From 30f416af73aa7bf8091bc47b5d883e94d9b5e3f8 Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Mon, 20 Apr 2026 00:15:51 -0500 Subject: [PATCH] Volt Lat Update --- selfdrive/controls/lib/latcontrol_torque.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index c8a525abb..3f4697ebd 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -889,6 +889,7 @@ class LatControlTorque(LatControl): genesis_g90_test_active = self.is_genesis_g90 and genesis_g90_lateral_testing_ground_active() kia_ev6_test_active = self.is_kia_ev6 and kia_ev6_lateral_testing_ground_active() volt_plexy_test_active = self.is_volt_cc and volt_plexy_lateral_testing_ground_active() + volt_standard_center_taper = get_volt_standard_center_taper_scale(setpoint, CS.vEgo) if volt_standard_test_active else 1.0 friction_threshold = get_friction_threshold(CS.vEgo) friction_scale = 1.0 if bolt_2022_2023_tuned_path_active: @@ -899,9 +900,10 @@ class LatControlTorque(LatControl): friction_threshold = get_bolt_2018_2021_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk) friction_scale = get_bolt_2018_2021_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk) elif volt_standard_test_active: - ff *= get_volt_standard_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) + ff *= get_volt_standard_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * volt_standard_center_taper friction_threshold = get_volt_standard_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk) friction_scale = get_volt_standard_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk) + friction_scale = 1.0 + ((friction_scale - 1.0) * volt_standard_center_taper) elif genesis_g90_test_active: ff *= get_genesis_g90_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) friction_threshold = get_genesis_g90_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk) @@ -932,7 +934,7 @@ class LatControlTorque(LatControl): elif bolt_2018_2021_tuned_path_active: output_torque *= get_bolt_2018_2021_dynamic_torque_scale(setpoint, desired_lateral_jerk, CS.vEgo) elif volt_standard_test_active: - output_torque *= get_volt_standard_center_taper_scale(setpoint, CS.vEgo) + output_torque *= volt_standard_center_taper pid_log.active = True pid_log.p = float(self.pid.p)