From 2e78f89e74b689f9aa3795d85aa7a2c2890f0095 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 9 Feb 2023 13:24:52 -0800 Subject: [PATCH] GM: increase min steer speed to avoid temporary faults (#27274) * increase min steer speed to avoid temp volt faults * actually 10.15 is safe * Update ref_commit old-commit-hash: 9aac0806e3c25c374b67770086cdfd67ffafaf07 --- selfdrive/car/gm/interface.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 3c2a12ef86..f7473d88fc 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -101,7 +101,7 @@ class CarInterface(CarInterfaceBase): # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below. # Some GMs need some tolerance above 10 kph to avoid a fault - ret.minSteerSpeed = 10.1 * CV.KPH_TO_MS + ret.minSteerSpeed = 10.2 * CV.KPH_TO_MS 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 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 170beafe88..8a75a72483 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a6b17ab903022b42677abe2968f3c6e50c331980 +35a3dbcbcd8504388ea2a70965be0b4e0869b06a