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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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28
selfdrive/frogpilot/functions/frogpilot_planner.py
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@@ -1,6 +1,8 @@
import cereal.messaging as messaging
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car.interfaces import ACCEL_MIN, ACCEL_MAX
from openpilot.selfdrive.controls.lib.longitudinal_planner import A_CRUISE_MIN, get_max_accel
from openpilot.selfdrive.frogpilot.functions.frogpilot_functions import CRUISING_SPEED, FrogPilotFunctions
@@ -13,11 +15,35 @@ class FrogPilotPlanner:
self.v_cruise = 0
self.accel_limits = [A_CRUISE_MIN, get_max_accel(0)]
self.update_frogpilot_params(params)
def update(self, carState, controlsState, modelData, mpc, sm, v_cruise, v_ego):
enabled = controlsState.enabled
# Configure the deceleration profile
if self.deceleration_profile == 1:
min_accel = self.fpf.get_min_accel_eco(v_ego)
elif self.deceleration_profile == 2:
min_accel = self.fpf.get_min_accel_sport(v_ego)
elif mpc.mode == 'acc':
min_accel = A_CRUISE_MIN
else:
min_accel = ACCEL_MIN
# Configure the acceleration profile
if self.acceleration_profile == 1:
max_accel = self.fpf.get_max_accel_eco(v_ego)
elif self.acceleration_profile in (2, 3):
max_accel = self.fpf.get_max_accel_sport(v_ego)
elif mpc.mode == 'acc':
max_accel = get_max_accel(v_ego)
else:
max_accel = ACCEL_MAX
self.accel_limits = [min_accel, max_accel]
# Update the max allowed speed
self.v_cruise = self.update_v_cruise(carState, controlsState, enabled, modelData, v_cruise, v_ego)
@@ -47,3 +73,5 @@ class FrogPilotPlanner:
custom_ui = params.get_bool("CustomUI")
longitudinal_tune = params.get_bool("LongitudinalTune")
self.acceleration_profile = params.get_int("AccelerationProfile") if longitudinal_tune else 0
self.deceleration_profile = params.get_int("DecelerationProfile") if longitudinal_tune else 0