fix(long): decouple accel

selfdrive/controls/lib/longitudinal_planner.py

@@ -178,7 +178,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     # Lower (braking) bound and the ceiling's downward slew stay at the stock rate; only the ceiling's
     # upward slew is tier-dependent (Acceleration Personality).
     accel_clip[0] = np.clip(accel_clip[0], self.prev_accel_clip[0] - 0.05, self.prev_accel_clip[0] + 0.05)
-    accel_clip[1] = np.clip(accel_clip[1], self.prev_accel_clip[1] - 0.05, self.prev_accel_clip[1] + self.accel.get_rise_rate())
+    accel_clip[1] = np.clip(accel_clip[1], self.prev_accel_clip[1] - 0.05, self.prev_accel_clip[1] + self.accel.get_rise_rate(v_ego))
     self.output_a_target = np.clip(output_a_target, accel_clip[0], accel_clip[1])
     self.prev_accel_clip = accel_clip
 

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

@@ -5,7 +5,8 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 
 Acceleration Personality (ECO / NORMAL / SPORT). Tunes only MPC INPUTS, never the output:
-  * positive-accel ceiling + per-cycle open-rate -> tier-scaled take-off from a stop;
+  * positive-accel ceiling + speed-dependent per-cycle open-rate -> tier-scaled take-off from a stop
+    (the open-rate is fast near v=0 so launch is never delayed, tapering to a steady-state rate at speed);
   * add-only, speed-dependent follow-gap widen on the MPC t_follow -> earlier/gentler braking, roomier gap;
   * sticky should_stop hysteresis -> no stop-and-go gas-brake-gas-brake.
 Add-only gap => desired distance >= stock => braking >= stock. Disabled => stock everywhere (byte-stock).
@@ -20,7 +21,7 @@ from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot import get_sanitize_int_param
 from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.constants import \
   NORMAL, PERSONALITY_MIN, PERSONALITY_MAX, A_CRUISE_MAX_BP, A_CRUISE_MAX_V, STOCK_A_CRUISE_MAX_V, \
-  RISE_RATE, STOCK_RISE_RATE, TF_WIDEN_V_BP, TF_WIDEN_BASE_V, TF_WIDEN_TIER, TF_WIDEN_MAX, \
+  RISE_RATE_BP, RISE_RATE_V, STOCK_RISE_RATE, TF_WIDEN_V_BP, TF_WIDEN_BASE_V, TF_WIDEN_TIER, TF_WIDEN_MAX, \
   TF_SLEW_PER_S, TF_DECEL_HOLD_A
 
 
@@ -60,9 +61,12 @@ class AccelController:
     table = A_CRUISE_MAX_V[self._personality] if self._enabled else STOCK_A_CRUISE_MAX_V
     return float(np.interp(v_ego, A_CRUISE_MAX_BP, table))
 
-  def get_rise_rate(self) -> float:
+  def get_rise_rate(self, v_ego: float) -> float:
     # Disabled -> stock ceiling open-rate (off == stock, independent of the NORMAL profile).
-    return RISE_RATE[self._personality] if self._enabled else STOCK_RISE_RATE
+    # Speed-dependent: fast near a stop (non-binding, no launch delay), tapering to the steady-state rate.
+    if not self._enabled:
+      return STOCK_RISE_RATE
+    return float(np.interp(v_ego, RISE_RATE_BP, RISE_RATE_V[self._personality]))
 
   def get_t_follow(self, t_follow: float, v_ego: float) -> float:
     # MPC t_follow hook. Adds a slewed, decel-held, speed-dependent comfort widen on top of the stock

sunnypilot/selfdrive/controls/lib/accel_personality/constants.py

@@ -28,14 +28,22 @@ A_CRUISE_MAX_BP = [0., 10., 25., 40.]              # m/s (matches upstream A_CRU
 STOCK_A_CRUISE_MAX_V = [1.6, 1.2, 0.8, 0.6]        # upstream A_CRUISE_MAX_VALS -> off == byte-stock ceiling
 STOCK_RISE_RATE = 0.05                             # upstream ceiling open-rate (m/s^2 per cycle)
 A_CRUISE_MAX_V = {
-  ECO:    [1.55, 0.95, 0.45, 0.30],   # responsive off the line, LAZY at highway speed (mileage)
+  ECO:    [1.55, 0.75, 0.35, 0.20],   # responsive off the line, LAZY at highway speed (mileage)
   NORMAL: [2.00, 1.40, 0.95, 0.70],   # brisk launch, balanced cruise
   SPORT:  [2.00, 1.70, 1.20, 0.90],   # strong launch (ACCEL_MAX caps the 0 m/s knot), assertive cruise
 }
-# Ceiling open-rate: how fast the accel ceiling may rise per cycle. Above stock 0.05 so the permitted ceiling
-# opens promptly off the line; ECO stays close to stock for the gentlest onset. The MPC's own jerk/a_change
-# cost still smooths the actual accel.
-RISE_RATE = {ECO: 0.07, NORMAL: 0.16, SPORT: 0.24}
+# Ceiling open-rate: how fast the accel ceiling may rise per cycle, speed-dependent (decoupled from the
+# ceiling magnitude above). Near a stop (v=0) the rate is set high enough to be non-binding within ~2 cycles
+# (DT_MDL=0.05s @ 20Hz) so launch is never delayed waiting on the ceiling to open, regardless of personality.
+# By the v=5 knot the rate settles to the telemetry-verified steady-state value (unchanged from before) so
+# cruise/resume behavior at speed is preserved exactly. The MPC's own jerk/a_change cost still smooths the
+# actual accel.
+RISE_RATE_BP = [0., 5.]                            # m/s
+RISE_RATE_V = {
+  ECO:    [0.80, 0.07],
+  NORMAL: [1.00, 0.16],
+  SPORT:  [1.20, 0.24],
+}
 
 # --- Follow-gap widen (add-only, fed to the MPC t_follow) ------------------------------------------------
 # Add a small speed-dependent widen to the stock t_follow (the driver's gap-button value). Wider gap ->

sunnypilot/selfdrive/controls/lib/accel_personality/tests/test_accel_controller.py

@@ -18,7 +18,7 @@ import pytest
 from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller import AccelController
 from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.constants import \
-  ECO, NORMAL, SPORT, PERSONALITY_MIN, PERSONALITY_MAX, A_CRUISE_MAX_BP, RISE_RATE, \
+  ECO, NORMAL, SPORT, PERSONALITY_MIN, PERSONALITY_MAX, A_CRUISE_MAX_BP, RISE_RATE_V, \
   STOCK_A_CRUISE_MAX_V, STOCK_RISE_RATE, TF_WIDEN_V_BP, TF_WIDEN_BASE_V, TF_WIDEN_TIER, TF_WIDEN_MAX, \
   TF_SLEW_PER_S, TF_DECEL_HOLD_A, AccelerationPersonality
 
@@ -73,7 +73,9 @@ def test_disabled_forces_normal_and_stock_ceiling():
   assert not ctrl.enabled()
   for v in (0.0, 10.0, 25.0, 40.0):
     assert ctrl.get_max_accel(v) == pytest.approx(np.interp(v, A_CRUISE_MAX_BP, STOCK_A_CRUISE_MAX_V))
-  assert ctrl.get_rise_rate() == STOCK_RISE_RATE
+  # off == stock, regardless of v_ego (the speed-dependent open-rate table is bypassed entirely when disabled)
+  for v in (0.0, 5.0, 20.0, 40.0):
+    assert ctrl.get_rise_rate(v) == STOCK_RISE_RATE
 
 
 def test_disabled_t_follow_is_identity():
@@ -103,15 +105,39 @@ def test_ceiling_ordering_eco_le_normal_le_sport():
 
 
 def test_rise_rate_ordering_and_above_stock():
-  assert RISE_RATE[ECO] < RISE_RATE[NORMAL] < RISE_RATE[SPORT]
-  assert RISE_RATE[ECO] > STOCK_RISE_RATE            # every tier opens the ceiling faster than stock (fast take-off)
+  # ordering holds at both knots: near a stop (v=0) and at the steady-state speed (v=5)
+  assert RISE_RATE_V[ECO][0] < RISE_RATE_V[NORMAL][0] < RISE_RATE_V[SPORT][0]
+  assert RISE_RATE_V[ECO][1] < RISE_RATE_V[NORMAL][1] < RISE_RATE_V[SPORT][1]
+  # every tier opens the ceiling faster than stock at both knots (fast take-off, never slower than stock)
+  assert RISE_RATE_V[ECO][0] > STOCK_RISE_RATE
+  assert RISE_RATE_V[ECO][1] > STOCK_RISE_RATE
+
+
+def test_rise_rate_fast_near_stop_tapers_to_steady_state():
+  # Near a stop (v=0) the open-rate must be large/non-binding (NOT the old flat 0.07/0.16/0.24) so launch
+  # is never delayed. At/above the v=5 knot it must match the old flat, telemetry-verified steady-state
+  # values exactly, so cruise/resume behavior at speed is unchanged.
+  for personality, steady_state in ((ECO, 0.07), (NORMAL, 0.16), (SPORT, 0.24)):
+    ctrl = make_controller(personality=personality)
+    assert ctrl.get_rise_rate(0.0) >= 0.5
+    assert ctrl.get_rise_rate(0.0) > steady_state
+    assert ctrl.get_rise_rate(5.0) == pytest.approx(steady_state)
+    assert ctrl.get_rise_rate(20.0) == pytest.approx(steady_state)  # flat above the v=5 knot
 
 
 def test_normal_is_distinct_from_stock():
   nrm = make_controller(personality=NORMAL)
   # enabled NORMAL differs from stock (so NORMAL is a real profile, not a stock alias)
   assert nrm.get_max_accel(25.0) != pytest.approx(np.interp(25.0, A_CRUISE_MAX_BP, STOCK_A_CRUISE_MAX_V))
-  assert nrm.get_rise_rate() != STOCK_RISE_RATE
+  assert nrm.get_rise_rate(0.0) != STOCK_RISE_RATE
+  assert nrm.get_rise_rate(5.0) != STOCK_RISE_RATE
+
+
+def test_eco_ceiling_matches_lowered_table():
+  # ECO's cruise/resume-range ceiling was lowered (launch knot at v=0 unchanged at 1.55).
+  eco = make_controller(personality=ECO)
+  for v, expected in zip(A_CRUISE_MAX_BP, (1.55, 0.75, 0.35, 0.20), strict=True):
+    assert eco.get_max_accel(v) == pytest.approx(expected)
 
 
 # --- t_follow: add-only speed widen -----------------------------------------------------------------------