curve speed and paddle commands

opendbc_repo/opendbc/car/gm/carcontroller.py

@@ -178,7 +178,7 @@ class CarController(CarControllerBase):
     else:
       small_cmd_scale = np.interp(abs(accel), [0.0, 0.35, 0.8, 1.5, 2.5], [0.44, 0.54, 0.70, 0.89, 1.0])
     accel_cmd = accel * small_cmd_scale
-    if accel < -2.0:
+    if (not press_regen_paddle) and accel < -2.0:
       accel_cmd *= np.interp(abs(accel), [2.0, 2.5, 3.0], [1.0, 1.03, 1.06])
     raw_pedal_gas = float(np.clip(pedaloffset + accel_cmd * accel_gain * accel_term_scale, 0.0, 1.0))
 

starpilot/controls/lib/curve_speed_controller.py

@@ -1,11 +1,13 @@
 #!/usr/bin/env python3
 import numpy as np
 
+from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 
-from openpilot.starpilot.common.starpilot_variables import CRUISING_SPEED, DEFAULT_LATERAL_ACCELERATION, PLANNER_TIME
+from openpilot.starpilot.common.starpilot_variables import CITY_SPEED_LIMIT, CRUISING_SPEED, DEFAULT_LATERAL_ACCELERATION, PLANNER_TIME
 
 CALIBRATION_PROGRESS_THRESHOLD = 10 / DT_MDL
+CSC_MIN_SPEED = CITY_SPEED_LIMIT * CV.MPH_TO_MS
 MAX_CURVATURE = 0.1
 MIN_CURVATURE = 0.001
 PERCENTILE = 90
@@ -97,7 +99,7 @@ class CurveSpeedController:
       decel_rate = (v_ego - csc_speed) / self.starpilot_planner.time_to_curve
 
       self.target -= decel_rate * DT_MDL
-      self.target = float(np.clip(self.target, CRUISING_SPEED, csc_speed))
+      self.target = float(np.clip(self.target, CSC_MIN_SPEED, csc_speed))
     else:
       self.target_set = True
       self.target = v_ego

starpilot/controls/lib/starpilot_vcruise.py

@@ -2,10 +2,11 @@
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 
-from openpilot.starpilot.common.starpilot_variables import CRUISING_SPEED, PLANNER_TIME
+from openpilot.starpilot.common.starpilot_variables import CITY_SPEED_LIMIT, CRUISING_SPEED, PLANNER_TIME
 from openpilot.starpilot.controls.lib.curve_speed_controller import CurveSpeedController
 from openpilot.starpilot.controls.lib.speed_limit_controller import SpeedLimitController
 
+CSC_MIN_SPEED = CITY_SPEED_LIMIT * CV.MPH_TO_MS
 OVERRIDE_FORCE_STOP_TIMER = 10
 
 
@@ -94,6 +95,6 @@ class StarPilotVCruise:
       targets = [self.csc_target, v_cruise]
       if starpilot_toggles.speed_limit_controller:
         targets.append(max(self.slc.overridden_speed, self.slc_target + self.slc_offset) - v_ego_diff)
-      v_cruise = min([target if target >= CRUISING_SPEED else v_cruise for target in targets])
+      v_cruise = min([target if target >= CSC_MIN_SPEED else v_cruise for target in targets])
 
     return v_cruise