From 9353e3c27797e3dbfc4b7c3dbe4a080d2e123934 Mon Sep 17 00:00:00 2001
From: discountchubbs <alexgrant990@gmail.com>
Date: Fri, 1 Aug 2025 15:00:34 -0700
Subject: [PATCH] Attach to dynamic experimental controller

---
 common/params_keys.h                                     | 3 ---
 .../sunnypilot/qt/offroad/settings/longitudinal_panel.cc | 9 ---------
 .../sunnypilot/qt/offroad/settings/longitudinal_panel.h  | 2 --
 .../selfdrive/controls/lib/longitudinal_planner.py       | 2 +-
 system/manager/manager.py                                | 1 -
 5 files changed, 1 insertion(+), 16 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index 478a03bb4d..dfcf410a51 100644
--- a/common/params_keys.h
+++ b/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},
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
index c765ef9b48..15ed10bf9a 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
+++ b/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);
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
index f5e9627112..58e94f333b 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
+++ b/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;
 };
diff --git a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
index 83fdd4d1bd..459bfdba0b 100644
--- a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/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
diff --git a/system/manager/manager.py b/system/manager/manager.py
index c426ad24af..c59f0118aa 100755
--- a/system/manager/manager.py
+++ b/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"),