No Gas-Gating (NoGG) - init

common/params_keys.h

@@ -122,4 +122,5 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"Version", PERSISTENT},
     {"dp_device_last_log", CLEAR_ON_ONROAD_TRANSITION},
     {"dp_device_reset_conf", CLEAR_ON_MANAGER_START},
+    {"dp_lon_no_gas_gating", PERSISTENT},
 };

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):
@@ -135,7 +136,7 @@ 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

@@ -23,7 +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']:

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;

system/manager/manager.py

@@ -40,6 +40,7 @@ def manager_init() -> None:
     ("OpenpilotEnabledToggle", "1"),
     ("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)),
     ("DisableLogging", "0"),
+    ("dp_lon_no_gas_gating", "0"),
   ]
 
   if params.get_bool("RecordFrontLock"):