From eb19b336e2f9556a8ee75d4ec0196a5941c7e93a Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Fri, 3 Oct 2025 22:36:15 -0500 Subject: [PATCH] Update frogpilot_acceleration.py --- frogpilot/controls/lib/frogpilot_acceleration.py | 16 +++++----------- 1 file changed, 5 insertions(+), 11 deletions(-) diff --git a/frogpilot/controls/lib/frogpilot_acceleration.py b/frogpilot/controls/lib/frogpilot_acceleration.py index 05d8fde92..38b679e6c 100644 --- a/frogpilot/controls/lib/frogpilot_acceleration.py +++ b/frogpilot/controls/lib/frogpilot_acceleration.py @@ -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)