brianhansonxyz/clearpilot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Acceleration/deceleration profiles

Browse Source 
Added toggle to use DragonPilot's acceleration/deceleration profiles.

Credit goes to DragonPilot!

https: //github.com/dragonpilot-community/dragonpilot
Co-Authored-By: eFini <16603033+efinilan@users.noreply.github.com>
Co-Authored-By: Kumar <36933347+rav4kumar@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-03-06 17:50:06 -07:00
parent f01d5fb25a
commit 121fd2d246
30 changed files with 259 additions and 31 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
selfdrive/car/gm/interface.py
View File

@@ -32,8 +32,11 @@ NEURAL_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/neural_ff_
class CarInterface(CarInterfaceBase):
@staticmethod
def get_pid_accel_limits(CP, current_speed, cruise_speed):
return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
def get_pid_accel_limits(CP, current_speed, cruise_speed, frogpilot_variables):
if frogpilot_variables.sport_plus:
return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX_PLUS
else:
return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
# Determined by iteratively plotting and minimizing error for f(angle, speed) = steer.
@staticmethod