Remove Silverado (another PR)

docs/CARS.md

@@ -19,7 +19,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 - [![star](assets/icon-star-empty.svg)](##) - Limited ability to make tighter turns.
 
 
-# 201 Supported Cars
+# 200 Supported Cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|
 |---|---|---|:---:|:---:|:---:|:---:|
@@ -34,7 +34,6 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Audi|S3 2015-17|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Chevrolet|Bolt EUV Premier 2022[<sup>2</sup>](#footnotes)|Chevy Safety Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Chevrolet|Silverado 1500 2020[<sup>2</sup>](#footnotes)|Driver Alert Package II|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise Control|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|

selfdrive/car/gm/interface.py

@@ -44,22 +44,11 @@ class CarInterface(CarInterfaceBase):
     sigmoid = desired_angle / (1 + fabs(desired_angle))
     return 0.04689655 * sigmoid * (v_ego + 10.028217)
 
-  @staticmethod
-  def get_steer_feedforward_silverado(desired_angle, v_ego):
-    ANGLE = 0.06539361463056717
-    ANGLE_OFFSET = -0.#8390269362439537
-    SIGMOID_SPEED = 0.023681877712247515
-    SIGMOID = 0.5709779025308087
-    SPEED = -0.0016656455765509301
-    return CarInterface.get_steer_feedforward_sigmoid(desired_angle, v_ego, ANGLE, ANGLE_OFFSET, SIGMOID_SPEED, SIGMOID, SPEED)
-
   def get_steer_feedforward_function(self):
     if self.CP.carFingerprint == CAR.VOLT:
       return self.get_steer_feedforward_volt
     elif self.CP.carFingerprint == CAR.ACADIA:
       return self.get_steer_feedforward_acadia
-    elif self.CP.carFingerprint == CAR.SILVERADO:
-      return self.get_steer_feedforward_silverado
     else:
       return CarInterfaceBase.get_steer_feedforward_default
 
@@ -165,28 +154,6 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kf = 0.000045
       tire_stiffness_factor = 1.0
 
-    elif candidate == CAR.SILVERADO:
-      ret.minEnableSpeed = -1.
-      ret.mass = 2400. + STD_CARGO_KG
-      ret.wheelbase = 3.745
-      ret.steerRatio = 16.3
-      ret.centerToFront = ret.wheelbase * .49
-      ret.networkLocation = NetworkLocation.fwdCamera # Uses Cam Harness
-      ret.radarOffCan = True # No Radar
-      ret.openpilotLongitudinalControl = False # Stock ACC
-      ret.pcmCruise = True # CC is on
-      # Tune (Thanks Skip)
-      ret.steerActuatorDelay = 0.11
-      ret.lateralTuning.pid.kpBP = [11.0, 15.5, 22.0, 31.0]
-      ret.lateralTuning.pid.kpV = [0.12, 0.14, 0.20, 0.25]
-      # kf value is based on the use of custom feedforward function
-      ret.lateralTuning.pid.kf = (0.55 + 0.4) / 2. # Averaging the right and left kf for now
-      # GM Trucks have weak right turning
-      #  Allowing for kf to be swapped depending on the curvature direction
-      #  seems to be improve the issue
-      # ret.lateralTuning.pid.kf = 0.55
-      # ret.lateralTuning.pid.kfLeft = 0.4
-
     elif candidate == CAR.BOLT_EUV:
       ret.transmissionType = TransmissionType.direct # EV (or hybrid)
       ret.minEnableSpeed = -1

selfdrive/car/gm/values.py

@@ -64,7 +64,6 @@ class CAR:
   ACADIA = "GMC ACADIA DENALI 2018"
   BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
   ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
-  SILVERADO = "CHEVROLET SILVERADO 1500 2020"
   BOLT_EUV = "CHEVROLET BOLT EUV PREMIER 2022"
 
 
@@ -100,7 +99,6 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
   CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
   CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
   CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
-  CAR.SILVERADO: GMCarInfo("Chevrolet Silverado 1500 2020", "Driver Alert Package II", footnotes=[Footnote.CAM_HARNESS], harness=Harness.gm_cam),
   CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV Premier 2022", "Chevy Safety Assist", footnotes=[Footnote.CAM_HARNESS], harness=Harness.gm_cam),
 }
 
@@ -175,11 +173,6 @@ FINGERPRINTS = {
   {
     170: 8, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 1, 290: 1, 298: 8, 300: 1, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 328: 1, 352: 5, 368: 8, 369: 8, 381: 5, 384: 4, 386: 5, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 512: 3, 530: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 789: 5, 800: 6, 801: 5, 803: 8, 804: 3, 805: 8, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1603: 7, 1611: 8, 1618: 8, 1906: 7, 1907: 7, 1912: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2018: 8, 2019: 8, 2024: 8, 2026: 8
   }],
-  CAR.SILVERADO: [
-  # 2020 Chevrolet Silverado 1500 4WD Crew Cab 147" LTZ
-  {
-    190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
-  }],
   CAR.BOLT_EUV: [
   # Chevy Bolt EUV 2019 (Stock VOACC, LKAS)
   {

selfdrive/car/torque_data/override.yaml

@@ -23,13 +23,10 @@ COMMA BODY: [.nan, 1000, .nan]
 KIA EV6 2022: [3.5, 2.5, 0.0]
 RAM 1500 5TH GEN: [2.0, 2.0, 0.0]
 SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11]
+CHEVROLET BOLT EUV PREMIER 2022: [.nan, 1.5, .nan]
 
 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]
 
 # Manually checked
 HONDA CIVIC 2022: [2.5, 1.2, 0.15]
-
-# New GM Cars
-CHEVROLET SILVERADO 1500 2020: [.nan, 1.5, .nan]
-CHEVROLET BOLT EUV PREMIER 2022: [.nan, 1.5, .nan]