mawei/onepilot
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

FrogsGoMoo's personal tweaks for Toyota/Lexus

Browse Source
This commit is contained in:
James
2025-12-01 12:00:00 -07:00
parent b8d3d1e9cc
commit 3955b1f70f
2 changed files with 9 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
frogpilot/common/frogpilot_variables.py
+5
View File
@@ -508,6 +508,11 @@ class FrogPilotVariables:
toggle.personality_profile_via_distance_very_long = toggle.openpilot_longitudinal and distance_button_control_very_long == BUTTON_FUNCTIONS["PERSONALITY_PROFILE"]
toggle.traffic_mode_via_distance_very_long = toggle.openpilot_longitudinal and distance_button_control_very_long == BUTTON_FUNCTIONS["TRAFFIC_MODE"]
toggle.frogsgomoo_tweak = self.get_value("FrogsGoMoosTweak", condition=toggle.openpilot_longitudinal and toggle.car_make == "toyota")
toggle.stoppingDecelRate = 0.01 if toggle.frogsgomoo_tweak else toggle.stoppingDecelRate
toggle.vEgoStarting = 0.1 if toggle.frogsgomoo_tweak else toggle.vEgoStarting
toggle.vEgoStopping = 0.5 if toggle.frogsgomoo_tweak else toggle.vEgoStopping
toggle.lane_changes = self.get_value("LaneChanges")
toggle.lane_change_delay = self.get_value("LaneChangeTime", cast=float, condition=toggle.lane_changes)
toggle.lane_detection_width = self.get_value("LaneDetectionWidth", cast=float, condition=toggle.lane_changes, conversion=distance_conversion)
opendbc_repo/opendbc/car/toyota/carcontroller.py
+4 -1
View File
@@ -234,7 +234,10 @@ class CarController(CarControllerBase):
self.aego.update(a_ego_blended)
j_ego = (self.aego.x - prev_aego) / (DT_CTRL * 3)
future_t = float(np.interp(CS.out.vEgo, [2., 5.], [0.25, 0.5]))
if frogpilot_toggles.frogsgomoo_tweak:
future_t = float(np.interp(CS.out.vEgo, [2., 5.], [0.35, 1.0]))
else:
future_t = float(np.interp(CS.out.vEgo, [2., 5.], [0.25, 0.5]))
a_ego_future = a_ego_blended + j_ego * future_t
if CC.longActive: