Controls - Longitudinal Tuning - Acceleration Profile

Change the acceleration rate to be either sporty or eco-friendly.

panda/board/safety/safety_gm.h

@@ -16,6 +16,13 @@ const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
   .max_brake = 400,
 };
 
+const LongitudinalLimits GM_ASCM_LONG_LIMITS_SPORT = {
+  .max_gas = 8191,
+  .min_gas = 1404,
+  .inactive_gas = 1404,
+  .max_brake = 400,
+};
+
 const LongitudinalLimits GM_CAM_LONG_LIMITS = {
   .max_gas = 3400,
   .min_gas = 1514,
@@ -23,6 +30,13 @@ const LongitudinalLimits GM_CAM_LONG_LIMITS = {
   .max_brake = 400,
 };
 
+const LongitudinalLimits GM_CAM_LONG_LIMITS_SPORT = {
+  .max_gas = 8848,
+  .min_gas = 1514,
+  .inactive_gas = 1554,
+  .max_brake = 400,
+};
+
 const LongitudinalLimits *gm_long_limits;
 
 const int GM_STANDSTILL_THRSLD = 10;  // 0.311kph
@@ -287,6 +301,8 @@ static int gm_fwd_hook(int bus_num, int addr) {
 }
 
 static safety_config gm_init(uint16_t param) {
+  sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX;
+
   if GET_FLAG(param, GM_PARAM_HW_CAM) {
     gm_hw = GM_CAM;
   } else if GET_FLAG(param, GM_PARAM_HW_SDGM) {
@@ -298,9 +314,17 @@ static safety_config gm_init(uint16_t param) {
   gm_force_ascm = GET_FLAG(param, GM_PARAM_HW_ASCM_LONG);
 
   if (gm_hw == GM_ASCM || gm_force_ascm) {
-    gm_long_limits = &GM_ASCM_LONG_LIMITS;
+    if (sport_mode) {
+      gm_long_limits = &GM_ASCM_LONG_LIMITS_SPORT;
+    } else {
+      gm_long_limits = &GM_ASCM_LONG_LIMITS;
+    }
   } else if ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM)) {
-    gm_long_limits = &GM_CAM_LONG_LIMITS;
+    if (sport_mode) {
+      gm_long_limits = &GM_CAM_LONG_LIMITS_SPORT;
+    } else {
+      gm_long_limits = &GM_CAM_LONG_LIMITS;
+    }
   } else {
   }
 

panda/board/safety/safety_honda.h

@@ -19,6 +19,14 @@ const LongitudinalLimits HONDA_BOSCH_LONG_LIMITS = {
   .inactive_gas = -30000,
 };
 
+const LongitudinalLimits HONDA_BOSCH_LONG_LIMITS_SPORT = {
+  .max_accel = 400,   // accel is used for brakes
+  .min_accel = -350,
+
+  .max_gas = 2000,
+  .inactive_gas = -30000,
+};
+
 const LongitudinalLimits HONDA_NIDEC_LONG_LIMITS = {
   .max_gas = 198,  // 0xc6
   .max_brake = 255,
@@ -275,6 +283,8 @@ static void honda_rx_hook(const CANPacket_t *to_push) {
 }
 
 static bool honda_tx_hook(const CANPacket_t *to_send) {
+  sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX;
+
   bool tx = true;
   int addr = GET_ADDR(to_send);
   int bus = GET_BUS(to_send);
@@ -318,8 +328,13 @@ static bool honda_tx_hook(const CANPacket_t *to_send) {
     gas = to_signed(gas, 16);
 
     bool violation = false;
-    violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS);
+    if (sport_mode) {
-    violation |= longitudinal_gas_checks(gas, HONDA_BOSCH_LONG_LIMITS);
+      violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS_SPORT);
+      violation |= longitudinal_gas_checks(gas, HONDA_BOSCH_LONG_LIMITS_SPORT);
+    } else {
+      violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS);
+      violation |= longitudinal_gas_checks(gas, HONDA_BOSCH_LONG_LIMITS);
+    }
     if (violation) {
       tx = false;
     }
@@ -331,7 +346,11 @@ static bool honda_tx_hook(const CANPacket_t *to_send) {
     accel = to_signed(accel, 12);
 
     bool violation = false;
-    violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS);
+    if (sport_mode) {
+      violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS_SPORT);
+    } else {
+      violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS);
+    }
     if (violation) {
       tx = false;
     }

panda/board/safety/safety_hyundai.h

@@ -25,6 +25,11 @@ const LongitudinalLimits HYUNDAI_LONG_LIMITS = {
   .min_accel = -350,  // 1/100 m/s2
 };
 
+const LongitudinalLimits HYUNDAI_LONG_LIMITS_SPORT = {
+  .max_accel = 400,   // 1/100 m/s2
+  .min_accel = -350,  // 1/100 m/s2
+};
+
 const CanMsg HYUNDAI_TX_MSGS[] = {
   {0x340, 0, 8}, // LKAS11 Bus 0
   {0x4F1, 0, 4}, // CLU11 Bus 0
@@ -215,6 +220,8 @@ static void hyundai_rx_hook(const CANPacket_t *to_push) {
 }
 
 static bool hyundai_tx_hook(const CANPacket_t *to_send) {
+  sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX;
+
   bool tx = true;
   int addr = GET_ADDR(to_send);
 
@@ -239,8 +246,13 @@ static bool hyundai_tx_hook(const CANPacket_t *to_send) {
 
     bool violation = false;
 
-    violation |= longitudinal_accel_checks(desired_accel_raw, HYUNDAI_LONG_LIMITS);
+    if (sport_mode) {
-    violation |= longitudinal_accel_checks(desired_accel_val, HYUNDAI_LONG_LIMITS);
+      violation |= longitudinal_accel_checks(desired_accel_raw, HYUNDAI_LONG_LIMITS_SPORT);
+      violation |= longitudinal_accel_checks(desired_accel_val, HYUNDAI_LONG_LIMITS_SPORT);
+    } else {
+      violation |= longitudinal_accel_checks(desired_accel_raw, HYUNDAI_LONG_LIMITS);
+      violation |= longitudinal_accel_checks(desired_accel_val, HYUNDAI_LONG_LIMITS);
+    }
     violation |= (aeb_decel_cmd != 0);
     violation |= aeb_req;
 

panda/board/safety/safety_toyota.h

@@ -37,6 +37,11 @@ const LongitudinalLimits TOYOTA_LONG_LIMITS = {
   .min_accel = -3500,  // -3.5 m/s2
 };
 
+const LongitudinalLimits TOYOTA_LONG_LIMITS_SPORT = {
+  .max_accel = 4000,   // 4.0 m/s2
+  .min_accel = -3500,  // -3.5 m/s2
+};
+
 // panda interceptor threshold needs to be equivalent to openpilot threshold to avoid controls mismatches
 // If thresholds are mismatched then it is possible for panda to see the gas fall and rise while openpilot is in the pre-enabled state
 // Threshold calculated from DBC gains: round((((15 + 75.555) / 0.159375) + ((15 + 151.111) / 0.159375)) / 2) = 805
@@ -233,6 +238,8 @@ static void toyota_rx_hook(const CANPacket_t *to_push) {
 }
 
 static bool toyota_tx_hook(const CANPacket_t *to_send) {
+  sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX;
+
   bool tx = true;
   int addr = GET_ADDR(to_send);
   int bus = GET_BUS(to_send);
@@ -253,7 +260,11 @@ static bool toyota_tx_hook(const CANPacket_t *to_send) {
       desired_accel = to_signed(desired_accel, 16);
 
       bool violation = false;
-      violation |= longitudinal_accel_checks(desired_accel, TOYOTA_LONG_LIMITS);
+      if (sport_mode) {
+        violation |= longitudinal_accel_checks(desired_accel, TOYOTA_LONG_LIMITS_SPORT);
+      } else {
+        violation |= longitudinal_accel_checks(desired_accel, TOYOTA_LONG_LIMITS);
+      }
 
       // only ACC messages that cancel are allowed when openpilot is not controlling longitudinal
       if (toyota_stock_longitudinal) {

panda/board/safety/safety_volkswagen_mqb.h

@@ -20,6 +20,12 @@ const LongitudinalLimits VOLKSWAGEN_MQB_LONG_LIMITS = {
   .inactive_accel = 3010,  // VW sends one increment above the max range when inactive
 };
 
+const LongitudinalLimits VOLKSWAGEN_MQB_LONG_LIMITS_SPORT = {
+  .max_accel = 4000,
+  .min_accel = -3500,
+  .inactive_accel = 3010,  // VW sends one increment above the max range when inactive
+};
+
 #define MSG_ESP_19      0x0B2   // RX from ABS, for wheel speeds
 #define MSG_LH_EPS_03   0x09F   // RX from EPS, for driver steering torque
 #define MSG_ESP_05      0x106   // RX from ABS, for brake switch state
@@ -197,6 +203,8 @@ static void volkswagen_mqb_rx_hook(const CANPacket_t *to_push) {
 }
 
 static bool volkswagen_mqb_tx_hook(const CANPacket_t *to_send) {
+  sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX;
+
   int addr = GET_ADDR(to_send);
   bool tx = true;
 
@@ -234,7 +242,13 @@ static bool volkswagen_mqb_tx_hook(const CANPacket_t *to_send) {
       desired_accel = (((GET_BYTE(to_send, 7) << 3) | ((GET_BYTE(to_send, 6) & 0xE0U) >> 5)) * 5U) - 7220U;
     }
 
-    violation |= longitudinal_accel_checks(desired_accel, VOLKSWAGEN_MQB_LONG_LIMITS);
+    if (sport_mode) {
+      if (desired_accel != 0) {
+        violation |= longitudinal_accel_checks(desired_accel, VOLKSWAGEN_MQB_LONG_LIMITS_SPORT);
+      }
+    } else {
+      violation |= longitudinal_accel_checks(desired_accel, VOLKSWAGEN_MQB_LONG_LIMITS);
+    }
 
     if (violation) {
       tx = false;

panda/board/safety/safety_volkswagen_pq.h

@@ -20,6 +20,12 @@ const LongitudinalLimits VOLKSWAGEN_PQ_LONG_LIMITS = {
   .inactive_accel = 3010,  // VW sends one increment above the max range when inactive
 };
 
+const LongitudinalLimits VOLKSWAGEN_PQ_LONG_LIMITS_SPORT = {
+  .max_accel = 4000,
+  .min_accel = -3500,
+  .inactive_accel = 3010,  // VW sends one increment above the max range when inactive
+};
+
 #define MSG_LENKHILFE_3         0x0D0   // RX from EPS, for steering angle and driver steering torque
 #define MSG_HCA_1               0x0D2   // TX by OP, Heading Control Assist steering torque
 #define MSG_BREMSE_1            0x1A0   // RX from ABS, for ego speed
@@ -170,6 +176,8 @@ static void volkswagen_pq_rx_hook(const CANPacket_t *to_push) {
 }
 
 static bool volkswagen_pq_tx_hook(const CANPacket_t *to_send) {
+  sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX;
+
   int addr = GET_ADDR(to_send);
   bool tx = true;
 
@@ -198,8 +206,14 @@ static bool volkswagen_pq_tx_hook(const CANPacket_t *to_send) {
     // Signal: ACC_System.ACS_Sollbeschl (acceleration in m/s2, scale 0.005, offset -7.22)
     int desired_accel = ((((GET_BYTE(to_send, 4) & 0x7U) << 8) | GET_BYTE(to_send, 3)) * 5U) - 7220U;
 
-    if (longitudinal_accel_checks(desired_accel, VOLKSWAGEN_PQ_LONG_LIMITS)) {
+    if (sport_mode) {
-      tx = false;
+      if (longitudinal_accel_checks(desired_accel, VOLKSWAGEN_PQ_LONG_LIMITS_SPORT)) {
+        tx = false;
+      }
+    } else {
+      if (longitudinal_accel_checks(desired_accel, VOLKSWAGEN_PQ_LONG_LIMITS)) {
+        tx = false;
+      }
     }
   }
 

panda/board/safety_declarations.h

@@ -220,6 +220,7 @@ bool brake_pressed_prev = false;
 bool regen_braking = false;
 bool regen_braking_prev = false;
 bool cruise_engaged_prev = false;
+bool sport_mode = false;
 struct sample_t vehicle_speed;
 bool vehicle_moving = false;
 bool acc_main_on = false;  // referred to as "ACC off" in ISO 15622:2018

selfdrive/car/card.py

@@ -58,6 +58,8 @@ class CarD:
     if self.always_on_lateral:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL
 
+    self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX
+
     car_recognized = self.CP.carName != 'mock'
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
 

selfdrive/car/ford/carcontroller.py

@@ -94,7 +94,10 @@ class CarController(CarControllerBase):
     # send acc msg at 50Hz
     if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
       # Both gas and accel are in m/s^2, accel is used solely for braking
-      accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
+      if frogpilot_variables.sport_plus:
+        accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX_PLUS)
+      else:
+        accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
       gas = accel
       if not CC.longActive or gas < CarControllerParams.MIN_GAS:
         gas = CarControllerParams.INACTIVE_GAS

selfdrive/car/ford/values.py

@@ -32,6 +32,7 @@ class CarControllerParams:
   CURVATURE_ERROR = 0.002  # ~6 degrees at 10 m/s, ~10 degrees at 35 m/s
 
   ACCEL_MAX = 2.0               # m/s^2 max acceleration
+  ACCEL_MAX_PLUS = 4.0          # m/s^2 max acceleration
   ACCEL_MIN = -3.5              # m/s^2 max deceleration
   MIN_GAS = -0.5
   INACTIVE_GAS = -5.0

selfdrive/car/gm/carcontroller.py

@@ -124,10 +124,16 @@ class CarController(CarControllerBase):
           # Normal operation
           if self.CP.carFingerprint in EV_CAR:
             self.params.update_ev_gas_brake_threshold(CS.out.vEgo)
-            self.apply_gas = int(round(interp(actuators.accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+            if frogpilot_variables.sport_plus:
+              self.apply_gas = int(round(interp(actuators.accel, self.params.EV_GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS)))
+            else:
+              self.apply_gas = int(round(interp(actuators.accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
             self.apply_brake = int(round(interp(actuators.accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
           else:
-            self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+            if frogpilot_variables.sport_plus:
+              self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS)))
+            else:
+              self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
             self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
           # Don't allow any gas above inactive regen while stopping
           # FIXME: brakes aren't applied immediately when enabling at a stop

selfdrive/car/gm/interface.py

@@ -38,8 +38,11 @@ NEURAL_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/neural_ff_
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def get_pid_accel_limits(CP, current_speed, cruise_speed):
+  def get_pid_accel_limits(CP, current_speed, cruise_speed, frogpilot_variables):
-    return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
+    if frogpilot_variables.sport_plus:
+      return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX_PLUS
+    else:
+      return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
 
   # Determined by iteratively plotting and minimizing error for f(angle, speed) = steer.
   @staticmethod

selfdrive/car/gm/values.py

@@ -34,6 +34,7 @@ class CarControllerParams:
   # Our controller should still keep the 2 second average above
   # -3.5 m/s^2 as per planner limits
   ACCEL_MAX = 2.  # m/s^2
+  ACCEL_MAX_PLUS = 4.  # m/s^2
   ACCEL_MIN = -4.  # m/s^2
 
   def __init__(self, CP):
@@ -43,6 +44,7 @@ class CarControllerParams:
 
     if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR:
       self.MAX_GAS = 3400
+      self.MAX_GAS_PLUS = 8848
       self.MAX_ACC_REGEN = 1514
       self.INACTIVE_REGEN = 1554
       # Camera ACC vehicles have no regen while enabled.
@@ -51,12 +53,14 @@ class CarControllerParams:
 
     elif CP.carFingerprint in SDGM_CAR:
       self.MAX_GAS = 3400
+      self.MAX_GAS_PLUS = 8848
       self.MAX_ACC_REGEN = 1514
       self.INACTIVE_REGEN = 1554
       max_regen_acceleration = 0.
 
     else:
       self.MAX_GAS = 3072  # Safety limit, not ACC max. Stock ACC >4096 from standstill.
+      self.MAX_GAS_PLUS = 8191 # 8292 uses new bit, possible but not tested. Matches Twilsonco tw-main max
       self.MAX_ACC_REGEN = 1404  # Max ACC regen is slightly less than max paddle regen
       self.INACTIVE_REGEN = 1404
       # ICE has much less engine braking force compared to regen in EVs,
@@ -64,7 +68,9 @@ class CarControllerParams:
       max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
 
     self.GAS_LOOKUP_BP = [max_regen_acceleration, 0., self.ACCEL_MAX]
+    self.GAS_LOOKUP_BP_PLUS = [max_regen_acceleration, 0., self.ACCEL_MAX_PLUS]
     self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS]
+    self.GAS_LOOKUP_V_PLUS = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS_PLUS]
 
     self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, max_regen_acceleration]
     self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
@@ -78,6 +84,7 @@ class CarControllerParams:
   def update_ev_gas_brake_threshold(self, v_ego):
     gas_brake_threshold = interp(v_ego, self.EV_GAS_BRAKE_THRESHOLD_BP, self.EV_GAS_BRAKE_THRESHOLD_V)
     self.EV_GAS_LOOKUP_BP = [gas_brake_threshold, max(0., gas_brake_threshold), self.ACCEL_MAX]
+    self.EV_GAS_LOOKUP_BP_PLUS = [gas_brake_threshold, max(0., gas_brake_threshold), self.ACCEL_MAX_PLUS]
     self.EV_BRAKE_LOOKUP_BP = [self.ACCEL_MIN, gas_brake_threshold]
 
 

selfdrive/car/honda/carcontroller.py

@@ -216,7 +216,10 @@ class CarController(CarControllerBase):
         ts = self.frame * DT_CTRL
 
         if self.CP.carFingerprint in HONDA_BOSCH:
-          self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX)
+          if frogpilot_variables.sport_plus:
+            self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX_PLUS)
+          else:
+            self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX)
           self.gas = interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V)
 
           stopping = actuators.longControlState == LongCtrlState.stopping

selfdrive/car/honda/interface.py

@@ -22,11 +22,17 @@ FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def get_pid_accel_limits(CP, current_speed, cruise_speed):
+  def get_pid_accel_limits(CP, current_speed, cruise_speed, frogpilot_variables):
     if CP.carFingerprint in HONDA_BOSCH:
-      return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX
+      if frogpilot_variables.sport_plus:
+        return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX_PLUS
+      else:
+        return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX
     elif CP.enableGasInterceptor:
-      return CarControllerParams.NIDEC_ACCEL_MIN, CarControllerParams.NIDEC_ACCEL_MAX
+      if frogpilot_variables.sport_plus:
+        return CarControllerParams.NIDEC_ACCEL_MIN, CarControllerParams.NIDEC_ACCEL_MAX_PLUS
+      else:
+        return CarControllerParams.NIDEC_ACCEL_MIN, CarControllerParams.NIDEC_ACCEL_MAX
     else:
       # NIDECs don't allow acceleration near cruise_speed,
       # so limit limits of pid to prevent windup

selfdrive/car/honda/values.py

@@ -20,6 +20,7 @@ class CarControllerParams:
   # -3.5 m/s^2 as per planner limits
   NIDEC_ACCEL_MIN = -4.0  # m/s^2
   NIDEC_ACCEL_MAX = 1.6  # m/s^2, lower than 2.0 m/s^2 for tuning reasons
+  NIDEC_ACCEL_MAX_PLUS = 4.0  # m/s^2
 
   NIDEC_ACCEL_LOOKUP_BP = [-1., 0., .6]
   NIDEC_ACCEL_LOOKUP_V = [-4.8, 0., 2.0]
@@ -32,6 +33,7 @@ class CarControllerParams:
 
   BOSCH_ACCEL_MIN = -3.5  # m/s^2
   BOSCH_ACCEL_MAX = 2.0  # m/s^2
+  BOSCH_ACCEL_MAX_PLUS = 4.0  # m/s^2
 
   BOSCH_GAS_LOOKUP_BP = [-0.2, 2.0]  # 2m/s^2
   BOSCH_GAS_LOOKUP_V = [0, 1600]

selfdrive/car/hyundai/carcontroller.py

@@ -79,7 +79,10 @@ class CarController(CarControllerBase):
     self.apply_steer_last = apply_steer
 
     # accel + longitudinal
-    accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
+    if frogpilot_variables.sport_plus:
+      accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX_PLUS)
+    else:
+      accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
     stopping = actuators.longControlState == LongCtrlState.stopping
     set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH)
 

selfdrive/car/hyundai/values.py

@@ -15,6 +15,7 @@ Ecu = car.CarParams.Ecu
 class CarControllerParams:
   ACCEL_MIN = -3.5 # m/s
   ACCEL_MAX = 2.0 # m/s
+  ACCEL_MAX_PLUS = 4.0 # m/s
 
   def __init__(self, CP):
     self.STEER_DELTA_UP = 3

selfdrive/car/interfaces.py

@@ -28,6 +28,7 @@ EventName = car.CarEvent.EventName
 
 MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
 ACCEL_MAX = 2.0
+ACCEL_MAX_PLUS = 4.0
 ACCEL_MIN = -3.5
 FRICTION_THRESHOLD = 0.3
 
@@ -238,8 +239,11 @@ class CarInterfaceBase(ABC):
     return (self.lat_torque_nn_model is not None)
 
   @staticmethod
-  def get_pid_accel_limits(CP, current_speed, cruise_speed):
+  def get_pid_accel_limits(CP, current_speed, cruise_speed, frogpilot_variables):
-    return ACCEL_MIN, ACCEL_MAX
+    if frogpilot_variables.sport_plus:
+      return ACCEL_MIN, ACCEL_MAX_PLUS
+    else:
+      return ACCEL_MIN, ACCEL_MAX
 
   @classmethod
   def get_non_essential_params(cls, candidate: str):

selfdrive/car/toyota/carcontroller.py

@@ -130,7 +130,10 @@ class CarController(CarControllerBase):
       interceptor_gas_cmd = 0.12 if CS.out.standstill else 0.
     else:
       interceptor_gas_cmd = 0.
-    pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
+    if frogpilot_variables.sport_plus:
+      pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX_PLUS)
+    else:
+      pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
 
     # TODO: probably can delete this. CS.pcm_acc_status uses a different signal
     # than CS.cruiseState.enabled. confirm they're not meaningfully different

selfdrive/car/toyota/interface.py

@@ -15,8 +15,11 @@ FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def get_pid_accel_limits(CP, current_speed, cruise_speed):
+  def get_pid_accel_limits(CP, current_speed, cruise_speed, frogpilot_variables):
-    return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
+    if frogpilot_variables.sport_plus:
+      return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX_PLUS
+    else:
+      return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
 
   @staticmethod
   def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):

selfdrive/car/toyota/values.py

@@ -17,6 +17,7 @@ PEDAL_TRANSITION = 10. * CV.MPH_TO_MS
 
 class CarControllerParams:
   ACCEL_MAX = 1.5  # m/s2, lower than allowed 2.0 m/s2 for tuning reasons
+  ACCEL_MAX_PLUS = 4.0  # m/s2
   ACCEL_MIN = -3.5  # m/s2
 
   STEER_STEP = 1

selfdrive/car/volkswagen/carcontroller.py

@@ -79,7 +79,10 @@ class CarController(CarControllerBase):
 
     if self.frame % self.CCP.ACC_CONTROL_STEP == 0 and self.CP.openpilotLongitudinalControl:
       acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
-      accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0
+      if frogpilot_variables.sport_plus:
+        accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX_PLUS) if CC.longActive else 0
+      else:
+        accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0
       stopping = actuators.longControlState == LongCtrlState.stopping
       starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < self.CP.vEgoStopping)
       can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, CS.acc_type, CC.longActive, accel,

selfdrive/car/volkswagen/values.py

@@ -35,6 +35,7 @@ class CarControllerParams:
   STEER_TIME_STUCK_TORQUE = 1.9            # EPS limits same torque to 6 seconds, reset timer 3x within that period
 
   ACCEL_MAX = 2.0                          # 2.0 m/s max acceleration
+  ACCEL_MAX_PLUS = 4.0                     # 4.0 m/s max acceleration
   ACCEL_MIN = -3.5                         # 3.5 m/s max deceleration
 
   def __init__(self, CP):

selfdrive/controls/controlsd.py

@@ -610,7 +610,7 @@ class Controls:
 
     if not self.joystick_mode:
       # accel PID loop
-      pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS)
+      pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS, self.frogpilot_toggles)
       t_since_plan = (self.sm.frame - self.sm.recv_frame['longitudinalPlan']) * DT_CTRL
       actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan)
 

selfdrive/controls/lib/longitudinal_planner.py

@@ -99,11 +99,10 @@ class LongitudinalPlanner:
     # No change cost when user is controlling the speed, or when standstill
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)
 
+    accel_limits = [A_CRUISE_MIN, sm['frogpilotPlan'].maxAcceleration]
     if self.mpc.mode == 'acc':
-      accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
       accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
     else:
-      accel_limits = [ACCEL_MIN, ACCEL_MAX]
       accel_limits_turns = [ACCEL_MIN, ACCEL_MAX]
 
     if reset_state:

selfdrive/frogpilot/controls/frogpilot_planner.py

@@ -20,6 +20,20 @@ from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import CITY_
 
 GearShifter = car.CarState.GearShifter
 
+# Acceleration profiles - Credit goes to the DragonPilot team!
+                 # MPH = [0., 6.71, 13.4, 17.9, 24.6, 33.6, 44.7, 55.9, 89.5]
+A_CRUISE_MAX_BP_CUSTOM = [0.,    3,   6.,   8.,  11.,  15.,  20.,  25.,  40.]
+
+A_CRUISE_MAX_VALS_ECO = [3.5, 3.2, 2.3, 2.0, 1.15, .80, .58, .36, .30]
+
+A_CRUISE_MAX_VALS_SPORT = [3.5, 3.5, 3.3, 2.8, 1.5, 1.0, 0.75, 0.65, 0.6]
+
+def get_max_accel_eco(v_ego):
+  return interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_ECO)
+
+def get_max_accel_sport(v_ego):
+  return interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT)
+
 class FrogPilotPlanner:
   def __init__(self):
     self.params_memory = Params("/dev/shm/params")
@@ -44,6 +58,15 @@ class FrogPilotPlanner:
 
     lead_distance = self.lead_one.dRel
 
+    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)
+
     check_lane_width = frogpilot_toggles.lane_detection
     if check_lane_width and v_ego >= frogpilot_toggles.minimum_lane_change_speed:
       self.lane_width_left = float(calculate_lane_width(modelData.laneLines[0], modelData.laneLines[1], modelData.roadEdges[0]))
@@ -106,6 +129,8 @@ class FrogPilotPlanner:
 
     frogpilotPlan.conditionalExperimental = self.cem.experimental_mode
 
+    frogpilotPlan.maxAcceleration = self.max_accel
+
     frogpilotPlan.vCruise = float(self.v_cruise)
 
     pm.send('frogpilotPlan', frogpilot_plan_send)