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Controls - Quality of Life - Map Acceleration Profiles To Gears

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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 2024-05-28 23:46:26 -07:00
parent cf96018f3f
commit 832ab8a7ac
6 changed files with 51 additions and 12 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
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@ -246,6 +246,7 @@ 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
@ -528,6 +529,7 @@ 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

@ -172,6 +172,8 @@ class CarState(CarStateBase):
# FrogPilot carstate functions
fp_ret.hasCamera = not (self.CP.flags & GMFlags.NO_CAMERA.value) and self.CP.carFingerprint not in CC_ONLY_CAR
fp_ret.sportGear = pt_cp.vl["SportMode"]["SportMode"] == 1
self.lkas_previously_enabled = self.lkas_enabled
if self.CP.carFingerprint in SDGM_CAR:
self.lkas_enabled = cam_cp.vl["ASCMSteeringButton"]["LKAButton"]
@ -217,6 +219,7 @@ 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_variables):
if self.CP.carFingerprint in CANFD_CAR:
return self.update_canfd(cp, cp_cam, frogpilot_variables)
@ -269,6 +272,15 @@ class CarState(CarStateBase):
self.prev_distance_button = self.distance_button
self.distance_button = self.cruise_buttons[-1] == Buttons.GAP_DIST and self.prev_cruise_buttons == 0
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"]
@ -357,6 +369,7 @@ class CarState(CarStateBase):
("CRUISE_BUTTONS_ALT", 50),
("BLINKERS", 4),
("DOORS_SEATBELTS", 4),
("DRIVE_MODE", 0),
]
if CP.flags & HyundaiFlags.EV:

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

@ -190,6 +190,9 @@ 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.PRIUS_V:
self.lkas_previously_enabled = self.lkas_enabled
message_keys = ["LDA_ON_MESSAGE", "SET_ME_X02"]

39
selfdrive/frogpilot/controls/frogpilot_planner.py
View File

@ -85,25 +85,40 @@ class FrogPilotPlanner:
lead_distance = self.lead_one.dRel - distance_offset
stopping_distance = STOP_DISTANCE + distance_offset
if frogpilot_toggles.acceleration_profile == 1:
self.max_accel = get_max_accel_eco(v_ego)
elif frogpilot_toggles.acceleration_profile in (2, 3):
self.max_accel = get_max_accel_sport(v_ego)
elif controlsState.experimentalMode:
self.max_accel = ACCEL_MAX
eco_gear = carState.gearShifter == GearShifter.eco or frogpilotCarState.ecoGear
sport_gear = carState.gearShifter == GearShifter.sport or frogpilotCarState.sportGear
if frogpilot_toggles.map_acceleration and (eco_gear or sport_gear):
if eco_gear:
self.max_accel = get_max_accel_eco(v_ego)
elif sport_gear:
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 in (2, 3):
self.max_accel = get_max_accel_sport(v_ego)
elif controlsState.experimentalMode:
self.max_accel = ACCEL_MAX
else:
self.max_accel = get_max_accel(v_ego)
if controlsState.experimentalMode:
self.min_accel = ACCEL_MIN
elif v_cruise_changed:
self.min_accel = A_CRUISE_MIN
elif frogpilot_toggles.deceleration_profile == 1:
self.min_accel = get_min_accel_eco(v_ego)
elif frogpilot_toggles.deceleration_profile == 2:
self.min_accel = get_min_accel_sport(v_ego)
elif frogpilot_toggles.map_deceleration and (eco_gear or sport_gear):
if eco_gear:
self.min_accel = get_min_accel_eco(v_ego)
elif sport_gear:
self.min_accel = get_min_accel_sport(v_ego)
else:
self.min_accel = A_CRUISE_MIN
if frogpilot_toggles.deceleration_profile == 1:
self.min_accel = get_min_accel_eco(v_ego)
elif frogpilot_toggles.deceleration_profile == 2:
self.min_accel = get_min_accel_sport(v_ego)
else:
self.min_accel = A_CRUISE_MIN
check_lane_width = frogpilot_toggles.lane_detection
if check_lane_width and v_ego >= frogpilot_toggles.minimum_lane_change_speed: