Human-Like Acceleration

2025-12-01 12:00:00 -07:00
parent e0c1f3ec06
commit f930a2a3a5
2 changed files with 16 additions and 1 deletions
@@ -76,7 +76,10 @@ class LongControl:
      self.reset()

    elif self.long_control_state == LongCtrlState.starting:
-      output_accel = frogpilot_toggles.startAccel
+      if frogpilot_toggles.human_acceleration:
+        output_accel = max(a_target, frogpilot_toggles.startAccel)
+      else:
+        output_accel = frogpilot_toggles.startAccel
      self.reset()

    else:  # LongCtrlState.pid