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/toyota/carcontroller.py

@@ -45,7 +45,7 @@ class CarController:
 
   def update_frogpilot_variables(self, params):
 
-  def update(self, CC, CS, now_nanos):
+  def update(self, CC, CS, now_nanos, sport_plus):
     actuators = CC.actuators
     hud_control = CC.hudControl
     pcm_cancel_cmd = CC.cruiseControl.cancel
@@ -118,7 +118,10 @@ class CarController:
       interceptor_gas_cmd = clip(pedal_command, 0., MAX_INTERCEPTOR_GAS)
     else:
       interceptor_gas_cmd = 0.
-    pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
+    if sport_plus:
+      pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX_PLUS)
+    else:
+      pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
 
     # TODO: probably can delete this. CS.pcm_acc_status uses a different signal
     # than CS.cruiseState.enabled. confirm they're not meaningfully different

selfdrive/car/toyota/interface.py

@@ -15,8 +15,11 @@ SteerControlType = car.CarParams.SteerControlType
 
 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
 
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
@@ -316,5 +319,5 @@ 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/toyota/values.py

@@ -17,6 +17,7 @@ PEDAL_TRANSITION = 10. * CV.MPH_TO_MS
 
 class CarControllerParams:
   ACCEL_MAX = 1.5  # m/s2, lower than allowed 2.0 m/s2 for tuning reasons
+  ACCEL_MAX_PLUS = 4.0
   ACCEL_MIN = -3.5  # m/s2
 
   STEER_STEP = 1