fix(accel): deacel floor

openpilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -54,10 +54,17 @@ def get_cruise_accel(e2e, v_cruise, v_ego, a_cruise_prev, angle_steers, CP, dt,
       max_accel = min(max_accel, coast_limit)
 
   target_accel = np.clip(v_cruise - v_ego, min_accel, max_accel)
+
+  # An override only counts as "active" if it's the bound that actually determined target_accel here --
+  # turn/coast derating can shrink max_accel back below max_accel_override, and either bound can simply
+  # not be reached if v_cruise - v_ego already sits inside [min_accel, max_accel] on its own.
+  accel_controller_active = ((max_accel_override is not None and max_accel == max_accel_override and target_accel == max_accel) or
+                              (min_accel_override is not None and min_accel == min_accel_override and target_accel == min_accel))
+
   j_cruise = np.interp(v_ego, A_CRUISE_MAX_BP, J_CRUISE_VALS)
   target_accel = float(np.clip(target_accel, a_cruise_prev - j_cruise * dt, a_cruise_prev + j_cruise * dt))
 
-  return target_accel
+  return target_accel, accel_controller_active
 
 
 class LongitudinalPlanner(LongitudinalPlannerSP):
@@ -149,8 +156,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
 
     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,
+    self.a_cruise, self.accel_controller_active = get_cruise_accel(is_e2e, v_cruise, v_ego,
                                      self.a_cruise, steer_angle_without_offset, self.CP, self.dt,
                                      accel_coast, self.allow_throttle, max_accel_override, min_accel_override)
     cruise_should_stop = should_stop(v_ego, self.a_cruise)

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

@@ -38,6 +38,7 @@ class AccelController:
     self.last_max_accel = 2.0
     self.last_min_accel = -0.01
     self.first_run = True
+    self.min_accel_first_run = True
     self._profile = get_sanitize_int_param("AccelPersonality", AccelProfile.eco, AccelProfile.sport, self.params)
     self._enabled = self.params.get_bool("AccelPersonalityEnabled")
 
@@ -69,6 +70,12 @@ class AccelController:
   def get_min_accel(self, v_ego: float) -> float:
     v_ego = max(0.0, v_ego)
     target_min = np.interp(v_ego, MIN_ACCEL_BREAKPOINTS, MIN_ACCEL_PROFILES[self._profile])
-    self.last_min_accel = DECEL_SMOOTH_ALPHA * target_min + (1 - DECEL_SMOOTH_ALPHA) * self.last_min_accel
+
+    if self.min_accel_first_run:
+      self.last_min_accel = target_min
+      self.min_accel_first_run = False
+    else:
+      self.last_min_accel = DECEL_SMOOTH_ALPHA * target_min + (1 - DECEL_SMOOTH_ALPHA) * self.last_min_accel
+
     self.last_min_accel = min(self.last_min_accel, self.last_max_accel - 0.1)
     return float(self.last_min_accel)

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

@@ -23,7 +23,7 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.test import OpenpilotTestCase
 from openpilot.sunnypilot.selfdrive.controls.lib.accel_controller.accel_controller import (
-  AccelController, AccelProfile, MAX_ACCEL_BREAKPOINTS, MAX_ACCEL_PROFILES, MIN_ACCEL_PROFILES,
+  AccelController, AccelProfile, MAX_ACCEL_BREAKPOINTS, MAX_ACCEL_PROFILES, MIN_ACCEL_BREAKPOINTS, MIN_ACCEL_PROFILES,
 )
 
 
@@ -39,6 +39,14 @@ class TestAccelControllerCeiling(OpenpilotTestCase):
     expected_max = np.interp(20.0, MAX_ACCEL_BREAKPOINTS, MAX_ACCEL_PROFILES[AccelProfile.normal])
     self.assertAlmostEqual(max_a, expected_max, places=6)
 
+  def test_min_accel_first_call_snaps_to_table_not_the_neg0p01_seed(self):
+    # Regression guard: get_min_accel used to have no first-run snap (unlike get_max_accel),
+    # so its very first call blended the table target against a hardcoded -0.01 seed and
+    # commanded a much-weaker-than-any-profile floor for the first ~10-15 frames of every drive.
+    min_a = self.controller.get_min_accel(20.0)
+    expected_min = np.interp(20.0, MIN_ACCEL_BREAKPOINTS, MIN_ACCEL_PROFILES[AccelProfile.normal])
+    self.assertAlmostEqual(min_a, expected_min, places=6)
+
   def test_table_lookup_matches_breakpoints_per_profile(self):
     for profile, table in MAX_ACCEL_PROFILES.items():
       self.params.put("AccelPersonality", profile, block=True)
@@ -181,8 +189,9 @@ class TestOffEqualsStock(OpenpilotTestCase):
     from openpilot.selfdrive.controls.lib.longitudinal_planner import get_cruise_accel, A_CRUISE_MIN
     args = {"v_cruise": -100.0, "v_ego": 20.0, "a_cruise_prev": 0.0, "angle_steers": 0.0, "CP": _fake_cp(),
             "dt": 10.0, "accel_coast": 1.0, "allow_throttle": True}
-    target = get_cruise_accel(True, **args, min_accel_override=-0.3)
+    target, active = get_cruise_accel(True, **args, min_accel_override=-0.3)
     self.assertAlmostEqual(target, A_CRUISE_MIN, places=6)
+    self.assertFalse(active)  # controller's floor was ignored in favor of stock -- not "active"
 
   def test_blended_max_accel_uses_controller_override(self):
     # jerk-limiting now applies unconditionally (even in e2e) -- dt=10.0 opens the jerk-limit
@@ -190,8 +199,9 @@ class TestOffEqualsStock(OpenpilotTestCase):
     from openpilot.selfdrive.controls.lib.longitudinal_planner import get_cruise_accel
     args = {"v_cruise": 100.0, "v_ego": 20.0, "a_cruise_prev": 0.0, "angle_steers": 0.0, "CP": _fake_cp(),
             "dt": 10.0, "accel_coast": 1.0, "allow_throttle": True}
-    target = get_cruise_accel(True, **args, max_accel_override=0.4)
+    target, active = get_cruise_accel(True, **args, max_accel_override=0.4)
     self.assertAlmostEqual(target, 0.4, places=6)
+    self.assertTrue(active)