Merge branch 'hkg-can-jerk' into master-dev-c3

selfdrive/car/hyundai/interface.py

@@ -104,10 +104,14 @@ class CarInterface(CarInterfaceBase):
     ret.stoppingControl = True
     ret.startingState = True
     ret.vEgoStarting = 0.1
-    ret.startAccel = 1.6
-    ret.stopAccel = -1.0
+    ret.stopAccel = -0.5
     ret.longitudinalActuatorDelay = 0.5
 
+    if ret.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
+      ret.startAccel = 1.0
+    else:
+      ret.startAccel = 1.5
+
     if DBC[ret.carFingerprint]["radar"] is None:
       if ret.spFlags & (HyundaiFlagsSP.SP_ENHANCED_SCC | HyundaiFlagsSP.SP_CAMERA_SCC_LEAD):
         ret.radarUnavailable = False

selfdrive/controls/controlsd.py

@@ -643,9 +643,15 @@ class Controls:
       self.LoC.reset()
 
     if not self.joystick_mode:
+      speeds = long_plan.speeds
+      if len(speeds):
+        resume = self.enabled_long and CS.standstill and speeds[-1] > 0.1
+      else:
+        resume = False
+
       # accel PID loop
       pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS)
-      actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits)
+      actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits, resume)
 
       # Steering PID loop and lateral MPC
       if self.model_use_lateral_planner:

selfdrive/controls/lib/longcontrol.py

@@ -11,10 +11,10 @@ LongCtrlState = car.CarControl.Actuators.LongControlState
 
 
 def long_control_state_trans(CP, active, long_control_state, v_ego,
-                             should_stop, brake_pressed, cruise_standstill):
+                             should_stop, brake_pressed, cruise_standstill, resume):
   # Ignore cruise standstill if car has a gas interceptor
   cruise_standstill = cruise_standstill and not CP.enableGasInterceptorDEPRECATED
-  stopping_condition = should_stop
+  stopping_condition = should_stop and not resume
   starting_condition = (not should_stop and
                         not cruise_standstill and
                         not brake_pressed)
@@ -58,14 +58,14 @@ class LongControl:
   def reset(self):
     self.pid.reset()
 
-  def update(self, active, CS, a_target, should_stop, accel_limits):
+  def update(self, active, CS, a_target, should_stop, accel_limits, resume):
     """Update longitudinal control. This updates the state machine and runs a PID loop"""
     self.pid.neg_limit = accel_limits[0]
     self.pid.pos_limit = accel_limits[1]
 
     self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo,
                                                        should_stop, CS.brakePressed,
-                                                       CS.cruiseState.standstill)
+                                                       CS.cruiseState.standstill, resume)
     if self.long_control_state == LongCtrlState.off:
       self.reset()
       output_accel = 0.