Update tinygrad_modeld.py

This reverts commit b4d070fbd58fe245be2ae7e1814589e0cfec1ad3.

launch_chffrplus.sh

@@ -1,6 +1,5 @@
 #!/usr/bin/bash
 
-
 if [ -z "$BASEDIR" ]; then
   BASEDIR="/data/openpilot"
 fi

selfdrive/car/gm/carcontroller.py

@@ -21,7 +21,7 @@ TransmissionType = car.CarParams.TransmissionType
 # Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s
 CAMERA_CANCEL_DELAY_FRAMES = 10
 # Enforce a minimum interval between steering messages to avoid a fault
-MIN_STEER_MSG_INTERVAL_MS = 15
+MIN_STEER_MSG_INTERVAL_MS = 25
 
 # Constants for pitch compensation
 PITCH_DEADZONE = 0.01  # [radians] 0.01 ≈ 1% grade

selfdrive/car/gm/carstate.py

@@ -101,7 +101,7 @@ class CarState(CarStateBase):
 
     if self.CP.enableGasInterceptor:
       ret.gas = (pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
-      threshold = 12 if self.CP.carFingerprint in CAMERA_ACC_CAR else 4 # Panda 515 threshold = 10.88. Set lower to avoid panda blocking messages and GasInterceptor faulting.
+      threshold = 11 if self.CP.carFingerprint in CAMERA_ACC_CAR else 4 # Panda 515 threshold = 10.88. Set lower to avoid panda blocking messages and GasInterceptor faulting.
       ret.gasPressed = ret.gas > threshold
     else:
       ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
@@ -174,7 +174,7 @@ class CarState(CarStateBase):
         ret.leftBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
         ret.rightBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
 
-    # FrogPilot CarState functions
+
     self.lkas_previously_enabled = self.lkas_enabled
     if self.CP.carFingerprint in SDGM_CAR:
       self.lkas_enabled = cam_cp.vl["ASCMSteeringButton"]["LKAButton"]

selfdrive/car/gm/interface.py

@@ -12,8 +12,8 @@ from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerP
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
 from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
 
-from openpilot.frogpilot.common.frogpilot_variables import params
-
+from openpilot.common.params import Params
+params = Params()
 ButtonType = car.CarState.ButtonEvent.Type
 FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
@@ -29,10 +29,10 @@ CAM_MSG = 0x320  # AEBCmd
 ACCELERATOR_POS_MSG = 0xbe
 
 NON_LINEAR_TORQUE_PARAMS = {
-  CAR.CHEVROLET_BOLT_EUV: [1.8, 1.1, 0.290, -0.045],
-  CAR.CHEVROLET_BOLT_CC: [1.8, 1.1, 0.290, -0.045],
-  CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
-  CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
+  CAR.CHEVROLET_BOLT_EUV: {"left": [2.15, 1.0, 0.17, -0.04], "right": [2.15, 1.0, 0.21, -0.04]},
+  CAR.CHEVROLET_BOLT_CC: {"left": [2.15, 1.0, 0.17, -0.04], "right": [2.15, 1.0, 0.21, -0.04]},
+  CAR.GMC_ACADIA: {"left": [4.78, 1.0, 0.31, 0.05], "right": [4.78, 1.0, 0.31, 0.05]},
+  CAR.CHEVROLET_SILVERADO: {"left": [3.30, 1.0, 0.25, 0.05], "right": [3.30, 1.0, 0.25, 0.05]}
 }
 
 NEURAL_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/neural_ff_weights.json')
@@ -74,7 +74,11 @@ class CarInterface(CarInterfaceBase):
     # ToDo: To generalize to other GMs, explore tanh function as the nonlinear
     non_linear_torque_params = NON_LINEAR_TORQUE_PARAMS.get(self.CP.carFingerprint)
     assert non_linear_torque_params, "The params are not defined"
-    a, b, c, d = non_linear_torque_params
+    if latcontrol_inputs.lateral_acceleration >= 0:
+      params = non_linear_torque_params["right"]
+    else:
+      params = non_linear_torque_params["left"]
+    a, b, c, d = params
     steer_torque = (sig(latcontrol_inputs.lateral_acceleration * a) * b) + (latcontrol_inputs.lateral_acceleration * c) + d
     return float(steer_torque) + friction
 
@@ -118,14 +122,13 @@ class CarInterface(CarInterfaceBase):
       ret.minSteerSpeed = 10 * CV.KPH_TO_MS
 
       # Tuning for experimental long
-      ret.longitudinalTuning.kiV = [0.5, 0.5, 0.5]
+      ret.longitudinalTuning.kiV = [2.0, 1.5]
       ret.vEgoStopping = 0.1
       ret.vEgoStarting = 0.1
 
-      ret.stoppingDecelRate = 1.0  # reach brake quickly after enabling
+      ret.stoppingDecelRate = 2.0  # reach brake quickly after enabling
       ret.vEgoStopping = 0.25
       ret.vEgoStarting = 0.25
-      ret.stopAccel = -0.25
 
       if experimental_long:
         ret.pcmCruise = False
@@ -133,7 +136,7 @@ class CarInterface(CarInterfaceBase):
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
 
     elif candidate in SDGM_CAR:
-      ret.longitudinalTuning.kiV = [0., 0., 0.]  # TODO: tuning
+      ret.longitudinalTuning.kiV = [0., 0.]  # TODO: tuning
       ret.experimentalLongitudinalAvailable = False
       ret.networkLocation = NetworkLocation.fwdCamera
       ret.pcmCruise = True
@@ -143,7 +146,7 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_SDGM
 
     else:  # ASCM, OBD-II harness
-      ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
+      ret.openpilotLongitudinalControl = not params.get_bool("DisableOpenpilotLongitudinal")
       ret.networkLocation = NetworkLocation.gateway
       ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not docs
       ret.pcmCruise = False  # stock non-adaptive cruise control is kept off
@@ -152,7 +155,7 @@ class CarInterface(CarInterfaceBase):
       ret.minSteerSpeed = 7 * CV.MPH_TO_MS
 
       # Tuning
-      ret.longitudinalTuning.kiV = [0.5, 0.5, 0.5]
+      ret.longitudinalTuning.kiV = [2.4, 1.5]
 
       if ret.enableGasInterceptor:
         # Need to set ASCM long limits when using pedal interceptor, instead of camera ACC long limits
@@ -203,7 +206,7 @@ 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 = 0.6
+      ret.lateralTuning.torque.kp = 0.4
 
       if ret.enableGasInterceptor:
         # ACC Bolts use pedal for full longitudinal control, not just sng
@@ -265,11 +268,11 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
       ret.minEnableSpeed = -1
       ret.pcmCruise = False
-      ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
+      ret.openpilotLongitudinalControl = not params.get_bool("DisableOpenpilotLongitudinal")
       ret.stoppingControl = True
       ret.autoResumeSng = True
 
-      if candidate in CC_ONLY_CAR: #pedal interceptor tuning
+      if candidate in CC_ONLY_CAR:
         ret.flags |= GMFlags.PEDAL_LONG.value
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_PEDAL_LONG
         # Note: Low speed, stop and go not tested. Should be fairly smooth on highway
@@ -289,11 +292,10 @@ class CarInterface(CarInterfaceBase):
       ret.radarUnavailable = True
       ret.experimentalLongitudinalAvailable = False
       ret.minEnableSpeed = 24 * CV.MPH_TO_MS
-      ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
+      ret.openpilotLongitudinalControl = not params.get_bool("DisableOpenpilotLongitudinal")
       ret.pcmCruise = False
-      experimental_long = False
 
-      if not ret.enableGasInterceptor and candidate in CC_ONLY_CAR: #redneck tuning
+      if not ret.enableGasInterceptor and candidate in CC_ONLY_CAR:
         ret.longitudinalTuning.kpBP = [10.7, 10.8, 28.]  # 10.7 m/s == 24 mph
         ret.longitudinalTuning.kpV = [0., 20., 20.]  # set lower end to 0 since we can't drive below that speed
         ret.longitudinalTuning.deadzoneBP = [0.]

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.

selfdrive/car/interfaces.py

@@ -412,7 +412,7 @@ class CarInterfaceBase(ABC):
 
     tune.init('torque')
     tune.torque.useSteeringAngle = use_steering_angle
-    tune.torque.kp = 0.6
+    tune.torque.kp = 0.4
     tune.torque.kf = 1.0
     tune.torque.ki = 0.1
     tune.torque.friction = params['FRICTION']

selfdrive/car/torque_data/override.toml

@@ -43,7 +43,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CADILLAC_ESCALADE" = [1.899999976158142, 1.842270016670227, 0.1120000034570694]
 "CADILLAC_ESCALADE_ESV_2019" = [1.15, 1.3, 0.2]
 "CADILLAC_XT4" = [1.45, 1.6, 0.2]
-"CHEVROLET_BOLT_EUV" = [2.0, 2.0, 0.05]
+"CHEVROLET_BOLT_EUV" = [3.0, 2.0, 0.11]
 "CHEVROLET_MALIBU_CC" = [1.85, 1.85, 0.075]
 "CHEVROLET_SILVERADO" = [1.9, 1.9, 0.112]
 "CHEVROLET_TRAILBLAZER" = [1.33, 1.9, 0.16]

system/hardware/tici/agnos.json

@@ -1,18 +1,13 @@
 [
   {
     "name": "boot",
-    "url": "https://www.dropbox.com/scl/fi/z8gcamb7n78xqb515kfgq/boot.img.xz?rlkey=r2zxothb3pz0q9rtqysr1zhwv&st=f0acze3w&dl=1",
+    "url": "https://boot.frogpilot.download",
     "hash": "b997aae3f1c93de82449ef7f23f30ff482b0978f3d0ac08219366f9ce362ad7a",
     "hash_raw": "b997aae3f1c93de82449ef7f23f30ff482b0978f3d0ac08219366f9ce362ad7a",
     "size": 16029696,
     "sparse": false,
     "full_check": true,
-    "has_ab": true,
-    "alt": {
-      "hash": "5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f",
-      "url": "https://commadist.azureedge.net/agnosupdate/boot-5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f.img.xz",
-      "size": 16029696
-    }
+    "has_ab": true
   },
   {
     "name": "abl",
@@ -66,7 +61,7 @@
   },
   {
     "name": "system",
-    "url": "https://www.dropbox.com/scl/fi/n22f3eex1z52dbrhhxqry/system.img.xz?rlkey=yw4ult7s3sdm6b7d31hrm3zx8&st=of6m7zis&dl=1",
+    "url": "https://system.frogpilot.download",
     "hash": "be1c6bb9ee5e06779087b1b81e09b6df61d942566b0f8d4539c452179c661782",
     "hash_raw": "a5f84e68d199466fda5c9aead760b90a4cd2d2ef9a418708b9794d95bb03ec5b",
     "size": 10737418240,
@@ -74,9 +69,9 @@
     "full_check": false,
     "has_ab": true,
     "alt": {
-      "hash": "328e90c62068222dfd98f71dd3f6251fcb962f082b49c6be66ab2699f5db6f4f",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a.img.xz",
-      "size": 10737418240
+      "hash": "bc11d2148f29862ee1326aca2af1cf6bbf5fed831e3f8f6b8f7a0f110dfe8d26",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a.img.xz",
+      "size": 4548070000
     }
   }
 ]