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firestar5683
2025-05-06 16:43:37 -05:00
parent 68b97a87db
commit 6e77a80772
10 changed files with 26 additions and 23 deletions
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panda/board/obj/bootstub.panda.bin
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panda/board/obj/bootstub.panda_h7.bin
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selfdrive/car/gm/carcontroller.py
+1 -1
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@@ -21,7 +21,7 @@ TransmissionType = car.CarParams.TransmissionType
# Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s
CAMERA_CANCEL_DELAY_FRAMES = 10
# Enforce a minimum interval between steering messages to avoid a fault
MIN_STEER_MSG_INTERVAL_MS = 15
MIN_STEER_MSG_INTERVAL_MS = 25
# Constants for pitch compensation
PITCH_DEADZONE = 0.01 # [radians] 0.01 ≈ 1% grade
selfdrive/car/gm/carstate.py
+2 -2
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@@ -101,7 +101,7 @@ class CarState(CarStateBase):
if self.CP.enableGasInterceptor:
ret.gas = (pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
threshold = 12 if self.CP.carFingerprint in CAMERA_ACC_CAR else 4 # Panda 515 threshold = 10.88. Set lower to avoid panda blocking messages and GasInterceptor faulting.
threshold = 11 if self.CP.carFingerprint in CAMERA_ACC_CAR else 4 # Panda 515 threshold = 10.88. Set lower to avoid panda blocking messages and GasInterceptor faulting.
ret.gasPressed = ret.gas > threshold
else:
ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
@@ -174,7 +174,7 @@ class CarState(CarStateBase):
ret.leftBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
ret.rightBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
# FrogPilot CarState functions
self.lkas_previously_enabled = self.lkas_enabled
if self.CP.carFingerprint in SDGM_CAR:
self.lkas_enabled = cam_cp.vl["ASCMSteeringButton"]["LKAButton"]
selfdrive/car/gm/interface.py
+16 -13
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@@ -29,10 +29,10 @@ CAM_MSG = 0x320 # AEBCmd
ACCELERATOR_POS_MSG = 0xbe
NON_LINEAR_TORQUE_PARAMS = {
CAR.CHEVROLET_BOLT_EUV: [1.8, 1.1, 0.290, -0.045],
CAR.CHEVROLET_BOLT_CC: [1.8, 1.1, 0.290, -0.045],
CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
CAR.CHEVROLET_BOLT_EUV: {"left": [2.15, 1.0, 0.17, -0.04], "right": [2.15, 1.0, 0.21, -0.04]},
CAR.CHEVROLET_BOLT_CC: {"left": [2.15, 1.0, 0.17, -0.04], "right": [2.15, 1.0, 0.21, -0.04]},
CAR.GMC_ACADIA: {"left": [4.78, 1.0, 0.31, 0.05], "right": [4.78, 1.0, 0.31, 0.05]},
CAR.CHEVROLET_SILVERADO: {"left": [3.30, 1.0, 0.25, 0.05], "right": [3.30, 1.0, 0.25, 0.05]}
}
NEURAL_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/neural_ff_weights.json')
@@ -74,7 +74,11 @@ class CarInterface(CarInterfaceBase):
# ToDo: To generalize to other GMs, explore tanh function as the nonlinear
non_linear_torque_params = NON_LINEAR_TORQUE_PARAMS.get(self.CP.carFingerprint)
assert non_linear_torque_params, "The params are not defined"
a, b, c, d = non_linear_torque_params
if latcontrol_inputs.lateral_acceleration >= 0:
params = non_linear_torque_params["right"]
else:
params = non_linear_torque_params["left"]
a, b, c, d = params
steer_torque = (sig(latcontrol_inputs.lateral_acceleration * a) * b) + (latcontrol_inputs.lateral_acceleration * c) + d
return float(steer_torque) + friction
@@ -116,14 +120,13 @@ class CarInterface(CarInterfaceBase):
ret.minSteerSpeed = 10 * CV.KPH_TO_MS
# Tuning for experimental long
ret.longitudinalTuning.kiV = [0.5, 0.5, 0.5]
ret.longitudinalTuning.kiV = [2.0, 1.5]
ret.vEgoStopping = 0.1
ret.vEgoStarting = 0.1
ret.stoppingDecelRate = 1.0 # reach brake quickly after enabling
ret.stoppingDecelRate = 2.0 # reach brake quickly after enabling
ret.vEgoStopping = 0.25
ret.vEgoStarting = 0.25
ret.stopAccel = -0.25
if experimental_long:
ret.pcmCruise = False
@@ -131,7 +134,7 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
elif candidate in SDGM_CAR:
ret.longitudinalTuning.kiV = [0., 0., 0.] # TODO: tuning
ret.longitudinalTuning.kiV = [0., 0.] # TODO: tuning
ret.experimentalLongitudinalAvailable = False
ret.networkLocation = NetworkLocation.fwdCamera
ret.pcmCruise = True
@@ -150,7 +153,7 @@ class CarInterface(CarInterfaceBase):
ret.minSteerSpeed = 7 * CV.MPH_TO_MS
# Tuning
ret.longitudinalTuning.kiV = [0.5, 0.5, 0.5]
ret.longitudinalTuning.kiV = [2.4, 1.5]
if ret.enableGasInterceptor:
# Need to set ASCM long limits when using pedal interceptor, instead of camera ACC long limits
@@ -201,7 +204,7 @@ class CarInterface(CarInterfaceBase):
elif candidate in (CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_BOLT_CC):
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
ret.lateralTuning.torque.kp = 0.6
ret.lateralTuning.torque.kp = 0.4
if ret.enableGasInterceptor:
# ACC Bolts use pedal for full longitudinal control, not just sng
@@ -267,7 +270,7 @@ class CarInterface(CarInterfaceBase):
ret.stoppingControl = True
ret.autoResumeSng = True
if candidate in CC_ONLY_CAR: #pedal interceptor tuning
if candidate in CC_ONLY_CAR:
ret.flags |= GMFlags.PEDAL_LONG.value
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_PEDAL_LONG
# Note: Low speed, stop and go not tested. Should be fairly smooth on highway
@@ -290,7 +293,7 @@ class CarInterface(CarInterfaceBase):
ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
ret.pcmCruise = False
if not ret.enableGasInterceptor and candidate in CC_ONLY_CAR: #redneck tuning
if not ret.enableGasInterceptor and candidate in CC_ONLY_CAR:
ret.longitudinalTuning.kpBP = [10.7, 10.8, 28.] # 10.7 m/s == 24 mph
ret.longitudinalTuning.kpV = [0., 20., 20.] # set lower end to 0 since we can't drive below that speed
ret.longitudinalTuning.deadzoneBP = [0.]
selfdrive/car/gm/values.py
+5 -5
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@@ -11,13 +11,13 @@ Ecu = car.CarParams.Ecu
class CarControllerParams:
STEER_MAX = 300 # GM limit is 3Nm. Used by carcontroller to generate LKA output
STEER_MAX = 450 # GM limit is 3Nm. Used by carcontroller to generate LKA output
STEER_STEP = 3 # Active control frames per command (~33hz)
INACTIVE_STEER_STEP = 10 # Inactive control frames per command (10hz)
STEER_DELTA_UP = 10 # Delta rates require review due to observed EPS weakness
STEER_DELTA_DOWN = 15
STEER_DRIVER_ALLOWANCE = 65
STEER_DRIVER_MULTIPLIER = 4
STEER_DELTA_UP = 15 # Delta rates require review due to observed EPS weakness
STEER_DELTA_DOWN = 34
STEER_DRIVER_ALLOWANCE = 78
STEER_DRIVER_MULTIPLIER = 6
STEER_DRIVER_FACTOR = 100
NEAR_STOP_BRAKE_PHASE = 0.25 # m/s
SNG_INTERCEPTOR_GAS = 18. / 255.
selfdrive/car/interfaces.py
+1 -1
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@@ -411,7 +411,7 @@ class CarInterfaceBase(ABC):
tune.init('torque')
tune.torque.useSteeringAngle = use_steering_angle
tune.torque.kp = 0.6
tune.torque.kp = 0.4
tune.torque.kf = 1.0
tune.torque.ki = 0.1
tune.torque.friction = params['FRICTION']
selfdrive/car/torque_data/override.toml
+1 -1
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@@ -43,7 +43,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"CADILLAC_ESCALADE" = [1.899999976158142, 1.842270016670227, 0.1120000034570694]
"CADILLAC_ESCALADE_ESV_2019" = [1.15, 1.3, 0.2]
"CADILLAC_XT4" = [1.45, 1.6, 0.2]
"CHEVROLET_BOLT_EUV" = [2.0, 2.0, 0.05]
"CHEVROLET_BOLT_EUV" = [3.0, 2.0, 0.11]
"CHEVROLET_MALIBU_CC" = [1.85, 1.85, 0.075]
"CHEVROLET_SILVERADO" = [1.9, 1.9, 0.112]
"CHEVROLET_TRAILBLAZER" = [1.33, 1.9, 0.16]