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rav4kumar
2025-10-26 11:41:46 -07:00
parent 9cafeefaf1
commit b32c64130c
2 changed files with 10 additions and 10 deletions
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sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py
+6 -6
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@@ -15,19 +15,19 @@ AccelPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
# Acceleration Profiles
MAX_ACCEL_PROFILES = {
AccelPersonality.eco: [2.0, 1.99, 1.92, 1.10, .500, .33, .23, .125], # eco
AccelPersonality.normal: [2.0, 2.00, 1.97, 1.25, .635, .48, .31, .165], # normal
AccelPersonality.eco: [2.0, 1.99, 1.92, .850, .500, .33, .23, .125], # eco
AccelPersonality.normal: [2.0, 2.00, 1.97, 1.00, .635, .48, .31, .165], # normal
AccelPersonality.sport: [2.0, 2.00, 2.00, 1.90, 1.40, .70, .42, .251], # sport
}
MAX_ACCEL_BREAKPOINTS = [0., 4., 6., 9., 16., 25., 30., 55.]
# Braking Profiles
MIN_ACCEL_PROFILES = {
AccelPersonality.eco: [-.0007, -.0007, -.008, -.28, -1.20], # gentler braking
AccelPersonality.normal: [-.0008, -.0008, -.009, -.29, -1.20], # normal braking
AccelPersonality.sport: [-.0009, -.0009, -.010, -.30, -1.20], # more aggressive braking
AccelPersonality.eco: [-.0100, -.0100, -.060, -.60, -1.20], # gentler braking
AccelPersonality.normal: [-.0150, -.0150, -.070, -.70, -1.20], # normal braking
AccelPersonality.sport: [-.0200, -.0200, -.080, -.80, -1.20], # more aggressive braking
}
MIN_ACCEL_BREAKPOINTS = [0., 3.0, 11., 14, 50.]
MIN_ACCEL_BREAKPOINTS = [0., 3.0, 11., 14, 25.]
class AccelPersonalityController:
sunnypilot/selfdrive/controls/lib/dynamic_personality/dynamic_follow.py
+4 -4
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@@ -14,11 +14,11 @@ LongPersonality = log.LongitudinalPersonality
# Follow distance profiles mapped to LongPersonality
FOLLOW_PROFILES = {
LongPersonality.relaxed: [1.55, 1.65, 1.65, 1.80], # more spread out
LongPersonality.standard: [1.45, 1.45, 1.45, 1.50], # balanced
LongPersonality.aggressive: [1.20, 1.22, 1.28, 1.35], # tighter
LongPersonality.relaxed: [1.35, 1.80], # more spread out
LongPersonality.standard: [1.35, 1.55], # balanced
LongPersonality.aggressive: [1.25, 1.45], # tighter
}
FOLLOW_BREAKPOINTS = [0., 6., 18., 36.]
FOLLOW_BREAKPOINTS = [10., 36.]
class FollowDistanceController: