Acceleration profiles

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>

selfdrive/car/ford/carcontroller.py

@@ -35,7 +35,7 @@ class CarController:
     self.lkas_enabled_last = False
     self.steer_alert_last = False
 
-  def update(self, CC, CS, now_nanos):
+  def update(self, CC, CS, now_nanos, sport_plus):
     can_sends = []
 
     actuators = CC.actuators
@@ -85,7 +85,10 @@ 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
-      accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
+      if 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:
         gas = CarControllerParams.INACTIVE_GAS

selfdrive/car/ford/interface.py

@@ -112,5 +112,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)
+  def apply(self, c, now_nanos, sport_plus):
+    return self.CC.update(c, self.CS, now_nanos, sport_plus)

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