From 8c23fdde2b50244369ebc6f6750b536ba0cfb88a Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Sat, 19 Apr 2025 16:00:17 +0800
Subject: [PATCH] No Gas-Gating (NoGG) - init

---
 common/params_keys.h                           | 1 +
 selfdrive/controls/lib/longitudinal_planner.py | 3 ++-
 selfdrive/controls/plannerd.py                 | 2 ++
 selfdrive/ui/qt/offroad/dp_panel.cc            | 5 +++++
 system/manager/manager.py                      | 1 +
 5 files changed, 11 insertions(+), 1 deletion(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index b576f1a97..51ddf07f6 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -119,4 +119,5 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"Version", PERSISTENT},
     {"dp_device_last_log", CLEAR_ON_MANAGER_START},
     {"dp_device_reset_conf", CLEAR_ON_MANAGER_START},
+    {"dp_lon_no_gas_gating", PERSISTENT},
 };
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 2621dd11d..81bb411e5 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -27,6 +27,7 @@ _A_TOTAL_MAX_V = [1.7, 3.2]
 _A_TOTAL_MAX_BP = [20., 40.]
 
 class DPFlags:
+  NO_GAS_GATING = 2
   pass
 
 def get_max_accel(v_ego):
@@ -151,7 +152,7 @@ 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)
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index 646c00669..a4442fb73 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -23,6 +23,8 @@ def main():
                            poll='modelV2')
 
   dp_flags = 0
+  if params.get_bool("dp_lon_no_gas_gating"):
+    dp_flags |= DPFlags.NO_GAS_GATING
   while True:
     sm.update()
     if sm.updated['modelV2']:
diff --git a/selfdrive/ui/qt/offroad/dp_panel.cc b/selfdrive/ui/qt/offroad/dp_panel.cc
index 548b02be5..f626bc069 100644
--- a/selfdrive/ui/qt/offroad/dp_panel.cc
+++ b/selfdrive/ui/qt/offroad/dp_panel.cc
@@ -139,6 +139,11 @@ void DPPanel::add_longitudinal_toggles() {
       QString::fromUtf8("🐉 ") + tr("Longitudinal Ctrl"),
       "",
     },
+    {
+      "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;
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 9fe81947f..eb7178cd3 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -41,6 +41,7 @@ def manager_init() -> None:
     ("OpenpilotEnabledToggle", "1"),
     ("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)),
     ("DisableLogging", "0"),
+    ("dp_lon_no_gas_gating", "0"),
   ]
 
   if params.get_bool("RecordFrontLock"):