User adjustable offsets

This reverts commit 8a9d0e5e6a.

frogpilot/controls/lib/frogpilot_acceleration.py

@@ -49,8 +49,8 @@ A_CRUISE_MIN_SPORT = A_CRUISE_MIN * 2
 A_CRUISE_MAX_BP_CUSTOM =       [0.0,  5., 10., 15., 20., 25., 40.]
 A_CRUISE_MAX_VALS_ECO_EV =     [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
 A_CRUISE_MAX_VALS_SPORT_EV =   [1.25, 1.25, 1.25, 1.25, 1.5, 1.5, 2.0]
-A_CRUISE_MAX_VALS_ECO_GAS =    [6.0, 1.40, 0.90, 0.65, 0.60, 0.55, 0.42]
-A_CRUISE_MAX_VALS_SPORT_GAS =  [6.0, 1.50, 1.00, 0.72, 0.65, 0.60, 0.45]
+A_CRUISE_MAX_VALS_ECO_GAS =    [2.0, 1.5, 1.0, 0.8, 0.6, 0.4, 0.2]
+A_CRUISE_MAX_VALS_SPORT_GAS =  [3.0, 2.5, 2.0, 1.5, 1.0, 0.8, 0.6]
 
 def get_max_accel_eco(v_ego, ev_tuning=True):
   cruise_vals = A_CRUISE_MAX_VALS_ECO_EV if ev_tuning else A_CRUISE_MAX_VALS_ECO_GAS

frogpilot/system/frogpilot_stats.py

@@ -120,14 +120,14 @@ def get_city_center(latitude, longitude):
 
 def update_branch_commits(now):
   points = []
-  for branch in ["FrogPilot", "FrogPilot-Staging", "FrogPilot-Testing"]:
-    try:
-      response = requests.get(f"https://api.github.com/repos/FrogAi/FrogPilot/commits/{branch}")
-      response.raise_for_status()
-      sha = response.json()["sha"]
-      points.append(Point("branch_commits").field("commit", sha).tag("branch", branch).time(now))
-    except Exception as e:
-      print(f"Failed to fetch commit for {branch}: {e}")
+  branch = get_build_metadata().channel  # Current running branch
+  try:
+    response = requests.get(f"https://api.github.com/repos/firestar5683/StarPilot/commits/{branch}")
+    response.raise_for_status()
+    sha = response.json()["sha"]
+    points.append(Point("branch_commits").field("commit", sha).tag("branch", branch).time(now))
+  except Exception as e:
+    print(f"Failed to fetch commit for {branch}: {e}")
 
   return points
 

panda/board/safety/safety_gm.h

@@ -10,14 +10,14 @@ const SteeringLimits GM_STEERING_LIMITS = {
 };
 
 const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
-  .max_gas = 7168,
+  .max_gas = 8191,
   .min_gas = 5500,
   .inactive_gas = 5500,
   .max_brake = 400,
 };
 
 const LongitudinalLimits GM_CAM_LONG_LIMITS = {
-  .max_gas = 7496,
+  .max_gas = 8848,
   .min_gas = 5610,
   .inactive_gas = 5650,
   .max_brake = 400,
@@ -172,6 +172,13 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
       }
     }
 
+    // Cruise check for ACC models with pedal interceptor - block stock ACC
+    if ((addr == 0x1C4) && gm_has_acc && enable_gas_interceptor) {
+      // When pedal interceptor is active on ACC models, ignore stock cruise state
+      // to prevent conflicts between pedal interceptor and stock ACC
+      cruise_engaged_prev = false;
+    }
+
     if (addr == 0xBD) {
       regen_braking = (GET_BYTE(to_push, 0) >> 4) != 0U;
     }
@@ -192,6 +199,12 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
     }
     generic_rx_checks(stock_ecu_detected);
   }
+  // Cruise check for Gen2 Bolt (ASCMActiveCruiseControlStatus on bus 2)
+  int addr = GET_ADDR(to_push);
+  if ((addr == 0x370) && (GET_BUS(to_push) == 2U)) {
+    bool cruise_engaged = (GET_BYTE(to_push, 2) >> 7) != 0U;  // ACCCmdActive
+    cruise_engaged_prev = cruise_engaged;
+  }
 }
 
 static bool gm_tx_hook(const CANPacket_t *to_send) {
@@ -246,6 +259,11 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
     int button = (GET_BYTE(to_send, 5) >> 4) & 0x7U;
 
     bool allowed_btn = (button == GM_BTN_CANCEL) && cruise_engaged_prev;
+    // For ACC cars with pedal interceptor, allow cancel even if cruise_engaged_prev is false
+    // (since we set it to false to prevent conflicts, but still need to cancel cruise)
+    if (gm_hw == GM_CAM && enable_gas_interceptor && button == GM_BTN_CANCEL) {
+      allowed_btn = true;
+    }
     // For standard CC, allow spamming of SET / RESUME
     if (gm_cc_long) {
       allowed_btn |= cruise_engaged_prev && (button == GM_BTN_SET || button == GM_BTN_RESUME || button == GM_BTN_UNPRESS);
@@ -288,9 +306,13 @@ static int gm_fwd_hook(int bus_num, int addr) {
     }
 
     if (bus_num == 2) {
-      // block lkas message and acc messages if gm_cam_long, forward all others
+      // block lkas message and acc messages
+      // Block 0x370 only for experimental long without pedal interceptor
       bool is_lkas_msg = (addr == 0x180);
-      bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB) || (addr == 0x370);
+      bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB);
+      if (gm_cam_long && !enable_gas_interceptor) {
+        is_acc_msg = is_acc_msg || (addr == 0x370);
+      }
       bool block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long);
       if (!block_msg) {
         bus_fwd = 0;
@@ -322,6 +344,10 @@ static safety_config gm_init(uint16_t param) {
   gm_pedal_long = GET_FLAG(param, GM_PARAM_PEDAL_LONG);
   gm_cc_long = GET_FLAG(param, GM_PARAM_CC_LONG);
   gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG) && !gm_cc_long;
+  // Block ACC messages when pedal interceptor is active on ACC models
+  if (gm_hw == GM_CAM && enable_gas_interceptor) {
+    gm_cam_long = true;
+  }
   gm_pcm_cruise = ((gm_hw == GM_CAM) && (!gm_cam_long || gm_cc_long) && !gm_force_ascm && !gm_pedal_long) || (gm_hw == GM_SDGM);
   gm_skip_relay_check = GET_FLAG(param, GM_PARAM_NO_CAMERA);
   gm_has_acc = !GET_FLAG(param, GM_PARAM_NO_ACC);

selfdrive/car/gm/carcontroller.py

@@ -467,7 +467,7 @@ class CarController(CarControllerBase):
       ) and CS.out.cruiseState.enabled:
         if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
           self.last_button_frame = self.frame
-          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.CANCEL))
+          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, (CS.buttons_counter + 1) % 4, CruiseButtons.CANCEL))
 
     else:
       # While car is braking, cancel button causes ECM to enter a soft disable state with a fault status.

selfdrive/car/gm/carstate.py

@@ -163,11 +163,11 @@ class CarState(CarStateBase):
     if self.CP.carFingerprint in CC_ONLY_CAR:
       ret.accFaulted = False
       ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
-      # Try ECM first for cars that might have it (like most GMs), fall back to ASCM
+      # Try ASCM first for cars that might have it (like misfingerprinted Bolts), fall back to ECM
       try:
-        ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
-      except:
         ret.cruiseState.enabled = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCmdActive"] != 0
+      except:
+        ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
 
     if self.CP.enableBsm:
       if self.CP.carFingerprint not in SDGM_CAR:

selfdrive/car/gm/interface.py

@@ -40,8 +40,8 @@ NON_LINEAR_TORQUE_PARAMS = {
     "right": [4.78003305, 1.0, 0.3122, 0.05591772],
   },
   CAR.CHEVROLET_SILVERADO: {
-    "left": [3.8, 0.81, 0.24, 0.0465122],
-    "right": [3.8, 0.81, 0.24, 0.0465122],
+    "left": [3.29974374, 1.0, 0.25571356, 0.0465122],
+    "right": [3.29974374, 1.0, 0.25571356, 0.0465122],
   },
 }
 
@@ -142,12 +142,11 @@ class CarInterface(CarInterfaceBase):
     ret.longitudinalTuning.kiBP = [5., 35., 60.]
 
     if candidate in CAMERA_ACC_CAR:
-      # For ACC models with pedal interceptor, behave like CC_ONLY_CAR
-      ret.experimentalLongitudinalAvailable = (candidate not in CC_ONLY_CAR) and not ret.enableGasInterceptor
+      ret.experimentalLongitudinalAvailable = candidate not in CC_ONLY_CAR
       ret.networkLocation = NetworkLocation.fwdCamera
       ret.radarUnavailable = True  # no radar
-      # Only use pcmCruise if no pedal interceptor (bolt_cc style behavior)
-      ret.pcmCruise = not ret.enableGasInterceptor
+      # Use pcmCruise by default; this may be overridden below if a pedal interceptor is detected
+      ret.pcmCruise = True
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
       # Use default minEnableSpeed for ACC models (will be overridden by pedal interceptor section if present)
       ret.minEnableSpeed = 5 * CV.KPH_TO_MS
@@ -248,11 +247,9 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.torque.kd = 0.93
       ret.lateralTuning.torque.kfDEPRECATED = 0.02
 
-    # Enable pedal interceptor for ACC models when detected
-    if candidate in CAMERA_ACC_CAR and ret.enableGasInterceptor:
-      # ACC models with pedal interceptor get full pedal longitudinal control
-      ret.flags |= GMFlags.PEDAL_LONG.value
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_ACC
+      if ret.enableGasInterceptor:
+        # ACC Bolts use pedal for full longitudinal control, not just sng
+        ret.flags |= GMFlags.PEDAL_LONG.value
 
     if candidate == CAR.CHEVROLET_SILVERADO:
       # On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
@@ -314,7 +311,7 @@ class CarInterface(CarInterfaceBase):
       ret.stoppingControl = True
       ret.autoResumeSng = True
 
-      if candidate in CC_ONLY_CAR or (candidate in CAMERA_ACC_CAR and ret.enableGasInterceptor): #pedal interceptor tuning
+      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

selfdrive/car/gm/values.py

@@ -52,17 +52,17 @@ class CarControllerParams:
       self.BRAKE_SWITCH_MAX = self.MAX_ACC_REGEN if CP.carFingerprint in EV_CAR else self.ZERO_GAS
 
     elif CP.carFingerprint in SDGM_CAR:
-      self.MAX_GAS = 8191
-      self.MAX_GAS_PLUS = 8191
-      self.MAX_ACC_REGEN = 5500
-      self.INACTIVE_REGEN = 5500
+      self.MAX_GAS = 7496
+      self.MAX_GAS_PLUS = 7496
+      self.MAX_ACC_REGEN = 5610
+      self.INACTIVE_REGEN = 5650
       max_regen_acceleration = 0.
       self.BRAKE_SWITCH = self.ZERO_GAS
 
     else:
-      self.MAX_GAS = 7168  # Safety limit, not ACC max. Stock ACC >8192 from standstill.
-      self.MAX_GAS_PLUS = 7168 # 8292 uses new bit, possible but not tested. Matches Twilsonco tw-main max
-      self.MAX_ACC_REGEN = 5500  # Max ACC regen is slightly less than max paddle regen
+      self.MAX_GAS = 8191  # 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  # 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

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]
 "CHEVROLET_BOLT_EUV" = [2.0, 2.0, 0.09]
 "CHEVROLET_MALIBU_CC" = [1.85, 1.85, 0.075]
-"CHEVROLET_SILVERADO" = [2.014, 1.9, 0.125]
+"CHEVROLET_SILVERADO" = [1.9, 1.9, 0.112]
 "CHEVROLET_TRAILBLAZER" = [1.33, 1.9, 0.16]
 "CHEVROLET_TRAVERSE" = [1.33, 1.33, 0.18]
 "CHEVROLET_EQUINOX" = [2.5, 2.5, 0.05]

selfdrive/controls/controlsd.py

@@ -44,7 +44,7 @@ CAMERA_OFFSET = 0.04
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
 TESTING_CLOSET = "TESTING_CLOSET" in os.environ
-IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd", "micd", "soundd"}
+IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"}
 
 ThermalStatus = log.DeviceState.ThermalStatus
 State = log.ControlsState.OpenpilotState
@@ -117,6 +117,9 @@ class Controls:
     self.is_metric = self.params.get_bool("IsMetric")
     self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
 
+    # detect sound card presence and ensure successful init
+    sounds_available = HARDWARE.get_sound_card_online()
+
     car_recognized = self.CP.carName != 'mock'
 
     # cleanup old params
@@ -170,6 +173,8 @@ class Controls:
     else:
       self.startup_event = get_startup_event(car_recognized, not self.CP.passive, len(self.CP.carFw) > 0)
 
+    if not sounds_available:
+      self.events.add(EventName.soundsUnavailable, static=True)
     if not car_recognized:
       self.events.add(EventName.carUnrecognized, static=True)
       if len(self.CP.carFw) > 0:
@@ -194,7 +199,7 @@ class Controls:
 
     self.event_names_to_clear = set()
 
-    self.has_menu = self.CP.carName == "gm" and not (self.CP.flags & GMFlags.NO_CAMERA.value or self.CP.carFingerprint in CC_ONLY_CAR)
+    self.has_menu = self.CP.carName == "gm" and not (self.CP.flags & GMFlags.NO_CAMERA.value)
 
     self.frogpilot_AM = AlertManager()
     self.frogpilot_events = Events(frogpilot=True)

selfdrive/controls/lib/events.py

@@ -779,6 +779,11 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=600.)
   },
 
+  EventName.soundsUnavailable: {
+    ET.PERMANENT: NormalPermanentAlert("Speaker not found", "Reboot your Device"),
+    ET.NO_ENTRY: NoEntryAlert("Speaker not found"),
+  },
+
   EventName.tooDistracted: {
     ET.NO_ENTRY: NoEntryAlert("Distraction Level Too High"),
   },

selfdrive/controls/lib/latcontrol_torque.py

@@ -42,6 +42,7 @@ 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):
@@ -142,9 +143,7 @@ class LatControlTorque(LatControl):
         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
-      friction = get_friction(error_with_lsf + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone,
-                              get_friction_threshold(CS.vEgo), self.torque_params)
-      ff += friction
+      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: