From b32c64130c91a423595079c7ffead63b5728fdf5 Mon Sep 17 00:00:00 2001 From: rav4kumar Date: Sun, 26 Oct 2025 11:41:46 -0700 Subject: [PATCH] tune --- .../lib/accel_personality/accel_controller.py | 12 ++++++------ .../lib/dynamic_personality/dynamic_follow.py | 8 ++++---- 2 files changed, 10 insertions(+), 10 deletions(-) diff --git a/sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py b/sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py index 303d6cb859..7b0f44b9b3 100644 --- a/sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py +++ b/sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py @@ -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: diff --git a/sunnypilot/selfdrive/controls/lib/dynamic_personality/dynamic_follow.py b/sunnypilot/selfdrive/controls/lib/dynamic_personality/dynamic_follow.py index 74ed67b5db..c27a0b131b 100644 --- a/sunnypilot/selfdrive/controls/lib/dynamic_personality/dynamic_follow.py +++ b/sunnypilot/selfdrive/controls/lib/dynamic_personality/dynamic_follow.py @@ -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: