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Torque Rest of Fleet

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firestar5683
2025-12-13 18:41:16 -06:00
parent 365bf72ca2
commit 69703fd2ac
9 changed files with 60 additions and 27 deletions
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frogpilot/common/frogpilot_variables.py
+1
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@@ -1002,6 +1002,7 @@ class FrogPilotVariables:
volt_models = {
"CHEVROLET_VOLT",
"CHEVROLET_VOLT_2019",
"CHEVROLET_VOLT_ASCM",
"CHEVROLET_VOLT_CAMERA",
}
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panda/board/obj/bootstub.panda_h7.bin
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panda/board/safety/safety_gm.h
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@@ -10,14 +10,14 @@ const SteeringLimits GM_STEERING_LIMITS = {
};
const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
.max_gas = 7168,
.max_gas = 8191,
.min_gas = 5500,
.inactive_gas = 5500,
.max_brake = 400,
};
const LongitudinalLimits GM_CAM_LONG_LIMITS = {
.max_gas = 7496,
.max_gas = 8848,
.min_gas = 5610,
.inactive_gas = 5650,
.max_brake = 400,
selfdrive/car/gm/carcontroller.py
+42 -18
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@@ -48,13 +48,12 @@ class CarController(CarControllerBase):
self.lka_icon_status_last = (False, False)
self.params = CarControllerParams(self.CP)
self.is_volt = self.CP.carFingerprint in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_CC)
if self.is_volt:
self.mass = CP.mass
self.tireRadius = 0.075 * CP.wheelbase + 0.1453
self.frontalArea = 1.05 * CP.wheelbase + 0.0679
self.coeffDrag = 0.30
self.airDensity = 1.225
self.is_volt = self.CP.carFingerprint in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_CC)
self.mass = CP.mass
self.tireRadius = 0.075 * CP.wheelbase + 0.1453
self.frontalArea = 1.05 * CP.wheelbase + 0.0679
self.coeffDrag = 0.30
self.airDensity = 1.225
self.params_ = Params()
self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
@@ -166,21 +165,46 @@ class CarController(CarControllerBase):
accel = clip(accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
brake_accel = clip(brake_accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
if self.CP.carFingerprint in EV_CAR:
self.params.update_ev_gas_brake_threshold(CS.out.vEgo)
self.apply_gas = int(round(interp(accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(brake_accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
if self.CP.carFingerprint in EV_CAR:
self.params.update_ev_gas_brake_threshold(CS.out.vEgo)
self.apply_gas = int(round(interp(accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(brake_accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
else:
self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
# Clamp within message-valid ranges to avoid ASCM faults from overshoot or rounding
self.apply_gas = int(round(clip(self.apply_gas, self.params.MAX_ACC_REGEN, self.params.MAX_GAS)))
self.apply_brake = int(round(clip(self.apply_brake, 0, self.params.MAX_BRAKE)))
if self.apply_brake > 0:
# Volt should never present positive torque alongside friction braking
self.apply_gas = self.params.INACTIVE_REGEN
else:
self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
if len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping:
accel_due_to_pitch = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
else:
accel_due_to_pitch = 0.0
gas_max = self.params.MAX_GAS
accel_max = self.params.ACCEL_MAX
accel = clip(actuators.accel + accel_due_to_pitch, self.params.ACCEL_MIN, accel_max)
torque = self.tireRadius * ((self.mass * accel) + (0.5 * self.coeffDrag * self.frontalArea * self.airDensity * CS.out.vEgo ** 2))
scaled_torque = torque + self.params.ZERO_GAS
apply_gas_torque = clip(scaled_torque, self.params.MAX_ACC_REGEN, gas_max)
BRAKE_SWITCH = int(round(interp(CS.out.vEgo, self.params.BRAKE_SWITCH_LOOKUP_BP, self.params.BRAKE_SWITCH_LOOKUP_V)))
brake_accel = min((scaled_torque - BRAKE_SWITCH) / (self.tireRadius * self.mass), 0)
self.apply_gas = int(round(apply_gas_torque))
self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
# Clamp within message-valid ranges to avoid ASCM faults from overshoot or rounding
self.apply_gas = int(round(clip(self.apply_gas, self.params.MAX_ACC_REGEN, self.params.MAX_GAS)))
self.apply_brake = int(round(clip(self.apply_brake, 0, self.params.MAX_BRAKE)))
# Clamp within message-valid ranges to avoid ASCM faults from overshoot or rounding
self.apply_gas = int(round(clip(self.apply_gas, self.params.MAX_ACC_REGEN, self.params.MAX_GAS)))
self.apply_brake = int(round(clip(self.apply_brake, 0, self.params.MAX_BRAKE)))
if self.is_volt and self.apply_brake > 0:
# Volt should never present positive torque alongside friction braking
self.apply_gas = self.params.INACTIVE_REGEN
if self.apply_brake > 0 and self.apply_gas > self.params.INACTIVE_REGEN:
self.apply_gas = self.params.INACTIVE_REGEN
# Don't allow any gas above inactive regen while stopping
# FIXME: brakes aren't applied immediately when enabling at a stop
if stopping:
selfdrive/car/gm/interface.py
+2 -2
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@@ -148,12 +148,12 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
# Tuning for experimental long
ret.longitudinalTuning.kiV = [1.0, 1.0]
ret.longitudinalTuning.kiV = [0.5, 0.5]
ret.stoppingDecelRate = 1.0 # reach brake quickly after enabling
ret.vEgoStopping = 0.25
ret.vEgoStarting = 0.25
ret.stopAccel = -0.20
ret.stopAccel = -0.25
if ret.experimentalLongitudinalAvailable and experimental_long:
ret.pcmCruise = False
selfdrive/car/gm/values.py
+13 -5
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@@ -38,12 +38,12 @@ class CarControllerParams:
def __init__(self, CP):
# Gas/brake lookups
self.ZERO_GAS = 6144 # Coasting
self.ZERO_GAS = 6150 # Coasting
self.MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen
self.BRAKE_SWITCH_MAX = self.ZERO_GAS
if CP.carFingerprint in (CAMERA_ACC_CAR | SDGM_CAR) and CP.carFingerprint not in CC_ONLY_CAR and CP.carFingerprint != CAR.CHEVROLET_BOLT_EUV:
self.MAX_GAS = 7496
if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR and CP.carFingerprint != CAR.CHEVROLET_BOLT_EUV:
self.MAX_GAS = 8848
self.MAX_GAS_PLUS = 8848
self.MAX_ACC_REGEN = 5610
self.INACTIVE_REGEN = 5650
@@ -51,9 +51,17 @@ class CarControllerParams:
# Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
self.max_regen_acceleration = 0.
elif CP.carFingerprint in SDGM_CAR and CP.carFingerprint not in CC_ONLY_CAR and CP.carFingerprint != CAR.CHEVROLET_BOLT_EUV:
self.MAX_GAS = 8191
self.MAX_GAS_PLUS = 8191
self.MAX_ACC_REGEN = 5500
self.INACTIVE_REGEN = 5500
# SDGM integrations match the ASCM longitudinal envelope
self.max_regen_acceleration = 0.
else:
self.MAX_GAS = 7168 # Safety limit, not ACC max. Stock ACC >8192 from standstill.
self.MAX_GAS_PLUS = 8191 # 8292 uses new bit, possible but not tested. Matches Twilsonco tw-main max
self.MAX_GAS = 8191 # Safety limit, not ACC max. Stock ACC >8192 from standstill.
self.MAX_GAS_PLUS = 8191
self.MAX_ACC_REGEN = 5500 # Max ACC regen is slightly less than max paddle regen
self.INACTIVE_REGEN = 5500
# ICE has much less engine braking force compared to regen in EVs,