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Disable openpilot longitudinal control

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Added toggle to disable openpilot longitudinal control.
This commit is contained in:
FrogAi
2024-03-15 21:05:18 -07:00
parent a5412fdba2
commit 284b26b9eb
10 changed files with 23 additions and 10 deletions
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1
common/params.cc
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@@ -245,6 +245,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"CydiaTune", PERSISTENT}, {"CydiaTune", PERSISTENT},
{"DecelerationProfile", PERSISTENT}, {"DecelerationProfile", PERSISTENT},
{"DeviceShutdown", PERSISTENT}, {"DeviceShutdown", PERSISTENT},
{"DisableOpenpilotLongitudinal", PERSISTENT},
{"DisengageVolume", PERSISTENT}, {"DisengageVolume", PERSISTENT},
{"DriveStats", PERSISTENT}, {"DriveStats", PERSISTENT},
{"DynamicPathWidth", PERSISTENT}, {"DynamicPathWidth", PERSISTENT},

2
selfdrive/car/ford/interface.py
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@@ -34,7 +34,7 @@ class CarInterface(CarInterfaceBase):
ret.experimentalLongitudinalAvailable = True ret.experimentalLongitudinalAvailable = True
if experimental_long: if experimental_long:
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_LONG_CONTROL ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_LONG_CONTROL
ret.openpilotLongitudinalControl = True ret.openpilotLongitudinalControl = True and not params.get_bool("DisableOpenpilotLongitudinal")
if candidate in CANFD_CAR: if candidate in CANFD_CAR:
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD

6
selfdrive/car/gm/interface.py Executable file → Normal file
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@@ -124,7 +124,7 @@ class CarInterface(CarInterfaceBase):
if experimental_long: if experimental_long:
ret.pcmCruise = False ret.pcmCruise = False
ret.openpilotLongitudinalControl = True ret.openpilotLongitudinalControl = True and not params.get_bool("DisableOpenpilotLongitudinal")
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
elif candidate in SDGM_CAR: elif candidate in SDGM_CAR:
@@ -137,7 +137,7 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_SDGM ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_SDGM
else: # ASCM, OBD-II harness else: # ASCM, OBD-II harness
ret.openpilotLongitudinalControl = True ret.openpilotLongitudinalControl = True and not params.get_bool("DisableOpenpilotLongitudinal")
ret.networkLocation = NetworkLocation.gateway ret.networkLocation = NetworkLocation.gateway
ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not docs ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not docs
ret.pcmCruise = False # stock non-adaptive cruise control is kept off ret.pcmCruise = False # stock non-adaptive cruise control is kept off
@@ -322,7 +322,7 @@ class CarInterface(CarInterfaceBase):
ret.radarUnavailable = True ret.radarUnavailable = True
ret.experimentalLongitudinalAvailable = False ret.experimentalLongitudinalAvailable = False
ret.minEnableSpeed = 24 * CV.MPH_TO_MS ret.minEnableSpeed = 24 * CV.MPH_TO_MS
ret.openpilotLongitudinalControl = True ret.openpilotLongitudinalControl = True and not params.get_bool("DisableOpenpilotLongitudinal")
ret.pcmCruise = False ret.pcmCruise = False
ret.longitudinalTuning.deadzoneBP = [0.] ret.longitudinalTuning.deadzoneBP = [0.]

4
selfdrive/car/honda/interface.py Executable file → Normal file
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@@ -49,12 +49,12 @@ class CarInterface(CarInterfaceBase):
# WARNING: THIS DISABLES AEB! # WARNING: THIS DISABLES AEB!
# If Bosch radarless, this blocks ACC messages from the camera # If Bosch radarless, this blocks ACC messages from the camera
ret.experimentalLongitudinalAvailable = True ret.experimentalLongitudinalAvailable = True
ret.openpilotLongitudinalControl = experimental_long ret.openpilotLongitudinalControl = experimental_long and not params.get_bool("DisableOpenpilotLongitudinal")
ret.pcmCruise = not ret.openpilotLongitudinalControl ret.pcmCruise = not ret.openpilotLongitudinalControl
else: else:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)] ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)]
ret.enableGasInterceptor = 0x201 in fingerprint[0] ret.enableGasInterceptor = 0x201 in fingerprint[0]
ret.openpilotLongitudinalControl = True ret.openpilotLongitudinalControl = True and not params.get_bool("DisableOpenpilotLongitudinal")
ret.pcmCruise = not ret.enableGasInterceptor ret.pcmCruise = not ret.enableGasInterceptor

2
selfdrive/car/hyundai/interface.py
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@@ -275,7 +275,7 @@ class CarInterface(CarInterfaceBase):
ret.longitudinalTuning.kpV = [0.5] ret.longitudinalTuning.kpV = [0.5]
ret.longitudinalTuning.kiV = [0.0] ret.longitudinalTuning.kiV = [0.0]
ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | CAMERA_SCC_CAR) ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | CAMERA_SCC_CAR)
ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable and not params.get_bool("DisableOpenpilotLongitudinal")
ret.pcmCruise = not ret.openpilotLongitudinalControl ret.pcmCruise = not ret.openpilotLongitudinalControl
ret.stoppingControl = True ret.stoppingControl = True

2
selfdrive/car/subaru/interface.py
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@@ -119,7 +119,7 @@ class CarInterface(CarInterfaceBase):
raise ValueError(f"unknown car: {candidate}") raise ValueError(f"unknown car: {candidate}")
ret.experimentalLongitudinalAvailable = candidate not in (GLOBAL_GEN2 | PREGLOBAL_CARS | LKAS_ANGLE | HYBRID_CARS) ret.experimentalLongitudinalAvailable = candidate not in (GLOBAL_GEN2 | PREGLOBAL_CARS | LKAS_ANGLE | HYBRID_CARS)
ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable and not params.get_bool("DisableOpenpilotLongitudinal")
if candidate in GLOBAL_GEN2 and ret.openpilotLongitudinalControl: if candidate in GLOBAL_GEN2 and ret.openpilotLongitudinalControl:
ret.flags |= SubaruFlags.DISABLE_EYESIGHT.value ret.flags |= SubaruFlags.DISABLE_EYESIGHT.value

2
selfdrive/car/tesla/interface.py
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@@ -29,7 +29,7 @@ class CarInterface(CarInterfaceBase):
# Check if we have messages on an auxiliary panda, and that 0x2bf (DAS_control) is present on the AP powertrain bus # Check if we have messages on an auxiliary panda, and that 0x2bf (DAS_control) is present on the AP powertrain bus
# If so, we assume that it is connected to the longitudinal harness. # If so, we assume that it is connected to the longitudinal harness.
if (CANBUS.autopilot_powertrain in fingerprint.keys()) and (0x2bf in fingerprint[CANBUS.autopilot_powertrain].keys()): if (CANBUS.autopilot_powertrain in fingerprint.keys()) and (0x2bf in fingerprint[CANBUS.autopilot_powertrain].keys()):
ret.openpilotLongitudinalControl = True ret.openpilotLongitudinalControl = True and not params.get_bool("DisableOpenpilotLongitudinal")
ret.safetyConfigs = [ ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.tesla, Panda.FLAG_TESLA_LONG_CONTROL), get_safety_config(car.CarParams.SafetyModel.tesla, Panda.FLAG_TESLA_LONG_CONTROL),
get_safety_config(car.CarParams.SafetyModel.tesla, Panda.FLAG_TESLA_LONG_CONTROL | Panda.FLAG_TESLA_POWERTRAIN), get_safety_config(car.CarParams.SafetyModel.tesla, Panda.FLAG_TESLA_LONG_CONTROL | Panda.FLAG_TESLA_POWERTRAIN),

1
selfdrive/car/toyota/interface.py
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@@ -251,6 +251,7 @@ class CarInterface(CarInterfaceBase):
# - TSS2 radar ACC cars w/o smartDSU installed (disables radar) # - TSS2 radar ACC cars w/o smartDSU installed (disables radar)
# - TSS-P DSU-less cars w/ CAN filter installed (no radar parser yet) # - TSS-P DSU-less cars w/ CAN filter installed (no radar parser yet)
ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value) ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)
ret.openpilotLongitudinalControl &= not params.get_bool("DisableOpenpilotLongitudinal")
ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
ret.enableGasInterceptor = 0x201 in fingerprint[0] and ret.openpilotLongitudinalControl ret.enableGasInterceptor = 0x201 in fingerprint[0] and ret.openpilotLongitudinalControl

2
selfdrive/car/volkswagen/interface.py
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@@ -86,7 +86,7 @@ class CarInterface(CarInterfaceBase):
ret.experimentalLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or docs ret.experimentalLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or docs
if experimental_long: if experimental_long:
# Proof-of-concept, prep for E2E only. No radar points available. Panda ALLOW_DEBUG firmware required. # Proof-of-concept, prep for E2E only. No radar points available. Panda ALLOW_DEBUG firmware required.
ret.openpilotLongitudinalControl = True ret.openpilotLongitudinalControl = True and not params.get_bool("DisableOpenpilotLongitudinal")
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONG_CONTROL ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONG_CONTROL
if ret.transmissionType == TransmissionType.manual: if ret.transmissionType == TransmissionType.manual:
ret.minEnableSpeed = 4.5 ret.minEnableSpeed = 4.5

11
selfdrive/frogpilot/ui/vehicle_settings.cc
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@@ -1,6 +1,17 @@
#include "selfdrive/frogpilot/ui/vehicle_settings.h" #include "selfdrive/frogpilot/ui/vehicle_settings.h"
FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPilotListWidget(parent) { FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPilotListWidget(parent) {
ParamControl *disableOpenpilotLong = new ParamControl("DisableOpenpilotLongitudinal", "Disable Openpilot Longitudinal Control", "Disables openpilot longitudinal control to use stock ACC.", "", this);
addItem(disableOpenpilotLong);
QObject::connect(disableOpenpilotLong, &ToggleControl::toggleFlipped, [=]() {
if (started) {
if (FrogPilotConfirmationDialog::toggle("Reboot required to take effect.", "Reboot Now", this)) {
Hardware::reboot();
}
}
});
std::vector<std::tuple<QString, QString, QString, QString>> vehicleToggles { std::vector<std::tuple<QString, QString, QString, QString>> vehicleToggles {
{"LongitudinalTune", "Longitudinal Tune", "Use a custom Toyota longitudinal tune.\n\nCydia = More focused on TSS-P vehicles but works for all Toyotas\n\nDragonPilot = Focused on TSS2 vehicles\n\nFrogPilot = Takes the best of both worlds with some personal tweaks focused around my 2019 Lexus ES 350", ""}, {"LongitudinalTune", "Longitudinal Tune", "Use a custom Toyota longitudinal tune.\n\nCydia = More focused on TSS-P vehicles but works for all Toyotas\n\nDragonPilot = Focused on TSS2 vehicles\n\nFrogPilot = Takes the best of both worlds with some personal tweaks focused around my 2019 Lexus ES 350", ""},
}; };