Attach to dynamic experimental controller

common/params_keys.h

@@ -148,9 +148,6 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"QuietMode", PERSISTENT | BACKUP},
     {"ShowAdvancedControls", PERSISTENT | BACKUP},
 
-    // Blend acc to e2e transition
-    {"BlendAccToE2ETransition", PERSISTENT | BACKUP},
-
     // MADS params
     {"Mads", PERSISTENT | BACKUP},
     {"MadsMainCruiseAllowed", PERSISTENT | BACKUP},

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc

@@ -23,15 +23,6 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
 
   QObject::connect(uiState(), &UIState::offroadTransition, this, &LongitudinalPanel::refresh);
 
-  // chill to experimental transition control
-  accToE2ETransitionControl = new ParamControlSP("BlendAccToE2ETransition",
-    tr("Blend chill to experimental mode transition"),
-    tr("Enable to blend braking desires when switching from chill to experimental in a smoother, more natural way. "
-      "This allows for a gradual transition when switching from ACC to E2E longitudinal control."),
-    "../assets/offroad/icon_shell.png", nullptr, true);
-  accToE2ETransitionControl->showDescription();
-  list->addItem(accToE2ETransitionControl);
-
   main_layout->addWidget(cruisePanelScreen);
   main_layout->setCurrentWidget(cruisePanelScreen);
   refresh(offroad);

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h

@@ -29,6 +29,4 @@ private:
   ScrollViewSP *cruisePanelScroller = nullptr;
   QWidget *cruisePanelScreen = nullptr;
   CustomAccIncrement *customAccIncrement = nullptr;
-
-  ParamControlSP *accToE2ETransitionControl;
 };

sunnypilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -46,7 +46,7 @@ class LongitudinalPlannerSP:
       self._last_mode = mode
 
   def blend_accel_transition(self, mpc_accel: float, e2e_accel: float, v_ego: float) -> float:
-    if self._params.get_bool("BlendAccToE2ETransition"):
+    if self._params.get_bool("DynamicExperimentalControl"):
       if self._transition_counter < self._transition_steps:
         self._transition_counter += 1
         progress = self._transition_counter / self._transition_steps

system/manager/manager.py

@@ -47,7 +47,6 @@ def manager_init() -> None:
   sunnypilot_default_params: list[tuple[str, str | bytes]] = [
     ("AutoLaneChangeTimer", "0"),
     ("AutoLaneChangeBsmDelay", "0"),
-    ("BlendAccToE2ETransition", "0"),
     ("BlindSpot", "0"),
     ("BlinkerMinLateralControlSpeed", "20"),  # MPH or km/h
     ("BlinkerPauseLateralControl", "0"),