Merge 475b27e74f into 3a6039e0ff

docs/SAFETY.md

@@ -22,7 +22,7 @@ Following Hazard and Risk Analysis and FMEA, at a very high level, we have desig
 ensuring two main safety requirements.
 
 1. The driver must always be capable to immediately retake manual control of the vehicle,
-   by stepping on either pedal or by pressing the cancel button.
+   by stepping on the brake pedal or by pressing the cancel button.
 2. The vehicle must not alter its trajectory too quickly for the driver to safely
    react. This means that while the system is engaged, the actuators are constrained
    to operate within reasonable limits.

selfdrive/common/params.cc

@@ -98,6 +98,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DisableRadar_Allow", PERSISTENT},
     {"DisableRadar", PERSISTENT}, // WARNING: THIS DISABLES AEB
     {"DisableUpdates", PERSISTENT},
+    {"DisengageOnAccelerator", PERSISTENT},
     {"DongleId", PERSISTENT},
     {"DoReboot", CLEAR_ON_MANAGER_START},
     {"DoShutdown", CLEAR_ON_MANAGER_START},

selfdrive/controls/controlsd.py

@@ -94,7 +94,10 @@ class Controls:
     get_one_can(self.can_sock)
 
     self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'])
-    self.CP.alternativeExperience = 0  # see panda/board/safety_declarations.h for allowed values
+
+    # see panda/board/safety_declarations.h for allowed values
+    self.disengage_on_accelerator = Params().get_bool("DisengageOnAccelerator")
+    self.CP.alternativeExperience = 1 if not self.disengage_on_accelerator else 0
 
     # read params
     self.is_metric = params.get_bool("IsMetric")
@@ -194,9 +197,9 @@ class Controls:
       self.events.add(EventName.controlsInitializing)
       return
 
-    # Disable on rising edge of gas or brake. Also disable on brake when speed > 0
-    if (CS.gasPressed and not self.CS_prev.gasPressed) or \
-      (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)):
+    # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
+    if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
+       (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)):
       self.events.add(EventName.pedalPressed)
 
     self.events.add_from_msg(CS.events)
@@ -490,7 +493,7 @@ class Controls:
     # Check which actuators can be enabled
     CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
                      CS.vEgo > self.CP.minSteerSpeed and not CS.standstill
-    CC.longActive = self.active
+    CC.longActive = self.active and not CS.gasPressed
 
     actuators = CC.actuators
     actuators.longControlState = self.LoC.long_control_state

selfdrive/controls/lib/events.py

@@ -357,11 +357,11 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
   # ********** events only containing alerts that display while engaged **********
 
   EventName.gasPressed: {
-    ET.PRE_ENABLE: Alert(
-      "Release Gas Pedal to Engage",
+    ET.WARNING: Alert(
+      "Release Accelerator Pedal to Engage",
       "",
       AlertStatus.normal, AlertSize.small,
-      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1, creation_delay=1.),
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1),
   },
 
   # openpilot tries to learn certain parameters about your car by observing

selfdrive/controls/lib/longcontrol.py

@@ -87,7 +87,7 @@ class LongControl():
                                                        v_target, v_target_future, CS.brakePressed,
                                                        CS.cruiseState.standstill)
 
-    if self.long_control_state == LongCtrlState.off or CS.gasPressed:
+    if self.long_control_state == LongCtrlState.off:
       self.reset(CS.vEgo)
       output_accel = 0.
 

selfdrive/controls/lib/longitudinal_planner.py

@@ -69,7 +69,6 @@ class Planner:
 
     # Reset current state when not engaged, or user is controlling the speed
     reset_state = long_control_state == LongCtrlState.off
-    reset_state = reset_state or sm['carState'].gasPressed
 
     # No change cost when user is controlling the speed, or when standstill
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)

selfdrive/manager/manager.py

@@ -38,6 +38,7 @@ def manager_init() -> None:
 
   default_params: List[Tuple[str, Union[str, bytes]]] = [
     ("CompletedTrainingVersion", "0"),
+    ("DisengageOnAccelerator", "1"),
     ("HasAcceptedTerms", "0"),
     ("OpenpilotEnabledToggle", "1"),
   ]

selfdrive/test/process_replay/process_replay.py

@@ -346,6 +346,7 @@ def setup_env(simulation=False):
   params.clear_all()
   params.put_bool("OpenpilotEnabledToggle", True)
   params.put_bool("Passive", False)
+  params.put_bool("DisengageOnAccelerator", True)
 
   os.environ["NO_RADAR_SLEEP"] = "1"
   os.environ["REPLAY"] = "1"

selfdrive/ui/qt/offroad/settings.cc

@@ -65,6 +65,12 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       "In this mode openpilot will ignore lanelines and just drive how it thinks a human would.",
       "../assets/offroad/icon_road.png",
     },
+    {
+      "DisengageOnAccelerator",
+      "Disengage On Accelerator Pedal",
+      "openpilot will disengage when accelerator pedal is pressed.",
+      "../assets/offroad/icon_disengage_on_accelerator.svg",
+    },
 #ifdef ENABLE_MAPS
     {
       "NavSettingTime24h",