Disable openpilot longitudinal control

Added toggle to disable openpilot longitudinal control.

common/params.cc

@@ -245,6 +245,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CydiaTune", PERSISTENT},
     {"DecelerationProfile", PERSISTENT},
     {"DeviceShutdown", PERSISTENT},
+    {"DisableOpenpilotLongitudinal", PERSISTENT},
     {"DisengageVolume", PERSISTENT},
     {"DriveStats", PERSISTENT},
     {"DynamicPathWidth", PERSISTENT},

selfdrive/car/ford/interface.py

@@ -34,7 +34,7 @@ class CarInterface(CarInterfaceBase):
     ret.experimentalLongitudinalAvailable = True
     if experimental_long:
       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:
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD

selfdrive/car/gm/interface.py

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

selfdrive/car/honda/interface.py

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

selfdrive/car/hyundai/interface.py

@@ -275,7 +275,7 @@ class CarInterface(CarInterfaceBase):
       ret.longitudinalTuning.kpV = [0.5]
       ret.longitudinalTuning.kiV = [0.0]
       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.stoppingControl = True

selfdrive/car/subaru/interface.py

@@ -119,7 +119,7 @@ class CarInterface(CarInterfaceBase):
       raise ValueError(f"unknown car: {candidate}")
 
     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:
       ret.flags |= SubaruFlags.DISABLE_EYESIGHT.value

selfdrive/car/tesla/interface.py

@@ -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
     # 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()):
-      ret.openpilotLongitudinalControl = True
+      ret.openpilotLongitudinalControl = True and not params.get_bool("DisableOpenpilotLongitudinal")
       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 | Panda.FLAG_TESLA_POWERTRAIN),

selfdrive/car/toyota/interface.py

@@ -251,6 +251,7 @@ class CarInterface(CarInterfaceBase):
     #  - TSS2 radar ACC cars w/o smartDSU installed (disables radar)
     #  - 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 &= not params.get_bool("DisableOpenpilotLongitudinal")
     ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
     ret.enableGasInterceptor = 0x201 in fingerprint[0] and ret.openpilotLongitudinalControl
 

selfdrive/car/volkswagen/interface.py

@@ -86,7 +86,7 @@ class CarInterface(CarInterfaceBase):
     ret.experimentalLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or docs
     if experimental_long:
       # 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
       if ret.transmissionType == TransmissionType.manual:
         ret.minEnableSpeed = 4.5

selfdrive/frogpilot/ui/vehicle_settings.cc

@@ -1,6 +1,17 @@
 #include "selfdrive/frogpilot/ui/vehicle_settings.h"
 
 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 {
     {"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", ""},
   };