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Update accel_controller.py

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Kumar
2024-09-05 16:42:44 -07:00
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parent e08a8552e0
commit e30ae2e70e
1 changed files with 12 additions and 7 deletions
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selfdrive/controls/lib/sunnypilot/accel_controller.py
+12 -7
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@@ -29,15 +29,20 @@ from openpilot.common.numpy_fast import interp
AccelPersonality = custom.AccelerationPersonality
# accel personality by @arne182 modified by cgw and kumar
#_DP_CRUISE_MIN_V = [-1.0, -1.0]
#_DP_CRUISE_MIN_V_ECO = [-1.0, -1.0]
#_DP_CRUISE_MIN_V = [-1.0, -1.0]
#_DP_CRUISE_MIN_V_ECO = [-1.0, -1.0]
#_DP_CRUISE_MIN_V_SPORT = [-1.0, -1.0]
#_DP_CRUISE_MIN_BP = [0., 40.]
#_DP_CRUISE_MIN_BP = [0., 40.]
_DP_CRUISE_MIN_V = [-0.95, -0.95, -0.45, -0.45, -0.50, -0.50, -1.00, -1.00, -1.00, -1.00, -1.00, -1.00, -1.0, -1.0]
_DP_CRUISE_MIN_V_ECO = [-0.90, -0.90, -0.40, -0.40, -0.40, -0.40, -1.00, -1.00, -1.00, -1.00, -1.00, -1.00, -1.0, -1.0]
_DP_CRUISE_MIN_V_SPORT = [-1.00, -1.00, -0.50, -0.50, -0.60, -0.60, -1.00, -1.00, -1.00, -1.00, -1.00, -1.00, -1.0, -1.0]
_DP_CRUISE_MIN_BP = [0., 5.0, 5.01, 8.0, 8.01, 12.10, 12.11, 16., 16.01, 20., 20.01, 25., 25.01, 30.]
#_DP_CRUISE_MIN_V = [-0.95, -0.95, -0.45, -0.45, -0.50, -0.50, -1.00, -1.00, -1.00, -1.00, -1.00, -1.00, -1.0, -1.0]
#_DP_CRUISE_MIN_V_ECO = [-0.90, -0.90, -0.40, -0.40, -0.40, -0.40, -1.00, -1.00, -1.00, -1.00, -1.00, -1.00, -1.0, -1.0]
#_DP_CRUISE_MIN_V_SPORT = [-1.00, -1.00, -0.50, -0.50, -0.60, -0.60, -1.00, -1.00, -1.00, -1.00, -1.00, -1.00, -1.0, -1.0]
#_DP_CRUISE_MIN_BP = [0., 5.0, 5.01, 8.0, 8.01, 12.10, 12.11, 16., 16.01, 20., 20.01, 25., 25.01, 30.]
_DP_CRUISE_MIN_V = [-0.031, -0.031, -0.011, -0.011, -0.08, -0.08, -0.33, -0.33, -0.63, -0.63, -0.79, -0.79, -1.0, -1.0]
_DP_CRUISE_MIN_V_ECO = [-0.030, -0.030, -0.010, -0.010, -0.07, -0.07, -0.32, -0.32, -0.64, -0.64, -0.78, -0.78, -1.0, -1.0]
_DP_CRUISE_MIN_V_SPORT = [-0.032, -0.032, -0.012, -0.012, -0.09, -0.09, -0.34, -0.34, -0.66, -0.66, -0.80, -0.80, -1.0, -1.0]
_DP_CRUISE_MIN_BP = [0., 3.0, 3.01, 8.0, 8.01, 12., 12.01, 16., 16.01, 20., 20.01, 25., 25.01, 30.]
_DP_CRUISE_MAX_V = [2.0, 2.0, 1.75, 1.14, .64, .54, .38, .17]
_DP_CRUISE_MAX_V_ECO = [2.0, 2.0, 1.60, 0.91, .56, .45, .32, .09]