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Acceleration profiles

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Added toggle to use DragonPilot's acceleration 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
2024-01-12 22:39:30 -07:00
parent 7308c1b35c
commit 3d6097b6a6
35 changed files with 141 additions and 47 deletions
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2
panda/board/safety/safety_honda.h
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@@ -12,7 +12,7 @@ const int HONDA_GAS_INTERCEPTOR_THRESHOLD = 492;
#define HONDA_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + (GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2U) // avg between 2 tracks
const LongitudinalLimits HONDA_BOSCH_LONG_LIMITS = {
.max_accel = 200, // accel is used for brakes
.max_accel = 400, // accel is used for brakes
.min_accel = -350,
.max_gas = 2000,

2
panda/board/safety/safety_hyundai.h
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@@ -21,7 +21,7 @@ const SteeringLimits HYUNDAI_STEERING_LIMITS = HYUNDAI_LIMITS(384, 3, 7);
const SteeringLimits HYUNDAI_STEERING_LIMITS_ALT = HYUNDAI_LIMITS(270, 2, 3);
const LongitudinalLimits HYUNDAI_LONG_LIMITS = {
.max_accel = 200, // 1/100 m/s2
.max_accel = 400, // 1/100 m/s2
.min_accel = -350, // 1/100 m/s2
};

2
panda/board/safety/safety_toyota.h
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@@ -33,7 +33,7 @@ const int TOYOTA_LTA_MAX_DRIVER_TORQUE = 150;
// longitudinal limits
const LongitudinalLimits TOYOTA_LONG_LIMITS = {
.max_accel = 2000, // 2.0 m/s2
.max_accel = 4000, // 4.0 m/s2
.min_accel = -3500, // -3.5 m/s2
};

6
panda/board/safety/safety_volkswagen_mqb.h
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@@ -15,7 +15,7 @@ const SteeringLimits VOLKSWAGEN_MQB_STEERING_LIMITS = {
// longitudinal limits
// acceleration in m/s2 * 1000 to avoid floating point math
const LongitudinalLimits VOLKSWAGEN_MQB_LONG_LIMITS = {
.max_accel = 2000,
.max_accel = 4000,
.min_accel = -3500,
.inactive_accel = 3010, // VW sends one increment above the max range when inactive
};
@@ -231,7 +231,9 @@ static bool volkswagen_mqb_tx_hook(CANPacket_t *to_send) {
desired_accel = (((GET_BYTE(to_send, 7) << 3) | ((GET_BYTE(to_send, 6) & 0xE0U) >> 5)) * 5U) - 7220U;
}
violation |= longitudinal_accel_checks(desired_accel, VOLKSWAGEN_MQB_LONG_LIMITS);
if (desired_accel != 0) {
violation |= longitudinal_accel_checks(desired_accel, VOLKSWAGEN_MQB_LONG_LIMITS);
}
if (violation) {
tx = false;

2
panda/board/safety/safety_volkswagen_pq.h
View File

@@ -15,7 +15,7 @@ const SteeringLimits VOLKSWAGEN_PQ_STEERING_LIMITS = {
// longitudinal limits
// acceleration in m/s2 * 1000 to avoid floating point math
const LongitudinalLimits VOLKSWAGEN_PQ_LONG_LIMITS = {
.max_accel = 2000,
.max_accel = 4000,
.min_accel = -3500,
.inactive_accel = 3010, // VW sends one increment above the max range when inactive
};