mawei
/
openpilot1
mirror of https://github.com/huifan0114/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Controls - Quality of Life - Map Acceleration Profiles To Gears 

Map your acceleration/deceleration profile to your 'Eco' and/or 'Sport' gears.

Co-Authored-By: CHaucke89 <132518562+chaucke89@users.noreply.github.com>
Co-Authored-By: garrettpall <76917194+garrettpall@users.noreply.github.com>
This commit is contained in:
FrogAi 2024-06-22 14:32:33 -07:00
parent b12de0513f
commit 8186a2a477
7 changed files with 58 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
opendbc/gm_global_a_powertrain_volt.dbc
View File

@ -188,6 +188,9 @@ BO_ 497 BCMGeneralPlatformStatus: 8 K9_BCM
SG_ SystemBackUpPowerMode : 5|2@0+ (1,0) [0|3] "" XXX
SG_ ParkBrakeSwActive : 36|1@0+ (1,0) [0|3] "" XXX
BO_ 500 SportMode: 6 XXX
SG_ SportMode : 15|1@0+ (1,0) [0|1] "" XXX
BO_ 501 ECMPRDNL2: 8 K20_ECM
SG_ TransmissionState : 48|4@1+ (1,0) [0|7] "" NEO
SG_ PRNDL2 : 27|4@0+ (1,0) [0|255] "" NEO

2
opendbc/toyota_nodsu_pt_generated.dbc
View File

@ -249,6 +249,7 @@ BO_ 956 GEAR_PACKET: 8 XXX
SG_ SPORT_GEAR_ON : 33|1@0+ (1,0) [0|1] "" XXX
SG_ SPORT_GEAR : 38|3@0+ (1,0) [0|7] "" XXX
SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
SG_ SPORT_ON_2 : 55|1@0+ (1,0) [0|1] "" XXX
SG_ B_GEAR_ENGAGED : 41|1@0+ (1,0) [0|1] "" XXX
SG_ DRIVE_ENGAGED : 47|1@0+ (1,0) [0|1] "" XXX
@ -531,6 +532,7 @@ VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
VAL_ 956 SPORT_GEAR_ON 0 "off" 1 "on";
VAL_ 956 SPORT_GEAR 1 "S1" 2 "S2" 3 "S3" 4 "S4" 5 "S5" 6 "S6";
VAL_ 956 ECON_ON 0 "off" 1 "on";
VAL_ 956 SPORT_ON_2 0 "off" 1 "on";
VAL_ 956 B_GEAR_ENGAGED 0 "off" 1 "on";
VAL_ 956 DRIVE_ENGAGED 0 "off" 1 "on";
VAL_ 1005 REVERSE_CAMERA_GUIDELINES 3 "No guidelines" 2 "Static guidelines" 1 "Active guidelines";

3
selfdrive/car/gm/carstate.py
View File

@ -180,6 +180,8 @@ class CarState(CarStateBase):
self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]["CruiseState"]
fp_ret.sportGear = pt_cp.vl["SportMode"]["SportMode"] == 1
return ret, fp_ret
@staticmethod
@ -219,6 +221,7 @@ class CarState(CarStateBase):
("EBCMFrictionBrakeStatus", 20),
("PSCMSteeringAngle", 100),
("ECMAcceleratorPos", 80),
("SportMode", 0),
]
if CP.carFingerprint in SDGM_CAR:

13
selfdrive/car/hyundai/carstate.py
View File

@ -55,6 +55,9 @@ class CarState(CarStateBase):
# FrogPilot variables
self.main_enabled = False
self.active_mode = 0
self.drive_mode_prev = 0
def update(self, cp, cp_cam, frogpilot_toggles):
if self.CP.carFingerprint in CANFD_CAR:
return self.update_canfd(cp, cp_cam, frogpilot_toggles)
@ -270,6 +273,15 @@ class CarState(CarStateBase):
self.prev_distance_button = self.distance_button
self.distance_button = self.cruise_buttons[-1] == Buttons.GAP_DIST
drive_mode = cp.vl["DRIVE_MODE"]["DRIVE_MODE2"]
if drive_mode != 0 and drive_mode != self.drive_mode_prev:
self.active_mode = drive_mode if drive_mode in (2, 3) else 1
self.drive_mode_prev = drive_mode
fp_ret.ecoGear = self.active_mode == 2
fp_ret.sportGear = self.active_mode == 3
self.lkas_previously_enabled = self.lkas_enabled
self.lkas_enabled = cp.vl[self.cruise_btns_msg_canfd]["LFA_BTN"]
@ -359,6 +371,7 @@ class CarState(CarStateBase):
("CRUISE_BUTTONS_ALT", 50),
("BLINKERS", 4),
("DOORS_SEATBELTS", 4),
("DRIVE_MODE", 0),
]
if CP.flags & HyundaiFlags.EV:

2
selfdrive/car/interfaces.py
View File

@ -420,6 +420,8 @@ class CarInterfaceBase(ABC):
# Add any additional frogpilotCarStates
fp_ret.alwaysOnLateralDisabled = self.always_on_lateral_disabled
fp_ret.distanceLongPressed = self.frogpilot_distance_functions(frogpilot_toggles)
fp_ret.ecoGear |= ret.gearShifter == GearShifter.eco
fp_ret.sportGear |= ret.gearShifter == GearShifter.sport
fp_ret.trafficModeActive = frogpilot_toggles.traffic_mode and self.traffic_mode_active
# copy back for next iteration

3
selfdrive/car/toyota/carstate.py
View File

@ -191,6 +191,9 @@ class CarState(CarStateBase):
self.distance_button = cp.vl["SDSU"]["FD_BUTTON"]
# FrogPilot CarState functions
fp_ret.ecoGear = cp.vl["GEAR_PACKET"]['ECON_ON'] == 1
fp_ret.sportGear = cp.vl["GEAR_PACKET"]['SPORT_ON_2' if self.CP.flags & ToyotaFlags.NO_DSU else 'SPORT_ON'] == 1
if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V:
self.lkas_previously_enabled = self.lkas_enabled
message_keys = ["LDA_ON_MESSAGE", "SET_ME_X02"]

46
selfdrive/frogpilot/controls/frogpilot_planner.py
View File

@ -111,18 +111,30 @@ class FrogPilotPlanner:
self.update_v_cruise(carState, controlsState, frogpilotCarState, frogpilotNavigation, modelData, v_cruise, v_ego, frogpilot_toggles)
def set_acceleration(self, controlsState, frogpilotCarState, v_cruise, v_ego, frogpilot_toggles):
eco_gear = frogpilotCarState.ecoGear
sport_gear = frogpilotCarState.sportGear
if self.tracking_lead and frogpilot_toggles.aggressive_acceleration:
self.max_accel = clip(self.lead_one.aLeadK, get_max_accel_sport_plus(v_ego), 2.0 if v_ego >= 20 else 4.0)
elif frogpilot_toggles.acceleration_profile == 1:
self.max_accel = get_max_accel_eco(v_ego)
elif frogpilot_toggles.acceleration_profile == 2:
self.max_accel = get_max_accel_sport(v_ego)
elif frogpilot_toggles.acceleration_profile == 3:
self.max_accel = get_max_accel_sport_plus(v_ego)
elif controlsState.experimentalMode:
self.max_accel = ACCEL_MAX
elif frogpilot_toggles.map_acceleration and (eco_gear or sport_gear):
if eco_gear:
self.max_accel = get_max_accel_eco(v_ego)
else:
if frogpilot_toggles.acceleration_profile == 3:
self.max_accel = get_max_accel_sport_plus(v_ego)
else:
self.max_accel = get_max_accel_sport(v_ego)
else:
self.max_accel = get_max_accel(v_ego)
if frogpilot_toggles.acceleration_profile == 1:
self.max_accel = get_max_accel_eco(v_ego)
elif frogpilot_toggles.acceleration_profile == 2:
self.max_accel = get_max_accel_sport(v_ego)
elif frogpilot_toggles.acceleration_profile == 3:
self.max_accel = get_max_accel_sport_plus(v_ego)
elif controlsState.experimentalMode:
self.max_accel = ACCEL_MAX
else:
self.max_accel = get_max_accel(v_ego)
if not self.tracking_lead:
self.max_accel = min(self.max_accel, self.max_accel * (self.v_cruise / CITY_SPEED_LIMIT))
@ -131,12 +143,18 @@ class FrogPilotPlanner:
self.min_accel = ACCEL_MIN
elif self.mtsc_target < v_cruise:
self.min_accel = A_CRUISE_MIN
elif frogpilot_toggles.deceleration_profile == 1:
self.min_accel = A_CRUISE_MIN_ECO
elif frogpilot_toggles.deceleration_profile == 2:
self.min_accel = A_CRUISE_MIN_SPORT
elif frogpilot_toggles.map_deceleration and (eco_gear or sport_gear):
if eco_gear:
self.min_accel = A_CRUISE_MIN_ECO
else:
self.min_accel = A_CRUISE_MIN_SPORT
else:
self.min_accel = A_CRUISE_MIN
if frogpilot_toggles.deceleration_profile == 1:
self.min_accel = A_CRUISE_MIN_ECO
elif frogpilot_toggles.deceleration_profile == 2:
self.min_accel = A_CRUISE_MIN_SPORT
else:
self.min_accel = A_CRUISE_MIN
def set_follow_values(self, controlsState, frogpilotCarState, lead_distance, stopping_distance, v_ego, v_lead, frogpilot_toggles):
if frogpilotCarState.trafficModeActive: