Non-Linear Torque Param Tune

firestar5683 · Sep 11, 2024 · bc55e89 · bc55e89
1 parent e1b541c
commit bc55e89
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Showing 6 changed files with 8 additions and 14 deletions.
diff --git a/panda/board/safety/safety_gm.h b/panda/board/safety/safety_gm.h
@@ -1,5 +1,5 @@
 const SteeringLimits GM_STEERING_LIMITS = {
-  .max_steer = 300,
+  .max_steer = 850,
   .max_rate_up = 10,
   .max_rate_down = 15,
   .driver_torque_allowance = 65,

diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
@@ -29,8 +29,8 @@
 ACCELERATOR_POS_MSG = 0xbe
 
 NON_LINEAR_TORQUE_PARAMS = {
-  CAR.CHEVROLET_BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
-  CAR.CHEVROLET_BOLT_CC: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
+  CAR.CHEVROLET_BOLT_EUV: [1.75, 0.4, 0.13, 0.0],
+  CAR.CHEVROLET_BOLT_CC: [1.75, 0.4, 0.13, 0.0],
   CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
   CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
 }
@@ -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):

diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
@@ -13,7 +13,7 @@
 
 
 class CarControllerParams:
-  STEER_MAX = 300  # GM limit is 3Nm. Used by carcontroller to generate LKA output
+  STEER_MAX = 850  # GM limit is 3Nm. Used by carcontroller to generate LKA output
   STEER_STEP = 3  # Active control frames per command (~33hz)
   INACTIVE_STEER_STEP = 10  # Inactive control frames per command (10hz)
   STEER_DELTA_UP = 10  # Delta rates require review due to observed EPS weakness

diff --git a/selfdrive/car/torque_data/override.toml b/selfdrive/car/torque_data/override.toml
@@ -43,7 +43,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CADILLAC_ESCALADE" = [1.899999976158142, 1.842270016670227, 0.1120000034570694]
 "CADILLAC_ESCALADE_ESV_2019" = [1.15, 1.3, 0.2]
 "CADILLAC_XT4" = [1.45, 1.6, 0.2]
-"CHEVROLET_BOLT_EUV" = [2.0, 2.0, 0.05]
+"CHEVROLET_BOLT_EUV" = [5.67, 2.0, 0.015]
 "CHEVROLET_MALIBU_CC" = [1.85, 1.85, 0.075]
 "CHEVROLET_SILVERADO" = [1.9, 1.9, 0.112]
 "CHEVROLET_TRAILBLAZER" = [1.33, 1.9, 0.16]

diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
@@ -21,7 +21,7 @@
 FIT_POINTS_TOTAL_QLOG = 600
 MIN_VEL = 15  # m/s
 FRICTION_FACTOR = 1.5  # ~85% of data coverage
-FACTOR_SANITY = 0.3
+FACTOR_SANITY = 1.0
 FACTOR_SANITY_QLOG = 0.5
 FRICTION_SANITY = 0.5
 FRICTION_SANITY_QLOG = 0.8
@@ -34,7 +34,7 @@
 MIN_ENGAGE_BUFFER = 2  # secs
 
 VERSION = 1  # bump this to invalidate old parameter caches
-ALLOWED_CARS = ['toyota', 'hyundai']
+ALLOWED_CARS = ['toyota', 'hyundai', 'gm']
 
 
 def slope2rot(slope):

diff --git a/system/manager/process_config.py b/system/manager/process_config.py
@@ -48,7 +48,7 @@ def allow_logging(started, params, CP: car.CarParams) -> bool:
 
 def allow_uploads(started, params, CP: car.CarParams) -> bool:
   allow_uploads = not (params.get_bool("DeviceManagement") and params.get_bool("NoUploads") and not params.get_bool("DisableOnroadUploads"))
-  return allow_uploads
+  return False
 
 procs = [
   DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),