From ee8c68ee2bb04931b20a1ca423c993482aa08fac Mon Sep 17 00:00:00 2001 From: Kumar <36933347+rav4kumar@users.noreply.github.com> Date: Tue, 20 Jan 2026 18:41:49 -0700 Subject: [PATCH] Fix MIN_ACCEL_BREAKPOINTS and update braking profiles --- .../controls/lib/accel_personality/accel_controller.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py b/sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py index 1ec5720c34..313dc80a55 100644 --- a/sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py +++ b/sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py @@ -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)