Merge remote-tracking branch 'dev/min-feat/no-gas-gating' into full

common/params_keys.h

@@ -137,4 +137,5 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"dp_lon_acm_downhill", PERSISTENT},
     {"dp_lon_aem", PERSISTENT},
     {"dp_device_audible_alert_mode", PERSISTENT},
+    {"dp_lon_no_gas_gating", PERSISTENT},
 };

selfdrive/controls/lib/longitudinal_planner.py

@@ -32,6 +32,7 @@ class DPFlags:
   ACM = 1
   ACM_DOWNHILL = 2
   AEM = 2 ** 2
+  NO_GAS_GATING = 2 ** 3
   pass
 
 def get_max_accel(v_ego):
@@ -209,7 +210,7 @@ class LongitudinalPlanner:
     # # Don't clip at low speeds since throttle_prob doesn't account for creep
     # self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED
 
-    if not self.allow_throttle:
+    if not (dp_flags & DPFlags.NO_GAS_GATING) and not self.allow_throttle:
       clipped_accel_coast = max(accel_coast, accel_clip[0])
       clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_clip[1], clipped_accel_coast])
       accel_clip[1] = min(accel_clip[1], clipped_accel_coast_interp)

selfdrive/controls/plannerd.py

@@ -29,6 +29,8 @@ def main():
       dp_flags |= DPFlags.ACM_DOWNHILL
   if params.get_bool("dp_lon_aem"):
     dp_flags |= DPFlags.AEM
+  if params.get_bool("dp_lon_no_gas_gating"):
+    dp_flags |= DPFlags.NO_GAS_GATING
   while True:
     sm.update()
     if sm.updated['modelV2']:

selfdrive/ui/qt/offroad/dp_panel.cc

@@ -174,6 +174,11 @@ void DPPanel::add_longitudinal_toggles() {
       QString::fromUtf8("🚧 ") + tr("Adaptive Experimental Mode (AEM)"),
       tr("Adaptive mode switcher between ACC and Blended based on driving context."),
     },
+    {
+      "dp_lon_no_gas_gating",
+      tr("Enable No Gas Gating (NoGG)"),
+      tr("Allows the car to accelerate in situations where Gas Gating would normally prevent it, like approaching traffic lights or exits."),
+    },
   };
 
   QWidget *label = nullptr;

system/manager/manager.py

@@ -59,6 +59,7 @@ def manager_init() -> None:
     ("dp_lon_acm_downhill", "0"),
     ("dp_lon_aem", "0"),
     ("dp_device_audible_alert_mode", "0"),
+    ("dp_lon_no_gas_gating", "0"),
   ]
 
   if params.get_bool("RecordFrontLock"):