mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-30 20:53:42 +08:00
kaofui
This commit is contained in:
firestar5683
@@ -1,4 +1,3 @@
|
||||
import math
|
||||
from cereal import car
|
||||
from openpilot.common.conversions import Conversions as CV
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
@@ -49,12 +48,6 @@ class CarController(CarControllerBase):
|
||||
self.params = CarControllerParams(self.CP)
|
||||
self.params_ = Params()
|
||||
|
||||
self.mass = CP.mass
|
||||
self.tireRadius = 0.075 * CP.wheelbase + 0.1453
|
||||
self.frontalArea = 1.05 * CP.wheelbase + 0.0679
|
||||
self.coeffDrag = 0.30
|
||||
self.airDensity = 1.225
|
||||
|
||||
self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
|
||||
self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
|
||||
self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis'])
|
||||
@@ -64,15 +57,16 @@ class CarController(CarControllerBase):
|
||||
self.accel_g = 0.0
|
||||
|
||||
@staticmethod
|
||||
def calc_pedal_command(accel: float, long_active: bool, car_velocity) -> float:
|
||||
def calc_pedal_command(accel: float, long_active: bool) -> float:
|
||||
if not long_active: return 0.
|
||||
|
||||
zero = 0.15625 # 40/256
|
||||
if accel < -0.5:
|
||||
pedal_gas = 0
|
||||
if accel > 0.:
|
||||
# Scales the accel from 0-1 to 0.156-1
|
||||
pedal_gas = clip(((1 - zero) * accel + zero), 0., 1.)
|
||||
else:
|
||||
pedaloffset = interp(car_velocity, [0., 3, 6, 30], [0.10, 0.175, 0.240, 0.240])
|
||||
pedal_gas = clip((pedaloffset + accel * 0.6), 0.0, 1.0)
|
||||
# if accel is negative, -0.1 -> 0.015625
|
||||
pedal_gas = clip(zero + accel, 0., zero) # Make brake the same size as gas, but clip to regen
|
||||
|
||||
return pedal_gas
|
||||
|
||||
@@ -127,6 +121,14 @@ class CarController(CarControllerBase):
|
||||
if self.frame % 4 == 0:
|
||||
stopping = actuators.longControlState == LongCtrlState.stopping
|
||||
|
||||
# Pitch compensated acceleration;
|
||||
# TODO: include future pitch (sm['modelDataV2'].orientation.y) to account for long actuator delay
|
||||
if frogpilot_toggles.long_pitch and len(CC.orientationNED) > 1:
|
||||
self.pitch.update(CC.orientationNED[1])
|
||||
self.accel_g = ACCELERATION_DUE_TO_GRAVITY * apply_deadzone(self.pitch.x, PITCH_DEADZONE) # driving uphill is positive pitch
|
||||
accel += self.accel_g
|
||||
brake_accel = actuators.accel + self.accel_g * interp(CS.out.vEgo, BRAKE_PITCH_FACTOR_BP, BRAKE_PITCH_FACTOR_V)
|
||||
|
||||
at_full_stop = CC.longActive and CS.out.standstill
|
||||
near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
|
||||
interceptor_gas_cmd = 0
|
||||
@@ -138,38 +140,27 @@ class CarController(CarControllerBase):
|
||||
self.apply_gas = self.params.INACTIVE_REGEN
|
||||
self.apply_brake = int(min(-100 * self.CP.stopAccel, self.params.MAX_BRAKE))
|
||||
else:
|
||||
|
||||
if len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping:
|
||||
accel_due_to_pitch = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
|
||||
# Normal operation
|
||||
if self.CP.carFingerprint in EV_CAR:
|
||||
self.params.update_ev_gas_brake_threshold(CS.out.vEgo)
|
||||
if frogpilot_toggles.sport_plus:
|
||||
self.apply_gas = int(round(interp(accel, self.params.EV_GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS)))
|
||||
else:
|
||||
self.apply_gas = int(round(interp(accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
|
||||
self.apply_brake = int(round(interp(brake_accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
|
||||
else:
|
||||
accel_due_to_pitch = 0.0
|
||||
|
||||
if frogpilot_toggles.sport_plus:
|
||||
gas_max = self.params.MAX_GAS_PLUS
|
||||
accel_max = self.params.ACCEL_MAX_PLUS
|
||||
else:
|
||||
gas_max = self.params.MAX_GAS
|
||||
accel_max = self.params.ACCEL_MAX
|
||||
|
||||
accel = clip(actuators.accel + accel_due_to_pitch, self.params.ACCEL_MIN, accel_max)
|
||||
torque = self.tireRadius * ((self.mass*accel) + (0.5*self.coeffDrag*self.frontalArea*self.airDensity*CS.out.vEgo**2))
|
||||
|
||||
scaled_torque = torque + self.params.ZERO_GAS
|
||||
apply_gas_torque = clip(scaled_torque, self.params.MAX_ACC_REGEN, gas_max)
|
||||
BRAKE_SWITCH = int(round(interp(CS.out.vEgo, self.params.BRAKE_SWITCH_LOOKUP_BP, self.params.BRAKE_SWITCH_LOOKUP_V)))
|
||||
brake_accel = min((scaled_torque - BRAKE_SWITCH)/(self.tireRadius*self.mass), 0)
|
||||
self.apply_gas = int(round(apply_gas_torque))
|
||||
self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
|
||||
if self.apply_brake > 0:
|
||||
self.apply_gas = self.params.INACTIVE_REGEN
|
||||
|
||||
if frogpilot_toggles.sport_plus:
|
||||
self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS)))
|
||||
else:
|
||||
self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
|
||||
self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
|
||||
# Don't allow any gas above inactive regen while stopping
|
||||
# FIXME: brakes aren't applied immediately when enabling at a stop
|
||||
if stopping:
|
||||
self.apply_gas = self.params.INACTIVE_REGEN
|
||||
if self.CP.carFingerprint in CC_ONLY_CAR:
|
||||
# gas interceptor only used for full long control on cars without ACC
|
||||
interceptor_gas_cmd = self.calc_pedal_command(actuators.accel, CC.longActive, CS.out.vEgo)
|
||||
interceptor_gas_cmd = self.calc_pedal_command(actuators.accel, CC.longActive)
|
||||
|
||||
if self.CP.enableGasInterceptor and self.apply_gas > self.params.INACTIVE_REGEN and CS.out.cruiseState.standstill:
|
||||
# "Tap" the accelerator pedal to re-engage ACC
|
||||
@@ -192,6 +183,8 @@ class CarController(CarControllerBase):
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera and self.CP.carFingerprint not in CC_ONLY_CAR:
|
||||
at_full_stop = at_full_stop and stopping
|
||||
friction_brake_bus = CanBus.POWERTRAIN
|
||||
if self.CP.carFingerprint in SDGM_CAR:
|
||||
friction_brake_bus = CanBus.CAMERA
|
||||
|
||||
if self.CP.autoResumeSng:
|
||||
resume = actuators.longControlState != LongCtrlState.starting or CC.cruiseControl.resume
|
||||
@@ -217,7 +210,7 @@ class CarController(CarControllerBase):
|
||||
|
||||
# Radar needs to know current speed and yaw rate (50hz),
|
||||
# and that ADAS is alive (10hz)
|
||||
if not self.CP.radarUnavailable:
|
||||
if not self.CP.radarUnavailable and self.CP.carFingerprint not in SDGM_CAR:
|
||||
tt = self.frame * DT_CTRL
|
||||
time_and_headlights_step = 10
|
||||
if self.frame % time_and_headlights_step == 0:
|
||||
@@ -252,10 +245,7 @@ class CarController(CarControllerBase):
|
||||
if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
|
||||
if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
|
||||
self.last_button_frame = self.frame
|
||||
if self.CP.carFingerprint in SDGM_CAR:
|
||||
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, CS.buttons_counter, CruiseButtons.CANCEL))
|
||||
else:
|
||||
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
|
||||
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
|
||||
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
# Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
|
||||
|
||||
@@ -39,14 +39,9 @@ class CarState(CarStateBase):
|
||||
|
||||
self.prev_cruise_buttons = self.cruise_buttons
|
||||
self.prev_distance_button = self.distance_button
|
||||
if self.CP.carFingerprint not in SDGM_CAR:
|
||||
self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
|
||||
self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
|
||||
self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
|
||||
else:
|
||||
self.cruise_buttons = cam_cp.vl["ASCMSteeringButton"]["ACCButtons"]
|
||||
self.distance_button = cam_cp.vl["ASCMSteeringButton"]["DistanceButton"]
|
||||
self.buttons_counter = cam_cp.vl["ASCMSteeringButton"]["RollingCounter"]
|
||||
self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
|
||||
self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
|
||||
self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
|
||||
self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
|
||||
# This is to avoid a fault where you engage while still moving backwards after shifting to D.
|
||||
# An Equinox has been seen with an unsupported status (3), so only check if either wheel is in reverse (2)
|
||||
@@ -80,8 +75,7 @@ class CarState(CarStateBase):
|
||||
ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
|
||||
else:
|
||||
ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.FORCE_BRAKE_C9.value: ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
|
||||
else:
|
||||
# Some Volt 2016-17 have loose brake pedal push rod retainers which causes the ECM to believe
|
||||
# that the brake is being intermittently pressed without user interaction.
|
||||
@@ -96,7 +90,7 @@ 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 = 10 if self.CP.carFingerprint in (CAMERA_ACC_CAR | SDGM_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.
|
||||
@@ -169,7 +163,6 @@ 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"]
|
||||
|
||||
@@ -178,8 +178,7 @@ FINGERPRINTS = {
|
||||
CAR.CADILLAC_XT4: [
|
||||
# Cadillac XT4 w/ ACC 2023
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 806: 1, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1517: 8, 1601: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 8, 1924: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 2000: 8, 2001: 8, 2002: 8, 2016: 8, 2017: 8, 2018: 8, 2020: 8, 2021: 8, 2024: 8, 2026: 8
|
||||
}],
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 513: 6, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 767: 4, 806: 1, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1517: 8, 1601: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 8, 1924: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 2000: 8, 2001: 8, 2002: 8, 2016: 8, 2017: 8, 2018: 8, 2020: 8, 2021: 8, 2024: 8, 2026: 8 }],
|
||||
CAR.CADILLAC_XT5_CC: [
|
||||
# TRain's 2017 XT5
|
||||
{
|
||||
@@ -188,12 +187,12 @@ FINGERPRINTS = {
|
||||
CAR.CHEVROLET_TRAVERSE: [
|
||||
# Chevy Traverse w/ ACC 2023
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 603: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 723: 4, 730: 4, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 5, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1346: 8, 1347: 8, 1355: 8, 1362: 8, 1417: 8, 1512: 8, 1514: 8, 1601: 8, 1602: 8, 1603: 7, 1609: 8, 1611: 8, 1613: 8, 1618: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 7, 1927: 8, 1930: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2024: 8, 2026: 8
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 513: 6, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 603: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 723: 4, 730: 4, 753: 5, 761: 7, 767: 4, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 5, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1346: 8, 1347: 8, 1355: 8, 1362: 8, 1417: 8, 1512: 8, 1514: 8, 1601: 8, 1602: 8, 1603: 7, 1609: 8, 1611: 8, 1613: 8, 1618: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 7, 1927: 8, 1930: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2024: 8, 2026: 8
|
||||
}],
|
||||
CAR.BUICK_BABYENCLAVE: [
|
||||
# Buick Baby Enclave w/ ACC 2020-23
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 394: 7, 398: 8, 401: 8, 405: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 450: 4, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 456: 8, 457: 6, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 723: 4, 730: 4, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 872: 1, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1201: 3, 1217: 8, 1218: 3, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1514: 8, 1517: 8, 1601: 8, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1927: 7, 1930: 7, 2018: 8, 2020: 8, 2021: 8, 2028: 8
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 394: 7, 398: 8, 401: 8, 405: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 450: 4, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 456: 8, 457: 6, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 513: 6, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 723: 4, 730: 4, 761: 7, 767: 4, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 872: 1, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1201: 3, 1217: 8, 1218: 3, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1514: 8, 1517: 8, 1601: 8, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1927: 7, 1930: 7, 2018: 8, 2020: 8, 2021: 8, 2028: 8
|
||||
}],
|
||||
CAR.CHEVROLET_MALIBU_CC: [
|
||||
{
|
||||
@@ -203,6 +202,11 @@ FINGERPRINTS = {
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
|
||||
}],
|
||||
CAR.CHEVROLET_VOLT_2019: [
|
||||
# Chevy Volt w/ ACC 2019
|
||||
{
|
||||
170: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 331: 3, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 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, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 573: 1, 577: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 767: 4, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 975: 2, 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: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1268: 2, 1273: 3, 1275: 3, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1513: 8, 1516: 8, 1517: 8, 1601: 8, 1609: 8, 1611: 8, 1618: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1920: 8, 1922: 7, 1927: 7, 1930: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2017: 8, 2018: 8, 2020: 8, 2021: 8, 2023: 8, 2025: 8, 2028: 8, 2031: 8
|
||||
}],
|
||||
}
|
||||
|
||||
FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {
|
||||
|
||||
@@ -66,6 +66,7 @@ def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
|
||||
"GasRegenFullStopActive": at_full_stop,
|
||||
"GasRegenAlwaysOne": 1,
|
||||
"GasRegenAlwaysOne2": 1,
|
||||
"GasRegenAlwaysOne3": 1,
|
||||
}
|
||||
|
||||
dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[2]
|
||||
|
||||
@@ -110,41 +110,32 @@ class CarInterface(CarInterfaceBase):
|
||||
else:
|
||||
ret.transmissionType = TransmissionType.automatic
|
||||
|
||||
ret.longitudinalTuning.kiBP = [5., 35., 60.]
|
||||
ret.longitudinalTuning.kiBP = [5., 35.]
|
||||
|
||||
if candidate in CAMERA_ACC_CAR:
|
||||
ret.experimentalLongitudinalAvailable = candidate not in CC_ONLY_CAR
|
||||
if candidate in (CAMERA_ACC_CAR | SDGM_CAR):
|
||||
ret.experimentalLongitudinalAvailable = candidate not in (CC_ONLY_CAR | SDGM_CAR) or 0x2FF in fingerprint[CanBus.POWERTRAIN]
|
||||
ret.networkLocation = NetworkLocation.fwdCamera
|
||||
ret.radarUnavailable = True # no radar
|
||||
ret.radarUnavailable = 0x460 not in fingerprint[CanBus.OBSTACLE]
|
||||
ret.pcmCruise = True
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
|
||||
ret.minEnableSpeed = 5 * CV.KPH_TO_MS
|
||||
ret.minSteerSpeed = 10 * CV.KPH_TO_MS
|
||||
|
||||
# Tuning for experimental long
|
||||
ret.longitudinalTuning.kiV = [0.5, 0.5, 0.5]
|
||||
ret.vEgoStopping = 0.1
|
||||
ret.vEgoStarting = 0.1
|
||||
ret.longitudinalTuning.kiV = [1.0, 1.0]
|
||||
|
||||
ret.stoppingDecelRate = 1.0 # reach brake quickly after enabling
|
||||
ret.vEgoStopping = 0.25
|
||||
ret.vEgoStarting = 0.25
|
||||
ret.stopAccel = -0.25
|
||||
ret.stopAccel = -0.20
|
||||
|
||||
if experimental_long:
|
||||
ret.pcmCruise = False
|
||||
ret.openpilotLongitudinalControl = True
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
|
||||
|
||||
elif candidate in SDGM_CAR:
|
||||
ret.longitudinalTuning.kiV = [0., 0., 0.] # TODO: tuning
|
||||
ret.experimentalLongitudinalAvailable = False
|
||||
ret.networkLocation = NetworkLocation.fwdCamera
|
||||
ret.pcmCruise = True
|
||||
ret.radarUnavailable = True
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by ASCM
|
||||
ret.minSteerSpeed = 30 * CV.MPH_TO_MS
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_SDGM
|
||||
if candidate in SDGM_CAR:
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_FORCE_BRAKE_C9
|
||||
ret.flags |= GMFlags.FORCE_BRAKE_C9.value
|
||||
|
||||
else: # ASCM, OBD-II harness
|
||||
ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
|
||||
@@ -156,7 +147,11 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.minSteerSpeed = 7 * CV.MPH_TO_MS
|
||||
|
||||
# Tuning
|
||||
ret.longitudinalTuning.kiV = [0.5, 0.5, 0.5]
|
||||
ret.longitudinalTuning.kiV = [0.5, 0.5]
|
||||
ret.stoppingDecelRate = 3
|
||||
ret.vEgoStopping = 0.75
|
||||
ret.vEgoStarting = 0.75
|
||||
ret.stopAccel = -1.5
|
||||
|
||||
if ret.enableGasInterceptor:
|
||||
# Need to set ASCM long limits when using pedal interceptor, instead of camera ACC long limits
|
||||
@@ -207,7 +202,6 @@ 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
|
||||
|
||||
if ret.enableGasInterceptor:
|
||||
# ACC Bolts use pedal for full longitudinal control, not just sng
|
||||
@@ -238,6 +232,8 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
elif candidate == CAR.CADILLAC_XT4:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by pcm
|
||||
ret.minSteerSpeed = 30 * CV.MPH_TO_MS
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CADILLAC_XT5_CC:
|
||||
@@ -246,12 +242,12 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
elif candidate == CAR.CHEVROLET_TRAVERSE:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
ret.minSteerSpeed = 10 * CV.KPH_TO_MS
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by pcm
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.BUICK_BABYENCLAVE:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
ret.minSteerSpeed = 10 * CV.KPH_TO_MS
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by pcm
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CADILLAC_CT6_CC:
|
||||
@@ -264,28 +260,29 @@ class CarInterface(CarInterfaceBase):
|
||||
elif candidate == CAR.CHEVROLET_TRAX:
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CHEVROLET_VOLT_2019:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
if not ret.openpilotLongitudinalControl:
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by pcm
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
if ret.enableGasInterceptor:
|
||||
ret.networkLocation = NetworkLocation.fwdCamera
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
|
||||
ret.minEnableSpeed = -1
|
||||
ret.pcmCruise = False
|
||||
ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
|
||||
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
|
||||
ret.longitudinalTuning.kiBP = [0., 3., 6., 35.]
|
||||
ret.longitudinalTuning.kiV = [0.125, 0.175, 0.225, 0.33]
|
||||
ret.longitudinalTuning.kf = 0.25
|
||||
ret.longitudinalTuning.kiBP = [0.0, 5., 35.]
|
||||
ret.longitudinalTuning.kiV = [0.0, 0.35, 0.5]
|
||||
ret.longitudinalTuning.kf = 0.15
|
||||
ret.stoppingDecelRate = 0.8
|
||||
ret.minEnableSpeed = -1
|
||||
ret.pcmCruise = False
|
||||
ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
|
||||
else: # Pedal used for SNG, ACC for longitudinal control otherwise
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
|
||||
ret.startingState = True
|
||||
ret.vEgoStopping = 0.25
|
||||
ret.vEgoStarting = 0.25
|
||||
|
||||
elif candidate in CC_ONLY_CAR:
|
||||
ret.flags |= GMFlags.CC_LONG.value
|
||||
@@ -296,15 +293,20 @@ 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
|
||||
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.stoppingDecelRate = 11.18 # == 25 mph/s (.04 rate)
|
||||
|
||||
if candidate != CAR.CHEVROLET_BOLT_CC:
|
||||
ret.longitudinalTuning.kiBP = [10.7, 10.8, 28.]
|
||||
ret.longitudinalTuning.kiV = [0., 20., 20.] # set lower end to 0 since we can't drive below that speed
|
||||
else:
|
||||
ret.longitudinalTuning.deadzoneBP = [0.]
|
||||
ret.longitudinalTuning.deadzoneV = [0.56] # == 2 km/h/s, 1.25 mph/s
|
||||
ret.longitudinalActuatorDelay = 1. # TODO: measure this
|
||||
|
||||
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.kiBP = [0.]
|
||||
ret.longitudinalTuning.kiV = [0.1]
|
||||
ret.stoppingDecelRate = 11.18 # == 25 mph/s (.04 rate)
|
||||
|
||||
if candidate in CC_ONLY_CAR:
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_ACC
|
||||
@@ -346,7 +348,7 @@ class CarInterface(CarInterfaceBase):
|
||||
# TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
|
||||
below_min_enable_speed = ret.vEgo < self.CP.minEnableSpeed or self.CS.moving_backward
|
||||
if below_min_enable_speed and not (ret.standstill and ret.brake >= 20 and
|
||||
(self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.carFingerprint in SDGM_CAR)):
|
||||
self.CP.networkLocation == NetworkLocation.fwdCamera):
|
||||
events.add(EventName.belowEngageSpeed)
|
||||
if ret.cruiseState.standstill and not (self.CP.autoResumeSng or self.disable_resumeRequired):
|
||||
events.add(EventName.resumeRequired)
|
||||
|
||||
@@ -38,10 +38,10 @@ class CarControllerParams:
|
||||
|
||||
def __init__(self, CP):
|
||||
# Gas/brake lookups
|
||||
self.ZERO_GAS = 6150 # Coasting
|
||||
self.ZERO_GAS = 6144 # Coasting
|
||||
self.MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen
|
||||
|
||||
if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR:
|
||||
if CP.carFingerprint in (CAMERA_ACC_CAR | SDGM_CAR) and CP.carFingerprint not in CC_ONLY_CAR:
|
||||
self.MAX_GAS = 7496
|
||||
self.MAX_GAS_PLUS = 8848
|
||||
self.MAX_ACC_REGEN = 5610
|
||||
@@ -49,15 +49,6 @@ class CarControllerParams:
|
||||
# Camera ACC vehicles have no regen while enabled.
|
||||
# Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
|
||||
self.max_regen_acceleration = 0.
|
||||
self.BRAKE_SWITCH_MAX = self.MAX_ACC_REGEN if CP.carFingerprint in EV_CAR else self.ZERO_GAS
|
||||
|
||||
elif CP.carFingerprint in SDGM_CAR:
|
||||
self.MAX_GAS = 7496
|
||||
self.MAX_GAS_PLUS = 7496
|
||||
self.MAX_ACC_REGEN = 5610
|
||||
self.INACTIVE_REGEN = 5650
|
||||
self.max_regen_acceleration = 0.
|
||||
self.BRAKE_SWITCH = self.ZERO_GAS
|
||||
|
||||
else:
|
||||
self.MAX_GAS = 7168 # Safety limit, not ACC max. Stock ACC >8192 from standstill.
|
||||
@@ -67,19 +58,15 @@ class CarControllerParams:
|
||||
# ICE has much less engine braking force compared to regen in EVs,
|
||||
# lower threshold removes some braking deadzone
|
||||
self.max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
|
||||
self.BRAKE_SWITCH_MAX = self.MAX_ACC_REGEN if CP.carFingerprint in EV_CAR else self.ZERO_GAS
|
||||
|
||||
self.GAS_LOOKUP_BP = [self.max_regen_acceleration, 0., self.ACCEL_MAX]
|
||||
self.GAS_LOOKUP_BP_PLUS = [self.max_regen_acceleration, 0., self.ACCEL_MAX_PLUS]
|
||||
self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS]
|
||||
self.GAS_LOOKUP_V_PLUS = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS_PLUS]
|
||||
|
||||
self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, 0.]
|
||||
self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, self.max_regen_acceleration]
|
||||
self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
|
||||
|
||||
self.BRAKE_SWITCH_LOOKUP_BP = [0.5, 10]
|
||||
self.BRAKE_SWITCH_LOOKUP_V = [self.ZERO_GAS, self.BRAKE_SWITCH_MAX]
|
||||
|
||||
# determined by letting Volt regen to a stop in L gear from 89mph,
|
||||
# and by letting off gas and allowing car to creep, for determining
|
||||
# the positive threshold values at very low speed
|
||||
@@ -175,7 +162,7 @@ class CAR(Platforms):
|
||||
GMCarDocs("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
|
||||
GMCarDocs("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
|
||||
],
|
||||
GMCarSpecs(mass=2994, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
|
||||
GMCarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
|
||||
)
|
||||
CHEVROLET_EQUINOX = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Equinox 2019-22")],
|
||||
@@ -246,6 +233,10 @@ class CAR(Platforms):
|
||||
[GMCarDocs("Chevrolet TRAX 2024")],
|
||||
CarSpecs(mass=1365, wheelbase=2.7, steerRatio=16.4, centerToFrontRatio=0.4),
|
||||
)
|
||||
CHEVROLET_VOLT_2019 = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Volt 2019")],
|
||||
GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=15.7, centerToFrontRatio=0.45),
|
||||
)
|
||||
|
||||
|
||||
class CruiseButtons:
|
||||
@@ -275,6 +266,7 @@ class GMFlags(IntFlag):
|
||||
CC_LONG = 2
|
||||
NO_CAMERA = 4
|
||||
NO_ACCELERATOR_POS_MSG = 8
|
||||
FORCE_BRAKE_C9 = 16
|
||||
|
||||
|
||||
# In a Data Module, an identifier is a string used to recognize an object,
|
||||
|
||||
@@ -49,6 +49,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
|
||||
"CHEVROLET_TRAILBLAZER" = [1.33, 1.9, 0.16]
|
||||
"CHEVROLET_TRAVERSE" = [1.33, 1.33, 0.18]
|
||||
"CHEVROLET_EQUINOX" = [2.5, 2.5, 0.05]
|
||||
"CHEVROLET_VOLT_2019" = [1.45, 1.6, 0.2]
|
||||
"VOLKSWAGEN_CADDY_MK3" = [1.2, 1.2, 0.1]
|
||||
"VOLKSWAGEN_PASSAT_NMS" = [2.5, 2.5, 0.1]
|
||||
"VOLKSWAGEN_SHARAN_MK2" = [2.5, 2.5, 0.1]
|
||||
|
||||
Reference in New Issue
Block a user