From 07dec7fcb3ca2c8ea8aad54edea9b27597e45406 Mon Sep 17 00:00:00 2001 From: Simon Kuang Date: Fri, 12 Sep 2025 13:19:21 -0700 Subject: [PATCH 1/2] (Bolt) Copy longitudinal tuning from Starpilot Stock tuning for experimental long is nauseating. While I haven't fine tuned at all, the [numbers from Starpilot](https://github.com/firestar5683/StarPilot/blob/TorqueTune/selfdrive/car/gm/interface.py#L116) are a night-and-day vibes improvement. --- opendbc/car/gm/interface.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/opendbc/car/gm/interface.py b/opendbc/car/gm/interface.py index 38adf80d626..0a4f3100d97 100755 --- a/opendbc/car/gm/interface.py +++ b/opendbc/car/gm/interface.py @@ -111,6 +111,11 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_lo ret.vEgoStopping = 0.25 ret.vEgoStarting = 0.25 + if candidate in CAMERA_ACC_CAR:~ + ret.longitudinalTuning.kiV = [0.5] * len(ret.longitudinalTuning.kiBP) + ret.stoppingDecelRate = 1.0 + ret.stopAccel = -0.25 + if alpha_long: ret.pcmCruise = False ret.openpilotLongitudinalControl = True From 089ad7eeb244dbafe2f4555a6ecb020394187a9f Mon Sep 17 00:00:00 2001 From: Simon Kuang Date: Fri, 12 Sep 2025 13:33:11 -0700 Subject: [PATCH 2/2] Update interface.py --- opendbc/car/gm/interface.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc/car/gm/interface.py b/opendbc/car/gm/interface.py index 0a4f3100d97..acbabb2ebef 100755 --- a/opendbc/car/gm/interface.py +++ b/opendbc/car/gm/interface.py @@ -111,7 +111,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_lo ret.vEgoStopping = 0.25 ret.vEgoStarting = 0.25 - if candidate in CAMERA_ACC_CAR:~ + if candidate in CAMERA_ACC_CAR: ret.longitudinalTuning.kiV = [0.5] * len(ret.longitudinalTuning.kiBP) ret.stoppingDecelRate = 1.0 ret.stopAccel = -0.25