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Maximum Acceleration

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This commit is contained in:
James
2025-12-01 12:00:00 -07:00
parent 7ab5f0c436
commit 6c4addf05d
2 changed files with 2 additions and 1 deletions
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frogpilot/common/frogpilot_variables.py
+1
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@@ -372,6 +372,7 @@ class FrogPilotVariables:
advanced_longitudinal_tuning = toggle.openpilot_longitudinal and self.get_value("AdvancedLongitudinalTune")
toggle.longitudinalActuatorDelay = self.get_value("LongitudinalActuatorDelay", cast=float, condition=advanced_longitudinal_tuning, default=longitudinalActuatorDelay, min=0, max=1)
toggle.max_desired_acceleration = self.get_value("MaxDesiredAcceleration", cast=float, condition=advanced_longitudinal_tuning, min=0.1, max=MAX_ACCELERATION)
toggle.startAccel = self.get_value("StartAccel", cast=float, condition=advanced_longitudinal_tuning, default=startAccel, min=0, max=MAX_ACCELERATION)
toggle.stopAccel = self.get_value("StopAccel", cast=float, condition=advanced_longitudinal_tuning, default=stopAccel, min=-MAX_ACCELERATION, max=0)
toggle.stoppingDecelRate = self.get_value("StoppingDecelRate", cast=float, condition=advanced_longitudinal_tuning, default=toggle.stoppingDecelRate, min=0.001, max=1)
selfdrive/controls/controlsd.py
+1 -1
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@@ -126,7 +126,7 @@ class Controls:
# accel PID loop
pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
actuators.accel = float(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits, self.frogpilot_toggles))
actuators.accel = float(min(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits, self.frogpilot_toggles), self.frogpilot_toggles.max_desired_acceleration))
# Steering PID loop and lateral MPC
# Reset desired curvature to current to avoid violating the limits on engage