agnos 10.1.1

AHHHHHHH

launch_chffrplus.sh

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

selfdrive/car/gm/carcontroller.py

@@ -1,4 +1,3 @@
-from typing import Tuple
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.filter_simple import FirstOrderFilter
@@ -8,7 +7,7 @@ from openpilot.common.params_pyx import Params
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits, create_gas_interceptor_command
 from openpilot.selfdrive.car.gm import gmcan
-from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, EV_CAR, AccState, CC_REGEN_PADDLE_CAR
+from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, EV_CAR, AccState
 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
@@ -23,6 +22,7 @@ TransmissionType = car.CarParams.TransmissionType
 CAMERA_CANCEL_DELAY_FRAMES = 10
 # Enforce a minimum interval between steering messages to avoid a fault
 MIN_STEER_MSG_INTERVAL_MS = 15
+
 # Constants for pitch compensation
 PITCH_DEADZONE = 0.01  # [radians] 0.01 ≈ 1% grade
 BRAKE_PITCH_FACTOR_BP = [5., 10.]  # [m/s] smoothly revert to planned accel at low speeds
@@ -38,10 +38,6 @@ class CarController(CarControllerBase):
     self.apply_speed = 0
     self.frame = 0
     self.last_steer_frame = 0
-    self.last_steer_ts_ns = 0
-    self.last_regen_active = False
-    self.prev_steer_ts_ns = 0
-    self.last_spoof_ts_ns = 0
     self.last_button_frame = 0
     self.cancel_counter = 0
     self.pedal_steady = 0.
@@ -59,64 +55,24 @@ class CarController(CarControllerBase):
     # FrogPilot variables
     self.pitch = FirstOrderFilter(0., 0.09 * 4, DT_CTRL * 4)  # runs at 25 Hz
     self.accel_g = 0.0
-    self.regen_paddle_pressed = False
-    self.aego = 0.0
-    self.regen_paddle_timer = 0
 
-    # Midpoint + overflow spoof accumulator and flags
-    self.spoof_accum = 0.0
-    self.spoof_mid_sent = False
-    self.spoof_over_sent = False
-    self.last_interval_ns = 0
+  @staticmethod
+  def calc_pedal_command(accel: float, long_active: bool, car_velocity) -> float:
+    if not long_active: return 0.
 
-  def calc_pedal_command(self, accel: float, long_active: bool, car_velocity) -> Tuple[float, bool]:
-    if not long_active:
-      return 0., False
+    if accel < -0.5:
+      pedal_gas = 0
+    else:
 
-    # Regen paddle hysteresis (frame-based): hold 30 frames, with decrement dead-zone
-    if not hasattr(self, 'regen_paddle_timer'):
-      self.regen_paddle_timer = 0  # frames
-
-    # Regen paddle hysteresis (frame‑based): count frames when decelerating hard, decrement only when truly released
-    if self.aego < -0.7:
-      self.regen_paddle_timer += 1
-    elif self.aego > -0.3:
-      self.regen_paddle_timer = max(self.regen_paddle_timer - 1, 0)
-    # else: hold timer between -0.7 and -0.3
-
-    # Base paddle press hysteresis
-    self.regen_paddle_pressed = self.regen_paddle_timer >= 20  # 30 frames
-    press_regen_paddle = self.regen_paddle_pressed
-
-    # Regen gain ratios from bin-averaged 60–0 deceleration sweep; Calculates stronger decel from paddle
-    speed_mps = [0.559, 1.678, 2.797, 3.916, 5.035, 6.154, 7.273, 8.392, 9.511, 10.63,
-                 11.749, 12.868, 13.987, 15.106, 16.225, 17.344, 18.463, 19.582, 20.701, 21.820,
-                 22.939, 24.058, 25.177, 26.296]
-    regen_gain_ratio = [1.01, 1.01, 1.02, 1.05, 1.08, 1.345979, 1.369975,
-                         1.376302, 1.388052, 1.370367, 1.388498, 1.386030, 1.405950, 1.387555,
-                         1.390392, 1.394946, 1.414915, 1.428535, 1.439611, 1.440106, 1.441438,
-                         1.439395, 1.446909, 1.445738]
-
-    gain = interp(car_velocity, speed_mps, regen_gain_ratio)
-    pedaloffset = interp(car_velocity, [0., 3, 6, 30], [0.10, 0.175, 0.240, 0.240])
-
-    # Compute raw pedal gas
-    raw_pedal_gas = clip((pedaloffset + (accel / gain) * 0.6), 0.0, 1.0) if press_regen_paddle else clip((pedaloffset + accel * 0.6), 0.0, 1.0)
-
-    # --- Immediate application of raw pedal gas, no blending ---
-    pedal_gas = raw_pedal_gas
-    # Safety cap: ramp from 22% at 0 m/s to 37.25% at 10 mph (4.47 m/s), then allow full throttleAdd commentMore actions
-    pedal_gas_max = interp(car_velocity, [0.0, 4.47, 4.48], [0.22, 0.3725, 1.0])
-    pedal_gas = clip(pedal_gas, 0.0, pedal_gas_max)
-    return pedal_gas, press_regen_paddle
+      pedaloffset = interp(car_velocity, [0., 3, 6, 30], [0.10, 0.175, 0.240, 0.240])
+      pedal_gas = clip((pedaloffset + accel * 0.6), 0.0, 1.0)
+      
+    return pedal_gas
 
 
   def update(self, CC, CS, now_nanos, frogpilot_toggles):
-    self.CS = CS
-    self.aego = CS.out.aEgo
     actuators = CC.actuators
     accel = brake_accel = actuators.accel
-    press_regen_paddle = False
     hud_control = CC.hudControl
     hud_alert = hud_control.visualAlert
     hud_v_cruise = hud_control.setSpeed
@@ -125,98 +81,6 @@ class CarController(CarControllerBase):
 
     # Send CAN commands.
     can_sends = []
-    paddle_sends = []
-
-    raw_regen_active = (
-      self.CP.carFingerprint in CC_REGEN_PADDLE_CAR and
-      self.CP.openpilotLongitudinalControl and
-      CC.longActive and
-      self.CP.enableGasInterceptor and
-      self.regen_paddle_timer >= 20  # raw hysteresis-only
-    )
-    regen_active = raw_regen_active
-
-    # === Spoof scheduling: midpoint + overflow (~40Hz) ===
-    # Implement 1s hold-off after CAN reconnect
-    # Detect reconnect: loopback_lka_steering_cmd_ts_nanos == 0 and self.last_steer_ts_ns != 0
-    if CS.loopback_lka_steering_cmd_ts_nanos == 0 and self.last_steer_ts_ns != 0:
-      self.loopback_holdoff_until = now_nanos + 1_000_000_000
-    # Remove holdoff if expired
-    if hasattr(self, "loopback_holdoff_until") and now_nanos >= self.loopback_holdoff_until:
-      del self.loopback_holdoff_until
-
-    # Rising-edge reset on regen start
-    if raw_regen_active and not self.last_regen_active:
-      self.prev_steer_ts_ns = self.last_steer_ts_ns
-      self.last_spoof_ts_ns = 0
-      self.spoof_accum = 0.0
-      self.spoof_mid_sent = False
-      self.spoof_over_sent = False
-
-    if raw_regen_active:
-      # Interval between last two bus-0 steer sends
-      interval_ns = self.last_steer_ts_ns - self.prev_steer_ts_ns
-
-      # New steer interval? clear per-interval flags
-      if interval_ns != self.last_interval_ns:
-        self.spoof_mid_sent = False
-        self.spoof_over_sent = False
-        self.last_interval_ns = interval_ns
-
-      # Accumulate extra spoofs needed above 33Hz base to reach 40Hz
-      self.spoof_accum += (40.0/33.0 - 1.0)
-
-      # 500ms holdoff after reconnect: skip spoof scheduling if active
-      skip_spoof = hasattr(self, "loopback_holdoff_until") and now_nanos < self.loopback_holdoff_until
-
-      # Midpoint spoof: one per interval; avoid sending if loopback stale
-      if not skip_spoof and not self.spoof_mid_sent and interval_ns > 0:
-        midpoint_ns = self.prev_steer_ts_ns + interval_ns // 2
-        if (CS.loopback_lka_steering_cmd_ts_nanos != 0 and
-            now_nanos - CS.loopback_lka_steering_cmd_ts_nanos < 10_000_000 and
-            now_nanos >= midpoint_ns and
-            now_nanos - self.last_steer_ts_ns >= 26_000_000):
-          paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, True))
-          paddle_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, True))
-          self.last_spoof_ts_ns = now_nanos
-          self.spoof_mid_sent = True
-
-      # Overflow spoof: insert extra when accumulator allows
-      if not skip_spoof and self.spoof_accum >= 0.5 and not self.spoof_over_sent and interval_ns > 0:
-        slot2_ns = self.prev_steer_ts_ns + (interval_ns * 2) // 3
-        if (CS.loopback_lka_steering_cmd_ts_nanos != 0 and
-            now_nanos - CS.loopback_lka_steering_cmd_ts_nanos < 10_000_000 and
-            now_nanos >= slot2_ns and
-            now_nanos - self.last_steer_ts_ns >= 28_000_000):
-          paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, True))
-          paddle_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, True))
-          self.last_spoof_ts_ns = now_nanos
-          self.spoof_over_sent = True
-          self.spoof_accum -= 0.5
-    # === End Spoof scheduling ===
-
-    # === Off-pulse scheduling on regen release ===
-    if not raw_regen_active and self.last_regen_active:
-      # schedule two off-slots at 1/3 and 2/3 of the last steer interval
-      if self.prev_steer_ts_ns and self.last_steer_ts_ns:
-        intv = self.last_steer_ts_ns - self.prev_steer_ts_ns
-        self.off_schedule_ns = [
-          self.prev_steer_ts_ns + intv // 3,
-          self.prev_steer_ts_ns + (2 * intv) // 3
-        ]
-        self.off_sent = [False, False]
-
-    if hasattr(self, "off_schedule_ns"):
-      for i, t_ns in enumerate(self.off_schedule_ns):
-        if not self.off_sent[i] and now_nanos >= t_ns and now_nanos - self.last_steer_ts_ns >= 18_000_000:
-          paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, False))
-          paddle_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, False))
-          self.off_sent[i] = True
-      # clean up once both off pulses are sent
-      if hasattr(self, "off_sent") and all(self.off_sent):
-        del self.off_schedule_ns
-        del self.off_sent
-    # === End off-pulse scheduling ===
 
     # Steering (Active: 50Hz, inactive: 10Hz)
     steer_step = self.params.STEER_STEP if CC.latActive else self.params.INACTIVE_STEER_STEP
@@ -246,24 +110,11 @@ class CarController(CarControllerBase):
       else:
         apply_steer = 0
 
-      # shift previous steer timestamp
-      self.prev_steer_ts_ns = self.last_steer_ts_ns
-      self.last_steer_ts_ns = now_nanos
       self.last_steer_frame = self.frame
       self.apply_steer_last = apply_steer
       idx = self.lka_steering_cmd_counter % 4
       can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, CC.latActive))
 
-    # Update regen_active state and last_regen_paddle_pressed for next loop
-    self.last_regen_active = regen_active
-    self.last_regen_paddle_pressed = self.regen_paddle_pressed
-
-    # Merge paddle spoof CAN frames, time-guarded only
-    if paddle_sends:
-      # wait at least 15 ms after the last bus0 steer send
-      if now_nanos - self.last_steer_ts_ns >= 15_000_000:
-        can_sends.extend(paddle_sends)
-
     if self.CP.openpilotLongitudinalControl:
       # Gas/regen, brakes, and UI commands - all at 25Hz
       if self.frame % 4 == 0:
@@ -290,11 +141,12 @@ class CarController(CarControllerBase):
         else:
           # Normal operation
           if self.CP.carFingerprint in EV_CAR:
+            self.params.update_ev_gas_brake_threshold(CS.out.vEgo)
             if frogpilot_toggles.sport_plus:
-              self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS)))
+              self.apply_gas = int(round(interp(accel, self.params.EV_GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS)))
             else:
-              self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
-            self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
+              self.apply_gas = int(round(interp(accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+            self.apply_brake = int(round(interp(brake_accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
           else:
             if frogpilot_toggles.sport_plus:
               self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS)))
@@ -307,13 +159,12 @@ class CarController(CarControllerBase):
             self.apply_gas = self.params.INACTIVE_REGEN
           if self.CP.carFingerprint in CC_ONLY_CAR:
             # gas interceptor only used for full long control on cars without ACC
-            interceptor_gas_cmd, press_regen_paddle = self.calc_pedal_command(actuators.accel, CC.longActive, CS.out.vEgo)
+            interceptor_gas_cmd = self.calc_pedal_command(actuators.accel, CC.longActive, CS.out.vEgo)
 
         if self.CP.enableGasInterceptor and self.apply_gas > self.params.INACTIVE_REGEN and CS.out.cruiseState.standstill:
           # "Tap" the accelerator pedal to re-engage ACC
           interceptor_gas_cmd = self.params.SNG_INTERCEPTOR_GAS
           self.apply_brake = 0
-          press_regen_paddle = False
           self.apply_gas = self.params.INACTIVE_REGEN
 
         idx = (self.frame // 4) % 4
@@ -344,30 +195,33 @@ class CarController(CarControllerBase):
           # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
           can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, acc_engaged, at_full_stop))
           can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake,
-                                                               idx, CC.enabled, near_stop, at_full_stop, self.CP))
+                                                             idx, CC.enabled, near_stop, at_full_stop, self.CP))
 
           # Send dashboard UI commands (ACC status)
           send_fcw = hud_alert == VisualAlert.fcw
-          if self.frame % 10 == 5:
-            can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
+          can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
                                                               hud_v_cruise * CV.MS_TO_KPH, hud_control, send_fcw))
       else:
         # to keep accel steady for logs when not sending gas
         accel += self.accel_g
 
       # Radar needs to know current speed and yaw rate (50hz),
-      # and that ADAS is alive (5hz, previously 10hz)
+      # and that ADAS is alive (10hz)
       if not self.CP.radarUnavailable:
         tt = self.frame * DT_CTRL
-        time_and_headlights_step = 20
+        time_and_headlights_step = 10
         if self.frame % time_and_headlights_step == 0:
           idx = (self.frame // time_and_headlights_step) % 4
           can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
           can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
+
+        speed_and_accelerometer_step = 2
+        if self.frame % speed_and_accelerometer_step == 0:
+          idx = (self.frame // speed_and_accelerometer_step) % 4
           can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
           can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
 
-      if self.CP.networkLocation == NetworkLocation.gateway and self.frame % (self.params.ADAS_KEEPALIVE_STEP * 2) == 0:
+      if self.CP.networkLocation == NetworkLocation.gateway and self.frame % self.params.ADAS_KEEPALIVE_STEP == 0:
         can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
 
       # TODO: integrate this with the code block below?
@@ -395,7 +249,7 @@ class CarController(CarControllerBase):
 
     if self.CP.networkLocation == NetworkLocation.fwdCamera:
       # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
-      if self.frame % 20 == 0:
+      if self.frame % 10 == 0:
         can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status))
 
     new_actuators = actuators.as_builder()

selfdrive/car/gm/carstate.py

@@ -56,10 +56,6 @@ class CarState(CarStateBase):
     self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
     if self.loopback_lka_steering_cmd_updated:
       self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"]
-
-    # Track timestamps for OEM PRNDL2 and Regen Paddle messages (used to sync spoofing timing)
-    self.prndl2_ts_nanos = pt_cp.ts_nanos["ECMPRDNL2"]["PRNDL2"]
-    self.regen_paddle_ts_nanos = pt_cp.ts_nanos["EBCMRegenPaddle"]["RegenPaddle"]
     if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value:
       self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
       self.cam_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
@@ -105,7 +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 595 threshold = 10.88. Set lower to avoid panda blocking messages and GasInterceptor faulting.
+      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.
       ret.gasPressed = ret.gas > threshold
     else:
       ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
@@ -178,7 +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"]
@@ -239,7 +235,7 @@ class CarState(CarStateBase):
       ]
     else:
       messages += [
-        ("ECMPRDNL2", 40),
+        ("ECMPRDNL2", 10),
         ("AcceleratorPedal2", 33),
         ("ECMEngineStatus", 100),
         ("BCMTurnSignals", 1),
@@ -261,7 +257,7 @@ class CarState(CarStateBase):
 
     if CP.transmissionType == TransmissionType.direct:
       messages += [
-        ("EBCMRegenPaddle", 40),
+        ("EBCMRegenPaddle", 50),
         ("EVDriveMode", 0),
       ]
 

selfdrive/car/gm/gmcan.py

@@ -177,33 +177,6 @@ def create_lka_icon_command(bus, active, critical, steer):
     dat = b"\x00\x00\x00"
   return make_can_msg(0x104c006c, dat, bus)
 
-def create_prndl2_command(packer, bus, press_regen_paddle):
-  prndl2_value = 7 if press_regen_paddle else 6
-  manual_mode = 1 if press_regen_paddle else 0
-  values = {
-    "Byte0": 0x0C,
-    "Byte1": 0x0C,
-    "Byte2": 0x00,
-    "PRNDL2": prndl2_value,
-    "Byte4": 0x00,
-    "ManualMode": manual_mode,
-    "TransmissionState": 1,
-    "Byte7": 0x00
-  }
-  return packer.make_can_msg("ECMPRDNL2", bus, values)
-
-def create_regen_paddle_command(packer, bus, press_regen_paddle):
-  regen_paddle_value = 2 if press_regen_paddle else 0
-  values = {
-    "RegenPaddle": regen_paddle_value,
-    "Byte1": 0,
-    "Byte2": 0,
-    "Byte3": 0,
-    "Byte4": 0,
-    "Byte5": 0,
-    "Byte6": 0
-  }
-  return packer.make_can_msg("EBCMRegenPaddle", bus, values)
 
 def create_gm_cc_spam_command(packer, controller, CS, actuators):
   if controller.params_.get_bool("IsMetric"):

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.common.params import Params
-params = Params()
+from openpilot.frogpilot.common.frogpilot_variables import 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: {"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]}
+  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]
 }
 
 NEURAL_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/neural_ff_weights.json')
@@ -74,11 +74,7 @@ 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"
-    if latcontrol_inputs.lateral_acceleration >= 0:
-      params = non_linear_torque_params["right"]
-    else:
-      params = non_linear_torque_params["left"]
-    a, b, c, d = params
+    a, b, c, d = non_linear_torque_params
     steer_torque = (sig(latcontrol_inputs.lateral_acceleration * a) * b) + (latcontrol_inputs.lateral_acceleration * c) + d
     return float(steer_torque) + friction
 
@@ -122,13 +118,14 @@ class CarInterface(CarInterfaceBase):
       ret.minSteerSpeed = 10 * CV.KPH_TO_MS
 
       # Tuning for experimental long
-      ret.longitudinalTuning.kiV = [2.0, 1.5]
+      ret.longitudinalTuning.kiV = [0.5, 0.5, 0.5]
       ret.vEgoStopping = 0.1
       ret.vEgoStarting = 0.1
 
-      ret.stoppingDecelRate = 2.0  # reach brake quickly after enabling
+      ret.stoppingDecelRate = 1.0  # reach brake quickly after enabling
       ret.vEgoStopping = 0.25
       ret.vEgoStarting = 0.25
+      ret.stopAccel = -0.25
 
       if experimental_long:
         ret.pcmCruise = False
@@ -136,7 +133,7 @@ class CarInterface(CarInterfaceBase):
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
 
     elif candidate in SDGM_CAR:
-      ret.longitudinalTuning.kiV = [0., 0.]  # TODO: tuning
+      ret.longitudinalTuning.kiV = [0., 0., 0.]  # TODO: tuning
       ret.experimentalLongitudinalAvailable = False
       ret.networkLocation = NetworkLocation.fwdCamera
       ret.pcmCruise = True
@@ -146,7 +143,7 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_SDGM
 
     else:  # ASCM, OBD-II harness
-      ret.openpilotLongitudinalControl = not params.get_bool("DisableOpenpilotLongitudinal")
+      ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
       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
@@ -155,7 +152,7 @@ class CarInterface(CarInterfaceBase):
       ret.minSteerSpeed = 7 * CV.MPH_TO_MS
 
       # Tuning
-      ret.longitudinalTuning.kiV = [2.4, 1.5]
+      ret.longitudinalTuning.kiV = [0.5, 0.5, 0.5]
 
       if ret.enableGasInterceptor:
         # Need to set ASCM long limits when using pedal interceptor, instead of camera ACC long limits
@@ -206,7 +203,7 @@ 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 = 0.4
+      ret.lateralTuning.torque.kp = 0.6
 
       if ret.enableGasInterceptor:
         # ACC Bolts use pedal for full longitudinal control, not just sng
@@ -268,11 +265,11 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
       ret.minEnableSpeed = -1
       ret.pcmCruise = False
-      ret.openpilotLongitudinalControl = not params.get_bool("DisableOpenpilotLongitudinal")
+      ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
       ret.stoppingControl = True
       ret.autoResumeSng = True
 
-      if candidate in CC_ONLY_CAR:
+      if candidate in CC_ONLY_CAR: #pedal interceptor tuning
         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
@@ -292,10 +289,11 @@ class CarInterface(CarInterfaceBase):
       ret.radarUnavailable = True
       ret.experimentalLongitudinalAvailable = False
       ret.minEnableSpeed = 24 * CV.MPH_TO_MS
-      ret.openpilotLongitudinalControl = not params.get_bool("DisableOpenpilotLongitudinal")
+      ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
       ret.pcmCruise = False
+      experimental_long = False
 
-      if not ret.enableGasInterceptor and candidate in CC_ONLY_CAR:
+      if not ret.enableGasInterceptor and candidate in CC_ONLY_CAR: #redneck tuning
         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 = 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.
@@ -41,7 +41,7 @@ class CarControllerParams:
     self.ZERO_GAS = 6144  # Coasting
     self.MAX_BRAKE = 400  # ~ -4.0 m/s^2 with regen
 
-    if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR and CP.carFingerprint != CAR.CHEVROLET_BOLT_EUV:
+    if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR:
       self.MAX_GAS = 7496
       self.MAX_GAS_PLUS = 8848
       self.MAX_ACC_REGEN = 5610
@@ -53,18 +53,18 @@ class CarControllerParams:
     elif CP.carFingerprint in SDGM_CAR:
       self.MAX_GAS = 7496
       self.MAX_GAS_PLUS = 7496
-      self.MAX_ACC_REGEN = 7110
+      self.MAX_ACC_REGEN = 5610
       self.INACTIVE_REGEN = 5650
       self.max_regen_acceleration = 0.
 
     else:
       self.MAX_GAS = 7168  # Safety limit, not ACC max. Stock ACC >8192 from standstill.
       self.MAX_GAS_PLUS = 8191 # 8292 uses new bit, possible but not tested. Matches Twilsonco tw-main max
-      self.MAX_ACC_REGEN = 7110  # Increased for stronger regen braking
+      self.MAX_ACC_REGEN = 5500  # Max ACC regen is slightly less than max paddle regen
       self.INACTIVE_REGEN = 5500
       # ICE has much less engine braking force compared to regen in EVs,
       # lower threshold removes some braking deadzone
-      self.max_regen_acceleration = -3. if CP.carFingerprint in EV_CAR else -0.1  # More aggressive regen for EVs
+      self.max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
 
     self.GAS_LOOKUP_BP = [self.max_regen_acceleration, 0., self.ACCEL_MAX]
     self.GAS_LOOKUP_BP_PLUS = [self.max_regen_acceleration, 0., self.ACCEL_MAX_PLUS]
@@ -74,7 +74,18 @@ class CarControllerParams:
     self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, self.max_regen_acceleration]
     self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
 
+  # determined by letting Volt regen to a stop in L gear from 89mph,
+  # and by letting off gas and allowing car to creep, for determining
+  # the positive threshold values at very low speed
+  EV_GAS_BRAKE_THRESHOLD_BP = [1.29, 1.52, 1.55, 1.6, 1.7, 1.8, 2.0, 2.2, 2.5, 5.52, 9.6, 20.5, 23.5, 35.0] # [m/s]
+  EV_GAS_BRAKE_THRESHOLD_V = [0.0, -0.14, -0.16, -0.18, -0.215, -0.255, -0.32, -0.41, -0.5, -0.72, -0.895, -1.125, -1.145, -1.16] # [m/s^s]
 
+  def update_ev_gas_brake_threshold(self, v_ego):
+    gas_brake_threshold = interp(v_ego, self.EV_GAS_BRAKE_THRESHOLD_BP, self.EV_GAS_BRAKE_THRESHOLD_V)
+    self.GAS_LOOKUP_BP_PLUS = [self.max_regen_acceleration, 0., self.ACCEL_MAX_PLUS]
+    self.EV_GAS_LOOKUP_BP = [gas_brake_threshold, max(0., gas_brake_threshold), self.ACCEL_MAX]
+    self.EV_GAS_LOOKUP_BP_PLUS = [gas_brake_threshold, max(0., gas_brake_threshold), self.ACCEL_MAX_PLUS]
+    self.EV_BRAKE_LOOKUP_BP = [self.ACCEL_MIN, gas_brake_threshold]
 
 @dataclass
 class GMCarDocs(CarDocs):
@@ -311,7 +322,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
 
 EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC}
 CC_ONLY_CAR = {CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUINOX_CC, CAR.CHEVROLET_SUBURBAN_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC, CAR.CHEVROLET_MALIBU_CC}
-CC_REGEN_PADDLE_CAR = {CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_BOLT_EUV}
 # CC_ONLY_CAR = set(c for c in CAR if str(c).endswith('_CC'))
 
 # We're integrated at the Safety Data Gateway Module on these cars

selfdrive/car/interfaces.py

@@ -412,7 +412,7 @@ class CarInterfaceBase(ABC):
 
     tune.init('torque')
     tune.torque.useSteeringAngle = use_steering_angle
-    tune.torque.kp = 0.4
+    tune.torque.kp = 0.6
     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" = [3.0, 2.0, 0.11]
+"CHEVROLET_BOLT_EUV" = [2.0, 2.0, 0.05]
 "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

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