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Controls - Longitudinal Tuning - Deceleration Profile

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Change the deceleration rate to be either sporty or eco-friendly.
This commit is contained in:
FrogAi
2024-05-24 02:43:03 -07:00
parent 842e806f79
commit 31650004d3
1 changed files with 6 additions and 0 deletions
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selfdrive/frogpilot/controls/frogpilot_planner.py
+6
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@@ -19,6 +19,8 @@ from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import CITY_
GearShifter = car.CarState.GearShifter
A_CRUISE_MIN_ECO = A_CRUISE_MIN / 5
A_CRUISE_MIN_SPORT = A_CRUISE_MIN / 2
# MPH = [ 0., 11, 22, 34, 45, 56, 89]
A_CRUISE_MAX_BP_CUSTOM = [ 0., 5., 10., 15., 20., 25., 40.]
A_CRUISE_MAX_VALS_ECO = [1.4, 1.2, 1.0, 0.8, 0.6, 0.4, 0.2]
@@ -103,6 +105,10 @@ class FrogPilotPlanner:
if controlsState.experimentalMode:
self.min_accel = ACCEL_MIN
elif frogpilot_toggles.deceleration_profile == 1:
self.min_accel = A_CRUISE_MIN_ECO
elif frogpilot_toggles.deceleration_profile == 2:
self.min_accel = A_CRUISE_MIN_SPORT
else:
self.min_accel = A_CRUISE_MIN