enable experimental long

Author: lukasloetkolben

opendbc/car/rivian/carstate.py

@@ -42,10 +42,10 @@ def update(self, can_parsers) -> structs.CarState:
     ret.steerFaultTemporary = cp.vl["EPAS_AdasStatus"]["EPAS_EacErrorCode"] != 0
 
     # Cruise state
-    # speed = min(int(cp_adas.vl["ACM_tsrCmd"]["ACM_tsrSpdDisClsMain"]), 85)
-    # self.last_speed = speed if speed != 0 else self.last_speed
+    speed = min(int(cp_adas.vl["ACM_tsrCmd"]["ACM_tsrSpdDisClsMain"]), 85)
+    self.last_speed = speed if speed != 0 else self.last_speed
     ret.cruiseState.enabled = cp_cam.vl["ACM_Status"]["ACM_FeatureStatus"] == 1
-    ret.cruiseState.speed = 15 # self.last_speed * CV.MPH_TO_MS  # detected speed limit
+    ret.cruiseState.speed = self.last_speed * CV.MPH_TO_MS  # detected speed limit
     ret.cruiseState.available = True # cp.vl["VDM_AdasSts"]["VDM_AdasInterfaceStatus"] == 1
     ret.cruiseState.standstill = False # cp.vl["VDM_AdasSts"]["VDM_AdasAccelRequestAcknowledged"]
 
@@ -96,7 +96,7 @@ def get_can_parsers(CP):
 
     adas_messages = [
       ("IndicatorLights", 10),
-      # ("ACM_tsrCmd", 10),
+      ("ACM_tsrCmd", 10),
     ]
 
     return {

opendbc/car/rivian/interface.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 from opendbc.car import get_safety_config, structs
 from opendbc.car.interfaces import CarInterfaceBase
-from opendbc.car.rivian.values import CAR
+from panda import Panda
 
 
 class CarInterface(CarInterfaceBase):
@@ -20,14 +20,15 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
     ret.steerLimitTimer = 0.4
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-
     ret.steerControlType = structs.CarParams.SteerControlType.torque
     ret.radarUnavailable = True
 
-    # ret.safetyConfigs[0].safetyParam |= Panda.FLAG_RIVIAN_LONG_CONTROL
+    ret.experimentalLongitudinalAvailable = True
+    if experimental_long:
+      ret.openpilotLongitudinalControl = True
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_RIVIAN_LONG_CONTROL
+
     ret.vEgoStopping = 0.25
     ret.stopAccel = 0
 
-    ret.openpilotLongitudinalControl = False
-
     return ret