mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-08-31 13:13:44 +08:00
Code Issues Packages Projects Releases Wiki Activity

Cleanup: Nuke of the Bad Stuff

Browse Source
This commit is contained in:
firestar5683
2025-10-01 18:48:05 -04:00
parent 40bcc00261
commit 8cd5ee4f80
4 changed files with 3 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/gm/fingerprints.py
-7
View File
@@ -26,13 +26,6 @@ FINGERPRINTS = {
{
170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2017: 8, 2020: 8, 2025: 8, 2028: 8
}],
CAR.CHEVROLET_VOLT_CAM: [
# Causes errors with normal OBD install
# {
# # CHEVROLET_VOLT with camera network location
# 170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2017: 8, 2020: 8, 2025: 8, 2028: 8
# }
],
CAR.CHEVROLET_VOLT_ASCM: [
# Causes errors with normal OBD install
# {
selfdrive/car/gm/interface.py
+2 -2
View File
@@ -50,7 +50,7 @@ class CarInterface(CarInterfaceBase):
return 0.10006696 * sigmoid * (v_ego + 3.12485927)
def get_steer_feedforward_function(self):
if self.CP.carFingerprint in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_CAM, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_VOLT_ASCM):
if self.CP.carFingerprint in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_VOLT_ASCM):
return self.get_steer_feedforward_volt
else:
return CarInterfaceBase.get_steer_feedforward_default
@@ -178,7 +178,7 @@ class CarInterface(CarInterfaceBase):
ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
ret.longitudinalActuatorDelay = 0.5 # large delay to initially start braking
if candidate in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_CAM, CAR.CHEVROLET_VOLT_CC):
if candidate in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_CC):
ret.minEnableSpeed = -1
ret.lateralTuning.pid.kpBP = [0., 40.]
ret.lateralTuning.pid.kpV = [0., 0.17]
selfdrive/car/gm/values.py
+1 -6
View File
@@ -117,11 +117,6 @@ class CAR(Platforms):
GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469, minEnableSpeed=-1),
dbc_dict=dbc_dict('gm_global_a_powertrain_volt', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')
)
CHEVROLET_VOLT_CAM = GMPlatformConfig(
[GMCarDocs("Chevrolet Volt 2017-18 Camera", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ")],
GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469, minEnableSpeed=-1),
dbc_dict=dbc_dict('gm_global_a_powertrain_volt', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')
)
CHEVROLET_VOLT_ASCM = GMPlatformConfig(
[GMCarDocs("Chevrolet Volt 2017-18 ASCM Harness", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ")],
GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469, minEnableSpeed=-1),
@@ -354,7 +349,7 @@ SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CADILLAC_XT6, CAR.CHEVROLET_TRAVERSE, CAR.CHEV
ASCM_INT = {CAR.CHEVROLET_VOLT_ASCM, CAR.GMC_ACADIA_ASCM}
# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER, CAR.CHEVROLET_TRAX, CAR.CHEVROLET_VOLT_CAM}
CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER, CAR.CHEVROLET_TRAX}
CAMERA_ACC_CAR.update({CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUINOX_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC, CAR.CHEVROLET_MALIBU_CC, CAR.CHEVROLET_MALIBU_HYBRID_CC})
# CAMERA_ACC_CAR.update(CC_ONLY_CAR)
selfdrive/car/torque_data/substitute.toml
-2
View File
@@ -60,7 +60,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"HOLDEN_ASTRA" = "CHEVROLET_VOLT"
"CHEVROLET_VOLT_CC" = "CHEVROLET_VOLT"
"CHEVROLET_VOLT_ASCM" = "CHEVROLET_VOLT"
"CHEVROLET_VOLT_CAM" = "CHEVROLET_VOLT"
"GMC_ACADIA_ASCM" = "GMC_ACADIA"
"CHEVROLET_VOLT_2019" = "CHEVROLET_VOLT"
"CHEVROLET_BOLT_CC" = "CHEVROLET_BOLT_EUV"
@@ -71,7 +70,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"CHEVROLET_TRAX" = "CHEVROLET_VOLT"
"CADILLAC_CT6_CC" = "CHEVROLET_VOLT"
"CADILLAC_XT5_CC" = "GMC_ACADIA"
"SKODA_FABIA_MK4" = "VOLKSWAGEN_GOLF_MK7"
"SKODA_OCTAVIA_MK3" = "SKODA_SUPERB_MK3"
"SKODA_KODIAQ_MK1" = "SKODA_SUPERB_MK3"