Feature/opgm ap integration

selfdrive/car/gm/carcontroller.py

@@ -195,10 +195,15 @@ def update(self, CC, CS, now_nanos):
           #   accGain = interp(CS.out.vEgo, [0., 5], [0.23, 0.130])
           # else:
           #   accGain = interp(CS.out.vEgo, [0., 5], [0.23, 0.165])
+          #TODO
+          #정속도 구간별 acc가 '0'일 때, 페달값 정의
+          #예시 accGain3 = interp(actuators.accel, [-3.5,0,0 2], [0.1667,??, 0.1325])
           accGain = 0.1429
-          accGain2 = interp(actuators.accel, [-3.5, 2], [0.1667, 0.1325])
-          zero = interp(CS.out.vEgo,[0., 5, 10, 30], [0, accGain2, 0.19, 0.265])
-          pedal_gas = clip((actuators.accel * accGain + zero), 0.0, 1.0)
+          accGain3 = interp(actuators.accel, [-3.5, 2], [0.185, 0.130])
+          accGain10 = interp(actuators.accel, [-3.5, 2], [0.245, 0.185])
+          accGain15 = interp(actuators.accel, [-3.5, 2], [0.25, 0.215])
+          zero = interp(CS.out.vEgo,[0., 3, 10, 15, 30], [0, accGain3, accGain10, accGain15, 0.280])
+          pedal_gas = clip((zero + actuators.accel * accGain), 0.0, 1.0)
 
           self.pedalGasRaw_valueStore = pedal_gas
 

selfdrive/car/gm/interface.py

@@ -272,7 +272,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
       ret.longitudinalTuning.kpBP = [0.]
       ret.longitudinalTuning.kpV = [1.0]
       ret.longitudinalTuning.kiBP = [0.]
-      ret.longitudinalTuning.kiV = [0.0]
+      ret.longitudinalTuning.kiV = [0.]
       ret.longitudinalTuning.kf = 0.3
       ret.stoppingDecelRate = 0.8  # reach stopping target smoothly, brake_travel/s while trying to stop
       ret.stopAccel = 0. # Required acceleration to keep vehicle stationary