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Ford: limit acceleration near PCM set speed (#1432) 

* do what nidec does

* ~0.5 is what it hovers around
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Shane Smiskol 2024-10-31 15:43:01 -05:00 committed by GitHub
parent c4114772ba
commit d632cc5bec
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11
opendbc/car/ford/interface.py
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@ -1,14 +1,23 @@
from panda import Panda from panda import Panda
from opendbc.car.common.numpy_fast import interp
from opendbc.car import get_safety_config, structs from opendbc.car import get_safety_config, structs
from opendbc.car.common.conversions import Conversions as CV from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.ford.fordcan import CanBus from opendbc.car.ford.fordcan import CanBus
from opendbc.car.ford.values import DBC, Ecu, FordFlags, RADAR from opendbc.car.ford.values import CarControllerParams, DBC, Ecu, FordFlags, RADAR
from opendbc.car.interfaces import CarInterfaceBase from opendbc.car.interfaces import CarInterfaceBase
TransmissionType = structs.CarParams.TransmissionType TransmissionType = structs.CarParams.TransmissionType
class CarInterface(CarInterfaceBase): class CarInterface(CarInterfaceBase):
@staticmethod
def get_pid_accel_limits(CP, current_speed, cruise_speed):
# PCM doesn't allow acceleration near cruise_speed,
# so limit limits of pid to prevent windup
ACCEL_MAX_VALS = [CarControllerParams.ACCEL_MAX, 0.2]
ACCEL_MAX_BP = [cruise_speed - 2., cruise_speed - .4]
return CarControllerParams.ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
@staticmethod @staticmethod
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams: def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:
ret.carName = "ford" ret.carName = "ford"