gps

opendbc_repo/opendbc/car/gm/carstate.py

@@ -4,6 +4,7 @@ from opendbc.can import CANDefine, CANParser
 from opendbc.car import Bus, create_button_events, structs
 from opendbc.car import DT_CTRL
 from opendbc.car.common.conversions import Conversions as CV
+from opendbc.car.gps import get_car_gps_config
 from opendbc.car.interfaces import CarStateBase
 from opendbc.car.gm.values import (
   ALT_ACCS,
@@ -104,6 +105,31 @@ class CarState(CarStateBase):
     self.lkas_enabled = 0
     self.pcm_acc_status = AccState.OFF
     self.stock_fcw_alert = 0
+    self.car_gps_config = get_car_gps_config(CP)
+    self.car_gps_supported = self.car_gps_config is not None
+    self.car_gps = None
+    self._car_gps_timestamp_nanos = 0
+
+  def _update_car_gps(self, cp) -> None:
+    if self.car_gps_config is None:
+      return
+
+    timestamps = [max(cp.ts_nanos[name].values(), default=0) for name in self.car_gps_config.messages]
+    if not all(timestamps) or max(timestamps) - min(timestamps) > 2_000_000_000:
+      return
+
+    timestamp_nanos = max(timestamps)
+    if timestamp_nanos <= self._car_gps_timestamp_nanos:
+      return
+
+    gps = self.car_gps_config.decoder(*(cp.vl[name] for name in self.car_gps_config.messages))
+    if gps is not None:
+      gps["timestamp_nanos"] = timestamp_nanos
+      self.car_gps = gps
+      self._car_gps_timestamp_nanos = timestamp_nanos
+
+  def get_car_gps(self):
+    return self.car_gps
 
   def update_button_enable(self, buttonEvents: list[structs.CarState.ButtonEvent]):
     if not self.CP.pcmCruise:
@@ -119,6 +145,8 @@ class CarState(CarStateBase):
     cam_cp = can_parsers[Bus.cam]
     loopback_cp = can_parsers[Bus.loopback]
 
+    self._update_car_gps(pt_cp)
+
     ret = structs.CarState()
 
     volt_like = {
@@ -428,6 +456,9 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_can_parsers(CP):
+    gps_config = get_car_gps_config(CP)
+    gps_messages = [(name, 0) for name in gps_config.messages] if gps_config is not None else []
+
     volt_like = {
       CAR.CHEVROLET_VOLT,
       CAR.CHEVROLET_VOLT_2019,
@@ -451,6 +482,7 @@ class CarState(CarStateBase):
       ("PSCMSteeringAngle", 100),
       ("ECMAcceleratorPos", 80),
       ("SportMode", 0),
+      *gps_messages,
     ]
 
     prndl2_rate = 10 if CP.carFingerprint in kaofui_state_cars else 40

opendbc_repo/opendbc/car/gm/tests/test_gm.py

@@ -20,6 +20,7 @@ from opendbc.car.gm.carcontroller import (
 )
 import opendbc.car.gm.interface as gm_interface
 from opendbc.car.common.conversions import Conversions as CV
+from opendbc.car.gps import CHEVROLET_BOLT_GPS_CARS, CHEVROLET_BOLT_GPS_MESSAGES, get_car_gps_config, parse_chevrolet_bolt_can_gps
 from opendbc.car.gm.fingerprints import FINGERPRINTS
 from opendbc.car.gm.values import ASCM_INT, CAMERA_ACC_CAR, CAR, CC_ONLY_CAR, DBC, GM_RX_OFFSET, CarControllerParams, CruiseButtons, GMFlags, GMSafetyFlags
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
@@ -65,6 +66,43 @@ class TestGMFingerprint:
           assert finger.get(required_addr) == 8, required_addr
 
 
+class TestBoltGps:
+  @parameterized.expand(CHEVROLET_BOLT_GPS_CARS)
+  def test_all_bolt_generations_are_registered(self, car_model):
+    config = get_car_gps_config(SimpleNamespace(carFingerprint=car_model, brand="gm"))
+    assert config is not None
+    assert config.messages == CHEVROLET_BOLT_GPS_MESSAGES
+    gps = parse_chevrolet_bolt_can_gps({
+      "GPSLatitude": 145292743.0,
+      "GPSLongitude": -267520892.0,
+    })
+    assert gps is not None
+    assert gps["hasFix"]
+    assert gps["latitude"] == pytest.approx(40.3590953)
+    assert gps["longitude"] == pytest.approx(-74.3113589)
+
+  def test_invalid_bolt_position_does_not_become_a_fix(self):
+    gps = parse_chevrolet_bolt_can_gps({"GPSLatitude": 0.0, "GPSLongitude": -2147483648.0})
+    assert gps is not None
+    assert not gps["hasFix"]
+    assert gps["latitude"] == 0.0
+    assert gps["longitude"] == 0.0
+
+  @parameterized.expand(CHEVROLET_BOLT_GPS_CARS)
+  def test_gps_message_is_added_to_powertrain_parser(self, car_model):
+    cp = SimpleNamespace(
+      brand="gm",
+      carFingerprint=car_model,
+      flags=0,
+      networkLocation=structs.CarParams.NetworkLocation.gateway,
+      transmissionType=structs.CarParams.TransmissionType.direct,
+      enableBsm=False,
+      enableGasInterceptorDEPRECATED=False,
+    )
+    parsers = GMCarState.get_can_parsers(cp)
+    assert all(message in parsers[Bus.pt].vl for message in CHEVROLET_BOLT_GPS_MESSAGES)
+
+
 class TestGMInterface:
   @parameterized.expand([
     CAR.CHEVROLET_BOLT_CC_2017,

opendbc_repo/opendbc/car/gps.py

@@ -7,6 +7,7 @@ from typing import Any
 
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.ford.values import CAR as FORD_CAR
+from opendbc.car.gm.values import CAR as GM_CAR
 
 
 CarGpsSample = dict[str, Any]
@@ -90,11 +91,53 @@ def parse_ford_can_gps(nav1: Mapping[str, float], nav2: Mapping[str, float], nav
   }
 
 
+def parse_chevrolet_bolt_can_gps(position: Mapping[str, float]) -> CarGpsSample | None:
+  """Decode the Bolt's OnStar GPS position message."""
+  try:
+    latitude = float(position["GPSLatitude"]) / 3_600_000.0
+    longitude = float(position["GPSLongitude"]) / 3_600_000.0
+  except (KeyError, TypeError, ValueError):
+    return None
+
+  coordinates_valid = (
+    math.isfinite(latitude) and math.isfinite(longitude) and
+    -90.0 <= latitude <= 90.0 and -180.0 <= longitude <= 180.0 and
+    (latitude != 0.0 or longitude != 0.0)
+  )
+  if not coordinates_valid:
+    latitude = longitude = 0.0
+
+  return {
+    "latitude": latitude,
+    "longitude": longitude,
+    "altitude": 0.0,
+    "speed": 0.0,
+    "bearingDeg": 0.0,
+    "horizontalAccuracy": 100.0,
+    "unixTimestampMillis": int(datetime.now(UTC).timestamp() * 1000),
+    "verticalAccuracy": 100.0,
+    "bearingAccuracyDeg": 180.0,
+    "speedAccuracy": 100.0,
+    "hasFix": coordinates_valid,
+    "satelliteCount": 0,
+    "vNED": [0.0, 0.0, 0.0],
+  }
+
+
 FORD_MACH_E_GPS_MESSAGES = (
   "APIMGPS_Data_Nav_1_FD1",
   "APIMGPS_Data_Nav_2_FD1",
   "APIMGPS_Data_Nav_3_FD1",
 )
+CHEVROLET_BOLT_GPS_MESSAGES = ("TCICOnStarGPSPosition",)
+
+CHEVROLET_BOLT_GPS_CARS = (
+  GM_CAR.CHEVROLET_BOLT_ACC_2022_2023,
+  GM_CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
+  GM_CAR.CHEVROLET_BOLT_CC_2022_2023,
+  GM_CAR.CHEVROLET_BOLT_CC_2018_2021,
+  GM_CAR.CHEVROLET_BOLT_CC_2017,
+)
 
 
 CAR_GPS_CONFIGS: dict[str, CarGpsConfig] = {
@@ -103,6 +146,14 @@ CAR_GPS_CONFIGS: dict[str, CarGpsConfig] = {
     messages=FORD_MACH_E_GPS_MESSAGES,
     decoder=parse_ford_can_gps,
   ),
+  **{
+    car: CarGpsConfig(
+      brand="gm",
+      messages=CHEVROLET_BOLT_GPS_MESSAGES,
+      decoder=parse_chevrolet_bolt_can_gps,
+    )
+    for car in CHEVROLET_BOLT_GPS_CARS
+  },
 }
 
 

opendbc_repo/opendbc/car/subaru/carcontroller.py

@@ -32,7 +32,9 @@ _ANGLE_RECLAIM_EXPONENT = 2.5
 _ANGLE_MADS_MIN_SPEED = 0.44704
 _ANGLE_MADS_MAX_STEER_ANGLE = 120.0
 _STOP_START_STARTUP_DELAY_FRAMES = 100
-_STOP_START_STARTUP_DEADLINE_FRAMES = 300
+# StarPilot's first populated toggle message can arrive several seconds after
+# the car controller starts while fingerprinting and settings settle.
+_STOP_START_STARTUP_DEADLINE_FRAMES = 1000
 _STOP_START_PULSE_FRAMES = 30
 _STOP_START_PULSE_PERIOD_FRAMES = 5
 

opendbc_repo/opendbc/car/subaru/tests/test_subaru.py

@@ -221,14 +221,14 @@ def test_stop_start_inputs_are_captured_for_supported_models(platform):
   assert car_state.stop_start_state == 3
 
 
-@pytest.mark.parametrize("platform, expected_bus", [
-  (CAR.SUBARU_OUTBACK_2023, CanBus.alt),
-  (CAR.SUBARU_LEGACY_2025, CanBus.main),
+@pytest.mark.parametrize("platform, expected_bus, start_frame", [
+  (CAR.SUBARU_OUTBACK_2023, CanBus.alt, 101),
+  (CAR.SUBARU_LEGACY_2025, CanBus.main, 401),
 ])
-def test_stop_start_request_is_bounded_and_uses_live_dashlights(platform, expected_bus):
+def test_stop_start_request_is_bounded_and_uses_live_dashlights(platform, expected_bus, start_frame):
   CP = CarInterface.get_non_essential_params(platform)
   controller = CarController({}, CP)
-  controller.frame = 101
+  controller.frame = start_frame
 
   class TestActuators:
     steeringAngleDeg = 0.0

selfdrive/controls/lib/longitudinal_vehicle_tunes.py

@@ -21,7 +21,7 @@ HONDA_ACCORD_STOP_GO_MIN_MODEL_PROB = 0.95
 HONDA_ACCORD_STOP_GO_ACCEL_RISE_RATE = 4.0
 HYUNDAI_ELANTRA_LEAD_FOLLOW_JERK_SCALE = 1.25
 GENESIS_GV70_ELECTRIFIED_LEAD_FOLLOW_JERK_SCALE = 1.35
-FORD_LIGHTNING_LEAD_FOLLOW_JERK_SCALE = 1.20
+FORD_LIGHTNING_LEAD_FOLLOW_JERK_SCALE = 1.35
 HONDA_CRV_5G_LEAD_FOLLOW_JERK_SCALE = 1.20
 GM_SILVERADO_EARLY_FOLLOW_MIN_EGO_SPEED = 18.0
 GM_SILVERADO_EARLY_FOLLOW_MAX_DISTANCE = 130.0
@@ -29,10 +29,10 @@ GM_SILVERADO_EARLY_FOLLOW_MIN_MODEL_PROB = 0.85
 GM_SILVERADO_EARLY_FOLLOW_MAX_LATERAL_OFFSET = 1.2
 DEFAULT_FOLLOW_PREBRAKE_MIN_HEADWAY = 1.25
 GM_SILVERADO_FOLLOW_PREBRAKE_MIN_HEADWAY = 1.25
-FORD_LIGHTNING_FOLLOW_PREBRAKE_MIN_HEADWAY = 1.0
+FORD_LIGHTNING_FOLLOW_PREBRAKE_MIN_HEADWAY = 0.75
 FORD_LIGHTNING_TRACKED_LEAD_CATCHUP_MIN_HEADWAY_MARGIN = 0.10
 FORD_LIGHTNING_TRACKED_LEAD_CATCHUP_FULL_HEADWAY_MARGIN = 0.25
-FORD_LIGHTNING_TRACKED_LEAD_CATCHUP_BIAS_GAIN = 0.65
+FORD_LIGHTNING_TRACKED_LEAD_CATCHUP_BIAS_GAIN = 1.0
 HONDA_CRV_5G_TRACKED_LEAD_CATCHUP_MIN_HEADWAY_MARGIN = 0.10
 HONDA_CRV_5G_TRACKED_LEAD_CATCHUP_FULL_HEADWAY_MARGIN = 0.35
 HONDA_CRV_5G_TRACKED_LEAD_CATCHUP_BIAS_GAIN = 1.25

selfdrive/controls/tests/test_longitudinal_planner.py

@@ -787,7 +787,7 @@ def test_prebrake_floor_is_vehicle_specific():
   honda = SimpleNamespace(brand="honda", carFingerprint=CAR.HONDA_CIVIC)
 
   assert get_follow_prebrake_min_headway(silverado, 1.0) == pytest.approx(1.25)
-  assert get_follow_prebrake_min_headway(lightning, 0.75) == pytest.approx(1.0)
+  assert get_follow_prebrake_min_headway(lightning, 0.75) == pytest.approx(0.75)
   assert get_follow_prebrake_min_headway(honda, 1.0) == pytest.approx(1.25)
 
 
@@ -801,7 +801,7 @@ def test_lightning_stopped_lead_guard_tune_is_vehicle_specific():
   assert get_standstill_stopped_lead_guard_max_lead_speed(civic, 0.45) == pytest.approx(0.45)
   assert get_standstill_gap_settle_max_extra_gap(lightning) == pytest.approx(3.0)
   assert get_tracked_lead_catchup_headway_margins(lightning) == pytest.approx((0.10, 0.25))
-  assert get_tracked_lead_catchup_bias_gain(lightning) == pytest.approx(0.65)
+  assert get_tracked_lead_catchup_bias_gain(lightning) == pytest.approx(1.0)
   assert get_tracked_lead_catchup_headway_margins(civic) is None
   assert get_tracked_lead_catchup_bias_gain(civic) is None
 

selfdrive/controls/tests/test_starpilot_planner.py

@@ -43,7 +43,7 @@ def test_force_stop_jerk_scale_is_platform_specific():
 def test_lead_follow_jerk_scale_is_platform_specific():
   assert get_lead_follow_jerk_scale(SimpleNamespace(brand="hyundai", carFingerprint="HYUNDAI_ELANTRA_2021")) == 1.25
   assert get_lead_follow_jerk_scale(SimpleNamespace(brand="hyundai", carFingerprint="GENESIS_GV70_ELECTRIFIED_1ST_GEN")) == 1.35
-  assert get_lead_follow_jerk_scale(SimpleNamespace(brand="ford", carFingerprint="FORD_F_150_LIGHTNING_MK1")) == 1.20
+  assert get_lead_follow_jerk_scale(SimpleNamespace(brand="ford", carFingerprint="FORD_F_150_LIGHTNING_MK1")) == 1.35
   assert get_lead_follow_jerk_scale(SimpleNamespace(brand="honda", carFingerprint="HONDA_CRV_5G")) == 1.20
   assert get_lead_follow_jerk_scale(SimpleNamespace(brand="other", carFingerprint="OTHER_CAR")) == 1.0