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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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8
selfdrive/car/interfaces.py
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@@ -25,6 +25,7 @@ TorqueFromLateralAccelCallbackType = Callable[[float, car.CarParams.LateralTorqu
MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
ACCEL_MAX = 2.0
ACCEL_MAX_PLUS = 4.0
ACCEL_MIN = -3.5
FRICTION_THRESHOLD = 0.3
@@ -91,8 +92,11 @@ class CarInterfaceBase(ABC):
params = Params()
@staticmethod
def get_pid_accel_limits(CP, current_speed, cruise_speed):
return ACCEL_MIN, ACCEL_MAX
def get_pid_accel_limits(CP, current_speed, cruise_speed, sport_plus):
if sport_plus:
return ACCEL_MIN, ACCEL_MAX_PLUS
else:
return ACCEL_MIN, ACCEL_MAX
@classmethod
def get_non_essential_params(cls, candidate: str):