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>

common/params.cc

@@ -212,6 +212,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"WheeledBody", PERSISTENT},
 
     // FrogPilot parameters
+    {"AccelerationProfile", PERSISTENT},
     {"FrogPilotTogglesUpdated", PERSISTENT},
     {"LateralTune", PERSISTENT},
     {"LongitudinalTune", PERSISTENT},

panda/board/safety/safety_honda.h

@@ -12,7 +12,7 @@ const int HONDA_GAS_INTERCEPTOR_THRESHOLD = 492;
 #define HONDA_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + (GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2U)  // avg between 2 tracks
 
 const LongitudinalLimits HONDA_BOSCH_LONG_LIMITS = {
-  .max_accel = 200,   // accel is used for brakes
+  .max_accel = 400,   // accel is used for brakes
   .min_accel = -350,
 
   .max_gas = 2000,

panda/board/safety/safety_hyundai.h

@@ -21,7 +21,7 @@ const SteeringLimits HYUNDAI_STEERING_LIMITS = HYUNDAI_LIMITS(384, 3, 7);
 const SteeringLimits HYUNDAI_STEERING_LIMITS_ALT = HYUNDAI_LIMITS(270, 2, 3);
 
 const LongitudinalLimits HYUNDAI_LONG_LIMITS = {
-  .max_accel = 200,   // 1/100 m/s2
+  .max_accel = 400,   // 1/100 m/s2
   .min_accel = -350,  // 1/100 m/s2
 };
 

panda/board/safety/safety_toyota.h

@@ -33,7 +33,7 @@ const int TOYOTA_LTA_MAX_DRIVER_TORQUE = 150;
 
 // longitudinal limits
 const LongitudinalLimits TOYOTA_LONG_LIMITS = {
-  .max_accel = 2000,   // 2.0 m/s2
+  .max_accel = 4000,   // 4.0 m/s2
   .min_accel = -3500,  // -3.5 m/s2
 };
 

panda/board/safety/safety_volkswagen_mqb.h

@@ -15,7 +15,7 @@ const SteeringLimits VOLKSWAGEN_MQB_STEERING_LIMITS = {
 // longitudinal limits
 // acceleration in m/s2 * 1000 to avoid floating point math
 const LongitudinalLimits VOLKSWAGEN_MQB_LONG_LIMITS = {
-  .max_accel = 2000,
+  .max_accel = 4000,
   .min_accel = -3500,
   .inactive_accel = 3010,  // VW sends one increment above the max range when inactive
 };
@@ -231,7 +231,9 @@ static bool volkswagen_mqb_tx_hook(CANPacket_t *to_send) {
       desired_accel = (((GET_BYTE(to_send, 7) << 3) | ((GET_BYTE(to_send, 6) & 0xE0U) >> 5)) * 5U) - 7220U;
     }
 
-    violation |= longitudinal_accel_checks(desired_accel, VOLKSWAGEN_MQB_LONG_LIMITS);
+    if (desired_accel != 0) {
+      violation |= longitudinal_accel_checks(desired_accel, VOLKSWAGEN_MQB_LONG_LIMITS);
+    }
 
     if (violation) {
       tx = false;

panda/board/safety/safety_volkswagen_pq.h

@@ -15,7 +15,7 @@ const SteeringLimits VOLKSWAGEN_PQ_STEERING_LIMITS = {
 // longitudinal limits
 // acceleration in m/s2 * 1000 to avoid floating point math
 const LongitudinalLimits VOLKSWAGEN_PQ_LONG_LIMITS = {
-  .max_accel = 2000,
+  .max_accel = 4000,
   .min_accel = -3500,
   .inactive_accel = 3010,  // VW sends one increment above the max range when inactive
 };

selfdrive/car/body/interface.py

@@ -42,5 +42,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c, now_nanos):
+  def apply(self, c, now_nanos, sport_plus):
     return self.CC.update(c, self.CS, now_nanos)

selfdrive/car/chrysler/interface.py

@@ -105,5 +105,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c, now_nanos):
+  def apply(self, c, now_nanos, sport_plus):
     return self.CC.update(c, self.CS, now_nanos)

selfdrive/car/ford/carcontroller.py

@@ -35,7 +35,7 @@ class CarController:
     self.lkas_enabled_last = False
     self.steer_alert_last = False
 
-  def update(self, CC, CS, now_nanos):
+  def update(self, CC, CS, now_nanos, sport_plus):
     can_sends = []
 
     actuators = CC.actuators
@@ -85,7 +85,10 @@ class CarController:
     # send acc msg at 50Hz
     if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
       # Both gas and accel are in m/s^2, accel is used solely for braking
-      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)
       gas = accel
       if not CC.longActive or gas < CarControllerParams.MIN_GAS:
         gas = CarControllerParams.INACTIVE_GAS

selfdrive/car/ford/interface.py

@@ -112,5 +112,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c, now_nanos):
+  def apply(self, c, now_nanos, sport_plus):
-    return self.CC.update(c, self.CS, now_nanos)
+    return self.CC.update(c, self.CS, now_nanos, sport_plus)

selfdrive/car/ford/values.py

@@ -32,6 +32,7 @@ class CarControllerParams:
   CURVATURE_ERROR = 0.002  # ~6 degrees at 10 m/s, ~10 degrees at 35 m/s
 
   ACCEL_MAX = 2.0               # m/s^2 max acceleration
+  ACCEL_MAX_PLUS = 4.0          # m/s^2 max acceleration
   ACCEL_MIN = -3.5              # m/s^2 max deceleration
   MIN_GAS = -0.5
   INACTIVE_GAS = -5.0

selfdrive/car/gm/interface.py

@@ -30,8 +30,11 @@ NON_LINEAR_TORQUE_PARAMS = {
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def get_pid_accel_limits(CP, current_speed, cruise_speed):
+  def get_pid_accel_limits(CP, current_speed, cruise_speed, sport_plus):
-    return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
+    if sport_plus:
+      return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX_PLUS
+    else:
+      return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
 
   # Determined by iteratively plotting and minimizing error for f(angle, speed) = steer.
   @staticmethod
@@ -291,5 +294,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c, now_nanos):
+  def apply(self, c, now_nanos, sport_plus):
     return self.CC.update(c, self.CS, now_nanos)

selfdrive/car/gm/values.py

@@ -30,6 +30,7 @@ class CarControllerParams:
   # Our controller should still keep the 2 second average above
   # -3.5 m/s^2 as per planner limits
   ACCEL_MAX = 2.  # m/s^2
+  ACCEL_MAX_PLUS = 4.  # m/s^2
   ACCEL_MIN = -4.  # m/s^2
 
   def __init__(self, CP):

selfdrive/car/honda/carcontroller.py

@@ -124,7 +124,7 @@ class CarController:
     self.brake = 0.0
     self.last_steer = 0.0
 
-  def update(self, CC, CS, now_nanos):
+  def update(self, CC, CS, now_nanos, sport_plus):
     actuators = CC.actuators
     hud_control = CC.hudControl
     conversion = hondacan.get_cruise_speed_conversion(self.CP.carFingerprint, CS.is_metric)
@@ -214,7 +214,10 @@ class CarController:
         ts = self.frame * DT_CTRL
 
         if self.CP.carFingerprint in HONDA_BOSCH:
-          self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX)
+          if sport_plus:
+            self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX_PLUS)
+          else:
+            self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX)
           self.gas = interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V)
 
           stopping = actuators.longControlState == LongCtrlState.stopping

selfdrive/car/honda/interface.py

@@ -19,11 +19,17 @@ BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.D
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def get_pid_accel_limits(CP, current_speed, cruise_speed):
+  def get_pid_accel_limits(CP, current_speed, cruise_speed, sport_plus):
     if CP.carFingerprint in HONDA_BOSCH:
-      return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX
+      if sport_plus:
+        return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX_PLUS
+      else:
+        return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX
     elif CP.enableGasInterceptor:
-      return CarControllerParams.NIDEC_ACCEL_MIN, CarControllerParams.NIDEC_ACCEL_MAX
+      if sport_plus:
+        return CarControllerParams.NIDEC_ACCEL_MIN, CarControllerParams.NIDEC_ACCEL_MAX_PLUS
+      else:
+        return CarControllerParams.NIDEC_ACCEL_MIN, CarControllerParams.NIDEC_ACCEL_MAX
     else:
       # NIDECs don't allow acceleration near cruise_speed,
       # so limit limits of pid to prevent windup
@@ -342,5 +348,5 @@ class CarInterface(CarInterfaceBase):
 
   # pass in a car.CarControl
   # to be called @ 100hz
-  def apply(self, c, now_nanos):
+  def apply(self, c, now_nanos, sport_plus):
-    return self.CC.update(c, self.CS, now_nanos)
+    return self.CC.update(c, self.CS, now_nanos, sport_plus)

selfdrive/car/honda/values.py

@@ -21,6 +21,7 @@ class CarControllerParams:
   # -3.5 m/s^2 as per planner limits
   NIDEC_ACCEL_MIN = -4.0  # m/s^2
   NIDEC_ACCEL_MAX = 1.6  # m/s^2, lower than 2.0 m/s^2 for tuning reasons
+  NIDEC_ACCEL_MAX_PLUS = 4.0  # m/s^2
 
   NIDEC_ACCEL_LOOKUP_BP = [-1., 0., .6]
   NIDEC_ACCEL_LOOKUP_V = [-4.8, 0., 2.0]
@@ -33,6 +34,7 @@ class CarControllerParams:
 
   BOSCH_ACCEL_MIN = -3.5  # m/s^2
   BOSCH_ACCEL_MAX = 2.0  # m/s^2
+  BOSCH_ACCEL_MAX_PLUS = 4.0  # m/s^2
 
   BOSCH_GAS_LOOKUP_BP = [-0.2, 2.0]  # 2m/s^2
   BOSCH_GAS_LOOKUP_V = [0, 1600]

selfdrive/car/hyundai/carcontroller.py

@@ -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)
 

selfdrive/car/hyundai/interface.py

@@ -362,5 +362,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c, now_nanos):
+  def apply(self, c, now_nanos, sport_plus):
-    return self.CC.update(c, self.CS, now_nanos)
+    return self.CC.update(c, self.CS, now_nanos, sport_plus)

selfdrive/car/hyundai/values.py

@@ -16,6 +16,7 @@ Ecu = car.CarParams.Ecu
 class CarControllerParams:
   ACCEL_MIN = -3.5 # m/s
   ACCEL_MAX = 2.0 # m/s
+  ACCEL_MAX_PLUS = 4.0 # m/s
 
   def __init__(self, CP):
     self.STEER_DELTA_UP = 3

selfdrive/car/interfaces.py

@@ -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):
+  def get_pid_accel_limits(CP, current_speed, cruise_speed, sport_plus):
-    return ACCEL_MIN, ACCEL_MAX
+    if sport_plus:
+      return ACCEL_MIN, ACCEL_MAX_PLUS
+    else:
+      return ACCEL_MIN, ACCEL_MAX
 
   @classmethod
   def get_non_essential_params(cls, candidate: str):

selfdrive/car/mazda/interface.py

@@ -64,5 +64,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c, now_nanos):
+  def apply(self, c, now_nanos, sport_plus):
     return self.CC.update(c, self.CS, now_nanos)

selfdrive/car/mock/interface.py

@@ -30,6 +30,6 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c, now_nanos):
+  def apply(self, c, now_nanos, sport_plus):
     actuators = car.CarControl.Actuators.new_message()
     return actuators, []

selfdrive/car/nissan/interface.py

@@ -56,5 +56,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c, now_nanos):
+  def apply(self, c, now_nanos, sport_plus):
     return self.CC.update(c, self.CS, now_nanos)

selfdrive/car/subaru/interface.py

@@ -149,5 +149,5 @@ class CarInterface(CarInterfaceBase):
     if CP.flags & SubaruFlags.DISABLE_EYESIGHT:
       disable_ecu(logcan, sendcan, bus=2, addr=GLOBAL_ES_ADDR, com_cont_req=b'\x28\x03\x01')
 
-  def apply(self, c, now_nanos):
+  def apply(self, c, now_nanos, sport_plus):
     return self.CC.update(c, self.CS, now_nanos)

selfdrive/car/tesla/interface.py

@@ -58,5 +58,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c, now_nanos):
+  def apply(self, c, now_nanos, sport_plus):
     return self.CC.update(c, self.CS, now_nanos)

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):
+  def get_pid_accel_limits(CP, current_speed, cruise_speed, sport_plus):
-    return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
+    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):
+  def apply(self, c, now_nanos, sport_plus):
-    return self.CC.update(c, self.CS, now_nanos)
+    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

selfdrive/car/volkswagen/carcontroller.py

@@ -25,7 +25,7 @@ class CarController:
     self.hca_frame_timer_running = 0
     self.hca_frame_same_torque = 0
 
-  def update(self, CC, CS, ext_bus, now_nanos):
+  def update(self, CC, CS, ext_bus, now_nanos, sport_plus):
     actuators = CC.actuators
     hud_control = CC.hudControl
     can_sends = []
@@ -78,7 +78,10 @@ class CarController:
 
     if self.frame % self.CCP.ACC_CONTROL_STEP == 0 and self.CP.openpilotLongitudinalControl:
       acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
-      accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0
+      if sport_plus:
+        accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX_PLUS) if CC.longActive else 0
+      else:
+        accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0
       stopping = actuators.longControlState == LongCtrlState.stopping
       starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < self.CP.vEgoStopping)
       can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, CS.acc_type, CC.longActive, accel,

selfdrive/car/volkswagen/interface.py

@@ -253,6 +253,6 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c, now_nanos):
+  def apply(self, c, now_nanos, sport_plus):
-    new_actuators, can_sends, self.eps_timer_soft_disable_alert = self.CC.update(c, self.CS, self.ext_bus, now_nanos)
+    new_actuators, can_sends, self.eps_timer_soft_disable_alert = self.CC.update(c, self.CS, self.ext_bus, now_nanos, sport_plus)
     return new_actuators, can_sends

selfdrive/car/volkswagen/values.py

@@ -35,6 +35,7 @@ class CarControllerParams:
   STEER_TIME_STUCK_TORQUE = 1.9            # EPS limits same torque to 6 seconds, reset timer 3x within that period
 
   ACCEL_MAX = 2.0                          # 2.0 m/s max acceleration
+  ACCEL_MAX_PLUS = 4.0                     # 4.0 m/s max acceleration
   ACCEL_MIN = -3.5                         # 3.5 m/s max deceleration
 
   def __init__(self, CP):

selfdrive/controls/controlsd.py

@@ -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()

selfdrive/controls/lib/longitudinal_planner.py

@@ -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:

selfdrive/frogpilot/functions/frogpilot_planner.py

@@ -1,7 +1,33 @@
 import cereal.messaging as messaging
 
 from openpilot.common.conversions import Conversions as CV
+from openpilot.common.numpy_fast import interp
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
+from openpilot.selfdrive.controls.lib.longitudinal_planner import A_CRUISE_MIN, A_CRUISE_MAX_VALS, A_CRUISE_MAX_BP, get_max_accel
+
+# Acceleration profiles - Credit goes to the DragonPilot team!
+                 # MPH = [0.,  35,   35,  40,    40,  45,    45,  67,    67,   67, 123]
+A_CRUISE_MIN_BP_CUSTOM = [0., 2.0, 2.01, 11., 11.01, 18., 18.01, 28., 28.01,  33., 55.]
+                 # MPH = [0., 6.71, 13.4, 17.9, 24.6, 33.6, 44.7, 55.9, 67.1, 123]
+A_CRUISE_MAX_BP_CUSTOM = [0.,    3,   6.,   8.,  11.,  15.,  20.,  25.,  30., 55.]
+
+A_CRUISE_MIN_VALS_ECO_TUNE = [-0.480, -0.480, -0.40, -0.40, -0.40, -0.36, -0.32, -0.28, -0.28, -0.25, -0.25]
+A_CRUISE_MAX_VALS_ECO_TUNE = [3.5, 3.3, 1.7, 1.1, .76, .62, .47, .36, .28, .09]
+
+A_CRUISE_MIN_VALS_SPORT_TUNE = [-0.500, -0.500, -0.42, -0.42, -0.42, -0.42, -0.40, -0.35, -0.35, -0.30, -0.30]
+A_CRUISE_MAX_VALS_SPORT_TUNE = [3.5, 3.5, 3.0, 2.6, 1.4, 1.0, 0.7, 0.6, .38, .2]
+
+def get_min_accel_eco_tune(v_ego):
+  return interp(v_ego, A_CRUISE_MIN_BP_CUSTOM, A_CRUISE_MIN_VALS_ECO_TUNE)
+
+def get_max_accel_eco_tune(v_ego):
+  return interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_ECO_TUNE)
+
+def get_min_accel_sport_tune(v_ego):
+  return interp(v_ego, A_CRUISE_MIN_BP_CUSTOM, A_CRUISE_MIN_VALS_SPORT_TUNE)
+
+def get_max_accel_sport_tune(v_ego):
+  return interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT_TUNE)
 
 
 class FrogPilotPlanner:
@@ -19,6 +45,14 @@ class FrogPilotPlanner:
     v_cruise = v_cruise_kph * CV.KPH_TO_MS
     v_ego = carState.vEgo
 
+    # Acceleration profiles
+    if self.acceleration_profile == 1:
+      self.accel_limits = [get_min_accel_eco_tune(v_ego), get_max_accel_eco_tune(v_ego)]
+    elif self.acceleration_profile in (2, 3):
+      self.accel_limits = [get_min_accel_sport_tune(v_ego), get_max_accel_sport_tune(v_ego)]
+    else:
+      self.accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
+
     self.v_cruise = self.update_v_cruise(carState, controlsState, modelData, enabled, v_cruise, v_ego)
 
   def update_v_cruise(self, carState, controlsState, modelData, enabled, v_cruise, v_ego):
@@ -45,3 +79,4 @@ class FrogPilotPlanner:
     lateral_tune = params.get_bool("LateralTune")
 
     longitudinal_tune = params.get_bool("LongitudinalTune")
+    self.acceleration_profile = params.get_int("AccelerationProfile") if longitudinal_tune else 0

selfdrive/frogpilot/ui/control_settings.cc

@@ -6,6 +6,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
     {"LateralTune", "Lateral Tuning", "Modify openpilot's steering behavior.", "../frogpilot/assets/toggle_icons/icon_lateral_tune.png"},
 
     {"LongitudinalTune", "Longitudinal Tuning", "Modify openpilot's acceleration and braking behavior.", "../frogpilot/assets/toggle_icons/icon_longitudinal_tune.png"},
+    {"AccelerationProfile", "Acceleration Profile", "Change the acceleration rate to be either sporty or eco-friendly.", ""},
   };
 
   for (const auto &[param, title, desc, icon] : controlToggles) {
@@ -30,6 +31,17 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
         }
       });
       toggle = longitudinalTuneToggle;
+    } else if (param == "AccelerationProfile") {
+      std::vector<QString> profileOptions{tr("Standard"), tr("Eco"), tr("Sport"), tr("Sport+")};
+      FrogPilotButtonParamControl *profileSelection = new FrogPilotButtonParamControl(param, title, desc, icon, profileOptions);
+      toggle = profileSelection;
+
+      QObject::connect(static_cast<FrogPilotButtonParamControl*>(toggle), &FrogPilotButtonParamControl::buttonClicked, [this](int id) {
+        if (id == 3) {
+          FrogPilotConfirmationDialog::toggleAlert("WARNING: This maxes out openpilot's acceleration from 2.0 m/s to 4.0 m/s and may cause oscillations when accelerating!",
+          "I understand the risks.", this);
+        }
+      });
 
     } else {
       toggle = new ParamControl(param, title, desc, icon, this);
@@ -68,7 +80,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
   fireTheBabysitterKeys = {};
   laneChangeKeys = {};
   lateralTuneKeys = {};
-  longitudinalTuneKeys = {};
+  longitudinalTuneKeys = {"AccelerationProfile"};
   speedLimitControllerKeys = {};
   visionTurnControlKeys = {};