Dynamic follow: roadtrip is now stock (commaai#349)

* 'Stock' profile is replacing 'roadtrip'

* Reduce max accel with speed, inspired by Erich

* Revert temp

* Revert revert

* revert gas

README.md

@@ -43,7 +43,7 @@ Dynamic follow works if openpilot can control your vehicle's gas and brakes (lon
 Just use the button on the button right of the screen while driving to change between these profiles:
   * [`traffic`](#Videos) - Meant to keep you a bit closer in traffic, hopefully reducing cut-ins. Always be alert, as you are with any driving assistance software.
   * `relaxed` - This is the default dynamic follow profile for casual driving.
-  * `roadtrip` - This profile is for road trips where you're mainly on two lane highways and don't want to be following particularly closely; at night for example.
+  * `stock` - This is the stock 1.8 second profile default in stock openpilot, with no dynamic follow mods. The previous roadtrip profile was closer than a *true road trip* profile, this is more in line with that intention.
   * [`auto`](#Automatic-DF-profile-switching) - The auto dynamic follow model was trained on about an hour of me manually cycling through the different profiles based on driving conditions, this profile tries to replicate those decisions entirely on its own.
 
 <p align="center">
@@ -66,7 +66,7 @@ Resources:
 ### Lane Speed alerts
 This feature alerts you of faster-travelling adjacent lanes and can be configured using the on-screen *LS* button on the bottom right to either be disabled, audible, or silent.
 
-The idea behind this feature is since we often become very relaxed behind the wheel when being driven by openpilot, we don't always notice when we've become stuck behind a slower-moving vehicle. When either the left or right adjacent lane is moving faster than your current lane, LaneSpeed alerts the user that a faster lane is available so that they can make a lane change, overtaking the slower current lane. Thus saving time in the long run on long roadtrips or in general highway driving!
+The idea behind this feature is since we often become very relaxed behind the wheel when being driven by openpilot, we don't always notice when we've become stuck behind a slower-moving vehicle. When either the left or right adjacent lane is moving faster than your current lane, LaneSpeed alerts the user that a faster lane is available so that they can make a lane change, overtaking the slower current lane. Thus saving time in the long run on long road trips or in general highway driving!
 
 The original idea is thanks to [Greengree#5537](https://github.com/greengree) on Discord. This feature is available at 35 mph and up.
 

SA_RELEASES.md

@@ -4,6 +4,8 @@ Stock Additions v0.6.6 - 2020-02-27 (0.8.2)
  * Temporary removal of LaneSpeed and DynamicCameraOffset features
    * They used the now-removed lane line polys
  * Remove slowdown_for_curves param
+ * Roadtrip profile is now stock longitudinal for smoother road trips
+   * No dynamic follow distance modiciations, all stock
 
 Stock Additions v0.6.5 - 2020-12-07 (0.8)
 ===

common/op_params.py

@@ -60,8 +60,8 @@ def __init__(self):
     """
 
     self.fork_params = {'camera_offset': Param(0.06, NUMBER, 'Your camera offset to use in lane_planner.py', live=True),
-                        'dynamic_follow': Param('auto', str, 'Can be: (\'traffic\', \'relaxed\', \'roadtrip\'): Left to right increases in following distance.\n'
-                                                             'All profiles support dynamic follow so you\'ll get your preferred distance while\n'
+                        'dynamic_follow': Param('auto', str, 'Can be: (\'traffic\', \'relaxed\', \'stock\'): Left to right increases in following distance.\n'
+                                                             'All profiles support dynamic follow except stock so you\'ll get your preferred distance while\n'
                                                              'retaining the smoothness and safety of dynamic follow!'),
                         'global_df_mod': Param(1.0, NUMBER, 'The multiplier for the current distance used by dynamic follow. The range is limited from 0.85 to 2.5\n'
                                                             'Smaller values will get you closer, larger will get you farther\n'

selfdrive/controls/lib/dynamic_follow/__init__.py

@@ -274,8 +274,8 @@ def _get_TR(self):
     self.last_effective_profile = df_profile
 
     x_vel = [0.0, 1.8627, 3.7253, 5.588, 7.4507, 9.3133, 11.5598, 13.645, 22.352, 31.2928, 33.528, 35.7632, 40.2336]  # velocities
-    if df_profile == self.df_profiles.roadtrip:
-      y_dist = [1.6428, 1.646, 1.6514, 1.6591, 1.6744, 1.6992, 1.7422, 1.7739, 1.8335, 1.8687, 1.8755, 1.8833, 1.8961]  # TRs
+    if df_profile == self.df_profiles.stock:
+      return 1.8
     elif df_profile == self.df_profiles.traffic:  # for in congested traffic
       x_vel = [0.0, 1.892, 3.7432, 5.8632, 8.0727, 10.7301, 14.343, 17.6275, 22.4049, 28.6752, 34.8858, 40.35]
       y_dist = [1.3781, 1.3791, 1.3457, 1.3134, 1.3145, 1.318, 1.3485, 1.257, 1.144, 0.979, 0.9461, 0.9156]

selfdrive/controls/lib/dynamic_follow/support.py

@@ -23,9 +23,9 @@ class dfData:
 class dfProfiles:
   traffic = 0
   relaxed = 1
-  roadtrip = 2
+  stock = 2
   auto = 3
-  to_profile = {0: 'traffic', 1: 'relaxed', 2: 'roadtrip', 3: 'auto'}
+  to_profile = {0: 'traffic', 1: 'relaxed', 2: 'stock', 3: 'auto'}
   to_idx = {v: k for k, v in to_profile.items()}
 
   default = relaxed

selfdrive/ui/ui.cc

@@ -19,7 +19,7 @@
 
 
 std::map<std::string, int> LS_TO_IDX = {{"off", 0}, {"audible", 1}, {"silent", 2}};
-std::map<std::string, int> DF_TO_IDX = {{"traffic", 0}, {"relaxed", 1}, {"roadtrip", 2}, {"auto", 3}};
+std::map<std::string, int> DF_TO_IDX = {{"traffic", 0}, {"relaxed", 1}, {"stock", 2}, {"auto", 3}};
 
 
 int write_param_float(float param, const char* param_name, bool persistent_param) {