From 3955b1f70f013e41a36022bfac8789addfc78185 Mon Sep 17 00:00:00 2001 From: James <91348155+FrogAi@users.noreply.github.com> Date: Mon, 1 Dec 2025 12:00:00 -0700 Subject: [PATCH] FrogsGoMoo's personal tweaks for Toyota/Lexus --- frogpilot/common/frogpilot_variables.py | 5 +++++ opendbc_repo/opendbc/car/toyota/carcontroller.py | 5 ++++- 2 files changed, 9 insertions(+), 1 deletion(-) diff --git a/frogpilot/common/frogpilot_variables.py b/frogpilot/common/frogpilot_variables.py index 9f9b3c78..7fde0981 100644 --- a/frogpilot/common/frogpilot_variables.py +++ b/frogpilot/common/frogpilot_variables.py @@ -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) diff --git a/opendbc_repo/opendbc/car/toyota/carcontroller.py b/opendbc_repo/opendbc/car/toyota/carcontroller.py index b762253e..5e3576d5 100644 --- a/opendbc_repo/opendbc/car/toyota/carcontroller.py +++ b/opendbc_repo/opendbc/car/toyota/carcontroller.py @@ -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: