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firestar5683
2026-01-21 17:08:45 -06:00
parent 844dce2030
commit 04c59fb18e
2 changed files with 4 additions and 4 deletions
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selfdrive/car/gm/interface.py
+2 -2
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@@ -29,11 +29,11 @@ ACCELERATOR_POS_MSG = 0xbe
NON_LINEAR_TORQUE_PARAMS = {
CAR.CHEVROLET_BOLT_EUV: {
"left": [1.8, 1.1, 0.27, 0.0],
"right": [1.9, 1.0, 0.205, 0.0],
"right": [2.0, 1.0, 0.205, 0.0],
},
CAR.CHEVROLET_BOLT_CC: {
"left": [1.8, 1.1, 0.27, 0.0],
"right": [1.9, 1.0, 0.205, 0.0],
"right": [2.0, 1.0, 0.205, 0.0],
},
CAR.GMC_ACADIA: {
"left": [4.78003305, 1.0, 0.3122, 0.05591772],
selfdrive/controls/lib/latcontrol_torque.py
+2 -2
View File
@@ -22,8 +22,8 @@ from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_G
# Additionally, there is friction in the steering wheel that needs
# to be overcome to move it at all, this is compensated for too.
KP = 0.6
KI = 0.3
KP = 0.7
KI = 0.35
INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]