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

Use EV gas lookup tables

Browse Source 
Co-Authored-By: Tim Wilson <7284371+twilsonco@users.noreply.github.com>
Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent 40a36dfcde
commit 28a898f874
7 changed files with 45 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
selfdrive/car/gm/carcontroller.py
View File

@@ -6,7 +6,7 @@ from openpilot.common.realtime import DT_CTRL
from opendbc.can.packer import CANPacker
from openpilot.selfdrive.car import apply_driver_steer_torque_limits, create_gas_interceptor_command
from openpilot.selfdrive.car.gm import gmcan
from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR
from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, EV_CAR, SDGM_CAR
from openpilot.selfdrive.controls.lib.drive_helpers import apply_deadzone
from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
@@ -138,11 +138,19 @@ class CarController:
else:
# Normal operation
brake_accel = actuators.accel + self.accel_g * interp(CS.out.vEgo, BRAKE_PITCH_FACTOR_BP, BRAKE_PITCH_FACTOR_V)
if frogpilot_variables.sport_plus:
self.apply_gas = int(round(interp(accel if frogpilot_variables.long_pitch else actuators.accel, self.params.GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS)))
if self.CP.carFingerprint in EV_CAR and frogpilot_variables.use_ev_tables:
self.params.update_ev_gas_brake_threshold(CS.out.vEgo)
if frogpilot_variables.sport_plus:
self.apply_gas = int(round(interp(accel if frogpilot_variables.long_pitch else actuators.accel, self.params.EV_GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS)))
else:
self.apply_gas = int(round(interp(accel if frogpilot_variables.long_pitch else actuators.accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(brake_accel if frogpilot_variables.long_pitch else actuators.accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
else:
self.apply_gas = int(round(interp(accel if frogpilot_variables.long_pitch else actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(brake_accel if frogpilot_variables.long_pitch else actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
if frogpilot_variables.sport_plus:
self.apply_gas = int(round(interp(accel if frogpilot_variables.long_pitch else actuators.accel, self.params.GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS)))
else:
self.apply_gas = int(round(interp(accel if frogpilot_variables.long_pitch else actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(brake_accel if frogpilot_variables.long_pitch else actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
# Don't allow any gas above inactive regen while stopping
# FIXME: brakes aren't applied immediately when enabling at a stop
if stopping: