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Merge branch 'hkg-can-jerk' into master-dev-c3

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# Conflicts:
#	selfdrive/controls/lib/longcontrol.py
#	selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_settings.cc
This commit is contained in:
Jason Wen
2024-08-04 11:03:19 -04:00
parent 5aef30a9cd 251716a67d
commit cf867c8e24
3 changed files with 5 additions and 9 deletions
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selfdrive/car/hyundai/carcontroller.py
+3 -3
View File
@@ -308,7 +308,7 @@ class CarController(CarControllerBase):
# TODO: unclear if this is needed
jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
self.make_accel(actuators)
self.make_accel(CS, actuators)
can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled and CS.out.cruiseState.enabled, self.accel_raw, self.accel_val, self.jerk_l, self.jerk_u, int(self.frame / 2),
hud_control, set_speed_in_units, stopping,
CC.cruiseControl.override, use_fca, CS, escc, self.CP, self.lead_distance, self.cb_lower, self.cb_upper))
@@ -538,12 +538,12 @@ class CarController(CarControllerBase):
self.cb_upper = clip(0.9 + accel * 0.2, 0, 1.2)
self.cb_lower = clip(0.8 + accel * 0.2, 0, 1.2)
def make_accel(self, actuators):
def make_accel(self, CS, actuators):
long_control = actuators.longControlState
is_ice = not self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV)
rate_up = 0.1
rate_down = 0.1
if long_control == LongCtrlState.off:
if long_control == LongCtrlState.off or CS.out.standstill:
self.accel_raw, self.accel_val = 0, 0
else:
#self.accel_val = clip(self.accel_raw, self.accel_last - rate_down, self.accel_last + rate_up)
selfdrive/car/hyundai/interface.py
+2 -3
View File
@@ -104,9 +104,8 @@ class CarInterface(CarInterfaceBase):
ret.stoppingControl = True
ret.startingState = True
ret.vEgoStarting = 0.1
ret.startAccel = 1.8
ret.stopAccel = 0.0
ret.stoppingDecelRate = 10
ret.startAccel = 1.6
ret.stopAccel = -1.0
ret.longitudinalActuatorDelay = 0.5
if DBC[ret.carFingerprint]["radar"] is None:
selfdrive/controls/lib/longcontrol.py
-3
View File
@@ -75,9 +75,6 @@ class LongControl:
if output_accel > self.CP.stopAccel:
output_accel = min(output_accel, 0.0)
output_accel -= self.CP.stoppingDecelRate * DT_CTRL
elif output_accel < self.CP.stopAccel == 0.0:
output_accel = min(output_accel, 0.0)
output_accel += self.CP.stoppingDecelRate * DT_CTRL
self.reset()
elif self.long_control_state == LongCtrlState.starting: