diff --git a/selfdrive/assets/img_spinner_comma.png b/selfdrive/assets/img_spinner_comma.png index 9f5e558772cbc5..0d735edaa10e69 100644 Binary files a/selfdrive/assets/img_spinner_comma.png and b/selfdrive/assets/img_spinner_comma.png differ diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index e2cfe7d6284f8c..5ae7b76881cb96 100644 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -90,13 +90,7 @@ def torque_from_lateral_accel_neural(self, latcontrol_inputs: LatControlInputs, return float(self.neural_ff_model.predict(inputs)) + friction def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType: - if self.CP.carFingerprint in (CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_BOLT_CC): - self.neural_ff_model = NanoFFModel(NEURAL_PARAMS_PATH, self.CP.carFingerprint) - return self.torque_from_lateral_accel_neural - elif self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS: return self.torque_from_lateral_accel_siglin - else: - return self.torque_from_lateral_accel_linear @staticmethod def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs, params): @@ -232,6 +226,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, exp elif candidate in (CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_BOLT_CC): ret.steerActuatorDelay = 0.2 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + ret.lateralTuning.torque.kp = 0.6 if ret.enableGasInterceptor: # ACC Bolts use pedal for full longitudinal control, not just sng diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 3b4b9f74f65a17..089a7035b88858 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -380,7 +380,7 @@ def configure_torque_tune(candidate, tune, steering_angle_deadzone_deg=0.0, use_ tune.init('torque') tune.torque.useSteeringAngle = use_steering_angle - tune.torque.kp = 1.0 + tune.torque.kp = 0.6 tune.torque.kf = 1.0 tune.torque.ki = 0.1 tune.torque.friction = params['FRICTION'] diff --git a/selfdrive/frogpilot/assets/other_images/frogpilot_boot_logo.jpg b/selfdrive/frogpilot/assets/other_images/frogpilot_boot_logo.jpg index 2505b8cb5a3cd9..b05183eed64e92 100644 Binary files a/selfdrive/frogpilot/assets/other_images/frogpilot_boot_logo.jpg and b/selfdrive/frogpilot/assets/other_images/frogpilot_boot_logo.jpg differ diff --git a/selfdrive/frogpilot/assets/other_images/frogpilot_boot_logo.png b/selfdrive/frogpilot/assets/other_images/frogpilot_boot_logo.png index 2505b8cb5a3cd9..ea7a56b25452a9 100644 Binary files a/selfdrive/frogpilot/assets/other_images/frogpilot_boot_logo.png and b/selfdrive/frogpilot/assets/other_images/frogpilot_boot_logo.png differ diff --git a/selfdrive/frogpilot/assets/other_images/original_bg.jpg b/selfdrive/frogpilot/assets/other_images/original_bg.jpg index 13c36a7e240359..a19aed3bc044fa 100644 Binary files a/selfdrive/frogpilot/assets/other_images/original_bg.jpg and b/selfdrive/frogpilot/assets/other_images/original_bg.jpg differ diff --git a/selfdrive/frogpilot/fleetmanager/static/frog.png b/selfdrive/frogpilot/fleetmanager/static/frog.png index 5285f0be6e5b22..1b3bc866ed2944 100644 Binary files a/selfdrive/frogpilot/fleetmanager/static/frog.png and b/selfdrive/frogpilot/fleetmanager/static/frog.png differ diff --git a/selfdrive/frogpilot/fleetmanager/templates/layout.html b/selfdrive/frogpilot/fleetmanager/templates/layout.html index 21d1e487ee1aa6..a4ddee271a3eb1 100644 --- a/selfdrive/frogpilot/fleetmanager/templates/layout.html +++ b/selfdrive/frogpilot/fleetmanager/templates/layout.html @@ -40,7 +40,7 @@ text-align: center; } - FrogPilot: {% block title %}{% endblock %} + StarPilot: {% block title %}{% endblock %}