From 47f54326f556a4cfec7f04e81a8c2ea765b522d7 Mon Sep 17 00:00:00 2001 From: Kumar <36933347+rav4kumar@users.noreply.github.com> Date: Tue, 24 Sep 2024 16:46:33 -0700 Subject: [PATCH] Update accel_controller.py --- selfdrive/controls/lib/sunnypilot/accel_controller.py | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/selfdrive/controls/lib/sunnypilot/accel_controller.py b/selfdrive/controls/lib/sunnypilot/accel_controller.py index 96435144bf..2c57c4c344 100644 --- a/selfdrive/controls/lib/sunnypilot/accel_controller.py +++ b/selfdrive/controls/lib/sunnypilot/accel_controller.py @@ -29,9 +29,9 @@ 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, -1.0, -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_V = [-0.08, -0.08, -0.11, -0.11, -0.16, -0.16, -0.46, -1.0, -1.2] +_DP_CRUISE_MIN_V_ECO = [-0.07, -0.07, -0.10, -0.10, -0.15, -0.15, -0.45, -1.0, -1.2] +_DP_CRUISE_MIN_V_SPORT = [-0.09, -0.09, -0.12, -0.12, -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] @@ -40,11 +40,12 @@ _DP_CRUISE_MIN_BP = [0., 0.05, 0.06, 8.0, 8.01, 12., 18., 25., #_DP_CRUISE_MIN_BP = [0., 0.05, 3.12, 10., 10.01, 20., 30.] _DP_CRUISE_MAX_V = [2.0, 2.0, 1.75, 0.96, .65, .54, .38, .17] -_DP_CRUISE_MAX_V_ECO = [2.0, 1.9, 1.65, 0.90, .57, .45, .32, .09] +_DP_CRUISE_MAX_V_ECO = [2.0, 1.95, 1.66, 0.91, .58, .46, .32, .09] _DP_CRUISE_MAX_V_SPORT = [2.0, 2.0, 1.95, 1.15, .84, .70, .50, .30] _DP_CRUISE_MAX_BP = [0., 6.0, 8., 11., 20., 25., 30., 40.] + class AccelController: def __init__(self): self._personality = AccelPersonality.stock