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Fix MIN_ACCEL_BREAKPOINTS and update braking profiles

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Kumar
2026-01-20 18:41:49 -07:00
committed by rav4kumar
parent 1b47b75fab
commit ee8c68ee2b
1 changed files with 4 additions and 4 deletions
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sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py
+4 -4
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@@ -26,11 +26,11 @@ MAX_ACCEL_BREAKPOINTS = [0., 3., 5., 8., 12., 18., 24., 32., 42
# Braking Profiles
MIN_ACCEL_PROFILES = {
AccelPersonality.eco: [-.003, -.003, -.003, -0.24, -0.34, -0.44, -1.2, -1.2],
AccelPersonality.normal: [-.004, -.004, -.004, -0.26, -0.36, -0.46, -1.2, -1.3],
AccelPersonality.sport: [-.005, -.005, -.005, -0.28, -0.38, -0.48, -1.3, -1.4],
AccelPersonality.eco: [-.003, -.003, -.003, -0.24, -0.34, -0.44, -1.2],
AccelPersonality.normal: [-.004, -.004, -.004, -0.26, -0.36, -0.46, -1.3],
AccelPersonality.sport: [-.005, -.005, -.005, -0.28, -0.38, -0.48, -1.4],
}
MIN_ACCEL_BREAKPOINTS = [0., 0.001, 3, 4.5, 7., 9., 14., 25]
MIN_ACCEL_BREAKPOINTS = [0., 0.001, 3, 4.5, 7., 9., 25]
DECEL_SMOOTH_ALPHA = 0.20 # Very aggressive smoothing for decel (lower = smoother)