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Try old regen tuning

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firestar5683
2026-03-01 19:37:40 -06:00
parent d07852b2bc
commit b6f9f8180e
1 changed files with 4 additions and 5 deletions
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selfdrive/car/gm/carcontroller.py
+4 -5
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@@ -106,11 +106,10 @@ class CarController(CarControllerBase):
speed_mps = [0.559, 1.678, 2.797, 3.916, 5.035, 6.154, 7.273, 8.392, 9.511, 10.63,
11.749, 12.868, 13.987, 15.106, 16.225, 17.344, 18.463, 19.582, 20.701, 21.820,
22.939, 24.058, 25.177, 26.296]
regen_gain_ratio = [
1.000000, 1.057308, 1.131123, 1.220611, 1.270247, 1.300253, 1.339543, 1.361002,
1.388410, 1.403253, 1.414721, 1.430949, 1.420289, 1.436787, 1.434116, 1.436805,
1.417508, 1.402213, 1.395360, 1.360921, 1.342030, 1.292219, 1.270048, 1.239172
]
regen_gain_ratio = [1.01, 1.01, 1.02, 1.05, 1.08, 1.345979, 1.369975,
1.376302, 1.388052, 1.370367, 1.388498, 1.386030, 1.405950, 1.387555,
1.390392, 1.394946, 1.414915, 1.428535, 1.439611, 1.440106, 1.441438,
1.439395, 1.446909, 1.445738]
gain = interp(car_velocity, speed_mps, regen_gain_ratio)
pedaloffset = interp(car_velocity, [0., 3, 6, 30], [0.10, 0.175, 0.240, 0.240])