Testing Ground: add Gen1 Bolt lateral tune (slot 2)

frogpilot/common/testing_grounds.py

@@ -40,10 +40,11 @@ TESTING_GROUNDS_SLOT_DEFINITIONS = (
   },
   {
     "id": TESTING_GROUND_2,
-    "name": "Unused",
-    "description": "",
-    "aLabel": "A",
-    "bLabel": "B",
+    "name": "Gen1 Bolt Lane Changes",
+    "description": "Gen1 Bolt right-side sigmoid test for smoother right lane changes.",
+    "aLabel": "A - Installed tune",
+    "bLabel": "B - Right sigmoid a -10%",
+    "cLabel": "C - Right sigmoid a -15%",
   },
   {
     "id": TESTING_GROUND_3,

selfdrive/car/gm/interface.py

@@ -10,6 +10,7 @@ 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
@@ -104,6 +105,11 @@ 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]
+      if side_key == "right":
+        if testing_ground.use(2, "B"):
+          a *= 0.9
+        elif testing_ground.use(2, "C"):
+          a *= 0.85
       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