rename param

common/params_keys.h

@@ -34,7 +34,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"DoReboot", CLEAR_ON_MANAGER_START},
     {"DoShutdown", CLEAR_ON_MANAGER_START},
     {"DoUninstall", CLEAR_ON_MANAGER_START},
-    {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY},
+    {"AlphaLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY},
     {"ExperimentalMode", PERSISTENT},
     {"ExperimentalModeConfirmed", PERSISTENT},
     {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},

selfdrive/car/card.py

@@ -89,7 +89,7 @@ class Car:
         if len(can.can) > 0:
           break
 
-      alpha_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled")
+      alpha_long_allowed = self.params.get_bool("AlphaLongitudinalEnabled")
       num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
 
       cached_params = None

selfdrive/selfdrived/selfdrived.py

@@ -90,7 +90,7 @@ class SelfdriveD:
 
     # cleanup old params
     if not self.CP.alphaLongitudinalAvailable:
-      self.params.remove("ExperimentalLongitudinalEnabled")
+      self.params.remove("AlphaLongitudinalEnabled")
     if not self.CP.openpilotLongitudinalControl:
       self.params.remove("ExperimentalMode")
 

selfdrive/test/process_replay/process_replay.py

@@ -363,7 +363,7 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
       with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
         cached_params = _cached_params
 
-    CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"), cached_params=cached_params).CP
+    CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("AlphaLongitudinalEnabled"), cached_params=cached_params).CP
 
     if not params.get_bool("DisengageOnAccelerator"):
       CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
@@ -777,7 +777,7 @@ def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=Non
         params_dict["CarParamsCache"] = CP.as_builder().to_bytes()
 
     if CP.openpilotLongitudinalControl:
-      params_dict["ExperimentalLongitudinalEnabled"] = True
+      params_dict["AlphaLongitudinalEnabled"] = True
 
     if CP.notCar:
       params_dict["JoystickDebugMode"] = True

selfdrive/ui/qt/offroad/developer_panel.cc

@@ -26,7 +26,7 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
   addItem(longManeuverToggle);
 
   experimentalLongitudinalToggle = new ParamControl(
-    "ExperimentalLongitudinalEnabled",
+    "AlphaLongitudinalEnabled",
     tr("openpilot Longitudinal Control (Alpha)"),
     QString("<b>%1</b><br><br>%2")
       .arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
@@ -69,7 +69,7 @@ void DeveloperPanel::updateToggles(bool _offroad) {
     cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
 
     if (!CP.getAlphaLongitudinalAvailable() || is_release) {
-      params.remove("ExperimentalLongitudinalEnabled");
+      params.remove("AlphaLongitudinalEnabled");
       experimentalLongitudinalToggle->setEnabled(false);
     }
 

selfdrive/ui/qt/util.cc

@@ -194,7 +194,7 @@ bool hasLongitudinalControl(const cereal::CarParams::Reader &car_params) {
   // Using the experimental longitudinal toggle, returns whether longitudinal control
   // will be active without needing a restart of openpilot
   return car_params.getAlphaLongitudinalAvailable()
-             ? Params().getBool("ExperimentalLongitudinalEnabled")
+             ? Params().getBool("AlphaLongitudinalEnabled")
              : car_params.getOpenpilotLongitudinalControl();
 }
 

tools/sim/bridge/common.py

@@ -40,7 +40,7 @@ class SimulatorBridge(ABC):
   def __init__(self, dual_camera, high_quality):
     set_params_enabled()
     self.params = Params()
-    self.params.put_bool("ExperimentalLongitudinalEnabled", True)
+    self.params.put_bool("AlphaLongitudinalEnabled", True)
 
     self.rk = Ratekeeper(100, None)