From 958d28478ddf2eabdb67d30740cd6c2d2470d65f Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Sun, 8 Mar 2026 01:42:48 -0600 Subject: [PATCH] Revert "offset" This reverts commit 3bd7152f0a8dd935c6c893d64e92e61ac5664091. --- frogpilot/common/testing_grounds.py | 23 ++--------- .../components/tools/testing_ground.css | 10 ----- .../assets/components/tools/testing_ground.js | 9 ---- selfdrive/car/gm/interface.py | 41 +++---------------- 4 files changed, 9 insertions(+), 74 deletions(-) diff --git a/frogpilot/common/testing_grounds.py b/frogpilot/common/testing_grounds.py index d1cb66fdf..1c7f4617f 100644 --- a/frogpilot/common/testing_grounds.py +++ b/frogpilot/common/testing_grounds.py @@ -40,25 +40,10 @@ TESTING_GROUNDS_SLOT_DEFINITIONS = ( }, { "id": TESTING_GROUND_2, - "name": "Offset Testing", - "description": "All GM non-linear torque cars: sigmoid d offset sweep for both left/right (-0.100 to +0.100). A proper offset should see near-zero I term in Plots.", - "aLabel": "A - Installed tune", - "bLabel": "B - d -0.030", - "cLabel": "C - d -0.040", - "dLabel": "D - d -0.050", - "eLabel": "E - d -0.060", - "fLabel": "F - d -0.070", - "gLabel": "G - d -0.080", - "hLabel": "H - d -0.090", - "iLabel": "I - d -0.100", - "jLabel": "J - d +0.030", - "kLabel": "K - d +0.040", - "lLabel": "L - d +0.050", - "mLabel": "M - d +0.060", - "nLabel": "N - d +0.070", - "oLabel": "O - d +0.080", - "pLabel": "P - d +0.090", - "qLabel": "Q - d +0.100", + "name": "Unused", + "description": "", + "aLabel": "A", + "bLabel": "B", }, { "id": TESTING_GROUND_3, diff --git a/frogpilot/system/the_pond/assets/components/tools/testing_ground.css b/frogpilot/system/the_pond/assets/components/tools/testing_ground.css index 50a84878e..2a79e583b 100644 --- a/frogpilot/system/the_pond/assets/components/tools/testing_ground.css +++ b/frogpilot/system/the_pond/assets/components/tools/testing_ground.css @@ -76,16 +76,6 @@ margin: 0 0 var(--margin-xs); } -.testingGroundPlotsLink { - margin-top: var(--margin-xs); -} - -.testingGroundInlineLink { - color: var(--main-fg); - font-size: var(--font-size-sm); - text-decoration: underline; -} - .testingGroundMuted { color: var(--text-muted); } diff --git a/frogpilot/system/the_pond/assets/components/tools/testing_ground.js b/frogpilot/system/the_pond/assets/components/tools/testing_ground.js index 541709e67..37738edc9 100644 --- a/frogpilot/system/the_pond/assets/components/tools/testing_ground.js +++ b/frogpilot/system/the_pond/assets/components/tools/testing_ground.js @@ -1,5 +1,4 @@ import { html, reactive } from "https://esm.sh/@arrow-js/core" -import { Link } from "/assets/components/router.js" const state = reactive({ loading: true, @@ -46,10 +45,6 @@ function getActiveSlot() { return slots.find((slot) => slotId(slot) === activeId) || null } -function isOffsetTestingSlot(slot) { - return String(slot?.id || "").trim() === "2" -} - function getVariantLabels(slot) { if (!slot || typeof slot !== "object") { return { A: "A" } @@ -262,10 +257,6 @@ export function TestingGround() {

${getSelectedSlot().name}

${() => getSelectedSlot().description ? html`

${getSelectedSlot().description}

` : ""} - ${() => isOffsetTestingSlot(getSelectedSlot()) - ? html`

${Link("/plots", html`Open Plots to watch I term`, null, "testingGroundInlineLink")}

` - : "" - }
` : ""} diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index d96f07249..2f24fbaeb 100644 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -10,7 +10,6 @@ from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus, GMFlags, CC_ONLY_CAR, SDGM_CAR, ASCM_INT, CC_REGEN_PADDLE_CAR, set_red_panda_canbus from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LateralAccelFromTorqueCallbackType, get_friction_threshold from openpilot.selfdrive.controls.lib.drive_helpers import get_friction -from openpilot.frogpilot.common.testing_grounds import testing_ground ButtonType = car.CarState.ButtonEvent.Type FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type @@ -71,33 +70,11 @@ NON_LINEAR_TORQUE_PARAMS = { }, } -NON_LINEAR_D_SWEEP_VARIANT_OFFSETS = { - "B": -0.030, - "C": -0.040, - "D": -0.050, - "E": -0.060, - "F": -0.070, - "G": -0.080, - "H": -0.090, - "I": -0.100, - "J": 0.030, - "K": 0.040, - "L": 0.050, - "M": 0.060, - "N": 0.070, - "O": 0.080, - "P": 0.090, - "Q": 0.100, -} - class CarInterface(CarInterfaceBase): def __init__(self, CP, FPCP, CarController, CarState): super().__init__(CP, FPCP, CarController, CarState) self.steer_offset = 0.0 - self._siglin_cache_key = None - self._siglin_cache_torque_values = None - self._siglin_cache_lataccel_values = None @staticmethod def get_pid_accel_limits(CP, current_speed, cruise_speed): @@ -117,12 +94,6 @@ class CarInterface(CarInterfaceBase): return CarInterfaceBase.get_steer_feedforward_default def get_lataccel_torque_siglin(self) -> float: - active_slot, active_variant = testing_ground.selection() - d_offset = NON_LINEAR_D_SWEEP_VARIANT_OFFSETS.get(active_variant, 0.0) if active_slot == testing_ground.id_2 else 0.0 - cache_key = (self.CP.carFingerprint, active_slot, active_variant, d_offset) - - if self._siglin_cache_key == cache_key and self._siglin_cache_torque_values is not None and self._siglin_cache_lataccel_values is not None: - return self._siglin_cache_torque_values, self._siglin_cache_lataccel_values def torque_from_lateral_accel_siglin_func(lateral_acceleration: float) -> float: # The "lat_accel vs torque" relationship is assumed to be the sum of "sigmoid + linear" curves @@ -133,7 +104,6 @@ class CarInterface(CarInterfaceBase): # Left is positive side_key = "left" if lateral_acceleration >= 0 else "right" a, b, c, d = non_linear_torque_params[side_key] - d += d_offset sig_input = a * lateral_acceleration sig = np.sign(sig_input) * (1 / (1 + exp(-fabs(sig_input))) - 0.5) steer_torque = (sig * b) + (lateral_acceleration * c) + d @@ -142,15 +112,13 @@ class CarInterface(CarInterfaceBase): lataccel_values = np.arange(-5.0, 5.0, 0.01) torque_values = [torque_from_lateral_accel_siglin_func(x) for x in lataccel_values] assert min(torque_values) < -1 and max(torque_values) > 1, "The torque values should cover the range [-1, 1]" - self._siglin_cache_key = cache_key - self._siglin_cache_torque_values = torque_values - self._siglin_cache_lataccel_values = lataccel_values - return self._siglin_cache_torque_values, self._siglin_cache_lataccel_values + return torque_values, lataccel_values def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType: if self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS: + torque_values, lataccel_values = self.get_lataccel_torque_siglin() + def torque_from_lateral_accel_siglin(lateral_acceleration: float, torque_params: car.CarParams.LateralTorqueTuning): - torque_values, lataccel_values = self.get_lataccel_torque_siglin() return float(np.interp(lateral_acceleration, lataccel_values, torque_values) + self.steer_offset) return torque_from_lateral_accel_siglin else: @@ -160,8 +128,9 @@ class CarInterface(CarInterfaceBase): def lateral_accel_from_torque(self) -> LateralAccelFromTorqueCallbackType: if self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS: + torque_values, lataccel_values = self.get_lataccel_torque_siglin() + def lateral_accel_from_torque_siglin(torque: float, torque_params: car.CarParams.LateralTorqueTuning): - torque_values, lataccel_values = self.get_lataccel_torque_siglin() return np.interp(torque - self.steer_offset, torque_values, lataccel_values) return lateral_accel_from_torque_siglin else: