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2017

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firestar5683
2026-02-24 22:01:38 -06:00
parent da6cf10912
commit 69b5d4686f
4 changed files with 11 additions and 7 deletions
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selfdrive/car/gm/interface.py
+6 -2
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@@ -57,8 +57,8 @@ NON_LINEAR_TORQUE_PARAMS = {
"right": [2.0, 1.0, 0.205, 0.0],
},
CAR.CHEVROLET_BOLT_CC_2017: {
"left": [2.15, 1.0, 0.21, 0.0],
"right": [2.15, 1.0, 0.21, 0.0],
"left": [2.15, 1.0, 0.13, 0.0],
"right": [2.15, 1.0, 0.15, 0.0],
},
CAR.GMC_ACADIA: {
"left": [4.78003305, 1.0, 0.3122, 0.05591772],
@@ -391,6 +391,10 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.torque.kd *= 0.93
if candidate == CAR.CHEVROLET_BOLT_CC_2017:
ret.lateralTuning.torque.kp *= 0.9
ret.lateralTuning.torque.ki *= 0.9
ret.lateralTuning.torque.kd *= 0.85
ret.lateralTuning.torque.kfDEPRECATED = 0.0
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_BOLT_2017
if ret.enableGasInterceptor:
selfdrive/car/gm/values.py
+1 -1
View File
@@ -290,7 +290,7 @@ class CAR(Platforms):
)
CHEVROLET_BOLT_CC_2017 = GMPlatformConfig(
[GMCarDocs("Chevrolet Bolt EV 2017 - No-ACC")],
CHEVROLET_BOLT_ACC_2022_2023.specs,
GMCarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
)
CHEVROLET_EQUINOX_CC = GMPlatformConfig(
[GMCarDocs("Chevrolet Equinox 2019-22 - No-ACC")],
selfdrive/car/torque_data/override.toml
+1 -1
View File
@@ -45,7 +45,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"CADILLAC_XT4" = [1.45, 1.6, 0.2]
"CADILLAC_XT6" = [1.33, 1.9, 0.16]
"CHEVROLET_BOLT_ACC_2022_2023" = [2.0, 2.0, 0.13]
"CHEVROLET_BOLT_CC_2017" = [1.5, 2.0, 0.245]
"CHEVROLET_BOLT_CC_2017" = [1.2, 2.0, 0.13]
"CHEVROLET_BOLT_CC_2019_2021" = [2.0, 2.0, 0.13]
"CHEVROLET_BLAZER" = [1.33, 1.33, 0.18]
"CHEVROLET_MALIBU_CC" = [1.58, 1.8422651988094612, 0.205]
selfdrive/controls/lib/latcontrol_torque.py
+3 -3
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@@ -82,9 +82,9 @@ class LatControlTorque(LatControl):
self.is_bolt_2019_2021 = CP.carFingerprint in BOLT_2019_2021_CARS
self.is_bolt_2017 = CP.carFingerprint in BOLT_2017_CARS
# Keep Bolt-specific FF controls isolated by generation.
self.use_bolt_ff_scaling = self.is_bolt_2022_2023 or self.is_bolt_2019_2021
self.use_bolt_deadzone_boost = self.is_bolt_2022_2023 or self.is_bolt_2019_2021
self.use_bolt_ki_multiplier = self.is_bolt_2022_2023 or self.is_bolt_2019_2021
self.use_bolt_ff_scaling = self.is_bolt_2022_2023 or self.is_bolt_2019_2021 or self.is_bolt_2017
self.use_bolt_deadzone_boost = self.is_bolt_2022_2023 or self.is_bolt_2019_2021 or self.is_bolt_2017
self.use_bolt_ki_multiplier = self.is_bolt_2022_2023 or self.is_bolt_2019_2021 or self.is_bolt_2017
self.torque_ff_scale_pos = 1.0
self.torque_ff_scale_neg = 1.0
self.torque_deadzone_boost_neg = 0.0