From 2a4bb20f9d53a478345d3a19572e4c1e9fcc8bb2 Mon Sep 17 00:00:00 2001 From: rav4kumar Date: Tue, 11 Nov 2025 21:19:31 -0700 Subject: [PATCH] ref --- opendbc_repo | 2 +- .../lib/accel_personality/accel_controller.py | 13 ++++++------- 2 files changed, 7 insertions(+), 8 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 612d237330..3926b2aff1 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 612d237330433262892da87fb2369d2445817a64 +Subproject commit 3926b2aff1622c920d1ebb4d84934d2c7b54f371 diff --git a/sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py b/sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py index e3c052e21b..3c9cc9635d 100644 --- a/sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py +++ b/sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py @@ -22,19 +22,18 @@ MAX_ACCEL_BREAKPOINTS = [0., 4., 6., 9., 16., 25., 30., 55.] # Braking Profiles MIN_ACCEL_PROFILES = { - AccelPersonality.eco: [-0.05, -0.08, -0.16, -0.20, -0.24, -1.20], - AccelPersonality.normal: [-0.06, -0.10, -0.18, -0.22, -0.24, -1.20], - AccelPersonality.sport: [-0.08, -0.12, -0.20, -0.24, -0.26, -1.20], + AccelPersonality.eco: [-0.04, -0.07, -0.14, -0.18, -0.22, -1.20], + AccelPersonality.normal: [-0.05, -0.08, -0.16, -0.20, -0.22, -1.20], + AccelPersonality.sport: [-0.06, -0.10, -0.18, -0.22, -0.24, -1.20], } MIN_ACCEL_BREAKPOINTS = [0., 4., 6., 8., 12., 25.] - -DECEL_SMOOTH_ALPHA = 0.05 # Very aggressive smoothing for decel (lower = smoother) +DECEL_SMOOTH_ALPHA = 0.03 # Very aggressive smoothing for decel (lower = smoother) ACCEL_SMOOTH_ALPHA = 0.20 # Less aggressive for accel (higher = more responsive) # Asymmetric rate limiting -MAX_DECEL_INCREASE_RATE = 0.06 # When braking harder (m/s² per second) -MAX_DECEL_DECREASE_RATE = 0.15 # When releasing brake (m/s² per second) +MAX_DECEL_INCREASE_RATE = 0.04 # When braking harder (m/s² per second) +MAX_DECEL_DECREASE_RATE = 0.20 # When releasing brake (m/s² per second) class AccelPersonalityController: