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Trailer Load Gas Tuning

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firestar5683
2025-12-12 01:01:16 -06:00
parent 0e93ceef00
commit 4cfd893837
26 changed files with 369 additions and 13 deletions
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frogpilot/controls/lib/frogpilot_acceleration.py
+15 -10
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@@ -47,14 +47,18 @@ A_CRUISE_MIN_SPORT = A_CRUISE_MIN * 2
# MPH = [0.0, 11, 22, 34, 45, 56, 89]
A_CRUISE_MAX_BP_CUSTOM = [0.0, 5., 10., 15., 20., 25., 40.]
A_CRUISE_MAX_VALS_ECO = [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
A_CRUISE_MAX_VALS_SPORT = [1.25, 1.25, 1.25, 1.25, 1.5, 1.5, 2.0]
A_CRUISE_MAX_VALS_ECO_EV = [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
A_CRUISE_MAX_VALS_SPORT_EV = [1.25, 1.25, 1.25, 1.25, 1.5, 1.5, 2.0]
A_CRUISE_MAX_VALS_ECO_GAS = [2.0, 1.5, 1.0, 0.8, 0.6, 0.4, 0.2]
A_CRUISE_MAX_VALS_SPORT_GAS = [3.0, 2.5, 2.0, 1.5, 1.0, 0.8, 0.6]
def get_max_accel_eco(v_ego):
return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_ECO))
def get_max_accel_eco(v_ego, ev_tuning=True):
cruise_vals = A_CRUISE_MAX_VALS_ECO_EV if ev_tuning else A_CRUISE_MAX_VALS_ECO_GAS
return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, cruise_vals))
def get_max_accel_sport(v_ego):
return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT))
def get_max_accel_sport(v_ego, ev_tuning=True):
cruise_vals = A_CRUISE_MAX_VALS_SPORT_EV if ev_tuning else A_CRUISE_MAX_VALS_SPORT_GAS
return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, cruise_vals))
def get_max_accel_low_speeds(max_accel, v_cruise):
return float(akima_interp(v_cruise, [0., CITY_SPEED_LIMIT / 2, CITY_SPEED_LIMIT], [max_accel / 4, max_accel / 2, max_accel]))
@@ -75,22 +79,23 @@ class FrogPilotAcceleration:
def update(self, v_ego, sm, frogpilot_toggles):
eco_gear = sm["frogpilotCarState"].ecoGear
sport_gear = sm["frogpilotCarState"].sportGear
ev_tuning = frogpilot_toggles.ev_tuning
if sm["frogpilotCarState"].trafficModeEnabled:
self.max_accel = get_max_accel(v_ego)
elif frogpilot_toggles.map_acceleration and (eco_gear or sport_gear):
if eco_gear:
self.max_accel = get_max_accel_eco(v_ego)
self.max_accel = get_max_accel_eco(v_ego, ev_tuning)
else:
if frogpilot_toggles.acceleration_profile == 2:
self.max_accel = get_max_accel_sport(v_ego)
self.max_accel = get_max_accel_sport(v_ego, ev_tuning)
else:
self.max_accel = get_max_allowed_accel(v_ego)
else:
if frogpilot_toggles.acceleration_profile == 1:
self.max_accel = get_max_accel_eco(v_ego)
self.max_accel = get_max_accel_eco(v_ego, ev_tuning)
elif frogpilot_toggles.acceleration_profile == 2:
self.max_accel = get_max_accel_sport(v_ego)
self.max_accel = get_max_accel_sport(v_ego, ev_tuning)
elif frogpilot_toggles.acceleration_profile == 3:
self.max_accel = get_max_allowed_accel(v_ego)
else: