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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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7
selfdrive/car/hyundai/carcontroller.py
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@@ -56,7 +56,7 @@ class CarController:
self.car_fingerprint = CP.carFingerprint
self.last_button_frame = 0
def update(self, CC, CS, now_nanos):
def update(self, CC, CS, now_nanos, sport_plus):
actuators = CC.actuators
hud_control = CC.hudControl
@@ -78,7 +78,10 @@ class CarController:
self.apply_steer_last = apply_steer
# accel + longitudinal
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)
stopping = actuators.longControlState == LongCtrlState.stopping
set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH)