2017

selfdrive/car/gm/interface.py

@@ -27,8 +27,8 @@ CAM_MSG = 0x320  # AEBCmd
 ACCELERATOR_POS_MSG = 0xbe
 
 NON_LINEAR_TORQUE_PARAMS = {
-  CAR.CHEVROLET_BOLT_EUV: [1.8, 1.1, 0.280, -0.045],
-  CAR.CHEVROLET_BOLT_CC: [1.8, 1.1, 0.280, -0.045],
+  CAR.CHEVROLET_BOLT_EUV: [2.15, 1.0, 0.21, -0.04],
+  CAR.CHEVROLET_BOLT_CC: [2.15, 1.0, 0.21, -0.04],
   CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
   CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
 }
@@ -205,7 +205,7 @@ 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 = 1.0
+      ret.lateralTuning.torque.kp = 0.8
 
       if ret.enableGasInterceptor:
         # ACC Bolts use pedal for full longitudinal control, not just sng

selfdrive/car/gm/values.py

@@ -11,13 +11,13 @@ Ecu = car.CarParams.Ecu
 
 
 class CarControllerParams:
-  STEER_MAX = 300  # GM limit is 3Nm. Used by carcontroller to generate LKA output
+  STEER_MAX = 450  # GM limit is 3Nm. Used by carcontroller to generate LKA output
   STEER_STEP = 3  # Active control frames per command (~33hz)
   INACTIVE_STEER_STEP = 10  # Inactive control frames per command (10hz)
-  STEER_DELTA_UP = 10  # Delta rates require review due to observed EPS weakness
-  STEER_DELTA_DOWN = 15
-  STEER_DRIVER_ALLOWANCE = 65
-  STEER_DRIVER_MULTIPLIER = 4
+  STEER_DELTA_UP = 15  # Delta rates require review due to observed EPS weakness
+  STEER_DELTA_DOWN = 34
+  STEER_DRIVER_ALLOWANCE = 78
+  STEER_DRIVER_MULTIPLIER = 6
   STEER_DRIVER_FACTOR = 100
   NEAR_STOP_BRAKE_PHASE = 0.25  # m/s
   SNG_INTERCEPTOR_GAS = 18. / 255.