36 lines
1.5 KiB
Python
36 lines
1.5 KiB
Python
#!/usr/bin/env python3
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class Tuning:
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#仅开启非线性模式，但又没有选NNFF时候才有效
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LAT_SIGLIN_TABLE = [4.867, 1.09, 0.243]
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#方向盘手动偏差
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STEERING_ANGLE_OFFSET = 0
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# modified stock long control 原车long控制的速度平滑百分比设定, 例如下面40米以内，则加速率是原来的70%，减速率是原来的100%
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K_ACCEL_BP = [40, 50, 60, 70, 80] # meters BP是离前车距离
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K_ACCEL_POS_4BAR = [0.8, 0.7, 0.7, 0.7, 0.7] # acceleration 加速的百分比
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K_ACCEL_NEG_4BAR = [1.0, 0.8, 0.7, 0.7, 0.7] # deceleration 减速的百分比
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K_ACCEL_POS_3BAR = [0.8, 0.7, 0.7, 0.7, 0.7] # acceleration 加速的百分比
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K_ACCEL_NEG_3BAR = [1.0, 0.9, 0.8, 0.7, 0.7] # deceleration 减速的百分比
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K_ACCEL_POS_2BAR = [0.8, 0.8, 0.7, 0.7, 0.7] # acceleration 加速的百分比
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K_ACCEL_NEG_2BAR = [1.0, 1.0, 0.9, 0.8, 0.7] # deceleration 减速的百分比
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K_ACCEL_POS_1BAR = [1.0, 1.0, 1.0, 0.9, 0.8] # acceleration 加速的百分比
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K_ACCEL_NEG_1BAR = [1.1, 1.0, 1.0, 1.0, 0.9] # deceleration 减速的百分比
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# 人为扭动方向盘的阈值，大于这个值才认为方向盘被故意扭动了，变道辅助涉及它
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STEER_PRESSED_THRESHOLD = 56
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# 禁用EPS故障检查, 某些车有EPS固件比较奇怪报错的话，则可以设为True
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DISABLE_EPS_WARNING = False
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DISABLE_EPS_TEMPORARY_FAULT = False
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DISABLE_EPS_PERMANENT_FAULT = False
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EPS_ANGLE_EXCEED_WARNING_CNT = 3
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EPS_ANGLE_SPEED_WARNING_CNT = 3
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DISABLE_PARKBRAKE = False |