add groundwork for accel response profiles

sshane · sshane · commit 0c93900ce0fc · 2021-12-21T03:19:04.000-07:00
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -16,6 +16,7 @@
 class CarInterface(CarInterfaceBase):
   @staticmethod
   def get_pid_accel_limits(CP, current_speed, cruise_speed):
+    # as well as here (pid output is clipped to this)
     return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
 
   @staticmethod
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
@@ -10,7 +10,7 @@
 
 
 class CarControllerParams:
-  ACCEL_MAX = 1.6  # m/s2, lower than allowed 2.0 m/s2 for tuning reasons
+  ACCEL_MAX = 1.8  # m/s2, lower than allowed 2.0 m/s2 for tuning reasons
   ACCEL_MIN = -3.5  # m/s2
 
   STEER_MAX = 1500
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
@@ -25,6 +25,7 @@
 
 
 def get_max_accel(v_ego):
+  # change A_CRUISE_MAX_VALS live
   return interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS)
 
 

Original file line number	Diff line number	Diff line change
`@@ -25,6 +25,7 @@`
`25`	`25`
`26`	`26`
`27`	`27`	`def get_max_accel(v_ego):`
	`28`	`+ # change A_CRUISE_MAX_VALS live`
`28`	`29`	`return interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS)`
`29`	`30`
`30`	`31`