From 769661857382a7871127cc5a0dca31cce834b565 Mon Sep 17 00:00:00 2001
From: FrogAi <91348155+FrogAi@users.noreply.github.com>
Date: Fri, 24 May 2024 02:43:03 -0700
Subject: [PATCH] Controls - Longitudinal Tuning - Deceleration Profile

Change the deceleration rate to be either sporty or eco-friendly.
---
 selfdrive/frogpilot/controls/frogpilot_planner.py | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/selfdrive/frogpilot/controls/frogpilot_planner.py b/selfdrive/frogpilot/controls/frogpilot_planner.py
index ba1004b857..3bb83dc98a 100644
--- a/selfdrive/frogpilot/controls/frogpilot_planner.py
+++ b/selfdrive/frogpilot/controls/frogpilot_planner.py
@@ -18,6 +18,8 @@ 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
 
+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]
@@ -94,6 +96,10 @@ 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