patches

common/params_keys.h

@@ -200,6 +200,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CurveSpeedController", {PERSISTENT, BOOL, "1", "0", 1}},
     {"CustomAlerts", {PERSISTENT, BOOL, "0", "0", 0}},
     {"CustomAccelProfile", {PERSISTENT, BOOL, "0", "0", 3}},
+    {"CustomAccelProfileInitialized", {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}},

opendbc_repo/opendbc/car/gm/carcontroller.py

@@ -184,7 +184,7 @@ class CarController(CarControllerBase):
     else:
       small_cmd_scale = np.interp(abs(accel), [0.0, 0.35, 0.8, 1.5, 2.5], [0.44, 0.54, 0.70, 0.89, 1.0])
     accel_cmd = accel * small_cmd_scale
-    if (not press_regen_paddle) and accel < -2.0:
+    if accel < -2.0:
       accel_cmd *= np.interp(abs(accel), [2.0, 2.5, 3.0], [1.0, 1.03, 1.06])
     raw_pedal_gas = float(np.clip(pedaloffset + accel_cmd * accel_gain * accel_term_scale, 0.0, 1.0))
 

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-5f1e0eeb-DEBUG";
+const uint8_t gitversion[19] = "DEV-46d6d0ac-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-5f1e0eeb-DEBUG
+DEV-46d6d0ac-DEBUG

starpilot/common/accel_profile.py

@@ -1,6 +1,8 @@
 #!/usr/bin/env python3
 from __future__ import annotations
 
+import math
+
 from openpilot.selfdrive.controls.lib.longitudinal_planner import get_max_accel
 
 ACCELERATION_PROFILES = {
@@ -29,6 +31,7 @@ CUSTOM_ACCEL_PROFILE_PARAM_SPECS = [
   ("CustomAccelProfile89MPH", 89),
 ]
 CUSTOM_ACCEL_PROFILE_PARAM_KEYS = [key for key, _ in CUSTOM_ACCEL_PROFILE_PARAM_SPECS]
+CUSTOM_ACCEL_PROFILE_INITIALIZED_KEY = "CustomAccelProfileInitialized"
 CUSTOM_ACCEL_PROFILE_VALUE_MIN = 0.0
 CUSTOM_ACCEL_PROFILE_VALUE_MAX = 6.0
 
@@ -116,6 +119,35 @@ def build_custom_accel_profile_defaults(acceleration_profile, ev_tuning=True, tr
   }
 
 
+CUSTOM_ACCEL_PROFILE_STATIC_DEFAULTS = {
+  key: float(A_CRUISE_MAX_VALS_SPORT_GAS[idx])
+  for idx, key in enumerate(CUSTOM_ACCEL_PROFILE_PARAM_KEYS)
+}
+
+
+def custom_accel_profile_is_initialized(initialized_flag, raw_values_by_key):
+  if _coerce_bool(initialized_flag):
+    return True
+
+  if not isinstance(raw_values_by_key, dict):
+    return False
+
+  for key in CUSTOM_ACCEL_PROFILE_PARAM_KEYS:
+    raw_value = raw_values_by_key.get(key)
+    if raw_value is None:
+      return False
+
+    try:
+      value = float(raw_value.decode("utf-8", errors="replace") if isinstance(raw_value, bytes) else raw_value)
+    except (TypeError, ValueError):
+      return False
+
+    if not math.isclose(value, CUSTOM_ACCEL_PROFILE_STATIC_DEFAULTS[key], abs_tol=1e-6):
+      return True
+
+  return False
+
+
 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 = []
@@ -141,3 +173,13 @@ def _normalize_profile(value, profile_map, fallback):
     return int(float(value))
   except (TypeError, ValueError):
     return fallback
+
+
+def _coerce_bool(value):
+  if isinstance(value, bytes):
+    value = value.decode("utf-8", errors="replace")
+
+  if isinstance(value, str):
+    return value.strip() in ("1", "true", "True")
+
+  return bool(value)

starpilot/common/safe_mode.py

@@ -49,6 +49,7 @@ SAFE_MODE_MANAGED_KEYS = (
   "EVTuning",
   "TruckTuning",
   "CustomAccelProfile",
+  "CustomAccelProfileInitialized",
   "CustomAccelProfile0MPH",
   "CustomAccelProfile11MPH",
   "CustomAccelProfile22MPH",

starpilot/common/starpilot_variables.py

@@ -29,10 +29,12 @@ from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.starpilot.common.accel_profile import (
   ACCELERATION_PROFILES,
   CUSTOM_ACCEL_PROFILE_PARAM_KEYS,
+  CUSTOM_ACCEL_PROFILE_INITIALIZED_KEY,
   CUSTOM_ACCEL_PROFILE_VALUE_MAX,
   CUSTOM_ACCEL_PROFILE_VALUE_MIN,
   DECELERATION_PROFILES,
   build_custom_accel_profile_defaults,
+  custom_accel_profile_is_initialized,
   normalize_acceleration_profile,
   normalize_deceleration_profile,
 )
@@ -806,11 +808,19 @@ class StarPilotVariables:
     )
     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
-    ]
+    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(
+      self.params_raw.get(CUSTOM_ACCEL_PROFILE_INITIALIZED_KEY),
+      custom_accel_raw_values,
+    )
+    if custom_accel_initialized:
+      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
+      ]
+    else:
+      toggle.custom_accel_profile_values = [custom_accel_defaults[key] 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)

starpilot/system/the_pond/the_pond.py

@@ -42,8 +42,10 @@ 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_INITIALIZED_KEY,
   CUSTOM_ACCEL_PROFILE_PARAM_KEYS,
   build_custom_accel_profile_defaults,
+  custom_accel_profile_is_initialized,
   normalize_acceleration_profile,
 )
 from openpilot.starpilot.common.maps_catalog import (
@@ -1858,6 +1860,14 @@ def _get_runtime_default_param_overrides():
   return overrides
 
 def _get_current_param_value(key, value_type, defaults_lookup=None):
+  if key == CUSTOM_ACCEL_PROFILE_INITIALIZED_KEY:
+    return _get_custom_accel_profile_initialized()
+
+  if key in CUSTOM_ACCEL_PROFILE_PARAM_KEYS and not _get_custom_accel_profile_initialized():
+    if defaults_lookup is None:
+      defaults_lookup = _get_default_param_values()
+    return _coerce_param_value(defaults_lookup.get(key), value_type)
+
   raw_value = _safe_params_get_live_raw(key)
   if _is_blank_param_raw(raw_value):
     if defaults_lookup is None:
@@ -1865,6 +1875,17 @@ def _get_current_param_value(key, value_type, defaults_lookup=None):
     raw_value = defaults_lookup.get(key)
   return _coerce_param_value(raw_value, value_type)
 
+
+def _get_custom_accel_profile_initialized():
+  raw_values = {
+    key: _safe_params_get_live_raw(key)
+    for key in CUSTOM_ACCEL_PROFILE_PARAM_KEYS
+  }
+  return custom_accel_profile_is_initialized(
+    _safe_params_get_live_raw(CUSTOM_ACCEL_PROFILE_INITIALIZED_KEY),
+    raw_values,
+  )
+
 def _serialize_param_write_value(raw_value):
   if isinstance(raw_value, bool):
     return "1" if raw_value else "0"
@@ -3156,6 +3177,25 @@ def setup(app):
           "updated": updated,
         }), 200
 
+      if key == "CustomAccelProfile":
+        enabled = str_val.strip() in ("1", "true", "True")
+        params.put_bool(key, enabled)
+
+        updated = {key: enabled}
+        if enabled and not _get_custom_accel_profile_initialized():
+          defaults_lookup = _get_default_param_values()
+          for custom_key in CUSTOM_ACCEL_PROFILE_PARAM_KEYS:
+            custom_value = defaults_lookup[custom_key]
+            params.put(custom_key, _serialize_param_write_value(custom_value))
+            updated[custom_key] = float(custom_value)
+          params.put_bool(CUSTOM_ACCEL_PROFILE_INITIALIZED_KEY, True)
+
+        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)
@@ -3232,6 +3272,9 @@ def setup(app):
       elif key in ("ModelVersion", "DrivingModelVersion"):
         params.put("ModelVersion", str_val)
         params.put("DrivingModelVersion", str_val)
+      elif key in CUSTOM_ACCEL_PROFILE_PARAM_KEYS:
+        params.put(key, str_val)
+        params.put_bool(CUSTOM_ACCEL_PROFILE_INITIALIZED_KEY, True)
       else:
         params.put(key, str_val)
 
@@ -3267,7 +3310,13 @@ def setup(app):
 
       return jsonify(response), 200
 
-    return params.get(request.args.get("key")) or "", 200
+    request_key = request.args.get("key")
+    if request_key in CUSTOM_ACCEL_PROFILE_PARAM_KEYS and not _get_custom_accel_profile_initialized():
+      defaults_lookup = _get_default_param_values()
+      return _serialize_param_write_value(defaults_lookup.get(request_key)), 200
+    if request_key == CUSTOM_ACCEL_PROFILE_INITIALIZED_KEY:
+      return _serialize_param_write_value(_get_custom_accel_profile_initialized()), 200
+    return params.get(request_key) or "", 200
 
   @app.route("/api/params/all", methods=["GET"])
   def get_all_params():