From 068a48408921dcf6afca31a9eac4829a9da688cd Mon Sep 17 00:00:00 2001
From: FrogAi <91348155+FrogAi@users.noreply.github.com>
Date: Sat, 29 Jun 2024 15:08:25 -0700
Subject: [PATCH] Controls - Longitudinal Tuning - Acceleration Profile

Change the acceleration rate to be either sporty or eco-friendly.
---
 opendbc/gm_global_a_powertrain_generated.dbc  |  3 +-
 panda/board/safety/safety_gm.h                | 42 +++++++++++++++----
 panda/board/safety/safety_honda.h             | 25 +++++++++--
 panda/board/safety/safety_hyundai.h           | 16 ++++++-
 panda/board/safety/safety_toyota.h            | 13 +++++-
 panda/board/safety/safety_volkswagen_mqb.h    | 16 ++++++-
 panda/board/safety/safety_volkswagen_pq.h     | 18 +++++++-
 panda/board/safety_declarations.h             |  1 +
 selfdrive/car/card.py                         |  2 +
 selfdrive/car/ford/carcontroller.py           |  5 ++-
 selfdrive/car/ford/values.py                  |  1 +
 selfdrive/car/gm/carcontroller.py             | 10 ++++-
 selfdrive/car/gm/interface.py                 |  7 +++-
 selfdrive/car/gm/values.py                    | 27 +++++++-----
 selfdrive/car/honda/carcontroller.py          |  5 ++-
 selfdrive/car/honda/interface.py              | 12 ++++--
 selfdrive/car/honda/values.py                 |  2 +
 selfdrive/car/hyundai/carcontroller.py        |  5 ++-
 selfdrive/car/hyundai/values.py               |  1 +
 selfdrive/car/interfaces.py                   |  8 +++-
 selfdrive/car/toyota/carcontroller.py         |  5 ++-
 selfdrive/car/toyota/interface.py             |  7 +++-
 selfdrive/car/toyota/values.py                |  1 +
 selfdrive/car/volkswagen/carcontroller.py     |  5 ++-
 selfdrive/car/volkswagen/values.py            |  1 +
 selfdrive/controls/controlsd.py               |  2 +-
 .../frogpilot/controls/frogpilot_planner.py   | 20 ++++++++-
 27 files changed, 212 insertions(+), 48 deletions(-)

diff --git a/opendbc/gm_global_a_powertrain_generated.dbc b/opendbc/gm_global_a_powertrain_generated.dbc
index 1c78dd7b0..3528e98d1 100644
--- a/opendbc/gm_global_a_powertrain_generated.dbc
+++ b/opendbc/gm_global_a_powertrain_generated.dbc
@@ -221,8 +221,7 @@ BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM
  SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] ""  NEO
  SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] ""  NEO
  SG_ RollingCounter : 7|2@0+ (1,0) [0|0] ""  NEO
- SG_ GasRegenAlwaysOne3 : 23|1@0+ (1,0) [0|1] ""  NEO
- SG_ GasRegenCmd : 22|12@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenCmd : 8|14@0+ (1,0) [0|0] "" NEO
 
 BO_ 717 ASCM_2CD: 5 K124_ASCM
 
diff --git a/panda/board/safety/safety_gm.h b/panda/board/safety/safety_gm.h
index c0aa8701d..c7ae19b7d 100644
--- a/panda/board/safety/safety_gm.h
+++ b/panda/board/safety/safety_gm.h
@@ -10,16 +10,30 @@ const SteeringLimits GM_STEERING_LIMITS = {
 };
 
 const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
-  .max_gas = 3072,
-  .min_gas = 1404,
-  .inactive_gas = 1404,
+  .max_gas = 7168,
+  .min_gas = 5500,
+  .inactive_gas = 5500,
+  .max_brake = 400,
+};
+
+const LongitudinalLimits GM_ASCM_LONG_LIMITS_SPORT = {
+  .max_gas = 8191,
+  .min_gas = 5500,
+  .inactive_gas = 5500,
   .max_brake = 400,
 };
 
 const LongitudinalLimits GM_CAM_LONG_LIMITS = {
-  .max_gas = 3400,
-  .min_gas = 1514,
-  .inactive_gas = 1554,
+  .max_gas = 7496,
+  .min_gas = 5610,
+  .inactive_gas = 5650,
+  .max_brake = 400,
+};
+
+const LongitudinalLimits GM_CAM_LONG_LIMITS_SPORT = {
+  .max_gas = 8848,
+  .min_gas = 5610,
+  .inactive_gas = 5650,
   .max_brake = 400,
 };
 
@@ -229,7 +243,7 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
   // GAS/REGEN: safety check
   if (addr == 0x2CB) {
     bool apply = GET_BIT(to_send, 0U);
-    int gas_regen = ((GET_BYTE(to_send, 2) & 0x7FU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
+    int gas_regen = ((GET_BYTE(to_send, 1) & 0x1U) << 13) + ((GET_BYTE(to_send, 2) & 0xFFU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
 
     bool violation = false;
     // Allow apply bit in pre-enabled and overriding states
@@ -286,6 +300,8 @@ static int gm_fwd_hook(int bus_num, int addr) {
 }
 
 static safety_config gm_init(uint16_t param) {
+  sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX;
+
   if GET_FLAG(param, GM_PARAM_HW_CAM) {
     gm_hw = GM_CAM;
   } else if GET_FLAG(param, GM_PARAM_HW_SDGM) {
@@ -297,9 +313,17 @@ static safety_config gm_init(uint16_t param) {
   gm_force_ascm = GET_FLAG(param, GM_PARAM_HW_ASCM_LONG);
 
   if (gm_hw == GM_ASCM || gm_force_ascm) {
-    gm_long_limits = &GM_ASCM_LONG_LIMITS;
+    if (sport_mode) {
+      gm_long_limits = &GM_ASCM_LONG_LIMITS_SPORT;
+    } else {
+      gm_long_limits = &GM_ASCM_LONG_LIMITS;
+    }
   } else if ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM)) {
-    gm_long_limits = &GM_CAM_LONG_LIMITS;
+    if (sport_mode) {
+      gm_long_limits = &GM_CAM_LONG_LIMITS_SPORT;
+    } else {
+      gm_long_limits = &GM_CAM_LONG_LIMITS;
+    }
   } else {
   }
 
diff --git a/panda/board/safety/safety_honda.h b/panda/board/safety/safety_honda.h
index 0e081e742..29cfedd37 100644
--- a/panda/board/safety/safety_honda.h
+++ b/panda/board/safety/safety_honda.h
@@ -19,6 +19,14 @@ const LongitudinalLimits HONDA_BOSCH_LONG_LIMITS = {
   .inactive_gas = -30000,
 };
 
+const LongitudinalLimits HONDA_BOSCH_LONG_LIMITS_SPORT = {
+  .max_accel = 400,   // accel is used for brakes
+  .min_accel = -350,
+
+  .max_gas = 2000,
+  .inactive_gas = -30000,
+};
+
 const LongitudinalLimits HONDA_NIDEC_LONG_LIMITS = {
   .max_gas = 198,  // 0xc6
   .max_brake = 255,
@@ -276,6 +284,8 @@ static void honda_rx_hook(const CANPacket_t *to_push) {
 }
 
 static bool honda_tx_hook(const CANPacket_t *to_send) {
+  sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX;
+
   bool tx = true;
   int addr = GET_ADDR(to_send);
   int bus = GET_BUS(to_send);
@@ -319,8 +329,13 @@ static bool honda_tx_hook(const CANPacket_t *to_send) {
     gas = to_signed(gas, 16);
 
     bool violation = false;
-    violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS);
-    violation |= longitudinal_gas_checks(gas, HONDA_BOSCH_LONG_LIMITS);
+    if (sport_mode) {
+      violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS_SPORT);
+      violation |= longitudinal_gas_checks(gas, HONDA_BOSCH_LONG_LIMITS_SPORT);
+    } else {
+      violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS);
+      violation |= longitudinal_gas_checks(gas, HONDA_BOSCH_LONG_LIMITS);
+    }
     if (violation) {
       tx = false;
     }
@@ -332,7 +347,11 @@ static bool honda_tx_hook(const CANPacket_t *to_send) {
     accel = to_signed(accel, 12);
 
     bool violation = false;
-    violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS);
+    if (sport_mode) {
+      violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS_SPORT);
+    } else {
+      violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS);
+    }
     if (violation) {
       tx = false;
     }
diff --git a/panda/board/safety/safety_hyundai.h b/panda/board/safety/safety_hyundai.h
index 5a324bff2..a849a87e1 100644
--- a/panda/board/safety/safety_hyundai.h
+++ b/panda/board/safety/safety_hyundai.h
@@ -25,6 +25,11 @@ const LongitudinalLimits HYUNDAI_LONG_LIMITS = {
   .min_accel = -350,  // 1/100 m/s2
 };
 
+const LongitudinalLimits HYUNDAI_LONG_LIMITS_SPORT = {
+  .max_accel = 400,   // 1/100 m/s2
+  .min_accel = -350,  // 1/100 m/s2
+};
+
 const CanMsg HYUNDAI_TX_MSGS[] = {
   {0x340, 0, 8}, // LKAS11 Bus 0
   {0x4F1, 0, 4}, // CLU11 Bus 0
@@ -215,6 +220,8 @@ static void hyundai_rx_hook(const CANPacket_t *to_push) {
 }
 
 static bool hyundai_tx_hook(const CANPacket_t *to_send) {
+  sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX;
+
   bool tx = true;
   int addr = GET_ADDR(to_send);
 
@@ -239,8 +246,13 @@ static bool hyundai_tx_hook(const CANPacket_t *to_send) {
 
     bool violation = false;
 
-    violation |= longitudinal_accel_checks(desired_accel_raw, HYUNDAI_LONG_LIMITS);
-    violation |= longitudinal_accel_checks(desired_accel_val, HYUNDAI_LONG_LIMITS);
+    if (sport_mode) {
+      violation |= longitudinal_accel_checks(desired_accel_raw, HYUNDAI_LONG_LIMITS_SPORT);
+      violation |= longitudinal_accel_checks(desired_accel_val, HYUNDAI_LONG_LIMITS_SPORT);
+    } else {
+      violation |= longitudinal_accel_checks(desired_accel_raw, HYUNDAI_LONG_LIMITS);
+      violation |= longitudinal_accel_checks(desired_accel_val, HYUNDAI_LONG_LIMITS);
+    }
     violation |= (aeb_decel_cmd != 0);
     violation |= aeb_req;
 
diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h
index 0e9742c6a..538fc79a6 100644
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -37,6 +37,11 @@ const LongitudinalLimits TOYOTA_LONG_LIMITS = {
   .min_accel = -3500,  // -3.5 m/s2
 };
 
+const LongitudinalLimits TOYOTA_LONG_LIMITS_SPORT = {
+  .max_accel = 4000,   // 4.0 m/s2
+  .min_accel = -3500,  // -3.5 m/s2
+};
+
 // panda interceptor threshold needs to be equivalent to openpilot threshold to avoid controls mismatches
 // If thresholds are mismatched then it is possible for panda to see the gas fall and rise while openpilot is in the pre-enabled state
 // Threshold calculated from DBC gains: round((((15 + 75.555) / 0.159375) + ((15 + 151.111) / 0.159375)) / 2) = 805
@@ -233,6 +238,8 @@ static void toyota_rx_hook(const CANPacket_t *to_push) {
 }
 
 static bool toyota_tx_hook(const CANPacket_t *to_send) {
+  sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX;
+
   bool tx = true;
   int addr = GET_ADDR(to_send);
   int bus = GET_BUS(to_send);
@@ -253,7 +260,11 @@ static bool toyota_tx_hook(const CANPacket_t *to_send) {
       desired_accel = to_signed(desired_accel, 16);
 
       bool violation = false;
-      violation |= longitudinal_accel_checks(desired_accel, TOYOTA_LONG_LIMITS);
+      if (sport_mode) {
+        violation |= longitudinal_accel_checks(desired_accel, TOYOTA_LONG_LIMITS_SPORT);
+      } else {
+        violation |= longitudinal_accel_checks(desired_accel, TOYOTA_LONG_LIMITS);
+      }
 
       // only ACC messages that cancel are allowed when openpilot is not controlling longitudinal
       if (toyota_stock_longitudinal) {
diff --git a/panda/board/safety/safety_volkswagen_mqb.h b/panda/board/safety/safety_volkswagen_mqb.h
index d880a69a6..0a84342f5 100644
--- a/panda/board/safety/safety_volkswagen_mqb.h
+++ b/panda/board/safety/safety_volkswagen_mqb.h
@@ -20,6 +20,12 @@ const LongitudinalLimits VOLKSWAGEN_MQB_LONG_LIMITS = {
   .inactive_accel = 3010,  // VW sends one increment above the max range when inactive
 };
 
+const LongitudinalLimits VOLKSWAGEN_MQB_LONG_LIMITS_SPORT = {
+  .max_accel = 4000,
+  .min_accel = -3500,
+  .inactive_accel = 3010,  // VW sends one increment above the max range when inactive
+};
+
 #define MSG_ESP_19      0x0B2   // RX from ABS, for wheel speeds
 #define MSG_LH_EPS_03   0x09F   // RX from EPS, for driver steering torque
 #define MSG_ESP_05      0x106   // RX from ABS, for brake switch state
@@ -197,6 +203,8 @@ static void volkswagen_mqb_rx_hook(const CANPacket_t *to_push) {
 }
 
 static bool volkswagen_mqb_tx_hook(const CANPacket_t *to_send) {
+  sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX;
+
   int addr = GET_ADDR(to_send);
   bool tx = true;
 
@@ -234,7 +242,13 @@ static bool volkswagen_mqb_tx_hook(const 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 (sport_mode) {
+      if (desired_accel != 0) {
+        violation |= longitudinal_accel_checks(desired_accel, VOLKSWAGEN_MQB_LONG_LIMITS_SPORT);
+      }
+    } else {
+      violation |= longitudinal_accel_checks(desired_accel, VOLKSWAGEN_MQB_LONG_LIMITS);
+    }
 
     if (violation) {
       tx = false;
diff --git a/panda/board/safety/safety_volkswagen_pq.h b/panda/board/safety/safety_volkswagen_pq.h
index de147cb58..c8838cf48 100644
--- a/panda/board/safety/safety_volkswagen_pq.h
+++ b/panda/board/safety/safety_volkswagen_pq.h
@@ -20,6 +20,12 @@ const LongitudinalLimits VOLKSWAGEN_PQ_LONG_LIMITS = {
   .inactive_accel = 3010,  // VW sends one increment above the max range when inactive
 };
 
+const LongitudinalLimits VOLKSWAGEN_PQ_LONG_LIMITS_SPORT = {
+  .max_accel = 4000,
+  .min_accel = -3500,
+  .inactive_accel = 3010,  // VW sends one increment above the max range when inactive
+};
+
 #define MSG_LENKHILFE_3         0x0D0   // RX from EPS, for steering angle and driver steering torque
 #define MSG_HCA_1               0x0D2   // TX by OP, Heading Control Assist steering torque
 #define MSG_BREMSE_1            0x1A0   // RX from ABS, for ego speed
@@ -170,6 +176,8 @@ static void volkswagen_pq_rx_hook(const CANPacket_t *to_push) {
 }
 
 static bool volkswagen_pq_tx_hook(const CANPacket_t *to_send) {
+  sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX;
+
   int addr = GET_ADDR(to_send);
   bool tx = true;
 
@@ -198,8 +206,14 @@ static bool volkswagen_pq_tx_hook(const CANPacket_t *to_send) {
     // Signal: ACC_System.ACS_Sollbeschl (acceleration in m/s2, scale 0.005, offset -7.22)
     int desired_accel = ((((GET_BYTE(to_send, 4) & 0x7U) << 8) | GET_BYTE(to_send, 3)) * 5U) - 7220U;
 
-    if (longitudinal_accel_checks(desired_accel, VOLKSWAGEN_PQ_LONG_LIMITS)) {
-      tx = false;
+    if (sport_mode) {
+      if (longitudinal_accel_checks(desired_accel, VOLKSWAGEN_PQ_LONG_LIMITS_SPORT)) {
+        tx = false;
+      }
+    } else {
+      if (longitudinal_accel_checks(desired_accel, VOLKSWAGEN_PQ_LONG_LIMITS)) {
+        tx = false;
+      }
     }
   }
 
diff --git a/panda/board/safety_declarations.h b/panda/board/safety_declarations.h
index e9b5cbf55..0427d90aa 100644
--- a/panda/board/safety_declarations.h
+++ b/panda/board/safety_declarations.h
@@ -220,6 +220,7 @@ bool brake_pressed_prev = false;
 bool regen_braking = false;
 bool regen_braking_prev = false;
 bool cruise_engaged_prev = false;
+bool sport_mode = false;
 struct sample_t vehicle_speed;
 bool vehicle_moving = false;
 bool acc_main_on = false;  // referred to as "ACC off" in ISO 15622:2018
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index eac4c8ded..4fa74b060 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -63,6 +63,8 @@ class Car:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL
       self.params.put_bool("AlwaysOnLateralSet", True)
 
+    self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX
+
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
 
     controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index eddd804a6..c89ab953d 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -94,7 +94,10 @@ class CarController(CarControllerBase):
     # 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 frogpilot_toggles.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
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index b1868bfa9..c1bfa579a 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -33,6 +33,7 @@ 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
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index 40e4050a7..83b21f666 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -122,10 +122,16 @@ class CarController(CarControllerBase):
           # Normal operation
           if self.CP.carFingerprint in EV_CAR:
             self.params.update_ev_gas_brake_threshold(CS.out.vEgo)
-            self.apply_gas = int(round(interp(actuators.accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+            if frogpilot_toggles.sport_plus:
+              self.apply_gas = int(round(interp(actuators.accel, self.params.EV_GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS)))
+            else:
+              self.apply_gas = int(round(interp(actuators.accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
             self.apply_brake = int(round(interp(actuators.accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
           else:
-            self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+            if frogpilot_toggles.sport_plus:
+              self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS)))
+            else:
+              self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
             self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
           # Don't allow any gas above inactive regen while stopping
           # FIXME: brakes aren't applied immediately when enabling at a stop
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 7d2ae5106..51bb2d3e6 100644
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -38,8 +38,11 @@ NEURAL_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/neural_ff_
 
 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, frogpilot_toggles):
+    if frogpilot_toggles.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
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index ebb950d55..d547b43d2 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -33,37 +33,43 @@ 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):
     # Gas/brake lookups
-    self.ZERO_GAS = 2048  # Coasting
+    self.ZERO_GAS = 6144  # Coasting
     self.MAX_BRAKE = 400  # ~ -4.0 m/s^2 with regen
 
     if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR:
-      self.MAX_GAS = 3400
-      self.MAX_ACC_REGEN = 1514
-      self.INACTIVE_REGEN = 1554
+      self.MAX_GAS = 7496
+      self.MAX_GAS_PLUS = 8848
+      self.MAX_ACC_REGEN = 5610
+      self.INACTIVE_REGEN = 5650
       # Camera ACC vehicles have no regen while enabled.
       # Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
       max_regen_acceleration = 0.
 
     elif CP.carFingerprint in SDGM_CAR:
-      self.MAX_GAS = 3400
-      self.MAX_ACC_REGEN = 1514
-      self.INACTIVE_REGEN = 1554
+      self.MAX_GAS = 7496
+      self.MAX_GAS_PLUS = 7496
+      self.MAX_ACC_REGEN = 5610
+      self.INACTIVE_REGEN = 5650
       max_regen_acceleration = 0.
 
     else:
-      self.MAX_GAS = 3072  # Safety limit, not ACC max. Stock ACC >4096 from standstill.
-      self.MAX_ACC_REGEN = 1404  # Max ACC regen is slightly less than max paddle regen
-      self.INACTIVE_REGEN = 1404
+      self.MAX_GAS = 7168  # Safety limit, not ACC max. Stock ACC >8192 from standstill.
+      self.MAX_GAS_PLUS = 8191 # 8292 uses new bit, possible but not tested. Matches Twilsonco tw-main max
+      self.MAX_ACC_REGEN = 5500  # Max ACC regen is slightly less than max paddle regen
+      self.INACTIVE_REGEN = 5500
       # ICE has much less engine braking force compared to regen in EVs,
       # lower threshold removes some braking deadzone
       max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
 
     self.GAS_LOOKUP_BP = [max_regen_acceleration, 0., self.ACCEL_MAX]
+    self.GAS_LOOKUP_BP_PLUS = [max_regen_acceleration, 0., self.ACCEL_MAX_PLUS]
     self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS]
+    self.GAS_LOOKUP_V_PLUS = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS_PLUS]
 
     self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, max_regen_acceleration]
     self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
@@ -77,6 +83,7 @@ class CarControllerParams:
   def update_ev_gas_brake_threshold(self, v_ego):
     gas_brake_threshold = interp(v_ego, self.EV_GAS_BRAKE_THRESHOLD_BP, self.EV_GAS_BRAKE_THRESHOLD_V)
     self.EV_GAS_LOOKUP_BP = [gas_brake_threshold, max(0., gas_brake_threshold), self.ACCEL_MAX]
+    self.EV_GAS_LOOKUP_BP_PLUS = [gas_brake_threshold, max(0., gas_brake_threshold), self.ACCEL_MAX_PLUS]
     self.EV_BRAKE_LOOKUP_BP = [self.ACCEL_MIN, gas_brake_threshold]
 
 
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 67f29b4c1..62afcf100 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -216,7 +216,10 @@ class CarController(CarControllerBase):
         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 frogpilot_toggles.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
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 922ea0922..26fc97c4d 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -22,11 +22,17 @@ SETTINGS_BUTTONS_DICT = {CruiseSettings.DISTANCE: ButtonType.gapAdjustCruise, Cr
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def get_pid_accel_limits(CP, current_speed, cruise_speed):
+  def get_pid_accel_limits(CP, current_speed, cruise_speed, frogpilot_toggles):
     if CP.carFingerprint in HONDA_BOSCH:
-      return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX
+      if frogpilot_toggles.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 frogpilot_toggles.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
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 7c2e3d8b3..3410e495a 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -20,6 +20,7 @@ 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]
@@ -32,6 +33,7 @@ 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]
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 61417cc62..9ffbaa848 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -79,7 +79,10 @@ class CarController(CarControllerBase):
     self.apply_steer_last = apply_steer
 
     # accel + longitudinal
-    accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
+    if frogpilot_toggles.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)
 
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 3d9a8fc9d..8587141b1 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -15,6 +15,7 @@ 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
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index f51064886..ed88ecffe 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -29,6 +29,7 @@ EventName = car.CarEvent.EventName
 
 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
 
@@ -261,8 +262,11 @@ class CarInterfaceBase(ABC):
     return self.CC.update(c, self.CS, now_nanos, frogpilot_toggles)
 
   @staticmethod
-  def get_pid_accel_limits(CP, current_speed, cruise_speed):
-    return ACCEL_MIN, ACCEL_MAX
+  def get_pid_accel_limits(CP, current_speed, cruise_speed, frogpilot_toggles):
+    if frogpilot_toggles.sport_plus:
+      return ACCEL_MIN, ACCEL_MAX_PLUS
+    else:
+      return ACCEL_MIN, ACCEL_MAX
 
   @classmethod
   def get_non_essential_params(cls, candidate: str):
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 283af5f33..a6d216923 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -121,7 +121,10 @@ class CarController(CarControllerBase):
       interceptor_gas_cmd = 0.12 if CS.out.standstill else 0.
     else:
       interceptor_gas_cmd = 0.
-    pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
+    if frogpilot_toggles.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)
 
     # on entering standstill, send standstill request
     if CS.out.standstill and not self.last_standstill and (self.CP.carFingerprint not in NO_STOP_TIMER_CAR or self.CP.enableGasInterceptor):
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index f03f8de5e..17120f308 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/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, frogpilot_toggles):
+    if frogpilot_toggles.sport_plus:
+      return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX_PLUS
+    else:
+      return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
 
   @staticmethod
   def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index b441e6f72..06feac6c8 100644
--- a/selfdrive/car/toyota/values.py
+++ b/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  # m/s2
   ACCEL_MIN = -3.5  # m/s2
 
   STEER_STEP = 1
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 045498fb6..fe659b1ba 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -80,7 +80,10 @@ class CarController(CarControllerBase):
 
     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 frogpilot_toggles.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,
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 8b58769b3..d0be20a49 100644
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -37,6 +37,7 @@ class CarControllerParams:
   DEFAULT_MIN_STEER_SPEED = 0.4            # m/s, newer EPS racks fault below this speed, don't show a low speed alert
 
   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):
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index c19c5d7ee..b06b23dff 100644
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -603,7 +603,7 @@ 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.frogpilot_toggles)
       actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits)
 
       if len(long_plan.speeds):
diff --git a/selfdrive/frogpilot/controls/frogpilot_planner.py b/selfdrive/frogpilot/controls/frogpilot_planner.py
index a38c14b27..ba1004b85 100644
--- a/selfdrive/frogpilot/controls/frogpilot_planner.py
+++ b/selfdrive/frogpilot/controls/frogpilot_planner.py
@@ -18,6 +18,17 @@ from openpilot.selfdrive.frogpilot.controls.lib.conditional_experimental_mode im
 from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import calculate_lane_width, calculate_road_curvature
 from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import CITY_SPEED_LIMIT, CRUISING_SPEED, TRAJECTORY_SIZE
 
+                  # 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]
+A_CRUISE_MAX_VALS_SPORT = [4.0, 3.0, 2.0, 1.0, 0.9, 0.8, 0.6]
+
+def get_max_accel_eco(v_ego):
+  return interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_ECO)
+
+def get_max_accel_sport(v_ego):
+  return interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT)
+
 class FrogPilotPlanner:
   def __init__(self):
     self.params_memory = Params("/dev/shm/params")
@@ -69,11 +80,18 @@ class FrogPilotPlanner:
     self.update_v_cruise(carState, controlsState, frogpilotCarState, frogpilotNavigation, modelData, v_cruise, v_ego, frogpilot_toggles)
 
   def set_acceleration(self, controlsState, frogpilotCarState, v_cruise, v_ego, frogpilot_toggles):
-    if controlsState.experimentalMode:
+    if frogpilot_toggles.acceleration_profile == 1:
+      self.max_accel = get_max_accel_eco(v_ego)
+    elif frogpilot_toggles.acceleration_profile in (2, 3):
+      self.max_accel = get_max_accel_sport(v_ego)
+    elif controlsState.experimentalMode:
       self.max_accel = ACCEL_MAX
     else:
       self.max_accel = get_max_accel(v_ego)
 
+    if not self.tracking_lead:
+      self.max_accel = float(min(self.max_accel, self.max_accel * (self.v_cruise / CITY_SPEED_LIMIT)))
+
     if controlsState.experimentalMode:
       self.min_accel = ACCEL_MIN
     else: