New Bolt Pedal Tune

panda/board/safety/safety_gm.h

@@ -43,7 +43,7 @@ const int GM_STANDSTILL_THRSLD = 10;  // 0.311kph
 
 // 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
-const int GM_GAS_INTERCEPTOR_THRESHOLD = 515; // (675 + 355) / 2 ratio between offset and gain from dbc file
+const int GM_GAS_INTERCEPTOR_THRESHOLD = 550; // (675 + 355) / 2 ratio between offset and gain from dbc file
 #define GM_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + (GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2U) // avg between 2 tracks
 
 const CanMsg GM_ASCM_TX_MSGS[] = {{0x180, 0, 4}, {0x409, 0, 7}, {0x40A, 0, 7}, {0x2CB, 0, 8}, {0x370, 0, 6}, {0x200, 0, 6},  // pt bus

selfdrive/car/gm/carcontroller.py

@@ -57,17 +57,16 @@ def __init__(self, dbc_name, CP, VM):
     self.accel_g = 0.0
 
   @staticmethod
-  def calc_pedal_command(accel: float, long_active: bool) -> float:
+  def calc_pedal_command(accel: float, long_active: bool, car_velocity) -> float:
     if not long_active: return 0.
 
-    zero = 0.15625  # 40/256
-    if accel > 0.:
-      # Scales the accel from 0-1 to 0.156-1
-      pedal_gas = clip(((1 - zero) * accel + zero), 0., 1.)
+    if accel < -0.5:
+      pedal_gas = 0
     else:
-      # if accel is negative, -0.1 -> 0.015625
-      pedal_gas = clip(zero + accel, 0., zero)  # Make brake the same size as gas, but clip to regen
 
+      pedaloffset = interp(car_velocity, [0., 3, 6, 30], [0.10, 0.175, 0.240, 0.240])
+      pedal_gas = clip((pedaloffset + accel * 0.6), 0.0, 1.0)
+
     return pedal_gas
 
 
@@ -160,7 +159,7 @@ def update(self, CC, CS, now_nanos, frogpilot_toggles):
             self.apply_gas = self.params.INACTIVE_REGEN
           if self.CP.carFingerprint in CC_ONLY_CAR:
             # gas interceptor only used for full long control on cars without ACC
-            interceptor_gas_cmd = self.calc_pedal_command(actuators.accel, CC.longActive)
+            interceptor_gas_cmd = self.calc_pedal_command(actuators.accel, CC.longActive, CS.out.vEgo)
 
         if self.CP.enableGasInterceptor and self.apply_gas > self.params.INACTIVE_REGEN and CS.out.cruiseState.standstill:
           # "Tap" the accelerator pedal to re-engage ACC

selfdrive/car/gm/carstate.py

@@ -96,7 +96,7 @@ def update(self, pt_cp, cam_cp, loopback_cp, frogpilot_toggles):
 
     if self.CP.enableGasInterceptor:
       ret.gas = (pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
-      threshold = 10 if self.CP.carFingerprint in CAMERA_ACC_CAR else 4 # Panda 515 threshold = 10.88. Set lower to avoid panda blocking messages and GasInterceptor faulting.
+      threshold = 20 if self.CP.carFingerprint in CAMERA_ACC_CAR else 4 # Panda 515 threshold = 10.88. Set lower to avoid panda blocking messages and GasInterceptor faulting.
       ret.gasPressed = ret.gas > threshold
     else:
       ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.

selfdrive/car/gm/interface.py

@@ -118,7 +118,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, exp
       ret.vEgoStarting = 0.15
 
     if use_new_api:
-      ret.longitudinalTuning.kiBP = [5., 35.]
+      ret.longitudinalTuning.kiBP = [5., 35., 60.]
     else:
       ret.longitudinalTuning.deadzoneBP = [0.]
       ret.longitudinalTuning.deadzoneV = [0.15]
@@ -299,14 +299,14 @@ def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, exp
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_PEDAL_LONG
         # Note: Low speed, stop and go not tested. Should be fairly smooth on highway
         if use_new_api:
-          ret.longitudinalTuning.kiBP = [0.0, 5., 35.]
-          ret.longitudinalTuning.kiV = [0.0, 0.35, 0.5]
+          ret.longitudinalTuning.kiBP = [0., 3., 6., 35.]
+          ret.longitudinalTuning.kiV = [0.125, 0.175, 0.225, 0.33]
         else:
           ret.longitudinalTuning.kpBP = [5., 35.]
           ret.longitudinalTuning.kpV = [0.35, 0.5]
           ret.longitudinalTuning.kiBP = [0., 35.0]
           ret.longitudinalTuning.kiV = [0.1, 0.1]
-        ret.longitudinalTuning.kf = 0.15
+        ret.longitudinalTuning.kf = 0.25
         ret.stoppingDecelRate = 0.8
       else:  # Pedal used for SNG, ACC for longitudinal control otherwise
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG