remove pedal (commaai#31903)

* remove pedal

* bump panda

* fix

* update refs

selfdrive/car/__init__.py

@@ -179,27 +179,6 @@ def crc8_pedal(data):
  return crc
 
 
-def create_gas_interceptor_command(packer, gas_amount, idx):
- # Common gas pedal msg generator
- enable = gas_amount > 0.001
-
- values = {
- "ENABLE": enable,
- "COUNTER_PEDAL": idx & 0xF,
- }
-
- if enable:
- values["GAS_COMMAND"] = gas_amount * 255.
- values["GAS_COMMAND2"] = gas_amount * 255.
-
- dat = packer.make_can_msg("GAS_COMMAND", 0, values)[2]
-
- checksum = crc8_pedal(dat[:-1])
- values["CHECKSUM_PEDAL"] = checksum
-
- return packer.make_can_msg("GAS_COMMAND", 0, values)
-
-
 def make_can_msg(addr, dat, bus):
  return [addr, 0, dat, bus]
 

selfdrive/car/honda/carcontroller.py

@@ -4,7 +4,6 @@
 from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import create_gas_interceptor_command
 from openpilot.selfdrive.car.honda import hondacan
 from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarControllerBase
@@ -183,7 +182,7 @@ def update(self, CC, CS, now_nanos):
  0.5]
  # The Honda ODYSSEY seems to have different PCM_ACCEL
  # msgs, is it other cars too?
- if self.CP.enableGasInterceptor or not CC.longActive:
+ if not CC.longActive:
  pcm_speed = 0.0
  pcm_accel = int(0.0)
  elif self.CP.carFingerprint in HONDA_NIDEC_ALT_PCM_ACCEL:
@@ -235,19 +234,6 @@ def update(self, CC, CS, now_nanos):
  self.apply_brake_last = apply_brake
  self.brake = apply_brake / self.params.NIDEC_BRAKE_MAX
 
- if self.CP.enableGasInterceptor:
- # way too aggressive at low speed without this
- gas_mult = interp(CS.out.vEgo, [0., 10.], [0.4, 1.0])
- # send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
- # This prevents unexpected pedal range rescaling
- # Sending non-zero gas when OP is not enabled will cause the PCM not to respond to throttle as expected
- # when you do enable.
- if CC.longActive:
- self.gas = clip(gas_mult * (gas - brake + wind_brake * 3 / 4), 0., 1.)
- else:
- self.gas = 0.0
- can_sends.append(create_gas_interceptor_command(self.packer, self.gas, self.frame // 2))
-
  # Send dashboard UI commands.
  if self.frame % 10 == 0:
  hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible,
@@ -256,9 +242,7 @@ def update(self, CC, CS, now_nanos):
 
  if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH:
  self.speed = pcm_speed
-
- if not self.CP.enableGasInterceptor:
- self.gas = pcm_accel / self.params.NIDEC_GAS_MAX
+ self.gas = pcm_accel / self.params.NIDEC_GAS_MAX
 
  new_actuators = actuators.copy()
  new_actuators.speed = self.speed

selfdrive/car/honda/carstate.py

@@ -72,10 +72,6 @@ def get_can_messages(CP, gearbox_msg):
  else:
  messages.append(("DOORS_STATUS", 3))
 
- # add gas interceptor reading if we are using it
- if CP.enableGasInterceptor:
- messages.append(("GAS_SENSOR", 50))
-
  if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
  messages.append(("CRUISE_FAULT_STATUS", 50))
  elif CP.openpilotLongitudinalControl:
@@ -191,13 +187,8 @@ def update(self, cp, cp_cam, cp_body):
  gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
  ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
 
- if self.CP.enableGasInterceptor:
- # Same threshold as panda, equivalent to 1e-5 with previous DBC scaling
- ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) // 2
- ret.gasPressed = ret.gas > 492
- else:
- ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]
- ret.gasPressed = ret.gas > 1e-5
+ ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]
+ ret.gasPressed = ret.gas > 1e-5
 
  ret.steeringTorque = cp.vl["STEER_STATUS"]["STEER_TORQUE_SENSOR"]
  ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]["MOTOR_TORQUE"]

selfdrive/car/honda/interface.py

@@ -24,8 +24,6 @@ class CarInterface(CarInterfaceBase):
  def get_pid_accel_limits(CP, current_speed, cruise_speed):
  if CP.carFingerprint in HONDA_BOSCH:
  return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX
- elif CP.enableGasInterceptor:
- return CarControllerParams.NIDEC_ACCEL_MIN, CarControllerParams.NIDEC_ACCEL_MAX
  else:
  # NIDECs don't allow acceleration near cruise_speed,
  # so limit limits of pid to prevent windup
@@ -50,10 +48,9 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
  ret.pcmCruise = not ret.openpilotLongitudinalControl
  else:
  ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)]
- ret.enableGasInterceptor = 0x201 in fingerprint[CAN.pt]
  ret.openpilotLongitudinalControl = True
 
- ret.pcmCruise = not ret.enableGasInterceptor
+ ret.pcmCruise = True
 
  if candidate == CAR.CRV_5G:
  ret.enableBsm = 0x12f8bfa7 in fingerprint[CAN.radar]
@@ -209,16 +206,13 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
  if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
  ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG
 
- if ret.enableGasInterceptor and candidate not in HONDA_BOSCH:
- ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_GAS_INTERCEPTOR
-
  if candidate in HONDA_BOSCH_RADARLESS:
  ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_RADARLESS
 
  # min speed to enable ACC. if car can do stop and go, then set enabling speed
  # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
  # conflict with PCM acc
- ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor
+ ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.CIVIC})
  ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.5 * CV.MPH_TO_MS
 
  ret.steerActuatorDelay = 0.1

selfdrive/car/tests/routes.py

@@ -293,8 +293,6 @@ class CarTestRoute(NamedTuple):
  CarTestRoute("66c1699b7697267d/2024-03-03--13-09-53", TESLA.MODELS_RAVEN),
 
  # Segments that test specific issues
- # Controls mismatch due to interceptor threshold
- CarTestRoute("cfb32f0fb91b173b|2022-04-06--14-54-45", HONDA.CIVIC, segment=21),
  # Controls mismatch due to standstill threshold
  CarTestRoute("bec2dcfde6a64235|2022-04-08--14-21-32", HONDA.CRV_HYBRID, segment=22),
 ]

selfdrive/car/tests/test_car_interfaces.py

@@ -74,10 +74,6 @@ def test_car_interfaces(self, car_name, data):
  self.assertEqual(len(car_params.longitudinalTuning.kiV), len(car_params.longitudinalTuning.kiBP))
  self.assertEqual(len(car_params.longitudinalTuning.deadzoneV), len(car_params.longitudinalTuning.deadzoneBP))
 
- # If we're using the interceptor for gasPressed, we should be commanding gas with it
- if car_params.enableGasInterceptor:
- self.assertTrue(car_params.openpilotLongitudinalControl)
-
  # Lateral sanity checks
  if car_params.steerControlType != car.CarParams.SteerControlType.angle:
  tune = car_params.lateralTuning

selfdrive/car/toyota/carcontroller.py

@@ -1,11 +1,10 @@
 from cereal import car
-from openpilot.common.numpy_fast import clip, interp
-from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, \
- create_gas_interceptor_command, make_can_msg
+from openpilot.common.numpy_fast import clip
+from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, make_can_msg
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.toyota import toyotacan
 from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
- MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams, ToyotaFlags, \
+ CarControllerParams, ToyotaFlags, \
  UNSUPPORTED_DSU_CAR
 from opendbc.can.packer import CANPacker
 
@@ -101,21 +100,6 @@ def update(self, CC, CS, now_nanos):
  lta_active, self.frame // 2, torque_wind_down))
 
  # *** gas and brake ***
- if self.CP.enableGasInterceptor and CC.longActive:
- MAX_INTERCEPTOR_GAS = 0.5
- # RAV4 has very sensitive gas pedal
- if self.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER):
- PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.15, 0.3, 0.0])
- elif self.CP.carFingerprint in (CAR.COROLLA,):
- PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.3, 0.4, 0.0])
- else:
- PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.4, 0.5, 0.0])
- # offset for creep and windbrake
- pedal_offset = interp(CS.out.vEgo, [0.0, 2.3, MIN_ACC_SPEED + PEDAL_TRANSITION], [-.4, 0.0, 0.2])
- pedal_command = PEDAL_SCALE * (actuators.accel + pedal_offset)
- interceptor_gas_cmd = clip(pedal_command, 0., MAX_INTERCEPTOR_GAS)
- else:
- interceptor_gas_cmd = 0.
  pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
 
  # TODO: probably can delete this. CS.pcm_acc_status uses a different signal
@@ -124,7 +108,7 @@ def update(self, CC, CS, now_nanos):
  pcm_cancel_cmd = 1
 
  # on entering standstill, send standstill request
- if CS.out.standstill and not self.last_standstill and (self.CP.carFingerprint not in NO_STOP_TIMER_CAR or self.CP.enableGasInterceptor):
+ if CS.out.standstill and not self.last_standstill and (self.CP.carFingerprint not in NO_STOP_TIMER_CAR):
  self.standstill_req = True
  if CS.pcm_acc_status != 8:
  # pcm entered standstill or it's disabled
@@ -158,12 +142,6 @@ def update(self, CC, CS, now_nanos):
  else:
  can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False, self.distance_button))
 
- if self.frame % 2 == 0 and self.CP.enableGasInterceptor and self.CP.openpilotLongitudinalControl:
- # send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd.
- # This prevents unexpected pedal range rescaling
- can_sends.append(create_gas_interceptor_command(self.packer, interceptor_gas_cmd, self.frame // 2))
- self.gas = interceptor_gas_cmd
-
  # *** hud ui ***
  if self.CP.carFingerprint != CAR.PRIUS_V:
  # ui mesg is at 1Hz but we send asap if:

selfdrive/car/toyota/carstate.py

@@ -59,12 +59,8 @@ def update(self, cp, cp_cam):
 
  ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
  ret.brakeHoldActive = cp.vl["ESP_CONTROL"]["BRAKE_HOLD_ACTIVE"] == 1
- if self.CP.enableGasInterceptor:
- ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) // 2
- ret.gasPressed = ret.gas > 805
- else:
- # TODO: find a common gas pedal percentage signal
- ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0
+
+ ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0
 
  ret.wheelSpeeds = self.get_wheel_speeds(
  cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"],
@@ -208,10 +204,6 @@ def get_can_parser(CP):
  else:
  messages.append(("PCM_CRUISE_2", 33))
 
- # add gas interceptor reading if we are using it
- if CP.enableGasInterceptor:
- messages.append(("GAS_SENSOR", 50))
-
  if CP.enableBsm:
  messages.append(("BSM", 1))
 

selfdrive/car/toyota/interface.py

@@ -133,22 +133,18 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
  # - 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.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
- ret.enableGasInterceptor = 0x201 in fingerprint[0] and ret.openpilotLongitudinalControl
 
  if not ret.openpilotLongitudinalControl:
  ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL
 
- if ret.enableGasInterceptor:
- ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_GAS_INTERCEPTOR
-
  # min speed to enable ACC. if car can do stop and go, then set enabling speed
  # to a negative value, so it won't matter.
- ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED
+ ret.minEnableSpeed = -1. if stop_and_go else MIN_ACC_SPEED
 
  tune = ret.longitudinalTuning
  tune.deadzoneBP = [0., 9.]
  tune.deadzoneV = [.0, .15]
- if candidate in TSS2_CAR or ret.enableGasInterceptor:
+ if candidate in TSS2_CAR:
  tune.kpBP = [0., 5., 20.]
  tune.kpV = [1.3, 1.0, 0.7]
  tune.kiBP = [0., 5., 12., 20., 27.]
@@ -188,7 +184,7 @@ def _update(self, c):
  events.add(EventName.vehicleSensorsInvalid)
 
  if self.CP.openpilotLongitudinalControl:
- if ret.cruiseState.standstill and not ret.brakePressed and not self.CP.enableGasInterceptor:
+ if ret.cruiseState.standstill and not ret.brakePressed:
  events.add(EventName.resumeRequired)
  if self.CS.low_speed_lockout:
  events.add(EventName.lowSpeedLockout)

selfdrive/controls/lib/longcontrol.py

@@ -10,8 +10,6 @@
 
 def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
  v_target_1sec, brake_pressed, cruise_standstill):
- # Ignore cruise standstill if car has a gas interceptor
- cruise_standstill = cruise_standstill and not CP.enableGasInterceptor
  accelerating = v_target_1sec > v_target
  planned_stop = (v_target < CP.vEgoStopping and
  v_target_1sec < CP.vEgoStopping and

selfdrive/test/process_replay/migration.py

@@ -73,7 +73,7 @@ def migrate_pandaStates(lr):
  # TODO: safety param migration should be handled automatically
  safety_param_migration = {
  "TOYOTA PRIUS 2017": EPS_SCALE["TOYOTA PRIUS 2017"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL,
- "TOYOTA RAV4 2017": EPS_SCALE["TOYOTA RAV4 2017"] | Panda.FLAG_TOYOTA_ALT_BRAKE | Panda.FLAG_TOYOTA_GAS_INTERCEPTOR,
+ "TOYOTA RAV4 2017": EPS_SCALE["TOYOTA RAV4 2017"] | Panda.FLAG_TOYOTA_ALT_BRAKE,
  "KIA EV6 2022": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2,
  }
 

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-d544804a4fb54c0f160682b8f14af316a8383cd8
+e29856a02cca7ab76461b2cc0acd25826a894667

tools/sim/lib/simulated_car.py

@@ -6,7 +6,6 @@
 from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
 from openpilot.selfdrive.car import crc8_pedal
 from openpilot.tools.sim.lib.common import SimulatorState
-from panda.python import Panda
 
 
 class SimulatedCar:
@@ -116,7 +115,7 @@ def send_panda_state(self, simulator_state):
  'controlsAllowed': True,
  'safetyModel': 'hondaNidec',
  'alternativeExperience': self.sm["carParams"].alternativeExperience,
- 'safetyParam': Panda.FLAG_HONDA_GAS_INTERCEPTOR
+ 'safetyParam': 0,
  }
  self.pm.send('pandaStates', dat)