fixes

selfdrive/controls/controlsd.py

@@ -12,7 +12,7 @@ from openpilot.common.swaglog import cloudlog
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.gm.values import CAR as GM_CAR
 from opendbc.car.vehicle_model import VehicleModel
-from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature
+from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature, get_lateral_active
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
@@ -35,23 +35,13 @@ LaneChangeDirection = log.LaneChangeDirection
 ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys())
 
 
-def get_gm_hud_set_speed(set_speed_ms: float, controls_enabled: bool, starpilot_toggles, starpilot_plan) -> float:
+def get_gm_hud_set_speed(set_speed_ms: float, starpilot_toggles) -> float:
   spoofed_speed = set_speed_ms
 
   set_speed_offset = float(getattr(starpilot_toggles, "set_speed_offset", 0.0) or 0.0)
   if spoofed_speed > 0 and set_speed_offset > 0:
     spoofed_speed += set_speed_offset * CV.KPH_TO_MS
 
-  if not controls_enabled or not getattr(starpilot_toggles, "speed_limit_controller", False):
-    return spoofed_speed
-
-  slc_source = str(getattr(starpilot_plan, "slcSpeedLimitSource", "") or "")
-  slc_speed_limit = float(getattr(starpilot_plan, "slcSpeedLimit", 0.0) or 0.0)
-  slc_speed_limit_offset = float(getattr(starpilot_plan, "slcSpeedLimitOffset", 0.0) or 0.0)
-
-  if slc_source != "None" and slc_speed_limit > 0:
-    return slc_speed_limit + slc_speed_limit_offset
-
   return spoofed_speed
 
 
@@ -141,8 +131,11 @@ class Controls:
 
     # Check which actuators can be enabled
     standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, 0.3) or CS.standstill
-    CC.latActive = (self.sm['selfdriveState'].active or self.sm['starpilotCarState'].alwaysOnLateralEnabled) and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
-                   (not standstill or self.CP.steerAtStandstill) and self.sm['starpilotPlan'].lateralCheck
+    CC.latActive = get_lateral_active(CC.enabled, self.sm['selfdriveState'].active,
+                                      self.sm['starpilotCarState'].alwaysOnLateralEnabled,
+                                      CS.steerFaultTemporary, CS.steerFaultPermanent,
+                                      standstill, self.CP.steerAtStandstill,
+                                      self.sm['starpilotPlan'].lateralCheck)
     CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and not self.sm['starpilotCarState'].pauseLongitudinal and self.CP.openpilotLongitudinalControl
 
     actuators = CC.actuators
@@ -222,7 +215,7 @@ class Controls:
       getattr(self.starpilot_toggles, "gm_dash_spoof_offsets", False)
     )
     if gm_dash_spoof_offsets_enabled:
-      hud_set_speed = get_gm_hud_set_speed(hud_set_speed, CC.enabled, self.starpilot_toggles, self.sm['starpilotPlan'])
+      hud_set_speed = get_gm_hud_set_speed(hud_set_speed, self.starpilot_toggles)
     hudControl.setSpeed = hud_set_speed
     hudControl.speedVisible = CC.enabled
     hudControl.lanesVisible = CC.enabled

selfdrive/controls/lib/drive_helpers.py

@@ -56,6 +56,14 @@ def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.
 # Backward-compatible alias used by tinygrad_modeld.
 get_accel_from_plan_tomb_raider = get_accel_from_plan
 
+
+def get_lateral_active(enabled: bool, active: bool, always_on_lateral_enabled: bool,
+                       steer_fault_temporary: bool, steer_fault_permanent: bool,
+                       standstill: bool, steer_at_standstill: bool, lateral_check: bool) -> bool:
+  lateral_allowed = (enabled and active) or always_on_lateral_enabled
+  return lateral_allowed and not steer_fault_temporary and not steer_fault_permanent and \
+         (not standstill or steer_at_standstill) and lateral_check
+
 def curv_from_psis(psi_target, psi_rate, vego, action_t):
   vego = np.clip(vego, MIN_SPEED, np.inf)
   curv_from_psi = psi_target / (vego * action_t)

selfdrive/controls/lib/latcontrol_torque.py

@@ -152,21 +152,21 @@ VOLT_STANDARD_FF_CUTOFF = 1.30
 VOLT_STANDARD_FF_CUTOFF_WIDTH = 0.24
 VOLT_STANDARD_TRANSITION_SPEED = 10.0
 VOLT_STANDARD_PHASE_SCALE = 0.10
-VOLT_STANDARD_TURN_IN_BOOST_LEFT = -0.08
-VOLT_STANDARD_TURN_IN_BOOST_RIGHT = 0.20
+VOLT_STANDARD_TURN_IN_BOOST_LEFT = -0.04
+VOLT_STANDARD_TURN_IN_BOOST_RIGHT = 0.24
 VOLT_STANDARD_UNWIND_TAPER_LEFT = 0.03
-VOLT_STANDARD_UNWIND_TAPER_RIGHT = 0.02
+VOLT_STANDARD_UNWIND_TAPER_RIGHT = 0.08
 VOLT_STANDARD_FRICTION_MULT = 1.04
 VOLT_STANDARD_FRICTION_LAT_RISE = 0.20
 VOLT_STANDARD_FRICTION_JERK_RISE = 0.24
-VOLT_STANDARD_TURN_IN_THRESHOLD_REDUCTION_LEFT = -0.08
-VOLT_STANDARD_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.12
+VOLT_STANDARD_TURN_IN_THRESHOLD_REDUCTION_LEFT = -0.04
+VOLT_STANDARD_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.14
 VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_LEFT = -0.06
-VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_RIGHT = -0.08
-VOLT_STANDARD_TURN_IN_FRICTION_BOOST_LEFT = -0.03
-VOLT_STANDARD_TURN_IN_FRICTION_BOOST_RIGHT = 0.06
+VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.04
+VOLT_STANDARD_TURN_IN_FRICTION_BOOST_LEFT = -0.02
+VOLT_STANDARD_TURN_IN_FRICTION_BOOST_RIGHT = 0.08
 VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_LEFT = -0.04
-VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_RIGHT = -0.06
+VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_RIGHT = 0.04
 
 GENESIS_G90_LATERAL_TESTING_GROUND_ID = testing_ground.id_4
 GENESIS_G90_FF_GAIN_LEFT = 0.09

selfdrive/controls/tests/test_drive_helpers.py

@@ -0,0 +1,9 @@
+from openpilot.selfdrive.controls.lib.drive_helpers import get_lateral_active
+
+
+def test_get_lateral_active_requires_enabled_without_aol():
+  assert not get_lateral_active(False, True, False, False, False, False, False, True)
+
+
+def test_get_lateral_active_allows_aol_while_disabled():
+  assert get_lateral_active(False, False, True, False, False, False, False, True)

selfdrive/controls/tests/test_latcontrol.py

@@ -158,7 +158,7 @@ class TestLatControl:
     left_unwind = get_volt_standard_friction_threshold(6.0, 0.7, -0.8)
     right_unwind = get_volt_standard_friction_threshold(6.0, -0.7, 0.8)
     assert left_turn_in > base > right_turn_in
-    assert left_unwind < base and right_unwind < base
+    assert left_unwind < base < right_unwind
 
   def test_volt_standard_friction_scale_curve(self):
     base = get_volt_standard_friction_scale(25.0, 0.7, 0.8)
@@ -167,7 +167,7 @@ class TestLatControl:
     left_unwind = get_volt_standard_friction_scale(6.0, 0.7, -0.8)
     right_unwind = get_volt_standard_friction_scale(6.0, -0.7, 0.8)
     assert left_turn_in < base < right_turn_in
-    assert left_unwind > base and right_unwind > base
+    assert left_unwind > base > right_unwind
 
   def test_genesis_g90_ff_scale_curve(self):
     assert get_genesis_g90_ff_scale(0.0, 0.0, 20.0) == 1.0

starpilot/system/the_pond/assets/components/tools/device_settings_layout.json

@@ -2019,7 +2019,7 @@
       {
         "key": "GMDashSpoofOffsets",
         "label": "Apply Offsets To Dash Spoof",
-        "description": "On GM pedal-long cars, add the active global set-speed offset or SLC offset to the spoofed dash set speed.",
+        "description": "On GM pedal-long cars, add the configured set-speed offset to the spoofed dash set speed so it matches the on-screen set speed.",
         "data_type": "bool",
         "ui_type": "toggle"
       },

starpilot/ui/qt/offroad/vehicle_settings.cc

@@ -175,7 +175,7 @@ StarPilotVehiclesPanel::StarPilotVehiclesPanel(StarPilotSettingsWindow *parent,
   std::vector<std::tuple<QString, QString, QString, QString>> vehicleToggles {
     {"GMToggles", tr("General Motors Settings"), tr("<b>StarPilot features for General Motors vehicles.</b>"), ""},
     {"GMPedalLongitudinal", tr("Use Pedal For Longitudinal"), tr("<b>Use the pedal interceptor for full longitudinal control</b> on supported GM vehicles."), ""},
-    {"GMDashSpoofOffsets", tr("Apply Offsets To Dash Spoof"), tr("<b>On GM pedal-long cars, add the active global set-speed offset or SLC offset</b> to the spoofed dash set speed."), ""},
+    {"GMDashSpoofOffsets", tr("Apply Offsets To Dash Spoof"), tr("<b>On GM pedal-long cars, add the configured set-speed offset</b> to the spoofed dash set speed so it matches the on-screen set speed."), ""},
     {"LongPitch", tr("Smooth Pedal Response on Hills"), tr("<b>Smoothen acceleration and braking</b> when driving downhill/uphill."), ""},
     {"RemoteStartBootsComma", tr("Remote Start Boots comma"), tr("<b>Use the remote-start GM panda firmware at boot.</b><br><br>Required for GM remote-start startup signal behavior."), ""},
     {"RemapCancelToDistance", tr("Remap Cancel To Distance"), tr("<b>On pedal-interceptor Bolts, remap the steering-wheel CANCEL button to distance/personality input.</b>"), ""},