From 42f43d76fa0412ebfdce418bd85ae58f0aa887b2 Mon Sep 17 00:00:00 2001 From: rav4kumar Date: Thu, 3 Oct 2024 20:14:46 -0700 Subject: [PATCH] ttf --- selfdrive/car/toyota/interface.py | 4 ++-- selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 4 ++-- selfdrive/controls/lib/sunnypilot/accel_controller.py | 8 ++++---- 3 files changed, 8 insertions(+), 8 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index d367601587..9aced8a9d3 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -163,7 +163,7 @@ class CarInterface(CarInterfaceBase): # hand tuned (August 12, 2024) def custom_tss2_longitudinal_tuning(): ret.vEgoStopping = 0.10 - ret.vEgoStarting = 0.01 + ret.vEgoStarting = 0.10 ret.stoppingDecelRate = 0.006 def default_tss2_longitudinal_tuning(): @@ -183,7 +183,7 @@ class CarInterface(CarInterfaceBase): #tune.kpBP = [0., 5., 20.] #tune.kpV = [2.3, 1.0, 0.7] tune.kiBP = [0., 8., 12., 20., 27., 36., 40.] - tune.kiV = [0.35, 0.22, 0.21, 0.175, 0.105, 0.09, 0.08] + tune.kiV = [0.35, 0.22, 0.21, 0.173, 0.10, 0.09, 0.08] custom_tss2_longitudinal_tuning() else: tune.kpV = [0.0] diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 17ad851c64..65250a7378 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -63,9 +63,9 @@ def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard): elif personality==custom.LongitudinalPersonalitySP.standard: return 1.0 elif personality==custom.LongitudinalPersonalitySP.moderate: - return 0.9 + return 0.5 elif personality==custom.LongitudinalPersonalitySP.aggressive: - return 0.8 + return 0.2 elif personality==custom.LongitudinalPersonalitySP.overtake: return 0.1 else: diff --git a/selfdrive/controls/lib/sunnypilot/accel_controller.py b/selfdrive/controls/lib/sunnypilot/accel_controller.py index b4a8f1f966..69e744790e 100644 --- a/selfdrive/controls/lib/sunnypilot/accel_controller.py +++ b/selfdrive/controls/lib/sunnypilot/accel_controller.py @@ -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 = [-0.76, -0.76] -_DP_CRUISE_MIN_V_ECO = [-0.66, -0.66] -_DP_CRUISE_MIN_V_SPORT = [-0.86, -0.86] -_DP_CRUISE_MIN_BP = [0., 20.] +_DP_CRUISE_MIN_V = [-0.02, -0.24, -0.76] +_DP_CRUISE_MIN_V_ECO = [-0.02, -0.20, -0.66] +_DP_CRUISE_MIN_V_SPORT = [-0.02, -0.28, -0.86] +_DP_CRUISE_MIN_BP = [0., 10., 20.] _DP_CRUISE_MAX_V = [2.0, 2.0, 2.0, 1.80, 1.03, .71, .52, .41, .13] _DP_CRUISE_MAX_V_ECO = [2.0, 2.0, 2.0, 1.65, 0.92, .54, .43, .32, .088]