diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 551b5dec3..fc4a043ac 100644 --- a/selfdrive/car/gm/interface.py +++ b/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: diff --git a/selfdrive/car/torque_data/override.toml b/selfdrive/car/torque_data/override.toml index 368aaa39b..c93a9f363 100644 --- a/selfdrive/car/torque_data/override.toml +++ b/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] diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index b10e589ac..a1b4870ea 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/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