mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-07-23 20:52:06 +08:00
Code Issues Packages Projects Releases Wiki Activity

Revert "more, and comfort band"

Browse Source 
This reverts commit 91dadaafd1.
This commit is contained in:
Jason Wen
2024-07-20 15:14:50 -04:00
parent 9ea42911e2
commit 3232d4d01e
2 changed files with 7 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/hyundai/carcontroller.py
+4 -9
View File
@@ -109,9 +109,6 @@ class CarController(CarControllerBase):
self.jerk_l = 0.0
self.jerk_u = 0.0
self.jerkStartLimit = 2.0
self.cb_upper = 0.0
self.cb_lower = 0.0
self.jerk_count = 0.0
def calculate_lead_distance(self, hud_control: car.CarControl.HUDControl) -> float:
lead_one = self.sm["radarState"].leadOne
@@ -297,8 +294,6 @@ class CarController(CarControllerBase):
self.last_button_frame = self.frame
elif self.frame % 2 == 0:
can_sends.extend([hyundaican.create_clu11(self.packer, (self.frame // 2) + 1, CS.clu11, self.cruise_button, self.CP)] * 25)
else:
self.make_jerk(CS, accel, actuators)
# Parse lead distance from radarState and display the corresponding distance in the car's cluster
if self.CP.openpilotLongitudinalControl and self.sm.updated['radarState'] and self.frame % 5 == 0:
@@ -313,7 +308,7 @@ class CarController(CarControllerBase):
use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled and CS.out.cruiseState.enabled, accel, self.jerk_l, self.jerk_u, int(self.frame / 2),
hud_control, set_speed_in_units, stopping,
CC.cruiseControl.override, use_fca, CS, escc, self.CP, self.lead_distance, self.cb_lower, self.cb_upper))
CC.cruiseControl.override, use_fca, CS, escc, self.CP, self.lead_distance))
# 20 Hz LFA MFA message
if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
@@ -502,7 +497,7 @@ class CarController(CarControllerBase):
self.jerk = self.jerk * 0.9 + accel_diff * 0.1
return self.jerk
def make_jerk(self, CS, accel, actuators):
def make_jerk(self, CS, accel, actuators, hud_control):
jerk = self.cal_jerk(accel, actuators)
a_error = accel - CS.out.aEgo
jerk = jerk + (a_error * 2.0)
@@ -516,7 +511,7 @@ class CarController(CarControllerBase):
self.jerk_u = jerkLimit
self.jerk_l = jerkLimit
self.jerk_count = 0
elif actuators.longControlState == LongCtrlState.stopping:
elif actuators.longControlState == LongCtrlState.stopping or hud_control.softHold > 0:
self.jerk_u += 0.1 if self.jerk_u < 1.5 else -0.1
self.jerk_l += 0.1 if self.jerk_l < 1.0 else -0.1
self.jerk_count = 0
@@ -535,7 +530,7 @@ class CarController(CarControllerBase):
self.jerk_u = jerkLimit
self.jerk_l = jerkLimit
self.jerk_count = 0
elif actuators.longControlState == LongCtrlState.stopping:
elif actuators.longControlState == LongCtrlState.stopping or hud_control.softHold > 0:
self.jerk_u += 0.1 if self.jerk_u < 0.5 else -0.1
self.jerk_l += 0.1 if self.jerk_l < 1.0 else -0.1
self.jerk_count = 0
selfdrive/car/hyundai/hyundaican.py
+3 -3
View File
@@ -131,7 +131,7 @@ def create_lfahda_mfc(packer, enabled, lat_active, lateral_paused, blinking_icon
return packer.make_can_msg("LFAHDA_MFC", 0, values)
def create_acc_commands(packer, enabled, accel, lower_jerk, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca,
CS, escc, CP, lead_distance, cb_lower, cb_upper):
CS, escc, CP, lead_distance):
commands = []
scc11_values = {
@@ -172,8 +172,8 @@ def create_acc_commands(packer, enabled, accel, lower_jerk, upper_jerk, idx, hud
commands.append(packer.make_can_msg("SCC12", 0, scc12_values))
scc14_values = {
"ComfortBandUpper": cb_upper, # stock usually is 0 but sometimes uses higher values
"ComfortBandLower": cb_lower, # stock usually is 0 but sometimes uses higher values
"ComfortBandUpper": 0.0, # stock usually is 0 but sometimes uses higher values
"ComfortBandLower": 0.0, # stock usually is 0 but sometimes uses higher values
"JerkUpperLimit": upper_jerk, # stock usually is 1.0 but sometimes uses higher values
"JerkLowerLimit": lower_jerk, # stock usually is 0.5 but sometimes uses higher values
"ACCMode": 2 if enabled and long_override else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage