Generalize GM lateral PID tuning values, so each model can override (#1094)

selfdrive/car/gm/interface.py

@@ -64,6 +64,13 @@ class CarInterface(CarInterfaceBase):
     ret.openpilotLongitudinalControl = ret.enableCamera
     tire_stiffness_factor = 0.444  # not optimized yet
 
+    # Start with a baseline lateral tuning for all GM vehicles. Override tuning as needed in each model section below.
+    ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+    ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
+    ret.lateralTuning.pid.kf = 0.00004   # full torque for 20 deg at 80mph means 0.00007818594
+    ret.steerRateCost = 1.0
+    ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
+
     if candidate == CAR.VOLT:
       # supports stop and go, but initial engage must be above 18mph (which include conservatism)
       ret.minEnableSpeed = 18 * CV.MPH_TO_MS
@@ -141,11 +148,6 @@ class CarInterface(CarInterfaceBase):
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
                                                                          tire_stiffness_factor=tire_stiffness_factor)
 
-    # same tuning for Volt and CT6 for now
-    ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-    ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
-    ret.lateralTuning.pid.kf = 0.00004   # full torque for 20 deg at 80mph means 0.00007818594
-
     ret.steerMaxBP = [0.]  # m/s
     ret.steerMaxV = [1.]
     ret.gasMaxBP = [0.]
@@ -163,8 +165,6 @@ class CarInterface(CarInterfaceBase):
     ret.stoppingControl = True
     ret.startAccel = 0.8
 
-    ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
-    ret.steerRateCost = 1.0
     ret.steerLimitTimer = 0.4
     ret.radarTimeStep = 0.0667  # GM radar runs at 15Hz instead of standard 20Hz
     ret.steerControlType = car.CarParams.SteerControlType.torque