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Update accel_controller.py

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Kumar
2024-08-15 16:36:44 -07:00
committed by GitHub
parent a176851afe
commit 852302b97b
1 changed files with 4 additions and 7 deletions
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selfdrive/controls/lib/sunnypilot/accel_controller.py
+4 -7
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@@ -29,20 +29,17 @@ from openpilot.common.numpy_fast import interp
AccelPersonality = custom.AccelerationPersonality
# accel personality by @arne182 modified by cgw and kumar
_DP_CRUISE_MIN_V = [-0.031, -0.031, -0.101, -0.101, -0.43, -0.43, -1.0, -1.0, -0.75]
_DP_CRUISE_MIN_V = [-0.031, -0.031, -0.101, -0.101, -0.43, -0.43, -1.0, -1.0, -0.75]
_DP_CRUISE_MIN_V_ECO = [-0.030, -0.030, -0.100, -0.100, -0.40, -0.40, -1.0, -1.0, -0.65]
_DP_CRUISE_MIN_V_SPORT = [-0.032, -0.032, -0.102, -0.102, -0.45, -0.45, -1.0, -1.0, -0.85]
_DP_CRUISE_MIN_BP = [0., 5.0, 5.01, 10., 10.01, 15., 15.01, 30., 30.01]
#_DP_CRUISE_MIN_V = [-0.05, -0.05, -0.088, -0.088, -0.25, -0.25, -0.39, -0.39, -0.75]
#_DP_CRUISE_MIN_V_ECO = [-0.04, -0.04, -0.087, -0.087, -0.24, -0.24, -0.38, -0.38, -0.65]
#_DP_CRUISE_MIN_V_SPORT = [-0.06, -0.06, -0.089, -0.089, -0.26, -0.26, -0.40, -0.40, -0.85]
#_DP_CRUISE_MIN_BP = [0., 5.0, 5.01, 11.1, 11.11, 20., 20.01, 30., 30.01]
_DP_CRUISE_MAX_V = [2.0, 2.0, 1.9, 1.60, 1.11, .75, .55, .42, .2]
_DP_CRUISE_MAX_V = [2.0, 2.0, 1.9, 1.60, 1.11, .73, .55, .38, .16]
_DP_CRUISE_MAX_V_ECO = [2.0, 2.0, 1.8, 1.35, 0.86, .53, .42, .31, .085]
_DP_CRUISE_MAX_V_SPORT = [2.0, 2.0, 2.0, 2.00, 1.34, .96, .78, .60, .4]
_DP_CRUISE_MAX_V_SPORT = [2.0, 2.0, 2.0, 2.00, 1.40, .90, .70, .50, .30]
_DP_CRUISE_MAX_BP = [0., 4., 6., 8., 11., 20., 25., 30., 55.]
class AccelController:
def __init__(self):
self._personality = AccelPersonality.stock