longitudinal: remove per-car stopping tunes (#38394)

* remove per-car longitudinal stopping tunes

* bump opendbc

* lil more

* lil more

* lil more

* lil more

* revert modeld for now

openpilot/selfdrive/controls/lib/drive_helpers.py

@@ -15,6 +15,9 @@ MAX_LATERAL_JERK = 5.0  # m/s^3
 MAX_LATERAL_ACCEL_NO_ROLL = 3.0  # m/s^2
 
 
+def should_stop(v_ego: float, a_target: float) -> bool:
+  return bool(v_ego < 0.25 and a_target < 0.1)
+
 def clamp(val, min_val, max_val):
   clamped_val = float(np.clip(val, min_val, max_val))
   return clamped_val, clamped_val != val
@@ -40,7 +43,7 @@ def clip_curvature(v_ego, prev_curvature, new_curvature, roll) -> tuple[float, b
   return float(new_curvature), limited_accel or limited_max_curv
 
 
-def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.3):
+def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL):
   if len(speeds) == len(t_idxs):
     v_now = speeds[0]
     a_now = accels[0]
@@ -53,8 +56,7 @@ def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.
     v_now = 0.0
     v_target = 0.0
     a_target = 0.0
-  should_stop = (v_now < vEgoStopping and a_target < 0.1)
-  return a_target, should_stop
+  return a_target, should_stop(v_now, a_target)
 
 def curv_from_psis(psi_target, psi_rate, vego, action_t):
   vego = np.clip(vego, MIN_SPEED, np.inf)

openpilot/selfdrive/controls/lib/longcontrol.py

@@ -62,7 +62,8 @@ class LongControl:
       output_accel = self.last_output_accel
       if output_accel > self.CP.stopAccel:
         output_accel = min(output_accel, 0.0)
-        output_accel -= self.CP.stoppingDecelRate * DT_CTRL
+        # TODO: can we just go straight to stopAccel?
+        output_accel -= 1.0 * DT_CTRL  # m/s^2/s while trying to stop
       self.reset()
 
     else:  # LongCtrlState.pid

openpilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -129,7 +129,7 @@ class LongitudinalPlanner:
 
     action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
     output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
-                                                                        action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
+                                                                        action_t=action_t)
     output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
     output_should_stop_e2e = sm['modelV2'].action.shouldStop
 

openpilot/tools/joystick/joystickd.py

@@ -48,7 +48,7 @@ def joystickd_thread():
 
     if CC.longActive:
       actuators.accel = 4.0 * float(np.clip(joystick_axes[0], -1, 1))
-      actuators.longControlState = LongCtrlState.pid if sm['carState'].vEgo > CP.vEgoStopping else LongCtrlState.stopping
+      actuators.longControlState = LongCtrlState.pid if sm['carState'].vEgo > 0.1 else LongCtrlState.stopping
       CC.cruiseControl.resume = actuators.accel > 0.0
 
     if CC.latActive:

openpilot/tools/longitudinal_maneuvers/maneuversd.py

@@ -3,11 +3,11 @@ import numpy as np
 from dataclasses import dataclass
 
 from openpilot.cereal import messaging
-from opendbc.car.structs import car
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.controls.lib.drive_helpers import should_stop
 
 
 @dataclass
@@ -139,8 +139,8 @@ MANEUVERS = [
 
 def main():
   params = Params()
-  cloudlog.info("joystickd is waiting for CarParams")
-  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
+  cloudlog.info("maneuversd is waiting for CarParams")
+  params.get("CarParams", block=True)
 
   sm = messaging.SubMaster(['carState', 'carControl', 'controlsState', 'selfdriveState', 'modelV2'], poll='modelV2')
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'alertDebug'])
@@ -178,7 +178,7 @@ def main():
     pm.send('alertDebug', alert_msg)
 
     longitudinalPlan.aTarget = accel
-    longitudinalPlan.shouldStop = v_ego < CP.vEgoStopping and accel < 1e-2
+    longitudinalPlan.shouldStop = should_stop(v_ego, accel)
 
     longitudinalPlan.allowBrake = True
     longitudinalPlan.allowThrottle = True