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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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16
selfdrive/car/honda/interface.py
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@@ -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)