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cruise set overshoot?

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firestar5683
2026-03-25 08:34:40 -05:00
parent 78683b1228
commit c726bf2b98
2 changed files with 5 additions and 4 deletions
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frogpilot/controls/lib/frogpilot_acceleration.py
+4 -4
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@@ -1,7 +1,7 @@
#!/usr/bin/env python3
import numpy as np
from openpilot.selfdrive.controls.lib.longitudinal_planner import ACCEL_MIN, get_max_accel
from openpilot.selfdrive.controls.lib.longitudinal_planner import A_CRUISE_MIN, get_max_accel
from openpilot.frogpilot.common.frogpilot_variables import CITY_SPEED_LIMIT
@@ -33,8 +33,8 @@ def akima_interp(x, xp, fp):
return (fp[i] * (1 - 10 * t3 + 15 * t4 - 6 * t3 * t2)
+ fp[i + 1] * (10 * t3 - 15 * t4 + 6 * t3 * t2))
A_CRUISE_MIN_ECO = ACCEL_MIN / 2
A_CRUISE_MIN_SPORT = ACCEL_MIN * 2
A_CRUISE_MIN_ECO = A_CRUISE_MIN / 2
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.]
@@ -153,4 +153,4 @@ class FrogPilotAcceleration:
elif frogpilot_toggles.deceleration_profile == DECELERATION_PROFILES["SPORT"]:
self.min_accel = A_CRUISE_MIN_SPORT
else:
self.min_accel = ACCEL_MIN
self.min_accel = A_CRUISE_MIN
selfdrive/controls/lib/longitudinal_planner.py
+1
View File
@@ -19,6 +19,7 @@ from openpilot.common.swaglog import cloudlog
from openpilot.frogpilot.common.frogpilot_variables import MINIMUM_LATERAL_ACCELERATION
LON_MPC_STEP = 0.2 # first step is 0.2s
A_CRUISE_MIN = -1.0
A_CRUISE_MAX_BP = [0.0, 5., 10., 15., 20., 25., 40.]
A_CRUISE_MAX_VALS = [1.125, 1.125, 1.125, 1.125, 1.25, 1.25, 1.5]
CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]