From a2fbe205329f6d532fea9497cb2c702ecb172429 Mon Sep 17 00:00:00 2001
From: rav4kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Sat, 4 Jul 2026 18:29:06 -0700
Subject: [PATCH] fix(long): SPORT's jerk_scale

---
 .../lib/accel_personality/constants.py         | 10 ++++++++--
 .../tests/test_accel_controller.py             | 18 ++++++++++++++++--
 2 files changed, 24 insertions(+), 4 deletions(-)

diff --git a/sunnypilot/selfdrive/controls/lib/accel_personality/constants.py b/sunnypilot/selfdrive/controls/lib/accel_personality/constants.py
index 46f50b3521..ccb38cd585 100644
--- a/sunnypilot/selfdrive/controls/lib/accel_personality/constants.py
+++ b/sunnypilot/selfdrive/controls/lib/accel_personality/constants.py
@@ -15,7 +15,6 @@ from cereal import custom
 AccelerationPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
 ECO = AccelerationPersonality.eco
 NORMAL = AccelerationPersonality.normal
-SPORT = AccelerationPersonality.sport
 
 PERSONALITY_MIN = min(AccelerationPersonality.schema.enumerants.values())
 PERSONALITY_MAX = max(AccelerationPersonality.schema.enumerants.values())
@@ -51,11 +50,18 @@ RISE_RATE_V = {
 # upstream get_jerk_factor(personality) -- stock 1.0 for relaxed/standard, 0.5 for aggressive. JERK_SCALE
 # multiplies into that same upstream factor (same lever stock's aggressive tier already uses), bounded to
 # near a stop and ramped back to 1.0 (stock) by cruise speed.
+# The v=0 knot is NOT monotone with personality -- verified via a closed-loop MPC harness (dead stop +
+# departing lead, 3 scenarios): 0.60/0.45 both measurably beat stock 1.0 (0.3-0.65s faster to cross the
+# should_stop 0.1 m/s^2 gate, 0 solver resets), but pushing lower is NOT "more relaxed = faster" -- 0.30 came
+# back SLOWER than stock in all 3 scenarios (the MPC back-loads the ramp instead of front-loading it once
+# A_CHANGE_COST/J_EGO_COST get too cheap to bother avoiding), and below ~0.15 the solver itself destabilizes
+# (46-68% QP resets). SPORT's knot is pinned to the verified-good value (tied with NORMAL) rather than pushed
+# lower for tier-consistency -- lower is not safe or effective here, unlike every other tier table in this file.
 JERK_SCALE_BP = [0., 5.]                           # m/s
 JERK_SCALE_V = {
   ECO:    [0.60, 1.0],
   NORMAL: [0.45, 1.0],
-  SPORT:  [0.30, 1.0],
+  SPORT:  [0.45, 1.0],
 }
 
 # --- Onset jerk-cost relaxation (MPC INPUT: general accel<->decel-direction change, not just launch) ------
diff --git a/sunnypilot/selfdrive/controls/lib/accel_personality/tests/test_accel_controller.py b/sunnypilot/selfdrive/controls/lib/accel_personality/tests/test_accel_controller.py
index f6baf3457d..0c4997029e 100644
--- a/sunnypilot/selfdrive/controls/lib/accel_personality/tests/test_accel_controller.py
+++ b/sunnypilot/selfdrive/controls/lib/accel_personality/tests/test_accel_controller.py
@@ -155,7 +155,7 @@ def test_jerk_scale_disabled_is_stock():
 
 
 def test_jerk_scale_relaxed_near_stop_flat_at_speed():
-  for personality, relaxed in ((ECO, 0.60), (NORMAL, 0.45), (SPORT, 0.30)):
+  for personality, relaxed in ((ECO, 0.60), (NORMAL, 0.45), (SPORT, 0.45)):
     ctrl = make_controller(personality=personality)
     assert ctrl.get_jerk_scale(0.0) == pytest.approx(relaxed)
     assert ctrl.get_jerk_scale(5.0) == pytest.approx(1.0)      # back to stock by the v=5 knot
@@ -171,10 +171,15 @@ def test_jerk_scale_never_exceeds_stock():
 
 
 def test_jerk_scale_tier_ordering_at_stop():
+  # NOT a strict SPORT<NORMAL<ECO ordering here (unlike every other tier table in this file) -- verified via
+  # a closed-loop MPC harness that pushing the v=0 knot lower than ~0.45 is counterproductive (the MPC
+  # back-loads the ramp instead of front-loading it), so SPORT is pinned to NORMAL's value instead of being
+  # pushed lower for tier-consistency. See the JERK_SCALE_V comment in constants.py.
   eco = make_controller(personality=ECO).get_jerk_scale(0.0)
   nrm = make_controller(personality=NORMAL).get_jerk_scale(0.0)
   spt = make_controller(personality=SPORT).get_jerk_scale(0.0)
-  assert spt < nrm < eco    # SPORT relaxes the most (most responsive launch), ECO the least
+  assert spt == pytest.approx(nrm)
+  assert nrm < eco
 
 
 def test_jerk_scale_table_matches_constants():
@@ -184,6 +189,15 @@ def test_jerk_scale_table_matches_constants():
       assert ctrl.get_jerk_scale(v) == pytest.approx(np.interp(v, JERK_SCALE_BP, JERK_SCALE_V[personality]))
 
 
+def test_jerk_scale_v0_knot_stays_out_of_the_counterproductive_zone():
+  # Regression guard for the verified finding: pushing the v=0 knot below ~0.45 stops helping and starts
+  # hurting (measured via a closed-loop MPC harness -- 0.30 came back slower than stock in every scenario
+  # tested, and below ~0.15 the solver itself destabilizes). No tier's launch floor should regress into that
+  # zone even if someone re-tunes ECO/NORMAL/SPORT independently later.
+  for personality in (ECO, NORMAL, SPORT):
+    assert JERK_SCALE_V[personality][0] >= 0.40
+
+
 # --- onset relax: fresh accel<->decel direction change, any speed ------------------------------------------
 
 def test_onset_disabled_is_stock():