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Rivian: Add stalk down ACC behavior to match stock Rivian (#363)

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* add Rivian Stock feature

* Update opendbc/sunnypilot/car/rivian/carstate_ext.py

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
This commit is contained in:
Lukas
2026-02-05 04:59:39 +01:00
committed by GitHub
parent 167d06d408
commit aa208b4619
2 changed files with 10 additions and 0 deletions
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1
opendbc/dbc/rivian_primary_actuator.dbc
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@@ -881,6 +881,7 @@ VAL_ 354 VDM_AdasFaultStatus 0 "VDM_AdasFlaultStatus_No_Fault" 1 "VDM_AdasFaultS
VAL_ 354 VDM_AdasDriverModeStatus 0 "VDM_AdasDriverModeStatus_Human" 1 "VDM_AdasDriverModeStatus_Adas" 2 "VDM_AdasDriverModeStatus_Reserved" 3 "VDM_AdasDriverModeStatus_Sna";
VAL_ 354 VDM_AdasInterfaceStatus 0 "VDM_AdasInterfaceStatus_Unavailable" 1 "VDM_AdasInterfaceStatus_Available" 2 "VDM_AdasInterfaceStatus_Enabled" 3 "VDM_AdasInterfaceStatus_Faulted";
VAL_ 354 VDM_AdasVehicleHoldStatus 0 "VDM_AdasVehicleHoldStatus_NotHold" 1 "VDM_AdasVehicleHoldStatus_Hold";
VAL_ 354 VDM_UserAdasRequest 0 "IDLE" 1 "UP_1" 2 "UP_2" 3 "DOWN_1" 4 "DOWN_2";
VAL_ 357 VDM_AdasStalkGapAdjust 0 "VDM_AdasStalkGapAdjust_No_Required" 1 "VDM_AdasStalkGapAdjust_GapDecrement" 2 "VDM_AdasStalkGapAdjust_GapIncrement";
VAL_ 357 VDM_AdasStalkAccCancelRes 0 "VDM_AdasStalkAccCancelRes_NoRequired" 1 "VDM_AdasStalkAccCancelRes_Cancel" 2 "VDM_AdasStalkAccCancelRes_Resume";
VAL_ 357 VDM_AdasStalkAutonomyButton 0 "VDM_AdasStalkAutonomyButton_No_Required" 1 "VDM_AdasStalkAutonomyButton_Pressed";

9
opendbc/sunnypilot/car/rivian/carstate_ext.py
View File

@@ -30,10 +30,12 @@ class CarStateExt:
self.distance_button = 0
self.increase_counter = 0
self.decrease_counter = 0
self.stalk_down_counter = 0
def update_longitudinal_upgrade(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
cp_park = can_parsers[Bus.alt]
cp_adas = can_parsers[Bus.adas]
cp = can_parsers[Bus.pt]
prev_increase_button = self.increase_button
prev_decrease_button = self.decrease_button
@@ -73,6 +75,13 @@ class CarStateExt:
if not ret.cruiseState.enabled:
self.set_speed = ret.vEgoCluster
# VDM_UserAdasRequest: 0=IDLE, 1=UP_1, 2=UP_2, 3=DOWN_1, 4=DOWN_2
stalk_down = int(cp.vl["VDM_AdasSts"]["VDM_UserAdasRequest"]) in (3, 4)
self.stalk_down_counter = self.stalk_down_counter + 1 if stalk_down else 0
if self.stalk_down_counter == 50:
# Mimic Rivian ACC: holding stalk 0.5s sets speed to current speed (never decreases)
self.set_speed = max(self.set_speed, ret.vEgoCluster)
self.set_speed = max(MIN_SET_SPEED, min(self.set_speed, MAX_SET_SPEED))
ret.cruiseState.speed = self.set_speed