long: split acc and blended

openpilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -37,7 +37,10 @@ def get_coast_accel(pitch):
 
 def get_cruise_accel(e2e, v_cruise, v_ego, a_cruise_prev, angle_steers, CP, dt, accel_coast, allow_throttle,
                       max_accel_override=None, min_accel_override=None):
-  max_accel = ACCEL_MAX if e2e else (get_max_accel(v_ego) if max_accel_override is None else max_accel_override)
+  if max_accel_override is not None:
+    max_accel = max_accel_override
+  else:
+    max_accel = ACCEL_MAX if e2e else get_max_accel(v_ego)
   min_accel = A_CRUISE_MIN if e2e or min_accel_override is None else min_accel_override
 
   if not e2e:
@@ -146,7 +149,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
 
     is_e2e = self.is_e2e(sm)
 
-    max_accel_override = self.get_max_accel_override(v_ego, is_e2e)
+    max_accel_override = self.get_max_accel_override(v_ego)
     min_accel_override = self.get_min_accel_override(v_ego, is_e2e, force_decel)
     self.accel_controller_active = max_accel_override is not None or min_accel_override is not None
     self.a_cruise = get_cruise_accel(is_e2e, v_cruise, v_ego,

openpilot/sunnypilot/selfdrive/controls/lib/accel_controller/tests/test_accel_controller.py

@@ -13,6 +13,11 @@ still force full ACCEL_MIN braking regardless. Lead-relevance checks, an SLC-sha
 floor beyond that, and controller-internal Params writes are NOT ported from the
 reference designs this was built from - do not backfill them here without revisiting
 scope.
+
+Ceiling vs floor apply on different policies: ACC (non-e2e) uses the controller's
+ceiling AND floor; blended (e2e) uses the controller's ceiling but always the stock
+floor (A_CRUISE_MIN), never the controller's -- final, don't try to make the floor
+work under blended again.
 """
 import unittest
 
@@ -141,6 +146,10 @@ class TestOffEqualsStock(OpenpilotTestCase):
     planner = _bare_planner()
     self.assertIsNone(planner.get_min_accel_override(v_ego=5.0, e2e=False, force_decel=False))
 
+  def test_disabled_max_accel_override_is_none(self):
+    planner = _bare_planner()
+    self.assertIsNone(planner.get_max_accel_override(v_ego=5.0))
+
   def test_force_decel_excludes_min_accel_override_even_when_enabled(self):
     self.params.put_bool("AccelPersonalityEnabled", True, block=True)
     planner = _bare_planner()
@@ -158,6 +167,33 @@ class TestOffEqualsStock(OpenpilotTestCase):
     self.assertIsNotNone(override)
     self.assertLess(override, 0.0)
 
+  def test_enabled_max_accel_override_applies_in_acc_and_blended(self):
+    # Policy: max ceiling comes from AccelController in both ACC and blended (e2e) modes --
+    # only the min floor is blended-vs-stock. get_max_accel_override no longer takes an e2e
+    # arg because of this; the caller applies it unconditionally.
+    self.params.put_bool("AccelPersonalityEnabled", True, block=True)
+    planner = _bare_planner()
+    override = planner.get_max_accel_override(v_ego=5.0)
+    self.assertIsNotNone(override)
+    self.assertGreater(override, 0.0)
+
+  def test_blended_min_accel_uses_stock_not_controller(self):
+    # e2e/blended braking floor is deliberately left at stock's A_CRUISE_MIN, never the
+    # controller's floor -- this is the "acc policy = controller min+max, blended policy =
+    # controller max + stock min" split, final per product decision.
+    from openpilot.selfdrive.controls.lib.longitudinal_planner import get_cruise_accel, A_CRUISE_MIN
+    args = dict(v_cruise=-100.0, v_ego=20.0, a_cruise_prev=0.0, angle_steers=0.0, CP=_fake_cp(),
+                dt=DT_MDL, accel_coast=1.0, allow_throttle=True)
+    target = get_cruise_accel(True, **args, min_accel_override=-0.3)
+    self.assertAlmostEqual(target, A_CRUISE_MIN, places=6)
+
+  def test_blended_max_accel_uses_controller_override(self):
+    from openpilot.selfdrive.controls.lib.longitudinal_planner import get_cruise_accel
+    args = dict(v_cruise=100.0, v_ego=20.0, a_cruise_prev=0.0, angle_steers=0.0, CP=_fake_cp(),
+                dt=DT_MDL, accel_coast=1.0, allow_throttle=True)
+    target = get_cruise_accel(True, **args, max_accel_override=0.4)
+    self.assertAlmostEqual(target, 0.4, places=6)
+
 
 class TestLeadGapWiden(OpenpilotTestCase):
   def setUp(self):

openpilot/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -44,8 +44,8 @@ class LongitudinalPlannerSP:
 
     return experimental_mode and self.dec.mode() == "blended"
 
-  def get_max_accel_override(self, v_ego: float, e2e: bool) -> float | None:
-    if e2e or not self.accel_controller.is_enabled():
+  def get_max_accel_override(self, v_ego: float) -> float | None:
+    if not self.accel_controller.is_enabled():
       return None
     return self.accel_controller.get_max_accel(v_ego)