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Testing Ground: add GM Long Tune (slot 1)

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firestar5683
2026-03-06 01:21:19 -06:00
parent cca4a277f1
commit f2d754e96d
2 changed files with 10 additions and 4 deletions
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frogpilot/common/testing_grounds.py
+4 -4
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@@ -33,10 +33,10 @@ TESTING_GROUNDS_STATE_PATH = Path("/tmp/the_pond_testing_grounds_slots.json") if
TESTING_GROUNDS_SLOT_DEFINITIONS = (
{
"id": TESTING_GROUND_1,
"name": "Unused",
"description": "",
"aLabel": "A",
"bLabel": "B",
"name": "GM Long Tune",
"description": "BoltLongTune A/B sandbox for GM ACC longitudinal testing.",
"aLabel": "A - Installed tune",
"bLabel": "B - BoltLongTune test",
},
{
"id": TESTING_GROUND_2,
selfdrive/car/gm/carcontroller.py
+6
View File
@@ -15,6 +15,7 @@ from openpilot.selfdrive.car.gm.values import CAR, DBC, AccState, CanBus, CarCon
from openpilot.selfdrive.car.interfaces import CarControllerBase
from openpilot.selfdrive.controls.lib.drive_helpers import apply_deadzone
from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
from openpilot.frogpilot.common.testing_grounds import testing_ground
VisualAlert = car.CarControl.HUDControl.VisualAlert
NetworkLocation = car.CarParams.NetworkLocation
@@ -306,6 +307,8 @@ class CarController(CarControllerBase):
gas_max = self.params.MAX_GAS
accel_max = self.params.ACCEL_MAX
if testing_ground.use_1:
accel_max = min(accel_max, interp(CS.out.vEgo, [0.0, 4.0, 12.0], [1.25, 1.6, self.params.ACCEL_MAX]))
accel = clip(actuators.accel + accel_due_to_pitch, self.params.ACCEL_MIN, accel_max)
torque = self.tireRadius * ((self.mass*accel) + (0.5*self.coeffDrag*self.frontalArea*self.airDensity*CS.out.vEgo**2))
@@ -313,6 +316,9 @@ class CarController(CarControllerBase):
scaled_torque = torque + self.params.ZERO_GAS
apply_gas_torque = clip(scaled_torque, self.params.MAX_ACC_REGEN, gas_max)
BRAKE_SWITCH = int(round(interp(CS.out.vEgo, self.params.BRAKE_SWITCH_LOOKUP_BP, self.params.BRAKE_SWITCH_LOOKUP_V)))
if testing_ground.use_1:
brake_switch_bias = int(round(interp(CS.out.vEgo, [0.0, 6.0, 15.0, 30.0], [60.0, 120.0, 180.0, 220.0])))
BRAKE_SWITCH = min(self.params.ZERO_GAS, BRAKE_SWITCH + brake_switch_bias)
brake_accel = min((scaled_torque - BRAKE_SWITCH)/(self.tireRadius*self.mass), 0)
self.apply_gas = int(round(apply_gas_torque))
self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))