From b175ddec756d96ebf40a3cdfae7582ada6483df6 Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Thu, 5 Feb 2026 16:08:04 -0600 Subject: [PATCH] GM: Sigmoidal Offsets (#3110) * silverado * Update interface.py * quant * Update interface.py * Revert "Update interface.py" This reverts commit 5ef95213e6d71f3cfe2a2ef769c0cd0235f16d10. * Revert "quant" This reverts commit 1cc2aebd9f88b29797c00dd37434fce89c1d5f28. * Revert "silverado" This reverts commit 560d9aa6fced675c656e3377dff19cd4023aea48. --- opendbc/car/gm/interface.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc/car/gm/interface.py b/opendbc/car/gm/interface.py index 1cdb04fa..1cb807b2 100755 --- a/opendbc/car/gm/interface.py +++ b/opendbc/car/gm/interface.py @@ -53,10 +53,10 @@ class CarInterface(CarInterfaceBase): # This has big effect on the stability about 0 (noise when going straight) non_linear_torque_params = NON_LINEAR_TORQUE_PARAMS.get(self.CP.carFingerprint) assert non_linear_torque_params, "The params are not defined" - a, b, c, _ = non_linear_torque_params + a, b, c, d = non_linear_torque_params sig_input = a * lateral_acceleration sig = np.sign(sig_input) * (1 / (1 + exp(-fabs(sig_input))) - 0.5) - steer_torque = (sig * b) + (lateral_acceleration * c) + steer_torque = (sig * b) + (lateral_acceleration * c) + d return float(steer_torque) lataccel_values = np.arange(-5.0, 5.0, 0.01)