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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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7
selfdrive/car/toyota/interface.py
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@@ -14,8 +14,11 @@ SteerControlType = car.CarParams.SteerControlType
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
@staticmethod
def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):