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rav4kumar
2025-11-15 06:06:48 -07:00
parent 5164951ffa
commit a31c5cf227
3 changed files with 8 additions and 8 deletions
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opendbc_repo
+1 -1
Submodule opendbc_repo updated: 7c6c70fe4a...2bcc263692
sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py
+4 -4
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@@ -14,9 +14,9 @@ AccelPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
# Acceleration Profiles
MAX_ACCEL_PROFILES = {
AccelPersonality.eco: [2.0, 1.96, 1.60, .805, .520, .32, .23, .110],
AccelPersonality.normal: [2.0, 1.99, 1.74, .850, .560, .40, .29, .158],
AccelPersonality.sport: [2.0, 2.00, 2.00, 1.90, .900, .70, .40, .200],
AccelPersonality.eco: [1.8, 1.96, 1.60, .805, .520, .32, .23, .110],
AccelPersonality.normal: [2.0, 1.98, 1.74, .850, .560, .40, .29, .158],
AccelPersonality.sport: [2.0, 2.00, 2.00, 2.00, .999, .70, .40, .200],
}
MAX_ACCEL_BREAKPOINTS = [0., 4., 6., 9., 16., 25., 30., 55.]
@@ -30,7 +30,7 @@ MIN_ACCEL_BREAKPOINTS = [5., 14., 36.]
DECEL_SMOOTH_ALPHA = 0.02 # Very aggressive smoothing for decel (lower = smoother)
ACCEL_SMOOTH_ALPHA = 0.50 # Less aggressive for accel (higher = more responsive)
ACCEL_SMOOTH_ALPHA = 0.01 # Less aggressive for accel (higher = more responsive)
# Asymmetric rate limiting
MAX_DECEL_INCREASE_RATE = 0.1 # When braking harder (m/s² per second)
sunnypilot/selfdrive/controls/lib/dynamic_personality/dynamic_follow.py
+3 -3
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@@ -14,9 +14,9 @@ LongPersonality = log.LongitudinalPersonality
# Follow distance profiles mapped to LongPersonality
FOLLOW_PROFILES = {
LongPersonality.relaxed: [1.30, 1.30, 1.405, 1.40, 1.90, 1.89],
LongPersonality.standard: [1.16, 1.15, 1.288, 1.28, 1.45, 1.44],
LongPersonality.aggressive: [0.97, 0.95, 1.100, 1.09, 1.16, 1.15],
LongPersonality.relaxed: [1.25, 1.30, 1.405, 1.40, 1.90, 1.89],
LongPersonality.standard: [1.14, 1.15, 1.288, 1.28, 1.45, 1.44],
LongPersonality.aggressive: [0.97, 0.97, 1.100, 1.09, 1.16, 1.15],
}
FOLLOW_BREAKPOINTS = [0., 7., 8, 17., 22., 36]