.45, 0.35]
+A_CRUISE_MAX_VALS_STANDARD_TRUCK = [6.00, 1.10, 0.70, 0.60, 0.55, 0.45, 0.35]
+A_CRUISE_MAX_VALS_SPORT_TRUCK = [6.00, 1.15, 0.75, 0.70, 0.60, 0.50, 0.40]
+A_CRUISE_MAX_VALS_SPORT_PLUS_TRUCK = [6.00, 1.30, 0.90, 0.80, 0.70, 0.60, 0.45]
+
+
+def akima_interp(x, xp, fp):
+  if x <= xp[0]:
+    return fp[0]
+  if x >= xp[-1]:
+    return fp[-1]
+
+  i = max(0, min(len(xp) - 2, int(next(idx for idx, bp in enumerate(xp[1:], start=1) if bp >= x) - 1)))
+  t = (x - xp[i]) / float(xp[i + 1] - xp[i])
+  t2 = t * t
+  t3 = t2 * t
+  t4 = t2 * t2
+  return (fp[i] * (1 - 10 * t3 + 15 * t4 - 6 * t3 * t2)
+          + fp[i + 1] * (10 * t3 - 15 * t4 + 6 * t3 * t2))
+
+
+def normalize_acceleration_profile(value):
+  return _normalize_profile(value, ACCELERATION_PROFILES, ACCELERATION_PROFILES["STANDARD"])
+
+
+def normalize_deceleration_profile(value):
+  return _normalize_profile(value, DECELERATION_PROFILES, DECELERATION_PROFILES["STANDARD"])
+
+
+def get_accel_profile_curve_values(acceleration_profile, ev_tuning=True, truck_tuning=False):
+  profile = normalize_acceleration_profile(acceleration_profile)
+  if truck_tuning:
+    ev_tuning = False
+
+  if profile == ACCELERATION_PROFILES["ECO"]:
+    if ev_tuning:
+      return list(A_CRUISE_MAX_VALS_ECO_EV)
+    if truck_tuning:
+      return list(A_CRUISE_MAX_VALS_ECO_TRUCK)
+    return list(A_CRUISE_MAX_VALS_ECO_GAS)
+
+  if profile == ACCELERATION_PROFILES["SPORT"]:
+    if ev_tuning:
+      return list(A_CRUISE_MAX_VALS_SPORT_EV)
+    if truck_tuning:
+      return list(A_CRUISE_MAX_VALS_SPORT_TRUCK)
+    return list(A_CRUISE_MAX_VALS_SPORT_GAS)
+
+  if profile == ACCELERATION_PROFILES["SPORT_PLUS"]:
+    if ev_tuning:
+      return list(A_CRUISE_MAX_VALS_SPORT_PLUS_EV)
+    if truck_tuning:
+      return list(A_CRUISE_MAX_VALS_SPORT_PLUS_TRUCK)
+    return [float(akima_interp(v_ego, [0.0, 5.0, 20.0], [4.0, 4.0, 2.0])) for v_ego in A_CRUISE_MAX_BP_CUSTOM]
+
+  if ev_tuning:
+    return list(A_CRUISE_MAX_VALS_STANDARD_EV)
+  if truck_tuning:
+    return list(A_CRUISE_MAX_VALS_STANDARD_TRUCK)
+  return [float(get_max_accel(v_ego)) for v_ego in A_CRUISE_MAX_BP_CUSTOM]
+
+
+def interpolate_accel_profile(v_ego, curve_values):
+  return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, curve_values))
+
+
+def get_max_allowed_accel(v_ego, ev_tuning=True, truck_tuning=False):
+  return interpolate_accel_profile(v_ego, get_accel_profile_curve_values(ACCELERATION_PROFILES["SPORT_PLUS"], ev_tuning, truck_tuning))
+
+
+def build_custom_accel_profile_defaults(acceleration_profile, ev_tuning=True, truck_tuning=False):
+  curve_values = get_accel_profile_curve_values(acceleration_profile, ev_tuning, truck_tuning)
+  return {
+    key: float(curve_values[idx])
+    for idx, key in enumerate(CUSTOM_ACCEL_PROFILE_PARAM_KEYS)
+  }
+
+
+def coerce_custom_accel_profile_values(raw_values, acceleration_profile, ev_tuning=True, truck_tuning=False):
+  defaults = get_accel_profile_curve_values(acceleration_profile, ev_tuning, truck_tuning)
+  values = []
+  for idx, default in enumerate(defaults):
+    try:
+      value = float(raw_values[idx])
+    except (IndexError, TypeError, ValueError):
+      value = default
+    values.append(min(CUSTOM_ACCEL_PROFILE_VALUE_MAX, max(CUSTOM_ACCEL_PROFILE_VALUE_MIN, value)))
+  return values
+
+
+def _normalize_profile(value, profile_map, fallback):
+  if isinstance(value, bytes):
+    value = value.decode("utf-8", errors="replace")
+
+  if isinstance(value, str):
+    normalized = value.strip().upper().replace("+", "_PLUS").replace(" ", "_")
+    if normalized in profile_map:
+      return profile_map[normalized]
+
+  try:
+    return int(float(value))
+  except (TypeError, ValueError):
+    return fallback
@@ -48,6 +48,14 @@ SAFE_MODE_MANAGED_KEYS = (
  "AdvancedLongitudinalTune",
  "EVTuning",
  "TruckTuning",
+  "CustomAccelProfile",
+  "CustomAccelProfile0MPH",
+  "CustomAccelProfile11MPH",
+  "CustomAccelProfile22MPH",
+  "CustomAccelProfile34MPH",
+  "CustomAccelProfile45MPH",
+  "CustomAccelProfile56MPH",
+  "CustomAccelProfile89MPH",
  "LongitudinalActuatorDelay",
  "MaxDesiredAcceleration",
  "StartAccel",
@@ -10,6 +10,7 @@ from pathlib import Path
 from types import SimpleNamespace

 import cereal.messaging as messaging
+import numpy as np

 from cereal import car, custom, log
 from opendbc.car import gen_empty_fingerprint
@@ -25,6 +26,16 @@ from openpilot.common.constants import CV
 from openpilot.common.params import Params
 from openpilot.selfdrive.controls.lib.latcontrol_torque import KP
 from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.starpilot.common.accel_profile import (
+  ACCELERATION_PROFILES,
+  CUSTOM_ACCEL_PROFILE_PARAM_KEYS,
+  CUSTOM_ACCEL_PROFILE_VALUE_MAX,
+  CUSTOM_ACCEL_PROFILE_VALUE_MIN,
+  DECELERATION_PROFILES,
+  build_custom_accel_profile_defaults,
+  normalize_acceleration_profile,
+  normalize_deceleration_profile,
+)
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.hardware.power_monitoring import VBATT_PAUSE_CHARGING
@@ -787,8 +798,19 @@ 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")
-    toggle.acceleration_profile = self.get_value("AccelerationProfile", cast=float, condition=longitudinal_tuning)
-    toggle.deceleration_profile = self.get_value("DecelerationProfile", cast=float, condition=longitudinal_tuning)
+    toggle.acceleration_profile = normalize_acceleration_profile(
+      self.get_value("AccelerationProfile", cast=None, condition=longitudinal_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)
+    custom_accel_defaults = build_custom_accel_profile_defaults(toggle.acceleration_profile, toggle.ev_tuning, toggle.truck_tuning)
+    toggle.custom_accel_profile_values = [
+      self.get_value(key, cast=float, condition=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
+    ]
    toggle.human_acceleration = self.get_value("HumanAcceleration", condition=longitudinal_tuning)
    toggle.human_following = self.get_value("HumanFollowing", condition=longitudinal_tuning)
    toggle.human_lane_changes = has_radar and self.get_value("HumanLaneChanges", condition=longitudinal_tuning)
@@ -3,6 +3,14 @@ import numpy as np

 from openpilot.selfdrive.controls.lib.longitudinal_planner import A_CRUISE_MIN, get_max_accel

+from openpilot.starpilot.common.accel_profile import (
+  ACCELERATION_PROFILES,
+  DECELERATION_PROFILES,
+  coerce_custom_accel_profile_values,
+  get_accel_profile_curve_values,
+  get_max_allowed_accel as get_profile_max_allowed_accel,
+  interpolate_accel_profile,
+)
 from openpilot.starpilot.common.starpilot_variables import CITY_SPEED_LIMIT

 def cubic_interp(x, xp, fp):
@@ -45,56 +53,20 @@ def akima_interp(x, xp, fp):
 A_CRUISE_MIN_ECO = A_CRUISE_MIN / 2
 A_CRUISE_MIN_SPORT = A_CRUISE_MIN * 2

-                       # MPH = [0.0,  11,  22,  34,  45,  56,  89]
-A_CRUISE_MAX_BP_CUSTOM =       [0.0,  5., 10., 15., 20., 25., 40.]
-A_CRUISE_MAX_VALS_ECO_EV =      [1.25, 1.25, 1.25, 1.25, 1.45, 1.50, 2.00]
-A_CRUISE_MAX_VALS_STANDARD_EV = [1.35, 1.35, 1.35, 1.35, 1.60, 1.60, 2.10]
-A_CRUISE_MAX_VALS_SPORT_EV =    [1.55, 1.55, 1.55, 1.55, 1.84, 1.84, 2.42]
-A_CRUISE_MAX_VALS_SPORT_PLUS_EV = [1.7825, 1.7825, 1.7825, 1.7825, 2.116, 2.116, 2.783]
-A_CRUISE_MAX_VALS_ECO_GAS =    [2.0, 1.5, 1.0, 0.8, 0.6, 0.4, 0.2]
-A_CRUISE_MAX_VALS_SPORT_GAS =  [3.0, 2.5, 2.0, 1.5, 1.0, 0.8, 0.6]
-A_CRUISE_MAX_VALS_ECO_TRUCK =       [3.00, 1.05, 0.60, 0.50, 0.50, 0.45, 0.35]
-A_CRUISE_MAX_VALS_STANDARD_TRUCK =  [6.00, 1.10, 0.70, 0.60, 0.55, 0.45, 0.35]
-A_CRUISE_MAX_VALS_SPORT_TRUCK =     [6.00, 1.15, 0.75, 0.70, 0.60, 0.50, 0.40]
-A_CRUISE_MAX_VALS_SPORT_PLUS_TRUCK = [6.00, 1.30, 0.90, 0.80, 0.70, 0.60, 0.45]
-
-ACCELERATION_PROFILES = {
-  "STANDARD": 0,
-  "ECO": 1,
-  "SPORT": 2,
-  "SPORT_PLUS": 3
-}
-
-DECELERATION_PROFILES = {
-  "STANDARD": 0,
-  "ECO": 1,
-  "SPORT": 2
-}
-
 def get_max_accel_eco(v_ego, ev_tuning=True, truck_tuning=False):
-  if ev_tuning:
-    cruise_vals = A_CRUISE_MAX_VALS_ECO_EV
-  elif truck_tuning:
-    cruise_vals = A_CRUISE_MAX_VALS_ECO_TRUCK
-  else:
-    cruise_vals = A_CRUISE_MAX_VALS_ECO_GAS
-  return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, cruise_vals))
+  return interpolate_accel_profile(v_ego, get_accel_profile_curve_values(ACCELERATION_PROFILES["ECO"], ev_tuning, truck_tuning))

 def get_max_accel_sport(v_ego, ev_tuning=True, truck_tuning=False):
-  if ev_tuning:
-    cruise_vals = A_CRUISE_MAX_VALS_SPORT_EV
-  elif truck_tuning:
-    cruise_vals = A_CRUISE_MAX_VALS_SPORT_TRUCK
-  else:
-    cruise_vals = A_CRUISE_MAX_VALS_SPORT_GAS
-  return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, cruise_vals))
+  return interpolate_accel_profile(v_ego, get_accel_profile_curve_values(ACCELERATION_PROFILES["SPORT"], ev_tuning, truck_tuning))

 def get_max_accel_standard(v_ego, ev_tuning=True, truck_tuning=False):
-  if ev_tuning:
-    return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_STANDARD_EV))
-  if truck_tuning:
-    return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_STANDARD_TRUCK))
-  return get_max_accel(v_ego)
+  if ev_tuning or truck_tuning:
+    return interpolate_accel_profile(v_ego, get_accel_profile_curve_values(ACCELERATION_PROFILES["STANDARD"], ev_tuning, truck_tuning))
+  return float(get_max_accel(v_ego))
+
+def get_max_accel_custom(v_ego, custom_curve, acceleration_profile, ev_tuning=True, truck_tuning=False):
+  curve_values = coerce_custom_accel_profile_values(custom_curve, acceleration_profile, ev_tuning, truck_tuning)
+  return interpolate_accel_profile(v_ego, curve_values)

 def get_max_accel_low_speeds(max_accel, v_cruise):
  return float(akima_interp(v_cruise, [0., CITY_SPEED_LIMIT / 2, CITY_SPEED_LIMIT], [max_accel / 4, max_accel / 2, max_accel]))
@@ -103,11 +75,7 @@ def get_max_accel_ramp_off(max_accel, v_cruise, v_ego):
  return float(akima_interp(v_cruise - v_ego, [0., 1., 5., 10.], [0., 0.5, 1.0, max_accel]))

 def get_max_allowed_accel(v_ego, ev_tuning=True, truck_tuning=False):
-  if ev_tuning:
-    return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT_PLUS_EV))
-  if truck_tuning:
-    return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT_PLUS_TRUCK))
-  return float(akima_interp(v_ego, [0., 5., 20.], [4.0, 4.0, 2.0]))  # ISO 15622:2018
+  return float(get_profile_max_allowed_accel(v_ego, ev_tuning, truck_tuning))

 class StarPilotAcceleration:
  def __init__(self, StarPilotPlanner):
@@ -121,8 +89,12 @@ class StarPilotAcceleration:
    sport_gear = sm["starpilotCarState"].sportGear
    ev_tuning = getattr(starpilot_toggles, "ev_tuning", True)
    truck_tuning = getattr(starpilot_toggles, "truck_tuning", False)
+    custom_accel_profile = getattr(starpilot_toggles, "custom_accel_profile", False)
+    custom_accel_profile_values = getattr(starpilot_toggles, "custom_accel_profile_values", [])

-    if sm["starpilotCarState"].trafficModeEnabled:
+    if custom_accel_profile:
+      self.max_accel = get_max_accel_custom(v_ego, custom_accel_profile_values, starpilot_toggles.acceleration_profile, ev_tuning, truck_tuning)
+    elif sm["starpilotCarState"].trafficModeEnabled:
      self.max_accel = get_max_accel_standard(v_ego, ev_tuning, truck_tuning)
    elif starpilot_toggles.map_acceleration and (eco_gear or sport_gear):
      if eco_gear:
@@ -6,6 +6,7 @@ const endpointOptionsInflight = {}
 // Plain variables — scheduling/routing flags that must NOT be reactive
 let syncScheduled = false
 let lastParams = null
+const DYNAMIC_DEFAULT_DEP_KEYS = new Set(["AccelerationProfile", "EVTuning", "TruckTuning"])

 // Module-level state (persists across route changes)
 const state = reactive({
@@ -141,6 +142,21 @@ async function fetchDefaultValues() {
  }
 }

+async function refreshParamsAndDefaults() {
+  await fetchDefaultValues()
+
+  try {
+    const valuesRes = await fetch("/api/params/all")
+    if (valuesRes.ok) {
+      const data = await valuesRes.json()
+      state.values = data || {}
+    }
+  } catch (e) {
+    console.error("Failed to refresh param values:", e)
+  }
+  scheduleSyncInputs()
+}
+
 async function fetchLayoutAndParams() {
  state.loadingLayout = true
  state.loadingValues = true
@@ -176,14 +192,13 @@ async function fetchLayoutAndParams() {

  // Pull params once at page load; local state handles subsequent edits.
  try {
-    const valuesRes = await fetch("/api/params/all")
-
-    const data = await valuesRes.json()
-    state.values = data
-
    if (!(await fetchDefaultValues())) {
      state.defaultValues = {}
    }
+
+    const valuesRes = await fetch("/api/params/all")
+    const data = await valuesRes.json()
+    state.values = data
  } catch (e) {
    console.error("Failed to fetch param values:", e)
    state.defaultValues = {}
@@ -520,7 +535,11 @@ async function updateParam(key, elType) {
      const updated = (data.updated && typeof data.updated === "object") ? data.updated : {}
      state.values = { ...state.values, [key]: formattedVal, ...updated }
      showParamSnackbar(data.message || `Parameter '${key}' updated.`)
-      scheduleSyncInputs()
+      if (DYNAMIC_DEFAULT_DEP_KEYS.has(key)) {
+        await refreshParamsAndDefaults()
+      } else {
+        scheduleSyncInputs()
+      }
    } else {
      revertInput(key, current, elType)
      showParamSnackbar(data.error || "Failed to update parameter", "error")
@@ -254,6 +254,99 @@
        "ui_type": "toggle",
        "parent_key": "AdvancedLongitudinalTune"
      },
+      {
+        "key": "CustomAccelProfile",
+        "label": "Custom Accel Profile",
+        "description": "Replace the built-in acceleration profile with your own per-speed max-acceleration values. Breakpoint speeds stay fixed, and the starting defaults mirror the currently selected acceleration profile plus EV or Truck tuning.",
+        "data_type": "bool",
+        "ui_type": "toggle",
+        "is_parent_toggle": true,
+        "parent_key": "AdvancedLongitudinalTune"
+      },
+      {
+        "key": "CustomAccelProfile0MPH",
+        "label": "0 mph",
+        "description": "Max acceleration in m/s² at the fixed 0 mph breakpoint.",
+        "data_type": "float",
+        "ui_type": "numeric",
+        "min": 0.0,
+        "max": 6.0,
+        "step": 0.01,
+        "precision": 2,
+        "parent_key": "CustomAccelProfile"
+      },
+      {
+        "key": "CustomAccelProfile11MPH",
+        "label": "11 mph",
+        "description": "Max acceleration in m/s² at the fixed 11 mph breakpoint.",
+        "data_type": "float",
+        "ui_type": "numeric",
+        "min": 0.0,
+        "max": 6.0,
+        "step": 0.01,
+        "precision": 2,
+        "parent_key": "CustomAccelProfile"
+      },
+      {
+        "key": "CustomAccelProfile22MPH",
+        "label": "22 mph",
+        "description": "Max acceleration in m/s² at the fixed 22 mph breakpoint.",
+        "data_type": "float",
+        "ui_type": "numeric",
+        "min": 0.0,
+        "max": 6.0,
+        "step": 0.01,
+        "precision": 2,
+        "parent_key": "CustomAccelProfile"
+      },
+      {
+        "key": "CustomAccelProfile34MPH",
+        "label": "34 mph",
+        "description": "Max acceleration in m/s² at the fixed 34 mph breakpoint.",
+        "data_type": "float",
+        "ui_type": "numeric",
+        "min": 0.0,
+        "max": 6.0,
+        "step": 0.01,
+        "precision": 2,
+        "parent_key": "CustomAccelProfile"
+      },
+      {
+        "key": "CustomAccelProfile45MPH",
+        "label": "45 mph",
+        "description": "Max acceleration in m/s² at the fixed 45 mph breakpoint.",
+        "data_type": "float",
+        "ui_type": "numeric",
+        "min": 0.0,
+        "max": 6.0,
+        "step": 0.01,
+        "precision": 2,
+        "parent_key": "CustomAccelProfile"
+      },
+      {
+        "key": "CustomAccelProfile56MPH",
+        "label": "56 mph",
+        "description": "Max acceleration in m/s² at the fixed 56 mph breakpoint.",
+        "data_type": "float",
+        "ui_type": "numeric",
+        "min": 0.0,
+        "max": 6.0,
+        "step": 0.01,
+        "precision": 2,
+        "parent_key": "CustomAccelProfile"
+      },
+      {
+        "key": "CustomAccelProfile89MPH",
+        "label": "89 mph",
+        "description": "Max acceleration in m/s² at the fixed 89 mph breakpoint.",
+        "data_type": "float",
+        "ui_type": "numeric",
+        "min": 0.0,
+        "max": 6.0,
+        "step": 0.01,
+        "precision": 2,
+        "parent_key": "CustomAccelProfile"
+      },
      {
        "key": "LongitudinalActuatorDelay",
        "label": "Actuator Delay",
@@ -41,6 +41,11 @@ from openpilot.system.version import get_build_metadata
 from panda import Panda

 from openpilot.starpilot.assets.theme_manager import HOLIDAY_THEME_PATH, THEME_COMPONENT_PARAMS
+from openpilot.starpilot.common.accel_profile import (
+  CUSTOM_ACCEL_PROFILE_PARAM_KEYS,
+  build_custom_accel_profile_defaults,
+  normalize_acceleration_profile,
+)
 from openpilot.starpilot.common.maps_catalog import (
  MAPS_CATALOG,
  MAP_SCHEDULE_OPTIONS,
@@ -629,6 +634,8 @@ _TROUBLESHOOT_ADVANCED_LONGITUDINAL_KEYS = [
  "AdvancedLongitudinalTune",
  "EVTuning",
  "TruckTuning",
+  "CustomAccelProfile",
+  *CUSTOM_ACCEL_PROFILE_PARAM_KEYS,
  "LongitudinalActuatorDelay",
  "StartAccel",
  "VEgoStarting",
@@ -1663,6 +1670,7 @@ def _get_layout_type_overrides():
 _cached_allowed_keys = None
 _cached_param_types = None
 _cached_default_values = None
+_cached_static_default_values = None

 def _get_param_type_info():
  global _cached_allowed_keys, _cached_param_types
@@ -1699,15 +1707,18 @@ def _get_param_type_info():
    _cached_param_types = types
  return _cached_allowed_keys, _cached_param_types

-def _get_default_param_values():
-  global _cached_default_values
-  if _cached_default_values is None:
-    _cached_default_values = {
+def _get_static_default_param_values():
+  global _cached_static_default_values
+  if _cached_static_default_values is None:
+    _cached_static_default_values = {
      key: default_val
      for key, default_val, _, _ in starpilot_default_params
      if key not in EXCLUDED_KEYS
    }
-  default_values = dict(_cached_default_values)
+  return _cached_static_default_values
+
+def _get_default_param_values():
+  default_values = dict(_get_static_default_param_values())
  default_values.update(_get_runtime_default_param_overrides())
  return default_values

@@ -1790,6 +1801,7 @@ def _has_runtime_default_value(key, raw_value):

 def _get_runtime_default_param_overrides():
  overrides = {}
+  static_defaults = _get_static_default_param_values()

  for key, stock_key in _RUNTIME_DEFAULT_STOCK_KEYS.items():
    stock_raw = _safe_params_get_live_raw(stock_key)
@@ -1798,40 +1810,60 @@ def _get_runtime_default_param_overrides():
      overrides[stock_key] = stock_raw

  cp_bytes = _safe_params_get_live_raw("CarParamsPersistent")
-  if not cp_bytes:
-    return overrides
+  if cp_bytes:
+    try:
+      with car.CarParams.from_bytes(cp_bytes) as cp:
+        overrides["EVTuning"] = default_ev_tuning_enabled(cp)

-  try:
-    with car.CarParams.from_bytes(cp_bytes) as cp:
-      overrides["EVTuning"] = default_ev_tuning_enabled(cp)
+        car_param_defaults = {
+          "SteerDelay": getattr(cp, "steerActuatorDelay", None),
+          "SteerRatio": getattr(cp, "steerRatio", None),
+          "LongitudinalActuatorDelay": getattr(cp, "longitudinalActuatorDelay", None),
+          "StartAccel": getattr(cp, "startAccel", None),
+          "StopAccel": getattr(cp, "stopAccel", None),
+          "StoppingDecelRate": getattr(cp, "stoppingDecelRate", None),
+          "VEgoStarting": getattr(cp, "vEgoStarting", None),
+          "VEgoStopping": getattr(cp, "vEgoStopping", None),
+        }

-      car_param_defaults = {
-        "SteerDelay": getattr(cp, "steerActuatorDelay", None),
-        "SteerRatio": getattr(cp, "steerRatio", None),
-        "LongitudinalActuatorDelay": getattr(cp, "longitudinalActuatorDelay", None),
-        "StartAccel": getattr(cp, "startAccel", None),
-        "StopAccel": getattr(cp, "stopAccel", None),
-        "StoppingDecelRate": getattr(cp, "stoppingDecelRate", None),
-        "VEgoStarting": getattr(cp, "vEgoStarting", None),
-        "VEgoStopping": getattr(cp, "vEgoStopping", None),
-      }
+        for key, value in car_param_defaults.items():
+          if key in overrides or value is None:
+            continue
+          if key not in _RUNTIME_DEFAULT_ZERO_OK_KEYS and float(value) == 0.0:
+            continue
+          overrides[key] = value
+    except Exception:
+      pass

-      for key, value in car_param_defaults.items():
-        if key in overrides or value is None:
-          continue
-        if key not in _RUNTIME_DEFAULT_ZERO_OK_KEYS and float(value) == 0.0:
-          continue
-        overrides[key] = value
-  except Exception:
-    pass
+  ev_tuning_raw = _safe_params_get_live_raw("EVTuning")
+  truck_tuning_raw = _safe_params_get_live_raw("TruckTuning")
+  acceleration_profile_raw = _safe_params_get_live_raw("AccelerationProfile")
+
+  ev_tuning = _coerce_param_value(
+    ev_tuning_raw if not _is_blank_param_raw(ev_tuning_raw) else overrides.get("EVTuning", static_defaults.get("EVTuning", "0")),
+    bool,
+  )
+  truck_tuning = _coerce_param_value(
+    truck_tuning_raw if not _is_blank_param_raw(truck_tuning_raw) else static_defaults.get("TruckTuning", "0"),
+    bool,
+  )
+  if truck_tuning:
+    ev_tuning = False
+
+  acceleration_profile = normalize_acceleration_profile(
+    acceleration_profile_raw if not _is_blank_param_raw(acceleration_profile_raw) else static_defaults.get("AccelerationProfile", "0")
+  )
+  overrides.update(build_custom_accel_profile_defaults(acceleration_profile, ev_tuning, truck_tuning))

  return overrides

-def _get_current_param_value(key, value_type):
-  safe_type = value_type or str
-  if safe_type == bool:
-    return params.get_bool(key)
-  return _coerce_param_value(params.get(key), safe_type)
+def _get_current_param_value(key, value_type, defaults_lookup=None):
+  raw_value = _safe_params_get_live_raw(key)
+  if _is_blank_param_raw(raw_value):
+    if defaults_lookup is None:
+      defaults_lookup = _get_default_param_values()
+    raw_value = defaults_lookup.get(key)
+  return _coerce_param_value(raw_value, value_type)

 def _serialize_param_write_value(raw_value):
  if isinstance(raw_value, bool):
@@ -3108,6 +3140,22 @@ def setup(app):
      if key == "AutomaticUpdates" and params.get_bool("IsOnroad"):
        return jsonify({"error": "Cannot change Automatic Updates while driving."}), 403

+      if key in {"EVTuning", "TruckTuning"}:
+        enabled = str_val.strip() in ("1", "true", "True")
+        params.put_bool(key, enabled)
+
+        updated = {key: enabled}
+        if enabled:
+          other_key = "TruckTuning" if key == "EVTuning" else "EVTuning"
+          params.put_bool(other_key, False)
+          updated[other_key] = False
+
+        update_starpilot_toggles()
+        return jsonify({
+          "message": f"Parameter '{key}' updated successfully.",
+          "updated": updated,
+        }), 200
+
      if key == "CarMake":
        catalog = _get_fingerprint_catalog()
        normalized_make = _normalize_fingerprint_make_key(str_val)
@@ -3225,25 +3273,13 @@ def setup(app):
  def get_all_params():
    _enforce_cancel_remap_lkas_lock()
    allowed_keys, types = _get_param_type_info()
+    defaults_lookup = _get_default_param_values()

    result = {}
    for key in allowed_keys:
      t = types.get(key, str)
      try:
-        if t == bool:
-          result[key] = params.get_bool(key)
-        else:
-          raw = params.get(key)
-          raw_str = raw.decode("utf-8", errors="replace") if isinstance(raw, bytes) else str(raw or "")
-
-          if not raw_str:
-             result[key] = 0.0 if t == float else (0 if t == int else "")
-          elif t == float:
-             result[key] = float(raw_str)
-          elif t == int:
-             result[key] = int(float(raw_str))
-          else:
-             result[key] = raw_str
+        result[key] = _get_current_param_value(key, t, defaults_lookup)
      except Exception:
        result[key] = None