volt test tune

selfdrive/controls/controlsd.py

@@ -21,6 +21,7 @@ from openpilot.selfdrive.modeld.modeld import LAT_SMOOTH_SECONDS
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 
 from openpilot.starpilot.common.starpilot_variables import get_starpilot_toggles
+from openpilot.starpilot.common.testing_grounds import testing_ground
 from openpilot.starpilot.controls.lib.neural_network_feedforward import LatControlNNFF
 
 State = log.SelfdriveState.OpenpilotState
@@ -131,6 +132,14 @@ class Controls:
 
     # accel PID loop
     pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
+    if testing_ground.use_2:
+      # Keep the actuator loop inside the planner's envelope so Eco/custom accel caps
+      # constrain the real GM output instead of only the planner target.
+      pid_accel_limits = [
+        max(pid_accel_limits[0], self.sm['starpilotPlan'].minAcceleration),
+        min(pid_accel_limits[1], self.sm['starpilotPlan'].maxAcceleration, self.starpilot_toggles.max_desired_acceleration),
+      ]
+      pid_accel_limits[1] = max(pid_accel_limits[0], pid_accel_limits[1])
     self.LoC.experimental_mode = bool(self.sm['selfdriveState'].experimentalMode)
     actuators.accel = float(min(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits, self.starpilot_toggles), self.starpilot_toggles.max_desired_acceleration))
 

selfdrive/controls/radard.py

@@ -14,11 +14,13 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.common.simple_kalman import KF1D
 from openpilot.selfdrive.controls.lib.desire_helper import LaneChangeDirection, LaneChangeState
 
+from openpilot.starpilot.common.testing_grounds import testing_ground
 from openpilot.starpilot.common.starpilot_variables import THRESHOLD, get_starpilot_toggles
 
 
 # Default lead acceleration decay set to 50% at 1s
 _LEAD_ACCEL_TAU = 0.6
+RADAR_ONLY_FAR_LEAD_MIN_DISTANCE = 35.0  # m
 
 # radar tracks
 SPEED, ACCEL = 0, 1     # Kalman filter states enum
@@ -220,7 +222,10 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
         lead_dict = closest_track.get_RadarState()
 
     if not lead_dict['status'] and len(tracks) > 0:
-      far_lead_tracks = [c for c in tracks.values() if c.potential_far_lead(standstill, model_data) and c.radarfulFilter.x >= THRESHOLD]
+      radar_only_far_lead_min_distance = RADAR_ONLY_FAR_LEAD_MIN_DISTANCE if testing_ground.use_2 else 0.0
+      far_lead_tracks = [c for c in tracks.values()
+                         if c.dRel >= radar_only_far_lead_min_distance and
+                         c.potential_far_lead(standstill, model_data) and c.radarfulFilter.x >= THRESHOLD]
       if len(far_lead_tracks) > 0:
         closest_track = min(far_lead_tracks, key=lambda c: c.dRel)
         lead_dict = closest_track.get_RadarState()

selfdrive/controls/tests/test_radard.py

@@ -0,0 +1,67 @@
+from types import SimpleNamespace
+from unittest.mock import patch
+
+from openpilot.selfdrive.controls import radard
+
+
+def make_model_data():
+  lane_lines = [
+    SimpleNamespace(x=[0.0, 150.0], y=[-3.5, -3.5]),
+    SimpleNamespace(x=[0.0, 150.0], y=[-1.8, -1.8]),
+    SimpleNamespace(x=[0.0, 150.0], y=[1.8, 1.8]),
+    SimpleNamespace(x=[0.0, 150.0], y=[3.5, 3.5]),
+  ]
+  meta = SimpleNamespace(
+    laneChangeState=radard.LaneChangeState.off,
+    laneChangeDirection=radard.LaneChangeDirection.none,
+  )
+  return SimpleNamespace(laneLines=lane_lines, meta=meta)
+
+
+def make_track(d_rel):
+  track = radard.Track(123, 20.0, radard.KalmanParams(0.05))
+  track.update(d_rel=d_rel, y_rel=0.0, v_rel=0.0, v_lead=20.0, measured=1.0)
+  return track
+
+
+def make_radar_only_lead(tracks):
+  return radard.get_lead(
+    v_ego=20.0,
+    ready=False,
+    tracks=tracks,
+    lead_msg=SimpleNamespace(prob=0.0),
+    model_v_ego=20.0,
+    model_data=make_model_data(),
+    standstill=False,
+    starpilot_plan=SimpleNamespace(increasedStoppedDistance=0.0),
+    starpilot_toggles=SimpleNamespace(lead_detection_probability=0.35, human_lane_changes=False),
+  )
+
+
+def test_close_radar_only_far_lead_is_blocked_in_testing_ground_2():
+  track = make_track(5.0)
+
+  with patch.object(radard, "testing_ground", SimpleNamespace(use_2=False)):
+    lead = {"status": False}
+    for _ in range(20):
+      lead = make_radar_only_lead({track.identifier: track})
+    assert lead["status"]
+    assert lead["radarTrackId"] == track.identifier
+
+  track = make_track(5.0)
+  with patch.object(radard, "testing_ground", SimpleNamespace(use_2=True)):
+    lead = {"status": False}
+    for _ in range(20):
+      lead = make_radar_only_lead({track.identifier: track})
+    assert not lead["status"]
+
+
+def test_far_radar_only_lead_survives_testing_ground_2():
+  track = make_track(80.0)
+
+  with patch.object(radard, "testing_ground", SimpleNamespace(use_2=True)):
+    lead = {"status": False}
+    for _ in range(20):
+      lead = make_radar_only_lead({track.identifier: track})
+    assert lead["status"]
+    assert lead["radarTrackId"] == track.identifier

starpilot/common/testing_grounds.py

@@ -40,10 +40,10 @@ TESTING_GROUNDS_SLOT_DEFINITIONS = (
   },
   {
     "id": TESTING_GROUND_2,
-    "name": "Unused",
-    "description": "",
-    "aLabel": "A",
-    "bLabel": "B",
+    "name": "volt test tune",
+    "description": "A/B sandbox for planner-aware GM longitudinal limits and a radar-only far-lead distance guard.",
+    "aLabel": "A - Current behavior",
+    "bLabel": "B - Clamp + guard",
   },
   {
     "id": TESTING_GROUND_3,