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rav4kumar
2026-01-13 22:29:11 -07:00
parent e422bc6a10
commit 708bb95e5d
1 changed files with 5 additions and 5 deletions
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sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py
+5 -5
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@@ -15,7 +15,7 @@ ACCEL_PERSONALITY_OPTIONS = [AccelPersonality.eco, AccelPersonality.normal, Acce
# Acceleration Profiles
MAX_ACCEL_PROFILES = {
AccelPersonality.eco: [1.30, 1.25, 1.15, 0.69, 0.58, 0.52, 0.28, 0.107, 0.08, 0.06],
AccelPersonality.eco: [1.30, 1.25, 1.15, 0.69, 0.60, 0.49, 0.28, 0.107, 0.08, 0.06],
AccelPersonality.normal: [1.85, 1.80, 1.55, 0.94, 0.72, 0.58, 0.34, 0.120, 0.09, 0.07],
AccelPersonality.sport: [2.00, 1.95, 1.80, 1.06, 0.81, 0.69, 0.42, 0.160, 0.10, 0.08],
}
@@ -23,11 +23,11 @@ MAX_ACCEL_BREAKPOINTS = [0., 3., 5., 8., 12., 18., 24., 32., 42
# Braking Profiles
MIN_ACCEL_PROFILES = {
AccelPersonality.eco: [-.003, -0.4, -0.6, -0.5, -1.2, -1.2],
AccelPersonality.normal: [-.004, -0.5, -0.7, -0.6, -1.2, -1.3],
AccelPersonality.sport: [-0.50, -0.6, -0.8, -0.7, -1.3, -1.4],
AccelPersonality.eco: [-.003, -0.3, -0.3, -0.4, -1.2, -1.2],
AccelPersonality.normal: [-.004, -0.4, -0.4, -0.5, -1.2, -1.3],
AccelPersonality.sport: [-.005, -0.5, -0.5, -0.6, -1.3, -1.4],
}
MIN_ACCEL_BREAKPOINTS = [3, 5., 7., 9., 14., 25]
MIN_ACCEL_BREAKPOINTS = [3, 4.5, 7., 9., 14., 25]
DECEL_SMOOTH_ALPHA = 0.20 # Very aggressive smoothing for decel (lower = smoother)