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Acceleration/deceleration profiles

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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
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5
selfdrive/car/hyundai/carcontroller.py
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@@ -78,7 +78,10 @@ class CarController:
self.apply_steer_last = apply_steer
# accel + longitudinal
accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
if frogpilot_variables.sport_plus:
accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX_PLUS)
else:
accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
stopping = actuators.longControlState == LongCtrlState.stopping
set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH)