add fast acceleration toggle/profile. (thanks to @arne182)

common/params.py

@@ -165,6 +165,7 @@ keys = {
   "DragonAutoLCDelay": [TxType.PERSISTENT],
   "DragonBTG": [TxType.PERSISTENT],
   "DragonBootHotspot": [TxType.PERSISTENT],
+  "DragonEnableFastAccel": [TxType.PERSISTENT],
 }
 
 

selfdrive/controls/lib/planner.py

@@ -25,12 +25,18 @@ AWARENESS_DECEL = -0.2     # car smoothly decel at .2m/s^2 when user is distract
 _A_CRUISE_MIN_V  = [-1.0, -.8, -.67, -.5, -.30]
 _A_CRUISE_MIN_BP = [   0., 5.,  10., 20.,  40.]
 
+# dragonpilot
+_A_CRUISE_MIN_V_SPORT = [-3.0, -3.5, -4.0, -4.0, -4.0]
+
 # need fast accel at very low speed for stop and go
 # make sure these accelerations are smaller than mpc limits
 _A_CRUISE_MAX_V = [1.2, 1.2, 0.65, .4]
 _A_CRUISE_MAX_V_FOLLOWING = [1.6, 1.6, 0.65, .4]
 _A_CRUISE_MAX_BP = [0.,  6.4, 22.5, 40.]
 
+# dragonpilot
+_A_CRUISE_MAX_V_SPORT = [3.0, 3.5, 4.0, 4.0, 4.0]
+
 # Lookup table for turns
 _A_TOTAL_MAX_V = [1.7, 3.2]
 _A_TOTAL_MAX_BP = [20., 40.]
@@ -39,13 +45,19 @@ _A_TOTAL_MAX_BP = [20., 40.]
 SPEED_PERCENTILE_IDX = 7
 
 
-def calc_cruise_accel_limits(v_ego, following):
-  a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
+def calc_cruise_accel_limits(v_ego, following, fast_accel):
+  if not following and fast_accel:
+    a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V_SPORT)
+  else:
+    a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
 
   if following:
     a_cruise_max = interp(v_ego, _A_CRUISE_MAX_BP, _A_CRUISE_MAX_V_FOLLOWING)
   else:
-    a_cruise_max = interp(v_ego, _A_CRUISE_MAX_BP, _A_CRUISE_MAX_V)
+    if fast_accel:
+      a_cruise_max = interp(v_ego, _A_CRUISE_MAX_BP, _A_CRUISE_MAX_V_SPORT)
+    else:
+      a_cruise_max = interp(v_ego, _A_CRUISE_MAX_BP, _A_CRUISE_MAX_V)
   return np.vstack([a_cruise_min, a_cruise_max])
 
 
@@ -89,6 +101,7 @@ class Planner():
 
     # dragonpilot
     self.dragon_slow_on_curve = True
+    self.dragon_fast_accel = False
     self.last_ts = 0.
 
   def choose_solution(self, v_cruise_setpoint, enabled):
@@ -125,8 +138,9 @@ class Planner():
 
     # dragonpilot
     # update variable status every 5 secs
-    if cur_time - self.last_ts > 5.:
+    if cur_time - self.last_ts >= 5.:
       self.dragon_slow_on_curve = False if self.params.get("DragonEnableSlowOnCurve", encoding='utf8') == "0" else True
+      self.dragon_fast_accel = True if self.params.get("DragonEnableFastAccel", encoding='utf8') == "1" else False
       self.last_ts = cur_time
 
     long_control_state = sm['controlsState'].longControlState
@@ -160,7 +174,7 @@ class Planner():
 
     # Calculate speed for normal cruise control
     if enabled and not self.first_loop:
-      accel_limits = [float(x) for x in calc_cruise_accel_limits(v_ego, following)]
+      accel_limits = [float(x) for x in calc_cruise_accel_limits(v_ego, following, self.dragon_fast_accel)]
       jerk_limits = [min(-0.1, accel_limits[0]), max(0.1, accel_limits[1])]  # TODO: make a separate lookup for jerk tuning
       accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngle, accel_limits, self.CP)
 

selfdrive/dragonpilot/dragonconf/__init__.py

@@ -64,6 +64,7 @@ default_conf = {
   'DragonAutoLCDelay': 2,
   'DragonBTG': 0,
   'DragonBootHotspot': 0,
+  'DragonEnableFastAccel': '0',
 }
 
 deprecated_conf = {