User adjustable offsets

This reverts commit 8a9d0e5e6a.

panda/board/safety/safety_gm.h

@@ -1,11 +1,11 @@
 const SteeringLimits GM_STEERING_LIMITS = {
-  .max_steer = 450,
-  .max_rate_up = 15,
-  .max_rate_down = 34,
-  .driver_torque_allowance = 78,
-  .driver_torque_factor = 6,
-  .max_rt_delta = 345,
-  .max_rt_interval = 200000,
+  .max_steer = 300,
+  .max_rate_up = 10,
+  .max_rate_down = 15,
+  .driver_torque_allowance = 65,
+  .driver_torque_factor = 4,
+  .max_rt_delta = 128,
+  .max_rt_interval = 250000,
   .type = TorqueDriverLimited,
 };
 

selfdrive/car/gm/interface.py

@@ -27,10 +27,22 @@ CAM_MSG = 0x320  # AEBCmd
 ACCELERATOR_POS_MSG = 0xbe
 
 NON_LINEAR_TORQUE_PARAMS = {
-  CAR.CHEVROLET_BOLT_EUV: [2.15, 1.0, 0.21, 0.0],
-  CAR.CHEVROLET_BOLT_CC: [2.15, 1.0, 0.21, 0.0],
-  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": [1.8, 1.1, 0.27, 0.0],
+    "right": [2.0, 1.0, 0.205, 0.0],
+  },
+  CAR.CHEVROLET_BOLT_CC: {
+    "left": [1.8, 1.1, 0.27, 0.0],
+    "right": [2.0, 1.0, 0.205, 0.0],
+  },
+  CAR.GMC_ACADIA: {
+    "left": [4.78003305, 1.0, 0.3122, 0.05591772],
+    "right": [4.78003305, 1.0, 0.3122, 0.05591772],
+  },
+  CAR.CHEVROLET_SILVERADO: {
+    "left": [3.29974374, 1.0, 0.25571356, 0.0465122],
+    "right": [3.29974374, 1.0, 0.25571356, 0.0465122],
+  },
 }
 
 
@@ -64,7 +76,9 @@ class CarInterface(CarInterfaceBase):
       # This has big effect on the stability about 0 (noise when going straight)
       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
+      # Left is positive
+      side_key = "left" if lateral_acceleration >= 0 else "right"
+      a, b, c, d = non_linear_torque_params[side_key]
       sig_input = a * lateral_acceleration
       sig = np.sign(sig_input) * (1 / (1 + exp(-fabs(sig_input))) - 0.5)
       steer_torque = (sig * b) + (lateral_acceleration * c) + d
@@ -225,6 +239,12 @@ class CarInterface(CarInterfaceBase):
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
+      # Bolt-only lateral tuning overrides
+      ret.lateralTuning.torque.kp = 1.03
+      ret.lateralTuning.torque.ki = 1.07
+      ret.lateralTuning.torque.kd = 0.93
+      ret.lateralTuning.torque.kfDEPRECATED = 0.02
+
       if ret.enableGasInterceptor:
         # ACC Bolts use pedal for full longitudinal control, not just sng
         ret.flags |= GMFlags.PEDAL_LONG.value

selfdrive/car/gm/values.py

@@ -11,13 +11,13 @@ Ecu = car.CarParams.Ecu
 
 
 class CarControllerParams:
-  STEER_MAX = 450  # GM limit is 3Nm. Used by carcontroller to generate LKA output
+  STEER_MAX = 300  # 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 = 15  # Delta rates require review due to observed EPS weakness
-  STEER_DELTA_DOWN = 34
-  STEER_DRIVER_ALLOWANCE = 78
-  STEER_DRIVER_MULTIPLIER = 6
+  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_DRIVER_FACTOR = 100
   NEAR_STOP_BRAKE_PHASE = 0.25  # m/s
   SNG_INTERCEPTOR_GAS = 18. / 255.

selfdrive/car/interfaces.py

@@ -37,12 +37,12 @@ EventName = car.CarEvent.EventName
 MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
 ACCEL_MAX = 2.0
 ACCEL_MIN = -3.5
-FRICTION_THRESHOLD = 0.09
+FRICTION_THRESHOLD = 0.12
 
 def get_friction_threshold(v_ego):
-  # Interpolate friction threshold from 0.09 at 50 mph to 0.15 at 75 mph
+  # Interpolate friction threshold
   from openpilot.common.numpy_fast import interp
-  return interp(v_ego, [1 * CV.MPH_TO_MS, 75 * CV.MPH_TO_MS], [0.12, 0.25])
+  return interp(v_ego, [1 * CV.MPH_TO_MS, 75 * CV.MPH_TO_MS], [0.12, 0.3])
 
 TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.toml')
 TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.toml')

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" = [2.0, 2.0, 0.09]
 "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]

selfdrive/controls/lib/latcontrol_torque.py

@@ -7,6 +7,7 @@ from openpilot.selfdrive.car.interfaces import FRICTION_THRESHOLD, get_friction_
 from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED, get_friction
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
+from openpilot.selfdrive.car.gm.values import CAR as GM_CAR
 from openpilot.selfdrive.controls.lib.pid import PIDController
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 
@@ -21,8 +22,8 @@ from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_G
 # Additionally, there is friction in the steering wheel that needs
 # to be overcome to move it at all, this is compensated for too.
 
-KP = 0.6
-KI = 0.3
+KP = 0.7
+KI = 0.35
 
 INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
 KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
@@ -36,6 +37,13 @@ JERK_LOOKAHEAD_SECONDS = 0.19
 JERK_GAIN = 0.22
 LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
 VERSION = 2
+DEBUG_TORQUE_TUNE = False
+FF_SCALE_BLEND_LAT_ACCEL = 0.05
+DEADZONE_BOOST_LAT_ACCEL = 0.08
+UNWIND_D_DES_THRESHOLD = -1.0
+UNWIND_LAT_ACCEL_NEAR_ZERO = 0.3
+
+BOLT_CARS = (GM_CAR.CHEVROLET_BOLT_EUV, GM_CAR.CHEVROLET_BOLT_CC)
 
 class LatControlTorque(LatControl):
   def __init__(self, CP, CI, dt):
@@ -55,6 +63,21 @@ class LatControlTorque(LatControl):
     self.previous_measurement = 0.0
     self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * (MAX_LAT_JERK_UP - 0.5)), self.dt)
     self.low_speed_reset_threshold = max(CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED)
+    self.debug_counter = 0
+    self.prev_desired_lateral_accel = 0.0
+
+    self.is_bolt = CP.carFingerprint in BOLT_CARS
+    self.torque_ff_scale_pos = 1.0
+    self.torque_ff_scale_neg = 1.0
+    self.torque_deadzone_boost_neg = 0.0
+    self.torque_ki_mult = 1.0
+    if self.is_bolt:
+      self.torque_ff_scale_pos = float(self.torque_params.kp)
+      self.torque_ff_scale_neg = float(self.torque_params.ki)
+      self.torque_ki_mult = float(self.torque_params.kd)
+      self.torque_deadzone_boost_neg = float(getattr(self.torque_params, "kfDEPRECATED", 0.0))
+      if self.torque_ki_mult > 0.0 and self.torque_ki_mult != 1.0:
+        self.pid._k_i = [self.pid._k_i[0], [k * self.torque_ki_mult for k in self.pid._k_i[1]]]
 
   def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
     self.torque_params.latAccelFactor = latAccelFactor
@@ -76,6 +99,7 @@ class LatControlTorque(LatControl):
       self.previous_measurement = 0.0
       self.measurement_rate_filter.x = 0.0
       self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len , maxlen=self.lat_accel_request_buffer_len)
+      self.prev_desired_lateral_accel = 0.0
     else:
       if self.prev_steering_pressed and not CS.steeringPressed:
         self.pid.i *= self.steer_release_i_decay
@@ -94,6 +118,10 @@ class LatControlTorque(LatControl):
       desired_lateral_jerk = np.clip(self.jerk_filter.update(raw_lateral_jerk), -MAX_LAT_JERK_UP, MAX_LAT_JERK_UP)
       gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
       setpoint = expected_lateral_accel + desired_lateral_jerk * lat_delay
+      desired_lateral_accel_rate = (setpoint - self.prev_desired_lateral_accel) / self.dt
+      unwind_detected = (desired_lateral_accel_rate < UNWIND_D_DES_THRESHOLD and
+                         abs(setpoint) < UNWIND_LAT_ACCEL_NEAR_ZERO)
+      self.prev_desired_lateral_accel = setpoint
 
       measurement = measured_curvature * CS.vEgo ** 2
       measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt)
@@ -110,11 +138,23 @@ class LatControlTorque(LatControl):
       ff = gravity_adjusted_future_lateral_accel
       # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
       ff -= self.torque_params.latAccelOffset
+      ff_scale = 1.0
+      if self.is_bolt:
+        ff_scale = np.interp(ff, [-FF_SCALE_BLEND_LAT_ACCEL, 0.0, FF_SCALE_BLEND_LAT_ACCEL],
+                             [self.torque_ff_scale_neg, 1.0, self.torque_ff_scale_pos])
+        ff *= ff_scale
       ff += get_friction(error_with_lsf + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, get_friction_threshold(CS.vEgo), self.torque_params)
+      deadzone_boost_active = False
+      if self.is_bolt and self.torque_deadzone_boost_neg > 0.0 and gravity_adjusted_future_lateral_accel < 0.0:
+        if abs(gravity_adjusted_future_lateral_accel) < DEADZONE_BOOST_LAT_ACCEL:
+          boost_scale = np.interp(abs(gravity_adjusted_future_lateral_accel), [0.0, DEADZONE_BOOST_LAT_ACCEL], [1.0, 0.0])
+          ff -= self.torque_deadzone_boost_neg * boost_scale
+          deadzone_boost_active = True
 
       if CS.vEgo < self.low_speed_reset_threshold:
         self.pid.reset()
-      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < self.low_speed_reset_threshold
+      freeze_integrator = (steer_limited_by_safety or CS.steeringPressed or
+                           CS.vEgo < self.low_speed_reset_threshold or unwind_detected)
       output_lataccel = self.pid.update(pid_log.error, error_rate=-measurement_rate, speed=CS.vEgo, feedforward=ff, freeze_integrator=freeze_integrator)
       output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
 
@@ -129,6 +169,12 @@ class LatControlTorque(LatControl):
       pid_log.desiredLateralJerk = float(desired_lateral_jerk)
       pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
 
+      if DEBUG_TORQUE_TUNE and self.is_bolt:
+        self.debug_counter += 1
+        if self.debug_counter % 50 == 0:
+          print(f"bolt_torque ff_scale={ff_scale:.3f} pos={self.torque_ff_scale_pos:.3f} "
+                f"neg={self.torque_ff_scale_neg:.3f} deadzone_boost_active={deadzone_boost_active}")
+
     self.prev_steering_pressed = CS.steeringPressed
 
     # TODO left is positive in this convention

system/manager/manager.py

@@ -180,6 +180,14 @@ def manager_init() -> None:
     with open(lateral_tuning_migration_flag_file, "w") as f:
       f.write("migrated")
 
+  # One-time migration for MaxDesiredAcceleration to 4
+  max_desired_acceleration_migration_flag_file = "/data/media/0/frogpilot_max_desired_acceleration_migrated.flag"
+  if not os.path.exists(max_desired_acceleration_migration_flag_file):
+    if params.get_float("MaxDesiredAcceleration") != 4.0:
+      params.put_float("MaxDesiredAcceleration", 4.0)
+    with open(max_desired_acceleration_migration_flag_file, "w") as f:
+      f.write("migrated")
+
   # set dongle id
   reg_res = register(show_spinner=True)
   if reg_res: