Acceleration/deceleration profiles

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>

common/params.cc

@@ -210,8 +210,10 @@ std::unordered_map<std::string, uint32_t> keys = {
 
     // FrogPilot parameters
     {"AccelerationPath", PERSISTENT},
+    {"AccelerationProfile", PERSISTENT},
     {"CustomAlerts", PERSISTENT},
     {"CustomUI", PERSISTENT},
+    {"DecelerationProfile", PERSISTENT},
     {"FrogPilotTogglesUpdated", PERSISTENT},
     {"FrogsGoMoo", PERSISTENT},
     {"LateralTune", PERSISTENT},

panda/board/safety/safety_gm.h

@@ -16,6 +16,13 @@ const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
   .max_brake = 400,
 };
 
+const LongitudinalLimits GM_ASCM_LONG_LIMITS_SPORT = {
+  .max_gas = 8191,
+  .min_gas = 1404,
+  .inactive_gas = 1404,
+  .max_brake = 400,
+};
+
 const LongitudinalLimits GM_CAM_LONG_LIMITS = {
   .max_gas = 3400,
   .min_gas = 1514,
@@ -23,6 +30,13 @@ const LongitudinalLimits GM_CAM_LONG_LIMITS = {
   .max_brake = 400,
 };
 
+const LongitudinalLimits GM_CAM_LONG_LIMITS_SPORT = {
+  .max_gas = 8848,
+  .min_gas = 1514,
+  .inactive_gas = 1554,
+  .max_brake = 400,
+};
+
 const LongitudinalLimits *gm_long_limits;
 
 const int GM_STANDSTILL_THRSLD = 10;  // 0.311kph
@@ -215,12 +229,22 @@ static int gm_fwd_hook(int bus_num, int addr) {
 }
 
 static safety_config gm_init(uint16_t param) {
+  sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX;
+
   gm_hw = GET_FLAG(param, GM_PARAM_HW_CAM) ? GM_CAM : GM_ASCM;
 
   if (gm_hw == GM_ASCM) {
+    if (sport_mode) {
+      gm_long_limits = &GM_ASCM_LONG_LIMITS_SPORT;
+    } else {
       gm_long_limits = &GM_ASCM_LONG_LIMITS;
+    }
   } else if (gm_hw == GM_CAM) {
+    if (sport_mode) {
+      gm_long_limits = &GM_CAM_LONG_LIMITS_SPORT;
+    } else {
       gm_long_limits = &GM_CAM_LONG_LIMITS;
+    }
   } else {
   }
 

panda/board/safety/safety_honda.h

@@ -19,6 +19,14 @@ const LongitudinalLimits HONDA_BOSCH_LONG_LIMITS = {
   .inactive_gas = -30000,
 };
 
+const LongitudinalLimits HONDA_BOSCH_LONG_LIMITS_SPORT = {
+  .max_accel = 400,   // accel is used for brakes
+  .min_accel = -350,
+
+  .max_gas = 2000,
+  .inactive_gas = -30000,
+};
+
 const LongitudinalLimits HONDA_NIDEC_LONG_LIMITS = {
   .max_gas = 198,  // 0xc6
   .max_brake = 255,
@@ -270,6 +278,8 @@ static void honda_rx_hook(const CANPacket_t *to_push) {
 }
 
 static bool honda_tx_hook(const CANPacket_t *to_send) {
+  sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX;
+
   bool tx = true;
   int addr = GET_ADDR(to_send);
   int bus = GET_BUS(to_send);
@@ -310,8 +320,13 @@ static bool honda_tx_hook(const CANPacket_t *to_send) {
     gas = to_signed(gas, 16);
 
     bool violation = false;
+    if (sport_mode) {
+      violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS_SPORT);
+      violation |= longitudinal_gas_checks(gas, HONDA_BOSCH_LONG_LIMITS_SPORT);
+    } else {
       violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS);
       violation |= longitudinal_gas_checks(gas, HONDA_BOSCH_LONG_LIMITS);
+    }
     if (violation) {
       tx = false;
     }
@@ -323,7 +338,11 @@ static bool honda_tx_hook(const CANPacket_t *to_send) {
     accel = to_signed(accel, 12);
 
     bool violation = false;
+    if (sport_mode) {
+      violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS_SPORT);
+    } else {
       violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS);
+    }
     if (violation) {
       tx = false;
     }

panda/board/safety/safety_hyundai.h

@@ -25,6 +25,11 @@ const LongitudinalLimits HYUNDAI_LONG_LIMITS = {
   .min_accel = -350,  // 1/100 m/s2
 };
 
+const LongitudinalLimits HYUNDAI_LONG_LIMITS_SPORT = {
+  .max_accel = 400,   // 1/100 m/s2
+  .min_accel = -350,  // 1/100 m/s2
+};
+
 const CanMsg HYUNDAI_TX_MSGS[] = {
   {0x340, 0, 8}, // LKAS11 Bus 0
   {0x4F1, 0, 4}, // CLU11 Bus 0
@@ -215,6 +220,8 @@ static void hyundai_rx_hook(const CANPacket_t *to_push) {
 }
 
 static bool hyundai_tx_hook(const CANPacket_t *to_send) {
+  sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX;
+
   bool tx = true;
   int addr = GET_ADDR(to_send);
 
@@ -239,8 +246,13 @@ static bool hyundai_tx_hook(const CANPacket_t *to_send) {
 
     bool violation = false;
 
+    if (sport_mode) {
+      violation |= longitudinal_accel_checks(desired_accel_raw, HYUNDAI_LONG_LIMITS_SPORT);
+      violation |= longitudinal_accel_checks(desired_accel_val, HYUNDAI_LONG_LIMITS_SPORT);
+    } else {
       violation |= longitudinal_accel_checks(desired_accel_raw, HYUNDAI_LONG_LIMITS);
       violation |= longitudinal_accel_checks(desired_accel_val, HYUNDAI_LONG_LIMITS);
+    }
     violation |= (aeb_decel_cmd != 0);
     violation |= aeb_req;
 

panda/board/safety/safety_toyota.h

@@ -37,6 +37,11 @@ const LongitudinalLimits TOYOTA_LONG_LIMITS = {
   .min_accel = -3500,  // -3.5 m/s2
 };
 
+const LongitudinalLimits TOYOTA_LONG_LIMITS_SPORT = {
+  .max_accel = 4000,   // 4.0 m/s2
+  .min_accel = -3500,  // -3.5 m/s2
+};
+
 // panda interceptor threshold needs to be equivalent to openpilot threshold to avoid controls mismatches
 // If thresholds are mismatched then it is possible for panda to see the gas fall and rise while openpilot is in the pre-enabled state
 // Threshold calculated from DBC gains: round((((15 + 75.555) / 0.159375) + ((15 + 151.111) / 0.159375)) / 2) = 805
@@ -228,6 +233,8 @@ static void toyota_rx_hook(const CANPacket_t *to_push) {
 }
 
 static bool toyota_tx_hook(const CANPacket_t *to_send) {
+  sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX;
+
   bool tx = true;
   int addr = GET_ADDR(to_send);
   int bus = GET_BUS(to_send);
@@ -248,7 +255,11 @@ static bool toyota_tx_hook(const CANPacket_t *to_send) {
       desired_accel = to_signed(desired_accel, 16);
 
       bool violation = false;
+      if (sport_mode) {
+        violation |= longitudinal_accel_checks(desired_accel, TOYOTA_LONG_LIMITS_SPORT);
+      } else {
         violation |= longitudinal_accel_checks(desired_accel, TOYOTA_LONG_LIMITS);
+      }
 
       // only ACC messages that cancel are allowed when openpilot is not controlling longitudinal
       if (toyota_stock_longitudinal) {

panda/board/safety/safety_volkswagen_mqb.h

@@ -20,6 +20,12 @@ const LongitudinalLimits VOLKSWAGEN_MQB_LONG_LIMITS = {
   .inactive_accel = 3010,  // VW sends one increment above the max range when inactive
 };
 
+const LongitudinalLimits VOLKSWAGEN_MQB_LONG_LIMITS_SPORT = {
+  .max_accel = 4000,
+  .min_accel = -3500,
+  .inactive_accel = 3010,  // VW sends one increment above the max range when inactive
+};
+
 #define MSG_ESP_19      0x0B2   // RX from ABS, for wheel speeds
 #define MSG_LH_EPS_03   0x09F   // RX from EPS, for driver steering torque
 #define MSG_ESP_05      0x106   // RX from ABS, for brake switch state
@@ -197,6 +203,8 @@ static void volkswagen_mqb_rx_hook(const CANPacket_t *to_push) {
 }
 
 static bool volkswagen_mqb_tx_hook(const CANPacket_t *to_send) {
+  sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX;
+
   int addr = GET_ADDR(to_send);
   bool tx = true;
 
@@ -234,7 +242,15 @@ static bool volkswagen_mqb_tx_hook(const CANPacket_t *to_send) {
       desired_accel = (((GET_BYTE(to_send, 7) << 3) | ((GET_BYTE(to_send, 6) & 0xE0U) >> 5)) * 5U) - 7220U;
     }
 
+    if (sport_mode) {
+      if (desired_accel != 0) {
+        violation |= longitudinal_accel_checks(desired_accel, VOLKSWAGEN_MQB_LONG_LIMITS_SPORT);
+      }
+    } else {
+      if (desired_accel != 0) {
         violation |= longitudinal_accel_checks(desired_accel, VOLKSWAGEN_MQB_LONG_LIMITS);
+      }
+    }
 
     if (violation) {
       tx = false;

panda/board/safety/safety_volkswagen_pq.h

@@ -20,6 +20,12 @@ const LongitudinalLimits VOLKSWAGEN_PQ_LONG_LIMITS = {
   .inactive_accel = 3010,  // VW sends one increment above the max range when inactive
 };
 
+const LongitudinalLimits VOLKSWAGEN_PQ_LONG_LIMITS_SPORT = {
+  .max_accel = 4000,
+  .min_accel = -3500,
+  .inactive_accel = 3010,  // VW sends one increment above the max range when inactive
+};
+
 #define MSG_LENKHILFE_3         0x0D0   // RX from EPS, for steering angle and driver steering torque
 #define MSG_HCA_1               0x0D2   // TX by OP, Heading Control Assist steering torque
 #define MSG_BREMSE_1            0x1A0   // RX from ABS, for ego speed
@@ -170,6 +176,8 @@ static void volkswagen_pq_rx_hook(const CANPacket_t *to_push) {
 }
 
 static bool volkswagen_pq_tx_hook(const CANPacket_t *to_send) {
+  sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX;
+
   int addr = GET_ADDR(to_send);
   bool tx = true;
 
@@ -198,10 +206,16 @@ static bool volkswagen_pq_tx_hook(const CANPacket_t *to_send) {
     // Signal: ACC_System.ACS_Sollbeschl (acceleration in m/s2, scale 0.005, offset -7.22)
     int desired_accel = ((((GET_BYTE(to_send, 4) & 0x7U) << 8) | GET_BYTE(to_send, 3)) * 5U) - 7220U;
 
+    if (sport_mode) {
+      if (longitudinal_accel_checks(desired_accel, VOLKSWAGEN_PQ_LONG_LIMITS_SPORT)) {
+        tx = false;
+      }
+    } else {
       if (longitudinal_accel_checks(desired_accel, VOLKSWAGEN_PQ_LONG_LIMITS)) {
         tx = false;
       }
     }
+  }
 
   // FORCE CANCEL: ensuring that only the cancel button press is sent when controls are off.
   // This avoids unintended engagements while still allowing resume spam

panda/board/safety_declarations.h

@@ -220,6 +220,7 @@ bool brake_pressed_prev = false;
 bool regen_braking = false;
 bool regen_braking_prev = false;
 bool cruise_engaged_prev = false;
+bool sport_mode = false;
 struct sample_t vehicle_speed;
 bool vehicle_moving = false;
 bool acc_main_on = false;  // referred to as "ACC off" in ISO 15622:2018

selfdrive/car/ford/carcontroller.py

@@ -85,6 +85,9 @@ class CarController:
     # send acc msg at 50Hz
     if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
       # Both gas and accel are in m/s^2, accel is used solely for braking
+      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)
       gas = accel
       if not CC.longActive or gas < CarControllerParams.MIN_GAS:

selfdrive/car/ford/values.py

@@ -32,6 +32,7 @@ class CarControllerParams:
   CURVATURE_ERROR = 0.002  # ~6 degrees at 10 m/s, ~10 degrees at 35 m/s
 
   ACCEL_MAX = 2.0               # m/s^2 max acceleration
+  ACCEL_MAX_PLUS = 4.0          # m/s^2 max acceleration
   ACCEL_MIN = -3.5              # m/s^2 max deceleration
   MIN_GAS = -0.5
   INACTIVE_GAS = -5.0

selfdrive/car/gm/carcontroller.py

@@ -92,6 +92,9 @@ class CarController:
           # ASCM sends max regen when not enabled
           self.apply_gas = self.params.INACTIVE_REGEN
           self.apply_brake = 0
+        else:
+          if frogpilot_variables.sport_plus:
+            self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS)))
           else:
             self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
           self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))

selfdrive/car/gm/interface.py

@@ -32,7 +32,10 @@ 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):
+  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.

selfdrive/car/gm/values.py

@@ -33,6 +33,7 @@ class CarControllerParams:
   # Our controller should still keep the 2 second average above
   # -3.5 m/s^2 as per planner limits
   ACCEL_MAX = 2.  # m/s^2
+  ACCEL_MAX_PLUS = 4.  # m/s^2
   ACCEL_MIN = -4.  # m/s^2
 
   def __init__(self, CP):
@@ -42,6 +43,7 @@ class CarControllerParams:
 
     if CP.carFingerprint in CAMERA_ACC_CAR:
       self.MAX_GAS = 3400
+      self.MAX_GAS_PLUS = 8848
       self.MAX_ACC_REGEN = 1514
       self.INACTIVE_REGEN = 1554
       # Camera ACC vehicles have no regen while enabled.
@@ -50,6 +52,7 @@ class CarControllerParams:
 
     else:
       self.MAX_GAS = 3072  # Safety limit, not ACC max. Stock ACC >4096 from standstill.
+      self.MAX_GAS_PLUS = 8191 # 8292 uses new bit, possible but not tested. Matches Twilsonco tw-main max
       self.MAX_ACC_REGEN = 1404  # Max ACC regen is slightly less than max paddle regen
       self.INACTIVE_REGEN = 1404
       # ICE has much less engine braking force compared to regen in EVs,
@@ -57,7 +60,9 @@ class CarControllerParams:
       max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
 
     self.GAS_LOOKUP_BP = [max_regen_acceleration, 0., self.ACCEL_MAX]
+    self.GAS_LOOKUP_BP_PLUS = [max_regen_acceleration, 0., self.ACCEL_MAX_PLUS]
     self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS]
+    self.GAS_LOOKUP_V_PLUS = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS_PLUS]
 
     self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, max_regen_acceleration]
     self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]

selfdrive/car/honda/carcontroller.py

@@ -214,6 +214,9 @@ class CarController:
         ts = self.frame * DT_CTRL
 
         if self.CP.carFingerprint in HONDA_BOSCH:
+          if frogpilot_variables.sport_plus:
+            self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX_PLUS)
+          else:
             self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX)
           self.gas = interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V)
 

selfdrive/car/honda/interface.py

@@ -20,10 +20,16 @@ BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.D
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def get_pid_accel_limits(CP, current_speed, cruise_speed):
+  def get_pid_accel_limits(CP, current_speed, cruise_speed, frogpilot_variables):
     if CP.carFingerprint in HONDA_BOSCH:
+      if frogpilot_variables.sport_plus:
+        return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX_PLUS
+      else:
         return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX
     elif CP.enableGasInterceptor:
+      if frogpilot_variables.sport_plus:
+        return CarControllerParams.NIDEC_ACCEL_MIN, CarControllerParams.NIDEC_ACCEL_MAX_PLUS
+      else:
         return CarControllerParams.NIDEC_ACCEL_MIN, CarControllerParams.NIDEC_ACCEL_MAX
     else:
       # NIDECs don't allow acceleration near cruise_speed,

selfdrive/car/honda/values.py

@@ -21,6 +21,7 @@ class CarControllerParams:
   # -3.5 m/s^2 as per planner limits
   NIDEC_ACCEL_MIN = -4.0  # m/s^2
   NIDEC_ACCEL_MAX = 1.6  # m/s^2, lower than 2.0 m/s^2 for tuning reasons
+  NIDEC_ACCEL_MAX_PLUS = 4.0  # m/s^2
 
   NIDEC_ACCEL_LOOKUP_BP = [-1., 0., .6]
   NIDEC_ACCEL_LOOKUP_V = [-4.8, 0., 2.0]
@@ -33,6 +34,7 @@ class CarControllerParams:
 
   BOSCH_ACCEL_MIN = -3.5  # m/s^2
   BOSCH_ACCEL_MAX = 2.0  # m/s^2
+  BOSCH_ACCEL_MAX_PLUS = 4.0  # m/s^2
 
   BOSCH_GAS_LOOKUP_BP = [-0.2, 2.0]  # 2m/s^2
   BOSCH_GAS_LOOKUP_V = [0, 1600]

selfdrive/car/hyundai/carcontroller.py

@@ -78,6 +78,9 @@ class CarController:
     self.apply_steer_last = apply_steer
 
     # accel + longitudinal
+    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)

selfdrive/car/hyundai/values.py

@@ -16,6 +16,7 @@ Ecu = car.CarParams.Ecu
 class CarControllerParams:
   ACCEL_MIN = -3.5 # m/s
   ACCEL_MAX = 2.0 # m/s
+  ACCEL_MAX_PLUS = 4.0 # m/s
 
   def __init__(self, CP):
     self.STEER_DELTA_UP = 3

selfdrive/car/interfaces.py

@@ -26,6 +26,7 @@ EventName = car.CarEvent.EventName
 
 MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
 ACCEL_MAX = 2.0
+ACCEL_MAX_PLUS = 4.0
 ACCEL_MIN = -3.5
 FRICTION_THRESHOLD = 0.3
 
@@ -102,7 +103,10 @@ class CarInterfaceBase(ABC):
     params = Params()
 
   @staticmethod
-  def get_pid_accel_limits(CP, current_speed, cruise_speed):
+  def get_pid_accel_limits(CP, current_speed, cruise_speed, frogpilot_variables):
+    if frogpilot_variables.sport_plus:
+      return ACCEL_MIN, ACCEL_MAX_PLUS
+    else:
       return ACCEL_MIN, ACCEL_MAX
 
   @classmethod

selfdrive/car/toyota/carcontroller.py

@@ -118,6 +118,9 @@ class CarController:
       interceptor_gas_cmd = clip(pedal_command, 0., MAX_INTERCEPTOR_GAS)
     else:
       interceptor_gas_cmd = 0.
+    if frogpilot_variables.sport_plus:
+      pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX_PLUS)
+    else:
       pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
 
     # TODO: probably can delete this. CS.pcm_acc_status uses a different signal

selfdrive/car/toyota/interface.py

@@ -14,7 +14,10 @@ SteerControlType = car.CarParams.SteerControlType
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def get_pid_accel_limits(CP, current_speed, cruise_speed):
+  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

selfdrive/car/toyota/values.py

@@ -17,6 +17,7 @@ PEDAL_TRANSITION = 10. * CV.MPH_TO_MS
 
 class CarControllerParams:
   ACCEL_MAX = 1.5  # m/s2, lower than allowed 2.0 m/s2 for tuning reasons
+  ACCEL_MAX_PLUS = 4.0  # m/s2
   ACCEL_MIN = -3.5  # m/s2
 
   STEER_STEP = 1

selfdrive/car/volkswagen/carcontroller.py

@@ -78,6 +78,9 @@ class CarController:
 
     if self.frame % self.CCP.ACC_CONTROL_STEP == 0 and self.CP.openpilotLongitudinalControl:
       acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
+      if frogpilot_variables.sport_plus:
+        accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX_PLUS) if CC.longActive else 0
+      else:
         accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0
       stopping = actuators.longControlState == LongCtrlState.stopping
       starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < self.CP.vEgoStopping)

selfdrive/car/volkswagen/values.py

@@ -35,6 +35,7 @@ class CarControllerParams:
   STEER_TIME_STUCK_TORQUE = 1.9            # EPS limits same torque to 6 seconds, reset timer 3x within that period
 
   ACCEL_MAX = 2.0                          # 2.0 m/s max acceleration
+  ACCEL_MAX_PLUS = 4.0                     # 4.0 m/s max acceleration
   ACCEL_MIN = -3.5                         # 3.5 m/s max deceleration
 
   def __init__(self, CP):

selfdrive/controls/controlsd.py

@@ -35,6 +35,8 @@ from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.version import get_short_branch
 
+from openpilot.selfdrive.frogpilot.functions.frogpilot_functions import CRUISING_SPEED
+
 SOFT_DISABLE_TIME = 3  # seconds
 LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
 LANE_DEPARTURE_THRESHOLD = 0.1
@@ -195,6 +197,8 @@ class Controls:
     if not self.disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
+    self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX
+
     # read params
     self.is_metric = self.params.get_bool("IsMetric")
     self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
@@ -706,7 +710,7 @@ class Controls:
 
     if not self.joystick_mode:
       # accel PID loop
-      pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS)
+      pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS, self.frogpilot_variables)
       t_since_plan = (self.sm.frame - self.sm.recv_frame['longitudinalPlan']) * DT_CTRL
       actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan)
 
@@ -988,6 +992,7 @@ class Controls:
     lateral_tune = self.params.get_bool("LateralTune")
 
     longitudinal_tune = self.params.get_bool("LongitudinalTune")
+    self.frogpilot_variables.sport_plus = longitudinal_tune and self.params.get_int("AccelerationProfile") == 3
 
     quality_of_life = self.params.get_bool("QOLControls")
 

selfdrive/controls/lib/longitudinal_planner.py

@@ -17,11 +17,16 @@ from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDX
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N, get_speed_error
 from openpilot.common.swaglog import cloudlog
 
+from openpilot.selfdrive.frogpilot.functions.frogpilot_functions import CRUISING_SPEED
+
 LON_MPC_STEP = 0.2  # first step is 0.2s
 A_CRUISE_MIN = -1.2
 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
 A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
 
+ACCEL_MAX_PLUS = [ACCEL_MAX, 4.0]
+ACCEL_MAX_PLUS_BP = [0., CRUISING_SPEED]
+
 # Lookup table for turns
 _A_TOTAL_MAX_V = [1.7, 3.2]
 _A_TOTAL_MAX_BP = [20., 40.]
@@ -107,17 +112,18 @@ class LongitudinalPlanner:
     # No change cost when user is controlling the speed, or when standstill
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)
 
+    accel_limits = frogpilot_planner.accel_limits
     if self.mpc.mode == 'acc':
-      accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
       accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
     else:
-      accel_limits = [ACCEL_MIN, ACCEL_MAX]
       accel_limits_turns = [ACCEL_MIN, ACCEL_MAX]
 
     if reset_state:
       self.v_desired_filter.x = v_ego
+      # Slowly ramp up the acceleration to prevent jerky behaviors from a standstill
+      max_acceleration = min(interp(v_ego, ACCEL_MAX_PLUS_BP, ACCEL_MAX_PLUS), accel_limits[1])
       # Clip aEgo to cruise limits to prevent large accelerations when becoming active
-      self.a_desired = clip(sm['carState'].aEgo, accel_limits[0], accel_limits[1])
+      self.a_desired = clip(sm['carState'].aEgo, accel_limits[0], max_acceleration)
 
     # Prevent divergence, smooth in current v_ego
     self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))

selfdrive/frogpilot/functions/frogpilot_functions.py

@@ -12,6 +12,34 @@ CRUISING_SPEED = 5  # Roughly the speed cars go when not touching the gas while
 PROBABILITY = 0.6   # 60% chance of condition being true
 THRESHOLD = 5       # Time threshold (0.25s)
 
+# Acceleration profiles - Credit goes to the DragonPilot team!
+                 # MPH = [0., 18,  36,  63,  94]
+A_CRUISE_MIN_BP_CUSTOM = [0., 8., 16., 28., 42.]
+                 # MPH = [0., 6.71, 13.4, 17.9, 24.6, 33.6, 44.7, 55.9, 67.1, 123]
+A_CRUISE_MAX_BP_CUSTOM = [0.,    3,   6.,   8.,  11.,  15.,  20.,  25.,  30., 55.]
+
+A_CRUISE_MIN_VALS_ECO = [-0.001, -0.010, -0.28, -0.56, -0.56]
+A_CRUISE_MAX_VALS_ECO = [3.5, 3.2, 2.3, 2.0, 1.15, .80, .58, .36, .30, .091]
+
+A_CRUISE_MIN_VALS_SPORT = [-0.50, -0.52, -0.55, -0.57, -0.60]
+A_CRUISE_MAX_VALS_SPORT = [3.5, 3.5, 3.3, 2.8, 1.5, 1.0, .75, .6, .38, .2]
+
 class FrogPilotFunctions:
   def __init__(self) -> None:
     self.params = Params()
+
+  @staticmethod
+  def get_min_accel_eco(v_ego):
+    return interp(v_ego, A_CRUISE_MIN_BP_CUSTOM, A_CRUISE_MIN_VALS_ECO)
+
+  @staticmethod
+  def get_max_accel_eco(v_ego):
+    return interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_ECO)
+
+  @staticmethod
+  def get_min_accel_sport(v_ego):
+    return interp(v_ego, A_CRUISE_MIN_BP_CUSTOM, A_CRUISE_MIN_VALS_SPORT)
+
+  @staticmethod
+  def get_max_accel_sport(v_ego):
+    return interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT)

selfdrive/frogpilot/functions/frogpilot_planner.py

@@ -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

selfdrive/frogpilot/ui/control_settings.cc

@@ -5,6 +5,8 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
     {"LateralTune", "Lateral Tuning", "Modify openpilot's steering behavior.", "../frogpilot/assets/toggle_icons/icon_lateral_tune.png"},
 
     {"LongitudinalTune", "Longitudinal Tuning", "Modify openpilot's acceleration and braking behavior.", "../frogpilot/assets/toggle_icons/icon_longitudinal_tune.png"},
+    {"AccelerationProfile", "Acceleration Profile", "Change the acceleration rate to be either sporty or eco-friendly.", ""},
+    {"DecelerationProfile", "Deceleration Profile", "Change the deceleration rate to be either sporty or eco-friendly.", ""},
 
     {"QOLControls", "Quality of Life", "Miscellaneous quality of life changes to improve your overall openpilot experience.", "../frogpilot/assets/toggle_icons/quality_of_life.png"},
   };
@@ -31,6 +33,21 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
         }
       });
       toggle = longitudinalTuneToggle;
+    } else if (param == "AccelerationProfile") {
+      std::vector<QString> profileOptions{tr("Standard"), tr("Eco"), tr("Sport"), tr("Sport+")};
+      FrogPilotButtonParamControl *profileSelection = new FrogPilotButtonParamControl(param, title, desc, icon, profileOptions);
+      toggle = profileSelection;
+
+      QObject::connect(static_cast<FrogPilotButtonParamControl*>(toggle), &FrogPilotButtonParamControl::buttonClicked, [this](int id) {
+        if (id == 3) {
+          FrogPilotConfirmationDialog::toggleAlert("WARNING: This maxes out openpilot's acceleration from 2.0 m/s to 4.0 m/s and may cause oscillations when accelerating!",
+          "I understand the risks.", this);
+        }
+      });
+    } else if (param == "DecelerationProfile") {
+      std::vector<QString> profileOptions{tr("Standard"), tr("Eco"), tr("Sport")};
+      FrogPilotButtonParamControl *profileSelection = new FrogPilotButtonParamControl(param, title, desc, icon, profileOptions);
+      toggle = profileSelection;
 
     } else if (param == "QOLControls") {
       FrogPilotParamManageControl *qolToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);

selfdrive/frogpilot/ui/control_settings.h

@@ -33,7 +33,7 @@ private:
   std::set<QString> fireTheBabysitterKeys = {};
   std::set<QString> laneChangeKeys = {};
   std::set<QString> lateralTuneKeys = {};
-  std::set<QString> longitudinalTuneKeys = {};
+  std::set<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile"};
   std::set<QString> mtscKeys = {};
   std::set<QString> qolKeys = {};
   std::set<QString> speedLimitControllerKeys = {};