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GM minSteerSpeed: add some tolerance for Volt (#25809)

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* add some tolerance for volts

* add comment

* update refs
pull/25816/head
Shane Smiskol 3 years ago committed by GitHub
parent 5356216e92
commit b7dc1968cd
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2 changed files with 3 additions and 2 deletions
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  1. 3
      selfdrive/car/gm/interface.py
  2. 2
      selfdrive/test/process_replay/ref_commit

3
selfdrive/car/gm/interface.py
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@ -74,7 +74,8 @@ class CarInterface(CarInterfaceBase):
ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX, CAR.BOLT_EV} ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX, CAR.BOLT_EV}
# Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below. # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
ret.minSteerSpeed = 10 * CV.KPH_TO_MS # Some GMs need some tolerance above 10 kph to avoid a fault
ret.minSteerSpeed = 10.1 * CV.KPH_TO_MS
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] 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.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.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
147410f09f242f05b922c9cc7ac04c3c3366419c a4aa1f37c6d966151d3b43a0b51fffbcfa0187b1
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