experimental mode: gate nav (#29007)

* first draft copy, needs updates

* gate behind exp mode

* can be one line

* this is no longer true

* toggle isn't just e2e long now, rename

* don't enable/disable

* kinda works!

* remove old giant qstring

* comment clean up

* similar breakpoint

* more clean up

* fixup onroad

* preserve planner behavior, and we don't need to look at confirmed param if we're onroad

* update translations

* vanish translations

* use scene for op long

* lowercase!

* updated copy

* need to check longitudinal here now too

* clean up!

* here is better

* used

* no nav emoji

* don't check param if not valid

* revert this

revert this

* ed

* revert experimental mode longitudinal checks (still need to revert toggle change)

* revert

* logic works

* revert test

* fix

* update translation

* fix (reset and update)

selfdrive/modeld/modeld.cc

@@ -62,6 +62,8 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl
   PubMaster pm({"modelV2", "cameraOdometry"});
   SubMaster sm({"lateralPlan", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel"});
 
+  Params params;
+
   // setup filter to track dropped frames
   FirstOrderFilter frame_dropped_filter(0., 10., 1. / MODEL_FREQ);
 
@@ -140,9 +142,10 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl
     // Enable/disable nav features
     uint64_t timestamp_llk = sm["navModel"].getNavModel().getLocationMonoTime();
     bool nav_valid = sm["navModel"].getValid() && (nanos_since_boot() - timestamp_llk < 1e9);
-    if (!nav_enabled && nav_valid) {
+    bool use_nav = nav_valid && params.getBool("ExperimentalMode");
+    if (!nav_enabled && use_nav) {
       nav_enabled = true;
-    } else if (nav_enabled && !nav_valid) {
+    } else if (nav_enabled && !use_nav) {
       memset(nav_features, 0, sizeof(float)*NAV_FEATURE_LEN);
       nav_enabled = false;
     }

selfdrive/ui/qt/offroad/settings.cc

@@ -131,11 +131,16 @@ void TogglesPanel::updateToggles() {
                                           "<h4>%2</h4><br>"
                                           "%3<br>"
                                           "<h4>%4</h4><br>"
-                                          "%5")
+                                          "%5<br>"
+                                          "<h4>%6</h4><br>"
+                                          "%7")
                                   .arg(tr("openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below:"))
                                   .arg(tr("🌮 End-to-End Longitudinal Control 🌮"))
                                   .arg(tr("Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. "
                                        "Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected."))
+                                  .arg(tr("Navigate on openpilot"))
+                                  .arg(tr("When navigation has a destination, openpilot will input the map information into the model. This generally improves behavior and allows openpilot to keep left or right appropriately at forks/exits and take turns. "
+                                          "Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected."))
                                   .arg(tr("New Driving Visualization"))
                                   .arg(tr("The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner."));
 

selfdrive/ui/translations/main_de.ts

@@ -1131,6 +1131,14 @@ This may take up to a minute.</source>
         <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Navigate on openpilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When navigation has a destination, openpilot will input the map information into the model. This generally improves behavior and allows openpilot to keep left or right appropriately at forks/exits and take turns. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_ja.ts

@@ -1123,6 +1123,14 @@ This may take up to a minute.</source>
         <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Navigate on openpilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When navigation has a destination, openpilot will input the map information into the model. This generally improves behavior and allows openpilot to keep left or right appropriately at forks/exits and take turns. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_ko.ts

@@ -1125,6 +1125,14 @@ This may take up to a minute.</source>
         <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
         <translation>openpilot 롱컨 제어의 알파 버전은 비 릴리스 분기에서 실험 모드와 함께 테스트할 수 있습니다.</translation>
     </message>
+    <message>
+        <source>Navigate on openpilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When navigation has a destination, openpilot will input the map information into the model. This generally improves behavior and allows openpilot to keep left or right appropriately at forks/exits and take turns. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_pt-BR.ts

@@ -1129,6 +1129,14 @@ Isso pode levar até um minuto.</translation>
         <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
         <translation>Uma versão embrionária do controle longitudinal openpilot pode ser testada em conjunto com o modo Experimental, em branches que não sejam de produção.</translation>
     </message>
+    <message>
+        <source>Navigate on openpilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When navigation has a destination, openpilot will input the map information into the model. This generally improves behavior and allows openpilot to keep left or right appropriately at forks/exits and take turns. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -1123,6 +1123,14 @@ This may take up to a minute.</source>
         <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Navigate on openpilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When navigation has a destination, openpilot will input the map information into the model. This generally improves behavior and allows openpilot to keep left or right appropriately at forks/exits and take turns. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -1125,6 +1125,14 @@ This may take up to a minute.</source>
         <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
         <translation>在正式 (release) 版以外的分支上可以測試 openpilot 縱向控制的 Alpha 版本，以及實驗模式。</translation>
     </message>
+    <message>
+        <source>Navigate on openpilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When navigation has a destination, openpilot will input the map information into the model. This generally improves behavior and allows openpilot to keep left or right appropriately at forks/exits and take turns. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>