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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/toyota/carcontroller.py
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@@ -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