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IQ.Pilot Release Commit @ 2b39aa6

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IQ.Lvbs CI [bot]
2026-07-29 00:19:10 -05:00
parent 8f052b6f93
commit c7908ad2e0
226 changed files with 11978 additions and 11349 deletions
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26
iqdbc_repo/iqdbc/car/gm/interface.py
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@@ -10,13 +10,13 @@ from iqdbc.car.gm.radar_interface import RadarInterface, RADAR_HEADER_MSG, CAMER
from iqdbc.car.gm.values import CAR, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, SDGM_CAR, ALT_ACCS, CanBus, GMSafetyFlags
from iqdbc.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, LateralAccelFromTorqueCallbackType
from iqdbc.lvbs.car.gm.interface_ext import CarInterfaceExt
from iqdbc.lvbs.car.gm.values_ext import GMFlagsIQ, GMSafetyFlagsIQ
from iqdbc.lvbs.car.gm.iq_interface import IQCarInterface
from iqdbc.lvbs.car.gm.iq_values import GMFlagsIQ, GMSafetyFlagsIQ
TransmissionType = structs.CarParams.TransmissionType
NetworkLocation = structs.CarParams.NetworkLocation
# iqpilot-specific torque parameters for Bolt cars that actually use the d parameter
# Bolt Non-ACC uses the 4th (d) tune parameter; stock tunes zero it out.
NON_LINEAR_TORQUE_PARAMS_IQ = {
CAR.CHEVROLET_BOLT_NON_ACC: [2.24, 1.1, 0.28, -0.07],
CAR.CHEVROLET_BOLT_NON_ACC_1ST_GEN: [1.8, 1.1, 0.3, -0.045],
@@ -30,7 +30,7 @@ NON_LINEAR_TORQUE_PARAMS = {
}
class CarInterface(CarInterfaceBase, CarInterfaceExt):
class CarInterface(CarInterfaceBase, IQCarInterface):
CarState = CarState
CarController = CarController
RadarInterface = RadarInterface
@@ -40,7 +40,7 @@ class CarInterface(CarInterfaceBase, CarInterfaceExt):
def __init__(self, CP, CP_IQ):
CarInterfaceBase.__init__(self, CP, CP_IQ)
CarInterfaceExt.__init__(self, CP, CarInterfaceBase)
IQCarInterface.__init__(self, CP, CarInterfaceBase)
@staticmethod
def get_pid_accel_limits(CP, CP_IQ, current_speed, cruise_speed):
@@ -125,9 +125,6 @@ class CarInterface(CarInterfaceBase, CarInterfaceExt):
# Tuning for experimental long
ret.longitudinalTuning.kiV = [2.0, 1.5]
ret.stoppingDecelRate = 2.0 # reach brake quickly after enabling
ret.vEgoStopping = 0.25
ret.vEgoStarting = 0.25
if alpha_long:
ret.pcmCruise = False
@@ -244,11 +241,10 @@ class CarInterface(CarInterfaceBase, CarInterfaceExt):
CAR.CHEVROLET_BOLT_NON_ACC_2ND_GEN, CAR.CHEVROLET_TRAILBLAZER_NON_ACC_2ND_GEN):
stock_cp.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, stock_cp.lateralTuning)
elif candidate in (CAR.CHEVROLET_EQUINOX_NON_ACC_3RD_GEN, ):
CarInterfaceBase.configure_torque_tune(candidate, stock_cp.lateralTuning)
# NON_ACC vehicles should use camera car speed thresholds
# Non-ACC cars steer/long via the forward camera and pcmCruise, not the ASCM.
if ret.flags & GMFlagsIQ.NON_ACC:
stock_cp.dashcamOnly = False
stock_cp.alphaLongitudinalAvailable = False
@@ -257,13 +253,13 @@ class CarInterface(CarInterfaceBase, CarInterfaceExt):
stock_cp.pcmCruise = True
stock_cp.safetyConfigs[0].safetyParam |= GMSafetyFlags.HW_CAM.value
ret.iqSafetyFlags |= GMSafetyFlagsIQ.NON_ACC
stock_cp.minEnableSpeed = 24 * CV.MPH_TO_MS # 24 mph
stock_cp.minSteerSpeed = 3.0 # ~6 mph
stock_cp.minEnableSpeed = 24 * CV.MPH_TO_MS
stock_cp.minSteerSpeed = 3.0
# dashcamOnly platforms: untested platforms, need user validations
# Untested Non-ACC platforms ship dashcam-only pending user validation.
if candidate in (CAR.CHEVROLET_BOLT_NON_ACC_2ND_GEN, CAR.CHEVROLET_EQUINOX_NON_ACC_3RD_GEN,
CAR.CHEVROLET_SUBURBAN_NON_ACC_11TH_GEN, CAR.CADILLAC_CT6_NON_ACC_1ST_GEN, CAR.CHEVROLET_TRAILBLAZER_NON_ACC_2ND_GEN,
CAR.CADILLAC_XT5_NON_ACC_1ST_GEN):
CAR.CHEVROLET_SUBURBAN_NON_ACC_11TH_GEN, CAR.CADILLAC_CT6_NON_ACC_1ST_GEN,
CAR.CHEVROLET_TRAILBLAZER_NON_ACC_2ND_GEN, CAR.CADILLAC_XT5_NON_ACC_1ST_GEN):
stock_cp.dashcamOnly = True
return ret