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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/controls/controlsd.py
View File

@@ -108,6 +108,8 @@ class Controls:
if not self.disengage_on_accelerator:
self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX
# read params
self.is_metric = self.params.get_bool("IsMetric")
self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
@@ -620,7 +622,7 @@ class Controls:
if not self.joystick_mode:
# accel PID loop
pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS)
pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS, self.sport_plus)
t_since_plan = (self.sm.frame - self.sm.rcv_frame['longitudinalPlan']) * DT_CTRL
actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan)
@@ -764,7 +766,7 @@ class Controls:
if not self.CP.passive and self.initialized:
# send car controls over can
now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
self.last_actuators, can_sends = self.CI.apply(CC, now_nanos)
self.last_actuators, can_sends = self.CI.apply(CC, now_nanos, self.sport_plus)
self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
CC.actuatorsOutput = self.last_actuators
if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
@@ -920,6 +922,7 @@ class Controls:
obj.update_frogpilot_params(self.params)
longitudinal_tune = self.params.get_bool("LongitudinalTune")
self.sport_plus = self.params.get_int("AccelerationProfile") == 3 and longitudinal_tune
def main():
controls = Controls()

5
selfdrive/controls/lib/longitudinal_planner.py
View File

@@ -109,7 +109,10 @@ class LongitudinalPlanner:
# No change cost when user is controlling the speed, or when standstill
prev_accel_constraint = not (reset_state or sm['carState'].standstill)
if self.mpc.mode == 'acc':
if frogpilot_planner.acceleration_profile:
accel_limits = frogpilot_planner.accel_limits
accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
elif self.mpc.mode == 'acc':
accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
else: