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Update frogpilot_acceleration.py

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firestar5683
2025-10-03 22:36:15 -05:00
parent 06f95d0dcd
commit eb19b336e2
1 changed files with 5 additions and 11 deletions
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frogpilot/controls/lib/frogpilot_acceleration.py
+5 -11
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@@ -49,7 +49,6 @@ 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 = [2.0, 1.5, 1.0, 0.8, 0.6, 0.4, 0.2]
A_CRUISE_MAX_VALS_SPORT = [3.0, 2.5, 2.0, 1.5, 1.0, 0.8, 0.6]
A_CRUISE_MAX_VALS_SPORT_PLUS = [4.0, 3.5, 3.0, 2.5, 2.0, 1.5, 1.0]
def get_max_accel_eco(v_ego):
return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_ECO))
@@ -57,9 +56,6 @@ def get_max_accel_eco(v_ego):
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_plus(v_ego):
return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT_PLUS))
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]))
@@ -86,19 +82,17 @@ class FrogPilotAcceleration:
if eco_gear:
self.max_accel = get_max_accel_eco(v_ego)
else:
if frogpilot_toggles.sport_plus:
self.max_accel = get_max_accel_sport_plus(v_ego)
else:
if frogpilot_toggles.acceleration_profile == 2:
self.max_accel = get_max_accel_sport(v_ego)
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)
elif frogpilot_toggles.acceleration_profile == 2:
self.max_accel = get_max_accel_sport(v_ego)
elif frogpilot_toggles.sport_plus:
self.max_accel = get_max_accel_sport_plus(v_ego)
else:
self.max_accel = get_max_accel(v_ego)
elif frogpilot_toggles.acceleration_profile == 3:
self.max_accel = get_max_allowed_accel(v_ego)
if frogpilot_toggles.human_acceleration:
self.max_accel = min(get_max_accel_low_speeds(self.max_accel, self.frogpilot_planner.v_cruise), self.max_accel)