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GM truck gas tune

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Co-Authored-By: garrettpall <76917194+garrettpall@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent 56f43a6494
commit 1d3a40aa7e
8 changed files with 37 additions and 25 deletions
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22
selfdrive/car/gm/values.py
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@@ -38,18 +38,23 @@ class CarControllerParams:
def __init__(self, CP):
# Gas/brake lookups
self.ZERO_GAS = 2048 # Coasting
self.ZERO_GAS = 6144 # Coasting
self.MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen
if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR:
self.MAX_GAS = 3400
self.MAX_GAS = 7496
self.MAX_GAS_PLUS = 8848
self.MAX_ACC_REGEN = 1514
self.INACTIVE_REGEN = 1554
self.MAX_ACC_REGEN = 5610
self.INACTIVE_REGEN = 5650
# Camera ACC vehicles have no regen while enabled.
# Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
max_regen_acceleration = 0.
if CP.carFingerprint in SLOW_ACC and Params().get_bool("GasRegenCmd"):
self.MAX_GAS = 8650
self.MAX_GAS_PLUS = 8650 # Don't Stack Extra Speed
self.ACCEL_MAX_PLUS = 2
elif CP.carFingerprint in SDGM_CAR:
self.MAX_GAS = 7496
self.MAX_GAS_PLUS = 7496
@@ -58,10 +63,10 @@ class CarControllerParams:
max_regen_acceleration = 0.
else:
self.MAX_GAS = 3072 # Safety limit, not ACC max. Stock ACC >4096 from standstill.
self.MAX_GAS = 7168 # Safety limit, not ACC max. Stock ACC >8192 from standstill.
self.MAX_GAS_PLUS = 8191 # 8292 uses new bit, possible but not tested. Matches Twilsonco tw-main max
self.MAX_ACC_REGEN = 1404 # Max ACC regen is slightly less than max paddle regen
self.INACTIVE_REGEN = 1404
self.MAX_ACC_REGEN = 5500 # Max ACC regen is slightly less than max paddle regen
self.INACTIVE_REGEN = 5500
# ICE has much less engine braking force compared to regen in EVs,
# lower threshold removes some braking deadzone
max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
@@ -229,6 +234,9 @@ CC_ONLY_CAR = {CAR.VOLT_CC, CAR.BOLT_CC, CAR.EQUINOX_CC, CAR.SUBURBAN_CC, CAR.YU
# We're integrated at the Safety Data Gateway Module on these cars
SDGM_CAR = {CAR.XT4}
# Slow acceleration cars
SLOW_ACC = {CAR.SILVERADO}
# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX, CAR.TRAILBLAZER}
CAMERA_ACC_CAR.update({CAR.VOLT_CC, CAR.BOLT_CC, CAR.EQUINOX_CC, CAR.YUKON_CC, CAR.CT6_CC, CAR.TRAILBLAZER_CC})