sunnypilot v2026.002.000

version: sunnypilot v2026.002.000 (staging)
date: 2026-07-21T07:44:02
master commit: 2c334ede443d7391d27575af8c854a095ba702a8

openpilot/selfdrive/controls/lib/longcontrol.py

@@ -0,0 +1,89 @@
+import numpy as np
+from opendbc.car.structs import car
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
+from openpilot.common.pid import PIDController
+from openpilot.selfdrive.modeld.constants import ModelConstants
+
+CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
+
+LongCtrlState = car.CarControl.Actuators.LongControlState
+
+
+def long_control_state_trans(CP, CP_SP, active, long_control_state, v_ego,
+                             should_stop, brake_pressed, cruise_standstill):
+  # Gas Interceptor
+  cruise_standstill = cruise_standstill and not CP_SP.enableGasInterceptor
+
+  starting_condition = (not should_stop and
+                        not cruise_standstill and
+                        not brake_pressed)
+
+  if not active:
+    long_control_state = LongCtrlState.off
+
+  else:
+    if long_control_state == LongCtrlState.off:
+      if not starting_condition:
+        long_control_state = LongCtrlState.stopping
+      elif CP.startingState:
+        long_control_state = LongCtrlState.starting
+      else:
+        long_control_state = LongCtrlState.pid
+
+    elif long_control_state == LongCtrlState.stopping:
+      if starting_condition and CP.startingState:
+        long_control_state = LongCtrlState.starting
+      elif starting_condition:
+        long_control_state = LongCtrlState.pid
+
+    elif long_control_state in [LongCtrlState.starting, LongCtrlState.pid]:
+      if should_stop:
+        long_control_state = LongCtrlState.stopping
+      elif v_ego > CP.vEgoStarting:
+        long_control_state = LongCtrlState.pid
+  return long_control_state
+
+class LongControl:
+  def __init__(self, CP, CP_SP):
+    self.CP = CP
+    self.CP_SP = CP_SP
+    self.long_control_state = LongCtrlState.off
+    self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
+                             (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
+                             rate=1 / DT_CTRL)
+    self.last_output_accel = 0.0
+
+  def reset(self):
+    self.pid.reset()
+
+  def update(self, active, CS, a_target, should_stop, accel_limits):
+    """Update longitudinal control. This updates the state machine and runs a PID loop"""
+    self.pid.neg_limit = accel_limits[0]
+    self.pid.pos_limit = accel_limits[1]
+
+    self.long_control_state = long_control_state_trans(self.CP, self.CP_SP, active, self.long_control_state, CS.vEgo,
+                                                       should_stop, CS.brakePressed,
+                                                       CS.cruiseState.standstill)
+    if self.long_control_state == LongCtrlState.off:
+      self.reset()
+      output_accel = 0.
+
+    elif self.long_control_state == LongCtrlState.stopping:
+      output_accel = self.last_output_accel
+      if output_accel > self.CP.stopAccel:
+        output_accel = min(output_accel, 0.0)
+        output_accel -= self.CP.stoppingDecelRate * DT_CTRL
+      self.reset()
+
+    elif self.long_control_state == LongCtrlState.starting:
+      output_accel = self.CP.startAccel
+      self.reset()
+
+    else:  # LongCtrlState.pid
+      error = a_target - CS.aEgo
+      output_accel = self.pid.update(error, speed=CS.vEgo,
+                                     feedforward=a_target)
+
+    self.last_output_accel = np.clip(output_accel, accel_limits[0], accel_limits[1])
+    return self.last_output_accel