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XT4 Sigmoid

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firestar5683
2026-06-09 17:02:27 -05:00
parent dac0610a19
commit 455a8ec11d
2 changed files with 23 additions and 0 deletions
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opendbc_repo/opendbc/car/gm/interface.py
+4
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@@ -62,6 +62,10 @@ NON_LINEAR_TORQUE_PARAMS = {
"left": [3.8, 0.81, 0.24, 0.0465122],
"right": [3.8, 0.81, 0.24, 0.0465122],
},
CAR.CADILLAC_XT4: {
"left": [3.6, 0.85, 0.28, 0.0],
"right": [3.6, 0.85, 0.28, 0.0],
},
CAR.CHEVROLET_VOLT: {
"left": [1.5, 1.0, 0.155, 0.0],
"right": [1.5, 1.0, 0.155, 0.0],
opendbc_repo/opendbc/car/gm/tests/test_gm.py
+19
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@@ -2,6 +2,7 @@ import pytest
from types import SimpleNamespace
from parameterized import parameterized
from cereal import custom
from opendbc.can import CANPacker, CANParser
from opendbc.car import Bus, DT_CTRL, structs
from opendbc.car.car_helpers import interfaces
@@ -245,6 +246,24 @@ class TestGMInterface:
assert not sascm_params.pcmCruise
assert sascm_params.safetyConfigs[0].safetyParam & GMSafetyFlags.HW_CAM_LONG.value
def test_cadillac_xt4_uses_nonlinear_torque_curve_with_center_boost(self):
CarInterface = interfaces[CAR.CADILLAC_XT4]
car_params = CarInterface.get_non_essential_params(CAR.CADILLAC_XT4)
ci = CarInterface(car_params, custom.StarPilotCarParams.new_message())
torque_from_lataccel = ci.torque_from_lateral_accel()
low_lataccel = 0.2
high_lataccel = 1.0
low_torque = torque_from_lataccel(low_lataccel, car_params.lateralTuning.torque)
high_torque = torque_from_lataccel(high_lataccel, car_params.lateralTuning.torque)
linear_low_torque = low_lataccel / car_params.lateralTuning.torque.latAccelFactor
linear_high_torque = high_lataccel / car_params.lateralTuning.torque.latAccelFactor
assert low_torque > linear_low_torque * 1.35
assert high_torque == pytest.approx(linear_high_torque, rel=0.02)
assert torque_from_lataccel(-low_lataccel, car_params.lateralTuning.torque) == pytest.approx(-low_torque, rel=1e-6)
class TestGMCarController:
def test_dash_speed_spoof_respects_live_stock_acc_toggles(self):