GM: raise max brake (#25810)

* -4 didn't make any sense?

* comments

* comments

* update to 400

* bump panda

* remove unused iso limit vars

* update comments

* bump panda

* Update selfdrive/car/gm/values.py

* Update ref_commit

panda

@@ -1 +1 @@
-Subproject commit e987e6c6393e1e1432ba6bb740eb2c1b80542043
+Subproject commit 9bcd9b9a24149b241992f26caf9920d427ee609d

selfdrive/car/gm/values.py

@@ -23,11 +23,12 @@ class CarControllerParams:
   ADAS_KEEPALIVE_STEP = 100
   CAMERA_KEEPALIVE_STEP = 100
 
-  # Volt gasbrake lookups
+  # Volt gas/brake lookups
-  # TODO: These values should be confirmed on non-Volt vehicles
+  # TODO: These values should be confirmed on non-Volt vehicles.
+  # MAX_GAS should achieve 2 m/s^2 and MAX_BRAKE with regen should achieve -4.0 m/s^2
   MAX_GAS = 3072  # Safety limit, not ACC max. Stock ACC >4096 from standstill.
   ZERO_GAS = 2048  # Coasting
-  MAX_BRAKE = 350  # ~ -3.5 m/s^2 with regen
+  MAX_BRAKE = 400  # ~ -4.0 m/s^2 with regen
   MAX_ACC_REGEN = 1404  # Max ACC regen is slightly less than max paddle regen
 
   # Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
@@ -38,15 +39,14 @@ class CarControllerParams:
   ACCEL_MAX = 2.  # m/s^2
   ACCEL_MIN = -4.  # m/s^2
 
-  EV_GAS_LOOKUP_BP = [-1., 0., ACCEL_MAX]
-  EV_BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.]
-
   # ICE has much less engine braking force compared to regen in EVs,
   # lower threshold removes some braking deadzone
   GAS_LOOKUP_BP = [-0.1, 0., ACCEL_MAX]
-  BRAKE_LOOKUP_BP = [ACCEL_MIN, -0.1]
+  EV_GAS_LOOKUP_BP = [-1., 0., ACCEL_MAX]
-
   GAS_LOOKUP_V = [MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
+
+  BRAKE_LOOKUP_BP = [ACCEL_MIN, -0.1]
+  EV_BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.]
   BRAKE_LOOKUP_V = [MAX_BRAKE, 0.]
 
 

selfdrive/controls/lib/longcontrol.py

@@ -7,9 +7,6 @@ from selfdrive.modeld.constants import T_IDXS
 
 LongCtrlState = car.CarControl.Actuators.LongControlState
 
-# As per ISO 15622:2018 for all speeds
-ACCEL_MIN_ISO = -3.5  # m/s^2
-ACCEL_MAX_ISO = 2.0  # m/s^2
 
 def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
                              v_target_1sec, brake_pressed, cruise_standstill):

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-53079010a5db8105854212157b5ee90029df7b92
+653fbfeac952c288ffd595ee13139b9547b998bf