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https://github.com/dragonpilot/dragonpilot.git
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634aa84919
version: lp-dp v0.9.5 for EON/C2 date: 2023-09-13T13:36:48 commit: 1d59b81c40b93f37d4a341c5d35b1c3cd293543d
54 lines
1.9 KiB
Python
54 lines
1.9 KiB
Python
from openpilot.common.numpy_fast import interp
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DP_ACCEL_STOCK = 0
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DP_ACCEL_ECO = 1
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DP_ACCEL_NORMAL = 2
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DP_ACCEL_SPORT = 3
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# accel profile by @arne182 modified by cgw
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_DP_CRUISE_MIN_V = [-0.765, -0.765, -0.80, -0.80, -0.75, -0.70]
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_DP_CRUISE_MIN_V_ECO = [-0.760, -0.760, -0.76, -0.76, -0.70, -0.65]
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_DP_CRUISE_MIN_V_SPORT = [-0.770, -0.770, -0.90, -1.00, -0.90, -0.80]
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_DP_CRUISE_MIN_BP = [0., 15.66, 17.88, 20., 30., 55.]
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#DP_CRUISE_MIN_BP in mph=[0., 18, 35, 40, 45, 67, 123]
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_DP_CRUISE_MAX_V = [3.4, 2.8, 1.8, 1.4, 1.06, .88, .68, .46, .35, .13]
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_DP_CRUISE_MAX_V_ECO = [3.2, 2.6, 1.6, 1.2, .76, .62, .48, .36, .28, .09]
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_DP_CRUISE_MAX_V_SPORT = [3.5, 3.0, 2.4, 2.9, 2.1, 1.7, 1.3, .9, .7, .5]
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_DP_CRUISE_MAX_BP = [0., 3, 6., 8., 11., 15., 20., 25., 30., 55.]
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#DP_CRUISE_MAX_BP in mph=[0., 6.7, 13, 18, 25, 33, 45, 56, 67, 123]
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class AccelController:
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def __init__(self):
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# self._params = Params()
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self._profile = DP_ACCEL_STOCK
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def set_profile(self, profile):
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try:
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self._profile = int(profile) if int(profile) in [DP_ACCEL_STOCK, DP_ACCEL_ECO, DP_ACCEL_NORMAL, DP_ACCEL_SPORT] else DP_ACCEL_STOCK
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except:
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self._profile = DP_ACCEL_STOCK
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def _dp_calc_cruise_accel_limits(self, v_ego):
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if self._profile == DP_ACCEL_ECO:
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min_v = _DP_CRUISE_MIN_V_ECO
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max_v = _DP_CRUISE_MAX_V_ECO
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elif self._profile == DP_ACCEL_SPORT:
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min_v = _DP_CRUISE_MIN_V_SPORT
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max_v = _DP_CRUISE_MAX_V_SPORT
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else:
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min_v = _DP_CRUISE_MIN_V
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max_v = _DP_CRUISE_MAX_V
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a_cruise_min = interp(v_ego, _DP_CRUISE_MIN_BP, min_v)
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a_cruise_max = interp(v_ego, _DP_CRUISE_MAX_BP, max_v)
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return a_cruise_min, a_cruise_max
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def get_accel_limits(self, v_ego, accel_limits):
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return accel_limits if self._profile == DP_ACCEL_STOCK else self._dp_calc_cruise_accel_limits(v_ego)
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def is_enabled(self):
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return self._profile != DP_ACCEL_STOCK
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