selfdrived: prompt max regen when planned decel exceeds envelope - #13
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controlsd clips the planner request to the pre-AP regen envelope before the car sees it, so a lead braking harder than the envelope allows produced no prompt even though the driver needed to add brake. Tinkla surfaced this case naturally because its pedal PID saturated at the rail; VDAS clamps upstream, hiding it. Read the unclamped plan in selfdrived and raise the same pedalMaxRegen prompt through a saturating evidence counter. Replayed against the 7/21-7/22 Montana logs: three fires, all sustained high-speed decels delivering 1+ m/s2 short of plan; silent otherwise.
opendbc_repo -> regen-prompt-fix branch tip (6840f8f2), pending NotAutopilot/opendbc#3. Points at a real, pushed commit; re-check after that PR merges in case the merge strategy produces a different nap-dev SHA for the same change.
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controlsd clips the planner request to the pre-AP regen envelope before the
car sees it, so a lead braking harder than the envelope allows produced no
prompt even though the driver needed to add brake. Tinkla surfaced this case
naturally because its pedal PID saturated at the rail; VDAS clamps upstream,
hiding it. Read the unclamped plan in selfdrived and raise the same
pedalMaxRegen prompt through a saturating evidence counter.
Companion to NotAutopilot/opendbc#3 (regen under-delivery gate reachability
fix). The opendbc gitlink here points at that PR's branch tip (6840f8f2) —
if #3 merges via squash/rebase instead of a merge commit, this gitlink needs
a follow-up bump to the resulting nap-dev SHA before merging this one.
Replayed against the 7/21-7/22 Montana logs: three fires, all sustained
high-speed decels delivering 1+ m/s2 short of plan; silent otherwise.