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Ford: limit acceleration near PCM set speed #1432

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merged 2 commits into from
Oct 31, 2024
Merged

Ford: limit acceleration near PCM set speed #1432

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248c3d2
do what nidec does
sshane Oct 31, 2024
2d2c993
~0.5 is what it hovers around
sshane Oct 31, 2024
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11 changes: 10 additions & 1 deletion opendbc/car/ford/interface.py
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Original file line number Diff line number Diff line change
@@ -1,14 +1,23 @@
from panda import Panda
from opendbc.car.common.numpy_fast import interp
from opendbc.car import get_safety_config, structs
from opendbc.car.common.conversions import Conversions as CV
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

TransmissionType = structs.CarParams.TransmissionType


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
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:
ret.carName = "ford"
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