Revert "silverado"

opendbc_repo/opendbc/car/gm/interface.py

@@ -59,11 +59,6 @@ NON_LINEAR_TORQUE_PARAMS = {
     "right": [3.8, 0.81, 0.24, 0.0465122],
   },
 }
-SILVERADO_TRAILER_MODE_TESTING_GROUND_ID = testing_ground.id_6
-SILVERADO_TRAILER_NON_LINEAR_TORQUE_PARAMS = {
-  "left": [4.1, 0.84, 0.262, 0.0465122],
-  "right": [3.8, 0.81, 0.24, 0.0465122],
-}
 
 PEDAL_MSG = 0x201
 CAM_MSG = 0x320
@@ -106,16 +101,6 @@ BOLT_GEN1_CANCEL_PERSONALITY_CARS = {
 CANCEL_REMAP_DISTANCE_CARS = BOLT_GEN1_CANCEL_PERSONALITY_CARS
 
 
-def silverado_trailer_mode_active() -> bool:
-  return testing_ground.use(SILVERADO_TRAILER_MODE_TESTING_GROUND_ID)
-
-
-def get_non_linear_torque_params(candidate: str):
-  if candidate == CAR.CHEVROLET_SILVERADO and silverado_trailer_mode_active():
-    return SILVERADO_TRAILER_NON_LINEAR_TORQUE_PARAMS
-  return NON_LINEAR_TORQUE_PARAMS.get(candidate)
-
-
 class CarInterface(CarInterfaceBase):
   CarState = CarState
   CarController = CarController
@@ -156,7 +141,7 @@ class CarInterface(CarInterfaceBase):
       # The "lat_accel vs torque" relationship is assumed to be the sum of "sigmoid + linear" curves
       # An important thing to consider is that the slope at 0 should be > 0 (ideally >1)
       # This has big effect on the stability about 0 (noise when going straight)
-      non_linear_torque_params = get_non_linear_torque_params(self.CP.carFingerprint)
+      non_linear_torque_params = NON_LINEAR_TORQUE_PARAMS.get(self.CP.carFingerprint)
       assert non_linear_torque_params, "The params are not defined"
       if isinstance(non_linear_torque_params, dict):
         side_key = "left" if lateral_acceleration >= 0 else "right"
@@ -174,7 +159,7 @@ class CarInterface(CarInterfaceBase):
     return torque_values, lataccel_values
 
   def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
-    if get_non_linear_torque_params(self.CP.carFingerprint) is not None:
+    if self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS:
       torque_values, lataccel_values = self.get_lataccel_torque_siglin()
 
       def torque_from_lateral_accel_siglin(lateral_acceleration: float, torque_params: structs.CarParams.LateralTorqueTuning):
@@ -184,7 +169,7 @@ class CarInterface(CarInterfaceBase):
       return self.torque_from_lateral_accel_linear
 
   def lateral_accel_from_torque(self) -> LateralAccelFromTorqueCallbackType:
-    if get_non_linear_torque_params(self.CP.carFingerprint) is not None:
+    if self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS:
       torque_values, lataccel_values = self.get_lataccel_torque_siglin()
 
       def lateral_accel_from_torque_siglin(torque: float, torque_params: structs.CarParams.LateralTorqueTuning):

opendbc_repo/opendbc/car/gm/tests/test_gm.py

@@ -63,27 +63,16 @@ class TestGMInterface:
     fingerprint[0][0x201] = 8  # pedal detected
     fingerprint[0][0x2FF] = 8  # SASCM detected
 
-    monkeypatch.setattr(gm_interface, "testing_ground", SimpleNamespace(use_2=True))
+    monkeypatch.setattr(gm_interface.testing_ground, "use_2", True, raising=False)
 
     car_params = CarInterface.get_params(CAR.CHEVROLET_VOLT_ASCM, fingerprint, [], alpha_long=False, is_release=False, docs=False,
                                          starpilot_toggles=_test_starpilot_toggles())
 
-    assert list(car_params.longitudinalTuning.kpV) == pytest.approx([0.10, 0.072, 0.05, 0.04])
-    assert list(car_params.longitudinalTuning.kiV) == pytest.approx([0.025, 0.03, 0.04, 0.055])
+    assert list(car_params.longitudinalTuning.kpV) == [0.10, 0.072, 0.05, 0.04]
+    assert list(car_params.longitudinalTuning.kiV) == [0.025, 0.03, 0.04, 0.055]
     assert car_params.startingState
     assert car_params.startAccel == pytest.approx(1.15)
 
-  def test_silverado_testing_ground_uses_left_biased_non_linear_torque_params(self, monkeypatch):
-    stock_params = gm_interface.get_non_linear_torque_params(CAR.CHEVROLET_SILVERADO)
-
-    monkeypatch.setattr(gm_interface, "silverado_trailer_mode_active", lambda: True)
-    tuned_params = gm_interface.get_non_linear_torque_params(CAR.CHEVROLET_SILVERADO)
-
-    assert tuned_params["left"][0] > stock_params["left"][0]
-    assert tuned_params["left"][1] > stock_params["left"][1]
-    assert tuned_params["left"][2] > stock_params["left"][2]
-    assert tuned_params["right"] == stock_params["right"]
-
 
 class TestGMCarController:
   def test_dash_speed_spoof_respects_live_stock_acc_toggles(self):

selfdrive/controls/lib/latcontrol_torque.py

@@ -384,6 +384,7 @@ class LatControlTorque(LatControl):
     self.is_bolt_2022_2023 = CP.carFingerprint in BOLT_2022_2023_CARS
     self.is_bolt_2018_2021 = CP.carFingerprint in BOLT_2018_2021_CARS
     self.is_bolt_2017 = CP.carFingerprint in BOLT_2017_CARS
+    self.is_silverado = CP.carFingerprint == GM_CAR.CHEVROLET_SILVERADO
     self.use_bolt_ff_scaling = self.is_bolt_2022_2023 or self.is_bolt_2018_2021 or self.is_bolt_2017
     self.use_bolt_ki_multiplier = self.use_bolt_ff_scaling
     self.torque_ff_scale_pos = 1.0

selfdrive/controls/tests/test_latcontrol.py

@@ -144,13 +144,6 @@ class TestLatControl:
 
     assert lac_log.active
 
-  def test_silverado_default_update_path(self):
-    controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(GM.CHEVROLET_SILVERADO)
-
-    _, _, lac_log = controller.update(True, CS, VM, params, False, 0.0025, False, 0.2, None, None, starpilot_toggles)
-
-    assert lac_log.active
-
   @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),
                          (NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_ACC_2022_2023, LatControlTorque)])
   def test_saturation(self, car_name, controller):

starpilot/common/testing_grounds.py

@@ -65,10 +65,9 @@ TESTING_GROUNDS_SLOT_DEFINITIONS = (
   },
   {
     "id": TESTING_GROUND_6,
-    "name": "Silverado Trailer Mode",
-    "description": "Silverado/Sierra lateral A/B sandbox for trailer-related hugging and turn-in response.",
-    "aLabel": "A - Installed tune",
-    "bLabel": "B - Trailer assist tune",
+    "name": "Unused",
+    "description": "",
+    "aLabel": "A",
   },
   {
     "id": TESTING_GROUND_7,

starpilot/common/tests/test_testing_grounds.py

@@ -1,13 +1,16 @@
 import json
 
+import pytest
+
 from openpilot.starpilot.common import testing_grounds as tg
 
 
-def test_hidden_testing_ground_selection_is_migrated(tmp_path, monkeypatch):
+@pytest.mark.parametrize("hidden_slot_id", [tg.TESTING_GROUND_3, tg.TESTING_GROUND_6])
+def test_hidden_testing_ground_selection_is_migrated(tmp_path, monkeypatch, hidden_slot_id):
   state_path = tmp_path / "slots.json"
   state_path.write_text(json.dumps({
     "schemaVersion": tg.TESTING_GROUNDS_SCHEMA_VERSION,
-    "activeSlot": tg.TESTING_GROUND_3,
+    "activeSlot": hidden_slot_id,
     "activeVariant": tg.TESTING_GROUND_TEST_VARIANT,
   }), encoding="utf-8")