low speed

selfdrive/car/gm/interface.py

@@ -389,12 +389,13 @@ class CarInterface(CarInterfaceBase):
         # Apply 2019-style negative FF and Ki-mult tweaks to 2019-2021 and 2022 variants.
         ret.lateralTuning.torque.ki *= 1.07
         ret.lateralTuning.torque.kd *= 0.93
+        ret.lateralTuning.torque.kfDEPRECATED *= 1.20
 
       if candidate == CAR.CHEVROLET_BOLT_CC_2017:
         ret.lateralTuning.torque.kp *= 1.0
         ret.lateralTuning.torque.ki *= 0.9
         ret.lateralTuning.torque.kd *= 0.9
-        ret.lateralTuning.torque.kfDEPRECATED = 0.02
+        ret.lateralTuning.torque.kfDEPRECATED = 0.024
         gm_safety_cfg.safetyParam |= Panda.FLAG_GM_BOLT_2017
 
       if ret.enableGasInterceptor:

selfdrive/car/torque_data/override.toml

@@ -45,7 +45,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CADILLAC_XT4" = [1.45, 1.6, 0.2]
 "CADILLAC_XT6" = [1.33, 1.9, 0.16]
 "CHEVROLET_BOLT_ACC_2022_2023" = [2.0, 2.0, 0.13]
-"CHEVROLET_BOLT_CC_2017" = [1.2, 2.0, 0.19]
+"CHEVROLET_BOLT_CC_2017" = [1.2, 2.0, 0.20]
 "CHEVROLET_BOLT_CC_2019_2021" = [2.0, 2.0, 0.13]
 "CHEVROLET_BLAZER" = [1.33, 1.33, 0.18]
 "CHEVROLET_MALIBU_CC" = [1.58, 1.8422651988094612, 0.205]

selfdrive/controls/lib/latcontrol_torque.py

@@ -39,7 +39,7 @@ LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
 VERSION = 2
 DEBUG_TORQUE_TUNE = False
 FF_SCALE_BLEND_LAT_ACCEL = 0.05
-DEADZONE_BOOST_LAT_ACCEL = 0.12
+DEADZONE_BOOST_LAT_ACCEL = 0.15
 UNWIND_D_DES_THRESHOLD = -1.0
 UNWIND_LAT_ACCEL_NEAR_ZERO = 0.3