New GM Pedal Tune (#122)

Contains changes for the pedal interceptor that fixes oscillation at low speeds. Upload Friendly

opendbc_repo/opendbc/car/gm/carcontroller.py

@@ -41,16 +41,14 @@ def __init__(self, dbc_names, CP):
     self.packer_ch = CANPacker(DBC[self.CP.carFingerprint][Bus.chassis])
 
   @staticmethod
-  def calc_pedal_command(accel: float, long_active: bool) -> float:
+  def calc_pedal_command(accel: float, long_active: bool, car_velocity) -> float:
     if not long_active: return 0.
 
-    zero = 0.15625  # 40/256
-    if accel > 0.:
-      # Scales the accel from 0-1 to 0.156-1
-      pedal_gas = clip(((1 - zero) * accel + zero), 0., 1.)
+    if accel < -0.5:
+      pedal_gas = 0
     else:
-      # if accel is negative, -0.1 -> 0.015625
-      pedal_gas = clip(zero + accel, 0., zero)  # Make brake the same size as gas, but clip to regen
+      pedaloffset = interp(car_velocity, [0., 3, 6, 30], [0.10, 0.175, 0.240, 0.240])
+      pedal_gas = clip((pedaloffset + accel * 0.6), 0.0, 1.0)
 
     return pedal_gas
 
@@ -128,7 +126,7 @@ def update(self, CC, CS, now_nanos):
             self.apply_gas = self.params.INACTIVE_REGEN
           if self.CP.carFingerprint in CC_ONLY_CAR:
             # gas interceptor only used for full long control on cars without ACC
-            interceptor_gas_cmd = self.calc_pedal_command(actuators.accel, CC.longActive)
+            interceptor_gas_cmd = self.calc_pedal_command(actuators.accel, CC.longActive, CS.out.vEgo)
 
         if self.CP.enableGasInterceptorDEPRECATED and self.apply_gas > self.params.INACTIVE_REGEN and CS.out.cruiseState.standstill:
           # "Tap" the accelerator pedal to re-engage ACC

opendbc_repo/opendbc/car/gm/carstate.py

@@ -97,7 +97,7 @@ def update(self, can_parsers) -> structs.CarState:
 
     if self.CP.enableGasInterceptorDEPRECATED:
       ret.gas = (pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
-      threshold = 15 if self.CP.carFingerprint in CAMERA_ACC_CAR else 4
+      threshold = 20 if self.CP.carFingerprint in CAMERA_ACC_CAR else 4
       ret.gasPressed = ret.gas > threshold
     else:
       ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.

opendbc_repo/opendbc/car/gm/interface.py

@@ -90,7 +90,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
     else:
       ret.transmissionType = TransmissionType.automatic
 
-    ret.longitudinalTuning.kiBP = [5., 35.]
+    ret.longitudinalTuning.kiBP = [5., 35., 60.]
 
     if candidate in (CAMERA_ACC_CAR | SDGM_CAR):
       ret.experimentalLongitudinalAvailable = candidate not in SDGM_CAR
@@ -232,9 +232,9 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
         ret.flags |= GMFlags.PEDAL_LONG.value
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_PEDAL_LONG
         # Note: Low speed, stop and go not tested. Should be fairly smooth on highway
-        ret.longitudinalTuning.kiBP = [0.0, 5., 35.]
-        ret.longitudinalTuning.kiV = [0.0, 0.35, 0.5]
-        ret.longitudinalTuning.kf = 0.15
+        ret.longitudinalTuning.kiBP = [0., 3., 6., 35.]
+        ret.longitudinalTuning.kiV = [0.125, 0.175, 0.225, 0.33]
+        ret.longitudinalTuning.kf = 0.25
         ret.stoppingDecelRate = 0.8
       else:  # Pedal used for SNG, ACC for longitudinal control otherwise
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG

panda/board/safety/safety_gm.h

@@ -30,7 +30,7 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
   const int GM_STANDSTILL_THRSLD = 10;  // 0.311kph
   // panda interceptor threshold needs to be equivalent to openpilot threshold to avoid controls mismatches
   // If thresholds are mismatched then it is possible for panda to see the gas fall and rise while openpilot is in the pre-enabled state
-  const int GM_GAS_INTERCEPTOR_THRESHOLD = 515; // (675 + 355) / 2 ratio between offset and gain from dbc file
+  const int GM_GAS_INTERCEPTOR_THRESHOLD = 550; // (675 + 355) / 2 ratio between offset and gain from dbc file
   #define GM_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + (GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2U) // avg between 2 tracks