From c726bf2b98a60831052789f3df6bae469a45c460 Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Wed, 25 Mar 2026 08:34:40 -0500 Subject: [PATCH] cruise set overshoot? --- frogpilot/controls/lib/frogpilot_acceleration.py | 8 ++++---- selfdrive/controls/lib/longitudinal_planner.py | 1 + 2 files changed, 5 insertions(+), 4 deletions(-) diff --git a/frogpilot/controls/lib/frogpilot_acceleration.py b/frogpilot/controls/lib/frogpilot_acceleration.py index 301f3bef4..76854e8aa 100644 --- a/frogpilot/controls/lib/frogpilot_acceleration.py +++ b/frogpilot/controls/lib/frogpilot_acceleration.py @@ -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 diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 9d44a0f36..ae6ec238a 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -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]