Longcontrol: remove starting state (commaai#543)

* remove starting state

* remove params

selfdrive/car/hyundai/interface.py

@@ -41,7 +41,6 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
     ret.longitudinalTuning.kpV = [0.1]
     ret.longitudinalTuning.kiV = [0.0]
     ret.stopAccel = 0.0
-    ret.startAccel = 0.0
 
     ret.longitudinalActuatorDelayUpperBound = 1.0 # s
 

selfdrive/car/interfaces.py

@@ -86,9 +86,7 @@ def get_std_params(candidate, fingerprint):
     ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
     ret.steerRatioRear = 0.  # no rear steering, at least on the listed cars aboveA
     ret.openpilotLongitudinalControl = False
-    ret.startAccel = -0.8
     ret.stopAccel = -2.0
-    ret.startingAccelRate = 3.2 # brake_travel/s while releasing on restart
     ret.stoppingDecelRate = 0.8 # brake_travel/s while trying to stop
     ret.vEgoStopping = 0.5
     ret.vEgoStarting = 0.5

selfdrive/car/tesla/interface.py

@@ -25,7 +25,6 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
     ret.longitudinalTuning.kiBP = [0]
     ret.longitudinalTuning.kiV = [0]
     ret.stopAccel = 0.0
-    ret.startAccel = 0.0
     ret.longitudinalActuatorDelayUpperBound = 0.5 # s
     ret.radarTimeStep = (1.0 / 8) # 8Hz
 

selfdrive/car/toyota/interface.py

@@ -316,10 +316,8 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
       set_long_tune(ret.longitudinalTuning, LongTunes.TSS2)
       ret.vEgoStopping = 0.2  # car is near 0.1 to 0.2 when car starts requesting stopping accel
       ret.vEgoStarting = 0.2  # needs to be > or == vEgoStopping
-      ret.startAccel = 0.0  # Toyota requests 0 instantly, then hands control off to some controller
       ret.stopAccel = -2.0  # Toyota requests -0.4 when stopped
       ret.stoppingDecelRate = 0.8  # reach stopping target smoothly - seems to take 0.5 seconds to go from 0 to -0.4
-      ret.startingAccelRate = 20.  # release brakes fast
     else:
       set_long_tune(ret.longitudinalTuning, LongTunes.TSS)
 

selfdrive/controls/lib/longcontrol.py

@@ -14,7 +14,7 @@
 
 
 def long_control_state_trans(CP, active, long_control_state, v_ego, v_target_future,
-                             output_accel, brake_pressed, cruise_standstill):
+                             brake_pressed, cruise_standstill):
   """Update longitudinal control state machine"""
   stopping_condition = (v_ego < 2.0 and cruise_standstill) or \
                        (v_ego < CP.vEgoStopping and
@@ -36,12 +36,6 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, v_target_fut
 
     elif long_control_state == LongCtrlState.stopping:
       if starting_condition:
-        long_control_state = LongCtrlState.starting
-
-    elif long_control_state == LongCtrlState.starting:
-      if stopping_condition:
-        long_control_state = LongCtrlState.stopping
-      elif output_accel >= CP.startAccel:
         long_control_state = LongCtrlState.pid
 
   return long_control_state
@@ -90,8 +84,8 @@ def update(self, active, CS, CP, long_plan, accel_limits, extras):
     # Update state machine
     output_accel = self.last_output_accel
     self.long_control_state = long_control_state_trans(CP, active, self.long_control_state, CS.vEgo,
-                                                       v_target_future, output_accel,
-                                                       CS.brakePressed, CS.cruiseState.standstill)
+                                                       v_target_future, CS.brakePressed,
+                                                       CS.cruiseState.standstill)
 
     if self.long_control_state == LongCtrlState.off or CS.gasPressed:
       self.reset(CS.vEgo)
@@ -120,13 +114,6 @@ def update(self, active, CS, CP, long_plan, accel_limits, extras):
       output_accel = clip(output_accel, accel_limits[0], accel_limits[1])
       self.reset(CS.vEgo)
 
-    # Intention is to move again, release brake fast before handing control to PID
-    elif self.long_control_state == LongCtrlState.starting:
-      if output_accel < CP.startAccel:
-        output_accel += CP.startingAccelRate * DT_CTRL
-      output_accel = min(output_accel, CP.startAccel)
-      self.reset(CS.vEgo)
-
     self.last_output_accel = output_accel
     final_accel = clip(output_accel, accel_limits[0], accel_limits[1])