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Advanced longitudinal tuning

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This commit is contained in:
James
2025-12-01 12:00:00 -07:00
parent 1fb2eccbd8
commit 1237297b84
5 changed files with 22 additions and 8 deletions
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frogpilot/common/frogpilot_variables.py
+14
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@@ -207,11 +207,17 @@ class FrogPilotVariables:
toggle.has_zss = toggle.car_make == "toyota" and bool(FPCP.flags & ToyotaFrogPilotFlags.ZSS.value)
is_angle_car = CP.steerControlType == car.CarParams.SteerControlType.angle
latAccelFactor = CP.lateralTuning.torque.latAccelFactor
longitudinalActuatorDelay = CP.longitudinalActuatorDelay
toggle.openpilot_longitudinal = CP.openpilotLongitudinalControl and not toggle.disable_openpilot_long
pcm_cruise = CP.pcmCruise
startAccel = CP.startAccel
stopAccel = CP.stopAccel
steerActuatorDelay = CP.steerActuatorDelay
steerKp = KP
steerRatio = CP.steerRatio
toggle.stoppingDecelRate = CP.stoppingDecelRate
toggle.vEgoStarting = CP.vEgoStarting
toggle.vEgoStopping = CP.vEgoStopping
msg_bytes = self.params.get("LiveTorqueParameters")
if msg_bytes:
@@ -242,6 +248,14 @@ class FrogPilotVariables:
toggle.steerRatio = self.get_value("SteerRatio", cast=float, condition=advanced_lateral_tuning, default=steerRatio, min=steerRatio * 0.5, max=steerRatio * 1.5)
toggle.use_custom_steerRatio = bool(round(toggle.steerRatio, 2) != round(steerRatio, 2))
advanced_longitudinal_tuning = toggle.openpilot_longitudinal and self.get_value("AdvancedLongitudinalTune")
toggle.longitudinalActuatorDelay = self.get_value("LongitudinalActuatorDelay", cast=float, condition=advanced_longitudinal_tuning, default=longitudinalActuatorDelay, min=0, max=1)
toggle.startAccel = self.get_value("StartAccel", cast=float, condition=advanced_longitudinal_tuning, default=startAccel, min=0, max=MAX_ACCELERATION)
toggle.stopAccel = self.get_value("StopAccel", cast=float, condition=advanced_longitudinal_tuning, default=stopAccel, min=-MAX_ACCELERATION, max=0)
toggle.stoppingDecelRate = self.get_value("StoppingDecelRate", cast=float, condition=advanced_longitudinal_tuning, default=toggle.stoppingDecelRate, min=0.001, max=1)
toggle.vEgoStarting = self.get_value("VEgoStarting", cast=float, condition=advanced_longitudinal_tuning, default=toggle.vEgoStarting, min=0.01, max=1)
toggle.vEgoStopping = self.get_value("VEgoStopping", cast=float, condition=advanced_longitudinal_tuning, default=toggle.vEgoStopping, min=0.01, max=1)
toggle.alert_volume_controller = self.get_value("AlertVolumeControl")
toggle.disengage_volume = self.get_value("DisengageVolume", cast=float, condition=toggle.alert_volume_controller)
toggle.engage_volume = self.get_value("EngageVolume", cast=float, condition=toggle.alert_volume_controller)