GM: Car Port for 2019-20 GMC Yukon

[garrettpall]

Car
GMC Yukon 2019-20 (Short and Long Wheel Base)

Route
36c62b5da6f08154/00000052--983c17c5b2

Checklist

• added entry to CarInfo in opendbc/car/*/values.py and ran selfdrive/car/docs.py to generate new docs
• test route added to routes.py
• route with openpilot: N/A
• route with stock system: 36c62b5da6f08154/00000052--983c17c5b2
• car harness used (if comma doesn't sell it, put N/A): GM / Camera

Note: Supersedes commaai/openpilot#32107

[garrettpall]

This should work for Suburbans (looking at older OPGM code), and possibly Tahoes. Data also says should support 2016-2020 too, but looks to be un-tested.

[github-actions]

This PR has had no activity for 9 days. It will be automatically closed in 2 days if there is no activity.

[garrettpall]

Oops, accidentally closed. Should have a route within a day or two

[jyoung8607]

I'm reasonably happy with the state of the code, except I wish I knew a better label than ALT_ACCS, I don't know enough about the underlying GM architecture to name it something better.

The logs tell me the drive quality isn't very good, and our starting parameters aren't well matched to the car. We're not conforming very well to the desired lateral accelerations, the torque factor learner thinks our configured factor is way off, the params learner thinks your steering ratio is around 25 as opposed to the configured 17, etc.

Would you be able to help get some more test routes, and try some adjusted parameters? It might be good to consult with others experienced in the unique GM control issues to see if its behavior matches other cars we can emulate.

If you're not in a position to iterate on the tune right away, we can just tag it as dashcam and merge anyway. I don't think this drives well enough (yet) to advertise as fully supported, but we can definitely get the upstream merge done, and we can just remove the flag whenever the tune is sorted.