User adjustable offsets

This reverts commit 8a9d0e5e6a.

frogpilot/common/frogpilot_variables.py

@@ -620,9 +620,9 @@ class FrogPilotVariables:
     toggle.steer_offset = np.clip(params.get_float("SteerOffset"), -0.2, 0.2) if advanced_lateral_tuning and tuning_level >= level["SteerOffset"] and toggle.car_make == "gm" else 0.0
     toggle.use_custom_friction = bool(round(toggle.friction, 2) != round(friction, 2)) and is_torque_car and not toggle.force_auto_tune or toggle.force_auto_tune_off
     toggle.steerKp = [[0], [np.clip(params.get_float("SteerKP"), steerKp * 0.5, steerKp * 1.5) if advanced_lateral_tuning and is_torque_car and tuning_level >= level["SteerKP"] else steerKp]]
-    toggle.latAccelFactor = np.clip(params.get_float("SteerLatAccel"), latAccelFactor * 0.5, latAccelFactor * 1.25) if advanced_lateral_tuning and tuning_level >= level["SteerLatAccel"] else latAccelFactor
+    toggle.latAccelFactor = np.clip(params.get_float("SteerLatAccel"), latAccelFactor * 0.75, latAccelFactor * 1.25) if advanced_lateral_tuning and tuning_level >= level["SteerLatAccel"] else latAccelFactor
     toggle.use_custom_latAccelFactor = bool(round(toggle.latAccelFactor, 2) != round(latAccelFactor, 2)) and is_torque_car and not toggle.force_auto_tune or toggle.force_auto_tune_off
-    toggle.steerRatio = np.clip(params.get_float("SteerRatio"), steerRatio * 0.25, steerRatio * 1.5) if advanced_lateral_tuning and tuning_level >= level["SteerRatio"] else steerRatio
+    toggle.steerRatio = np.clip(params.get_float("SteerRatio"), steerRatio * 0.5, steerRatio * 1.5) if advanced_lateral_tuning and tuning_level >= level["SteerRatio"] else steerRatio
     toggle.use_custom_steerRatio = bool(round(toggle.steerRatio, 2) != round(steerRatio, 2)) and not toggle.force_auto_tune or toggle.force_auto_tune_off
 
     advanced_longitudinal_tuning = params.get_bool("AdvancedLongitudinalTune") if tuning_level >= level["AdvancedLongitudinalTune"] else default.get_bool("AdvancedLongitudinalTune")

frogpilot/ui/qt/offroad/lateral_settings.cc

@@ -96,10 +96,10 @@ FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) :
       lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, parent->steerKp * 0.5, parent->steerKp * 1.5, QString(), std::map<float, QString>(), 0.01, false, {}, steerKPButton, false, false);
     } else if (param == "SteerLatAccel") {
       std::vector<QString> steerLatAccelButton{"Reset"};
-      lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, parent->latAccelFactor * 0.5, parent->latAccelFactor * 1.25, QString(), std::map<float, QString>(), 0.01, false, {}, steerLatAccelButton, false, false);
+      lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, parent->latAccelFactor * 0.75, parent->latAccelFactor * 1.25, QString(), std::map<float, QString>(), 0.01, false, {}, steerLatAccelButton, false, false);
     } else if (param == "SteerRatio") {
       std::vector<QString> steerRatioButton{"Reset"};
-      lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, parent->steerRatio * 0.25, parent->steerRatio * 1.5, QString(), std::map<float, QString>(), 0.01, false, {}, steerRatioButton, false, false);
+      lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, parent->steerRatio * 0.5, parent->steerRatio * 1.5, QString(), std::map<float, QString>(), 0.01, false, {}, steerRatioButton, false, false);
 
     } else if (param == "AlwaysOnLateral") {
       FrogPilotManageControl *aolToggle = new FrogPilotManageControl(param, title, desc, icon);
@@ -271,9 +271,9 @@ void FrogPilotLateralPanel::showEvent(QShowEvent *event) {
   steerKPToggle->setTitle(QString(tr("Kp Factor (Default: %1)")).arg(QString::number(parent->steerKp, 'f', 2)));
   steerKPToggle->updateControl(parent->steerKp * 0.5, parent->steerKp * 1.5);
   steerLatAccelToggle->setTitle(QString(tr("Lateral Accel (Default: %1)")).arg(QString::number(parent->latAccelFactor, 'f', 2)));
-  steerLatAccelToggle->updateControl(parent->latAccelFactor * 0.5, parent->latAccelFactor * 1.25);
+  steerLatAccelToggle->updateControl(parent->latAccelFactor * 0.75, parent->latAccelFactor * 1.25);
   steerRatioToggle->setTitle(QString(tr("Steer Ratio (Default: %1)")).arg(QString::number(parent->steerRatio, 'f', 2)));
-  steerRatioToggle->updateControl(parent->steerRatio * 0.25, parent->steerRatio * 1.5);
+  steerRatioToggle->updateControl(parent->steerRatio * 0.5, parent->steerRatio * 1.5);
 
   updateToggles();
 }

opendbc/gm_global_a_powertrain_generated.dbc

@@ -233,7 +233,7 @@ BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM
  SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] ""  NEO
  SG_ RollingCounter : 7|2@0+ (1,0) [0|0] ""  NEO
  SG_ GasRegenAlwaysOne3 : 23|1@0+ (1,0) [0|1] ""  NEO
- SG_ GasRegenCmd : 22|12@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenCmd : 8|14@0+ (1,0) [0|0] "" NEO
 
 BO_ 717 ASCM_2CD: 5 K124_ASCM
 

panda/board/safety/safety_gm.h

@@ -1,25 +1,25 @@
 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,
 };
 
 const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
-  .max_gas = 3072,
-  .min_gas = 1404,
-  .inactive_gas = 1404,
+  .max_gas = 8191,
+  .min_gas = 5500,
+  .inactive_gas = 5500,
   .max_brake = 400,
 };
 
 const LongitudinalLimits GM_CAM_LONG_LIMITS = {
-  .max_gas = 3400,
-  .min_gas = 1514,
-  .inactive_gas = 1554,
+  .max_gas = 8848,
+  .min_gas = 5610,
+  .inactive_gas = 5650,
   .max_brake = 400,
 };
 
@@ -143,7 +143,7 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
     }
 
     if ((addr == 0xC9) && ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM))) {
-      brake_pressed = GET_BIT(to_push, 40U);
+      brake_pressed = GET_BIT(to_push, 40U) != 0U;
     }
 
     if (addr == 0xC9) {
@@ -242,10 +242,10 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
   // GAS/REGEN: safety check
   if (addr == 0x2CB) {
     bool apply = GET_BIT(to_send, 0U);
-    int gas_regen = ((GET_BYTE(to_send, 2) & 0x7FU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
+    int gas_regen = ((GET_BYTE(to_send, 1) & 0x1U) << 13) + ((GET_BYTE(to_send, 2) & 0xFFU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
 
     bool violation = false;
-    // Allow apply bit in pre-enabled and overriding states, except for inactive gas    // Allow apply bit in pre-enabled and overriding states
+    // Allow apply bit in pre-enabled and overriding states
     violation |= !controls_allowed && apply;
     violation |= longitudinal_gas_checks(gas_regen, *gm_long_limits);
 
@@ -335,9 +335,9 @@ static safety_config gm_init(uint16_t param) {
   gm_force_ascm = GET_FLAG(param, GM_PARAM_HW_ASCM_LONG);
 
   if (gm_hw == GM_ASCM || gm_force_ascm) {
-    gm_long_limits = &GM_ASCM_LONG_LIMITS;
+      gm_long_limits = &GM_ASCM_LONG_LIMITS;
   } else if ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM)) {
-    gm_long_limits = &GM_CAM_LONG_LIMITS;
+      gm_long_limits = &GM_CAM_LONG_LIMITS;
   } else {
   }
 

selfdrive/car/gm/carcontroller.py

@@ -1,5 +1,7 @@
 from typing import Tuple
 import time
+import math
+from openpilot.common.swaglog import cloudlog
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.filter_simple import FirstOrderFilter
@@ -9,7 +11,7 @@ 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, AccState, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, EV_CAR, CC_REGEN_PADDLE_CAR
+from openpilot.selfdrive.car.gm.values import CAR, DBC, AccState, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, EV_CAR, CC_REGEN_PADDLE_CAR
 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
@@ -64,13 +66,20 @@ class CarController(CarControllerBase):
     self.params = CarControllerParams(self.CP)
     self.params_ = Params()
 
+    self.mass = CP.mass
+    self.tireRadius = 0.075 * CP.wheelbase + 0.1453
+    self.frontalArea = 1.05 * CP.wheelbase + 0.0679
+    self.coeffDrag = 0.30
+    self.airDensity = 1.225
+
+
+
     self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
     self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
     self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis'])
 
     # FrogPilot variables
     self.accel_g = 0.0
-
     self.pitch = FirstOrderFilter(0., 0.09 * 4, DT_CTRL * 4)  # runs at 25 Hz
     self.accel_g = 0.0
     self.regen_paddle_pressed = False
@@ -350,14 +359,6 @@ class CarController(CarControllerBase):
       if self.frame % 4 == 0:
         stopping = actuators.longControlState == LongCtrlState.stopping
 
-        # Pitch compensated acceleration;
-        # TODO: include future pitch (sm['modelDataV2'].orientation.y) to account for long actuator delay
-        if frogpilot_toggles.long_pitch and len(CC.orientationNED) > 1:
-          self.pitch.update(CC.orientationNED[1])
-          self.accel_g = ACCELERATION_DUE_TO_GRAVITY * apply_deadzone(self.pitch.x, PITCH_DEADZONE) # driving uphill is positive pitch
-          accel += self.accel_g
-          brake_accel = actuators.accel + self.accel_g * interp(CS.out.vEgo, BRAKE_PITCH_FACTOR_BP, BRAKE_PITCH_FACTOR_V)
-
         at_full_stop = CC.longActive and CS.out.standstill
         near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
         interceptor_gas_cmd = 0
@@ -369,9 +370,26 @@ class CarController(CarControllerBase):
           self.apply_gas = self.params.INACTIVE_REGEN
           self.apply_brake = int(min(-100 * frogpilot_toggles.stopAccel, self.params.MAX_BRAKE))
         else:
-          # Normal operation
-          self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+          if len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping:
+            accel_due_to_pitch = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
+          else:
+            accel_due_to_pitch = 0.0
+
+          gas_max = self.params.MAX_GAS
+          accel_max = 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))
+          
+          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)))
+          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)))
+          if self.apply_brake > 0:
+            self.apply_gas = self.params.INACTIVE_REGEN
+
           # Don't allow any gas above inactive regen while stopping
           # FIXME: brakes aren't applied immediately when enabling at a stop
           if stopping:
@@ -449,7 +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

@@ -5,7 +5,7 @@ from openpilot.common.numpy_fast import mean
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car.interfaces import CarStateBase
-from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CC_ONLY_CAR, CAMERA_ACC_CAR, SDGM_CAR, CC_REGEN_PADDLE_CAR
+from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CC_ONLY_CAR, CAMERA_ACC_CAR, SDGM_CAR, CC_REGEN_PADDLE_CAR, CAR
 
 TransmissionType = car.CarParams.TransmissionType
 NetworkLocation = car.CarParams.NetworkLocation
@@ -53,9 +53,6 @@ class CarState(CarStateBase):
     self.moving_backward = (pt_cp.vl["EBCMWheelSpdRear"]["RLWheelDir"] == 2) or (pt_cp.vl["EBCMWheelSpdRear"]["RRWheelDir"] == 2)
 
     # Variables used for avoiding LKAS faults
-    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"]
@@ -63,6 +60,9 @@ class CarState(CarStateBase):
       self.regen_paddle_ts_nanos = pt_cp.ts_nanos["EBCMRegenPaddle"]["RegenPaddle"]
     else:
       self.regen_paddle_ts_nanos = 0
+    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"]
     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"]
@@ -96,7 +96,7 @@ class CarState(CarStateBase):
     # Regen braking is braking
     if self.CP.transmissionType == TransmissionType.direct:
       ret.regenBraking = pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
-      self.single_pedal_mode = ret.gearShifter == GearShifter.low or pt_cp.vl["EVDriveMode"]["SinglePedalModeActive"] == 1 or (ret.regenBraking and GearShifter.manumatic)
+      self.single_pedal_mode = ret.gearShifter == GearShifter.low or pt_cp.vl["EVDriveMode"]["SinglePedalModeActive"] == 1 or (ret.regenBraking and GearShifter.manumatic) or (self.CP.carFingerprint in [CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_BOLT_CC] and self.CP.enableGasInterceptor)
 
     if self.CP.enableGasInterceptor:
       ret.gas = (pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
@@ -163,7 +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
-      ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
+      # Try ASCM first for cars that might have it (like misfingerprinted Bolts), fall back to ECM
+      try:
+        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:
@@ -173,7 +177,7 @@ 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"]
@@ -206,7 +210,7 @@ class CarState(CarStateBase):
         messages += [
           ("AEBCmd", 10),
         ]
-      if CP.carFingerprint not in CC_ONLY_CAR:
+        # Include ASCMActiveCruiseControlStatus for all non-SDGM fwdCamera cars
         messages += [
           ("ASCMActiveCruiseControlStatus", 25),
         ]

selfdrive/car/gm/gmcan.py

@@ -66,7 +66,6 @@ def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
     "GasRegenFullStopActive": at_full_stop,
     "GasRegenAlwaysOne": 1,
     "GasRegenAlwaysOne2": 1,
-    "GasRegenAlwaysOne3": 1,
   }
 
   dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[2]
@@ -177,21 +176,6 @@ 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 = {
@@ -205,6 +189,21 @@ def create_regen_paddle_command(packer, bus, press_regen_paddle):
   }
   return packer.make_can_msg("EBCMRegenPaddle", bus, values)
 
+def create_prndl2_command(packer, bus, press_regen_paddle):
+  prndl2_value = 5 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_gm_cc_spam_command(packer, controller, CS, actuators, frogpilot_toggles):
   accel = actuators.accel
   Vego = CS.out.vEgo

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": [2.6531724862969748, 1.1, 0.1719764879840985, 0.0],
+    "right": [2.8531724862969748, 1.0, 0.1469764879840985, 0.0],
+  },
+  CAR.CHEVROLET_BOLT_CC: {
+    "left": [2.6531724862969748, 1.1, 0.1719764879840985, 0.0],
+    "right": [2.8531724862969748, 1.0, 0.1469764879840985, 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
@@ -131,8 +145,10 @@ class CarInterface(CarInterfaceBase):
       ret.experimentalLongitudinalAvailable = candidate not in CC_ONLY_CAR
       ret.networkLocation = NetworkLocation.fwdCamera
       ret.radarUnavailable = True  # no radar
+      # 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
       ret.minSteerSpeed = 10 * CV.KPH_TO_MS
 
@@ -225,11 +241,17 @@ 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
 
-    elif candidate == CAR.CHEVROLET_SILVERADO:
+    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
       # with foot on brake to allow engagement, but this platform only has that check in the camera.
       # TODO: check if this is split by EV/ICE with more platforms in the future

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.
@@ -38,43 +38,60 @@ class CarControllerParams:
 
   def __init__(self, CP):
     # Gas/brake lookups
-    self.ZERO_GAS = 6144  # Coasting
+    self.ZERO_GAS = 6150  # 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:
-      self.MAX_GAS = 7496
+    if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR:
+      self.MAX_GAS = 8848
       self.MAX_GAS_PLUS = 8848
       self.MAX_ACC_REGEN = 5610
       self.INACTIVE_REGEN = 5650
       # Camera ACC vehicles have no regen while enabled.
       # Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
-      self.max_regen_acceleration = 0.
+      max_regen_acceleration = 0.
+      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 = 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.
+      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 = 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  # Increased for stronger regen braking
+      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
-      self.max_regen_acceleration = -3. if CP.carFingerprint in EV_CAR else -0.1  # More aggressive regen for EVs
+      max_regen_acceleration = -3. if CP.carFingerprint in EV_CAR else -0.1
+      self.BRAKE_SWITCH_MAX = self.MAX_ACC_REGEN if CP.carFingerprint in EV_CAR else self.ZERO_GAS
 
-    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]
+    self.GAS_LOOKUP_BP = [max_regen_acceleration, 0., self.ACCEL_MAX]
+    self.GAS_LOOKUP_BP_PLUS = [max_regen_acceleration, 0., self.ACCEL_MAX_PLUS]
     self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS]
     self.GAS_LOOKUP_V_PLUS = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS_PLUS]
 
-    self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, self.max_regen_acceleration]
+    self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, 0.]
     self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
 
+    self.BRAKE_SWITCH_LOOKUP_BP = [0.5, 10]
+    self.BRAKE_SWITCH_LOOKUP_V = [self.ZERO_GAS, self.BRAKE_SWITCH_MAX]
 
+  # 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):
@@ -158,7 +175,7 @@ class CAR(Platforms):
       GMCarDocs("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
       GMCarDocs("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
     ],
-    GMCarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
+    GMCarSpecs(mass=2994, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
   )
   CHEVROLET_EQUINOX = GMPlatformConfig(
     [GMCarDocs("Chevrolet Equinox 2019-22")],
@@ -194,15 +211,15 @@ class CAR(Platforms):
     CHEVROLET_SUBURBAN.specs,
   )
   GMC_YUKON_CC = GMPlatformConfig(
-    [GMCarDocs("GMC Yukon No ACC")],
+    [GMCarDocs("GMC Yukon - No-ACC")],
     CarSpecs(mass=2541, wheelbase=2.95, steerRatio=16.3, centerToFrontRatio=0.4),
   )
   CADILLAC_CT6_CC = GMPlatformConfig(
-    [GMCarDocs("Cadillac CT6 No ACC")],
+    [GMCarDocs("Cadillac CT6 - No-ACC")],
     CarSpecs(mass=2358, wheelbase=3.11, steerRatio=17.7, centerToFrontRatio=0.4),
   )
   CHEVROLET_TRAILBLAZER_CC = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Trailblazer 2021-22")],
+    [GMCarDocs("Chevrolet Trailblazer 2021-22 - No-ACC")],
     CHEVROLET_TRAILBLAZER.specs,
   )
   CADILLAC_XT4 = GMPlatformConfig(
@@ -210,7 +227,7 @@ class CAR(Platforms):
     CarSpecs(mass=1660, wheelbase=2.78, steerRatio=14.4, centerToFrontRatio=0.4),
   )
   CADILLAC_XT5_CC = GMPlatformConfig(
-    [GMCarDocs("Cadillac XT5 No ACC")],
+    [GMCarDocs("Cadillac XT5 - No-ACC")],
     CarSpecs(mass=1810, wheelbase=2.86, steerRatio=16.34, centerToFrontRatio=0.5),
   )
   CHEVROLET_TRAVERSE = GMPlatformConfig(
@@ -222,7 +239,7 @@ class CAR(Platforms):
     CarSpecs(mass=2050, wheelbase=2.86, steerRatio=16.0, centerToFrontRatio=0.5),
   )
   CHEVROLET_MALIBU_CC = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Malibu 2023 No ACC")],
+    [GMCarDocs("Chevrolet Malibu 2023 - No-ACC")],
     CarSpecs(mass=1450, wheelbase=2.8, steerRatio=15.8, centerToFrontRatio=0.4),
   )
   CHEVROLET_TRAX = GMPlatformConfig(
@@ -313,8 +330,8 @@ 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'))
+CC_REGEN_PADDLE_CAR = {CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_BOLT_EUV}
 
 # We're integrated at the Safety Data Gateway Module on these cars
 SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CHEVROLET_TRAVERSE, CAR.BUICK_BABYENCLAVE}

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/controls/controlsd.py

@@ -199,7 +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/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

selfdrive/controls/radard.py

@@ -151,7 +151,7 @@ def laplacian_pdf(x: float, mu: float, b: float):
 
 
 def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, model_data: capnp._DynamicStructReader, tracks: dict[int, Track], frogpilot_toggles: SimpleNamespace):
-  if model_data.meta.laneChangeState == LaneChangeState.laneChangeStarting and frogpilot_toggles.human_lane_changes:
+  if model_data.meta.laneChangeState == LaneChangeState.laneChangeStarting and getattr(frogpilot_toggles, "human_lane_changes", False):
     direction = model_data.meta.laneChangeDirection
 
     if direction == LaneChangeDirection.left:

selfdrive/locationd/paramsd.py

@@ -135,7 +135,7 @@ def main():
     CP = msg
   cloudlog.info("paramsd got CarParams")
 
-  min_sr, max_sr = 0.25 * CP.steerRatio, 2.0 * CP.steerRatio
+  min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio
 
   params = params_reader.get("LiveParameters")