StarPilot

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

@@ -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: [1.8, 1.1, 0.3, -0.045],
+  CAR.CHEVROLET_BOLT_CC: [1.8, 1.1, 0.3, -0.045],
   CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
   CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
 }
@@ -74,8 +74,8 @@ def sig(val):
     # ToDo: To generalize to other GMs, explore tanh function as the nonlinear
     non_linear_torque_params = NON_LINEAR_TORQUE_PARAMS.get(self.CP.carFingerprint)
     assert non_linear_torque_params, "The params are not defined"
-    a, b, c, _ = non_linear_torque_params
-    steer_torque = (sig(latcontrol_inputs.lateral_acceleration * a) * b) + (latcontrol_inputs.lateral_acceleration * c)
+    a, b, c, d = non_linear_torque_params
+    steer_torque = (sig(latcontrol_inputs.lateral_acceleration * a) * b) + (latcontrol_inputs.lateral_acceleration * c) + d
     return float(steer_torque) + friction
 
   def torque_from_lateral_accel_neural(self, latcontrol_inputs: LatControlInputs, torque_params: car.CarParams.LateralTorqueTuning, lateral_accel_error: float,
@@ -87,13 +87,7 @@ 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):
@@ -118,7 +112,7 @@ 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]
@@ -229,6 +223,7 @@ 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
@@ -299,14 +294,14 @@ 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

selfdrive/car/interfaces.py

@@ -375,7 +375,7 @@ 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']

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" = [2.0, 2.0, 0.06]
 "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]

selfdrive/frogpilot/fleetmanager/templates/layout.html

@@ -40,7 +40,7 @@
     text-align: center;
   }
 </style>
-  <title>FrogPilot: {% block title %}{% endblock %}</title>
+  <title>StarPilot: {% block title %}{% endblock %}</title>
 </head>
 <body>
   <nav class="navbar navbar-fixed-top navbar-expand-sm navbar-dark bg-dark">

system/manager/process_config.py

@@ -46,7 +46,7 @@ def allow_logging(started, params, CP: car.CarParams, classic_model, frogpilot_t
   return not frogpilot_toggles.no_logging and logging(started, params, CP, classic_model, frogpilot_toggles)
 
 def allow_uploads(started, params, CP: car.CarParams, classic_model, frogpilot_toggles) -> bool:
-  return not frogpilot_toggles.no_uploads
+  return False
 
 def run_classic_modeld(started, params, CP: car.CarParams, classic_model, frogpilot_toggles) -> bool:
   return started and classic_model