mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-08-24 02:13:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

tiny bit

Browse Source
This commit is contained in:
rav4kumar
2024-09-24 07:47:03 -07:00
parent 6ffea11910
commit 237dd0aeea
2 changed files with 7 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+3 -3
View File
@@ -63,7 +63,7 @@ def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard):
elif personality==custom.LongitudinalPersonalitySP.standard:
return 1.0
elif personality==custom.LongitudinalPersonalitySP.moderate:
return 0.3
return 0.5
elif personality==custom.LongitudinalPersonalitySP.aggressive:
return 0.2
elif personality==custom.LongitudinalPersonalitySP.overtake:
@@ -74,9 +74,9 @@ def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard):
def get_T_FOLLOW(personality=custom.LongitudinalPersonalitySP.standard):
if personality==custom.LongitudinalPersonalitySP.relaxed:
return 1.75
return 1.80
elif personality==custom.LongitudinalPersonalitySP.standard:
return 1.50
return 1.55
elif personality==custom.LongitudinalPersonalitySP.moderate:
return 1.35
elif personality==custom.LongitudinalPersonalitySP.aggressive:
selfdrive/controls/lib/sunnypilot/accel_controller.py
+4 -4
View File
@@ -29,10 +29,10 @@ from openpilot.common.numpy_fast import interp
AccelPersonality = custom.AccelerationPersonality
# accel personality by @arne182 modified by cgw and kumar
_DP_CRUISE_MIN_V = [-0.01, -0.01, -0.07, -0.07, -0.16, -0.16, -0.46, -1.2]
_DP_CRUISE_MIN_V_ECO = [-0.01, -0.01, -0.06, -0.06, -0.15, -0.15, -0.45, -1.2]
_DP_CRUISE_MIN_V_SPORT = [-0.01, -0.01, -0.08, -0.08, -0.17, -0.17, -0.47, -1.2]
_DP_CRUISE_MIN_BP = [0., 0.05, 0.06, 8.0, 8.01, 12., 18., 30.]
_DP_CRUISE_MIN_V = [-0.01, -0.01, -0.07, -0.07, -0.16, -0.16, -0.46, -1.0, -1.2]
_DP_CRUISE_MIN_V_ECO = [-0.01, -0.01, -0.06, -0.06, -0.15, -0.15, -0.45, -1.0, -1.2]
_DP_CRUISE_MIN_V_SPORT = [-0.01, -0.01, -0.08, -0.08, -0.17, -0.17, -0.47, -1.0, -1.2]
_DP_CRUISE_MIN_BP = [0., 0.05, 0.06, 8.0, 8.01, 12., 18., 25., 30.]
#_DP_CRUISE_MIN_V = [-0.020, -0.020, -0.23, -0.23, -0.38, -0.38, -1.00]
#_DP_CRUISE_MIN_V_ECO = [-0.019, -0.019, -0.21, -0.21, -0.36, -0.36, -1.00]