GAC: allow profile changes in Experimental Mode (commaai#99)

carleeno · Jun 6, 2023 · 65de8af · 65de8af
1 parent 955926a
commit 65de8af
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Showing 4 changed files with 6 additions and 9 deletions.
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
@@ -457,7 +457,7 @@ def get_sp_distance(self, gac_tr, gac_max, gac_dict=None):
     return next((key for key, value in gac_dict.items() if value == gac_tr), gac_max)
 
   def toggle_gac(self, cs_out, CS, gac_button, gac_min, gac_max, gac_default, inc_dec):
-    if (not (self.CP.openpilotLongitudinalControl or self.gac)) or (self.experimental_mode and self.CP.openpilotLongitudinalControl):
+    if not (self.CP.openpilotLongitudinalControl or self.gac):
       cs_out.gapAdjustCruiseTr = 4
       CS.gac_tr = gac_default
       return

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -278,7 +278,7 @@ def _update(self, c):
             (self.CS.prev_lkas_enabled == 1 and not self.CS.lkas_enabled):
             self.CS.madsEnabled = not self.CS.madsEnabled
         self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
-      if (not (self.CP.openpilotLongitudinalControl or self.gac)) or (self.experimental_mode and self.CP.openpilotLongitudinalControl):
+      if not (self.CP.openpilotLongitudinalControl or self.gac):
         ret.gapAdjustCruiseTr = 3
       else:
         if self.gac_min != 1:

diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -401,9 +401,7 @@ def update(self, carstate, radarstate, v_cruise, x, v, a, j):
 
     self.params[:,2] = np.min(x_obstacles, axis=1)
     self.params[:,3] = np.copy(self.prev_a)
-    self.params[:,4] = T_FOLLOW
-    if self.mode == 'acc':
-      self.params[:,4] = self.desired_TF
+    self.params[:,4] = self.desired_TF
 
     self.run()
     if (np.any(lead_xv_0[FCW_IDXS,0] - self.x_sol[FCW_IDXS,0] < CRASH_DISTANCE) and

diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
@@ -153,7 +153,6 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) {
   SubMaster &sm = *(uiState()->sm);
   auto longitudinal_plan = sm["longitudinalPlan"].getLongitudinalPlan();
   auto car_state = sm["carState"].getCarState();
-  auto controls_state = sm["controlsState"].getControlsState();
 
   QRect dlp_btn_rect = QRect(bdr_s * 2 + 220, (rect().bottom() - footer_h / 2 - 75) - scene.rn_offset, 150, 150);
   QRect gac_btn_rect = QRect(bdr_s * 2 + 220 + 180, (rect().bottom() - footer_h / 2 - 75) - scene.rn_offset, 150, 150);
@@ -165,8 +164,8 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) {
     scene.dynamic_lane_profile = scene.dynamic_lane_profile > 2 ? 0 : scene.dynamic_lane_profile;
     params.put("DynamicLaneProfile", std::to_string(scene.dynamic_lane_profile));
     propagate_event = false;
-  } else if (scene.gac && scene.gac_mode != 0 && scene.longitudinal_control && !controls_state.getExperimentalMode() &&
-             car_state.getCruiseState().getAvailable() && scene.sleep_btn_opacity == 20 && gac_btn_rect.contains(e->x(), e->y())) {
+  } else if (scene.gac && scene.gac_mode != 0 && scene.longitudinal_control && car_state.getCruiseState().getAvailable() &&
+             scene.sleep_btn_opacity == 20 && gac_btn_rect.contains(e->x(), e->y())) {
     scene.gac_tr--;
     scene.gac_tr = scene.gac_tr < scene.gac_min ? scene.gac_max : scene.gac_tr;
     params.put("GapAdjustCruiseTr", std::to_string(scene.gac_tr));
@@ -445,7 +444,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
 
   setProperty("hideVEgoUi", s.scene.hide_vego_ui);
 
-  setProperty("gac", s.scene.gac && s.scene.gac_mode != 0 && s.scene.longitudinal_control && !cs.getExperimentalMode() &&
+  setProperty("gac", s.scene.gac && s.scene.gac_mode != 0 && s.scene.longitudinal_control &&
               car_state.getCruiseState().getAvailable());
   setProperty("gacTr", s.scene.gac_tr);