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/honda/carcontroller.py

@@ -124,7 +124,7 @@ class CarController:
     self.brake = 0.0
     self.last_steer = 0.0
 
-  def update(self, CC, CS, now_nanos):
+  def update(self, CC, CS, now_nanos, sport_plus):
     actuators = CC.actuators
     hud_control = CC.hudControl
     conversion = hondacan.get_cruise_speed_conversion(self.CP.carFingerprint, CS.is_metric)
@@ -214,7 +214,10 @@ class CarController:
         ts = self.frame * DT_CTRL
 
         if self.CP.carFingerprint in HONDA_BOSCH:
-          self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX)
+          if 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)
 
           stopping = actuators.longControlState == LongCtrlState.stopping

selfdrive/car/honda/interface.py

@@ -19,11 +19,17 @@ 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, sport_plus):
     if CP.carFingerprint in HONDA_BOSCH:
-      return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX
+      if 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:
-      return CarControllerParams.NIDEC_ACCEL_MIN, CarControllerParams.NIDEC_ACCEL_MAX
+      if 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,
       # so limit limits of pid to prevent windup
@@ -342,5 +348,5 @@ class CarInterface(CarInterfaceBase):
 
   # pass in a car.CarControl
   # to be called @ 100hz
-  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/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]