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Blaze It and Praise It

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firestar5683
2026-06-22 19:45:11 -05:00
parent f8cec6f270
commit c5a6e1da9d
2 changed files with 8 additions and 0 deletions
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opendbc_repo/opendbc/car/gm/interface.py
+4
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@@ -523,6 +523,10 @@ class CarInterface(CarInterfaceBase):
if not ret.openpilotLongitudinalControl:
ret.minEnableSpeed = -1.
if candidate == CAR.CHEVROLET_BLAZER:
ret.longitudinalTuning.kpBP = [0.0, 4.0, 12.0, 35.0]
ret.longitudinalTuning.kpV = [0.09, 0.075, 0.055, 0.040]
ret.longitudinalTuning.kiBP = [0.0, 4.0, 12.0, 35.0]
ret.longitudinalTuning.kiV = [0.03, 0.04, 0.055, 0.07]
ret.minEnableSpeed = 5 * CV.KPH_TO_MS
ret.stoppingDecelRate = 1.2
ret.vEgoStopping = 0.35
opendbc_repo/opendbc/car/gm/tests/test_gm.py
+4
View File
@@ -149,6 +149,10 @@ class TestGMInterface:
docs=False, starpilot_toggles=_test_starpilot_toggles())
assert car_params.openpilotLongitudinalControl
assert list(car_params.longitudinalTuning.kpBP) == pytest.approx([0.0, 4.0, 12.0, 35.0])
assert list(car_params.longitudinalTuning.kpV) == pytest.approx([0.09, 0.075, 0.055, 0.04])
assert list(car_params.longitudinalTuning.kiBP) == pytest.approx([0.0, 4.0, 12.0, 35.0])
assert list(car_params.longitudinalTuning.kiV) == pytest.approx([0.03, 0.04, 0.055, 0.07])
assert car_params.minEnableSpeed == pytest.approx(5 * CV.KPH_TO_MS)
assert car_params.stoppingDecelRate == pytest.approx(1.2)
assert car_params.vEgoStopping == pytest.approx(0.35)