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Truck Tuning

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firestar5683
2026-02-09 20:50:52 -06:00
parent 8cb1514465
commit ce941e9f25
5 changed files with 64 additions and 12 deletions
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common/params.cc
+1
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@@ -323,6 +323,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"EngageVolume", PERSISTENT},
{"ExperimentalGMTune", PERSISTENT},
{"EVTuning", PERSISTENT},
{"TruckTuning", PERSISTENT},
{"Fahrenheit", PERSISTENT},
{"FavoriteDestinations", PERSISTENT | DONT_LOG},
{"FlashPanda", CLEAR_ON_MANAGER_START},
frogpilot/common/frogpilot_variables.py
+14 -1
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@@ -133,6 +133,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
("AdvancedLateralTune", "1", 2, "0"),
("AdvancedLongitudinalTune", "0", 3, "0"),
("EVTuning", "", 3, "0"),
("TruckTuning", "0", 3, "0"),
("AggressiveFollow", "1.25", 2, "1.25"),
("AggressiveFollowHigh", "1.25", 2, "1.25"),
("AggressiveJerkAcceleration", "50", 3, "50"),
@@ -634,7 +635,19 @@ class FrogPilotVariables:
if params.get("EVTuning") == b"":
params.put_bool("EVTuning", ev_vehicle)
toggle.ev_tuning = params.get_bool("EVTuning") if advanced_longitudinal_tuning and tuning_level >= level["EVTuning"] else ev_vehicle
if params.get("TruckTuning") == b"":
params.put_bool("TruckTuning", False)
ev_tuning_param = params.get_bool("EVTuning")
truck_tuning_param = params.get_bool("TruckTuning")
# Enforce exclusivity between EV and Truck tuning.
if truck_tuning_param and ev_tuning_param:
ev_tuning_param = False
params.put_bool("EVTuning", False)
toggle.ev_tuning = ev_tuning_param if advanced_longitudinal_tuning and tuning_level >= level["EVTuning"] else ev_vehicle
toggle.truck_tuning = truck_tuning_param if advanced_longitudinal_tuning and tuning_level >= level["TruckTuning"] else False
toggle.longitudinalActuatorDelay = np.clip(params.get_float("LongitudinalActuatorDelay"), 0, 1) if advanced_longitudinal_tuning and tuning_level >= level["LongitudinalActuatorDelay"] else longitudinalActuatorDelay
toggle.startAccel = np.clip(params.get_float("StartAccel"), 0, 4) if advanced_longitudinal_tuning and tuning_level >= level["StartAccel"] else startAccel
toggle.stopAccel = np.clip(params.get_float("StopAccel"), -4, 0) if advanced_longitudinal_tuning and tuning_level >= level["StopAccel"] else stopAccel
frogpilot/controls/lib/frogpilot_acceleration.py
+23 -10
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@@ -55,15 +55,27 @@ A_CRUISE_MIN_SPORT = A_CRUISE_MIN * 2
A_CRUISE_MAX_BP_CUSTOM = [0.0, 5., 10., 15., 20., 25., 40.]
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 = [6.0, 1.40, 0.90, 0.65, 0.60, 0.55, 0.42]
A_CRUISE_MAX_VALS_SPORT_GAS = [6.0, 1.50, 1.00, 0.72, 0.65, 0.60, 0.45]
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]
A_CRUISE_MAX_VALS_ECO_TRUCK = [6.0, 1.40, 0.90, 0.65, 0.60, 0.55, 0.42]
A_CRUISE_MAX_VALS_SPORT_TRUCK = [6.0, 1.50, 1.00, 0.72, 0.65, 0.60, 0.45]
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
def get_max_accel_eco(v_ego, ev_tuning=True, truck_tuning=False):
if ev_tuning:
cruise_vals = A_CRUISE_MAX_VALS_ECO_EV
elif truck_tuning:
cruise_vals = A_CRUISE_MAX_VALS_ECO_TRUCK
else:
cruise_vals = 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, ev_tuning=True):
cruise_vals = A_CRUISE_MAX_VALS_SPORT_EV if ev_tuning else A_CRUISE_MAX_VALS_SPORT_GAS
def get_max_accel_sport(v_ego, ev_tuning=True, truck_tuning=False):
if ev_tuning:
cruise_vals = A_CRUISE_MAX_VALS_SPORT_EV
elif truck_tuning:
cruise_vals = A_CRUISE_MAX_VALS_SPORT_TRUCK
else:
cruise_vals = 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):
@@ -86,22 +98,23 @@ class FrogPilotAcceleration:
eco_gear = sm["frogpilotCarState"].ecoGear
sport_gear = sm["frogpilotCarState"].sportGear
ev_tuning = frogpilot_toggles.ev_tuning
truck_tuning = frogpilot_toggles.truck_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, ev_tuning)
self.max_accel = get_max_accel_eco(v_ego, ev_tuning, truck_tuning)
else:
if frogpilot_toggles.acceleration_profile == 2:
self.max_accel = get_max_accel_sport(v_ego, ev_tuning)
self.max_accel = get_max_accel_sport(v_ego, ev_tuning, truck_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, ev_tuning)
self.max_accel = get_max_accel_eco(v_ego, ev_tuning, truck_tuning)
elif frogpilot_toggles.acceleration_profile == 2:
self.max_accel = get_max_accel_sport(v_ego, ev_tuning)
self.max_accel = get_max_accel_sport(v_ego, ev_tuning, truck_tuning)
elif frogpilot_toggles.acceleration_profile == 3:
self.max_accel = get_max_allowed_accel(v_ego)
else:
frogpilot/ui/qt/offroad/longitudinal_settings.cc
+25
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@@ -103,6 +103,10 @@ FrogPilotLongitudinalPanel::FrogPilotLongitudinalPanel(
"vehicle's detected powertrain type but can be overridden if the "
"automatic choice doesn't match."),
""},
{"TruckTuning", tr("Truck Tuning"),
tr("<b>Use aggressive acceleration profiles tuned for trucks.</b> "
"Intended for heavy vehicles that need stronger throttle."),
""},
{"LongitudinalActuatorDelay",
longitudinalActuatorDelay != 0
? QString(tr("Actuator Delay (Default: %1)"))
@@ -1125,6 +1129,21 @@ FrogPilotLongitudinalPanel::FrogPilotLongitudinalPanel(
&FrogPilotLongitudinalPanel::updateToggles);
}
QObject::connect(static_cast<ToggleControl *>(toggles["EVTuning"]),
&ToggleControl::toggleFlipped, this, [this]() {
if (params.getBool("EVTuning")) {
params.putBool("TruckTuning", false);
}
updateToggles();
});
QObject::connect(static_cast<ToggleControl *>(toggles["TruckTuning"]),
&ToggleControl::toggleFlipped, this, [this]() {
if (params.getBool("TruckTuning")) {
params.putBool("EVTuning", false);
}
updateToggles();
});
FrogPilotParamValueControl *trafficFollowToggle =
static_cast<FrogPilotParamValueControl *>(toggles["TrafficFollow"]);
FrogPilotParamValueControl *trafficAccelerationToggle =
@@ -1636,6 +1655,12 @@ void FrogPilotLongitudinalPanel::updateToggles() {
setVisible &= !isToyota || !params.getBool("FrogsGoMoosTweak");
}
if (key == "EVTuning") {
toggle->setEnabled(!params.getBool("TruckTuning"));
} else if (key == "TruckTuning") {
toggle->setEnabled(!params.getBool("EVTuning"));
}
toggle->setVisible(setVisible);
if (setVisible) {
frogpilot/ui/qt/offroad/longitudinal_settings.h
+1 -1
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@@ -40,7 +40,7 @@ private:
std::map<QString, AbstractControl*> toggles;
QSet<QString> advancedLongitudinalTuneKeys = {"EVTuning", "LongitudinalActuatorDelay", "StartAccel", "StopAccel", "StoppingDecelRate", "VEgoStarting", "VEgoStopping"};
QSet<QString> advancedLongitudinalTuneKeys = {"EVTuning", "TruckTuning", "LongitudinalActuatorDelay", "StartAccel", "StopAccel", "StoppingDecelRate", "VEgoStarting", "VEgoStopping"};
QSet<QString> aggressivePersonalityKeys = {"AggressiveFollow", "AggressiveFollowHigh", "AggressiveJerkAcceleration", "AggressiveJerkDeceleration", "AggressiveJerkDanger", "AggressiveJerkSpeed", "AggressiveJerkSpeedDecrease", "ResetAggressivePersonality"};
QSet<QString> conditionalExperimentalKeys = {"CESpeed", "CESpeedLead", "CECurves", "CELead", "CEModelStopTime", "CENavigation", "CESignalSpeed", "ShowCEMStatus"};
QSet<QString> curveSpeedKeys = {"CalibratedLateralAcceleration", "CalibrationProgress", "ResetCurveData", "ShowCSCStatus"};