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Update interface.py

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firestar5683
2026-02-01 18:43:18 -06:00
parent cf91ba0d41
commit 3ff1087662
1 changed files with 1 additions and 8 deletions
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selfdrive/car/gm/interface.py
+1 -8
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@@ -242,20 +242,13 @@ class CarInterface(CarInterfaceBase):
ret.flags |= GMFlags.PEDAL_LONG.value
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_ACC
elif candidate == CAR.CHEVROLET_SILVERADO:
if candidate == CAR.CHEVROLET_SILVERADO:
# On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
# with foot on brake to allow engagement, but this platform only has that check in the camera.
# TODO: check if this is split by EV/ICE with more platforms in the future
if ret.openpilotLongitudinalControl:
ret.minEnableSpeed = -1.
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
# Silverado torque lateral tuning overrides (stored in unused torque fields).
ret.lateralTuning.torque.kp = 1.03 # torque_ff_scale_pos
ret.lateralTuning.torque.ki = 1.07 # torque_ff_scale_neg
ret.lateralTuning.torque.kd = 0.93 # torque_ki_mult
ret.lateralTuning.torque.kfDEPRECATED = 0.02 # torque_deadzone_boost_neg (lat accel)
# Silverado-only: reduce base friction for left bias
ret.lateralTuning.torque.friction *= 0.93
elif candidate in (CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_EQUINOX_CC):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)