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/gm/interface.py

@@ -30,8 +30,11 @@ NON_LINEAR_TORQUE_PARAMS = {
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def get_pid_accel_limits(CP, current_speed, cruise_speed):
-    return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
+  def get_pid_accel_limits(CP, current_speed, cruise_speed, sport_plus):
+    if 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.
   @staticmethod
@@ -291,5 +294,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c, now_nanos):
+  def apply(self, c, now_nanos, sport_plus):
     return self.CC.update(c, self.CS, now_nanos)

selfdrive/car/gm/values.py

@@ -30,6 +30,7 @@ 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):